Control method when vehicle tire bursts, vehicle control system and vehicle

A control method when a vehicle tire bursts, a vehicle control system, and a vehicle, the method including: obtaining the wheel information of the burst tire when the vehicle tire bursts; judging the deviation condition of the vehicle after the tire burst, and obtaining a driving intention of a driver; and calculating the driving torque and the braking torque of the wheels without burst tire according to the deviation condition and the driving intention of the driver, and controlling the wheels without burst tire according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance.

CROSS REFERENCE OF RELATED APPLICATIONS

This application is based on International Application No. PCT/CN2017/078465, filed on Mar. 28, 2017, which claims priority to China Patent Application No. 201610355679.5, filed on May 9, 2016, which are incorporated herein by reference in their entireties.

TECHNICAL FIELD

This application relates to the field of vehicle technology, and in particular, to a control method when a vehicle tire bursts, a vehicle control system, and a vehicle having the same.

BACKGROUND

High-speed driving tire burst is considered to be the first killer of high-speed driving safety. The data shows that the number of deaths caused by high-speed driving tire burst accounts for nearly half of the deaths from highway accidents. Therefore, solving the tire burst problem can significantly improve vehicle safety.

In order to solve the tire burst problem, the most widely used method is to use run-flat tires, which in terms of structure are non-pneumatic tires or tires that greatly enhance the sidewall stiffness. However, there are two problems with this:

(1) in case of existing run-flat tires, the hardness of the tire carcass becomes larger, and the tread buffer capacity becomes smaller. Therefore, the damping effect of the tire is weakened, and the vibration and impact transmitted by road surface to the vehicle body through the tire become larger, thereby increasing the noise and vibration of the vehicle;

(2) during the driving of the vehicle, the tire material hysteresis caused by the deformation of the carcass is the main cause of the rolling resistance of the vehicle. Since the volume and weight of the existing run-flat tire materials are significantly larger than that of the pneumatic radial tires used in the current vehicles, the rolling resistance is relatively large, which in turn reduces the fuel economy of the vehicle.

SUMMARY

According to a first aspect of the application, a control method is provided. The control method when a vehicle tire bursts includes: obtaining the wheel information of the burst tire when the vehicle tire bursts; judging a deviation condition of the vehicle after the tire burst, and obtaining a driving intention of a driver; and determining the driving torque and the braking torque of the wheels without burst tire according to the deviation condition and the driving intention of the driver, and controlling the wheels without burst tire according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance.

According to the control method when a vehicle tire bursts, when the vehicle tire bursts, the wheel information of the burst tire is obtained, the deviation condition of the vehicle after the tire burst is judged, and the driving intention of the driver is obtained; and then the driving torque and the braking torque of the wheels without burst tire is calculated according to the deviation condition and the driving intention of the driver, and the wheels without burst tire are controlled according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance. The method can control the wheels according to the deviation condition of the vehicle and the driving intention of the driver after the vehicle tire bursts, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

According to a second aspect of this application, a vehicle control system is provided. The vehicle control system includes: a tire detector detecting whether a vehicle has a burst tire, and obtaining wheel information of the burst tire when the vehicle has the burst tire; a first judging module configured to judge a deviation condition of the vehicle after the tire bursts; a controller which respectively communicates with the tire detector and the first judging module, wherein the controller is configured to obtain a driving intention of the driver, calculate a driving torque and a braking torque of wheels without burst tire according to the deviation condition and the driving intention of the driver, and to control the wheels without burst tire according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance.

According to the vehicle control system of the embodiment of this application, when a vehicle tire bursts, the wheel information of the burst tire is obtained by the tire detecting module, the deviation condition of the vehicle after the tire bursts is judged by the first judging module, and the driving intention of the driver is obtained by the controller, then the controller calculates the driving torque and the braking torque of the wheels without burst tire according to the deviation condition and the driving intention of the driver, and to control the wheels without burst tire according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance. The system can control the wheels according to the deviation condition of the vehicle and the driving intention of the driver after the vehicle tire bursts, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

According to a further aspect of this application, a vehicle is provide. The vehicle includes: the above-described vehicle control system.

With the vehicle control system, the vehicle according to the embodiment of this application can control the wheels according to the deviation condition of the vehicle and the driving intention of the driver after the vehicle tire bursts, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

DETAILED DESCRIPTION

The embodiments of this application are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numbers are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

A control method when a vehicle tire bursts, a vehicle control system, and a vehicle in accordance with an embodiment of this application will be described below with reference to the accompanying drawings.

