JP4075651B2 - Parking assistance system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking support system that measures a distance from a vehicle to an obstacle such as a wall or another vehicle that may be an obstacle for the vehicle, and supports parking.
[0002]
[Prior art]
Conventionally, for the purpose of preventing a vehicle from colliding with an obstacle, there is one that controls the vehicle to decelerate when the presence of an obstacle is detected by an ultrasonic sensor (for example, a patent) Reference 1).
[0003]
[Patent Document 1]
JP 2000-267729 A
[Problems to be solved by the invention]
However, what was described in patent document 1 mentioned above is not what assumed the case where it parks. On the other hand, for example, when the parking space is limited, there is a demand for the user to easily park the vehicle forward or backward as close as possible to a wall or another vehicle.
[0005]
This invention is made | formed in view of an above-described situation, The objective is to provide the parking assistance system which can support appropriately that a user parks in a desired position.
[0006]
[Means for Solving the Problems]
According to the parking assist system of the first aspect, the control means is set by the distance from the vehicle measured by the sensor to an obstacle such as a wall or another vehicle that may become an obstacle for the vehicle, the vehicle speed signal, and the user. When the stop operation start distance calculated according to the distance stored in the storage means coincides, the vehicle movement control means stops the vehicle. Thus, by setting a desired distance that the user wants to bring the vehicle closer to the obstacle, the vehicle can be appropriately stopped by approaching the obstacle to the desired distance set by the user, and the user can be brought to a desired position. Appropriate support for parking can be provided.
In addition, when the control unit sets that the user has a plan to open and close the trunk of the vehicle by the setting unit, the distance of the vehicle stored in the vehicle information storage unit is set to the distance stored in the storage unit. Correction is made by adding the length corresponding to the work space required to be opened and closed. Then, when the distance from the vehicle to the obstacle measured by the sensor matches the vehicle speed signal and the stop operation start distance calculated according to the corrected distance stored in the storage unit, the control unit moves the vehicle. The vehicle is stopped by the control means. Thereby, by setting that the user has a plan to open and close the trunk of the vehicle, a position where the work space necessary for the user to open and close the trunk of the vehicle is ensured, that is, the user The vehicle can be appropriately stopped at a position where the vehicle can be easily opened and closed.
[0007]
According to the parking support system described in claim 2, the control means is set by the distance from the vehicle measured by the sensor to an obstacle such as a wall or another vehicle that may become an obstacle for the vehicle, the vehicle speed signal, and the user. When the stop operation start distance calculated according to the distance stored in the storage means coincides, the vehicle movement control means stops the vehicle. Thus, by setting a desired distance that the user wants to bring the vehicle closer to the obstacle, the vehicle can be appropriately stopped by approaching the obstacle to the desired distance set by the user, and the user can be brought to a desired position. Appropriate support for parking can be provided.
In addition, when the user sets the vehicle type of another vehicle by the setting unit, the control unit opens or closes the trunk of another vehicle stored in the vehicle information storage unit by using the distance stored in the storage unit as the distance. The length corresponding to the work space required for the correction is added and corrected. Then, when the distance from the vehicle to the obstacle measured by the sensor matches the vehicle speed signal and the stop operation start distance calculated according to the corrected distance stored in the storage unit, the control unit moves the vehicle. The vehicle is stopped by the control means. As a result, when the user sets the vehicle type of the other vehicle, the position where the work space necessary for the other user to open and close the trunk of the other vehicle is ensured, that is, the other user is inconvenienced. Thus, the vehicle can be stopped appropriately at a position that does not affect the vehicle.
[0008]
According to the parking assist system of the third aspect, the control means is set by the distance from the vehicle measured by the sensor to an obstacle such as a wall or another vehicle that may become an obstacle for the vehicle, the vehicle speed signal, and the user. Then, when the stop operation start distance calculated according to the distance stored in the storage unit coincides, the notification unit performs the notification operation. Thus, by setting a desired distance that the user wants to bring the vehicle closer to the obstacle, and performing a brake operation in response to the notification operation being performed, in the same manner as described in claim 1 above, The vehicle can be stopped by approaching an obstacle to a desired distance set by the user, and the user can be appropriately supported to park at a desired position.
