CN214205857U - Vehicle-mounted V2X intelligent terminal system supporting 5G communication - Google Patents

Abstract

The utility model discloses a vehicle-mounted V2X intelligent terminal system supporting 5G communication, which consists of a 5G/V2X OBU and a vehicle-mounted sensing system; the 5G/V2X OBU comprises an ARM processor, a 5G/V2X communication module, a power supply circuit, an LTE-V2X radio frequency circuit, a 5G radio frequency circuit, an interface circuit, a BOOT circuit, a 5G _ CONTROL circuit, an RTC circuit and a 5G _ STATUS circuit; the vehicle-mounted sensing system is composed of a camera, an inertia measuring unit, a millimeter wave radar, a GPS positioning module and a GPS radio frequency module. The utility model meets the automatic driving cooperative control requirement based on V2X communication on the requirements of communication distance, time delay, reliability, communication bandwidth and the like; the real-time performance of transmission control information is guaranteed while cooperative control of vehicles, roads, drivers, clouds and the like is efficiently realized.

Description

Vehicle-mounted V2X intelligent terminal system supporting 5G communication

Technical Field

The utility model belongs to the technical field of car autopilot, especially, relate to a support on-vehicle V2X intelligent terminal system of 5G communication.

Background

With the progress of artificial intelligence, electronic information, automatic control, intelligent manufacturing and other technologies, the automatic driving technology of automobiles is developed at a high speed. The autonomous driving based on the vehicle-mounted sensing system starts early, the technical system is relatively perfect, but the traditional sensing effect can be influenced by light, weather, distance factors and the like, the high-precision sensor can be limited by cost, and the high-precision or completely automatic driving is difficult to realize only by depending on the vehicle-mounted sensor. Thanks to the progress of communication technology, networking has become one of the major trends in automotive technology. By arranging the vehicle-mounted V2X terminal, the automobile can realize information interaction with traffic participants and network equipment, so that the defects of the reliability, the sensing distance, the computing capacity of a vehicle-mounted platform and the like of a vehicle-mounted sensor are overcome, the cooperative control of the automobile is realized based on the fusion of the V2X and the vehicle-mounted sensing information, and the opportunity is provided for achieving high-level or completely automatic driving.

At present, the communication mode of most vehicle-mounted V2X intelligent terminals adopts DSRC communication or LTE-V2X communication. The DSRC communication method has disadvantages such as a relatively short communication distance and a reduced reliability of high-speed mobile communication, compared to a real-time control request for autonomous driving. The LTE-V2X communication mode is on vehicle cloud communication connection, and the time delay is relatively higher, data transmission volume is relatively less, and the support of cloud computing on real-time control is limited.

In "vehicle-mounted intelligent terminal device based on V2X wireless communication" (CN 106773968a), a vehicle-mounted intelligent terminal device based on V2X wireless communication is designed by using a V2X communication module, an ARM-a9 processor, a 4G module, a GPS module, a camera module, an OBD interface information module, an ETC module, a power supply module, a voice module, and the like. The device can realize the mutual communication between vehicles and objects, the real-time display and reminding of information, and can provide the applications in the aspects of driving safety, information inquiry and ordering, entertainment, shopping and the like for users. The scheme adopts the IEEE 802.11p standard (namely DSRC) for V2X communication, and the transmission of some non-safety information is included, so that the communication performance of V2X can be influenced while the processor overhead is increased.

In a vehicle forward collision early warning system and method based on LTE-V2X (CN 111354224A), vehicle information is read through a GNSS data interface and a CAN data interface and is packaged into basic safety information of a vehicle, then the basic safety information of the vehicle is sent to other vehicles and received by a LTE-V2X communication module, and collision time and collision safety distance are calculated based on the basic safety information of other vehicles and the vehicle, so that a driver is reminded of avoiding risks. However, from the perspective of cooperative control, the system has limited environment perception capability and is difficult to comprehensively support vehicle-vehicle and vehicle-road cooperative control; meanwhile, the scheme also lacks support for communication between a vehicle and a vehicle cloud.

