JP2008030618A - Pedestrian collision determination system and pedestrian collision determination method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pedestrian collision determination system and a pedestrian collision determination method capable of accurately determining collision with the pedestrian. <P>SOLUTION: The pedestrian collision determination system 100 has an effective mass operation means 10a for operating an effective mass of an object based on load applied to a vehicle body front part detected by a load sensor 40 by the object; and a determination means 10c for determining whether or not the object is the pedestrian based on the effective mass. The system has an effective mass emphasizing means 10b for emphasizing the effective mass when two peaks of the load are detected within a predetermined time and are not within a predetermined range. The determination means 10c determines whether or not the object is the pedestrian based on the emphasized effective mass. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a pedestrian collision determination system and a pedestrian collision method determination, and more particularly to a pedestrian collision determination system and a pedestrian collision method determination that determine a pedestrian and the others when a vehicle collides with an object.

 There has been proposed a pedestrian protection system that protects a pedestrian when a traveling vehicle collides with a pedestrian (see, for example, Patent Document 1). The pedestrian protection system described in Patent Document 1 protects the pedestrian by bouncing up the hood when it is determined that the pedestrian has collided and absorbing and mitigating the impact caused by the contact between the upper surface of the hood and the pedestrian.

  By the way, when an object that is not a pedestrian collides with a vehicle, there is no need to operate the pedestrian protection system, and depending on the pedestrian protection system, there is a possibility that an extra cost burden is imposed on the user. For this reason, in the pedestrian protection system, focusing on the difference in impact between the pedestrian and other objects, a collision object determination method for detecting only the collision with the pedestrian has been proposed. In the pedestrian collision determination system, a load sensor is disposed on a front bumper or the like at the front of the vehicle body, and therefore, based on the detected load, it is distinguished whether the object on which the vehicle collided is a pedestrian or a non-pedestrian. For example, since the pedestrian has a smaller mass than a fixed object, the signal detected by the load sensor is small, but the signal detected by the load sensor at the time of collision with another vehicle, a wall surface, a standing tree, a utility pole, etc. is also large.

Also, since the output of the load sensor may be similar to that of a pedestrian on a relatively light object, the effective mass is calculated by integrating the output of the load sensor and dividing the integrated value by the vehicle speed, A method for determining an object for determining whether the object is a pedestrian based on whether the effective mass exceeds a predetermined threshold has been proposed (see, for example, Patent Document 2). By judging based on the effective mass, the object must be a pedestrian even if it is a collision that is difficult to distinguish with a time integral value of load, such as a high-speed collision with a light object and a low-speed collision with a pedestrian. May be detected.
Japanese Patent Laid-Open No. 11-028994 JP 2005-262965 A

  However, even if the method of determining whether the object is a pedestrian based on the effective mass as described in Patent Document 2, if the object collides with an object having the same mass and center of gravity as the pedestrian, the pedestrian There is a problem in that it may be erroneously determined as an object other than a pedestrian.

  In view of the above problems, an object of the present invention is to provide a pedestrian collision determination system and a pedestrian collision determination method capable of accurately determining a collision with a pedestrian.

  In order to solve the above-described problems, the present invention provides an effective mass calculation means for calculating an effective mass of an object based on a load applied by the object to a front part of a vehicle body detected by a load sensor, and the object is a pedestrian based on the effective mass. In the pedestrian collision determination system having the determination means for determining whether or not two load peaks are detected within a predetermined time and the two peak loads are not within the predetermined range, the effective mass is emphasized. An effective mass emphasizing unit is provided, and the determining unit determines whether the object is a pedestrian based on the emphasized effective mass.

  According to the present invention, when a load signal characteristic of a pedestrian is detected, even if the pedestrian collides with an object having the same mass and center of gravity as the pedestrian by emphasizing the effective mass, the pedestrian can be accurately detected. Can be judged.

  In one embodiment of the present invention, when the two peak loads are within a predetermined range and the second peak load is less than or equal to a predetermined ratio of the first peak load, the determination means calculates an effective mass. Without determining that the object is a pedestrian. According to the present invention, since an effective mass is not calculated, a pedestrian can be determined at high speed.

  A pedestrian collision determination system and a pedestrian collision determination method that can accurately determine a collision with a pedestrian can be provided.

