CN103287431A - 车辆速度控制装置及方法 - Google Patents
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- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
- B60K31/042—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
- B60K31/045—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
- B60K31/047—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K2310/00—Arrangements, adaptations or methods for cruise controls
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- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
- B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
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Abstract
一种自动控制车辆速度的方法,该方法包括:接收来自驾驶员的进入巡航控制模式的输入;确定阈值速度;将车辆速度增加至高于阈值速度的第一预定值或比例的速度;将车辆速度减小至低于阈值速度的第二预定值或比例的速度;以及重复增加和减小车辆速度的步骤直至收到退出巡航控制模式的输入。
Description
技术领域
本发明涉及一种车辆速度控制装置及方法。具体说,但不排它地,本发明涉及在巡航控制模式期间控制车辆速度以改善燃料经济性和/或排放。
背景技术
在车辆内提供巡航控制系统以无需驾驶员的任何输入,例如油门踏板的操作,自动地控制车辆的速度。典型地,驾驶员规定与期望速度相关的设定值。车辆速度被自动地控制,直至驾驶员干预,例如通过操作刹车、离合器、油门或模式开关中的一个或更多个。
已知的自适应巡航控制系统还能够提供自动刹车或动态设定速度型控制。当接近前方车辆并再次加速至交通允许的阈值速度时,自动刹车系统允许车辆与其跟随的汽车保持同步。动态设定速度使用限速标志的GPS定位来设定阈值速度。
现有的速度控制算法能够精确地保持车辆速度处在阈值速度,即使是在不同道路坡度下。然而,这些算法未为燃料经济性或排放而优化。众所周知,即便当通过具有平缓坡度的不同道路坡度时,这能够由熟练的驾驶员更经济地做到。驾驶员能够保持相对恒定的油门位置并允许车辆下坡时加速及上坡时减速,当到达顶点驾驶员降低功率,以及在抵达上坡前增加功率。已知的巡航控制系统倾向于在上坡时过分踩油门并在下坡时减速,因此浪费了来自车辆惯性的能量。
内燃机在发动机速度和扭矩的特定组合下根据制动耗油率(BSFC)最有效地运行。然而,当以恒速巡航时,发动机可能远离最佳BSFC控制点。
大部分的速度计具有大约±10%的公差。车辆制造商通常通过读高等于平均误差的量来校准速度计,以确保速度计不指示比车辆的实际速度更低的速度。
发明内容
根据本发明的第一方面,提供一种自动控制车辆速度的方法,该方法包括:
接收来自驾驶员的进入巡航控制模式的输入;
确定阈值速度;
将车辆速度增加至高于阈值速度的第一预定值或比例的速度;
将车辆速度减小至低于阈值速度的第二预定值或比例的速度;
重复增加和减小车辆速度的步骤直至收到退出巡航控制模式的输入。
阈值速度可至少在最初对应于车辆的当前速度。阈值速度可以在巡航控制模式期间可由驾驶员调整。
增加车辆速度的步骤可包括增加供应给发动机的燃料的量以使车辆加速。
减小车辆速度的步骤可包括减小供应给发动机的燃料的量以使车辆减速。或者,减小车辆速度的步骤可包括将发动机与车轮断开。减小车辆速度的步骤可包括解离车辆的变速箱离合器。
作为选择或此外,增加和减小车辆速度的步骤中的至少一个可包括被动地允许车辆速度由于道路坡度、切断引擎等等分别地增加或减小。因此,术语“增加”和“减小”意在包括采取间接地引起、或被动地允许速度改变的行动。
第一预定值或比例可实质上等于第二预定值或比例。
