EP2393703A1 - Verfahren und vorrichtung zum durchführen eines ausweichmanövers - Google Patents
Verfahren und vorrichtung zum durchführen eines ausweichmanöversInfo
- Publication number
- EP2393703A1 EP2393703A1 EP10702103A EP10702103A EP2393703A1 EP 2393703 A1 EP2393703 A1 EP 2393703A1 EP 10702103 A EP10702103 A EP 10702103A EP 10702103 A EP10702103 A EP 10702103A EP 2393703 A1 EP2393703 A1 EP 2393703A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- driver
- steering
- motor vehicle
- steering angle
- warning
- 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- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000000694 effects Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000007613 environmental effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
Definitions
- the invention relates to a method for performing an evasive maneuver of a motor vehicle.
- a first method step an object in the environment of the motor vehicle with which the motor vehicle is on a collision course is detected.
- a warning is issued to the driver that the motor vehicle is on a collision course and detects the steering activity of the driver.
- a externally controllable rear-wheel steering device is switched such that the front wheels and the rear wheels of the motor vehicle are controlled in the same direction.
- the invention relates to a device for performing an evasive maneuver.
- Such a method is known from DE 10 2008 013 988 Al.
- a path for the evasive maneuver of the motor vehicle is determined and the steering system of the motor vehicle is influenced as a function of the determined path.
- the prior art method provides that the steering system has a front-wheel steering function and a rear-wheel steering function linked together such that the front wheels and the rear wheels of the motor vehicle are controlled in the same direction.
- the effect achieved is that a co-directional control of the front and rear wheels leads to a more stable handling during the evasive maneuver.
- an increased steering effort is required for the driver than is the case with non-steered or oppositely directed rear wheels.
- a path for the evasive maneuver of the motor vehicle is calculated and in the presence of a deviation between the necessary for evasive, calculated steering angle and the steering angle set by the driver, the further warning is issued to the driver to him to correct the To move deviation.
- a further advantageous embodiment provides that the further warning to the driver is formed by a moment which is applied by an electromechanically operable front wheel steering device and is noticeable to the driver on the steering wheel.
- the moment points in the direction of the deflection required, calculated steering angle.
- the electromechanically operable front wheel steering device is controlled in the sense of setting the necessary to dodge, calculated steering angle.
- the necessary for dodging, calculated steering angle of the electromechanically actuated front wheel steering device is adjusted when the driver makes no contrary steering movements. If the driver would take his hands off the steering wheel, so the necessary for dodging, calculated steering angle is adjusted. At all times, the driver is able to override the suggested steering angle and steer in the other direction or to turn the steering wheel further than is necessary to avoid it.
- the driver determines the chosen steering angle and is only supported by the method.
- the first warning to the vehicle driver is formed by a vibration or a vibration which is applied by the electromechanically operable front-wheel steering device and can be felt by the driver on the steering wheel.
- the alternative path is a circular path, a parabola, a trajectory or a combination of these geometric shapes.
- means which compensate for the dynamic effects of the same direction control of externally controllable rear-wheel steering device and issue a further warning to the driver to cause the driver, one by the same direction control of the externally controllable Rear-wheel steering necessary to make higher steering activity.
- the means calculate a trajectory for the evasive maneuver of the motor vehicle and a deviation between the calculated deflection angle and the steering angle set by the driver, and that the means, in the presence of a deviation, issue another warning to the driver to correct the deviation to move.
- the further warning is generated by an electromechanically operable front-wheel steering device, which applies a moment during a control, which is noticeable to the driver on the steering wheel.
- Figure 1 is a schematic representation of a vehicle with an environment sensor for detecting objects in the environment of the vehicle.
- FIG. 2 is a schematic representation of a driver assistance system
- Fig. 3 is a diagram illustrating the steering angle of the front wheels and the rear wheels during an evasive maneuver
- Fig. 4 is a diagram ⁇ the set by the driver steering angle so n with the necessary, calculated steering angle ⁇ is compares and illustrates the inven- tion proper procedures and Fig. 5a is a velocity diagram during an evasive maneuver;
- FIG. 5b is a diagram of the set by the driver steering angle ⁇ as n and the yaw rate during an avoidance maneuver;
- Fig. 5c is a diagram of a moment M, which is noticeable to the driver on the steering wheel
- Fig. 5d is a diagram illustrating the distance from the object O, with which the motor vehicle is on a collision course
- 5e is a diagram of the transverse deviation during an evasive maneuver.
- steering wheel is representative of all imaginable human-machine interfaces that the driver can operate in the sense of steering and controlling the motor vehicle, such as a joystick or a touchpad.
- a four-wheeled, two-axle vehicle 1 which has an environmental sensor 2, with the objects O can be detected in the environment of the vehicle, which are in particular other motor vehicles, located in the same or an adjacent Lane laterally and / or move in front of the vehicle 1.