To sum up, the technical scheme of the existing vehicle-mounted intelligent terminal is mainly insufficient: firstly, the DSRC scheme has relatively short communication distance and reduced reliability of high-speed mobile communication; secondly, the LTE-V2X scheme is insufficient in support of realizing automatic driving control through vehicle cloud cooperation; thirdly, the environment sensing capability is limited, and the V2X cooperative control is difficult to support comprehensively; fourthly, too much non-control information, such as shopping, entertainment, leisure and the like, is transmitted, which results in heavy communication burden and reduces the real-time computing capacity of the processor.

Interpretation of terms:

V2X: vehicle to event, i.e. communication connection between Vehicle and traffic participant and Network device, mainly includes V2V (Vehicle to Vehicle communication), V2I (Vehicle to Infrastructure), V2N (Vehicle to Network, Vehicle to cloud), V2P (Vehicle to peer), and so on.

5G/V2X OBU: the 5G/V2X On Board Unit supports a 5G V2X vehicle-mounted Unit, and can adopt the vehicle-mounted Unit to realize V2V, V2I and V2P communication through an LTE-V2X communication technology and realize V2N communication through a 5G communication technology.

NMEA: national Marine Electronics Association, the American National Marine Electronics Association. The NMEA0183 format is a standard format established by NMEA for marine electronic devices, and is now a unified RTCM (Radio Technical Commission for Maritime Services, Maritime Radio Technical Commission) standard protocol for GPS navigation devices.

NEMA0183 information: the positioning information of the global navigation satellite system in the NMEA0183 format comprises position information, speed information, time information, satellite state information and the like.

DSRC: dedicated Short Range Communications.

LTE-V2X: long Term Evolution-Vehicle to Evolution, V2X.

ABS: anti-lock Braking System, Anti-lock Braking System.

TCS: a Traction Control System, Traction Control System.

SUMMERY OF THE UTILITY MODEL

For the communication demand of automated driving cooperative control, there is communication distance relatively short, high-speed mobile communication reliability decline to current on-vehicle V2X intelligent terminal, or communication time delay relatively higher, to car-cloud cooperative automated driving real-time control's support not enough, or environmental perception ability is limited, or shortcoming such as non-control class information is too much, the utility model provides an on-vehicle V2X intelligent terminal system of support 5G communication.

The utility model discloses a support on-vehicle V2X intelligent terminal system of 5G communication comprises 5G V2X OBU and on-vehicle sensing system.

The 5G/V2X OBU is composed of an ARM processor, a 5G/V2X communication module, a power supply circuit, an LTE-V2X radio frequency circuit, a 5G radio frequency circuit, an interface circuit, a BOOT circuit, a 5G _ CONTROL circuit, an RTC circuit and a 5G _ STATUS circuit; the vehicle-mounted sensing system is composed of a camera, an inertia measuring unit, a millimeter wave radar, a GPS positioning module and a GPS radio frequency module.

The 5G/V2X communication module receives serial port 2 information from the ARM processor through a serial port 1, receives NMEA0183 information transmitted from the GPS positioning module through a serial port 2 of the 5G/V2X communication module, the information forms basic vehicle control information, the basic vehicle control information is transmitted to other vehicles, infrastructure and pedestrians through an LTE-V2X radio frequency circuit, and the basic vehicle control information is transmitted to network equipment through the 5G radio frequency circuit; the 5G/V2X communication module receives basic vehicle control information, infrastructure information and pedestrian information through an LTE-V2X radio frequency circuit, receives network information through a 5G radio frequency circuit, and sends the received basic vehicle control information, infrastructure information, pedestrian information and network information to the ARM processor through the serial port 1.

The ARM processor receives CAN information from a vehicle controller, distance information between a millimeter wave radar and a front obstacle transmitted through a CAN interface, vehicle posture information transmitted through an RS485 interface by an inertia measurement unit, and road image information transmitted through an Ethernet interface by a camera, the information forms basic vehicle control information, the basic vehicle control information is transmitted to a serial port 1 of a 5G/V2X communication module through a serial port 2 of the ARM processor, and the basic vehicle control information, infrastructure information, pedestrian information and network information transmitted through the serial port 1 of the 5G/V2X communication module are received.

The power circuit supplies power to the 5G/V2X communication module and the ARM processor.

The RTC circuit provides accurate real time for the system.

The BOOT circuit provides different starting modes of the system.

The GPS positioning module adopts a differential GPS module, is connected with the 5G/V2X communication module through a serial port 2 of the 5G/V2X communication module and a GNSS-PPS interface, and transmits NMEA0183 information to the 5G/V2X communication module.

