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
  • 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
  • B60W30/18—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
  • 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
  • B60W30/095—Predicting travel path or likelihood of collision
  • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
• • 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
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
  • B60W40/06—Road conditions
• • 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
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
  • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3626—Details of the output of route guidance instructions
  • G01C21/3658—Lane guidance
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/50—Context or environment of the image
  • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
  • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• • 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
  • B60W2050/0001—Details of the control system
  • B60W2050/0002—Automatic control, details of type of controller or control system architecture
• • 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
• • 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
  • B60W2554/80—Spatial relation or speed relative to objects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2300/00—Purposes or special features of road vehicle drive control systems
  • B60Y2300/08—Predicting or avoiding probable or impending collision
  • B60Y2300/095—Predicting travel path or likelihood of collision
  • B60Y2300/0954—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2300/00—Purposes or special features of road vehicle drive control systems
  • B60Y2300/18—Propelling the vehicle
  • B60Y2300/18008—Propelling the vehicle related to particular drive situations
  • B60Y2300/18166—Overtaking, changing lanes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2400/00—Special features of vehicle units
  • B60Y2400/30—Sensors
  • B60Y2400/301—Sensors for position or displacement

Definitions

• the present invention relates generally to the field of driving aids and autonomous vehicles.
• It relates more particularly to a method for selecting by a motor vehicle of a preferred lane to approach a toll area comprising several lanes.
• It also relates to a method for controlling an autonomous motor vehicle towards this preferred traffic lane.
• Document DE102012022629 discloses a method of decision support for deciding on a lane to be used when a vehicle arrives on a toll area.
• the vehicle is equipped with wireless communication means adapted to receive data transmitted by the toll area.
• These data relate to the open and closed traffic lanes, the means of payment accepted on each lane of traffic, and the number of third-party vehicles waiting on each lane of traffic (the latter information being available if the third-party vehicles are themselves equipped with means of communication).
• the present invention proposes a method in which the vehicle determines in a very reliable and secure manner which traffic lane it should preferentially use to cross the toll area, without have to establish communication with this toll area. More particularly, it is proposed according to the invention a method of selection by a motor vehicle of a preferred lane to access a toll area, comprising steps:
• the choice of the traffic lane to be used to approach the toll area depends not only on the number of vehicles on each lane, but also on the distance separating the vehicle from each lane. and the potential danger of reaching the preferred lane. It thus allows a secure driving of the motor vehicle.
• this method uses only the equipment of the motor vehicle. It is therefore reliable that the toll area is or not equipped with communication means.
• the motor vehicle is equipped with at least one telemetry sensor, in step b), the second data is an estimate of the number of third vehicles located on each of said traffic lanes, determined according to the measurements made by said sensor telemetry;
• step c) the value of the cost function is calculated for each of the circulation lanes of said part, as a function of the sum of the first corresponding data, weighted by a first coefficient, and the second corresponding data, weighted by a second coefficient;
• step d it is checked that the maneuvering time necessary for the motor vehicle to make a change of lane in order to reach a desired location of the said adjacent traffic lane is strictly less than the arrival time required for third-party vehicles traveling on the said lane. next traffic lane arrive at the desired location;
• step d) a dual criterion relating to the relative speed of the motor vehicle is checked with respect to the two third-party vehicles which roll in front of and behind the motor vehicle, on the neighboring roadway;
• step d) a criterion relating to the maneuvering time necessary for the motor vehicle to change lanes is checked, the motor vehicle being equipped with a means for acquiring images and of a calculation unit, in step a), the image acquiring means acquires an image of the toll area and the computing unit processes said image to detect the open lanes of the toll area. and, in step b), the computing unit determines the first data and the second data for each open lane;
• the motor vehicle being equipped with an image acquisition means and a computing unit, in step a), the image acquiring means acquires an image of the toll area, and in step b), the computing unit processes said image to evaluate the first data;
• the motor vehicle is equipped with a geolocation means, a memory storing a route map and a calculation unit, in step b), the calculation unit calculates the first data according to the geolocated position of the motor vehicle obtained by the geolocation means and the geometry of the toll area stored in the memory.
