DE102015217256A1 - Method and device for carrying out an emergency braking operation in a single-track motor vehicle - Google Patents
Method and device for carrying out an emergency braking operation in a single-track motor vehicle Download PDFInfo
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- DE102015217256A1 DE102015217256A1 DE102015217256.2A DE102015217256A DE102015217256A1 DE 102015217256 A1 DE102015217256 A1 DE 102015217256A1 DE 102015217256 A DE102015217256 A DE 102015217256A DE 102015217256 A1 DE102015217256 A1 DE 102015217256A1
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000725 suspension Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000011156 evaluation Methods 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 abstract 1
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 206010000369 Accident Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/22—Suspension systems
- B60W2710/223—Stiffness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Durchführung eines Notbremsvorgangs bei einem einspurigen Kraftfahrzeug, bei dem – mittels einer das Umfeld vor dem Kraftfahrzeug erfassenden Umfeldsensorik eine die Wahrscheinlichkeit eines Unfalls des Kraftfahrzeugs beschreibende Unfallwahrscheinlichkeitsgröße ermittelt wird, – für den Fall, dass anhand einer Auswertung der Unfallwahrscheinlichkeitsgröße festgestellt wird, dass die Unfallwahrscheinlichkeit einen vorgegebenen Schwellenwert überschreitet, ein fahrerunabhängiger Notbremsvorgang des Kraftfahrzeugs eingeleitet wird.The invention relates to a method for carrying out an emergency braking operation in a single-track motor vehicle, in which - by means of an environmental sensor system detecting the environment before the motor vehicle accident probability variable is determined, - determined in the event that based on an evaluation of the accident probability variable is that the accident probability exceeds a predetermined threshold, a driver-independent emergency braking operation of the motor vehicle is initiated.
Description
Stand der TechnikState of the art
Aus der
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung betrifft ein Verfahren zur Durchführung eines Notbremsvorgangs bei einem einspurigen Kraftfahrzeug, bei dem
- – mittels einer das Umfeld vor dem Kraftfahrzeug erfassenden Umfeldsensorik eine die Wahrscheinlichkeit eines Unfalls des Kraftfahrzeugs beschreibende Unfallwahrscheinlichkeitsgröße ermittelt wird,
- – für den Fall, dass anhand einer Auswertung der Unfallwahrscheinlichkeitsgröße festgestellt wird, dass die Unfallwahrscheinlichkeit einen vorgegebenen Schwellenwert überschreitet, ein fahrerunabhängiger Notbremsvorgang des Kraftfahrzeugs eingeleitet wird.
- An accident probability variable describing the probability of an accident of the motor vehicle is determined by means of an environmental sensor system detecting the environment in front of the motor vehicle,
- - In the event that it is determined on the basis of an evaluation of the accident probability variable that the accident probability exceeds a predetermined threshold value, a driver-independent emergency braking operation of the motor vehicle is initiated.
Die Unfallwahrscheinlichkeitsgröße ist ein Maß für die Wahrscheinlichkeit eines Unfalls, insbesondere einer Kollision des Kraftfahrzeugs mit einem anderen Verkehrsteilnehmer oder Objekt.The accident probability variable is a measure of the probability of an accident, in particular of a collision of the motor vehicle with another road user or object.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass der Notbremsvorgang dann durchgeführt wird, wenn ein Unfall als sicher bevorstehend ermittelt wird. Dadurch soll der zu erwartende Schaden möglichst stark begrenzt werden.An advantageous embodiment of the invention is characterized in that the emergency braking operation is performed when an accident is determined to be safe forthcoming. This should limit the expected damage as much as possible.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass der Notbremsvorgang abhängig davon ausgestaltet wird, ob sich das Kraftfahrzeug momentan im Wesentlichen in einer Geradeausfahrt oder in einer Kurvenfahrt befindet.An advantageous embodiment of the invention is characterized in that the emergency braking operation is configured depending on whether the motor vehicle is currently substantially in a straight ahead or in cornering.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass bei Vorliegen einer Geradeausfahrt das Fahrwerk während des Notbremsvorgangs straffer eingestellt wird.An advantageous embodiment of the invention is characterized in that in the presence of a straight ahead driving the suspension is set tighter during the emergency braking operation.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass bei Vorliegen einer Geradeausfahrt ein Lenkungsdämpfer oder eine aktive Lenkung fahrerunabhängig derart angesteuert wird, dass das Kraftfahrzeug in einer stabilen Fahrsituation gehalten wird.An advantageous embodiment of the invention is characterized in that in the presence of a straight ahead driving a steering damper or active steering is independently controlled so that the motor vehicle is kept in a stable driving situation.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass bei Vorliegen einer Kurvenfahrt die Bremsen schwächer als im Falle des Vorliegens einer Geradeausfahrt angesteuert werden. Damit wird die Gefahr eines seitlichen Wegrutschens des gebremsten Rades vermindert.An advantageous embodiment of the invention is characterized in that in the presence of cornering the brakes are driven weaker than in the case of the presence of a straight ahead. This reduces the risk of a side slipping of the braked wheel is reduced.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass bei Vorliegen einer Kurvenfahrt ein fahrerunabhängiger Lenkeingriff durchgeführt wird.An advantageous embodiment of the invention is characterized in that in the presence of cornering, a driver-independent steering intervention is performed.
