CN114261243A - Vehicle driving control method and system and vehicle - Google Patents
Vehicle driving control method and system and vehicle Download PDFInfo
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- CN114261243A CN114261243A CN202210022863.3A CN202210022863A CN114261243A CN 114261243 A CN114261243 A CN 114261243A CN 202210022863 A CN202210022863 A CN 202210022863A CN 114261243 A CN114261243 A CN 114261243A
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- 238000009826 distribution Methods 0.000 description 3
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Abstract
The embodiment of the invention discloses a vehicle driving control method and system and a vehicle. The method comprises the following steps: executing by a control system, and acquiring a tire burst trigger signal and determining a tire burst when the tire burst condition is met according to the air pressure of the vehicle tire; determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire; controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height. The technical scheme of the embodiment of the invention ensures the driving posture of the vehicle when the tire is burst, and improves the operation stability and safety of the vehicle when the tire is burst.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle driving control method, a vehicle driving control system and a vehicle.
Background
With the increasingly important role of automobiles in production and life of people, the performances of automobiles in all aspects are greatly improved, the potential safety hazard of tire burst exists when the automobiles run at high speed particularly, and serious consequences are caused if the postures of the automobiles cannot be controlled in time during the tire burst.
In the prior art, a steering device for locking a vehicle can be selected to decelerate when the vehicle is blown out, or the vehicle posture is controlled through a suspension system arranged on the vehicle, so that the vehicle is prevented from rolling over.
However, no matter whether the steering device of the vehicle is selected to be controlled to decelerate or the vehicle posture is controlled through a suspension system of the vehicle, the vehicle cannot be effectively operated during tire burst, and the vehicle cannot be prevented from deviating during tire burst.
Disclosure of Invention
The embodiment of the invention provides a vehicle driving control method, a vehicle driving control system and a vehicle, which are used for effectively controlling when the vehicle has a tire burst and improving the safety and the stability of vehicle driving.
In a first aspect, an embodiment of the present invention provides a vehicle driving control method, which is executed by a control system and includes:
when the tire burst condition is met according to the air pressure of the vehicle tire, acquiring a tire burst trigger signal and determining a tire burst tire;
determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire;
controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height.
In a second aspect, an embodiment of the present invention further provides a vehicle control system, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle driving control method according to any one of the embodiments of the present invention.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
tire pressure sensors respectively arranged corresponding to the tires for detecting tire pressures;
height sensors, provided corresponding to the tires, respectively, for detecting tire heights;
a rear wheel steering controller for controlling a steering angle of the rear wheel;
a vehicle control system provided in an embodiment of the first aspect of the invention interacts with the tire pressure sensor, the height sensor, and the rear wheel steering controller, respectively.
According to the embodiment of the invention, when the tire burst condition is met according to the air pressure confirmation of the vehicle tire, a tire burst trigger signal is obtained and the tire burst is determined; determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire; controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height. Through the technical scheme, the height of the flat tire is adjusted according to the tire height and the tire pressure of the non-flat tire, so that the height control of the flat tire is realized, the technical problem that the posture of a flat vehicle cannot be controlled in time is solved, the driving posture of the vehicle is ensured to be normal, and the operation stability and the safety of the vehicle during flat tire are improved.
Drawings
Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle driving control method according to a second embodiment of the present invention;
fig. 3 is a block diagram showing a vehicle control system according to a third embodiment of the present invention;
fig. 4 is a block diagram showing a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle control system controls a vehicle posture when a tire burst occurs in a vehicle, and the method may be executed by the control system in the vehicle, and the system may be implemented in a software and/or hardware manner. The control system can be configured in a vehicle, and the method specifically comprises the following steps:
and S110, when the tire burst condition is met according to the air pressure of the vehicle tire, acquiring a tire burst trigger signal and determining a tire burst.
In this embodiment, the air pressure of the vehicle tire is obtained by a tire pressure sensor, the tire pressure sensor obtains the air pressure of the vehicle tire in real time, and the obtained air pressure of the vehicle tire can be sent to an Electronic Control Unit (Electronic Control Unit) through a can (controller Area network) bus. The vehicle control system confirms whether the vehicle tire meets the tire burst condition or not according to the received tire pressure, if the vehicle control system confirms that the received tire pressure meets the tire burst condition, the tire burst trigger signal is obtained through the tire sensor corresponding to the tire pressure, and meanwhile, the vehicle control system determines the tire burst according to the tire pressure and the tire sensor. Or the tire pressure sensor can directly identify the tire burst condition according to the detected tire pressure, and when the tire burst condition is determined to be met, a tire burst trigger signal is generated and sent to the vehicle control system.