Compared with the prior art, the utility model beneficial technological effect do:

the utility model discloses satisfy the autopilot cooperative control requirement based on V2X communication on requirements such as communication distance, time delay, reliability, communication bandwidth. The method is used for collecting basic vehicle control information such as road image information, distance information with a front obstacle, vehicle body posture information, NMEA0183 information, vehicle speed information, acceleration information, brake system state information, wheel corner information, accelerator pedal information and the like, does not involve processing non-control information, and ensures the real-time property of transmission control information while efficiently realizing cooperative control of vehicles, roads, drivers, clouds and the like. The method adopts a V2X communication technology supporting 5G, adopts 5G communication on a vehicle cloud communication connection, and adopts an LET-V2X communication mode on a vehicle-vehicle, vehicle-road and vehicle-person communication connection. Compared with the DSRC, the vehicle-cloud communication system has the advantages that the communication distance is longer, the reliability is higher, compared with the LTE-V2X communication technology, the vehicle-cloud communication system has lower time delay and larger data transmission quantity, and better support can be provided for real-time control of the automatic driving vehicle through cloud computing.

Drawings

Fig. 1 is the utility model discloses support on-vehicle V2X intelligent terminal structure chart of 5G communication.

Fig. 2(a) is an RS485 interface circuit, fig. 2(b) is a CAN interface circuit, fig. 2(c) is an sdcd interface circuit, and fig. 2(d) is a USB _ OTG interface circuit.

Fig. 3(a) shows a USB interface circuit, and fig. 3(b) shows a USB _ TTL interface circuit.

Fig. 4(a) shows a 5G _ USB interface circuit, and fig. 4(b) shows a 5G _ USIM interface circuit.

Fig. 5 is an RGMII interface circuit.

Fig. 6(a) shows a 5G rf circuit, and fig. 6(b) shows an LTE-V2X rf circuit.

Fig. 7(a) shows a 5G _ TEST circuit, fig. 7(b) shows a 5G _ STATUS circuit, and fig. 7(c) shows a 5G _ CONTROL circuit.

Fig. 8 is a DCDC circuit.

Fig. 9(a) shows an RTC circuit and fig. 9(b) shows a BOOT circuit.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The utility model discloses a support on-vehicle V2X intelligent terminal system structure of 5G communication as shown in figure 1, constitute by 5G V2X OBU and on-vehicle sensing system. The 5G/V2X OBU comprises an ARM processor, a 5G/V2X communication module, a power supply circuit, an LTE-V2X radio frequency circuit, a 5G radio frequency circuit, a radio frequency circuit interface circuit, a BOOT circuit, a 5G _ CONTROL circuit, an RTC circuit and a 5G _ STATUS circuit; the vehicle-mounted sensing system consists of a camera module, an inertia measurement unit, a millimeter wave radar, a GPS positioning module and a GPS radio frequency module.

5G/V2X communication module: adopts MH5000-871 communication module of Huashi. The module receives information from an ARM processor serial port 2 through a serial port 1, receives NMEA0183 information transmitted from a GPS positioning module through a serial port 2 of a 5G/V2X communication module, integrates the information into basic vehicle control information, transmits the basic vehicle control information to other vehicles, infrastructure and pedestrians through an LTE-V2X radio frequency circuit, and transmits the basic vehicle control information to network equipment through the 5G radio frequency circuit. The communication module receives basic vehicle control information, infrastructure information and pedestrian information through an LTE-V2X radio frequency circuit, receives network information through a 5G radio frequency circuit, and sends the received basic vehicle control information, infrastructure information, pedestrian information and network information to the ARM processor through the serial port 1.

An ARM processor: the ARM processor selects a flying ice IMX6Q-C core board. The processor mainly receives CAN information from a vehicle controller, distance information between a millimeter wave radar and a front obstacle transmitted through a CAN interface, vehicle posture information transmitted through an RS485 interface by an inertia measurement unit, and road image information transmitted through an Ethernet interface by a camera, integrates the information, transmits the information to a serial port 1 of a 5G/V2X communication module through a serial port 2 of an ARM processor, and simultaneously receives vehicle basic control information, infrastructure information, pedestrian information and network information transmitted through the serial port 1 of the 5G/V2X communication module.

