JP2017040773A - Head-mounted display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a head-mounted display device that allows a user to recognize objects to be watched more reliably.SOLUTION: An HMD 10 comprises a right-eye imaging unit 11, a left-eye imaging unit 12, a right-eye display unit 13, a left-eye display unit 14, and a GDC 15. A right-eye superimposed image and a left-eye superimposed image respectively displayed on the right-eye display unit 13 and the left-eye display unit 14 include associated images superimposed in associated positions. As such, the superimposed images at the associated positions causes a driver to pay attention to the associated positions, and associated information and images at the associated positions make the driver recognize objects. Such an arrangement allows the user to recognize objects to be watched more reliably.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a head-mounted display device that is mounted on a user's head and displays an image.

  The vehicle-mounted navigation device displays driving support information such as a map and a route to the destination. This greatly improves the convenience during driving. On the other hand, how to display such driving support information on which part of the vehicle is a problem from the viewpoint of safety in vehicle travel.

  For example, a head-up display (abbreviated as HUD) that projects and displays driving support information on a front window has been proposed. The HUD displays information within the fixed display area. However, the fixed display area is fixed below the front window, for example, and is different from the area that the driver always needs to see as information necessary for driving. Therefore, it is difficult to add a direct display to an actual road marking or an object to be noted.

  On the other hand, Patent Document 1 discloses a head mounted display (HMD) that has a display unit that is mounted on the driver's head and is disposed close to both eyes of the driver. Yes. Information necessary for the driver is provided regardless of the head direction of the driver by displaying the speed of the vehicle on the display unit of the HMD.

JP-A-10-206787

  The driver needs to recognize various surrounding objects such as signs, signals, a traveling vehicle ahead, a pedestrian, and the like when traveling in a vehicle. However, it is difficult to determine what should be noted in the field of view during driving, and it is necessary to prevent oversight of notable objects for safe driving.

  In the above-described HMD described in Patent Document 1, in the sealed mode, an image captured by a camera or the like is processed while external light is blocked, and the processed image is displayed. The processed image superimposes the image of the infrared camera at night and the image of the driving assistance display. Therefore, the processed image adjusts the brightness of the photographed image to make it easy to see the surroundings even at night. However, there is no notification about anything that should be noted. Therefore, there is a concern that the driver cannot be aware of the crisis, and even if the driver's line of sight is directed to the notification target, the driver does not recognize the notification target.

  Therefore, the present invention has been made in view of the above-described problems, and an object of the present invention is to provide a head-mounted display device that can increase the certainty of recognition of an object that should be noted by the user. .

  The present invention employs the following technical means in order to achieve the aforementioned object.

  The present invention analyzes the right eye photographed image taken by the right eye photographing section (11) and the left eye photographed image taken by the left eye photographing section (12), and related information related to the right eye photographed image and the left eye photographed image. A related information acquisition unit (15) for acquiring the related image, a related image acquisition unit (15) for acquiring the related image (95, 96) for displaying the related information, and the related image as a related position of the right eye image and the left eye image. And a superimposed image generation unit (15) for generating a right-eye superimposed image and a left-eye superimposed image superimposed on the head-mounted display device.

  According to the present invention, the related image is superimposed on the right eye superimposed image and the left eye superimposed image at the related positions. Therefore, the user can pay attention to the related position by each superimposed image at the related position, and can recognize the related information of the related position from the related image. As a result, the certainty of recognition of an object that should be noted by the user can be increased.

  In addition, the code | symbol in the bracket | parenthesis of each above-mentioned means is an example which shows a corresponding relationship with the specific means as described in embodiment mentioned later.

It is a block diagram which shows the vehicle-mounted network 30 and HMD10. It is a figure which shows the layout around the driver's seat in the own vehicle. It is a flowchart which shows the process of GDC15. It is a figure which shows an example of the picked-up image. It is a figure which shows an example of a superimposed image.

(First embodiment)
A first embodiment of the present invention will be described with reference to FIGS. The HMD 10 of this embodiment is a head-mounted display device that is mounted on the head of the driver of the host vehicle 100. The HMD 10 is configured to be able to communicate with a human machine interface control unit (abbreviated as HCU) 20 mounted on the host vehicle 100 driven by a driver. The HMD 10 is a type called a so-called sealed type and an immersive type, and a driver who wears the HMD 10 sees an image displayed on the HMD 10 by blocking outside light. As shown in FIG. 1, the HMD 10 includes a right-eye imaging unit 11, a left-eye imaging unit 12, a right-eye display unit 13, a left-eye display unit 14, and a graphic display computer (abbreviated as GDC) 15. Is done.

