EP3280625A1 - Système de commande et procédé d'aide au rabattement de véhicules à moteur en toute sécurité après une manoeuvre de dépassement - Google Patents

Système de commande et procédé d'aide au rabattement de véhicules à moteur en toute sécurité après une manoeuvre de dépassement

Info

Publication number
EP3280625A1
EP3280625A1 EP16714392.4A EP16714392A EP3280625A1 EP 3280625 A1 EP3280625 A1 EP 3280625A1 EP 16714392 A EP16714392 A EP 16714392A EP 3280625 A1 EP3280625 A1 EP 3280625A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
ego
motor vehicle
driving situation
laterally
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.)
Ceased
Application number
EP16714392.4A
Other languages
German (de)
English (en)
Inventor
Andreas Stahl
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.)
ZF Active Safety GmbH
Original Assignee
Lucas Automotive GmbH
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 Lucas Automotive GmbH filed Critical Lucas Automotive GmbH
Publication of EP3280625A1 publication Critical patent/EP3280625A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W50/00—Details 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • 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
    • 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • 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
    • B60W2554/805—Azimuth angle

Definitions

  • a control system and method for assisting a safe shearing of a motor vehicle after an overtaking operation are disclosed.
  • This system and method is particularly possible by the presence of ACC (Autonomous / Adaptive - Cruise Control) in motor vehicles, especially in trucks (trucks).
  • ACC Autonomous / Adaptive - Cruise Control
  • An ACC device that reduces the driver's distance to the vehicle ahead and adjusts the speed of his own motor vehicle to the speed of a preceding vehicle is described, for example, in EP-A-0 612 641.
  • the question of a safe lane change from the fast lane (back) to the "slower" lane (for example, in continental Europe or the US from the left to the right lane) is not addressed therein.
  • Daimler AG offers an Active Blind Spot Assist for their vehicles. Since nobody can see what is happening behind his back, the vehicle's rear and exterior mirrors are provided. Nevertheless, there is always an area that can not be detected even with a look in the mirror: the blind spot. Every year more than 9500 serious traffic accidents occur in Germany because motorists change lanes without taking account of the traffic that follows, or make mistakes when re-registering to the right.
  • the Active Blind Spot Assist Daimler to motorists to change lanes safely with support alarm ⁇ zen. Short-range radar sensors located on either side of the rear bumper monitor the area immediately beside and behind the car. The Active Blind Spot Assist helps the driver to monitor poorly visible areas.
  • a red warning signal appears in the exterior mirror to warn the driver. If the driver overlooks this indication and presses the turn signal to change lanes, the red warning signal starts to flash and an additional warning tone sounds.
  • the active dead In addition to the driver's visual and audible warning, winkel-Assist is intended to help prevent accidents by means of targeted autonomous braking interventions.
  • the system displays in the exterior mirror, if objects such as cars or motorcycles are in the blind spot and controls in the event of a hazard, such as when changing lanes, automatically against.
  • a control system set up and used for use in a motor vehicle determines, based on environment data obtained from one or more surroundings sensors located on the motor vehicle, a time from which a safe lane change from an overtaking lane to a slower lane next to it is possible.
  • the environmental sensors are set up to provide an electronic control of the control system with the area laterally before, laterally next to and / or laterally behind the vehicle environment data.
  • the control system is set up and intended, at least during a predetermined period of time or continuously in the electronic control the driving situation of the own vehicle Mige ⁇ Bende driving data from existing in-vehicle-signal encoders to detect.
  • the control system is at least configured and determined based on the driving situation of the own vehicle reproducing driving data and the characteristics of the driving situation / s of the / other vehicles to determine whether a safety critical area laterally next to and / or laterally behind the own Vehicle is free of the / the other vehicle / s and this optically, haptically and / or acoustically output for the driver of the own vehicle.
  • the control system is at least configured and determined to determine in the electronic control on the basis of the driving situation of the own vehicle reproducing driving data and the parameters on the driving situation / s of the other / the other vehicles the time from which the safe lane change is possible ,
  • the control system is at least configured and determined to regard this time as having occurred when the electronic control determines that a trailing edge of the own motor vehicle is a leading edge of the other vehicle to be overtaken and a safety distance adjusted according to legal and / or physical conditions happened.
  • the control system can be set up and determined to record further environmental data in one further monitoring area in front of the vehicle with one or more surroundings sensors.
  • the vehicle (s) to be overhauled may be detected early and the passing process may be continuously recorded over time and evaluated for its safe operation.
  • control system can therefore be set up and determined to additionally evaluate the environment data from the area laterally next to and / or laterally behind the own motor vehicle, in order to determine a point in time from which a safe lane change of the own motor vehicle from an overtaking lane into an adjacent slower lane is possible.
  • the proposed solution is based on the realization that a more intensive Auswer ⁇ processing of the driving environment of the driver's vehicle is required. The results of this evaluation of the driving environment are then to be used when driving your own motor vehicle.
  • a control method which determines in a motor vehicle based on environment data obtained from one or more environment sensors located on the motor vehicle, a time from which a safe lane change from an overtaking lane to an adjacent slower lane is possible, has the following steps :
