CN115951955A - Unmanned vehicle sensor plug-in management method - Google Patents
Unmanned vehicle sensor plug-in management method Download PDFInfo
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- CN115951955A CN115951955A CN202310163600.9A CN202310163600A CN115951955A CN 115951955 A CN115951955 A CN 115951955A CN 202310163600 A CN202310163600 A CN 202310163600A CN 115951955 A CN115951955 A CN 115951955A
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Abstract
The invention provides a plug-in management method for a sensor of an unmanned vehicle, which comprises a sensor management main process, wherein the sensor management main process comprises the following steps: loading a sensor list; according to a sensor list, creating an independent sensor driving subprocess for each sensor, and marking the sensors to enter an operating state in the life cycle part of a sensor abstract model; and monitoring the working state of each sensor in a state management loop, and recording the detection result in a state management part of the sensor abstract model. The invention provides a sensor abstract model, which performs uniform abstract management on a complex sensor driving system in an unmanned system, avoids the discrete situation of the sensor system, makes the sensor system uniform, provides a more consistent management mode and enables states among modules to be shared.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a plug-in management method for a sensor of an unmanned vehicle.
Background
The unmanned vehicle is a novel intelligent vehicle which can independently run by depending on a software and hardware system. The key equipment for acquiring the external environment information is vehicle-mounted sensor equipment of various types, and the unmanned vehicle processes data returned by the sensor and combines with an actual planned path to issue a control command to a vehicle control system to finally reach a destination. The unmanned vehicle has very wide application prospect in the fields of national defense and military, civil traffic, industrial transportation and the like.
At present, various types of sensors in the unmanned system are from different manufacturers, and the support of the sensors by the different manufacturers is different, so that the use of the sensors in the unmanned system is generally managed in a discrete mode, and only the output data of each sensor is calibrated and fused in the later period. In such a way, the sensors are isolated and cannot share respective states, so that the sensors cannot be effectively managed; in addition, because the difference between each sensor can not be effectively scheduled, the system resource is wasted to a certain extent. Moreover, because the corresponding software environments provided by different manufacturers are difficult to be unified and the configuration modes are different, the software environment is difficult to be used in engineering practice simply and conveniently.
Moreover, in the prior art, the unmanned system sensors are managed through separate drivers, and the sensors are isolated from each other, so that the operations of multi-sensor state sharing, data synchronization and the like are not convenient to realize. In the prior art, the unmanned system sensor cannot uniformly and finely manage the life cycle state of the sensor, and cannot reasonably use system resources. In the prior art, each type of sensor has a respective set of configuration method, so that the system is inconvenient to integrate and use.
Therefore, the invention provides a plug-in management method for the unmanned vehicle sensor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a plug-in management method for a sensor of an unmanned vehicle, which comprises a sensor management main process, wherein the sensor management main process comprises the following steps:
s1, loading a sensor list;
s2, creating an independent sensor driving subprocess for each sensor according to the sensor list, and marking the sensors to enter an operating state in the life cycle part of the sensor abstract model;
and S3, monitoring the working state of each sensor in a state management cycle, and recording the detection result in a state management part of the sensor abstract model.
According to one embodiment of the invention, step S1 comprises:
counting sensors in the unmanned vehicle, and determining the sensor list;
and instantiating the required sensor drive according to the sensor list.
According to one embodiment of the invention, step S2 comprises:
carrying out validity check on the instantiated sensors, creating an independent sensor driving subprocess for each sensor after the checking is passed, and marking the sensors to enter an operating state in the life cycle part of the sensor abstract model;
after the instantiation of each sensor is completed, the process proceeds to step S3.
According to an embodiment of the present invention, in step S3, the sensor driving sub-process includes the steps of:
sequentially sending a restarting operation signal to each sensor;
loading parameter group configuration of each sensor, checking legality of the loaded parameters, marking that the sensor enters an abnormal state in a life cycle part of a sensor abstract model if the loaded parameters are not legal, and performing cyclic processing by state management;
if the sensor is legal, marking the sensor to enter a starting state in the life cycle part of the sensor abstract model, and entering an operation circulation flow after the sensor is successfully started.
According to an embodiment of the present invention, the operation recovery signal is received and then the operation cycle flow is entered, or the operation cycle flow is entered after the successful start-up, and the operation cycle flow includes the following steps:
judging whether each sensor has a warning state, an error state or a crash state in sequence, if so, returning to the sensor management main process, recording a corresponding feedback state to a state management part of a sensor abstract model, and judging whether to recover the operation or interrupt the operation or restart the operation by the sensor management main process according to the feedback state;
and if not, returning to the sensor management main process.
