DE60123373D1 - Verfahren und vorrichtung zur steuerung einer stand-by bremsung für ein kraftfahrzeug - Google Patents

Verfahren und vorrichtung zur steuerung einer stand-by bremsung für ein kraftfahrzeug

Info

Publication number
DE60123373D1
DE60123373D1 DE60123373T DE60123373T DE60123373D1 DE 60123373 D1 DE60123373 D1 DE 60123373D1 DE 60123373 T DE60123373 T DE 60123373T DE 60123373 T DE60123373 T DE 60123373T DE 60123373 D1 DE60123373 D1 DE 60123373D1
Authority
DE
Germany
Prior art keywords
braking
stand
controlling
motor vehicle
vehicle
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.)
Expired - Lifetime
Application number
DE60123373T
Other languages
English (en)
Other versions
DE60123373T2 (de
Inventor
Naoki Maruko
Minoru Tamura
Hideaki Inoue
Takayuki Watanabe
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of DE60123373D1 publication Critical patent/DE60123373D1/de
Application granted granted Critical
Publication of DE60123373T2 publication Critical patent/DE60123373T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
    • B60K31/10—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means
    • B60K31/102—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
    • B60K31/105—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
    • B60K31/107—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/823—Obstacle sensing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B60G2800/224—Braking, stopping automatically, based on dangerous living style
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE60123373T 2000-08-17 2001-08-02 Verfahren und vorrichtung zur steuerung einer stand-by bremsung für ein kraftfahrzeug Expired - Lifetime DE60123373T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2000247161A JP3473563B2 (ja) 2000-08-17 2000-08-17 制動制御装置
JP2000247161 2000-08-17
PCT/JP2001/006642 WO2002014128A2 (en) 2000-08-17 2001-08-02 Method and system for controlling stand-by braking torque applied to automotive vehicle

Publications (2)

Publication Number Publication Date
DE60123373D1 true DE60123373D1 (de) 2006-11-09
DE60123373T2 DE60123373T2 (de) 2007-08-23

Family

ID=18737309

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60123373T Expired - Lifetime DE60123373T2 (de) 2000-08-17 2001-08-02 Verfahren und vorrichtung zur steuerung einer stand-by bremsung für ein kraftfahrzeug

Country Status (7)

Country Link
US (1) US6571165B2 (de)
EP (1) EP1226054B1 (de)
JP (1) JP3473563B2 (de)
KR (1) KR100407099B1 (de)
CN (1) CN100393562C (de)
DE (1) DE60123373T2 (de)
WO (1) WO2002014128A2 (de)

