CN118049480A - Transmission control method, transmission control device, electronic device, and storage medium - Google Patents
Transmission control method, transmission control device, electronic device, and storage medium Download PDFInfo
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Abstract
The present disclosure relates to a transmission control method, apparatus, electronic device, and storage medium, the method including: responding to a vehicle braking control signal, and acquiring the actual rotating speed of an engine; judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result; determining a reference rotation speed based on the judgment result; the oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle. The method is characterized in that under the condition of vehicle braking, a proper reference rotating speed is determined according to whether the current vehicle is in a driving regeneration state or not, an electronic control system of the automatic transmission is triggered to reduce the oil pressure of a hydraulic torque converter, and the purpose of improving the vehicle deceleration performance is achieved.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a transmission control method, a transmission control device, electronic equipment and a storage medium.
Background
With the rapid development of the automobile industry in China, the power assembly technology, the new energy technology and the like are in the front of the world, and the automatic transmission technology is also in the forefront of the world in the development at home and abroad. Currently, automatic transmissions have been widely used in commercial vehicles, for example.
The commercial vehicle has larger load and worse driving road condition, and has great examination on the transmission, and along with the requirements of national six-emission, the engine technology is continuously developed, and the matching capability of the corresponding transmission technology is also required to be continuously improved. In the sixth technology of the matched engine, in order to reduce the emission of particulate matters, a regeneration function is provided, including driving regeneration and parking regeneration. However, in the prior art, when the vehicle is in a running regeneration state, it is difficult for the driver to brake the vehicle to a low speed, or to brake the vehicle. In other words, in the prior art, the vehicle deceleration performance is affected by the vehicle running regeneration, so that a certain potential safety hazard is generated.
Disclosure of Invention
In order to solve the technical problems described above, or at least partially solve the technical problems described above, the present disclosure provides a transmission control method, apparatus, electronic device, and storage medium.
In a first aspect, the present disclosure provides a transmission control method comprising:
responding to a vehicle braking control signal, and acquiring the actual rotating speed of an engine;
judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result;
determining a reference rotation speed based on the judgment result;
The oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle.
In a second aspect, the present disclosure also provides a transmission control apparatus including:
the acquisition module is used for responding to the vehicle braking control signal and acquiring the actual rotating speed of the engine;
the judging module is used for judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result;
the determining module is used for determining a reference rotating speed based on the judging result;
And the adjusting module is used for controlling the oil pressure of the hydraulic torque converter based on the magnitude relation between the actual rotating speed and the reference rotating speed so as to adjust the combination state between the engine and the transmission in the vehicle.
In a third aspect, the present disclosure also provides an electronic device, including: a processor and a memory;
The processor is operable to perform the steps of any of the methods described above by invoking a program or instruction stored in the memory.
In a fourth aspect, the present disclosure also provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of any of the methods described above.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
According to the technical scheme provided by the embodiment of the disclosure, the actual rotating speed of the engine is obtained by setting a response to a vehicle braking control signal; judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result; determining a reference rotation speed based on the judgment result; the oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle. Compared with the prior art, the essence of the technical scheme of the application is that under the condition of vehicle braking, the proper reference rotating speed is determined according to whether the current vehicle is in a driving regeneration state or not, and the electronic control system of the automatic transmission is triggered to reduce the oil pressure of the hydraulic torque converter, so that the aim of improving the vehicle deceleration performance is fulfilled.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a transmission control method provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a transmission control device according to an embodiment of the present disclosure;
fig. 3 is a schematic hardware structure of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
As background art, in the prior art, the running regeneration can affect the deceleration performance of the vehicle, thereby generating a certain potential safety hazard. The inventor has studied this problem thoroughly and found that currently, matching AT transmissions in commercial vehicles include a torque converter that connects the engine and the transmission. The magnitude of torque converter oil pressure affects how tightly the engine and transmission are coupled, i.e., affects the deceleration performance of the vehicle. Specifically, when the vehicle is decelerating, when the engine speed is lower than the preset speed, the automatic transmission electronic control system (Transmission Control Unit) performs oil discharge control on the hydraulic torque converter, so that the engine and the transmission are in a non-closed state, and the aim of decelerating is fulfilled. However, for an engine that includes a regeneration function, in the regeneration state, the engine speed typically cannot be reduced below a preset speed, which prevents the automatic transmission electronic control system (Transmission Control Unit) from performing oil discharge control on the torque converter, and the engine and transmission are always in a tightly closed state, resulting in a failure in vehicle deceleration. Therefore, in the prior art, the vehicle deceleration performance is affected by the driving regeneration.