According to one embodiment of the invention, in the life cycle part of the sensor abstract model, the sensor is divided into four working states, namely a starting state, an operating state, an exiting state and an abnormal state, wherein the starting state refers to that the sensor equipment is in the starting process; the running state refers to the state that the sensor equipment is in normal running; the exit state refers to the sensor device being in the process of exiting; the abnormal state refers to the occurrence of an abnormality in the sensor device.
According to one embodiment of the invention, in the state management part of the sensor abstract model, the sensor is divided into four states, namely a normal state, a warning state, an error state and a breakdown state, wherein the normal state represents that the sensor is not abnormal and is in a normal working state; the alarm condition represents a non-fatal error or loss of performance problem with the sensor; the error state represents that the sensor hardware has errors and needs to be processed in time; the crash state represents that the sensor driver has exited abnormally, and there is a software problem that requires processing of the sensor software component.
According to an embodiment of the present invention, a parameter management part of a sensor abstraction model configures parameters of various types of sensors using a consistent parameter management interface, and the parameter management part includes: the method comprises three functional parts, namely parameter user configuration, parameter loading sensor and parameter verification, wherein the parameter user configuration supports a uniform user parameter interface; the parameter loading sensor supports automatic loading of parameters into sensors of corresponding types; the parameter verification supports the sensor driving software to verify the loaded parameters.
According to another aspect of the invention, there is also provided a storage medium containing a series of instructions for carrying out the steps of the method as described in any one of the above.
According to another aspect of the invention, there is also provided an unmanned vehicle sensor plugin management apparatus performing the method of any one of the above, the apparatus comprising:
the loading module is used for loading a sensor list;
the creating module is used for creating an independent sensor driving subprocess for each sensor according to the sensor list and marking the sensors to enter the running state in the life cycle part of the sensor abstract model;
and the monitoring module is used for monitoring the working state of each sensor in the state management loop and recording the detection result in the state management part of the sensor abstract model.
Compared with the prior art, the unmanned vehicle sensor plugin management method provided by the invention has the following advantages:
1. the invention provides a sensor abstract model, which performs uniform abstract management on a complex sensor driving system in an unmanned system, avoids the discrete situation of the sensor system, makes the sensor system uniform, provides a more consistent management mode and makes the states of all modules shared;
2. the invention provides a state management mode for sensor consistency, so that a sensor system can manage each sensor module according to the state, and the utilization rate of system resources is improved; a life cycle management mode is defined for the sensor, so that four working states of the sensor are defined, and consistent state diagnosis and resource management can be realized for software and hardware of a sensor system;
3. the invention provides a parameter configuration entrance with sensor consistency, enhances the maintainability and the usability of the system, isolates the user interface from the sensor loading process, and realizes quick and effective parameter configuration.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 shows a flow diagram of a method for unmanned vehicle sensor plugin management according to an embodiment of the invention.
FIG. 2 shows a flow chart of a method for unmanned vehicle sensor plugin management according to another embodiment of the invention.
FIG. 3 shows a block diagram of a sensor abstraction model structure according to one embodiment of the invention.
In the drawings, like parts are designated with like reference numerals. In addition, the drawings are not drawn to scale.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention are further described in detail with reference to the accompanying drawings.
How to design a set of reliable and effective sensing system is an important ring for ensuring that the unmanned vehicle effectively senses the external environment.
In the prior art, the unmanned system sensors are managed through a discrete driving program, and the sensors are isolated from each other, so that the operations of multi-sensor state sharing, data synchronization and the like are inconvenient to realize. The invention realizes the effective management of the multi-sensor system by carrying out uniform abstract management on the sensor driving program, so that the sensors can share information such as state, data and the like. The invention designs a sensor abstract model aiming at the characteristics of various types of sensor equipment, provides a unified management module for the sensors, and realizes the functions of state sharing, data synchronization and the like among the sensors.
In the prior art, the unmanned system sensor cannot uniformly and finely manage the life cycle state of the sensor, and cannot reasonably use system resources. The invention defines the life cycle of the sensor through a uniform sensor abstract model, performs refined and unified management on each sensor, reasonably uses system resources and effectively utilizes the system resources.
In the prior art, each type of sensor has a respective set of configuration method, so that the system is inconvenient to integrate and use. The invention realizes the management of multiple sensors by abstracting the unmanned system sensor into a parameter configuration and sensor management main process, and realizes a simple management method of the unmanned system sensor. According to the invention, a unified parameter setting interface is provided for each sensor device through a unified sensor parameter management part, so that convenient and fast unified management of the sensors is realized, and the system integration level is improved.