The best mode for carrying out the present invention will be described below with reference to the drawings.
FIG. 1 shows a configuration diagram of a pedestrian collision determination system 100 of the present embodiment. The pedestrian collision determination system 100 according to the present embodiment determines whether or not a collision target (hereinafter referred to as a collision target) is a pedestrian when the vehicle 1 collides. As will be described later, in this embodiment, it is considered that the pedestrian is walking on two legs (may be stopped), and whether or not the load applied to the vehicle 1 has the characteristics of a pedestrian walking on two legs. It is used to determine whether or not the collision object is a pedestrian.

  The pedestrian collision determination system 100 includes a load sensor 40, a vehicle speed sensor 9, and a collision determination ECU (Electronic Control Unit) 10 mounted on the vehicle 1, and is controlled by the collision determination ECU 10.

  The load sensor 40 is an optical fiber disposed over substantially the entire length of the vehicle body front bumper 30 in the vehicle width direction, and the amount of transmitted light propagating through the optical fiber is changed by the load due to bending loss and compression loss of the optical fiber. Use it to detect the load. In addition, for example, one or a plurality of bumper reinforcements are arranged on the front surface or the front end of the left and right front side members, and a phenomenon (piezoresistance effect) in which the resistance of the strain gauge changes according to the magnitude of the strain is used. A mechanical quantity sensor that detects a load may be used.

  The collision determination ECU 10 is used as an input / output circuit (I / O) 11 for inputting / outputting a signal, a CPU 12 for executing a program, a ROM 13 for storing a threshold value necessary for a program and calculation, and a work area for executing the program. The RAM 14 is configured as a microcomputer connected by a bus.

  FIG. 2 is a functional block diagram of the collision determination ECU 10. In the ROM 13, the CPU 12 executes an effective mass calculation means 10 a that calculates the effective mass of the collision object, an effective mass enhancement means 10 b that emphasizes the effective mass, and an enhanced effective mass and threshold, which will be described later, and an effective mass. And a threshold value, or a program for realizing a pedestrian determination unit 10c that determines whether the collision target is a pedestrian based on a load signal, and a threshold value are stored. These will be described in detail later.

  The vehicle speed sensor 9 measures, for example, the change in magnetic flux when the convex portions installed at regular intervals on the circumference of the rotor provided in each wheel as pulses, and based on the number of pulses per unit time. The vehicle speed is output for each detected wheel.

  A signal from the load sensor 40 is input to the input / output circuit 11 and is appropriately stored in the RAM 14 in accordance with an instruction from the CPU 12. The collision determination ECU 10 detects the magnitude of the load applied to the front part of the vehicle body from the front of the vehicle based on the signal from the load sensor 40. When a plurality of load sensors 40 are mounted on the vehicle, the magnitude of the load acting on the front portion of the vehicle body is a total value of loads based on the outputs of the load sensors 40.

  As will be described in detail later, the collision determination ECU 10 determines whether or not the target object when the vehicle collides is a pedestrian based on the detected load on the front of the vehicle body. The determination result by the collision determination ECU 10 is output to the drive circuit 21 of the pedestrian protection device 20.

  The pedestrian protection device 20 operates to protect a pedestrian when the vehicle collides with the pedestrian. The pedestrian protection device 20 is, for example, a device having a mechanism that lifts only the rear end side of an engine hood that covers the engine provided at the front of the vehicle body, or is disposed behind the engine hood and is directed toward the rear of the vehicle in the event of a collision. It is an apparatus that deploys an airbag that covers an end portion and a front pillar and absorbs an impact applied to a collision pedestrian.

  The pedestrian protection device 20 has a drive circuit 21. When the drive signal of the pedestrian protection device 20 is input from the input / output circuit 11, the drive circuit 21 ignites a predetermined igniter. The engine hood is lifted in a short time by the pressure of gas instantaneously generated by ignition, and a large amount of instantaneously generated gas is filled in the air bag and instantly expands.

  Then, the signal which the load sensor 40 outputs when a collision target object is a pedestrian is demonstrated. FIG. 3 is an example of a load signal detected by the load sensor 40 when the vehicle 1 collides with a pedestrian. In FIG. 3, the time axis is taken on the assumption that the load detection starts at time 0.

