Patent Application
20230174113
This document relates to systems, methods, and apparatus to control one or more parameters of an engine, such as torque, for autonomous driving systems.
Self-driving or autonomous vehicles can be autonomously controlled to navigate along a path to a destination. Autonomous driving generally requires sensors and processing systems that perceive the environment surrounding an autonomous vehicle and make decisions based on that perception to facilitate safe and reliable operation of the autonomous vehicle.
This patent document describes systems, apparatus, and methods to control one or more parameters (e.g., torque) of an engine in an autonomous vehicle.
An example method of controlling a vehicle includes sending, by a computer located on the vehicle, instructions to one or more devices located on the vehicle that cause the vehicle to perform autonomous driving related operations in accordance with the instructions, where the sending the instructions includes sending a set of torque related values over time to control an engine located in the vehicle, where the set of torque related values is sent from the computer to control the engine without converting the set of torque related values to control parameters indicative of positions associated with an accelerator pedal located in the vehicle; receiving an indication that indicates that the accelerator pedal is depressed from an undepressed position; and causing, in response to the receiving the indication, the vehicle to not perform additional autonomous driving related operations.
In some embodiments, the accelerator pedal is in the undepressed position when the set of torque related values are sent from the computer to control the engine. In some embodiments, the set of torque related values are sent from the computer to control the engine via an application programming interface stored in the computer. In some embodiments, the set of torque related values are sent from the computer to control the engine via the application programming interface. In some embodiments, each of the set of torque related values indicate an amount of torque requested by the computer from the engine to perform the autonomous driving related operations. In some embodiments, the method further comprises performing a first determination, by the computer, that devices on or in the vehicle have passed a self-check operation and the vehicle is ready for autonomous driving; and sending, in response to the first determination, a signal or a message that indicates that the devices on or in the vehicle have passed the self-check operation and the vehicle is ready for autonomous driving.
In some embodiments, the signal is indicated by a light bult in the vehicle, or the message is displayed on a display located in the vehicle and associated with the computer. In some embodiments, the method further comprises in response to receiving a second indication that indicates a request for initiating autonomous driving: performing a second determination that a speed of the vehicle is greater than a pre-determined threshold; and where the instructions that cause the vehicle to perform the autonomous driving related operations are sent to the one or more devices located in the vehicle in response to the performing the second determination. In some embodiments, the pre-determined threshold is 5 miles per hour or 10 miles per hour. In some embodiments, prior to the first determination, the computer and the engine receive signals to turn on within a pre-determined time window. In some embodiments, the pre-determined time window is 30 seconds.
In some embodiments, the method further comprises performing a third determination, by the computer, that devices on or in the vehicle have not passed a self-check operation and the vehicle is not ready for autonomous driving; and sending, in response to the third determination, another signal or another message that indicates that the devices on or in the vehicle have not passed the self-check operation and the vehicle is not ready for autonomous driving. In some embodiments, the vehicle is caused to not perform additional autonomous driving related operations in response to the received the indication and in response to a determination that a position of the accelerator pedal when depressed from the undepressed position is greater than a threshold value. In some embodiments, the threshold value is configurable. In some embodiments, the position of the accelerator pedal when depressed is indicated by a sensor associated with the accelerator pedal. In some embodiments, the sensor includes a position sensor. In some embodiments, one of the set of torque related values indicates that zero torque or no torque is requested by the computer from the engine. In some embodiments, the vehicle is a tractor unit of a semi-trailer truck. In some embodiments, the vehicle is caused to not perform additional autonomous driving related operations by the processor configured to not send additional torque related values to the engine.
In yet another exemplary aspect, the above-described method is embodied in a non-transitory computer readable storage medium. The non-transitory computer readable storage medium includes code that when executed by a processor, causes the processor to perform the methods described in this patent document.
In yet another exemplary embodiment, a device that is configured or operable to perform the above-described methods is disclosed. In yet another exemplary embodiment, a system comprises a computer located in a vehicle, the computer comprises a processor configured to implement the above-described methods is disclosed.
The above and other aspects and their implementations are described in greater detail in the drawings, the descriptions, and the claims.
In a vehicle, an accelerator pedal or gas pedal can control a torque generated by an engine. For example, when a vehicle is driving on a road, an accelerator pedal is depressed from its position to have an engine generate more torque and the accelerator pedal is released from its position to have the engine generate less torque. Thus, an amount of torque generated by an engine of vehicle is related to or corresponds to a position of the accelerator pedal. However, when such a system is implemented in an autonomous system, a computer located in an autonomous vehicle needs to determine a position of the accelerator pedal corresponding to a desired torque so that the computer can send information related to accelerator pedal position to control the torque generated by the engine.