Specifically, the vehicle control system compares the obtained vehicle tire pressure value with a preset tire pressure calibration value, and if the vehicle tire pressure value is greater than the preset tire pressure calibration value, the current tire pressure value is determined to be within a normal range; and if the air pressure value of the vehicle tire is less than or equal to the preset tire air pressure calibration value, determining that the current tire is punctured. Optionally, when the vehicle air pressure value acquired by the tire pressure sensor is smaller than the preset air pressure calibration value, the tire pressure sensor may pull up the CAN bus level signal, and send the tire burst trigger signal of the current tire to the control system. Optionally, the tire pressure calibration value is far smaller than the standard tire pressure value, and the specific calibration value may be preset according to the actual condition of the vehicle, for example, may be 0.5bar, which is not limited in this embodiment of the present invention.
And S120, determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire.
In the present embodiment, the control system acquires tire height information of a single tire of the vehicle by the vehicle height sensors of the four wheels. Specifically, the tire height may be a height of the tire relative to the ground, which is a height of the tire transverse central axis, and the embodiment of the present invention is not particularly limited. Optionally, determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire comprises: the control system receives the tire height of at least one non-flat tire and determines the corresponding tire tread height according to the tire air pressure of the non-flat tire; and calculating the sum of the tire height of the non-flat tire and the tire tread height as the target adjustment height.
Specifically, the non-flat tire is a tire that does not have a flat tire other than the flat tire, and may be, for example, an off-axis tire on the same side as the flat tire, or an off-axis tire on the off-axis side as the flat tire, and the embodiment of the present invention is not limited thereto. Alternatively, the corresponding tire tread height may be determined based on the tire air pressure of the non-flat tire, where the tire tread height may be the rim-to-tire tread height.
Optionally, the corresponding relationship between the tire tread height and the tire air pressure is calibrated in advance, and the corresponding tire tread height can be directly determined according to the tire air pressure. Specifically, the height of the tire tread changes with the change of the tire air pressure, the tire tread height increases with the increase of the tire air pressure before the tire standard air pressure is reached, and after the tire standard air pressure is reached, the tire tread height can increase with the increase of the tire air pressure, but the change is negligible, for example: when the tire pressure is increased from 1bar to 1.5bar, the height of the tire tread is increased from 10mm to 20 mm; when the tire pressure is increased from 1.5bar to 2bar, the tire tread height increases from 20mm to 28mm, when the tire pressure is increased from 2bar to 2.5 bar to the standard tire pressure, the tire tread height increases from 28mm to 30mm, and when the tire is further pressurized, the tire tread height does not substantially transmit a change.
Optionally, the embodiment of the present invention calculates the sum of the tire height of the non-flat tire and the tire tread height as the target adjustment height. The specific target adjustment height may be h1, and the tire height of the non-flat tire may be: h2, the tread height of the non-flat tire may be h ', and the target adjustment height h1 is h2+ h'.
The control system of the embodiment of the invention determines the corresponding tire tread height according to the tire air pressure of the non-flat tire according to the tire height of at least one non-flat tire; and calculating the sum of the tire height of the non-flat tire and the tire tread height as the target adjustment height. The tire height of the tire burst wheel is controlled through the tire height of the non-tire burst wheel and the tire tread height, so that the accurate calculation of the height adjustment of the vehicle tire burst wheel is realized, and the tire height control precision of the tire burst wheel is improved.
S130, controlling to inflate the flat tire so as to adjust the tire height of the flat tire to a target adjustment height.
The control system can control a vehicle air compressor to inflate the flat tire, and optionally can also control to open an air distribution valve to inflate the flat tire; and adjusting the tire height of the flat tire by inflating the flat tire, and adjusting the tire height of the flat tire to a target adjustment height.
According to the embodiment of the invention, when the tire burst condition is met according to the air pressure confirmation of the vehicle tire, a tire burst trigger signal is obtained and the tire burst is determined; determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire; controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height. Through the technical scheme, the height of the flat tire is adjusted according to the tire height and the tire pressure of the non-flat tire, so that the height control of the flat tire is realized, the technical problem that the posture of a flat vehicle cannot be controlled in time is solved, the driving posture of the vehicle is ensured to be normal, and the operation stability and the safety of the vehicle during flat tire are improved.