  Each of the right-eye imaging unit 11 and the left-eye imaging unit 12 images the driver's field of view as an imaging target. The right-eye photographing unit 11 is preferably the same photographing area as the driver's right eye field of view or a larger photographing area than the field of view. Moreover, the structure which image | photographs most area | regions of a visual field of 90% or more, for example from the center of the visual field of a driver | operator's right eye may be sufficient. The left-eye imaging unit 12 has the same configuration. Therefore, it is preferable that the right-eye photographing unit 11 and the left-eye photographing unit 12 are arranged in the vicinity of the right eye and the left eye of the driver wearing the HMD 10. As a result, the right-eye image capturing unit 11 and the left-eye image capturing unit 12 capture a moving image in the real space to be displayed on the driver's right eye and left eye, respectively. The right-eye imaging unit 11 and the left-eye imaging unit 12 sequentially transmit the captured images of the captured frames to the GDC 15.

  The right-eye display unit 13 is disposed in front of the right eye and displays an image for the right eye. The left-eye display unit 14 is disposed in front of the left eye and displays an image for the left eye. Accordingly, the right-eye display unit 13 and the left-eye display unit 14 are attached to the HMD 10 so as to be positioned in front of the right and left eyes of the driver wearing the HMD 10 on the head. Each display part 13 and 14 may be comprised so that a position may be adjusted by the driver | operator, and may be fixed. The right-eye display unit 13 and the left-eye display unit 14 display the right-eye image and the left-eye image transmitted from the GDC 15, respectively.

  The GDC 15 controls the operations of the right-eye imaging unit 11, the left-eye imaging unit 12, the right-eye display unit 13, and the left-eye display unit 14, and controls data communication with the HCU 20. The GDC 15 is mainly composed of a microcomputer having a GDC processor 15a and a GDC memory 15b. The GDC 15 generates a superimposed image based on the image information from each of the imaging units 11 and 12 and the image information from the HCU 20, and controls to display the superimposed image on each of the display units 13 and 14.

  Next, the electrical configuration of the host vehicle 100 will be described. As shown in FIG. 1, the in-vehicle network 30 includes a periphery monitoring system 40, a vehicle control system 50, a display system 60, a communication bus 70 to which these are connected, and the like. These systems of the in-vehicle network 30 are connected via a communication bus 70 via an in-vehicle network such as a LAN (Local Area Network).

  The periphery monitoring system 40 includes external sensors such as a front camera unit 41 and a radar unit 42, and a periphery monitoring ECU (Electronic Control Unit) 43. Perimeter monitoring system 40 can be used for moving objects such as pedestrians, non-human animals, bicycles, motorcycles, and other vehicles, as well as falling objects on the road, traffic lights, guardrails, curbs, road signs, road markings, and trees. Such a stationary object is detected. The periphery monitoring system 40 can include external sensors such as lidar and sonar in addition to each unit.

  The front camera unit 41 is a monocular or compound eye camera installed in the vicinity of the rearview mirror of the host vehicle 100, for example. The front camera unit 41 is directed in the traveling direction of the host vehicle 100, and can capture a range of about 80 meters from the host vehicle 100 at a horizontal viewing angle of about 45 degrees, for example. The front camera unit 41 sequentially outputs captured image data showing a moving object and a stationary object to the periphery monitoring ECU 43.

  The radar unit 42 is installed at the front part of the host vehicle 100, for example. The radar unit 42 emits 77 GHz millimeter waves from the transmitting antenna toward the traveling direction of the host vehicle 100. The radar unit 42 receives millimeter waves emitted from a moving object and a stationary object in the traveling direction by a receiving antenna. The radar unit 42 can scan a range of about 60 meters from the own vehicle 100 at a horizontal scanning angle of about 55 degrees, for example. The radar unit 42 sequentially outputs scanning information based on the received signal to the periphery monitoring ECU 43.