Eine vorteilhafte Ausgestaltung des erfindungsgemäßen Verfahrens ist dadurch gekennzeichnet, dass es sich bei dem einspurigen Kraftfahrzeug um ein Motorrad handelt.An advantageous embodiment of the method according to the invention is characterized in that the one-track motor vehicle is a motorcycle.
Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Dabei handelt es sich insbesondere um ein Steuergerät, in welchem der Programmcode zur Durchführung der erfindungsgemäßen Verfahren hinterlegt ist.Furthermore, the invention comprises a device containing means which are designed for carrying out the method according to the invention. This is in particular a control device in which the program code for carrying out the method according to the invention is stored.
Die Zeichnung umfasst
Mit Hilfe der Erfindung wird eine Notbremsfunktion in einer kritischen Situation unter den besonderen Gegebenheiten, welche sich für ein Motorrad ergeben, dargestellt. Die Notbremsfunktion wird dabei auf Basis von Umfeldsensorik erkannt und eingeleitet.With the aid of the invention, an emergency braking function is shown in a critical situation under the special circumstances that arise for a motorcycle. The emergency brake function is detected and initiated on the basis of environment sensors.
Hierfür wird am Motorrad eine Umfeldsensorik, z.B. Radar, Video, Lidar oder Ultraschall, angebracht. Diese Umfeldsensorik erfasst das Geschehen bzw. die Verkehrssituation vor dem Motorrad und analysiert diese. Erkennt der Algorithmus eine kritische Situation, in der ein Unfall unvermeidlich ist, dann wird eine Notbremsung eingeleitet. For this purpose, an environment sensor system, e.g. Radar, video, lidar or ultrasound, attached. This environment sensor detects the event or the traffic situation in front of the motorcycle and analyzes it. If the algorithm identifies a critical situation in which an accident is inevitable, emergency braking is initiated.
Bei der Einleitung der Notbremsfunktion besteht bei einem Motorrad im Gegensatz zum vierrädrigen Kraftfahrzeug der Unterschied, dass dieses nur zwei Räder hat und damit ein völlig unterschiedliches Stabilitätsverhalten aufweist. Somit ist es hier notwendig, zunächst den Fahrzustand des Motorrads zu ermitteln.In the initiation of the emergency brake function is in a motorcycle in contrast to the four-wheeled motor vehicle, the difference that this has only two wheels and thus has a completely different stability behavior. Thus, it is necessary here to first determine the driving condition of the motorcycle.
Befindet sich das Motorrad in einer stabilen Geradeausfahrt, dann ist dies der beste Zustand, um eine Notbremsung einzuleiten. Zur Erhöhung der Stabilität des Motorrads während der Notbremsung kann das Fahrwerk auf diese Situation vorbereitet werden. Hierzu sollte es vor allem straffer eingestellt werden, damit das Motorrad stabiler fährt. Dadurch bleibt auch der Fahrer in einer stabileren Sitzposition, so dass er besser auf die Notbremssituation reagieren kann. If the motorcycle is in stable straight-ahead driving, this is the best condition to initiate emergency braking. To increase the Stability of the motorcycle during emergency braking, the suspension can be prepared for this situation. For this purpose, it should be set above all firmer, so that the motorcycle drives more stable. This also keeps the driver in a more stable seating position so that he can better respond to the emergency braking situation.
Weiterhin ist es möglich, den Lenkungsdämpfer oder die aktive Lenkung auf die spezielle Situation einzustellen und gegebenenfalls bei einer aktiven Einstellmöglichkeit derart anzusteuern, dass dadurch das Motorrad in einem stabileren Fahrzustand gehalten wird.Furthermore, it is possible to adjust the steering damper or the active steering to the specific situation and optionally to control in an active adjustment such that thereby the motorcycle is kept in a more stable driving condition.