Such a system presents several technical problems when implemented in an autonomous system. One technical problem is that the computer in the autonomous vehicle needs to constantly compute the position of the accelerator pedal over time as the desired torque in the autonomous vehicle changes over time. Such frequent computations can take limited computational resources in the autonomous vehicle away from other more important computational needs of the autonomous vehicle such as performing signal processing on sensor data to determine vehicles located around the autonomous vehicle and to determine a safe driving operation of the autonomous vehicles (e.g., braking or steering) based on the location and/or speed of those vehicles. To address at least this technical problem, this patent document describes techniques for an in-vehicle control computer located in an autonomous vehicle to control torque of an engine in an autonomous driving operation(s) without performing additional computations to determine the accelerator pedal position. This patent document first describes in Section I an example vehicle ecosystem for controlling an engine of an autonomous vehicle, and then describes in Section II example techniques to control an engine of an autonomous vehicle. For example, the techniques to control an engine includes techniques to switch control of the torque applied by the engine between an in-vehicle control computer and a human driver, and techniques to perform a startup procedure to setup the in-vehicle control computer and the engine.
An engine, wheels and tires, a transmission, an electrical subsystem, and a power subsystem may be included in the vehicle drive subsystems 142. The engine of the autonomous truck may be an internal combustion engine (or gas-powered engine), a fuel-cell powered electric engine, a battery powered electric engine/motor, a hybrid engine, or another type of engine capable of actuating the wheels on which the autonomous vehicle 105 (also referred to as vehicle 105 or truck 105) moves. The autonomous vehicle 105 can have multiple engines to drive its wheels. For example, the vehicle drive subsystems 142 can include two or more electrically driven motors. The engine control module (also shown as 206 in
Vehicle sensor subsystems 144 can include sensors which are used to support general operation of the autonomous truck 105. The sensors for general operation of the autonomous vehicle may include, for example, one or more cameras, a temperature sensor, an inertial sensor, a global positioning system (GPS) receiver, a light sensor, a LiDAR system, a radar system, and/or a wireless communications system.
The vehicle control subsystems 146 may include various elements, devices, or systems including, e.g., a throttle, a brake unit, a navigation unit, a steering system, and an autonomous control unit. The vehicle control subsystems 146 may be configured to control operation of the autonomous vehicle, or truck, 105 as a whole and operation of its various components. The throttle may be coupled to an accelerator pedal so that a position of the accelerator pedal can correspond to an amount of fuel or air that can enter the internal combustion engine. The accelerator pedal may include a position sensor that can sense a position of the accelerator pedal. The position sensor can output position values that indicate the positions of the accelerator pedal (e.g., indicating the amounts by which the accelerator pedal is depressed or that the accelerator pedal is undepressed). The brake unit can include any combination of mechanisms configured to decelerate the autonomous vehicle 105. The brake unit can use friction to slow the wheels of the vehicle in a standard manner. The brake unit may include an anti-lock brake system (ABS) that can prevent the brakes from locking up when the brakes are applied. The navigation unit may be any system configured to determine a driving path or route for the autonomous vehicle 105. The navigation unit may additionally be configured to update the driving path dynamically based on, e.g., traffic or road conditions, while, e.g., the autonomous vehicle 105 is in operation. In some embodiments, the navigation unit may be configured to incorporate data from a GPS device and one or more predetermined maps so as to determine the driving path for the autonomous vehicle 105. The steering system may represent any combination of mechanisms that may be operable to adjust the heading of the autonomous vehicle 105 in an autonomous mode or in a driver-controlled mode of the vehicle operation.
The autonomous control unit may include a control system (e.g., a computer or controller comprising a processor) configured to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the autonomous vehicle 105. In general, the autonomous control unit may be configured to control the autonomous vehicle 105 for operation without a driver or to provide driver assistance in controlling the autonomous vehicle 105. In some example embodiments, the autonomous control unit may be configured to incorporate data from the GPS device, the radar, the LiDAR, the cameras, and/or other vehicle sensors and subsystems to determine the driving path or trajectory for the autonomous vehicle 105.