  The peripheral monitoring ECU 43 is mainly configured by a microcomputer having a processor and a memory. The periphery monitoring ECU 43 is communicably connected to the front camera unit 41, the radar unit 42, and the communication bus 70. The peripheral monitoring ECU 43 detects the relative positions of moving objects and stationary objects in the traveling direction by integrating information acquired from each unit. Specifically, the periphery monitoring ECU 43 extracts an object shown in the image data of the front camera unit 41 by image processing. Then, the periphery monitoring ECU 43 calculates the relative position of the extracted detected object such as a moving object and a stationary object based on the scanning information of the radar unit 42. The peripheral monitoring ECU 43 calculates the moving direction and moving speed of the moving detection object based on the transition of the relative position.

  The vehicle control system 50 includes an operation detection sensor such as an accelerator position sensor 51, a brake pedal force sensor 52, and a steering angle sensor 53, and a vehicle control ECU 54. The vehicle control system 50 controls the traveling of the host vehicle 100 based on the input by the driver seated in the driver's seat 101 and the detection result of the periphery monitoring system 40.

  Each sensor is connected to the vehicle control ECU 54. The accelerator position sensor 51 detects the amount of depression of the accelerator pedal by the driver, and outputs it to the vehicle control ECU 54. The brake pedaling force sensor 52 detects the pedaling force of the brake pedal by the driver and outputs it to the vehicle control ECU 54. The steering angle sensor 53 detects the steering angle amount of the steering by the driver and outputs it to the vehicle control ECU 54.

  Further, the vehicle control system 50 is provided with one type or a plurality of types of sensors, such as a vehicle speed sensor, a rotation speed sensor, a fuel sensor, a water temperature sensor, and a radio wave receiver, as sensors for detecting travel information of the other host vehicle 100. ing. Specifically, the vehicle speed sensor detects the vehicle speed of the host vehicle 100, and outputs a vehicle speed signal corresponding to the detection. The rotation speed sensor detects the engine rotation speed in the host vehicle 100 and outputs a rotation speed signal corresponding to the detection. The fuel sensor detects the remaining amount of fuel in the fuel tank of the host vehicle 100, and outputs a fuel signal corresponding to the detection. The water temperature sensor detects the coolant temperature of the internal combustion engine in the host vehicle 100, and outputs a water temperature signal corresponding to the detection. The radio wave receiver outputs a traffic signal by receiving output radio waves from, for example, a positioning satellite, another vehicle transmitter for vehicle-to-vehicle communication, and a roadside device for road-to-vehicle communication. Here, the traffic signal is a signal indicating traffic information related to the host vehicle 100 such as a travel position, a travel direction, a travel path state, a speed limit, and the like.

  The vehicle control ECU 54 is mainly composed of a microcomputer having a processor and a memory. The vehicle control ECU 54 is connected to the communication bus 70. The vehicle control ECU 54 is one or more types including at least an integrated control ECU among an engine control ECU, a motor control ECU, a brake control ECU, an integrated control ECU, and the like. The vehicle control ECU 54 outputs vehicle information indicating a traveling state such as a detection result of each sensor and a traveling speed of the host vehicle 100 to the communication bus 70.

  The display system 60 includes a display device such as a combination meter 61 and a multi function display (MFD) 62, and the HCU 20. The display system 60 provides information to the passengers of the host vehicle 100 including the driver. The display system 60 can include an operation device that operates display of each display device.

  The MFD 62 is installed on the center console in the passenger compartment. The MFD 62 displays a real image of an image formed so as to show predetermined information on one or a plurality of liquid crystal panels so as to be visible to the driver. As the real image display by the MFD 62, display of an image indicating one type or a plurality of types of information among navigation information, audio information, video information, communication information, and the like is employed.

  As shown in FIG. 2, the combination meter 61 is installed on the instrument panel 102 in the passenger compartment. The combination meter 61 displays vehicle information regarding the host vehicle 100 so that the driver can visually recognize the vehicle information. The combination meter 61 is a digital meter that displays vehicle information by an image formed on a liquid crystal panel, or an analog meter that displays vehicle information by indicating a scale with a pointer. As the display by the combination meter 61, for example, a display indicating one type or a plurality of types of information among the vehicle speed, the engine speed, the remaining fuel amount, the coolant temperature, the operation states of various switches, and the like is employed.