A power supply circuit: the main control chip is TPS 54332. And power is supplied to the 5G/V2X communication module and the ARM processor.

An interface circuit: a connection interface is provided for peripheral devices.

RTC circuit: providing accurate real-time for the system.

BOOT circuit: different starting modes of the system are provided.

5G _ CONTROL circuit: the ARM processor is used for controlling the 5G/V2X communication module.

5G _ STATUS circuit: the working state of the 5G/V2X communication module is displayed.

A GPS positioning module: the INS-YI100C differential GPS module is selected as the module. The serial port 2 and the GNSS-PPS interface of the 5G/V2X communication module are connected with the 5G/V2X communication module, and the NMEA0183 information is transmitted to the 5G/V2X communication module.

A camera: a DC-2CD3325-I camera of Haikangwei is adopted. The RJ45 network port is connected with the Ethernet circuit, and the road image information is transmitted to the ARM processor through the Ethernet interface.

Millimeter wave radar: continental ARS408 millimeter wave radar was used. The CAN interface is used for connecting, and distance information between the ARM processor and the front obstacle is transmitted to the ARM processor through the CAN.

An inertia measurement unit: BW-127 inertial measurement unit employing north microsensors. The vehicle body posture information is transmitted to the ARM processor through the connection of the RS485 and the ARM processor.

And (3) information of the vehicle controller: the ARM processor CAN interface is connected with a CAN interface of the vehicle controller, and CAN information from the vehicle controller is collected: brake system state information, wheel angle information, accelerator pedal information, and current gear information.

The 5G/V2X OBU mainly comprises an IMX6Q _ C core board, an RS485 interface circuit, an SDCARD interface circuit, a CAN interface circuit, a USB _ OTG interface circuit, a USB interface circuit, a 5G/V2X communication module, an LTE-V2X radio frequency circuit, a 5G _ TEST circuit, a 5G _ STATUS circuit, a 5G _ CONTROL circuit, a 5G _ USB interface circuit, a 5G _ interface circuit, a DCDC circuit, an RTC circuit, a BOOT circuit and an RGMII interface circuit.

Specifically, the method comprises the following steps:

(1) an interface circuit:

1) RS485 interface circuit: the circuit comprises a10 k omega resistor, a 20k omega resistor, a 120 omega resistor, 2 360 omega resistors, a 100nF capacitor, an S8050 triode, an MBR0520 diode, an SP3485 chip and a 2P wiring seat. As shown in fig. 2 (a).

2) SDCARD interface circuit: the device consists of 6 10k omega resistors, 120 omega magnetic beads, 10uF capacitors, 100nF capacitors and a MICRO SD card seat. As shown in fig. 2 (c).

3) A CAN interface circuit: the circuit comprises 0 omega resistor, 2 resistors of 59 omega, 4.7k omega resistor, 10k omega resistor, 2 capacitors of 56pF, 0.1uF capacitor, 10uF capacitor, TJA1040 chip and 2P wire holder. As shown in fig. 2 (b).

4) USB _ OTG interface circuit: the device comprises 2 1k omega resistors, 4 10k omega resistors, 0.1uF capacitor, 3 AO3415 field effect transistors, two S8050 triodes, 5V 0.5A patch fuse, 0502B TVS diode and MINI-USB female head. As shown in fig. 2 (d).

5) USB _ TTL interface circuit: the device consists of 3 100nF capacitors, 10uF capacitors, a CH340 chip, an XC6206 linear voltage stabilizer, a MINI-USB female connector, two SGM3517 analog switch chips and a 4P connector. As shown in fig. 3 (b).

6) The USB interface circuit: the circuit comprises 6 22 omega resistors, 12k omega resistors, 5 100k omega resistors, 1M omega resistor, 2 18pF capacitors, 10 0.1uF capacitors, 31 uF capacitors, 10uF polar capacitors, 2 USB female terminals, 2 5V 0.5A chip fuses, two 0502B TVS diodes, a USB controller and a 24MHz crystal oscillator. As shown in fig. 3 (a).

7)5G _ USB interface circuit: 60 omega resistors, 2 1 omega resistors, 2 10pF capacitors, a PJEC5V0M1TATVS diode and a 90 omega @100MHz common mode inductor. As shown in fig. 4 (a).