On the basis of the above technical solution, the method for controlling the inflation of the flat tire further comprises: the tire pressure of the non-flat tire is kept unchanged. When the control system controls an air compressor of the vehicle or opens a gas distribution valve to adjust the height of the flat tire to a target adjustment height, the height of the whole vehicle tire is controlled, the control system needs to keep the tire pressure of other non-flat tires except the flat tire, the posture of the whole vehicle is prevented from changing, and the vehicle operation stability and the safety during flat tire are further improved.
Example two
Fig. 2 is a flowchart of a vehicle driving control method according to a second embodiment of the present invention, and in this embodiment, it is preferable that the control of the vehicle posture by the rear wheel steering control method is further added when the vehicle posture is controlled by the vehicle control system when a tire burst occurs on the vehicle based on the above embodiments. The method comprises the following steps:
s210, when the tire burst condition is met according to the air pressure of the vehicle tire, acquiring a tire burst trigger signal and determining a tire burst.
In this embodiment, the air pressure of the vehicle tire is obtained by a tire pressure sensor, and the tire pressure sensor obtains the air pressure of the vehicle tire in real time and sends the obtained air pressure of the vehicle tire to an Electronic Control Unit (Electronic Control Unit) through a can (controller Area network) bus. The vehicle control system confirms whether the vehicle tire meets the tire burst condition or not according to the received tire pressure, if the vehicle control system confirms that the received tire pressure meets the tire burst condition, the tire burst trigger signal is obtained through the tire sensor corresponding to the tire pressure, and meanwhile, the vehicle control system determines the tire burst according to the tire pressure and the tire sensor.
And S220, if the flat tire is a front wheel, controlling a rear wheel steering system to adjust the steering angle of the rear wheel of the vehicle.
In this embodiment, the vehicle control system determines that a flat tire is a front wheel of the vehicle according to the tire pressure and the tire sensor, the control system obtains a flat tire trigger signal through the tire sensor corresponding to the tire pressure and sends the flat tire trigger signal to the rear wheel steering system, after the rear wheel steering system receives the tire flat tire trigger signal, the rear wheel steering system adjusts a steering angle of a rear wheel of the vehicle, and the rear wheel steering system drives the rear wheel to rotate to a preset steering angle.
Specifically, the angle of the rear wheel steering system driving the rear wheel of the vehicle to steer when the vehicle is blown out is related to the angle of the blown out tire, and if the angle of the blown out tire is smaller than or equal to a preset threshold value, the rear wheel steering control system judges that the angle of the blown out tire does not influence the driving posture of the vehicle at the moment and does not control the rear wheel of the vehicle. If the angle of the tire burst is larger than the preset threshold value, the rear wheel steering control system judges that the angle of the current tire burst influences the vehicle running posture and controls the tire to steer to the preset angle; wherein the preset turning angle may be a maximum turning angle value of a rear wheel of the vehicle. Optionally, if the left front wheel is flat, the maximum angle at which the rear wheel steering control system can steer is δ 1, if the right front wheel is flat, the maximum angle at which the rear wheel steering control system can steer is δ 2, and δ is a preset maximum angle at which the rear wheel steering control system can steer.
Optionally, in another embodiment, when the rear wheel of the vehicle is flat, the rear wheel steering system of the vehicle may control the entire vehicle tire to rotate to the preset steering angle according to the flat tire triggering signal. Specifically, the rear wheel steering control system judges that the angle of the tire burst at the moment does not influence the running posture of the vehicle, and does not control the rear wheels of the vehicle. If the angle of the tire burst is larger than the preset threshold value, the rear wheel steering control system judges that the angle of the current tire burst influences the vehicle running posture and controls the tire to steer to the preset angle; wherein the preset turning angle may be a maximum turning angle value of a rear wheel of the vehicle. Optionally, if the left rear wheel is flat, the maximum angle that the rear wheel steering control system can turn is δ 3, and if the right rear wheel is flat, the maximum angle that the rear wheel steering control system can turn is δ 4.
And S230, determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire.
