CN113359680B - Data acquisition method and vehicle-mounted terminal - Google Patents
Data acquisition method and vehicle-mounted terminal Download PDFInfo
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- G05B23/00—Testing or monitoring of control systems or parts thereof
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Abstract
The invention provides a data acquisition method and a vehicle-mounted terminal, wherein the method comprises the following steps: acquiring a pre-configured heartbeat configuration table issued by a network platform; analyzing a heartbeat configuration table, and acquiring a source address parameter corresponding to each CANID in the heartbeat configuration table and a configuration parameter for acquiring data; determining a protocol corresponding to each CANID by utilizing the source address parameters of the CANID; for each CANID, data conforming to the protocol corresponding to the CANID is collected from the ECU based on the protocol corresponding to the CANID and the configuration parameters. In the scheme, protocols corresponding to the CANIDs are distinguished through source address parameters in a pre-configured heartbeat configuration table, and data conforming to the protocols corresponding to the CANIDs are collected from the ECU. On the basis of not modifying the original framework of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, and the adaptability of a data acquisition mode is improved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a data acquisition method and a vehicle-mounted terminal.
Background
Upon transmission of data such as landmarks, the network platform issues a J1939 protocol heartbeat configuration table to the vehicle terminal, causing the vehicle terminal to collect J1939 data from the vehicle computer (Electronic Control Unit, ECU). Along with the increasing business demands, the vehicle-mounted terminal needs to collect more data of the protocols in the ECU, but at present, the vehicle-mounted terminal cannot collect other data such as ISO14230 protocol based on a J1939 protocol heartbeat configuration table, and the data collection mode is poor in adaptability.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a data acquisition method and a vehicle-mounted terminal, so as to solve the problems of poor adaptability and the like of the existing data acquisition mode from an ECU.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the first aspect of the embodiment of the invention discloses a data acquisition method, which comprises the following steps:
acquiring a pre-configured heartbeat configuration table issued by a network platform;
analyzing the heartbeat configuration table, and acquiring source address parameters corresponding to each Controller Area Network Identifier (CANID) in the heartbeat configuration table and configuration parameters for acquiring data;
for each CANID, determining a protocol corresponding to the CANID by utilizing a source address parameter of the CANID, wherein the protocol corresponding to the CANID is J1939 protocol or a designated protocol;
and acquiring data conforming to the protocol corresponding to the CANID from the driving computer ECU based on the protocol corresponding to the CANID and the configuration parameters for each CANID.
Preferably, the determining, for each nid, a protocol corresponding to the nid by using a source address parameter of the nid includes:
judging whether the source address parameter of each CANID is a preset value or not according to each CANID;
if the source address parameter of the CANID is not the preset value, determining that the protocol corresponding to the CANID is J1939 protocol;
and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is the appointed protocol corresponding to the preset value.
Preferably, the obtaining a pre-configured heartbeat configuration table sent by the network platform includes:
and acquiring a pre-configured J1939 protocol heartbeat configuration table issued by the network platform.
Preferably, if the source address parameter of the nid is the preset value, determining that the protocol corresponding to the nid is the specified protocol corresponding to the preset value includes:
and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is an ISO14230 protocol.
Preferably, the collecting, for each nid, data conforming to a protocol corresponding to the nid from a vehicle computer ECU based on the protocol corresponding to the nid and the configuration parameter includes:
for each CANID, if the protocol corresponding to the CANID is the J1939 protocol, the configuration parameters corresponding to the CANID are utilized to collect J1939 data from the ECU, and if the protocol corresponding to the CANID is the ISO14230 protocol, the configuration parameters corresponding to the CANID are utilized to collect ISO14230 data from the ECU.
The second aspect of the embodiment of the invention discloses a vehicle-mounted terminal, which comprises:
the acquisition unit is used for acquiring a pre-configured heartbeat configuration table issued by the network platform;
the analyzing unit is used for analyzing the heartbeat configuration table and acquiring source address parameters corresponding to the Controller Area Network Identifications (CANID) in the heartbeat configuration table and configuration parameters for acquiring data;
a determining unit, configured to determine, for each nid, a protocol corresponding to the nid by using a source address parameter of the nid, where the protocol corresponding to the nid is a J1939 protocol or a specified protocol;
and the acquisition unit is used for acquiring data conforming to the protocol corresponding to the CANID from the driving computer ECU based on the protocol corresponding to the CANID and the configuration parameters for each CANID.