第一和第二预定值中的至少一个可取决于至少一个发动机参数。第一和第二预定值中的至少一个可取决于各自车辆速度的制动耗油率值(brakespecific fuel consumption value)。可选择第一和第二预定值中的至少一个以产生发动机的最佳制动耗油率值。
第一和第二预定比例中的至少一个可以是高于阈值速度的预定比例或百分比。该预定百分比可为10%或更少。
该方法可包括提供包括用于执行该方法的处理器和存储器的控制装置。预定值或比例可包括存储器中存储的值或比例。
作为选择,预定值或比例可由存储的算法确定。可实时地确定该预定值或比例。预定值或比例可在改变车辆速度之前被确定。
该方法可包括提供至少减小与车辆速度重复改变相关联的声音、视觉或触觉现象的手段。
该手段可包括改变由发动机产生的声音。该手段可包括改变发动机的工作循环。
该手段可包括执行以对驾驶员来讲几乎察觉不到的速率改变车辆速度的步骤。
该手段可包括改变转速计的显示。该手段可包括使用过滤器,例如过滤算法,以改变转速计的显示。
该方法可包括适应性地控制车辆的速度。该方法可包括检测前方车辆并确定距前方车辆的距离。该方法可包括保持车辆在距前方车辆一定的距离范围内。增加车辆速度、减小车辆速度、计算第一预定值和计算第二预定值中的至少一个步骤可取决于距前方车辆的距离。
根据本发明的第二方面,提供一种用于车辆的自动速度控制装置,该装置包括:
用于允许驾驶员进入或退出巡航控制模式的输入装置;
包括处理器和存储器的控制装置,其中,该控制装置用于响应于输入装置进入巡航控制模式的操作而:
确定阈值速度;
将车辆速度增加至高于阈值速度的第一预定值或比例的速度;
将车辆速度减小至低于阈值速度的第二预定值或比例的速度;
重复增加和减小车辆速度的步骤直至收到来自驾驶员的退出巡航控制模式的输入。
预定值或比例可包括存储器中存储的值或比例。作为选择,预定值或比例可由存储器中存储的算法确定。可实时地确定预定值或比例。预定值或比例可在改变车辆速度之前确定。
阈值速度可至少在最初对应于车辆的当前速度。控制装置在巡航控制模式期间可以由驾驶员可操作地调整阈值速度。
该装置可以可操作地耦合于车辆的燃料供给系统。该装置可用于增加或减小供应给发动机的燃料的量中的至少一个以使车辆加速。
该装置可以可操作地耦合于车辆变速器。该装置可用于将发动机与车轮断开。该装置可用于解离车辆的变速箱离合器。
该装置可包括用于感应至少一个发动机参数的一个或更多个传感器。该装置可用于改变取决于至少一个感应的发动机参数的车辆速度。
处理器可用于确定制动耗油率值。第一和第二预定值中的至少一个可取决于各自车辆速度的制动耗油率值。可选择第一和第二预定值中的至少一个以产生发动机的最佳制动耗油率值。
该装置可包括至少减小与车辆速度重复改变相关联的声音、视觉或触觉现象的装置。
该装置可为自适应自动速度控制装置。该装置可包括检测系统,例如雷达,用以检测前方车辆并确定距前方车辆的距离。该装置可用于保持车辆在距前方车辆一定的距离范围内。
附图说明
现将仅通过举例的方式,参照附图描述本发明的具体实施方式,其中:
图1是根据本发明的方法的流程图。
具体实施方式
图1显示自动控制车辆速度的方法。该方法通过自动速度控制装置执行。该装置可为车辆的发动机控制单元(ECU)的一部分或与ECU连通的单独组件。该装置包括包含处理器和存储器的控制装置及用于测量发动机参数和车辆速度的多个传感器。
该装置还包括输入装置,例如开关,其可由驾驶员操作使该装置进入巡航控制模式。在步骤10中,处理器连续不断地监控开关的状态。如果被操作,则该装置进入巡航控制模式并移动到步骤20。
处理器确定阈值速度。其在最初对应于车辆的当前速度,因此处理器将阈值速度设置为感应到的当前速度。然而,能够设置处理器以使驾驶员在巡航控制期间可调整阈值速度。
接下来,在步骤30中,感应各种发动机参数,以及在步骤40中,确定第一预定值。该值取决于发动机参数并被选择以提供发动机的最佳制动耗油率(BSFC)性能。然而,也可应用上限,例如第一预定值不大于阈值速度的10%。
在步骤50中,处理器发送信号增加运送至发动机的燃料的量。这引起车辆速度增加。
在步骤60中,感应当前车辆速度。处理器包括比较器单元,并且在步骤70中,将当前车辆速度与阈值速度和第一预定值之和进行比较。如果当前车辆速度小于该和,则该方法回到步骤50以进一步增加燃料的供应。如果当前车辆速度已经达到或超过该和,那么该方法继续到步骤80。