8)5G _ USIM interface Circuit: the circuit comprises 2 resistors of 47k omega, 3 capacitors of 33pF, a capacitor of 100nF, a capacitor of 4.7uF, an SMF05C chip and a SIM card holder. As shown in fig. 4 (b).

9) RGMII interface circuit: namely, the Ethernet circuit is composed of 20 Ω resistors, 12 22 Ω resistors, 2 330 Ω resistors, 1.5k Ω resistors, 2.37k Ω resistors, 4.7k Ω resistors, 12 10k Ω resistors, 2 22pF capacitors, 7 0.1uF capacitors, 31 uF capacitors, 2 10uF capacitors, 25MHz crystal oscillator, 4.7uH inductor, 3 120 Ω @100MHz common mode inductors, RJ45 Ethernet connector and AR8031 Ethernet chip. As shown in fig. 5.

(2)5G radio frequency circuit: constitute by 2 0.2pF electric capacity, 2 0.3pF electric capacity, 4 0.5pF electric capacity, 2 33pF electric capacity, 41 nH inductances, antenna pedestal. As shown in fig. 6 (a).

(3) LTE-V2X radio frequency circuit: the antenna comprises 10 0.2pF capacitors, 2 0.4pF capacitors, 4 0.5pF capacitors, 433 pF capacitors, 4 nH inductors, 4 1.3nH inductors and an antenna pedestal. As shown in fig. 6 (b).

(4)5G _ TEST circuit: the connector is composed of 6P connectors. As shown in fig. 7 (a).

(5)5G _ STATUS circuit: the key comprises 31 k omega resistors, 2 4.7k omega resistors, 2 10k omega resistors, 2S 8050 triodes and 2 light-emitting diodes, and 2 keys. As shown in fig. 7 (b).

(6)5G _ CONTROL circuit: the circuit is composed of 41 k omega resistors, 3 10k omega resistors, 3 nF capacitors and 32 SK3018 field effect transistors. As shown in fig. 7 (c).

(7) DCDC circuit: the circuit comprises a0 omega resistor, a 2k omega resistor, a 2.5k omega resistor, a 5.1k omega resistor, a10 k omega resistor, a 10.5k omega resistor, 2 75k omega resistors, 2 1000k omega resistors, 4 10pF capacitors, 2 33pF capacitors, 2 100pF capacitors, 2 180pF capacitors, 2 1nF capacitors, 2 10nF capacitors, 2 15nF capacitors, 4 100nF capacitors, 2 4.7uF capacitors, 4 10uF capacitors, 422 uF capacitors, 3 polarity capacitors with 220uF, 2 inductors with 4.7uH, 2B 320A Schottky diodes, an SS54 Schottky diode, a fluctuation switch, 2 fluctuation chips with 54TPS 332, 5V 3A insurance patches, 4V 3A insurance patches, an LED diode, an AMS1117-3.3 chip, an AMS1117-1.8 chip, a toggle switch and a DC-DC power socket. As shown in fig. 8.

(8) RTC circuit: the circuit comprises a0 omega resistor, 2 1.5k omega resistors, 2 4.7k omega resistors, 2 10k omega resistors, a 0.1uF capacitor, an RX8010SJ chip, a CR2032 battery box and a BAT54C diode. As shown in fig. 9 (a).

(9) BOOT circuit: the circuit comprises 2 4.7k omega resistors, 2 10k omega resistors, a 0.1uF capacitor, a dial switch and a key. As shown in fig. 9 (b).

The implementation method comprises the following steps:

the hardware framework provided by the utility model is utilized to manufacture a 5G/V2X OBU; connecting the manufactured OBU to a power supply, and burning a program; and then the differential GPS module is connected to pins of 5G _ UART _ TXD, 5G _ UART _ RXD and GNSS _ PPS, the camera is connected to the RJ45 network interface, the inertia measurement unit is connected to the RS485 wire holder, and the millimeter wave radar and the CAN interface of the whole vehicle controller are connected to the CAN wire holder.