  The HCU 20 is mainly composed of a microcomputer having an HCU processor 20 a and an HCU memory 20 b, and is connected to a display element of the display system and a communication bus 70. The HCU 20 synchronously controls the operation of the display element. At this time, the HCU 20 executes operation control thereof based on, for example, acquired information and control information in the periphery monitoring ECU 43 and the vehicle control ECU 54, stored information in the memory, acquired information in the HCU 20 itself, and the like. The HCU memory 20b and the memories of other various ECUs are respectively configured by using one or a plurality of storage media such as a semiconductor memory, a magnetic medium, or an optical medium.

  Next, control related to the GDC 15 and the HCU 20 will be described. FIG. 3 is a flowchart showing processing executed by the GDC 15, and the HMD 10 is repeatedly executed in a short time in the activated state. In step S1, various information is acquired, and the process proceeds to step S2. The various types of information include a right eye photographed image photographed by the right eye photographing unit 11 and a left eye photographed image photographed by the left eye photographing unit 12. The various information includes vehicle information and traffic information acquired by communicating with the HCU 20.

  In step S2, the right-eye photographed image taken by the right-eye photographer 11 and the left-eye photographed image taken by the left-eye photographer 12 are analyzed, and related information related to the right-eye photographed image and the left-eye photographed image is acquired from the HCU 20. Then, the process proceeds to step S3. Therefore, the GDC 15 functions as a related information acquisition unit. The related information is information relating to a moving object and a stationary object detected by the periphery monitoring system 40, for example.

  In step S3, a superimposed image is generated by superimposing a related image on the captured image, and the process proceeds to step S4. GDC15 is a related image acquisition part, Comprising: The related image which displays related information is acquired. The related image is, for example, an enhanced image that emphasizes a moving object and a stationary object. The emphasized image is an image that emphasizes moving objects such as automobiles, pedestrians, and bicycles. The emphasized image is an image that emphasizes a road sign and a road sign that are stationary objects. These related images are stored in the GDC memory 15b of the GDC 15. The GDC 15 functions as a superimposed image generation unit, and generates a right-eye superimposed image and a left-eye superimposed image in which the related image is superimposed at a related position of the right-eye captured image and the left-eye captured image.

  In step S4, the generated superimposed images are output from the display units 13 and 14, and this flow ends. Thus, the driver can visually recognize the right-eye superimposed image displayed on the right-eye display unit 13 with the right eye and can visually recognize the left-eye superimposed image displayed on the left-eye display unit 14 with the left eye.

  The right-eye superimposed image is an image of the mixed reality space for the right eye. Similarly, the left eye superimposed image is an image of the mixed reality space for the left eye. As a result, images of the mixed reality space generated for the right eye and the left eye are presented in front of the right eye and the left eye of the driver wearing the HMD 10 on the head, respectively. Can be experienced.

  In step S3, a superimposed image in which only the related image is superimposed is generated, but another auxiliary image may be superimposed. The GDC 15 functions as an auxiliary information acquisition unit that acquires auxiliary information not related to the right eye photographed image and the left eye photographed image. The auxiliary information is information that supports the driver although it is not related to the photographed image such as the traveling speed and traveling position of the host vehicle 100, for example. An auxiliary image for displaying such auxiliary information is acquired from the GDC memory 15b. Therefore, the GDC 15 also functions as an auxiliary image acquisition unit. If there is an auxiliary image, the related image is superimposed on the related position of each captured image, and a superimposed image is generated by superimposing the auxiliary image on a predetermined fixed position. The auxiliary image is arranged at a position different from the related information, such as an area below the field of view. As a result, the traveling speed and the like can always be displayed at a fixed position.

  The superimposed images displayed on the display units 13 and 14 of the HMD 10 will be described with reference to FIGS. 4 and 5. FIGS. 4 and 5 show images displayed on the display units 13 and 14, but it is assumed that the driver is viewing with both eyes, and the driver visually recognizes the front vehicle 90 in three dimensions. It shall be.

  FIG. 4 shows an image before the superimposed image is displayed, that is, a photographed image 91 photographed by the photographing units 11 and 12. As a moving object, there is a forward vehicle 90 in front and a bicycle 92 at an intersection. As stationary objects, there are temporarily stopped road signs 93 and road signs 94 at intersections. In step S2, the photographed image 91 is analyzed, and an object to be emphasized is determined.