  • the electronic control Based on the driving situation of the own vehicle reproducing driving data and the characteristics of the driving situation / s of the other / the other vehicles by means of the electronic control to determine the time from which the safe lane change is possible, and this time is considered to have occurred the electronic control determines that a trailing edge of one's own motor vehicle has passed a leading edge of the other vehicle and a safety distance adjusted according to legal and / or physical conditions.
  • Fig. 1 shows schematically a first driving situation in which a separate vehicle on a left lane is about to overtake another vehicle in the right lane.
  • Fig. La shows schematically the own vehicle of Fig. 1, with its various environment sensors and monitoring areas.
  • Fig. 2 shows schematically a second driving situation in which the own vehicle is on the left lane with its leading edge approximately at the same height as the trailing edge of the other vehicle in the right lane.
  • Fig. 3 shows schematically a third driving situation in which the own vehicle is on the left lane with its trailing edge approximately at the same height as the leading edge of the other vehicle in the right lane.
  • Fig. 4 shows schematically a fourth driving situation in which the own vehicle is located on the left lane with its trailing edge about a safety distance away from the leading edge of the other vehicle in the right lane.
  • the driving situation shown schematically in Fig. 1 is typical for a passing or passing process.
  • An own vehicle ego is here on a left lane about to overtake another vehicle old on the right lane.
  • the own vehicle ego drives at its own speed v_ego, which is higher than the speed v_alter of the other vehicle alter.
  • the own vehicle ego has an electronic control ECU which receives signals which detects and processes environmental data and generates control or output signals.
  • a radar sensor /? E which is not explained in detail and is located laterally in front in the corner region of the own vehicle ego, has a first monitoring area Ua.
  • a radar sensor Rv located at the front in the central area of the own vehicle ego has a second monitoring area Ub (see also FIG. 1a).
  • the radar sensors Rv and Re supply radar signals to the electronic control ECU via the distance r_d / ff and the difference speed v_diff between the own vehicle ego and the other vehicle age, and the side angle o or ß.
  • the described here set up for use in a motor vehicle and certain control system has, in addition to the two radar sensors, if necessary, further environment sensors (video, ultrasound, lidar, etc.) for detecting the environment of the own vehicle ego.
  • the electronic control C £ / processes the environment data obtained from one or more surroundings sensors (radar sensors Rv, Re) located on the motor vehicle in order to determine a time from which a safe lane change from an overtaking lane to a slower lane next to it is possible.
  • the environmental sensors Rv, Re of the electronic control unit ECU of the control system provide the area laterally before, laterally next to and / or laterally behind the vehicle reproducing environment data ready.
  • the environment sensors Rv, Re capture during a predetermined period of time which includes, for example, an overtaking process, or continuously one or more participating in traffic other vehicles age laterally in front, laterally beside and / or laterally behind the own motor vehicle ego to determine parameters about the driving situation / of the other vehicle (s). These characteristics include, for example, the speed, location as a function of time, to determine the direction of travel of the / other vehicles age.
  • This electronic control unit ECU of the control system can at least be set up and determined during a predetermined period of time, which includes, for example, the over ⁇ holvorgang, or continuously in the electronic control ECUö e driving situation of the own motor vehicle ego reproducing driving data from in the own motor vehicle ego detect existing signalers.
  • These signal generators may include, for example, the tachometer or the electronic control system of the brake system (ABS, ESP), which emits a signal representing the speed of its own motor vehicle ego to the electronic control unit ECU.
  • the electronic control unit ECU determines, based on the driving data of the own vehicle ego reproducing driving data and the characteristics of the driving situation (s) of the other vehicle (s) whether a safety critical area laterally beside and / or laterally behind the own vehicle ego free of the / the other vehicle / s old Ist and this for the driver of the own vehicle ego visually, haptically and / or acoustically output.
  • the electronic control zrCL / set up and determined to determine from the own driving data and the characteristics of the / the other vehicles ateroen time from which the safe lane change is possible. This date is considered to be when the electronic control unit ECU determines that a trailing edge of its own motor vehicle has passed through a leading edge of the other vehicle and has passed a safety margin adapted to legal and / or physical conditions.
  • Fig. 2 shows schematically a second driving situation in which the own motor vehicle ego on the left lane with its front edge is approximately at the same height as the trailing edge of the other motor vehicle old on the right lane.
  • This state is recognized as present in the configuration shown if the absolute value of the side angle j from the radar sensor Rv is detected to be less than or equal to a specific limit value o / m ' m of the electronic control unit ECU:
  • the limit ajim is practically determined to be on the order of 5 °. This corresponds, with a lane width of about 3.5 meters, considered in the direction of travel distance in the order of 30 centimeters between the leading edge of the own motor vehicle ego and the trailing edge of the other motor vehicle old.
  • the state shown in Fig. 2 can also be recognized when the absolute value of the distance d between the leading edge of the own motor vehicle ego and the trailing edge of the other motor vehicle old is less than or equal to a certain limit value d_lim ⁇ w of the electronic control unit ECU:
  • Fig. 3 is the own motor vehicle eo on the left lane with its trailing edge approximately at the same height as the leading edge of the other motor vehicle is old on the right lane.
  • the own motor vehicle L_ego by appropriate data input be fed into the cockpit of the tractor. If there is an electronic connection between tractor and semi-trailer or trailer, the length can be fed as a parameter in the electronic control unit ECU.
  • Fig. 4 shows schematically a fourth driving situation in which the own motor vehicle ego on the left lane with its trailing edge spaced about a safety distance from the leading edge of the other motor vehicle a / terauf the right lane.
  • v_alter v_ego - v_rel