Based on this, the present application provides a transmission control method. Fig. 1 is a flowchart of a transmission control method provided in an embodiment of the present disclosure. The execution main body of the transmission control method is an automatic transmission electronic control system. Referring to fig. 1, the transmission control method includes:
S110, responding to a vehicle braking control signal, and acquiring the actual rotation speed of the engine.
The vehicle brake control signal may be, for example, a signal for controlling deceleration of the vehicle. For example, the vehicle brake control signal may include a signal reflecting the driver's depression of a brake pedal.
The actual engine speed may be, for example, the actual engine speed. In practice, the engine actual rotational speed may be acquired using a rotational speed sensor.
S120, judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result.
There are various ways to implement this step, and the present application is not limited thereto. Illustratively, the method for implementing the step includes: acquiring regeneration state identification information of an engine; determining whether the current vehicle is in a regeneration state or not based on the regeneration state identification information of the engine, and obtaining a first judgment result; judging whether the vehicle is in a driving state or not to obtain a second judging result; and based on the first judgment result and the second judgment result, judging whether the current vehicle is in a driving regeneration state or not.
The regeneration state identification information may be, for example, information indicating whether the vehicle engine is in a regeneration state. Alternatively, the regeneration status identification information of the engine may be acquired from the CAN bus. For example, in some vehicles, a regeneration indicator is provided, which has a plurality of operating states, such as no regeneration, in-process regeneration, park regeneration prompt, service regeneration prompt. When the regeneration indicator lamp is in a certain state, the engine sends a message corresponding to the state of the regeneration indicator lamp to the CAN bus. If the message corresponding to the "no regeneration" is 000, the message corresponding to the "regeneration in process" is 001, the message corresponding to the "parking regeneration prompt" is 100, and the message corresponding to the "service regeneration prompt" is 010. If the electronic control system of the automatic transmission receives the 001 message in the CAN bus, the message is identified, and a first judgment result CAN be obtained that the current vehicle is in a regeneration state. If the automatic transmission electronic control system receives the message of '000', '100' or '010' in the CAN bus, the message is identified, and a first judgment result CAN be obtained that the current vehicle is not in a regeneration state.
There are various methods for judging whether the vehicle is in a driving state, and the present application is not limited thereto. For example, whether the vehicle is in a driving state may be determined according to the speed of the vehicle. Or according to the gear of the current vehicle. For example, if the current vehicle is in the driving gear, determining that the current vehicle is in the driving state as the second determination result; and if the current vehicle is not in the driving gear, determining that the second judgment result is that the current vehicle is not in the driving state. Optionally, the driving gear includes a forward gear and a reverse gear.
Optionally, if the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is in a driving state, and the current vehicle is determined to be in the driving regeneration state; if the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is not in a driving state, and the current vehicle is determined not to be in the driving regeneration state; and if the first judgment result is that the current vehicle is not in the regeneration state, determining that the current vehicle is not in the driving regeneration state.
S130, determining a reference rotating speed based on the judging result.
The parameter rotation speed is a rotation speed specified in advance.
The essence of this step is that the reference rotation speed used later is correlated with the judgment result. When the judgment results are different, the reference rotation speeds used are different.
Illustratively, a first set of correspondence relationships corresponding to the driving regeneration state and a second set of correspondence relationships corresponding to the non-driving regeneration state are pre-constructed. The implementation method of the steps comprises the following steps: if the judgment result is that the current vehicle is in a driving regeneration state, determining a reference rotating speed based on the first corresponding relation set; and if the judgment result is that the current vehicle is not in the driving regeneration state, determining the reference rotating speed based on the second corresponding relation set.
