DE10336986A1 - Method for avoiding collisions of a vehicle - Google Patents

Method for avoiding collisions of a vehicle

Info

Publication number
DE10336986A1
DE10336986A1 DE2003136986 DE10336986A DE10336986A1 DE 10336986 A1 DE10336986 A1 DE 10336986A1 DE 2003136986 DE2003136986 DE 2003136986 DE 10336986 A DE10336986 A DE 10336986A DE 10336986 A1 DE10336986 A1 DE 10336986A1
Authority
DE
Germany
Prior art keywords
vehicle
characterized
objects
environment
stored
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE2003136986
Other languages
German (de)
Inventor
Alexander Dipl.-Ing. Schanz
Andreas Dr.-Ing. Spieker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE2003136986 priority Critical patent/DE10336986A1/en
Publication of DE10336986A1 publication Critical patent/DE10336986A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00Vehicle fittings, acting on a single sub-unit only, for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008Vehicle fittings, acting on a single sub-unit only, for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265Automatic obstacle avoidance by steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/20Traffic related input parameters
    • B60W2550/30Distance or speed relative to other vehicles
    • B60W2550/306Distance or speed relative to other vehicles the position of preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering

Abstract

The invention relates to a method for collision avoidance of a vehicle (5) with other objects, in which the environment of the vehicle (5) is constantly detected, the distance to other objects is determined and stored and from the detected position of the vehicle and the current and stored Environmental data an imminent collision determined and prevented by appropriate intervention in the brake and / or steering.