FIG. 1 shows a flow chart of a method for unmanned vehicle sensor plugin management according to one embodiment of the invention.
A plug-in management method for unmanned vehicle sensors includes a sensor management host process, as shown in fig. 1, the sensor management host process includes steps S1-S3, and in step S1, a sensor list is loaded.
In one embodiment, step S1 comprises: counting sensors in the unmanned vehicle, and determining a sensor list; and instantiating the required sensor drive according to the sensor list. Specifically, as shown in fig. 2, the sensor management host process starts, loads a sensor list after the start is completed, and instantiates a required sensor driver according to the sensor list.
As shown in fig. 1, in step S2, an independent sensor driver sub-process is created for each sensor according to the sensor list, and the sensor is marked to enter the running state during the lifecycle part of the sensor abstraction model.
In one embodiment, step S2 comprises: carrying out validity check on the instantiated sensors, creating an independent sensor driving subprocess for each sensor after the checking is passed, and marking the sensors to enter an operating state in the life cycle part of the sensor abstract model; after the instantiation of each sensor is completed, the process proceeds to step S3. Specifically, as shown in fig. 2, the sensor management main process performs validity check on instantiated sensors, and if the validity check is passed, an independent sensor driving sub-process is created for each sensor device, and the process goes to step S3, and enters a sensor life cycle operation.
As shown in fig. 1, in step S3, the operating state of each sensor is monitored in a state management loop, and the detection result is recorded in a state management section of the sensor abstraction model. Specifically, after the sensor management main process completes instantiation of each sensor, the state management loop is entered to start monitoring the state of each sensor.
In one embodiment, in step S3, the sensor driver sub-process comprises the steps of: sequentially sending a restarting operation signal to each sensor; loading parameter set configuration of each sensor, checking legality of loaded parameters, if the loaded parameters are not legal, marking that the sensor enters an abnormal state in the life cycle part of the sensor abstract model, and circularly processing by state management; if the sensor is legal, marking the sensor to enter a starting state in the life cycle part of the sensor abstract model, and entering an operation circulation flow after the sensor is successfully started. Specifically, as shown in fig. 2, the sensor driver sub-process enters and then loads the self parameter set configuration, the sensor driver sub-process checks the validity of the loaded parameter, if the parameter is not legal, the sensor driver sub-process returns to an abnormal state to the sensor management main process, the sensor driver sub-process performs the loading parameter and enters a starting process, and if the sensor driver sub-process is legal, the sensor driver sub-process starts to enter an operation cycle process.
In one embodiment, the operation recovery signal is received and then the operation cycle flow is entered or the operation cycle flow is entered after the successful start, and the operation cycle flow comprises the following steps: judging whether each sensor has a warning state, an error state or a crash state in sequence, if so, returning to the sensor management main process, recording a corresponding feedback state to a state management part of the sensor abstract model, and judging whether to recover the operation or interrupt the operation or restart the operation by the sensor management main process according to the feedback state; and if not, returning to the sensor management main process. Specifically, as shown in fig. 2, the sensor driving subprocess checks whether a warning, an error, or a crash state occurs, and if the warning, the error, or the crash state occurs, the sensor driving subprocess feeds back the state to the sensor management main process for processing, and the sensor management main process determines whether to resume operation, interrupt operation, or restart operation according to the abnormal state. And if the warning, error and crash states do not occur, returning to the sensor management main process.
FIG. 3 shows a block diagram of a sensor abstraction model structure according to one embodiment of the invention.
As shown in FIG. 3, the sensor driver is abstracted into three parts of life cycle management, state management and parameter management to realize consistent abstraction of each type of sensor, so that the sensor driver has consistent workflow. Specifically, the sensor abstraction model includes a lifecycle part, a state management part, and a parameter management part.
In one embodiment, in a life cycle part of a sensor abstract model, a sensor is divided into four working states, namely a starting state, an operating state, an exiting state and an abnormal state, wherein the starting state refers to that a sensor device is in a starting process; the running state refers to the state that the sensor equipment is in normal running; the exit state refers to the sensor device being in the process of exiting; the abnormal state refers to the occurrence of an abnormality in the sensor device.