The first and second sets of correspondence may be understood as a pre-specified set of rules for determining the reference rotational speed that needs to be used. Optionally, the first corresponding relation set includes a plurality of first corresponding relations, and the first corresponding relations include an association relation between the gear and the first candidate rotation speed; the gear positions in the different first corresponding relations are different; the second corresponding relation set comprises a plurality of second corresponding relations, and the second corresponding relations comprise the association relation between the gear and the second candidate rotating speed; the gear positions in the different second corresponding relations are different. In some scenarios, the accelerator opening degrees corresponding to all the first corresponding relations and all the second corresponding relations may be considered to be 0. This is because the driver does not step on the throttle in the braking state. The accelerator opening is thus 0.
Optionally, determining the current gear of the vehicle; determining a first corresponding relation of a target in a first corresponding relation set based on the current gear of the vehicle; and taking the first candidate rotating speed in the first corresponding relation of the target as a reference rotating speed. Determining a reference rotational speed based on the second set of correspondence, comprising: determining the current gear of the vehicle; determining a target second corresponding relation in the second corresponding relation set based on the current gear of the vehicle; and taking the second candidate rotating speed in the second corresponding relation of the target as a reference rotating speed.
For example, if the first correspondence is concentrated, the first correspondence 1 indicates that the rotational speed corresponding to the forward low gear D1 or D2 is a1, and the first correspondence 2 indicates that the rotational speed corresponding to the forward middle gear D3 is a2. In the second correspondence set, the second correspondence 1 indicates that the rotational speed corresponding to the forward low gear D1 or D2 is b1, and the second correspondence 2 indicates that the rotational speed corresponding to the forward middle gear D3 is b2. And if the current vehicle is in a driving regeneration state and the gear of the current vehicle is D1, determining the reference rotating speed as a1. If the current vehicle is not in the driving regeneration state and the gear of the current vehicle is D1, determining the reference rotating speed as b1.
In practice, when the first corresponding relation set and the second corresponding relation set are set, the first corresponding relation set and the second corresponding relation set need to be determined according to driving regeneration strategies of different engines.
And S140, controlling the oil pressure of the hydraulic torque converter based on the magnitude relation between the actual rotation speed and the reference rotation speed so as to adjust the combination state between the engine and the transmission in the vehicle.
Optionally, the implementation method of the step includes: and if the actual rotation speed is less than or equal to the reference rotation speed, reducing the oil pressure of the hydraulic torque converter. By reducing the oil pressure of the torque converter, the degree of tightness of the combination between the engine and the transmission in the vehicle can be weakened, and even the engine and the transmission are disconnected, so that the aim of reducing the vehicle speed is fulfilled.
In practice, the second candidate rotational speed in the second correspondence is smaller than the first candidate rotational speed in the first correspondence when the gear is the same. The reason for this is that, since the engine speed is generally unable to decrease, or decreases in magnitude less, in the regenerative state, the "lead" control system reduces the hydraulic pressure of the torque converter by "raising" the reference speed to trigger the automatic transmission electronics relative to the prior art.
According to the technical scheme, the actual rotating speed of the engine is obtained by setting a response vehicle brake control signal; judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result; determining a reference rotation speed based on the judgment result; the oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle. Compared with the prior art, the essence of the technical scheme of the application is that under the condition of vehicle braking, the proper reference rotating speed is determined according to whether the current vehicle is in a driving regeneration state or not, and the electronic control system of the automatic transmission is triggered to reduce the oil pressure of the hydraulic torque converter, so that the aim of improving the vehicle deceleration performance is fulfilled.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
Fig. 2 is a schematic structural diagram of a transmission control device according to an embodiment of the present disclosure, as shown in fig. 2, including:
An acquisition module 210 for acquiring an actual engine speed in response to a vehicle brake control signal;
a judging module 220, configured to judge whether the current vehicle is in a driving regeneration state, so as to obtain a judging result;
a determining module 230, configured to determine a reference rotation speed based on the determination result;
An adjustment module 240 for controlling the oil pressure of the torque converter based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle.