Preferably, the determining unit includes:
a judging module, configured to determine, for each nid, whether a source address parameter of the nid is a preset value;
a first determining module, configured to determine that a protocol corresponding to the nid is a J1939 protocol if the source address parameter of the nid is not the preset value;
and the second determining module is used for determining that the protocol corresponding to the CANID is a specified protocol corresponding to the preset value if the source address parameter of the CANID is the preset value.
Preferably, the acquiring unit is specifically configured to: and acquiring a pre-configured J1939 protocol heartbeat configuration table issued by the network platform.
Preferably, the second determining module is specifically configured to: and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is an ISO14230 protocol.
Preferably, the collecting unit is specifically configured to: for each CANID, if the protocol corresponding to the CANID is the J1939 protocol, the configuration parameters corresponding to the CANID are utilized to collect J1939 data from the ECU, and if the protocol corresponding to the CANID is the ISO14230 protocol, the configuration parameters corresponding to the CANID are utilized to collect ISO14230 data from the ECU.
Based on the data acquisition method and the vehicle-mounted terminal provided by the embodiment of the invention, the method comprises the following steps: acquiring a pre-configured heartbeat configuration table issued by a network platform; analyzing a heartbeat configuration table, and acquiring a source address parameter corresponding to each CANID in the heartbeat configuration table and a configuration parameter for acquiring data; determining a protocol corresponding to each CANID by utilizing the source address parameters of the CANID; for each CANID, data conforming to the protocol corresponding to the CANID is collected from the ECU based on the protocol corresponding to the CANID and the configuration parameters. In the scheme, protocols corresponding to the CANIDs are distinguished through source address parameters in a pre-configured heartbeat configuration table, and data conforming to the protocols corresponding to the CANIDs are collected from the ECU. On the basis of not modifying the original framework of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, and the adaptability of a data acquisition mode is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a data acquisition method according to an embodiment of the present invention;
fig. 2 is a block diagram of a vehicle-mounted terminal according to an embodiment of the present invention;
fig. 3 is another block diagram of a vehicle-mounted terminal according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As known from the background art, when data is collected from a driving computer (Electronic Control Unit, ECU), a network platform issues a J1939 protocol heartbeat configuration table to a vehicle-mounted terminal, and the vehicle-mounted terminal collects J1939 data from the ECU. However, the current vehicle-mounted terminal cannot collect other data such as ISO14230 protocol based on the J1939 protocol heartbeat configuration table, and the existing data collection mode is poor in suitability.
Therefore, the embodiment of the invention provides a data acquisition method and a vehicle-mounted terminal, which are used for distinguishing protocols corresponding to each CANID through source address parameters in a pre-configured heartbeat configuration table and acquiring data conforming to the protocols corresponding to the CANID from an ECU. On the basis of not modifying the original framework of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, so that the adaptability of a data acquisition mode is improved.
Referring to fig. 1, a flowchart of a data acquisition method provided by an embodiment of the present invention is shown, where the data acquisition method is applicable to a vehicle terminal, and the data acquisition method includes:
step S101: and acquiring a pre-configured heartbeat configuration table issued by the network platform.
It should be noted that, in the embodiment of the present invention, a heartbeat configuration table is pre-configured, and in the configuration process, different protocols are distinguished by the source address parameter of the heartbeat configuration table, that is, the purpose of distinguishing different protocols is achieved by configuring the source address parameter in the heartbeat configuration table.
In the specific implementation process of step S101, a pre-configured J1939 protocol heartbeat configuration table issued by the network platform is obtained, that is, in the embodiment of the present invention, the heartbeat configuration table issued by the network platform is a J1939 protocol heartbeat configuration table, and the architecture of the J1939 protocol heartbeat configuration table in the embodiment of the present invention is consistent with the architecture of the existing J1939 protocol heartbeat configuration table.
It should be noted that, each nid in the J1939 heartbeat configuration table corresponds to a set of parameters (including source address parameters), so in the embodiment of the present invention, the source address parameters corresponding to the nid in the J1939 heartbeat configuration table are configured to be used to distinguish the protocols corresponding to the nid.
To better illustrate the architecture of the currently existing J1939 protocol heartbeat configuration table, an illustration is provided by way of example in Table 1.