An in-vehicle control computer 150, which may be referred to as a vehicle control unit or VCU, can include, for example, any one or more of: a vehicle subsystem interface 160, a torque control module 165, one or more processors 170, and/or a memory 175. This in-vehicle control computer 150 may control many, if not all, of the operations of the autonomous truck 105 in response to information from the various vehicle subsystems 140. The memory 175 may contain processing instructions (e.g., program logic) executable by the processor(s) 170 to perform various methods and/or functions of the autonomous vehicle 105, including those described in this patent document. For instance, the data processor 170 executes the operations associated with vehicle subsystem interface 160 and/or torque control module 165. The in-vehicle control computer 150 can control one or more elements, devices, or systems in the vehicle drive subsystems 142, vehicle sensor subsystems 144, and/or vehicle control subsystems 146. For example, the torque control module 165 in the in-vehicle control computer 150 may operate the autonomous vehicle 105 in an autonomous mode in which the torque control module 165 can send instructions to various elements or devices or systems in the autonomous vehicle 105 to enable the autonomous vehicle to drive along a determined trajectory. For example, the torque control module 165 can send instructions to the steering system to steer the autonomous vehicle 105 along a trajectory, and/or the torque control module 165 can send instructions to apply an amount of brake force to the brakes to slow down or stop the autonomous vehicle 105.
The torque control module 165 can be also configured to communicate and/or interact via a vehicle subsystem interface 160 with the systems of the autonomous vehicle including, e.g., the engine and/or transmission. The torque control module 165 can, for example, receive data from or send data and/or commands or instructions to an engine (e.g., via the engine control module as further explained in
The memory 175 may include instructions to transmit data to, receive data from, interact with, or control one or more of the vehicle drive subsystems 142, vehicle sensor subsystems 144, or vehicle control subsystems 146. The in-vehicle control computer (VCU) 150 may control the operation of the autonomous vehicle 105 based on inputs received by the VCU from various vehicle subsystems (e.g., the vehicle drive subsystems 142, the vehicle sensor subsystems 144, and the vehicle control subsystems 146). The VCU 150 may, for example, send information (e.g., commands, instructions or data) to the vehicle control subsystems 146 to direct or control functions, operations or behavior of the autonomous vehicle 105 including, e.g., its trajectory, velocity, and signaling behaviors. The vehicle control subsystems 146 may receive a course of action to be taken from one or more modules of the VCU 150 and may, in turn, relay instructions to other subsystems to execute the course of action.
In this Section, techniques are described for an in-vehicle control computer 150 located in an autonomous vehicle 105 to control torque of an engine for performing autonomous driving operation(s) without involving the accelerator pedal. The torque control module 165 in the in-vehicle control computer 150 can use a software interface (e.g., API) stored in the in-vehicle control computer 150 to control an amount of torque applied by the engine in the autonomous vehicle 105 over time. The software interface can allow the torque control module 165 to request torque value(s) over time to control the engine without involving calculation associated with the accelerator pedal position as further explained below.
The torque control module 165 can determine the required torque related values based on a desired autonomous driving operation and may periodically send via the software interface the torque related values to the engine control module 206 to control the torque of the engine 204. For example, at first time, the torque control module 165 can determine and request the engine 204 to generate a first amount of torque based on the torque control module’s 165 determination to have the autonomous vehicle increase its speed, and the torque control module 165 can at a second time later than the first time determine and request the engine 204 to generate a second amount of torque (which is different from the first amount of torque in this example) based on the torque control module’s 165 determination that it needs the autonomous vehicle to reduce its speed.
The torque control module 165 can request the engine 204 (e.g., via the engine control module 206) to generate the first and second amount of torque via the software interface without converting the desired torque value to control parameter that indicates an accelerator pedal position. Thus, a technical benefit of this technology is that the torque control module 165 does not calculate or determine a control parameter indicative of an accelerator pedal position to send the control parameter to the engine control module 206 as is done with conventional technology. In this patent document, the term “control parameter” indicative of accelerator pedal position may also be known as “control value” indicative of the accelerator pedal position. In some embodiments, if the torque control module 165 determines that the engine does not need to generate torque, then the torque control module 165 can send a torque value that indicates that zero torque or no torque is requested by the torque control module 165 to the engine control module 206 via the software interface.
One of the technical benefits of having a torque control module 165 control the engine 204 via the software interface and via the engine control module 206 is that it reduces the computational load on the in-vehicle control computer 150 by not frequently performing additional computations to determine the control parameters (or control values) that indicate accelerator pedal positions corresponding to the torque related values determined by the torque control module 165 over time. Another technical benefit of having the torque control module 165 control the engine is that it can reduce the time delay between when torque related values are determined and when the engine is instructed to perform in accordance with the torque related values at least because the torque control module 165 does not need to calculate the control parameters corresponding to the accelerator pedal positions.