• the invention also relates to a method for controlling an autonomous motor vehicle, comprising:
• a driving step of the motor vehicle considered towards the desired driving lane Preferably, if the desired traffic lane is not close to the traffic lane used by the motor vehicle, it is expected, after the vehicle has changed a first lane, repeating said steps a) to d ).
• FIG. 1 is a schematic view of a motor vehicle adapted to implement a selection method according to the invention
• FIG. 2 represents in the form of a logic diagram an exemplary selection method according to the invention
• FIGS. 3 to 6 are schematic top views of toll areas, on which different vehicles are shown, including the motor vehicle of Figure 1.
• FIG 1 there is shown a motor vehicle 100 seen from above.
• the motor vehicle 100 is here a conventional car, comprising a frame which is supported by wheels and which itself supports various equipment including a powertrain, braking means, and a steering unit. .
• It may be a vehicle with manual steering, in which case it will be equipped with information display means for the driver, or, preferably, a self-driving vehicle. This is also the case of an autonomous vehicle that will be considered here in the rest of this presentation.
• This motor vehicle 100 is equipped with sensors allowing it to locate in its environment so as to be able to drive independently, that is to say without human intervention.
• the motor vehicle 100 is equipped with a camera 130 facing the front of the vehicle to capture images of the environment at the front of the vehicle.
• the motor vehicle 100 is further equipped with at least one telemetry sensor (RADAR, LIDAR or SONAR). It is more precisely here equipped with five RADAR sensors 121, 122, 123, 124, 125 located at the four corners of the vehicle and in the front center position of the vehicle.
• RADAR telemetry sensor
• the motor vehicle 100 is also equipped with a geolocation system 141, comprising for example a GNSS receiver (typically a GPS sensor).
• a geolocation system 141 comprising for example a GNSS receiver (typically a GPS sensor).
• the motor vehicle 100 is equipped with a calculator 140.
• This computer 140 includes a processor (CPU), a random access memory (RAM), a read-only memory (ROM) of the analog-digital converters, and various input and / or output interfaces.
• processor CPU
• RAM random access memory
• ROM read-only memory
• the computer 140 is adapted to receive input signals from the different sensors.
• the computer 140 is also connected to a memory 142 which stores a route map. We will consider here that it is a detailed cartography, in which the geometries of the toll areas are indicated.
• the read-only memory of the computer 140 stores a computer application, consisting of computer programs comprising instructions whose execution by the processor allows the implementation by the computer of the method described below.
• the controller is adapted to transmit instructions to the various organs of the vehicle.
• Each toll area 200 each include a toll barrier 201 at which the user of each vehicle must pay a tax of passage.
• Each toll zone 200 also includes, to access this toll barrier 201, a number N of traffic lanes 210, 220, 230, 240 (with N equal to 4 in Figures 3 and 4, and N equal to 8 in Figures 5 and 6).
• the toll gate 201 comprises, above each traffic lane, an LED panel on which a logo is represented.
• This logo can for example represent a red cross if the lane is closed to traffic, or a green arrow if the lane is open. It could also represent other reasons (a credit card if payment by credit card is possible, an orange "t" if remote payment is possible ).
• the current circulation lane 210 being the traffic lane used by the motor vehicle 100 under consideration
• the neighboring traffic lanes 220 being the two traffic lanes located on either side of the current lane 210, and
• Taxiways marked “240" will be those that do not meet any of the three criteria listed above.
• third vehicles 300, 310, 320 also roll on the taxiways of the toll area.
• the preceding vehicle 310 as being the third vehicle which rolls on one of the two adjacent traffic lanes 220, namely that on which the motor vehicle 100 wishes to disengage, and which is at the front of the motor vehicle 100, and
• next vehicle 320 being the third vehicle traveling on the same neighboring road 220, which is at the rear of the motor vehicle 100.