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DE10118707A1 (de) 2001-04-12 2002-10-17 Bosch Gmbh Robert Verfahren zur Kollisionsverhinderung bei Kraftfahrzeugen
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JP2004189075A (ja) * 2002-12-10 2004-07-08 Denso Corp 車両制動制御装置
DE10311191B4 (de) * 2003-03-12 2014-10-16 Robert Bosch Gmbh Verfahren und Vorrichtung zur Geschwindigkeitsregelung eines Kraftfahrzeugs
JP4246084B2 (ja) 2004-02-17 2009-04-02 日産自動車株式会社 車両用走行制御装置
DE102004021174A1 (de) * 2004-04-30 2005-11-24 Daimlerchrysler Ag Verfahren zum Steuern einer sicherheitsrelevanten Komponente eines Kraftfahrzeugs und Kraftfahrzeug mit einem präventiv auslösenden Sicherheitssystem
CN100339260C (zh) * 2004-06-09 2007-09-26 丰田自动车株式会社 制动器控制装置
JP4532181B2 (ja) * 2004-06-24 2010-08-25 日産自動車株式会社 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両
JP3823989B2 (ja) * 2004-08-04 2006-09-20 日産自動車株式会社 車両用減速補助装置
JP4576922B2 (ja) * 2004-08-06 2010-11-10 日産自動車株式会社 車両用走行制御装置
US7253724B2 (en) * 2004-11-05 2007-08-07 Ford Global Technologies, Inc. Vehicle pre-impact sensing and control system with driver response feedback
JP2007077871A (ja) * 2005-09-14 2007-03-29 Toyota Motor Corp 車両の制御装置
JP2007120416A (ja) * 2005-10-28 2007-05-17 Advics:Kk 車両用自動制動装置
JP2007131093A (ja) * 2005-11-09 2007-05-31 Advics:Kk 車両用減速制御装置
JP4254821B2 (ja) * 2006-08-15 2009-04-15 トヨタ自動車株式会社 制動制御装置
US7426435B2 (en) * 2006-09-21 2008-09-16 Ford Global Technologies, Llc Engine control system and method
JP5082372B2 (ja) * 2006-10-16 2012-11-28 トヨタ自動車株式会社 車両用走行支援装置
JP4375385B2 (ja) * 2006-11-07 2009-12-02 トヨタ自動車株式会社 ブレーキ制御装置
JP4595932B2 (ja) * 2006-12-08 2010-12-08 トヨタ自動車株式会社 車両制御装置
JP5056408B2 (ja) * 2007-03-01 2012-10-24 株式会社アドヴィックス 車両の運動制御装置
KR101049175B1 (ko) * 2009-05-28 2011-07-14 서울메트로 신경망 회로를 이용한 열차제어시스템
JP5381923B2 (ja) * 2010-07-23 2014-01-08 日産自動車株式会社 車両用制動支援装置及び車両用制動支援方法
US8612106B2 (en) * 2010-10-20 2013-12-17 GM Global Technology Operations LLC System and method for controlling a transmission to improve exhaust braking
US9511751B2 (en) * 2011-07-22 2016-12-06 GM Global Technology Operations LLC Object identification and active safety control for vehicles
DE102011082950B4 (de) * 2011-09-19 2013-08-01 Ford Global Technologies, Llc Verfahren zur Durchführung eines automatischen Bremsvorgangs
US8602142B2 (en) * 2011-12-13 2013-12-10 Cummins Inc. Hybrid vehicle braking adjustment for vehicle weight
WO2013088530A1 (ja) * 2011-12-14 2013-06-20 トヨタ自動車株式会社 車両の制御装置
DE102012002695A1 (de) * 2012-02-14 2013-08-14 Wabco Gmbh Verfahren zur Ermittlung einer Notbremssituation eines Fahrzeuges
DE102012220361A1 (de) * 2012-11-08 2014-05-22 Robert Bosch Gmbh Bremsvorrichtung für ein Kraftfahrzeug mit präparierender Vorverzögerung und Verfahren zum Steuern einer solchen Bremsvorrichtung
JP5649641B2 (ja) * 2012-12-17 2015-01-07 ダイハツ工業株式会社 運転支援装置
DE102014201822A1 (de) * 2014-02-03 2015-08-06 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
US9751516B2 (en) 2014-02-27 2017-09-05 Ford Global Technologies, Llc Informational based engine stop/start sensitivity control for micro-HEV
JP6294781B2 (ja) * 2014-07-23 2018-03-14 日立建機株式会社 制動距離抑制装置
DE102017101250A1 (de) * 2016-03-09 2017-09-14 Subaru Corporation Fahrtsteuerungsvorrichtung für Fahrzeug
JP6878785B2 (ja) * 2016-07-29 2021-06-02 日産自動車株式会社 制動制御方法及び制動制御装置
FR3058227B1 (fr) * 2016-10-27 2018-11-02 Thales Radar fmcw multifaisceaux, notamment pour automobile
IT201700086468A1 (it) * 2017-07-27 2019-01-27 Freni Brembo Spa Metodo di stima di una forza frenante esercitabile tra pastiglia e disco freno da un sistema elettrico di frenatura di stazionamento di un veicolo e sistema elettrico di frenatura di stazionamento di un veicolo implementante tale metodo
KR102286352B1 (ko) * 2017-08-11 2021-08-05 현대모비스 주식회사 전방 충돌 방지보조 시스템의 제어 장치 및 방법
CN107839690A (zh) * 2017-10-31 2018-03-27 珠海格力电器股份有限公司 一种行车安全距离提示方法及设备
JP7188350B2 (ja) * 2019-10-08 2022-12-13 トヨタ自動車株式会社 車両
CN114771484A (zh) * 2022-06-06 2022-07-22 东风汽车有限公司东风日产乘用车公司 车辆的制动控制方法、车辆以及存储介质

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JP3666342B2 (ja) 2000-02-21 2005-06-29 日産自動車株式会社 走行制御装置

Also Published As

Publication number Publication date
US6571165B2 (en) 2003-05-27
CN100393562C (zh) 2008-06-11
WO2002014128A3 (en) 2002-04-18
US20020107629A1 (en) 2002-08-08
JP3473563B2 (ja) 2003-12-08
EP1226054B1 (de) 2006-09-27
DE60123373T2 (de) 2007-08-23
EP1226054A2 (de) 2002-07-31
WO2002014128A2 (en) 2002-02-21
CN1386102A (zh) 2002-12-18
KR100407099B1 (ko) 2003-11-28
KR20020054329A (ko) 2002-07-06
JP2002059819A (ja) 2002-02-26

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