In one embodiment, in the state management part of the sensor abstraction model, the sensor is divided into four states, namely a normal state, a warning state, an error state and a breakdown state, wherein the normal state represents that the sensor is not abnormal and is in a normal working state; the alarm condition represents a non-fatal error or loss of performance problem with the sensor; the error state represents that the sensor hardware has errors and needs to be processed in time; the crash state represents that the sensor driver has exited abnormally, and a software problem exists that requires processing of the sensor software component.
In one embodiment, the parameter management part of the sensor abstraction model uses a consistent parameter management interface to configure the parameters of various types of sensors, and the parameter management part comprises: the method comprises three functional parts, namely parameter user configuration, parameter loading sensor and parameter verification, wherein the parameter user configuration supports a uniform user parameter interface; the parameter loading sensor supports automatic loading of parameters into sensors of corresponding types; the parameter verification supports the sensor driving software to verify the loaded parameters.
The unmanned vehicle sensor plugin management method provided by the invention can be matched with a computer-readable storage medium, and a computer program is stored on the storage medium and executed to operate the unmanned vehicle sensor plugin management method. The computer program is capable of executing computer instructions comprising computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc.
The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random-access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
It should be noted that the content of the computer readable storage medium may be increased or decreased as required by legislation and patent practice in the jurisdiction, for example, in some jurisdictions, the computer readable storage medium does not include electrical carrier signals and telecommunication signals in accordance with legislation and patent practice.
According to another aspect of the invention, the sensor plugin management device for the unmanned vehicle executes a sensor plugin management method for the unmanned vehicle, and comprises the following steps: the device comprises a loading module, a creating module and a monitoring module.
The loading module is used for loading a sensor list; the creating module is used for creating an independent sensor driving subprocess for each sensor according to the sensor list and marking the sensor to enter an operating state in the life cycle part of the sensor abstract model; the monitoring module is used for monitoring the working state of each sensor in the state management circulation and recording the detection result in the state management part of the sensor abstract model.
In one embodiment, the load module counts sensors in the unmanned vehicle, determines a sensor list, and instantiates the required sensor drives according to the sensor list.
In one embodiment, the creating module performs validity check on the instantiated sensors, creates an independent sensor driving subprocess for each sensor after the check is passed, marks the sensors to enter an operating state in the life cycle part of the sensor abstract model, and switches to the monitoring module after the instantiation of each sensor is completed.
In one embodiment, the sensor driving subprocess unit in the monitoring module executes the following steps: sequentially sending a restarting operation signal to each sensor; loading parameter set configuration of each sensor, checking the legality of the loaded parameters, if the loaded parameters are not legal, marking that the sensor enters an abnormal state in the life cycle part of the sensor abstract model, and circularly processing by state management; if the sensor is legal, the sensor is marked to enter a starting state in the life cycle part of the sensor abstract model, and the sensor enters the operation cycle subunit after the sensor abstract model is successfully started.
In one embodiment, the operation recovery signal is received and then enters the operation cycle subunit or enters the operation cycle subunit after the successful start, and the operation cycle subunit executes the following steps: judging whether each sensor has a warning state, an error state or a crash state in sequence, if so, returning to the sensor management main process, recording a corresponding feedback state to a state management part of the sensor abstract model, and judging whether to recover the operation or interrupt the operation or restart the operation by the sensor management main process according to the feedback state; and if not, returning to the sensor management main process.
In summary, compared with the prior art, the unmanned vehicle sensor plugin management method provided by the invention has the following advantages:
1. the invention provides a sensor abstract model, which performs uniform abstract management on a complex sensor driving system in an unmanned system, avoids the discrete situation of the sensor system, makes the sensor system uniform, provides a more consistent management mode and makes the states of all modules shared;
2. the invention provides a state management mode for sensor consistency, so that a sensor system can manage each sensor module according to the state, and the resource utilization rate of the system is improved; a life cycle management mode is defined for the sensor, so that four working states of the sensor are defined, and consistent state diagnosis and resource management can be realized for software and hardware of a sensor system;
3. the invention provides a parameter configuration entrance with sensor consistency, enhances the maintainability and the usability of the system, isolates the user interface from the sensor loading process, and realizes quick and effective parameter configuration.
It is to be understood that the disclosed embodiments of this invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Certain terms are used throughout this specification to refer to particular system components. As one skilled in the art will appreciate, identical components may generally be referred to by different names, and thus this document does not intend to distinguish between components that differ in name but not function. In this document, the terms "comprising", "including" and "having" are used in an open fashion, and thus should be interpreted to mean "including but not limited to 8230;". Further, the terms "substantially", "substantially" or "approximately" as may be used herein relate to industry accepted tolerances for the respective terms. The term "coupled," as may be employed herein, includes direct coupling and indirect coupling via another component, element, circuit, or module where, for indirect coupling, the intervening component, element, circuit, or module does not alter the information of a signal but may adjust its current level, voltage level, and/or power level. Inferred coupling (e.g., where one element is coupled to another element by inference) includes direct and indirect coupling between two elements in the same manner as "coupled".