Description

  • The The invention relates to a method for preventing damage to a Vehicle due to a collision, in which the environment of the vehicle which determines current distances to other objects be and a collision by automatically suitable braking and / or automatic appropriate intervention in the steering is avoided or the driver is warned of a collision.
  • From the DE 38 13 083 A1 For example, there has been known an automotive automatic parking device having motion sensors for measuring the travel distance of the car, obstacle sensors for detecting the position of the obstacles around a car and a microcomputer operating in accordance with the instructions of the driver and the above-mentioned motion sensors and Obstructing sensors obtained data-rich signals to instruct the driver to set the car to stop, left or right to drive or reset to park the car along a special path. Further, the microcomputer may generate an output signal to control the control mechanism, the gearshift, the accelerator, and the brake system to automatically park the carriage.
  • From the DE 198 09 416 A1 A method for assisted parking of a motor vehicle and an apparatus for carrying out the method is described. From an all-around sensor system with a plurality of distance sensors, objects in the vicinity of the motor vehicle and their distances to the motor vehicle are detected. A downstream processing device determines, from the distance data, the size of a potential parking space and, if appropriate, the nature of its surroundings as well as a possible strategy for parking the motor vehicle in the potential parking space. The determined strategy is output to the driver by means of a display device.
  • With The known parking aids, it is possible, the current environment a motor vehicle to capture and from the data determined a Determine route that is followed either automatically or communicated to the driver. With these parking aids is it is not possible To avoid collisions of the vehicle with other objects, by the sensors are currently not detected.
  • task The present invention, in contrast, is a method for preventing of damage to create a vehicle due to a collision with the Collisions with stationary or slowly moving obstacles reliably avoided can be.
  • These The object is achieved by a Method of the type mentioned above, in which information about the recorded environment detected, the position of the vehicle is detected and determines the distance to objects detected in the past becomes. By this measure is it is possible also to look at the environment of the vehicle in the past, for future Avoid collisions.
  • It In this way, a model of the environment of the vehicle can be created to be created. In particular, you can distances are calculated or calculated to objects that are currently from the Sensors of the vehicle can not be seen or detected. The fact that the position of the vehicle is detected and the detected Environment is stored, a local coordinate system can be set up in which the other objects are stored and can be one Correlation to the other objects are created. The position of the vehicle can be global and / or relative to the detected Objects are determined. By the method according to the invention will damage on the vehicle or objects (obstacles), by Ascending to these objects or scurrying to these objects can arise avoided. For this purpose, interventions in the steering and / or in the operating or parking brake provided. Depending on the environment-used Sensors can moving and not moving other objects captured and stored become. The data of the sensors can evaluated and / or processed before or after storage. The inventive method is therefore not limited to a parking aid, but is suitable Collisions in the flowing, especially in slow-flowing Avoid traffic.
  • In a particularly preferred variant of the method, the movement of the vehicle and / or the other objects is detected. This measure increases the accuracy of the method. The position or movement determination of the vehicle and the external objects can be performed, for example, by a laser scanner, ultrasound sensors, radar, cameras with downstream image processing, wheel speed sensors, yaw rate sensors, Global Positioning System (GPS), optical systems for lateral velocity determination (Korrevit) and longitudinal - and transverse sensors, the longitudinal and transverse movement of objects or the Determine vehicle to be determined.
  • Especially it is preferred if a representation of the environment of the vehicle is created in the information about the position and the movement behavior the vehicle and the other objects stored or displayed are. Such a representation may be, for example, a local map be in the vicinity of the vehicle. In this map are the position of the vehicle as well as the position of momentarily and in the past detected objects or obstacles. Especially become in the map the own position, the own movement behavior, the positions and the movement behavior of the detected objects related to each other. The use of such a card is particularly suitable for moving other objects in collision monitoring to take into account. Possible Collisions with a recently detected moving object can be detected and detected be avoided. Furthermore, it is possible the other objects to classify, in particular to indicate whether it is in the Object is about a wall, a car, a pedestrian or the like. The different objects can shown differently on the map. The movement behavior the objects can be tracked, for example, by tracking or Kalman filtering, i. an estimate of several measurement data and a mathematical model. When calculating distances between The vehicle and the other objects can in particular have the relative speeds and / or the absolute speeds taken into account both the vehicle and the other objects become.
  • at a variant of the method is provided that the stored environment or the stored information about the environment and / or the representation is updated and managed. By this measure, the stored Data or presentation (map) kept up to date and a collision can be safely avoided.
  • advantageously, become the minimum distances, where avoided by deceleration and / or avoiding a collision can be determined. The minimum distances may depend on the vehicle speed or from the relative speed to the other objects depend. Therefore, you can the minimum distances change and It is advantageous not to have a given minimum distance choose but the minimum distances to adapt to the particular situation. This can be done for different jobs of the vehicle, in particular for different distance sensors, different minimum distances apply. Drive in For example, vehicle in one direction, then in the direction of travel larger minimum distances are considered perpendicular to the direction of travel. In particular, with slow-flowing traffic for a vehicle ahead on the same lane a greater safety distance to be kept as lateral to a parked vehicle.
  • at A variant of the method can be provided that the driver before warned of a collision visually and / or acoustically and / or haptically becomes.