- objects O there are also static or almost static objects such as trees, pedestrians or roadway boundaries in question.
- an environment sensor 2 with a detection area 3 is shown, which comprises a solid angle in front of the vehicle 1, in which an object O is shown by way of example.
- the environmental sensor 2 is, for example, a LIDAR sensor (light detection and ranging), which is known per se to a person skilled in the art. however, other environmental sensors can also be used.
- the sensor measures the distances d to the detected points of an object as well as the angles ⁇ between the connecting straight lines to these points and the central longitudinal axis of the vehicle, as illustrated in FIG. 1 by way of example for a point P of the object O.
- the fronts of the detected objects facing the vehicle 1 are composed of a plurality of detected points to which the sensor signals are transmitted, which establishes correlations between points and the shape of an object and determines a reference point for the object O.
- the center point of the object O or the center point of the detected points of the object can be selected as the reference point.
- the speeds of the detected points and thus the speed of the detected objects, in contrast to a radar sensor (Doppler effect) by means of the LIDAR environment sensor 2 can not be measured directly.
- FIG. 2 shows a schematic representation of a driver assistance system whose components, with the exception of sensors and actuators, are preferably designed as software modules that are executed within the vehicle 1 by means of a microprocessor.
- the object data is transmitted to a decision device 22 in the form of electronic signals within the driver assistance system shown schematically.
- an object trajectory is determined in block 23 on the basis of the information about the object O.
- a trajectory of the vehicle 1 is determined in block 24 on the basis of information about the driving dynamic condition of the vehicle 1, which are determined with the aid of further vehicle sensors 25.
- the vehicle speed which can be determined, for example with the aid of wheel speed sensors, the steering angle ⁇ measured at the steerable wheels of the vehicle 1 by means of a steering angle sensor, the yaw rate and / or the lateral acceleration of the vehicle 1, which are measured by means of corresponding sensors, are used.
- a trigger signal is sent to a path specification. device 27 transmitted.
- the triggering signal results in that an escape path y ⁇ x) is first calculated within the path specification device.
- a starting point for the avoidance maneuver is determined at which the avoidance maneuver must be started in order to be able to just dodge the object O.
- the deflection path y (x) or parameters representing this path are transmitted to a steering actuator control 28.
- This controls an electromechanically operable front wheel steering device V and generates a vibration or vibration that is felt by the driver on the steering wheel of his motor vehicle 1.
- the driver is made aware that the vehicle 1 controlled by him is on a collision course with an object O.
- the steering of the driver is detected by the change of the steering angle ⁇ v , that is, on the time derivative of the steering angle of the front wheels S Vl .
- a externally controllable rear-wheel steering device H is switched such that the front wheels and the rear wheels of the motor vehicle are controlled in the same direction.
- Fig. 3 On the ordinate, the steering angle of the front wheels ⁇ v and the rear wheels ⁇ H is removed, while on the abscissa, the time t is removed.
- the curve provided with the reference numeral 4 describes the steering angle ⁇ v of the front wheels.
- the rear-wheel steering device H is switched at time t 2 and thus immediately after the recognized steering operation ⁇ j v of the driver so that the rear wheels are controlled in the same direction with the front wheels. Therefore, the steering angle ⁇ H of the rear wheels, whose course is denoted by the reference numeral 5, follows the steering angle ⁇ v of the front wheels. In an opposite direction control of front and rear wheels, the steering angle ⁇ H of the rear wheels would take a different sign.
- the present method therefore provides that the driving dynamics effects of the same-sense control of the externally controllable rear-wheel steering device H are compensated. Since the driver is not prepared for the increased steering effort, it must be expected that the driver deflects too little to safely bypass the object O. To compensate for the increased steering effort, another warning X 2 is output to the driver, which causes the driver to perform a necessary, higher steering operation ⁇ v , which by the same direction control of the externally controllable rear-wheel steering device H and the front wheel steering device V necessary. agile is. The just mentioned, additional warning X2 to the driver is thereby formed by a moment M, which is applied by the electromechanically operable front wheel steering device V. This moment M is felt by the driver on the steering wheel of his motor vehicle 1.
- the electromechanically operable front wheel steering device V is driven in the direction of the necessary steering angle correction, whereby the driver feels a moment M on the steering wheel, which suggests him to make a steering angle correction automatically. If the driver would take his hands off the steering wheel, the calculated steering angle necessary for dodge is adjusted. However, the driver is always able to override the proposed steering angle and steer in the other direction or continue to hit the steering wheel, as it is necessary to dodge. In other words, the driver determines the chosen steering angle and is only supported by the method.
- An alternative path Xx) is a circular path, a trajectory or a combination of a circular path and a trajectory.