  First, a basic way of thinking of the present embodiment regarding pedestrian determination based on a load signal will be described. Since the mass of pedestrians and heavy objects (barriers, vehicles, etc.) differ greatly, it is sufficient to use the load itself acting on the front of the vehicle body to determine whether the object is a pedestrian or heavy object.

  However, when the vehicle collides with a light object (pylon, wheelbarrow, etc.), the peak value of the load acting on the front of the vehicle body may be the same value as when the vehicle collides with a pedestrian. In this regard, it is considered effective to use the time integral value from the start of the collision of the load acting on the front of the vehicle body in distinguishing whether the collision target in the vehicle is a pedestrian or a light object. .

  However, even when the time integration value is used, the difference between the case where the vehicle 1 collides with a light object at high speed and the case where the vehicle 1 collides with a pedestrian at low speed is small, and both collisions are accurate based on the time integration value. It was difficult to judge well.

  By the way, in a situation where the vehicle collides with a light object such as a pedestrian or a pylon, the mass difference between the vehicle 1 and the object to be collided is extremely large, so that it is considered that the momentum of the vehicle 1, that is, the vehicle speed, hardly changes before and after the collision. Therefore, the time integral value of the load applied to the front part of the vehicle body of the vehicle is a change (impulse) of the momentum of the collision target viewed from the vehicle 1 (momentum conservation law).

  In a situation where the vehicle and the pedestrian collide, the speed of the vehicle 1 may be considered to be sufficiently higher than the speed of the pedestrian, and the relative speed between the vehicle 1 and the pedestrian in the vehicle traveling direction (as viewed from the vehicle body). The speed of the pedestrian may be approximately equal to the speed of the vehicle 1. From the above, the effective mass of the collision object can be defined by the value obtained by dividing the time integral value by the speed of the vehicle 1. That is, it is considered effective to use a value (effective mass of the collision object) obtained by dividing the time integral value of the load by the own vehicle speed in order to treat the detected load equally even if the vehicle speed is different.

  However, since a light object having the same mass and center of gravity as a pedestrian has an effective mass that is comparable to that of a pedestrian, it may be difficult to accurately determine the pedestrian even if the effective mass is used. .

  Therefore, in the present embodiment, in determining whether the collision target is a pedestrian, in the case of a load signal characteristic of the pedestrian, specifically, when the load signal shows two peaks, etc. Emphasizes the calculation result of the effective mass and makes it easy to determine a pedestrian. Moreover, when a load signal shows the waveform peculiar to a pedestrian, it determines as a pedestrian, without calculating effective mass.

[Pedestrian judgment by emphasizing effective mass]
First, pedestrian determination for determining a pedestrian by emphasizing the effective mass obtained by calculation will be described. First, two peaks that are characteristic load signals for pedestrians will be described.

A. Focus on whether two peaks are detected.
As shown in FIG. 3, the load signal shows two peaks (the first peak and the second peak in the order of detection), which are the peaks of the load caused by the pedestrian's two feet. Although there may be one peak depending on the collision angle, it is considered that two peaks are detected in the load signal in many cases of collision with a pedestrian. Therefore, the pedestrian determination unit 10c can determine whether or not the collision target is a pedestrian based on whether or not the load signal has two peaks.

B. Focus on the timing at which the second peak is detected.
Since the pedestrian's two feet are close to the load sensor 40, the two peaks are considered to be detected within a predetermined time. Therefore, even if the load signal has two peaks, the pedestrian determination means 10c can determine whether or not the collision target is a pedestrian depending on whether the two peaks are detected within a predetermined time. . Since the time interval at which the two peaks are detected varies depending on the vehicle speed, the predetermined time for determination may be variable depending on the vehicle speed.

  Here, the relationship between the effective mass and the threshold will be described. FIG. 4A is an example of a one-dimensional pedestrian determination map in which the effective mass is taken on the horizontal axis, and the pedestrian determination unit 10c determines that the collision target is a pedestrian when the effective mass is equal to or greater than a threshold value. When the effective mass is less than the threshold, it is determined that the collision target is other than a pedestrian.

  By the way, the shaded area in FIG. 4A is an effective mass region that is likely to be erroneously determined, that is, an effective mass region that is detected when an object having the same mass and center of gravity as a pedestrian collides. . For this reason, it is conceivable that the threshold value is shifted to the right or left so that the threshold value does not straddle the shaded part. If the right end of the shaded area is set as a threshold value, the pedestrian may be determined to be an object having the same mass and center of gravity.