Further, the judging module 220 is configured to:
Acquiring regeneration state identification information of an engine;
Determining whether the current vehicle is in a regeneration state or not based on the regeneration state identification information of the engine to obtain a first judgment result;
judging whether the vehicle is in a driving state or not to obtain a second judging result;
And based on the first judging result and the second judging result, judging whether the current vehicle is in a driving regeneration state or not.
Further, the judging module 220 is configured to:
if the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is in a driving state, and the current vehicle is determined to be in the driving regeneration state;
If the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is not in a driving state, and the current vehicle is determined not to be in the driving regeneration state;
And if the first judgment result is that the current vehicle is not in the regeneration state, determining that the current vehicle is not in the driving regeneration state.
Further, the determining module 230 is configured to:
If the judgment result is that the current vehicle is in a driving regeneration state, determining a reference rotating speed based on a first corresponding relation set;
And if the judgment result is that the current vehicle is not in the driving regeneration state, determining the reference rotating speed based on the second corresponding relation set.
Further, the first corresponding relation set comprises a plurality of first corresponding relations, and the first corresponding relations comprise the association relation between the gear and the first candidate rotating speed; different gears in the first corresponding relation are different; the second corresponding relation set comprises a plurality of second corresponding relations, and the second corresponding relations comprise the association relation between the gear and the second candidate rotating speed; different gear positions in the second corresponding relation are different;
Further, the determining module 230 is configured to:
Determining the current gear of the vehicle; determining a target first corresponding relation in the first corresponding relation set based on the current gear of the vehicle; taking the first candidate rotating speed in the first corresponding relation of the target as a reference rotating speed; or determining the current gear of the vehicle; determining a target second corresponding relation in the second corresponding relation set based on the current gear of the vehicle; and taking the second candidate rotating speed in the second corresponding relation of the target as a reference rotating speed.
Further, under the condition that the gears are the same, the second candidate rotational speed in the second corresponding relation is smaller than the first candidate rotational speed in the first corresponding relation.
Further, the adjusting module 240 is configured to:
And if the actual rotation speed is less than or equal to the reference rotation speed, reducing the oil pressure of the hydraulic torque converter.
The device disclosed in the above embodiment can implement the flow of the method disclosed in the above method embodiments, and has the same or corresponding beneficial effects. In order to avoid repetition, the description is omitted here.
Fig. 3 is a schematic hardware structure of an electronic device according to an embodiment of the disclosure, as shown in fig. 3, where the electronic device includes:
One or more processors 301, one processor 301 being illustrated in fig. 3;
a memory 302;
the electronic device may further include: an input device 303 and an output device 304.
The processor 301, the memory 302, the input means 303 and the output means 304 in the electronic device may be connected by a bus or by other means, in fig. 3 by way of example.
The memory 302 serves as a non-transitory computer readable storage medium that may be used to store software programs, computer executable programs, and modules, such as program instructions/modules, that correspond to the transmission control methods in the disclosed embodiments. The processor 301 executes various functional applications of the server and data processing, namely, implements the transmission control method of the above-described method embodiment by running software programs, instructions, and modules stored in the memory 302.
Memory 302 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electronic device, etc. In addition, memory 302 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 302 may optionally include memory located remotely from processor 301, which may be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 303 may be used to receive entered numeric or character information and to generate signal inputs related to user settings and function control of the electronic device. The output device 304 may include a display device such as a display screen.
The disclosed embodiments also provide a computer-readable storage medium storing a program or instructions that when executed by a computer cause the computer to perform a transmission control method, the method comprising:
responding to a vehicle braking control signal, and acquiring the actual rotating speed of an engine;
judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result;
determining a reference rotation speed based on the judgment result;
The oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle.