  Then, as shown in FIG. 5, an emphasized image 95 as a related image is superimposed and displayed on the captured image 91 in order to emphasize a moving object in the outside scene. Specifically, the emphasized image 95 forms a linear portion having a constant width as a whole that extends in a circular arc shape at the display position. The display size of the linear portion is set so as to continuously surround the forward vehicle 90 in less than one round excluding the lower part of the periphery of the forward vehicle 90. The display color of the linear portion is a color that enables the portion superimposed with the outside scene to be visually recognized, and is a high-intensity predetermined color that emphasizes the forward vehicle 90 to alert the driver, for example, yellow Or it is set to red or the like. You may control so that it will become red, so that a color approaches. Similarly, an emphasized image 95 is displayed for the bicycle 92.

  Further, in order to emphasize a stationary object in the outside scene, a related image of the rectangular parallelepiped 96 is superimposed so as to overlap the white line of the road marking 94. This makes it easier for the driver to recognize the temporarily stopped road sign 93 on the rectangular parallelepiped 96 as an image.

  As the related image, in addition to the display of the emphasized image 95, for example, display of an image indicating one type or a plurality of types of information such as navigation information and information on surrounding stores may be employed. The navigation information can be acquired in the HCU 20, for example, based on the map information stored in the HCU memory 20b and the output signal of the sensor. In the navigation information, the location of the intersection to be turned right or left may be highlighted. Moreover, you may display the distance with the front vehicle 90 with a related image. Further, an object that is difficult to visually recognize, such as a small animal or a foreign object on the road, may be highlighted.

  Furthermore, as the auxiliary image 97, an image indicating the traveling speed is superimposed on the lower left fixed position. In this way, by displaying the auxiliary image 97 at a fixed position around the field of view instead of the center, the traveling speed can be confirmed without hindering traveling.

  The auxiliary image 97 may be, for example, an image showing the weather, an image showing the current time, an image of physical information such as a pulse, and an image showing the schedule. For example, when an incoming call is received from a mobile phone or a car phone, information on the called party, such as a name and a photo, may be displayed. When a mail is received, the mail text may be displayed. When displaying such e-mail text, it is preferable that the vehicle is stopped or during automatic driving.

  As described above, in the HMD 10 of the present embodiment, the related image is superimposed on the related position in the right eye superimposed image and the left eye superimposed image. Therefore, the driver can pay attention to the related position from each superimposed image at the related position, and can recognize the related information of the related position from the related image. As a result, the certainty of recognition of an object that should be noted by the user can be increased.

  In addition, each of the imaging units 11 and 12 captures images from the positions of both eyes, and displays them on the display units for both eyes as they are, thereby providing an image close to a real image that is virtual but has a sense of perspective. can do. In addition, by appropriately superimposing and displaying the vehicle related information on the image, the driver can obtain the same effect as if the related information was superimposed on the actual image regardless of the position of the face.

  In the present embodiment, auxiliary images that are not related to the captured image are also displayed in a superimposed manner. As a result, the driver can check the information that is not related to the captured image using the auxiliary image. The auxiliary image is superimposed on a predetermined fixed position. This makes it easy to place the auxiliary image at a position different from the related image. For example, by displaying the auxiliary image at a fixed position in the peripheral area, the driver can check the auxiliary image only when he / she wants to check the auxiliary image.

  Further, in the present embodiment, the related information is information that assists the traveling of the vehicle. By displaying such related information as a related image at a corresponding position, the driver can grasp the support information based on both the position and the image of the related image. Therefore, it is possible to bring awareness to a more remarkable part.

  In the present embodiment, the auxiliary information is information related to vehicle travel information. Accordingly, the auxiliary information is information that is displayed on the combination meter 61 in the conventional case. By superimposing such information on the captured image, it can be displayed as if the meter is floating. Accordingly, the driver can check the traveling information without looking at the meter to view the meter. This makes it possible to check the travel information without diverting the line of sight from the driving direction.

  Furthermore, in the present embodiment, the superimposed image is generated, but the brightness of the image to be displayed may be adjusted without generating the superimposed image. For example, when the environment changes from a dark environment to a bright environment such as a daytime tunnel, the image may be adjusted to acclimatize the eyes.