在步骤80中,再次感应各种发动机参数,以及在步骤90中,确定第二预定值。该值也被选择以提供发动机的最佳BSFC性能。该最佳BSFC值将改变,因为它取决于由于车辆速度已经增加而将改变的发动机转速。不需要应用下限来避免速度妨碍,但可应用下限来限制在阈值速度附近波动的幅度。
在步骤100中,处理器发送信号减小运送至发动机的燃料的量。这引起车辆速度减小。
在步骤110中,再次感应当前车辆速度。然后处理器将当前车辆速度与阈值速度和第二预定值之差进行比较。如果当前车辆速度大于该差值,则该方法回到步骤100以进一步减小燃料的供应。
如果当前车辆速度已经减小,以致其等于或小于计算的差值,那么该方法回到步骤30。因此,该方法重复增加和减小车辆速度的步骤。其持续直至收到退出巡航控制模式的输入。其可来自于驾驶员,但还能来自于另外的来源,例如来自于防撞系统。
在另一实施例中,减小车辆速度的步骤可包含将发动机与车轮断开,例如通过解离车辆的变速箱离合器。
为了在最佳或接近最佳BSFC运行,本发明允许车辆速度在阈值速度附近有微小变化。使用脉冲方法,车辆速度将具有在阈值速度附近的平均值,而燃料消耗量与恒定的加油状况相比将减少。
上述方法可影响车辆和/或发动机的特征,例如噪声、振动、和声振粗糙度(NVH)特征。能够使用各种方法来缓解它。这可以包括改变工作循环、使偏离阈值速度波动的幅度缩到最小、以及限制加油/油门促动/停用的进取性。
一些增加或减小车辆速度的方法包含发动机速度的迅速和/或大量改变,其可在转速计的显示器上对驾驶员是明显的。其能够使用转速计过滤算法而被缓和。
本发明能包括自适应速度控制方法和装置,其使用朝向前方的雷达系统来检测距前方车辆的距离。该距离能够被动态地管理以允许增加和减小车辆的速度。
以上已经描述了本发明的具体实施方式,然而应该理解的是,偏离所述的实施方式仍可落入本发明的范围内。
Claims (39)
1.一种自动控制车辆速度的方法,其特征在于,该方法包括:
接收来自驾驶员的进入巡航控制模式的输入;
确定阈值速度;
将车辆速度增加至高于阈值速度的第一预定值或比例的速度;
将车辆速度减小至低于阈值速度的第二预定值或比例的速度;以及
重复增加和减小车辆速度的步骤直至收到退出巡航控制模式的输入。
2.根据权利要求1所述的方法,其特征在于,所述阈值速度至少在最初对应于车辆的当前速度。
3.根据权利要求1或2所述的方法,其特征在于,所述阈值速度在巡航控制模式期间可由驾驶员调整。
4.根据前述任一权利要求所述的方法,其特征在于,所述增加车辆速度的步骤包括增加供应给发动机的燃料的量以使车辆加速。
5.根据前述任一权利要求所述的方法,其特征在于,所述减小车辆速度的步骤包括减小供应给发动机的燃料的量以使车辆减速。
6.根据权利要求1至4中任一权利要求所述的方法,其特征在于,所述减小车辆速度的步骤包括将发动机与车轮断开。
7.根据权利要求6所述的方法,其特征在于,所述减小车辆速度的步骤包括解离车辆的变速箱离合器。
8.根据前述任一权利要求所述的方法,其特征在于,所述增加和减小车辆速度的步骤中的至少一个包括被动地允许车辆速度由于道路坡度和切断引擎之一或两者分别地增加或减小。
9.根据前述任一权利要求所述的方法,其特征在于,第一预定值或比例实质上等于第二预定值或比例。
10.根据前述任一权利要求所述的方法,其特征在于,第一和第二预定值中的至少一个取决于至少一个发动机参数。
11.根据权利要求10所述的方法,其特征在于,第一和第二预定值中的至少一个取决于各自车辆速度的制动耗油率值。
12.根据权利要求11所述的方法,其特征在于,选择第一和第二预定值中的至少一个以产生发动机的最佳制动耗油率值。
13.根据权利要求1至9中任一权利要求所述的方法,其特征在于,第一和第二预定比例中的至少一个为高于阈值速度的预定比例或百分比。
14.根据权利要求13所述的方法,其特征在于,所述预定百分比为10%或更少。
15.根据前述任一权利要求所述的方法,其特征在于,包括提供包括用于执行该方法的处理器和存储器的控制装置。
16.根据权利要求15所述的方法,其特征在于,所述预定值或比例包括存储器中存储的值或比例。
17.根据权利要求15所述的方法,其特征在于,所述预定值或比例由存储的算法确定。
18.根据权利要求17所述的方法,其特征在于,实时地确定所述预定值或比例。
19.根据权利要求17或18所述的方法,其特征在于,所述预定值或比例在改变车辆速度之前被确定。
20.根据前述任一权利要求所述的方法,其特征在于,包括提供至少减小与车辆速度重复改变相关联的声音、视觉或触觉现象的手段。
21.根据权利要求20所述的方法,其特征在于,所述手段包括改变由发动机产生的声音。