FIG. 1is a flow chart of a control method when a vehicle tire bursts in accordance with an embodiment of this application. As shown inFIG. 1, the control method when a vehicle tire bursts includes the following steps:

S1, when a vehicle tire bursts, the wheel information of the burst tire is obtained.

In an embodiment, a sensor can be used to determine whether the vehicle has a burst tire and which wheel has the burst tire.

S2, the deviation condition of the vehicle after the tire burst is judged, and a driving intention of a driver is obtained.

In the embodiment of this application, the vehicle body attitude sensor can be used to determine the deviation condition of the vehicle after the tire bursts.

According to an embodiment of this application, the step of obtaining the driving intention of the driver includes: obtaining a steering wheel angle signal, a brake pedal signal, an accelerator pedal signal, and a clutch pedal signal of the vehicle; calculating a steering wheel angular acceleration according to the steering wheel angle signal, calculating a brake pedal acceleration according to the brake pedal signal and calculating an accelerator pedal acceleration according to the accelerator pedal signal; and determining the driving intention of the driver according to the steering wheel angle signal, the brake pedal signal, the accelerator pedal signal, the clutch pedal signal, the steering wheel angular acceleration, the brake pedal acceleration, and the accelerator pedal acceleration.

That is to say, the driving intention of the driver and the urgency degree can be calculated and evaluated from the steering wheel angle signal, the depth signal of the brake pedal, the depth signal of the accelerator pedal, and the depth signal of the clutch pedal (no need to detect when the vehicle has no clutch pedal) detected by the sensor, and the steering wheel angular acceleration, the brake pedal acceleration and the accelerator pedal acceleration which are simultaneously calculated.

S3, the driving torque and the braking torque of the wheels without burst tire is calculated according to the deviation condition and the driving intention of the driver, and the wheels without burst tire are controlled according to the driving torque and the braking torque to correct the deviation condition of the vehicle, so that the vehicle remains normal driving within a preset distance.

That is to say, after the vehicle tire bursts, the driving torque and the braking torque of each wheel are obtained by calculating and analyzing the deviation condition of the vehicle and the driving intention of the driver, and then the vehicle is controlled according to the driving torque and the braking torque to prevent the undesired deviation condition of the vehicle, so that the vehicle can freely accelerate and decelerate within a certain range, and the driving direction of the vehicle is controllable. The driver makes the vehicle turn according to the intention of the driver by operating the steering wheel, thereby maintaining normal driving of the vehicle for a relatively long distance.

According to an embodiment of this application, the vehicle includes a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel, wherein when the vehicle is driven by the left front wheel and the right front wheel, if the right rear wheel has a burst tire, in the case that the total driving torque of the vehicle is controlled to be constant, the deviation condition of the vehicle is corrected by increasing the driving torque of the left front wheel and the right front wheel and braking the left rear wheel, or the deviation condition of the vehicle is corrected by increasing the driving torque of the right front wheel and decreasing the driving torque of the left front wheel; when the vehicle is driven by the left front wheel and the right front wheel, if the right front wheel has a burst tire, in the case that the total driving torque is controlled to be constant, the deviation condition of the vehicle is corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel; and when the vehicle is driven by the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, if the right front wheel has a burst tire, in the case that the total driving torque is controlled to be constant, the deviation condition of the vehicle is corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel and the left rear wheel.

As shown inFIG. 2andFIG. 3, when the vehicle is driven by the left front wheel and the right front wheel, it is assumed that the total driving torque is 100 Nm, the driving torque of the left front wheel is 50 Nm, and the driving torque of the right front wheel is 50 Nm. If the right rear wheel has a burst tire during driving, the wheels without burst tire will be controlled in a short period of time according to the deviation condition of the vehicle after tire bursts and the driving intention of the driver. As shown inFIG. 2, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the left front wheel and the right front wheel and controlling the left rear wheel to participate in the braking. For example, the driving torque of the left front wheel can be increased to 65 Nm, the driving torque of the right front wheel can be increased to 65 Nm, and the braking torque of 30 Nm is applied to the left rear wheel to correct the deviation condition of the vehicle. Alternatively, as shown inFIG. 3, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right front wheel and decreasing the driving torque of the left front wheel. For example, the driving torque of the right front wheel can be increased to 70 Nm, and the driving torque of the left front wheel can be reduced to 30 Nm. In practice, any one of them can be chosen.