• the motor vehicle 100 When the motor vehicle 100, which is considered to be autonomous here, approaches a toll area 200, it must choose one of the circulation 210, 220, 230, 240. Otherwise formulated, the computer 140 must judge the opportunity to change lanes of traffic on arrival in a toll area, in order to pass as quickly and safely the barrier of toll 201.
• its computer 140 implements a method comprising several main steps.
• a first preliminary step is for the computer 140, to verify that the data measured by the various equipment of the motor vehicle 100 (RADAR sensors and cameras) are exploitable.
• the computer 140 receives from each of these devices a confidence index (expressed here as a percentage of confidence in the reliability of the measurement it performs), which it compares to a predetermined threshold .
• the first step a) of this process is to determine the geography of the places.
• the computer 140 uses either the camera 130 alone, or the geolocation means 141 coupled to the memory 142, or all of these elements in combination.
• the motor vehicle 100 can find in the memory 142 a plan of the toll area 200.
• He can thus determine the number N of lanes of the highway area 200.
• the computer 140 then assigns to each lane an identifier hereinafter denoted "j".
• the computer 140 locates the logos located above each of the traffic lanes. It then identifies the shape and color of each logo and thus determines what are open traffic lanes.
• the computer determines how far the motor vehicle 100 is away from each open lane.
• This first datum is here an estimate of the Euclidean distance d separating the motor vehicle 100 and the point situated at the center of the traffic lane considered, at the level of the toll barrier 201.
• the index "i" here corresponds to the natural number identifying the current running lane 210
• the index "j" corresponds to the natural number identifying the traffic lane 210, 220, 230, 240 considered.
• This Euclidean distance dy is obtained taking into account the location of the motor vehicle 100 and the plan of the toll area 200 read in the memory 142.
• the computer 140 evaluates the size of each open lane of the toll area 200.
• the computer 140 calculates, for each open lane, a second data relating to the number of third vehicles 300, 310, 320 located on this lane.
• This second data is here an evaluation of the number n j of third vehicles 300, 310, 320 located on this lane.
• This evaluation is obtained here thanks to the measurements made by the RADAR sensor 122 located in the front center position of the motor vehicle 100, by the RADAR sensor 121 located in the front left position of the motor vehicle 100 and by the RADAR sensor 123 located in the front right position of the motor vehicle 100. It is refined by a processing of the image acquired by the camera 130 of the motor vehicle 100.
• the fourth step c) consists in selecting, among all the traffic lanes to which the motor vehicle 100 can easily access, the one where the waiting to pass the toll barrier 201 will be the shortest.
• the criterion which is used for this purpose is a cost function J, which is a function of at least the estimate of the Euclidean distance separating the motor vehicle 100 from each lane, and the evaluation of the number n j of vehicles. on each lane.
• weighting factors are chosen so as to favor either the speed of passage of the toll barrier (even if the motor vehicle 100 has a large number of lane changes to operate), or the comfort of the passengers in question. selecting a traffic lane preferably close to the current lane 210.
• the values of these weighting factors can be either predetermined (stored in the read-only memory of the computer) or can be parameterized according to the preferences of the passengers of the vehicle or the vehicle. category of the vehicle (ambulance, goods transport vehicle ).
• These weighting factors can also be expressed in the form of functions, for example in the form of functions of the data dy, n, to which they relate (affine function, inverse function, square function, etc.).
• the calculator uses the same mathematical formula to calculate a value of the cost function Jy for each of the taxiways of the toll area 200.
• the preferred taxiway 230 is then that for which the cost function Jy is minimum. Examples illustrating, in different configurations, which traffic lane is preferred will be detailed later in this discussion.
• the fifth step d) is to determine whether it is possible for the motor vehicle 100 to change lanes 210, 220, 230, 240 without risk in order to move towards the preferred lane 230.
• This step can be implemented in various ways.
• the computer 140 calculates the operating time ÎoGO which will be necessary for the motor vehicle 100 to reach the nearby traffic lane 220 (on which it wishes to disengage) and where 221 this vehicle will end after this change of lane.