22.根据权利要求21所述的方法,其特征在于,所述手段包括改变发动机的工作循环。
23.根据权利要求20至22中任一权利要求所述的方法,其特征在于,所述手段包括执行以对驾驶员来讲几乎察觉不到的速率改变车辆速度的步骤。
24.根据权利要求20至23中任一权利要求所述的方法,其特征在于,所述手段包括改变转速计的显示。
25.根据权利要求24所述的方法,其特征在于,所述手段包括使用过滤器以改变转速计的显示。
26.根据前述任一权利要求所述的方法,其特征在于,包括适应性地控制车辆的速度。
27.根据权利要求26所述的方法,其特征在于,包括检测前方车辆、确定距前方车辆的距离、以及保持车辆在距前方车辆一定的距离范围内。
28.根据权利要求27所述的方法,其特征在于,增加车辆速度、减小车辆速度、计算第一预定值和计算第二预定值中的至少一个步骤取决于距前方车辆的距离。
29.一种用于车辆的自动速度控制装置,其特征在于,该装置包括:
用于允许驾驶员进入或退出巡航控制模式的输入装置;以及
包括处理器和存储器的控制装置,其中,该控制装置用于响应于输入装置进入巡航控制模式的操作而:
确定阈值速度;
将车辆速度增加至高于阈值速度的第一预定值或比例的速度;
将车辆速度减小至低于阈值速度的第二预定值或比例的速度;以及
重复增加和减小车辆速度的步骤直至收到来自驾驶员的退出巡航控制模式的输入。
30.根据权利要求29所述的装置,其特征在于,所述预定值或比例包括存储器中存储的值或比例。
31.根据权利要求29所述的装置,其特征在于,所述预定值或比例由存储器中存储的算法确定。
32.根据权利要求29至31中任一权利要求所述的装置,其特征在于,所述装置可操作地耦合于车辆的燃料供给系统,并且所述装置用于增加或减小供应给发动机的燃料的量中的至少一个以使车辆速度改变。
33.根据权利要求29至32中任一权利要求所述的装置,其特征在于,所述装置可操作地耦合于车辆变速器,并且所述装置用于将发动机与车轮断开以使车辆速度减小。
34.根据权利要求29至33中任一权利要求所述的装置,其特征在于,包括用于感应至少一个发动机参数的一个或更多个传感器,其中所述装置用于改变取决于至少一个感应的发动机参数的车辆速度。
35.根据权利要求34所述的装置,其特征在于,所述处理器用于确定制动耗油率值,其中第一和第二预定值中的至少一个取决于各自车辆速度的制动耗油率值。
36.根据权利要求35所述的装置,其特征在于,选择所述第一和第二预定值中的至少一个以产生发动机的最佳制动耗油率值。
37.根据权利要求29至36中任一权利要求所述的装置,其特征在于,包括至少减小与车辆速度重复改变相关联的声音、视觉或触觉现象的装置。
38.根据权利要求29至37中任一权利要求所述的装置,其特征在于,所述装置为自适应自动速度控制装置。
39.根据权利要求38所述的装置,其特征在于,包括检测前方车辆并确定距前方车辆的距离的检测系统,其中所述装置用于保持车辆在距前方车辆一定的距离范围内。
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CN112389428A (zh) * | 2019-08-02 | 2021-02-23 | 北京地平线机器人技术研发有限公司 | 车辆速度的控制方法和装置、存储介质、电子设备 |
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US8868312B2 (en) | 2014-10-21 |
GB2499657A (en) | 2013-08-28 |
US20130226420A1 (en) | 2013-08-29 |
US9358979B2 (en) | 2016-06-07 |
GB201203312D0 (en) | 2012-04-11 |
CN103287431B (zh) | 2017-08-18 |
RU2013108455A (ru) | 2014-09-10 |
DE102013202934A1 (de) | 2013-08-29 |
RU2634516C2 (ru) | 2017-10-31 |
GB2499657B (en) | 2018-07-11 |
US20150039203A1 (en) | 2015-02-05 |
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