As shown inFIG. 4, when the vehicle is driven by the left front wheel and the right front wheel, it is assumed that the total driving torque is 100 Nm, the driving torque of the left front wheel is 50 Nm, and the driving torque of the right front wheel is 50 Nm. If the right front wheel has a burst tire during driving, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel. For example, the driving torque of the right rear wheel can be increased to 70 Nm, and the driving torque of the left front wheel can be decreased to 30 Nm.

As shown inFIG. 5, when the vehicle is driven by the four wheels of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, it is assumed that the total driving torque is 100 Nm, and the driving torque of each wheel is 25 Nm. If the right front wheel has a burst tire during driving, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel and the left rear wheel. For example, the driving torque of the right rear wheel can be increased to 70 Nm, the driving torque of the left front wheel can be decreased to 15 Nm, and the driving torque of the left rear wheel can be decreased to 15 Nm.

It should be noted that, in the embodiment of this application, each wheel has a power output function to correct the undesired deviation condition of the vehicle by controlling the driving torque and the braking torque of the wheels without burst tire when any one of the tires bursts, so that the vehicle can be controlled to drive for a period of time according to the driving intention of the driver when vehicle tire bursts, such as controlling the vehicle to accelerate and decelerate, steering, etc., that is to say, the vehicle is in a controllable state after the tire burst. In addition, for other tire burst conditions, please refer toFIG. 2toFIG. 5, and details are not described herein.

In summary, although the embodiment of this application does not use run-flat tires, after the vehicle tire burst, the driving torque and the braking torque of the wheels can be re-allocated according to the deviation condition of the vehicle and the driving intention of the driver to prevent the undesired deviation condition of the vehicle and to avoid traffic accidents. Also, the deviation condition of the vehicle can be corrected by controlling the driving torque and the braking torque of the wheels, so that the vehicle can freely accelerate and decelerate within a certain range, and the direction of the vehicle is controllable, wherein the driver can turn the vehicle by operating the steering wheel to maintain normal driving of the vehicle for a relatively long time. Therefore, the control method of the embodiment of this application controls the wheel according to the deviation condition of the vehicle and the driving intention of the driver after the vehicle tire bursts, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

FIG. 6is a block diagram of a vehicle control system in accordance with an embodiment of this application. As shown inFIG. 6, the vehicle control system includes a tire detecting module10, a first judging module20and a controller30.

The tire detecting module10is used to detect whether the vehicle has a burst tire, and to obtain wheel information of the burst tire when the vehicle has the burst tire. The first judging module20is used to judge the deviation condition of the vehicle after the tire bursts. In an embodiment the tire detecting module10may be a sensor to judge whether the vehicle has a burst tire and which wheel has the burst tire. The first judging module20may be a vehicle body attitude sensor to judge the deviation condition of the vehicle after the vehicle tire bursts.

The controller30communicates with the tire detecting module10and the first judging module20respectively, and the controller30is configured to acquire the driving intention of the driver, to calculate the driving torque and the braking torque of the wheels without burst tire according to the deviation condition and the driving intention of the driver, and to control the wheels without burst tire according to the driving torque and the braking torque to correct the deviation condition of the vehicle so that the vehicle maintains normal driving within a preset distance.

According to an embodiment of this application, when the controller30acquires the driving intention of the driver, the controller30acquires a steering wheel angle signal, a brake pedal signal, an accelerator pedal signal, and a clutch pedal signal of the vehicle, and calculates a steering wheel angular acceleration according to the steering wheel angle signal, calculates the brake pedal acceleration according to the brake pedal signal, and calculates the accelerator pedal acceleration according to the accelerator pedal signal, and then judges the driving intention of the driver according to the steering wheel angle signal, the brake pedal signal, the accelerator pedal signal, the clutch pedal signal, the steering wheel angular acceleration, the brake pedal acceleration and the accelerator pedal acceleration.

That is to say, after the vehicle tire bursts, the controller30can calculate and evaluate the driving intention of the driver and the urgency degree based on the steering wheel angle signal, the depth signal of the brake pedal, the depth signal of the accelerator pedal and the depth signal of the clutch pedal (there is no need to detect the depth signal of the clutch pedal when the vehicle has no clutch pedal) detected by the sensor, and the steering wheel angular acceleration, brake pedal acceleration and accelerator pedal acceleration which are simultaneously calculated. Then, the controller30calculates and analyzes the deviation condition of the vehicle and the driving intention of the driver to obtain the driving torque and the braking torque of each wheel, and then controls the vehicle according to the driving torque and the braking torque to prevent the undesired deviation condition of the vehicle, so that the vehicle can freely accelerate and decelerate within a certain range, and the driving direction of the vehicle is controllable. The driver makes the vehicle turn according to the intention of the driver by operating the steering wheel, thereby maintaining normal driving of the vehicle for a relatively long distance.