Table 1:
| CANID | cf00300 | cf00400 |
| PGNrequestidentifie | 0 | 0 |
| RequestPGN | 0 | 0 |
| RequestSrcAddr | 0 | 0 |
| Numberofvariables | 1 | 3 |
| Variablename | YMTB | FDJZS |
| StartPosition | 49 | 25 |
| Length | 8 | 16 |
| DataType | 1 | 2 |
| Offset | 0.0 | 0.0 |
| Coefficient | 0.4 | 0.125 |
in table 1, PGN is a parameter set number (Parameter Group Number), PGN request identifie is a PGN request identifier, requestPGN is a request PGN, requestSrcAddr is a source address parameter, numberofvariability is a Variable number, variable name is a Variable name, startPosition is a start position, length is a Length, dataType is a data type, offset is an Offset, and Coefficient is a Coefficient.
It will be appreciated that for the J1939 protocol, the source address parameter is the last byte used to indicate the nid of the J1939 protocol, which indicates the direction of application, such as a source address parameter of 0 representing the engine.
As can be seen from the above description of table 1, in the architecture of the J1939 heartbeat configuration table, each CANID corresponds to a source address parameter and other configuration parameters (which may be understood as parameters other than the source address parameter) for collecting data.
Step S102: analyzing the heartbeat configuration table, and acquiring source address parameters corresponding to each controller local area network identifier (ControllerAreaNetworkID, CANID) in the heartbeat configuration table and configuration parameters for acquiring data.
In the specific implementation process of step S102, the J1939 protocol heartbeat configuration table issued by the network platform is parsed, and the source address parameter corresponding to each CANID in the heartbeat configuration table and the configuration parameters for collecting data are obtained.
Step S103: and determining a protocol corresponding to the CANID by utilizing the source address parameters of the CANID for each CANID.
The protocol corresponding to the caid is the J1939 protocol or a specified protocol (for example, other protocols such as the ISO14230 protocol).
From the above, it can be seen that, by configuring the source address parameter of each nid in the J1939 protocol heartbeat configuration table, the protocols corresponding to each nid can be distinguished, for example: for a certain CANID in the J1939 protocol heartbeat configuration table, setting the source address parameter of the CANID to 0x99 (for example, 0x represents hexadecimal), the protocol corresponding to the CANID is ISO14230 protocol (a diagnostic protocol). Similarly, other protocols may be represented by setting the source address parameter to other values, that is, multiple protocols may be distinguished by configuring the source address parameter of each can in the J1939 protocol heartbeat configuration table, and specific values of the source address parameters corresponding to the various protocols are not limited in the embodiment of the present invention.
In the specific implementation step S103, for each nid, determining whether the source address parameter of the nid is a preset value, and if the source address parameter of the nid is not the preset value, determining that the protocol corresponding to the nid is the J1939 protocol; if the source address parameter of the CANID is a preset value, determining that the protocol corresponding to the CANID is a specified protocol corresponding to the preset value, specifically, if the source address parameter of the CANID is a preset value corresponding to the ISO14230 protocol, determining that the protocol corresponding to the CANID is the ISO14230 protocol, and similarly, if the source address parameter of the CANID is a preset value corresponding to other protocols, determining that the protocol corresponding to the CANID is other protocols.
For example: for a certain CANID in the J1939 protocol heartbeat configuration table, if the source address parameter of the CANID is 0x99, determining that the protocol corresponding to the CANID is the ISO14230 protocol.
By the method, the protocol corresponding to each CANID in the J1939 protocol heartbeat configuration table is determined.
To better illustrate the J1939 protocol heartbeat configuration table as referred to in the embodiments of the present invention, it is illustrated by the contents of Table 2.
Table 2:
note that, the meaning of each parameter in table 2 is referred to the content shown in table 1, and will not be described herein.
Taking the content shown in table 2 as an example, for the nid of 5018c4 in table 2, the source address parameter of the nid of 5018c4 is "99" (which is a preset value set in advance), it indicates that the protocol corresponding to the nid of 5018c4 is the ISO14230 protocol, and similarly, the protocol corresponding to the nid of 5018c6 is the ISO14230 protocol. For the cf00300-CANID in Table 2, the source address parameter of the cf00300-CANID is "0" (not any preset value), which indicates that the protocol corresponding to the cf00300-CANID is J1939 protocol, and similarly, the protocol corresponding to the cf 00400-CANID is J1939 protocol.