The utility model provides a support on-vehicle V2X intelligent terminal of 5G communication, its application method is: the method comprises the steps of utilizing a 5G/V2X OBU to receive NMEA0183 information transmitted by a GPS, receiving CAN information (brake system state information, wheel corner information, accelerator pedal information, current gear information and the like) transmitted by a vehicle controller, receiving distance information between a millimeter wave radar and a front obstacle, receiving vehicle body posture information acquired by an inertial measurement unit and road image information acquired by a camera. The 5G/V2X OBU integrates the information, packages the information into basic vehicle control information (including road image information, distance information with a front obstacle, vehicle body posture information, NMEA0183 information, vehicle speed information, acceleration information, brake system state information, wheel corner information and accelerator pedal information), integrates the information, transmits the information to other vehicles, infrastructures and pedestrians by using an LTE-V2X radio frequency circuit, transmits the information to network equipment by using a 5G radio frequency circuit, receives the basic vehicle control information, the infrastructure information and the pedestrian information by using the LTE-V2X radio frequency circuit, and receives the network information by using the 5G radio frequency circuit. Realize the cooperative control of cars, roads, drivers, clouds and the like.

V2X communication technology in the existing vehicle-mounted intelligent terminal mostly adopts DSRC communication technology or LTE-V2X communication technology. The effective communication distance of the DSRC communication technology is 300 m; the maximum moving speed is 200 km/h; the delay is about 50 ms; the transmission rate is 27 Mbps. The effective communication distance of the LTE-V2X communication technology is 500 m; the maximum moving speed is supported to be 500 km/h; the delay is about 50 ms; the transmission rate is 12 Mbps. The 5G communication time delay is about 1 ms; the transmission rate is greater than 1 Gbps. The utility model discloses support V2X communication technology of 5G and communicate on car, car road, car person effective distance and be 500m, support the maximum moving speed and be 500km/h, communication delay is about 50ms, transmission rate 12 Mbps; the time delay on the vehicle cloud communication is about 1ms, and the transmission rate is greater than 1 Gbps. Therefore, compared with the method of simply adopting DSRC or LTE-V2X, the method can better meet the requirements of high real-time performance and high reliability of automatic driving cooperative control.

Claims (1)

1. A vehicle-mounted V2X intelligent terminal system supporting 5G communication is characterized by consisting of a 5G/V2X OBU and a vehicle-mounted sensing system;

the 5G/V2X OBU comprises an ARM processor, a 5G/V2X communication module, a power supply circuit, an LTE-V2X radio frequency circuit, a 5G radio frequency circuit, an interface circuit, a BOOT circuit, a 5G _ CONTROL circuit, an RTC circuit and a 5G _ STATUS circuit; the vehicle-mounted sensing system consists of a camera, an inertia measuring unit, a millimeter wave radar, a GPS positioning module and a GPS radio frequency module;

the 5G/V2X communication module receives information from an ARM processor serial port 2 through a serial port 1, receives NMEA0183 information transmitted from a GPS positioning module through a serial port 2 of the 5G/V2X communication module, the information forms basic vehicle control information, the basic vehicle control information is transmitted to other vehicles, infrastructure and pedestrians through an LTE-V2X radio frequency circuit, and the basic vehicle control information is transmitted to network equipment through the 5G radio frequency circuit; the 5G/V2X communication module receives basic vehicle control information, infrastructure information and pedestrian information through an LTE-V2X radio frequency circuit, receives network information through a 5G radio frequency circuit, and sends the received basic vehicle control information, infrastructure information, pedestrian information and network information to the ARM processor through the serial port 1;

the ARM processor receives CAN information from a vehicle controller, distance information between a millimeter wave radar and a front obstacle transmitted through a CAN interface, vehicle posture information transmitted through an RS485 interface by an inertia measurement unit, and road image information transmitted through an Ethernet interface by a camera, the information forms basic vehicle control information, the basic vehicle control information is transmitted to a serial port 1 of a 5G/V2X communication module through a serial port 2 of the ARM processor, and the basic vehicle control information, infrastructure information, pedestrian information and network information transmitted through the serial port 1 of the 5G/V2X communication module are received;

the power supply circuit supplies power to the 5G/V2X communication module and the ARM processor;

the RTC circuit provides accurate real-time for the system;

the BOOT circuit provides different starting modes of the system;

the GPS positioning module adopts a differential GPS module, is connected with the 5G/V2X communication module through a serial port 2 of the 5G/V2X communication module and a GNSS-PPS interface, and transmits NMEA0183 information to the 5G/V2X communication module.

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