In the present embodiment, the control system acquires the tire height information of the single tires of the vehicle by the vehicle height sensors of the four vehicles. Specifically, the tire height may be a height of the tire relative to the ground, which is a height of the tire transverse central axis, and the embodiment of the present invention is not particularly limited. Optionally, determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire comprises: the control system receives the tire height of at least one non-flat tire and determines the corresponding tire tread height according to the tire air pressure of the non-flat tire; and calculating the sum of the tire height of the non-flat tire and the tire tread height as the target adjustment height.
S240, controlling to inflate the flat tire so as to adjust the tire height of the flat tire to a target adjustment height.
The control system can control a vehicle air compressor to inflate the flat tire, and optionally can also control to open an air distribution valve to inflate the flat tire; and adjusting the tire height of the flat tire by inflating the flat tire, and adjusting the tire height of the flat tire to a target adjustment height.
According to the technical scheme of the embodiment, when the tire burst condition is met according to the air pressure confirmation of the vehicle tire, a tire burst trigger signal is obtained and the tire burst is determined; if the flat tire is a front wheel, controlling a rear wheel steering system to adjust the steering angle of the rear wheel of the vehicle; determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire; controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height. Through the technical scheme, the height of the tire is adjusted according to the tire height and the tire pressure of the non-flat tire, and meanwhile, the rear wheel is controlled by the rear wheel control system to steer to the preset angle, so that the risk of vehicle deviation is avoided, and the vehicle control stability and the safety during tire burst are improved.
On the basis of the above embodiment, preferably, controlling the rear wheel steering system to adjust the steering angle of the rear wheels of the vehicle includes: and controlling the rear wheel steering system to output the maximum power so as to adjust the steering angle of the rear wheels of the vehicle. After the rear wheel steering system determines a steering angle, the rear wheel steering control valve of the current vehicle is controlled to output the maximum power to control the rear wheel to steer, so that the rear wheel is controlled quickly to complete steering, and the risk of vehicle deviation is avoided in the minimum time.
On the basis of the above embodiment, it is preferable that before controlling the rear wheel steering system to adjust the steering angle of the rear wheels of the vehicle, the method further includes: and triggering the operation of the rear wheel steering system if the vehicle is identified to be in the dangerous driving state. Optionally, the control system obtains a current vehicle running speed through a vehicle speed sensor, and if the current running speed exceeds a set speed threshold, it is determined that the vehicle is in a dangerous driving state. Meanwhile, the vehicle is judged to be difficult to decelerate and stop in time, so that the vehicle and other vehicles are damaged greatly, and the current tire burst vehicle can be considered to have a deviation risk; the control system triggers the rear wheel steering system, and controls the steering of the rear wheels of the vehicle according to the vehicle speed and the preset rotation angle, wherein the preset rotation angle can be the maximum rotation angle value of the rear wheels of the vehicle.
According to the technical scheme, the detected current running speed of the vehicle is obtained, if the current running speed exceeds the set speed threshold value, the vehicle is determined to be in a dangerous driving state, and if the vehicle is identified to be in the dangerous driving state, the operation of the rear wheel steering system is triggered and controlled, and the rear wheels of the vehicle are controlled to adjust the steering angle of the rear wheels. Through the technical scheme, when the vehicle runs at a high speed, the rear wheels of the vehicle are controlled to adjust the steering angle of the rear wheels, the risk of vehicle deviation is avoided, and the operation stability and safety of the vehicle during tire burst are improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle control system according to embodiment 3 of the present invention, and as shown in fig. 3, the vehicle control system includes a processor 310 and a storage device 320; the number of the processors 310 in the vehicle control system may be one or more, and one processor 310 is taken as an example in fig. 3; the processor 310 and the storage device 320 of the vehicle control system may be connected by a bus or other means, and fig. 3 illustrates the connection by the bus as an example.
The storage device 320 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, and the program instruction processor 310 corresponding to the vehicle driving control method according to the embodiment of the present invention executes various functional applications and data processing of the vehicle control system by executing the software programs, instructions, and modules stored in the storage device 320, so as to implement the vehicle driving control method.