• the computer 140 calculates the arrival times ÎOBJ that will be necessary for these vehicles 310, 320 reach the location 221.
• the criterion for determining whether it is possible for the motor vehicle 100 to change lanes of traffic then simply consists in verifying the following inequality:
• the computer 140 implements a step e) of controlling the steering unit of the motor vehicle 100 so that the motor vehicle 100 passes from the current circulation lane 210 to the neighboring lane 220 (the one located on the side of the desired taxiway 230).
• FIGS. 3 to 6 The three examples shown in FIGS. 3 to 6 can now be described in greater detail.
• the calculator 140 then calculates 3 cost functions J21, J22 and J23.
• the desired taxiway 230 will then be the one where the cost function is the lowest. It is understood that the result will strongly depend on the weighting factors used.
• the motor vehicle 100 will choose, given the small number of vehicles on its lane 210, not to change lanes.
• the motor vehicle 100 will choose, given the very low number of vehicles on the nearby traffic lane 220 on the left, to change lanes.
• the motor vehicle will first check that it can change lanes safely.
• the preceding vehicle 310 and the next vehicle (not visible) being far from the place 221 that the vehicle wishes to reach, the motor vehicle 100 can safely disembark in the desired traffic lane 230.
• All the traffic lanes of the toll area 200 are here open.
• Three third-party vehicles 300, 310, 320 are here located on each taxiway, with the exception of the right lane where only one third-party vehicle 300 is located.
• the calculator 140 then calculates four cost functions J21, J22, J23 and J24.
• the chosen taxiway will be the one where the cost function is the lowest. The result will then again strongly depend on the weighting factors used.
• the motor vehicle 100 will choose to join the traffic lane 220 on the right only if a very reactive behavior is preferred. In this case, the motor vehicle 100 will again check that it can change lanes safely. In the present case, the preceding vehicle 310 and the following vehicle 320 being far from the place 221 of the adjacent traffic lane 220 that the vehicle wishes to reach, the motor vehicle 100 can safely displace in this nearby traffic lane 220. He can then again calculate the cost function for the four lanes before choosing whether he stays on his lane or if he actually joins the traffic lane originally desired.
• the calculator 140 then calculates five cost function values J 4i , J 4 2, J43, J45 and J47.
• the chosen taxiway will again be the one where the value of the cost function is the lowest.
• the result of this choice will again strongly depend on the weighting factors used, but in all cases, the motor vehicle 100 will choose to change lanes.
• step d) could be implemented differently.
• This control could thus be based on a comparison of the relative speed of the motor vehicle 100 with respect to the preceding vehicle 310 with a first threshold, and on a comparison of the relative speed of the motor vehicle 100 with respect to the following vehicle 320 with a second threshold, to verify that these relative speeds are compatible with a safe lane change.
• the vehicle was autonomous. Alternatively, one could predict that it is not. In this case, the fifth step e) will no longer be to automatically drive the motor vehicle 100 to the desired driving lane 230, but rather to display on a screen of the vehicle information allowing the driver to know which way it should head for the toll gate as quickly and safely as possible.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• General Physics & Mathematics (AREA)
• Mathematical Physics (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• Traffic Control Systems (AREA)
• Devices For Checking Fares Or Tickets At Control Points (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Navigation (AREA)

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Publications (1)

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• 2018
  • 2018-04-23 FR FR1853539A patent/FR3080346B1/fr active Active
• 2019
  • 2019-04-23 EP EP19723324.0A patent/EP3784987A1/de active Pending
  • 2019-04-23 JP JP2020558588A patent/JP2021522479A/ja active Pending
  • 2019-04-23 WO PCT/EP2019/060290 patent/WO2019206860A1/fr unknown
  • 2019-04-23 KR KR1020207030888A patent/KR20210003119A/ko not_active Application Discontinuation
  • 2019-04-23 US US17/048,885 patent/US11400935B2/en active Active
  • 2019-04-23 CN CN201980027138.1A patent/CN112020631A/zh active Pending

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