- the set by the driver steering angle ⁇ i St, v is determined and compared with the necessary for avoiding, calculated steering angle ⁇ so n, v ,
- the further warning X 2 is output to the driver to move it to correct or minimize the deviation ⁇ v
- the electromechanically operable front-wheel steering V is actuated in the sense of setting the calculated steering angle ⁇ so necessary for dodging, so that ii, v. In this way, the moment M which can be felt on the steering wheel points in the direction of the calculated steering angle ⁇ required for avoidance, so n / v .
- FIG. 4 shows a diagram which explains in more detail the method just described.
- the dot-dashed curve represents the distance d of the motor vehicle 1 from the object O and is provided with the reference numeral 6.
- the distance d decreases continuously, ie the motor vehicle 1 approaches the object.
- the set by the driver steering angle ⁇ i S t, v is shown in Fig. 4 with a dashed curve and provided with the reference numeral 7.
- the deflection angle ⁇ S oii, v required for dodging is shown as a solid curve (reference numeral 8) and the moment M perceptible on the steering wheel is shown as a dotted curve (reference numeral 9).
- the vehicle driver steers in at time t 4 , ie a steering operation ⁇ of the vehicle driver is detected.
- a steering operation ⁇ of the vehicle driver is detected.
- the warning X 2 is output in the form of a moment M to the driver.
- the driver is asked to minimize the deviation ⁇ v between the adjusted steering angle ⁇ i St ⁇ v and calculated steering angle ⁇ ⁇ o ii, v.
- the moment M acts in such a way that the calculated steering angle ⁇ so ii, v necessary for dodging is set if the driver would take his hands off the steering wheel.
- the curve provided with the reference numeral 10 represents the transverse deviation of the calculated avoidance path y (x).
- FIGS. 5a to 5e some variables are contrasted during an evasive maneuver. It should be noted that all diagrams of FIGS. 5a to 5e are shown at the same time and thus run parallel to one another. For better clarity, however, the diagrams are shown separately.
- Fig. 5a the speed of the motor vehicle 1 is shown.
- Fig. 5b are the driver steering angle ⁇ set by the driver is / v and the yaw rate applied to the motor vehicle is compared.
- FIG. 5c the period is shown in which the front wheel steering device V is actively driven to generate the moment M on the steering wheel.
- FIG. 5 d shows the distance d of the motor vehicle 1 from the object O. It is easy to see that the motor vehicle 1 is moving towards the object O and the distance d is decreasing continuously. At the same time the degree of danger increases.
- the determined collision time (TTC) is also a measure of the danger.
- Fig. 5e the first issued to the driver warning X 1 is shown, which is formed by means of a vibration or vibration on the steering wheel.
- the transverse deviation of the calculated avoidance path y (x) is shown and the recognition of the steering operation ⁇ 5 V of the driver.
- the advantage of the described method is to safely pass through an evasive maneuver under stable driving behavior and to reliably avoid collisions.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009007184 | 2009-02-03 | ||
PCT/EP2010/051001 WO2010089240A1 (de) | 2009-02-03 | 2010-01-28 | Verfahren und vorrichtung zum durchführen eines ausweichmanövers |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2393703A1 true EP2393703A1 (de) | 2011-12-14 |
Family
ID=41682454
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10702103A Withdrawn EP2393703A1 (de) | 2009-02-03 | 2010-01-28 | Verfahren und vorrichtung zum durchführen eines ausweichmanövers |
Country Status (7)
Country | Link |
---|---|
US (1) | US20110279254A1 (de) |
EP (1) | EP2393703A1 (de) |
JP (1) | JP2012516806A (de) |
KR (1) | KR20110134402A (de) |
CN (1) | CN102307774A (de) |
DE (1) | DE102010001313A1 (de) |
WO (1) | WO2010089240A1 (de) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101786542B1 (ko) * | 2011-06-10 | 2017-11-16 | 현대모비스 주식회사 | 차량의 충돌회피 제어방법 |