The storage device 320 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, storage 320 may include high speed random access storage and may also include non-volatile storage, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 320 may further include storage remotely located from processor 310, which may be connected to the system over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example four
Fig. 4 is a schematic diagram of a vehicle according to a fourth embodiment of the present invention, where the present embodiment may be used in a case where a vehicle control system controls a vehicle posture when a tire burst occurs in the vehicle, and the vehicle includes:
a tire pressure sensor 420, a height sensor 420, a rear wheel steering controller 430, and a control system 440. The tire pressure sensor 420, the height sensor 420, and the rear wheel steering controller 430 are connected by a bus or other means in fig. 3, taking the bus connection as an example. The tire pressure sensors 420 are respectively arranged corresponding to the tires and used for detecting the air pressure of the tires; height sensors 420 provided corresponding to the tires, respectively, for detecting tire heights; a rear wheel steering controller for controlling a steering angle of the rear wheel; the control system 440 is a vehicle control system provided in any of the embodiments of the present invention, and interacts with the tire pressure sensor 420, the height sensor 420, and the rear wheel steering controller, respectively.
The vehicle provided by the fourth embodiment of the invention is used for executing the vehicle driving control method provided by the above embodiment, and has corresponding functions and beneficial effects.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A vehicle driving control method, performed by a control system, the method comprising:
when the tire burst condition is met according to the air pressure of the vehicle tire, acquiring a tire burst trigger signal and determining a tire burst tire;
determining a target adjustment height according to the tire heights of the flat tire and the at least one non-flat tire;
controlling inflation of the flat tire to adjust a tire height of the flat tire to a target adjustment height.
2. The method of claim 1, wherein determining a target adjustment height based on the tire heights of the flat tire and the at least one non-flat tire comprises:
obtaining the tire height of at least one non-flat tire, wherein the tire height is the height of a tire transverse central axis relative to the ground;
determining the corresponding tire tread height according to the tire air pressure of the non-flat tire;
and calculating the sum of the tire height of the non-flat tire and the tire tread height as the target adjustment height.
3. The method of claim 2, wherein: the corresponding relation between the tire tread height and the tire air pressure is calibrated in advance.
4. The method of claim 2, wherein the non-flat tire is a co-axial opposite side tire to the flat tire.
5. The method of claim 1, wherein controlling the inflation of the flat tire further comprises:
the tire pressure of the non-flat tire is kept unchanged.
6. The method of claim 1, wherein after acquiring the flat tire trigger signal and determining the flat tire, further comprising:
if the flat tire is a front wheel, a rear wheel steering system is controlled to adjust a steering angle of a rear wheel of the vehicle.
7. The method of claim 6, wherein controlling the rear wheel steering system to adjust a steering angle of a rear wheel of the vehicle comprises:
and if the angle of the flat tire is larger than a preset threshold value, determining that the steering angle of the rear wheel is the maximum steering angle value.
8. The method of claim 6, wherein controlling the swing steering system to adjust a steering angle of a rear wheel of the vehicle comprises:
and controlling the rear wheel steering system to output the maximum power so as to adjust the steering angle of the rear wheels of the vehicle.
9. The method of claim 6, wherein prior to controlling the rear wheel steering system to adjust the steering angle of the rear wheels of the vehicle, further comprising:
and triggering the operation of the rear wheel steering system if the vehicle is identified to be in the dangerous driving state.
10. The method of claim 9, wherein identifying that the vehicle is in a dangerous driving state comprises:
the method comprises the steps of obtaining the detected current running speed of the vehicle, and determining that the vehicle is in a dangerous driving state if the current running speed exceeds a set speed threshold.
11. A vehicle control system, characterized by comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the vehicle driving control method of any one of claims 1-10.
12. A vehicle, characterized by comprising:
tire pressure sensors respectively arranged corresponding to the tires for detecting tire pressures;
height sensors, provided corresponding to the tires, respectively, for detecting tire heights;
a rear wheel steering controller for controlling a steering angle of the rear wheel;
the vehicle control system of claim 11, interacting with the tire pressure sensor, the height sensor, and the rear wheel steering controller, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210022863.3A CN114261243A (en) | 2022-01-10 | 2022-01-10 | Vehicle driving control method and system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210022863.3A CN114261243A (en) | 2022-01-10 | 2022-01-10 | Vehicle driving control method and system and vehicle |
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| CN114261243A true CN114261243A (en) | 2022-04-01 |
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| CN202210022863.3A Pending CN114261243A (en) | 2022-01-10 | 2022-01-10 | Vehicle driving control method and system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117183640A (en) * | 2022-05-31 | 2023-12-08 | 比亚迪股份有限公司 | Vehicle air suspension control method and device, medium, equipment and vehicle |
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