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Health & Medical Sciences (AREA)
  • Signal Processing (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un système de commande conçu et défini pour être utilisé dans un véhicule à moteur, lequel système détermine, sur la base de données de champ environnant obtenues d'un ou de plusieurs capteurs périphériques situés sur le véhicule à moteur, un moment à partir duquel un changement de voie peut être effectué en toute sécurité lorsqu'il s'agit de passer d'une voie de dépassement à une voie de circulation plus lente située à côté. Les capteurs périphériques sont conçus pour fournir à une commande électronique du système de commande les données de champ environnant représentant la zone située latéralement devant le véhicule, latéralement à côté du véhicule et/ou latéralement derrière celui-ci. Le système de commande est au moins conçu et défini pour déterminer, pendant un laps de temps prédéfini ou en continu, dans la commande électronique, des données de roulage représentant la situation de roulage dudit véhicule à moteur à partir d'émetteurs de signaux présents dans celui-ci. Pendant le laps de temps prédéfini ou en continu, un ou plusieurs autres véhicules prennant part au trafic et situés latéralement devant le véhicule à moteur, latéralement à côté du véhicule à moteur et/ou latéralement derrière celui-ci sont détectés par les capteurs périphériques en vue de déterminer des grandeurs caractéristiques relatives à la situation/aux situations de roulage de cet autre véhicule/de ces autres véhicules. Sur la base des données de roulage représentant la situation de roulage du véhicule équipé dudit système ainsi que des grandeurs caractéristiques relatives à la situation/aux situations de roulage de l'autre véhicule/des autres véhicules, le système détermine si cet autre véhicule/ces autres véhicules ne se trouve pas/ne se trouvent pas dans une zone critique sur le plan de la sécurité située latéralement à côté du véhicule équipé du système et/ou latéralement derrière celui-ci et cette information est délivrée au conducteur dudit véhicule par voie optique, haptique et/ou acoustique. À cet effet, le système de commande est conçu et défini pour déterminer, dans la commande électronique, sur la base des données de roulage représentant la situation de roulage du véhicule équipé du système ainsi que des grandeurs caractéristiques relatives à la situation/aux situations de roulage de l'autre véhicule/des autres véhicules, le moment à partir duquel le changement de voie peut être effectué en toute sécurité. Ce moment est considéré comme étant arrivé lorsque la commande électronique détermine qu'un bord de fuite du véhicule à moteur équipé du système a passé un bord d'attaque de l'autre véhicule ainsi qu'une distance de sécurité adaptée aux conditions légales et/ou physiques.
EP16714392.4A 2015-04-07 2016-04-01 Système de commande et procédé d'aide au rabattement de véhicules à moteur en toute sécurité après une manoeuvre de dépassement Ceased EP3280625A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015004476.1A DE102015004476A1 (de) 2015-04-07 2015-04-07 Steuerungs-System und Verfahren zum Unterstützen eines sicheren Einscherens von Kraftfahrzeugen nach einem Überholvorgang
PCT/EP2016/057227 WO2016162282A1 (fr) 2015-04-07 2016-04-01 Système de commande et procédé d'aide au rabattement de véhicules à moteur en toute sécurité après une manoeuvre de dépassement

Publications (1)

Publication Number Publication Date
EP3280625A1 true EP3280625A1 (fr) 2018-02-14

Family

ID=55661424

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16714392.4A Ceased EP3280625A1 (fr) 2015-04-07 2016-04-01 Système de commande et procédé d'aide au rabattement de véhicules à moteur en toute sécurité après une manoeuvre de dépassement

Country Status (5)

Country Link
US (1) US10235887B2 (fr)
EP (1) EP3280625A1 (fr)
CN (1) CN107438546B (fr)
DE (1) DE102015004476A1 (fr)
WO (1) WO2016162282A1 (fr)

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CN104118380B (zh) * 2013-04-26 2017-11-24 富泰华工业（深圳）有限公司 行车侦测系统及方法
DE102014014249A1 (de) 2014-09-26 2015-03-26 Daimler Ag Verfahren zum Betrieb eines Kraftfahrzeugs, Computerprogrammprodukt sowie Kraftfahrzeug

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DE102015004476A1 (de) 2016-10-13
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US20180114446A1 (en) 2018-04-26
WO2016162282A1 (fr) 2016-10-13

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