Step S104: for each CANID, data conforming to the protocol corresponding to the CANID is collected from a vehicle computer (Electronic Control Unit, ECU) based on the protocol and configuration parameters corresponding to the CANID.
In the process of specifically implementing step S104, for each nid, data conforming to the protocol corresponding to the nid is collected from the ECU based on the protocol and the configuration parameters corresponding to the nid.
Specifically, for each nid, J1939 data is collected from the ECU using the configuration parameters corresponding to the nid if the protocol corresponding to the nid is the J1939 protocol, and ISO14230 data is collected from the ECU using the configuration parameters corresponding to the nid if the protocol corresponding to the nid is the ISO14230 protocol. The aforementioned ISO14230 protocol is only one of the specified protocols, and in the embodiment of the present invention, the ISO14230 protocol is merely taken as an example for explanation, and when the source address parameter corresponding to the nid indicates that the protocol corresponding to the nid is other specified protocol, data conforming to the other specified protocol is collected from the ECU.
According to the content in each step, on the basis of not changing the architecture of the J1939 protocol heartbeat configuration table, the data corresponding to a plurality of different protocols can be acquired only by configuring the source address parameters of each CANID of the J1939 protocol heartbeat configuration table, so that the compatibility of the J1939 protocol and other protocols is realized.
In the embodiment of the invention, the protocols corresponding to the CANIDs are distinguished through the source address parameters in the pre-configured heartbeat configuration table, and then the data conforming to the protocols corresponding to the CANIDs are collected from the ECU. On the premise of not modifying the original architecture of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, and the adaptability of a data acquisition mode is improved.
Corresponding to the data acquisition method provided by the embodiment of the present invention, referring to fig. 2, the embodiment of the present invention further provides a structural block diagram of a vehicle-mounted terminal, where the vehicle-mounted terminal includes: an acquisition unit 201, an analysis unit 202, a determination unit 203, and an acquisition unit 204;
an obtaining unit 201, configured to obtain a pre-configured heartbeat configuration table issued by the network platform.
In a specific implementation, the obtaining unit 201 is specifically configured to: and acquiring a pre-configured J1939 protocol heartbeat configuration table issued by the network platform.
The parsing unit 202 is configured to parse the heartbeat configuration table, and obtain a source address parameter corresponding to each nid in the heartbeat configuration table and a configuration parameter for collecting data.
A determining unit 203, configured to determine, for each nid, a protocol corresponding to the nid by using a source address parameter of the nid, where the protocol corresponding to the nid is a J1939 protocol or a specified protocol.
And the acquisition unit 204 is configured to acquire, for each nid, data conforming to a protocol corresponding to the nid from the ECU based on the protocol and the configuration parameters corresponding to the nid.
In a specific implementation, the acquisition unit 204 is specifically configured to: for each CANID, if the protocol corresponding to the CANID is the J1939 protocol, the J1939 data is collected from the ECU by using the configuration parameters corresponding to the CANID, and if the protocol corresponding to the CANID is the ISO14230 protocol, the ISO14230 data is collected from the ECU by using the configuration parameters corresponding to the CANID.
In the embodiment of the invention, the protocols corresponding to the CANIDs are distinguished through the source address parameters in the pre-configured heartbeat configuration table, and then the data conforming to the protocols corresponding to the CANIDs are collected from the ECU. On the basis of not modifying the original framework of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, and the adaptability of a data acquisition mode is improved.
Preferably, referring to fig. 3 in conjunction with fig. 2, another block diagram of a vehicle-mounted terminal provided by an embodiment of the present invention is shown, where the determining unit 203 includes: a judging module 2031, a first determining module 2032, and a second determining module 2033;
a judging module 2031, configured to determine, for each nid, whether the source address parameter of the nid is a preset value.
A first determining module 2032, configured to determine that the protocol corresponding to the nid is the J1939 protocol if the source address parameter of the nid is not a preset value.
A second determining module 2033, configured to determine that the protocol corresponding to the nid is the specified protocol corresponding to the preset value if the source address parameter of the nid is the preset value.
In a specific implementation, the second determining module 2033 is specifically configured to: if the source address parameter of the CANID is a preset value, determining that the protocol corresponding to the CANID is an ISO14230 protocol.