DE102012203228B4 (de) * | 2012-03-01 | 2022-04-21 | Robert Bosch Gmbh | Verfahren zur Vermeidung oder zur Abschwächung von Folgen bei Kollisionen eines Kraftfahrzeugs mit einem Hindernis in einem seitlichen Nahbereich des Kraftfahrzeugs und Fahrassistenzsystem |
DE102013202025A1 (de) * | 2013-02-07 | 2014-08-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ausweichunterstützung für ein Kraftfahrzeug |
CN103223976B (zh) * | 2013-04-09 | 2016-08-24 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种汽车的安全驾驶装置及使用方法 |
DE102013009252A1 (de) * | 2013-06-03 | 2014-12-04 | Trw Automotive Gmbh | Steuergerät und Verfahren für eine Notfall-Lenkunterstützungsfunktion |
JP5988171B2 (ja) * | 2013-11-29 | 2016-09-07 | アイシン精機株式会社 | 車両挙動制御装置および車両挙動制御システム |
DE102014212047A1 (de) * | 2014-06-24 | 2015-12-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
US9469248B2 (en) * | 2014-10-10 | 2016-10-18 | Honda Motor Co., Ltd. | System and method for providing situational awareness in a vehicle |
US10562565B2 (en) | 2016-07-05 | 2020-02-18 | Uisee Technologies (Beijing) Ltd | Steering control method and system of self-driving vehicle |
DE102016221563A1 (de) * | 2016-11-03 | 2018-05-03 | Zf Friedrichshafen Ag | Verfahren und Fahrerassistenzsystem zum Führen eines Fahrzeugs, Computerprogramm und -produkt sowie Steuergerät |
CN108122298B (zh) * | 2016-11-30 | 2021-06-29 | 厦门雅迅网络股份有限公司 | 提高车辆方向盘转角数据准确度的方法及系统 |
CN109017774B (zh) * | 2018-07-03 | 2020-04-07 | 奇瑞汽车股份有限公司 | 车辆避撞方法及装置、计算机可读存储介质 |
AT521647B1 (de) * | 2018-09-14 | 2020-09-15 | Avl List Gmbh | Verfahren und System zur Datenaufbereitung, zum Trainieren eines künstlichen neuronalen Netzes und zum Analysieren von Sensordaten |
JP7194085B2 (ja) * | 2019-07-09 | 2022-12-21 | 日立Astemo株式会社 | 操舵制御装置、操舵制御方法、及び操舵制御システム |
CN111791898B (zh) * | 2020-08-13 | 2021-07-02 | 清华大学 | 一种基于合作型博弈的自动驾驶汽车避撞控制方法 |
JP2022052260A (ja) * | 2020-09-23 | 2022-04-04 | 株式会社アドヴィックス | 車両の旋回制御装置、及び、車両の旋回制御プログラム |
CN112706836A (zh) * | 2021-01-11 | 2021-04-27 | 中国第一汽车股份有限公司 | 一种基于后轮转向的避障控制系统 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5529138A (en) * | 1993-01-22 | 1996-06-25 | Shaw; David C. H. | Vehicle collision avoidance system |
JPH0789443A (ja) * | 1993-07-22 | 1995-04-04 | Nissan Motor Co Ltd | 車両用自動操縦装置 |
JP2002316633A (ja) * | 2001-04-20 | 2002-10-29 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
JP2003312407A (ja) * | 2002-04-18 | 2003-11-06 | Alps Electric Co Ltd | 自動車の衝突防止装置 |
DE102004008894A1 (de) * | 2004-02-24 | 2005-09-08 | Robert Bosch Gmbh | Sicherheitssystem für ein Fortbewegungsmittel sowie hierauf bezogenes Verfahren |
US20070131473A1 (en) * | 2005-12-09 | 2007-06-14 | Ford Global Technologies, Llc | All wheel steering for passenger vehicle |
JP4270259B2 (ja) * | 2006-10-05 | 2009-05-27 | 日産自動車株式会社 | 障害物回避制御装置 |
DE102008013988B4 (de) | 2007-03-13 | 2022-07-21 | Continental Autonomous Mobility Germany GmbH | Verfahren und Vorrichtung zum Durchführen eines Ausweichmanövers |
JP4918389B2 (ja) * | 2007-03-30 | 2012-04-18 | 本田技研工業株式会社 | 車両の走行安全装置 |
-
2010
- 2010-01-28 US US13/147,034 patent/US20110279254A1/en not_active Abandoned
- 2010-01-28 DE DE102010001313A patent/DE102010001313A1/de not_active Withdrawn
- 2010-01-28 WO PCT/EP2010/051001 patent/WO2010089240A1/de active Application Filing
- 2010-01-28 EP EP10702103A patent/EP2393703A1/de not_active Withdrawn
- 2010-01-28 JP JP2011548645A patent/JP2012516806A/ja active Pending
- 2010-01-28 KR KR1020117020553A patent/KR20110134402A/ko not_active Application Discontinuation
- 2010-01-28 CN CN2010800064520A patent/CN102307774A/zh active Pending
Non-Patent Citations (1)
Title |
---|
See references of WO2010089240A1 * |
Also Published As
Publication number | Publication date |
---|---|
CN102307774A (zh) | 2012-01-04 |
JP2012516806A (ja) | 2012-07-26 |
DE102010001313A1 (de) | 2010-11-18 |
WO2010089240A1 (de) | 2010-08-12 |
KR20110134402A (ko) | 2011-12-14 |
US20110279254A1 (en) | 2011-11-17 |
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