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for plug-in management of unmanned vehicle sensors, the method comprising a sensor management host process, the sensor management host process comprising:
s1, loading a sensor list;
s2, creating an independent sensor driving subprocess for each sensor according to the sensor list, and marking the sensors to enter an operating state in the life cycle part of the sensor abstract model;
and S3, monitoring the working state of each sensor in a state management cycle, and recording the detection result in a state management part of the sensor abstract model.
2. The unmanned vehicle sensor plugin management method of claim 1, wherein step S1 comprises:
counting sensors in the unmanned vehicle, and determining the sensor list;
and instantiating the required sensor drive according to the sensor list.
3. The unmanned vehicle sensor plugin management method of claim 2, wherein step S2 comprises:
carrying out validity check on the instantiated sensors, creating an independent sensor driving subprocess for each sensor after the checking is passed, and marking the sensors to enter an operating state in the life cycle part of the sensor abstract model;
after the instantiation of each sensor is completed, the process proceeds to step S3.
4. The unmanned vehicle sensor plugin management method of claim 1, wherein in step S3, the sensor driver sub-process includes the steps of:
sequentially sending a restarting operation signal to each sensor;
loading parameter group configuration of each sensor, checking legality of loaded parameters, if the loaded parameters are not legal, marking that the sensor enters an abnormal state in the life cycle part of the sensor abstract model, and circularly processing by the state management;
if the sensor is legal, marking the sensor to enter a starting state in the life cycle part of the sensor abstract model, and entering an operation circulation flow after the sensor is successfully started.
5. The unmanned vehicle sensor plugin management method of claim 4, wherein entering the operational cycle flow upon receipt of an operation recovery signal or entering the operational cycle flow upon successful start-up comprises the steps of:
judging whether each sensor has a warning state, an error state or a crash state in sequence, if so, returning to the sensor management main process, recording a corresponding feedback state to a state management part of a sensor abstract model, and judging whether to recover the operation or interrupt the operation or restart the operation by the sensor management main process according to the feedback state;
and if not, returning to the sensor management main process.
6. The unmanned vehicle sensor plugin management method of claim 1, wherein in a life cycle part of the sensor abstraction model, the sensors are divided into four working states, namely a start state, an operating state, an exit state and an abnormal state, wherein the start state refers to that the sensor equipment is in a starting process; the running state refers to the state that the sensor equipment is in normal running; the exit state refers to the sensor device being in the process of exiting; the abnormal state refers to the occurrence of an abnormality in the sensor device.
7. The plug-in management method for the unmanned vehicle sensor according to claim 1, wherein in the state management part of the sensor abstract model, the sensor is divided into four states, namely a normal state, a warning state, an error state and a crash state, wherein the normal state represents that the sensor is in a normal working state without abnormality; the warning state represents a non-fatal error or performance loss problem with the sensor; the error state represents that the sensor hardware has errors and needs to be processed in time; the crash state represents that the sensor driver has exited abnormally, and there is a software problem that requires processing of the sensor software component.
8. The unmanned vehicle sensor plugin management method of any one of claims 1-7, wherein a parameter management portion of the sensor abstraction model configures parameters of various types of sensors by using a consistent parameter management interface, and the parameter management portion includes: the method comprises three functional parts of parameter user configuration, parameter loading sensors and parameter verification, wherein the parameter user configuration supports a uniform user parameter interface; the parameter loading sensor supports automatic loading of parameters into sensors of corresponding types; the parameter verification supports the sensor driving software to verify the loaded parameters.
9. A storage medium characterized in that it contains a series of instructions for carrying out the steps of the method according to any one of claims 1 to 8.
10. An unmanned vehicle sensor plugin management apparatus to perform the method of any of claims 1 to 8, the apparatus comprising:
the loading module is used for loading a sensor list;
the creating module is used for creating an independent sensor driving subprocess for each sensor according to the sensor list and marking the sensor to enter an operating state in the life cycle part of the sensor abstract model;
and the monitoring module is used for monitoring the working state of each sensor in the state management loop and recording the detection result in the state management part of the sensor abstract model.
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