  Therefore, in the present embodiment, the right end of the shaded portion or the vicinity thereof is set as a threshold value, and when the load signal indicates the characteristics of the pedestrian (two peaks), the effective mass is emphasized to be set larger. It is assumed that the threshold is exceeded and the pedestrian is determined (hereinafter, the emphasized effective mass is referred to as the emphasized effective mass). By shifting the threshold value to the right, only pedestrians can be determined reliably, and even if the effective mass is less than the threshold value, if the load signal is in a form unique to the pedestrian, the effective mass will be exceeded and the threshold value will be exceeded. Can be determined as a pedestrian. Therefore, only a pedestrian can be determined with high accuracy.

  FIG. 4B is a diagram for explaining the emphasized effective mass and the comparison between the effective mass and the threshold value. The threshold value in FIG. 4B is shifted in the right end direction from the threshold value in FIG. By using this threshold value for the pedestrian determination of the present embodiment, it is possible to accurately determine a pedestrian and an object having the same mass and center of gravity as the pedestrian.

  Note that the enhancement of the effective mass by the effective mass enhancement means 10b means increasing the calculation result. Specifically, the calculation result is multiplied by a constant or the constant is added, but it may be input to a predetermined function (for example, f = g (effective mass)).

  The degree of emphasis is a design matter, but it may be about the width of the shaded portion in FIG. 4A, that is, the effective mass of the region where a pedestrian and an object having the same mass and center of gravity are likely to be erroneously determined. The degree of emphasis is such that it is determined to be a pedestrian. By emphasizing in this way, the effective mass of the pedestrian can exceed the threshold value, and the collision target with the apparently small effective mass is erroneously determined as a pedestrian, although the load signal has two peaks. Can also be prevented.

[Pedestrian judgment by pedestrian-specific load signal]
Next, pedestrian determination based on a pedestrian-specific load signal will be described. Since the above-described load signals, A and B, which are characteristic for pedestrians, are the same, description thereof will be omitted.

C. Focus on the magnitude of the load peak when the collision target is a pedestrian.
Since the mass (weight) of the pedestrian varies depending on the normal part, it is possible to determine the upper limit and the lower limit of the mass of the pedestrian that covers 99% of the pedestrian, for example. Moreover, the upper and lower limits of the vehicle speed at which the pedestrian protection device 20 operates are limited. This is because it is not necessary to drive the pedestrian protection device 20 if the vehicle is excessively low speed, and it is difficult to protect the pedestrian protection device 20 if the vehicle is excessively high speed. Therefore, the upper limit and the lower limit of the peak of the load assumed when colliding with the pedestrian can be determined from the upper limit and the lower limit of the mass of the pedestrian and the upper limit and the lower limit of the vehicle speed. That is, the upper limit of the load peak occurs when the vehicle collides with the pedestrian with the upper limit of mass, and the lower limit of the load peak occurs when the vehicle collides with the pedestrian with the lower limit of mass. The pedestrian determination means 10c can determine whether or not the collision target is a pedestrian based on whether or not the two peaks of the load signal are between a predetermined upper limit and a lower limit.

D. Focus on the magnitude relationship between the two peaks.
The load caused by the second foot of the colliding pedestrian is smaller than the load caused by the first foot because the impact is reduced because the first foot has already collided. For this reason, when a pedestrian is an object, the second peak is smaller than the first peak. From this point, the pedestrian determination means 10c can determine whether or not the collision target is a pedestrian based on whether or not the second peak of the load signal is a predetermined ratio or less than the first peak. The reason why the ratio is equal to or less than the predetermined ratio is to avoid erroneous determination when the second peak is smaller than the first peak in the error range.

  Since it is considered that the pedestrian load signal has all the features A to D, the pedestrian determination means 10c determines that the collision target is a pedestrian when all the conditions A to D are satisfied. To do. In this determination, since the time integral value and effective mass are not calculated, the calculation load on the CPU 12 can be reduced and a pedestrian can be determined at high speed.

  Based on the above determination method, the determination procedure of the pedestrian determination when the vehicle 1 collides with the object will be described based on the flowchart of FIG. The flowchart in FIG. 5 starts with, for example, ignition on.