(Other embodiments)
The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  The structure of the said embodiment is an illustration to the last, Comprising: The scope of the present invention is not limited to the range of these description. The scope of the present invention is indicated by the description of the scope of claims, and further includes meanings equivalent to the description of the scope of claims and all modifications within the scope.

  In the first embodiment, the functions provided by the processors of the control circuit can be provided by hardware and software different from those described above, or a combination thereof. For example, the HCU may be omitted. In this case, the GDC 15 also realizes the function of the HCU 20. Similarly, images displayed on the combination meter and the multifunction display are generated by an image generation circuit provided in these components.

  In the first embodiment described above, the HMD 10 is mounted on the driver of the host vehicle 100, but is not limited to the driver and may be mounted by another passenger. When another occupant is wearing, an image for assisting the driver's guide may be displayed. The driver is not limited to the driver of the host vehicle 100, and may be used for drivers of moving means such as bicycles, motorcycles, trains, airplanes and ships.

  Moreover, it is not restricted to a driver | operator and a crew member, A tourist, a crew member, etc. may wear. This makes it possible to superimpose tourist information such as the history of the building during sightseeing. Therefore, tourist information can be confirmed without using a guidebook or the like. Moreover, you may replace with another image by superimposing a related image. Specifically, an internal structure such as a building may be displayed with a related image.

  It may also be worn by medical personnel such as doctors. As a result, patient information can be displayed during medical treatment, and organ and blood vessel information can be superimposed during surgery. Further, a repairer and an inspector may wear it. By analyzing the captured image, it is possible to easily grasp the inspection location. Also, it is possible to display the location of repair and the repair method.

DESCRIPTION OF SYMBOLS 10 ... HMD (head-mounted display device) 11 ... Right-eye imaging unit 12 ... Left-eye imaging unit 13 ... Right-eye display unit 14 ... Left-eye display unit 15 ... GDC (related information acquisition unit, related image acquisition unit, superimposition) Image generation unit, auxiliary information acquisition unit) (auxiliary image acquisition unit)
DESCRIPTION OF SYMBOLS 40 ... Perimeter monitoring system 50 ... Vehicle control system 60 ... Display system 90 ... Front vehicle 91 ... Photographed image 92 ... Bicycle 93 ... Road sign 94 ... Road sign 95 ... Emphasized image (related image) 96 ... Cuboid (related image) 97 ... Auxiliary image 100 ... Own vehicle (vehicle)

Claims (4)

A head-mounted display device (10) mounted on a user's head,
A right-eye image capturing unit (11) that captures an image of the user's right eye field of view;
A left-eye imaging unit (12) for imaging the left eye field of the user as an imaging target;
Analyzing the right-eye photographed image taken by the right-eye photographer and the left-eye photographed image taken by the left-eye photographer to obtain related information related to the right-eye photographed image and the left-eye photographed image Part (15),
A related image acquisition unit (15) for acquiring related images (95, 96) for displaying the related information;
A superimposed image generation unit (15) for generating a right-eye superimposed image and a left-eye superimposed image in which the related image is superimposed on positions related to the right-eye captured image and the left-eye captured image;
A right-eye display unit (13) arranged in front of the right eye and displaying the right-eye superimposed image;
A head-mounted display device comprising: a left-eye display unit (14) disposed in front of the left eye and displaying the left-eye superimposed image. An auxiliary information acquisition unit (15) for acquiring auxiliary information not related to the right-eye photographed image and the left-eye photographed image;
An auxiliary image acquisition unit (15) for acquiring an auxiliary image (97) for displaying the auxiliary information,
The superimposed image generating unit superimposes the related image on the related position of the right-eye photographed image and the left-eye photographed image, and the right-eye superimposed image and the left-eye superimposed image obtained by superimposing the auxiliary image on a predetermined fixed position. The head-mounted display device according to claim 1, wherein the head-mounted display device is generated. The user is a driver of the vehicle (100),
The head-mounted display device according to claim 1, wherein the related information is information that supports driving of the vehicle. The user is a driver of the vehicle (100),
The head-mounted display device according to claim 2, wherein the auxiliary information is information related to a traveling state of the vehicle.

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