According to an embodiment of this application, the vehicle includes a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. When the vehicle is driven by the left front wheel and the right front wheel, if the right rear wheel has a burst tire, in the case that the total driving torque of the vehicle is controlled to be constant, the controller30corrects the deviation condition of the vehicle by increasing the driving torque of the left front wheel and the right front wheel and braking the left rear wheel, or corrects the deviation condition of the vehicle by increasing the driving torque of the right front wheel and decreasing the driving torque of the left front wheel; when the vehicle is driven by the left front wheel and the right front wheel, if the right front wheel has a burst tire, in the case that the total driving torque of the vehicle is controlled to be constant, the controller corrects the deviation condition of the vehicle by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel; and when the vehicle is driven by the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, if the right front wheel has a burst tire, in the case that the total driving torque is controlled to be constant, the controller corrects the deviation condition of the vehicle by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel and the left rear wheel.

As shown inFIG. 2andFIG. 3, when the vehicle is driven by the left front wheel and the right front wheel, it is assumed that the total driving torque is 100 Nm, the driving torque of the left front wheel is 50 Nm, and the driving torque of the right front wheel is 50 Nm. If the right rear wheel has a burst tire during driving, the controller30will control the wheels without burst tire in a short period of time according to the deviation condition of the vehicle after the tire bursts and the driving intention of the driver. As shown inFIG. 2, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the left front wheel and the right front wheel and controlling the left rear wheel to participate in the braking. For example, the driving torque of the left front wheel can be increased to 65 Nm, the driving torque of the right front wheel can be increased to 65 Nm, and the braking torque of 30 Nm is applied to the left rear wheel to correct the deviation condition of the vehicle. Alternatively, as shown inFIG. 3, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right front wheel and decreasing the driving torque of the left front wheel. For example, the driving torque of the right front wheel can be increased to 70 Nm, and the driving torque of the left front wheel can be reduced to 30 Nm. In practice, any one of them can be chosen.

As shown inFIG. 4, when the vehicle is driven by the left front wheel and the right front wheel, it is assumed that the total driving torque is 100 Nm, the driving torque of the left front wheel is 50 Nm, and the driving torque of the right front wheel is 50 Nm. If the right front wheel has a burst tire during driving, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel. For example, the driving torque of the right rear wheel can be increased to 70 Nm, and the driving torque of the left front wheel can be decreased to 30 Nm.

As shown inFIG. 5, when the vehicle is driven by the four wheels of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, it is assumed that the total driving torque is 100 Nm, and the driving torque of each wheel is 25 Nm. If the right front wheel has a burst tire during driving, in the case of ensuring that the total driving torque of 100 Nm remains unchanged, the deviation condition of the vehicle can be corrected by increasing the driving torque of the right rear wheel and decreasing the driving torque of the left front wheel and the left rear wheel. For example, the driving torque of the right rear wheel can be increased to 70 Nm, the driving torque of the left front wheel can be decreased to 15 Nm, and the driving torque of the left rear wheel can be decreased to 15 Nm.

It should be noted that, in the embodiment of this application, each wheel has a power output function to correct the undesired deviation condition of the vehicle by controlling the driving torque and the braking torque of the wheels without burst tire when any one of the vehicle tires burst, so that the vehicle can be controlled to drive for a period of time according to the driving intention of the driver when the vehicle tire bursts, such as controlling the vehicle to accelerate and decelerate, steering, etc., that is to say, the vehicle is in a controllable state after the tires burst. In addition, for other tire burst conditions, please refer toFIG. 2toFIG. 5, and details are not described herein.