  The collision determination ECU 10 monitors a signal output from the vehicle speed sensor 9, and determines whether or not the vehicle speed of the vehicle 1 is equal to or higher than a predetermined value (S1). This is to prevent the pedestrian protection device 20 from operating when the vehicle speed is low. Accordingly, the collision determination ECU 10 stands by until the vehicle speed becomes a predetermined value or more.

  When the vehicle speed becomes equal to or higher than the predetermined value (Yes in S1), the collision determination ECU 10 determines whether or not the load sensor 40 outputs a load (S2). If no load is detected (No in S2), the process does not collide with the object, and the process is repeated from step S1.

  When a load is detected (Yes in S2), the pedestrian determination unit 10c determines whether there are two peaks in the load signal (S3). The determination in step S3 is a determination based on A described above. That is, when two load peaks are detected, the pedestrian determination unit 10c determines that each is a load peak due to the pedestrian's two legs. When there are no two peaks in the load signal (No in S3), the process proceeds to step S12.

  When two peaks are detected in the load signal (Yes in S3), the pedestrian determination unit 10c determines whether or not the second peak of the load signal is within a predetermined time from the first peak (S4). The determination in step S4 is a determination based on B described above. When the two peaks are within a predetermined time, the pedestrian determination means 10c determines that both are peaks of the load caused by the pedestrian's two feet. When the second peak is not within the predetermined time from the first peak (No in S4), the process proceeds to step S12.

  When the second peak is within a predetermined time from the first peak (Yes in S4), the collision determination ECU 10 determines whether or not the two peak loads are within a certain range (S5). The determination in step S5 is a determination based on C described above. That is, when the two peak loads are within the range of loads assumed as pedestrian loads, the pedestrian determination means 10c determines that the load is a load due to the pedestrian and two legs. If the two peak loads are not within the predetermined range (No in S5), the process proceeds to step S8.

  When the two peak loads are within a certain range (Yes in S5), the pedestrian determination means 10c determines whether or not the peak load of the second peak is equal to or less than a certain ratio of the peak load of the first peak (S6). The determination in step S6 is a determination based on D described above. That is, when the second peak load is equal to or less than a certain ratio of the peak load of the first peak, it is determined that the pedestrian has sequentially collided with the two legs. When the peak load of the second peak is not equal to or less than a certain ratio of the peak load of the first peak (No in S6), the process proceeds to step S8.

  The pedestrian determination means 10c determines that the collision target is a pedestrian when all of steps S3 to S6 are satisfied (S7).

  The process after step S8 is demonstrated. The processing after step S8 is performed when two peaks are detected in the load signal and the second peak is detected within a predetermined time from the first peak, and the conditions of step S5 or S6 are not satisfied. It is processed. That is, this is a process when a load signal characteristic of a pedestrian is detected.

  When a load signal characteristic for a pedestrian is detected, the effective mass calculation means 10a calculates the effective mass, and the effective mass enhancement means 10b emphasizes the calculation result (S8). As described above, the effective mass calculation unit 10a calculates the effective mass by dividing the time integral value of the load signal by the own vehicle speed, and the effective mass enhancement unit 10b emphasizes the effective mass by multiplying the constant, for example.

  Next, the pedestrian determination means 10c determines whether or not the enhanced effective mass is greater than or equal to the threshold using the pedestrian determination map of FIG. 4B (S9).

  In FIG. 4B, the effective mass before emphasis is indicated by a dotted line “◯” and the emphasized effective mass is indicated by a black “O” for explanation. The pedestrian determination unit 10c determines that the collision target is a pedestrian when the effective enhancement mass is equal to or greater than the threshold (S10), and determines that the collision target is not a pedestrian when the effective enhancement mass is less than the threshold (S11). ). As shown in FIG. 4 (b), even when it is determined that the person is not a pedestrian based on the effective mass, in the case of a load signal characteristic of the pedestrian, the effective mass is emphasized to determine the pedestrian. Can do.

  The process after step S12 is demonstrated. The processing after step S12 is performed when a load is detected but two peaks are not detected in the load signal.

  Even if two peaks are not detected in the load signal, the collision target may be a pedestrian, so the effective mass calculation means 10a calculates the effective mass to determine whether or not the pedestrian is present (S12). ). That is, the effective mass is calculated by dividing the time integral value of the load signal by the vehicle speed.