When the autonomous vehicle 105 is performing autonomous driving operations, the autonomous vehicle 105 is controlled by the in-vehicle control computer 150. As explained in this patent document, the torque control module can control various aspects of the autonomous driving operations (e.g., sending instructions to cause steering, braking, gear selection, torque of the engine) to enable the autonomous vehicle 105 to drive along a trajectory to a desired destination. However, a human driver located in the autonomous vehicle 105 can disengage autonomous driving operations and take over driving related operations of the autonomous vehicle 105.
In some embodiments, when the engine control module 206 receives from the position sensor of the accelerator pedal an indication/signal that the accelerator pedal is depressed, the engine control module 206 can send the indication/signal to the torque control module 165 to indicates that the accelerator pedal has been depressed. In such embodiments, when the torque control module 165 receives the signal/indication from the engine control module 206, the torque control module 165 can disengage autonomous driving operation by, for example, not sending additional torque related values to the engine control module 206 to no longer cause autonomous driving operation of the autonomous vehicle 105. In some embodiments, the torque control module 165 can disengage autonomous driving operations when a position to which the accelerator pedal is depressed from an undepressed position exceeds a configurable threshold value. For example, the sensor associated with the accelerator pedal can output to the torque control module 165 a position value corresponding to a depressed position of the accelerator pedal. In this example, when the torque control module 165 determines that the position value provided by the sensor of the accelerator pedal exceeds a configurable threshold, then the torque control module 165 can disengage autonomous driving operation. One technical advantage of having the torque control module 165 compare a position value corresponding to the depressed position of the accelerator pedal to a configurable threshold is that it can enable the torque control module 165 to avoid disengaging autonomous driving operation when the human driver accidently taps the accelerator pedal but did not intend to disengage autonomous driving operation.
Before and/or when an autonomous vehicle is turned on, a set of startup related operations can be performed to setup an in-vehicle control computer 150 located in the autonomous vehicle 105 to operate with an engine of the autonomous vehicle. For example, when the ignition key or switch of the autonomous vehicle is in the off position or off state, the systems and/or devices in autonomous vehicle are turned off. As mentioned in this patent document, a torque control module 165 located in the in-vehicle control computer 150 can control an engine of the autonomous vehicle via a software interface stored in the in-vehicle control computer 150. The software interface may require the engine to synchronize with the in-vehicle control computer 150 within a pre-determined time window (e.g., within the first 30 seconds or within the first 10 seconds) of when the ignition key or switch is in the on or start position to turn on the engine of the autonomous vehicle. Thus, in one example, after the ignition key or switch is moved to the on or start position, the in-vehicle control computer 150 can be started. In another example, the in-vehicle control computer 150 can be first started if a charge of a battery located in the autonomous vehicle can allow autonomous systems to be turned on, and then the ignition switch can be moved to the on or start position to turn on the engine of the autonomous vehicle within the pre-determined time window from when the in-vehicle control computer 150 is turned on.
After the in-vehicle control computer 150 and the autonomous vehicle are turned on within the pre-determined time window, then the torque control module 165 can perform initial self-checks (or self-tests) to determine the operational condition of the various devices and/or systems onboard the autonomous vehicle. If the torque control module 165 determines that the self-checks has passed, then the torque control module 165 can send a signal to cause a light bulb within an autonomous vehicle’s dashboard or cab to blink at a first frequency to indicate that the devices (e.g., camera, engine, LiDAR, etc.,) on or in the autonomous vehicle have passed self-check and/or the autonomous vehicle is ready for performing autonomous driving operations.
In some embodiments, if the torque control module 165 determines that the self-checks has passed, then the torque control module 165 can send a message to be displayed on a graphical user interface (GUI) on a display located in the autonomous vehicle, where the displayed message indicates that the devices on or in autonomous vehicle have passed self-check and/or the autonomous vehicle is ready for performing autonomous driving operations. If the torque control module 165 does not pass the self-check then the torque control module can send another signal to the light bulb (or another message to the GUI on the display) to cause the light bulb to blink at a second frequency faster than the first frequency (or to cause the GUI to display that the devices on or in the autonomous vehicle have not passed self-check and/or the autonomous vehicle is not ready for performing autonomous driving operation). A faster blinking light bulb indicates to the driver to turn off the autonomous vehicle and the in-vehicle control computer and restart the startup process because the devices on or in the autonomous vehicle have not passed self-check and/or the autonomous vehicle is not ready for performing autonomous driving operation.