Further, as shown inFIGS. 7 to 8, the vehicle may include an engine101, a transmission102, a motor103, a speed reducer104, a main reduction and differential105, a right front wheel107, a left front wheel109, a right rear wheel133and a left rear wheel136, which the right front wheel107is further provided with a brake caliper and a brake disc106, and correspondingly provided with an inlet valve110, an outlet valve111and an oil pressure sensor112; the left front wheel109is provided with a brake caliper and a brake disc108, and correspondingly provided with an inlet valve114, an outlet valve115and an oil pressure sensor113; the right rear wheel133is provided with a brake caliper and a brake disc134, and corresponding provided with an inlet valve124, an outlet valve125and an oil pressure sensor126; the left rear wheel136is provided with a brake caliper and a brake disc135, and correspondingly provided with an inlet valve128, an outlet valve129and an oil pressure sensor127. Moreover, the outlet valve111is communicated with an accumulator116through a linear solenoid valve120and a switching solenoid valve118after the outlet valve111is in communication with the inlet valve128, and an oil pressure sensor122is also provided at the connection port of the outlet valve111and the inlet valve128; after the outlet valve115is in communication with the inlet valve124, the outlet valve115is respectively communicated with the switching solenoid valve118and the switching solenoid valve119through the linear solenoid valve121, and an oil pressure sensor123is also provided at the connection port of the outlet valve115and the inlet valve124. The accumulator116is respectively communicated with the oil reservoir130, the brake master cylinder and the stroke simulator131through the hydraulic pump117, and the brake master cylinder and the stroke simulator131are respectively communicated with the switching solenoid valve119, the brake pedal132, the oil reservoir130, the outlet valve125, the outlet valve129, the inlet valve110, and the inlet valve114.

In an embodiment, when braking the wheel, the controller30gives the brake pressure of the hydraulic brake required for brake caliper of each wheel, and it is realized by a brake controller40controlling the corresponding switching solenoid valves, the linear solenoid valves, the inlet valves and the outlet valves; for the wheels that can realize motor brake feedback, the controller30gives motor brake feedback target torque, and it is realized by a motor controller50controlling the motor. When performing the drive control of the wheels, the motor target driving torque can be given by the controller30and is realized by the motor controller50controlling the motor, or the engine target driving torque is given by the controller30and is realized by an engine controller60controlling the engine, or the controller30gives the motor target driving torque and the engine target driving torque to the motor controller50and the engine controller60, respectively, and it is realized by the motor controller50and the engine controller60simultaneously controlling the motor and the engine. During the control process, the gear position of the transmission is also adjusted by a shift controller70.

In summary, although the embodiment of this application does not use run-flat tires, after the vehicle tire burst, the driving torque and the braking torque of the wheels can be re-allocated according to the deviation condition of the vehicle and the driving intention of the driver to prevent the undesired deviation condition of the vehicle and avoid traffic accidents. Also, the deviation condition of the vehicle can be corrected by controlling the driving torque and braking torque of the wheels, so that the vehicle can freely accelerate and decelerate within a certain range, and the direction of the vehicle is controllable, wherein the driver can turn the vehicle by operating the steering wheel to maintain normal driving of the vehicle for a relatively long time. Therefore, for the vehicle control system of the embodiment of this application, after the vehicle tire bursts, through the actively participation of the controller, the wheels are controlled according to the deviation condition of the vehicle and the driving intention of the driver, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

Furthermore, embodiments of this application also propose a vehicle including the above-described vehicle control system. Specifically, as shown inFIG. 7toFIG. 8, the specific content has been described above, and details are not described herein again.

For the vehicle of the embodiment of this application, after the vehicle tire bursts, through the above described vehicle control system, the wheels are controlled according to the deviation condition of the vehicle and the driving intention of the driver, so that the vehicle can continue to drive according to the driving intention of the driver, thereby not only achieving the effect of using run-flat tires, but also avoiding the problems of noise, vibration and poor fuel economy of the vehicle when using the run-flat tires.

In the description of this application, it is to be understood that the terms “first” and “second” are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” or “second” may include at least one of the features, explicitly or implicitly. In the description of this application, the meaning of “a plurality of” is at least two, such as two, three, unless specifically defined otherwise.

In this application, unless otherwise explicitly specified and defined, the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, for example, it may be understood as a fixed connection, a detachable connection, or an integration; it may be mechanical or electrical connection; it may be directly connected, or indirectly connected through an intermediate medium; it may be the internal communication of two components or the interaction of two components, unless otherwise specified. The specific meanings of the above terms in this application can be understood by those skilled in the art on a case-by-case basis.

In the description of the present specification, the description with reference to the terms “one embodiment”, “some embodiments”, “example”, “specific example”, or “some examples” and the like means a specific feature, a structure, material or feature described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradicting each other, one skilled in the art may combine and mix the different embodiments or examples and the features of different embodiments or examples described in this specification.

Although the embodiments of this application have been shown and described, it is understood that the above-described embodiments are illustrative and are not to limit the invention. The above embodiments can be changed, modified, substituted and varied within the scope of the invention for the ordinary technicians in the field.