  And the pedestrian determination means 10c determines whether an effective mass is more than a threshold value using the pedestrian determination map of FIG.4 (b) (S13).

  In FIG. 4B, two effective masses are indicated by “□” and “Δ”, respectively, for explanation. When the effective mass is less than the threshold value as “Δ” (No in S13), the pedestrian determination unit 10c determines that the collision target is not a pedestrian (S15). Therefore, even if the effective mass is the same as that of a pedestrian, even if it is a collision target with the same mass and center of gravity, if it is not a characteristic load signal for the pedestrian, the effective mass will not be emphasized, It is not judged.

  When the effective mass is equal to or greater than the threshold value as “□” (Yes in S13), the pedestrian determination unit 10c determines that the pedestrian is a pedestrian (S14). Therefore, even a collision target in which two peaks are not detected in the load signal can be determined as a pedestrian if it is equal to or greater than the threshold value. The case where the effective mass such as “□” is calculated is, for example, the case where the vehicle collides from the front, right behind, or right side of the pedestrian, that is, the case where the load by the two legs is not detected separately. In such a case, it is known that the effective mass is calculated to be higher than that of collision one by one. Therefore, even when the vehicle 1 collides with two legs almost simultaneously, the pedestrian determination unit 10c can determine that the vehicle 1 is a pedestrian when it collides with a pedestrian. Two peaks are not detected when the effective mass is a collision object larger than that of a pedestrian. In such a case, it is determined that the object is not a pedestrian based on a threshold value larger than the threshold value shown in FIG.

  As described above, since the pedestrian collision determination system 100 according to the present embodiment shifts the threshold value higher, a collision target having the same mass and center of gravity as the pedestrian may be erroneously determined as a pedestrian. If a load signal that is characteristic to a pedestrian is not detected, the effective mass is emphasized to exceed the threshold value and to be determined as a pedestrian. Moreover, when a load signal is a waveform peculiar to a pedestrian, it can determine with a pedestrian as it is. In addition, if two peaks are not detected, it is possible to determine that the effective mass is a pedestrian if the effective mass is equal to or greater than that of the pedestrian, and that the effective mass is equal to or greater than the threshold. .

It is a block diagram of a pedestrian collision determination system. It is a functional block diagram of collision judgment ECU. It is a figure which shows an example of the load signal which a load sensor detects when a vehicle collides with a pedestrian. It is a figure for demonstrating the relationship between effective mass and a threshold value. It is a flowchart figure which shows the determination procedure of pedestrian determination when a vehicle collides with a target object.

Explanation of symbols

1 Vehicle 9 Vehicle Speed Sensor 10 Collision Determination ECU
10a Effective mass calculation means 10b Effective mass enhancement means 20 Pedestrian protection device 30 Bumper 40 Load sensor
100 Pedestrian collision determination system

Claims (3)

Effective mass calculating means for calculating the effective mass of the object based on the load applied to the front of the vehicle body detected by the load sensor, and determining means for determining whether the object is a pedestrian based on the effective mass In a pedestrian collision determination system having
Effective mass enhancement means for emphasizing the effective mass when two peaks of the load are detected within a predetermined time and the two peak loads are not within the predetermined range;
The determination means determines whether or not the object is a pedestrian based on the effective mass emphasized.
A pedestrian collision determination system characterized by that. Furthermore, when the two peak loads are within a predetermined range, and the second peak load is less than or equal to a predetermined ratio of the first peak load,
The determination means determines that the object is a pedestrian without calculating the effective mass,
The pedestrian collision determination system according to claim 1. In a pedestrian collision determination method for calculating an effective mass based on a load applied by an object to a front part of a vehicle body detected by a load sensor and determining whether the object is a pedestrian based on the effective mass,
Pedestrian collision detection system
Determining whether two peaks of the load are detected within a predetermined time and whether the two peak loads are within a predetermined range; and
An effective mass emphasizing step of emphasizing the effective mass when two peaks of the load are detected within a predetermined time and the two peak loads are not within the predetermined range;
A determination step of determining whether the object is a pedestrian based on the enhanced effective mass;
A pedestrian collision determination method characterized by comprising:

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