Optionally, the computer executable instructions, when executed by the computer processor, may also be used to perform the technical solutions of the transmission control method provided by any embodiment of the present disclosure.
From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by means of software and necessary general purpose hardware, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present disclosure may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments of the present disclosure.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. 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 disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A transmission control method, characterized by comprising:
responding to a vehicle braking control signal, and acquiring the actual rotating speed of an engine;
judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result;
determining a reference rotation speed based on the judgment result;
The oil pressure of the torque converter is controlled based on the magnitude relation between the actual rotation speed and the reference rotation speed to adjust the coupling state between the engine and the transmission in the vehicle.
2. The method according to claim 1, wherein the determining whether the current vehicle is in a driving regeneration state, to obtain the determination result, includes:
Acquiring regeneration state identification information of an engine;
Determining whether the current vehicle is in a regeneration state or not based on the regeneration state identification information of the engine to obtain a first judgment result;
judging whether the vehicle is in a driving state or not to obtain a second judging result;
And based on the first judging result and the second judging result, judging whether the current vehicle is in a driving regeneration state or not.
3. The method according to claim 2, wherein the step of obtaining a determination result of whether the current vehicle is in a driving regeneration state based on the first determination result and the second determination result includes:
if the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is in a driving state, and the current vehicle is determined to be in the driving regeneration state;
If the first judgment result is that the current vehicle is in a regeneration state, the second judgment result is that the current vehicle is not in a driving state, and the current vehicle is determined not to be in the driving regeneration state;
And if the first judgment result is that the current vehicle is not in the regeneration state, determining that the current vehicle is not in the driving regeneration state.
4. The method according to claim 1, wherein determining a reference rotational speed based on the determination result includes:
If the judgment result is that the current vehicle is in a driving regeneration state, determining a reference rotating speed based on a first corresponding relation set;
And if the judgment result is that the current vehicle is not in the driving regeneration state, determining the reference rotating speed based on the second corresponding relation set.
5. The method of claim 4, wherein the first set of correspondences comprises a plurality of first correspondences comprising an association between gear and a first candidate rotational speed; different gears in the first corresponding relation are different; the second corresponding relation set comprises a plurality of second corresponding relations, and the second corresponding relations comprise the association relation between the gear and the second candidate rotating speed; different gear positions in the second corresponding relation are different;
the determining the reference rotation speed based on the first corresponding relation set includes:
Determining the current gear of the vehicle; determining a target first corresponding relation in the first corresponding relation set based on the current gear of the vehicle; taking the first candidate rotating speed in the first corresponding relation of the target as a reference rotating speed;
The determining the reference rotation speed based on the second corresponding relation set includes:
determining the current gear of the vehicle; determining a target second corresponding relation in the second corresponding relation set based on the current gear of the vehicle; and taking the second candidate rotating speed in the second corresponding relation of the target as a reference rotating speed.
6. The method according to claim 5, characterized in that in the same gear, the second candidate rotational speed in the second correspondence is smaller than the first candidate rotational speed in the first correspondence.
7. The method according to claim 1, characterized in that the controlling the oil pressure of the torque converter based on the magnitude relation of the actual rotation speed and the reference rotation speed includes:
And if the actual rotation speed is less than or equal to the reference rotation speed, reducing the oil pressure of the hydraulic torque converter.
8.A transmission control apparatus, characterized by comprising:
the acquisition module is used for responding to the vehicle braking control signal and acquiring the actual rotating speed of the engine;
the judging module is used for judging whether the current vehicle is in a driving regeneration state or not, and obtaining a judging result;
the determining module is used for determining a reference rotating speed based on the judging result;
And the adjusting module is used for controlling the oil pressure of the hydraulic torque converter based on the magnitude relation between the actual rotating speed and the reference rotating speed so as to adjust the combination state between the engine and the transmission in the vehicle.
9. An electronic device, comprising: a processor and a memory;
The processor is adapted to perform the steps of the method according to any of claims 1 to 7 by invoking a program or instruction stored in the memory.
10. A computer readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 7.
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