  • When haptic warning, it is conceivable that the driver is on a possible collision alert by a vibration of the steering wheel and / or the pedals is done. Alternatively or additionally, it may be provided that the driving seat is set in motion. In addition, the driver can by a brief abrupt braking of the vehicle to a dangerous situation to be made aware.
  • The Task will as well solved by a system for preventing damage to a vehicle, comprising a sensor for detecting the environment of the vehicle, actuating means for automatic braking and / or steering to avoid collisions with other objects and / or a warning device, and a control unit to determine the distance of the vehicle to objects in the environment of the vehicle from the signals of the sensors and for generation of signals for an automatic braking and / or steering and / or warning to avoid of collisions, wherein a position detecting means for detecting the position of the vehicle, a memory device for storing the environmental data acquired by the sensor and means for distance determination are provided for stored objects. With such a system Collisions are not only avoidable when parking but are Collisions especially in slow moving traffic, in particular in traffic jams or slow-moving traffic preventable. The means for determining the distance to stored objects can be found in be arranged the control unit.
  • at a preferred embodiment The invention may provide a movement detection device be. With such a motion detection device can both the movement of the vehicle as well as the other objects are detected. From the detected movements, in turn, a relative movement of the vehicle to the other objects.
  • Advantageously, the sensor system includes distance sensors. By repeatedly measuring the distance between the vehicle and an object, it can be ascertained, taking into account the position or change in position of the vehicle, whether the other object is moving or standing still, the relative movement of the vehicle to the object be averaged and a prediction for a direction of movement of the object to be made in the future.
  • If Means for detecting and classifying the objects provided can give the driver a realistic picture of the surroundings of the Vehicle are displayed.
  • Further Features and advantages of the invention will become apparent from the following Description of an embodiment the invention, with reference to the figures of the drawing, the invention essential Details show, and from the claims. The individual characteristics can each individually for one or more in any combination in a variant be realized the invention.
  • embodiments The invention will be explained in more detail with reference to a drawing. Showing:
  • 1 a schematic representation to illustrate the inventive method and the system according to the invention; and
  • 2 a schematic block diagram of a system for collision avoidance.
  • In the 1 is a plan view of a roadway 1 shown by a roadway boundary 2 is limited. Along the lane boundary 2 are vehicles 3 . 4 parked. You are therefore at a standstill. A vehicle 5 , in which the collision avoidance system according to the invention is implemented, runs parallel to the vehicles 3 . 4 in the direction of the arrow 6 , Immediately in front of the vehicle 5 drives a vehicle in the same lane 7 and immediately behind the vehicle 5 the vehicle drives 8th , On a secondary lane drive at a higher speed than the vehicle 5 the vehicles 9 . 10 in the same direction. On the vehicle 5 are distance sensors 11 - 16 provided the environment in the vicinity of the vehicle 5 to capture. I'm in the 1 instantaneous state shown are in the direction of the arrows 6 . 17 - 20 the vehicles 3 . 4 . 7 . 9 . 10 recorded and the instantaneous distance to the vehicles 3 . 4 . 7 . 9 . 10 determined.
  • Taking into account the position and speed of the vehicle 5 and the stored distance data of previous measurements may be the absolute and relative speeds of the vehicles 3 . 4 . 7 . 9 . 10 be determined. With the currently determined and stored data can be used for the area 21 a model of the environment of the vehicle 5 be determined. In particular, a kind of map can be generated which is the driver of the vehicle 5 can also be visualized. The vehicle 8th is from the distance sensors 13 . 14 no longer recorded. Since it is before an acceleration of the vehicle 5 However, this information is still available to the system, so that in the area 21 also objects like the vehicle 8th are included in the collision monitoring, although they are currently not detected.
  • On further driving of the vehicle 5 in the direction of the arrow 6 can the driver of the vehicle 5 intend to get on the track in front of the vehicle 4 relent. It is conceivable that at the moment of the intended lane change the vehicle 4 through the distance sensors 11 . 12 . 13 However, a lane change to a collision with the vehicle is not detected 4 would lead. Because the position of the vehicle 4 has been recorded and stored in the past, the system determines from these data and the vehicle's movement since then 5 or current position that a collision is to be feared and warns the driver or automatically makes a braking and / or steering intervention to prevent the collision.
  • In addition, the system can in the event that the vehicle 10 out of the detection range of the sensor 16 gets the distance to the vehicle 5 so determine that it is at a collapse of the vehicle 10 does not come to a collision. The system can therefore simulate a predictive driving style.
  • The 2 shows a system 30 for collision avoidance. The system is the central element 30 a control unit 31 that with a sensor 32 communicates. The sensors 32 includes in the exemplary embodiment a plurality of distance sensors 33 and cameras 34 , The data of the sensors 32 become the control unit 31 where the data is processed, evaluated and stored. In the control unit 31 means are provided for the recognition and classification of objects. The means are in particular an image processing unit which determines the objects from the camera images and classifies them, for example into moving or stationary objects, houses, vehicles or pedestrians.
  • The control unit 31 is a store 35 assigned in which by the sensors 32 determined environment data are stored. The control unit 31 also receives data from a position detector 36 and a movement detection device configured, for example, as a wheel speed sensor 37 , From this data, an imminent collision with another object can be determined. If an imminent collision is detected, the control unit controls 31 Actuators designed as motors 38 . 39 to the Len kung and / or brake of the vehicle to influence so that a collision is avoided. With the acquired and stored data, an image of the environment, in particular a map of the environment of the vehicle can be generated, which the driver via a display unit 40 can be displayed.
  • The invention relates to a method for collision avoidance of a vehicle ( 5 ) with other objects in which the environment of the vehicle ( 5 ) is constantly detected, the distance to other objects is determined and stored and determined from the detected position of the vehicle and the current and stored environment data an impending collision and is prevented by appropriate intervention in the brake and / or steering.