In summary, the embodiment of the invention provides a data acquisition method and a vehicle-mounted terminal, which acquire a pre-configured heartbeat configuration table issued by a network platform. Analyzing the heartbeat configuration table, and acquiring source address parameters corresponding to each CANID in the heartbeat configuration table and configuration parameters for acquiring data. And determining a protocol corresponding to the CANID by utilizing the source address parameters of the CANID for each CANID. For each CANID, data conforming to the protocol corresponding to the CANID is collected from the ECU based on the protocol corresponding to the CANID and the configuration parameters. On the basis of not modifying the original framework of the heartbeat configuration table, the source address parameters of the heartbeat configuration table are compatible with various protocols, the data of the various protocols are collected, and the suitability of a data collection mode is improved.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of data acquisition, the method comprising:
acquiring a pre-configured heartbeat configuration table issued by a network platform;
analyzing the heartbeat configuration table, and acquiring source address parameters corresponding to each Controller Area Network Identifier (CANID) in the heartbeat configuration table and configuration parameters for acquiring data;
for each CANID, determining a protocol corresponding to the CANID by utilizing a source address parameter of the CANID, wherein the protocol corresponding to the CANID is J1939 protocol or a designated protocol;
for each CANID, based on the protocol corresponding to the CANID and the configuration parameters, acquiring data conforming to the protocol corresponding to the CANID from a driving computer ECU;
wherein, for each nid, determining a protocol corresponding to the nid by using a source address parameter of the nid includes:
judging whether the source address parameter of each CANID is a preset value or not according to each CANID;
if the source address parameter of the CANID is not the preset value, determining that the protocol corresponding to the CANID is J1939 protocol;
and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is the appointed protocol corresponding to the preset value.
2. The method according to claim 1, wherein the obtaining a pre-configured heartbeat configuration table issued by the network platform comprises:
and acquiring a pre-configured J1939 protocol heartbeat configuration table issued by the network platform.
3. The method of claim 1, wherein if the source address parameter of the can id is the preset value, determining that the protocol corresponding to the can id is the specified protocol corresponding to the preset value comprises:
and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is an ISO14230 protocol.
4. A method according to claim 3, wherein for each nid, collecting data from the vehicle computer ECU that conforms to the protocol corresponding to the nid based on the protocol corresponding to the nid and the configuration parameters comprises:
for each CANID, if the protocol corresponding to the CANID is the J1939 protocol, the configuration parameters corresponding to the CANID are utilized to collect J1939 data from the ECU, and if the protocol corresponding to the CANID is the ISO14230 protocol, the configuration parameters corresponding to the CANID are utilized to collect ISO14230 data from the ECU.
5. A vehicle-mounted terminal, characterized in that the vehicle-mounted terminal comprises:
the acquisition unit is used for acquiring a pre-configured heartbeat configuration table issued by the network platform;
the analyzing unit is used for analyzing the heartbeat configuration table and acquiring source address parameters corresponding to the Controller Area Network Identifications (CANID) in the heartbeat configuration table and configuration parameters for acquiring data;
a determining unit, configured to determine, for each nid, a protocol corresponding to the nid by using a source address parameter of the nid, where the protocol corresponding to the nid is a J1939 protocol or a specified protocol;
the acquisition unit is used for acquiring data conforming to the protocol corresponding to the CANID from the driving computer ECU based on the protocol corresponding to the CANID and the configuration parameters for each CANID;
wherein the determining unit includes:
a judging module, configured to determine, for each nid, whether a source address parameter of the nid is a preset value;
a first determining module, configured to determine that a protocol corresponding to the nid is a J1939 protocol if the source address parameter of the nid is not the preset value;
and the second determining module is used for determining that the protocol corresponding to the CANID is a specified protocol corresponding to the preset value if the source address parameter of the CANID is the preset value.
6. The vehicle-mounted terminal according to claim 5, wherein the obtaining unit is specifically configured to: and acquiring a pre-configured J1939 protocol heartbeat configuration table issued by the network platform.
7. The vehicle-mounted terminal according to claim 6, wherein the second determining module is specifically configured to: and if the source address parameter of the CANID is the preset value, determining that the protocol corresponding to the CANID is an ISO14230 protocol.
8. The vehicle-mounted terminal according to claim 7, wherein the acquisition unit is specifically configured to: for each CANID, if the protocol corresponding to the CANID is the J1939 protocol, the configuration parameters corresponding to the CANID are utilized to collect J1939 data from the ECU, and if the protocol corresponding to the CANID is the ISO14230 protocol, the configuration parameters corresponding to the CANID are utilized to collect ISO14230 data from the ECU.
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