If the torque control module 165 determines that the self-checks have passed and indicates via the light bulb or the message on the display that the autonomous vehicle is ready for autonomous driving, the torque control module 165 can compare a speed of the autonomous vehicle to a pre-determined threshold (e.g., 5 mph or 10 mph) to determine whether to cause autonomous driving related operations to be performed upon receiving an indication to cause autonomous driving related operations to be performed. For example, the driver can drive the autonomous vehicle over a pre-determined threshold and then the driver can indicate via a display associated with the in-vehicle control computer 150 or a switch or a knob to request autonomous driving to commence. Once the torque control module receives an indication that autonomous driving has been requested, and after the torque control module determines that the speed of the autonomous vehicle is greater than the pre-determined threshold, then the torque control module can cause autonomous driving related operations to be performed. For example, as explained in this patent document, after the autonomous driving has been initiated, the torque control module can send instructions over time to control the engine to have the engine generate requested torque related values over time.
In some embodiments, the accelerator pedal is in the undepressed position when the set of torque related values are sent from the computer to control the engine. In some embodiments, the set of torque related values are sent from the computer to control the engine via an application programming interface stored in the computer. In some embodiments, the set of torque related values are sent from the computer to control the engine via the application programming interface. In some embodiments, each of the set of torque related values indicate an amount of torque requested by the computer from the engine to perform the autonomous driving related operations. In some embodiments, the method further comprises performing a first determination, by the computer, that devices on or in the vehicle have passed a self-check operation and the vehicle is ready for autonomous driving; and sending, in response to the first determination, a signal or a message that indicates that the devices on or in the vehicle have passed the self-check operation and the vehicle is ready for autonomous driving.
In some embodiments, the signal is indicated by a light bult in the vehicle, or the message is displayed on a display located in the vehicle and associated with the computer. In some embodiments, the method further comprises in response to receiving a second indication that indicates a request for initiating autonomous driving: performing a second determination that a speed of the vehicle is greater than a pre-determined threshold; and where the instructions that cause the vehicle to perform the autonomous driving related operations are sent to the one or more devices located in the vehicle in response to the performing the second determination. In some embodiments, the pre-determined threshold is 5 miles per hour or 10 miles per hour. In some embodiments, prior to the first determination, the computer and the engine receive signals to turn on within a pre-determined time window. In some embodiments, the pre-determined time window is 30 seconds.
In some embodiments, the method further comprises performing a third determination, by the computer, that devices on or in the vehicle have not passed a self-check operation and the vehicle is not ready for autonomous driving; and sending, in response to the third determination, another signal or another message that indicates that the devices on or in the vehicle have not passed the self-check operation and the vehicle is not ready for autonomous driving. In some embodiments, the vehicle is caused to not perform additional autonomous driving related operations in response to the received the indication and in response to a determination that a position of the accelerator pedal when depressed from the undepressed position is greater than a threshold value. In some embodiments, the threshold value is configurable. In some embodiments, the position of the accelerator pedal when depressed is indicated by a sensor associated with the accelerator pedal. In some embodiments, the sensor includes a position sensor. In some embodiments, one of the set of torque related values indicates that zero torque or no torque is requested by the computer from the engine. In some embodiments, the vehicle is a tractor unit of a semi-trailer truck. In some embodiments, the vehicle is caused to not perform additional autonomous driving related operations by the processor configured to not send additional torque related values to the engine.
Implementations of the subject matter and the functional operations described in this patent document can be implemented in various systems, semiconductor devices, ultrasonic devices, digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Implementations of aspects of the subject matter described in this specification can be implemented as one or more computer program products, e.g., one or more modules of computer program instructions encoded on a tangible and non-transitory computer readable medium for execution by, or to control the operation of, data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine-readable propagated signal, or a combination of one or more of them. The term “data processing unit” or “data processing apparatus” encompasses all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. The apparatus can include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.
A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.
The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).
Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random-access memory or both. The essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices. Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.
In this disclosure, LiDAR or LIDAR are used to refer to light detection and ranging devices and methods, and alternatively, or additionally, laser detection and ranging devices and methods. The use of these acronyms does not imply limitation of the described devices, systems, or methods to the use of one over the other.
While this patent document contains many specifics, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. Certain features that are described in this patent document in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub combination or variation of a sub combination.
Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Moreover, the separation of various system components in the embodiments described in this patent document should not be understood as requiring such separation in all embodiments.
Only a few implementations and examples are described, and other implementations, enhancements and variations can be made based on what is described and illustrated in this patent document.
This document claims priority to and benefits of U.S. Pat. Application No. 63/286,414, filed on Dec. 6, 2021. The aforementioned application of which is incorporated by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 63286414 | Dec 2021 | US |