Claims (11)

  1. Method for preventing damage to a vehicle ( 5 ) due to a collision with the method steps: a) detecting the surroundings of the vehicle ( 5 ); b) determination of instantaneous distances to other objects (vehicles 3 . 4 . 7 - 10 ); c) avoiding a collision by means of automatically suitable deceleration and / or automatic suitable intervention in the steering or warning of the driver, characterized in that d) information about the detected environment is stored, the position of the vehicle ( 5 ) and the distance to objects detected in the past is determined.
  2. Method according to claim 1, characterized in that the movement of the vehicle ( 5 ) and / or the other objects (vehicles 3 . 4 . 7 - 10 ) is detected.
  3. Method according to one of the preceding claims, characterized characterized in that a representation of the environment of the vehicle is created in the information about the position and the movement behavior of the vehicle and the other objects are stored.
  4. Method according to one of the preceding claims, characterized characterized in that the stored environment and / or the representation is updated and managed.
  5. Method according to one of the preceding claims, characterized characterized in that the minimum distances at which by braking and / or Avoiding a collision can be avoided.
  6. Method according to one of the preceding claims, characterized characterized in that the warning visually and / or acoustically and / or haptic takes place.
  7. Method according to Claim 6, characterized that the warning by a vibration of the steering wheel and / or the Pedals and / or done by a movement of the driver's seat.
  8. System ( 30 ) to prevent damage to a vehicle ( 5 ) comprising a sensor system ( 32 ) for detecting the environment of the vehicle ( 5 ), Actuating means ( 38 . 39 ) for automatic braking and / or steering to avoid collisions with other objects (vehicles 3 . 4 . 7 - 10 ) and / or a warning device and a control unit ( 31 ) for generating signals for automatic braking and / or steering and / or warning for the avoidance of collisions, characterized in that a position detection device ( 36 ) for detecting the position of the vehicle ( 5 ), a memory device ( 35 ) for storing the sensors ( 32 ), and means for determining the distance to stored objects are provided.
  9. System according to claim 8, characterized in that a movement detection device ( 37 ) is provided.
  10. System according to claim 8 or 9, characterized in that the sensors ( 32 ) Distance sensors ( 33 ).
  11. System according to one of claims 8 to 10, characterized that means for detecting and classifying the objects provided are.
DE2003136986 2003-08-12 2003-08-12 Method for avoiding collisions of a vehicle Withdrawn DE10336986A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2003136986 DE10336986A1 (en) 2003-08-12 2003-08-12 Method for avoiding collisions of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003136986 DE10336986A1 (en) 2003-08-12 2003-08-12 Method for avoiding collisions of a vehicle
PCT/EP2004/008571 WO2005014370A1 (en) 2003-08-12 2004-07-30 Method for the prevention of collisions of a vehicle

Publications (1)

Publication Number Publication Date
DE10336986A1 true DE10336986A1 (en) 2005-03-17

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Family Applications (1)

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DE2003136986 Withdrawn DE10336986A1 (en) 2003-08-12 2003-08-12 Method for avoiding collisions of a vehicle

Country Status (2)

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DE (1) DE10336986A1 (en)
WO (1) WO2005014370A1 (en)

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