Anders stellt sich die Situation dar, wenn sich das Motorrad in einer Schräglage bzw. Kurvenfahrt befindet. Hier ist die Notbremsung mit einer so geringen Bremsleistung einzuleiten, dass das Motorrad nicht über die seitliche Haftgrenze kommt und wegrutscht. Ferner kann das Fahrwerk mittels eines Algorithmus entsprechend eingestellt werden. Ein wichtiger Punkt ist die Lenkung des Motorrads. Hier kann abhängig von Geschwindigkeit, Bremsleistung, Schräglage, Einfederweg usw. die Lenkung, insbesondere die aktive Lenkung, derart angesteuert werden, dass das Motorrad in einem stabilen Zustand bleibt und stabil zum Stillstand kommt.The situation is different when the motorcycle is in an inclined position or cornering. Here the emergency braking with such a low braking performance is to be introduced that the motorcycle does not come over the lateral adhesive limit and slips away. Furthermore, the chassis can be adjusted accordingly by means of an algorithm. An important point is the steering of the motorcycle. Here, depending on the speed, braking power, tilt, compression travel, etc., the steering, in particular the active steering, are controlled such that the motorcycle remains in a stable state and stable comes to a standstill.
Eine Ausgestaltung des erfindungsgemäßen Verfahrens ist in
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102011075345 A1 [0001] DE 102011075345 A1 [0001]
Claims (9)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015217256.2A DE102015217256A1 (en) | 2015-09-10 | 2015-09-10 | Method and device for carrying out an emergency braking operation in a single-track motor vehicle |
PCT/EP2016/067050 WO2017041945A1 (en) | 2015-09-10 | 2016-07-18 | Method and device for performing an emergency braking operation in the case of a single-track motor vehicle |
TW105129116A TW201719047A (en) | 2015-09-10 | 2016-09-08 | Process and device to perform an emergent procedure of a single-track vehicle |
Applications Claiming Priority (1)
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DE102015217256.2A DE102015217256A1 (en) | 2015-09-10 | 2015-09-10 | Method and device for carrying out an emergency braking operation in a single-track motor vehicle |
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DE102015217256A1 true DE102015217256A1 (en) | 2017-03-16 |
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DE102015217256.2A Pending DE102015217256A1 (en) | 2015-09-10 | 2015-09-10 | Method and device for carrying out an emergency braking operation in a single-track motor vehicle |
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Country | Link |
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DE (1) | DE102015217256A1 (en) |
TW (1) | TW201719047A (en) |
WO (1) | WO2017041945A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021063576A1 (en) | 2019-10-01 | 2021-04-08 | Robert Bosch Gmbh | Method and device for carrying out a distance or speed-regulating function for a single-track motor vehicle |
DE102020209952A1 (en) | 2020-08-06 | 2022-02-24 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and device for improving vehicle stability of a single-track motor vehicle |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107128303A (en) * | 2017-06-05 | 2017-09-05 | 北京汽车集团有限公司 | Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011075345A1 (en) | 2011-05-05 | 2012-11-08 | Robert Bosch Gmbh | Method for carrying out an emergency braking operation in a vehicle |
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DE102012000783A1 (en) * | 2012-01-17 | 2013-07-18 | Gm Global Technology Operations, Llc | Stabilization of a vehicle combination |
US20130311075A1 (en) * | 2012-05-18 | 2013-11-21 | Continental Automotive Systems, Inc. | Motorcycle and helmet providing advance driver assistance |
-
2015
- 2015-09-10 DE DE102015217256.2A patent/DE102015217256A1/en active Pending
-
2016
- 2016-07-18 WO PCT/EP2016/067050 patent/WO2017041945A1/en active Application Filing
- 2016-09-08 TW TW105129116A patent/TW201719047A/en unknown
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102011075345A1 (en) | 2011-05-05 | 2012-11-08 | Robert Bosch Gmbh | Method for carrying out an emergency braking operation in a vehicle |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021063576A1 (en) | 2019-10-01 | 2021-04-08 | Robert Bosch Gmbh | Method and device for carrying out a distance or speed-regulating function for a single-track motor vehicle |
DE102020209952A1 (en) | 2020-08-06 | 2022-02-24 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and device for improving vehicle stability of a single-track motor vehicle |
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Publication number | Publication date |
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TW201719047A (en) | 2017-06-01 |
WO2017041945A1 (en) | 2017-03-16 |
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