In addition, when the control unit sets that the user has a plan to open and close the trunk of the vehicle by the setting unit, the distance of the vehicle stored in the vehicle information storage unit is set to the distance stored in the storage unit. Correction is made by adding the length corresponding to the work space required to be opened and closed. When the distance from the vehicle to the obstacle measured by the sensor matches the vehicle speed signal and the stop operation start distance calculated according to the corrected distance stored in the storage unit, the control unit notifies To perform a notification operation. Thus, by setting that the user has a plan to open and close the trunk of the vehicle, and performing the brake operation in response to the notification operation being performed, in the same manner as described in claim 1 above, The vehicle can be stopped appropriately at a position where a work space necessary for the user to open and close the trunk of the vehicle is ensured, that is, a position where the user can easily open and close the trunk of the vehicle.
[0009]
According to the parking assist system described in claim 4, the control means is set by the distance from the vehicle measured by the sensor to an obstacle such as a wall or another vehicle that may become an obstacle for the vehicle, the vehicle speed signal, and the user. Then, when the stop operation start distance calculated according to the distance stored in the storage unit coincides, the notification unit performs the notification operation. Thus, by setting a desired distance that the user wants to bring the vehicle closer to the obstacle, and performing a brake operation in response to the notification operation being performed, in the same manner as described in claim 1 above, The vehicle can be stopped by approaching an obstacle to a desired distance set by the user, and the user can be appropriately supported to park at a desired position.
In addition, when the user sets the vehicle type of another vehicle by the setting unit, the control unit opens or closes the trunk of another vehicle stored in the vehicle information storage unit by using the distance stored in the storage unit as the distance. The length corresponding to the work space required for the correction is added and corrected. When the distance from the vehicle to the obstacle measured by the sensor matches the vehicle speed signal and the stop operation start distance calculated according to the corrected distance stored in the storage unit, the control unit notifies To perform a notification operation. As a result, the user sets the vehicle type of the other vehicle, and performs the brake operation in response to the notification operation being performed. The vehicle can be appropriately stopped at a position where a work space necessary for opening and closing the trunk of the vehicle is ensured, that is, at a position that does not disturb other users.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of the parking assistance system as a functional block diagram. The parking assist system 1 includes a main ECU 2 (control means and storage means in the present invention), ultrasonic sensors 3a to 3d (sensors in the present invention), a vehicle speed sensor 4, an operation unit 5 (setting means in the present invention), A voice input unit 6, a voice output unit 7 (notifying means in the present invention), a display unit 8, a vehicle information storage unit 9, a vehicle control unit 10 (vehicle movement control means in the present invention), and the like are configured. .
[0013]
The main ECU 2 includes a CPU, a ROM, a RAM, and the like, and controls the operation of the entire system by executing a control program stored in advance. As shown in FIG. 2, the ultrasonic sensors 3 a to 3 d are arranged at the right front end, left front end, right rear end, and left rear end of the vehicle 11, respectively, and emit ultrasonic waves. By detecting that the reflected wave reflected by the obstacle has been captured, by detecting the presence of the obstacle or by calculating the time from when the ultrasonic wave is emitted until the reflected wave is captured The distance from the vehicle 11 to the obstacle is detected, and a detection signal is output to the main ECU 2.
[0014]
In this case, the main ECU 2 detects the presence of an obstacle in front of the vehicle 11 based on the detection signals input from the ultrasonic sensors 3 a and 3 b, or detects the front of the vehicle 11 from the front end of the vehicle 11. The distance to an obstacle can be detected. Further, the main ECU 2 detects the presence of an obstacle behind the vehicle 11 based on the detection signals input from the ultrasonic sensors 3c and 3d, or the obstacle behind the vehicle 11 from the rear end of the vehicle 11. It is possible to detect the distance up to.
[0015]
The vehicle speed sensor 4 detects the vehicle speed and outputs a vehicle speed signal corresponding to the detected vehicle speed to the main ECU 2. The operation unit 5 includes mechanical keys (buttons) and touch-type keys (buttons) displayed on the display unit 8. When any one of the keys is operated, an operation signal corresponding to the operation is displayed. Is output to the main ECU 2.
[0016]
The voice input unit 6 is composed of a microphone, and outputs a voice signal corresponding to the collected voice to the main ECU 2 when the voice uttered by the user is collected. The audio output unit 7 is configured by a speaker. When an audio signal is input from the main ECU 2, the audio output unit 7 outputs an audio corresponding to the input audio signal. The display unit 8 is configured by a liquid crystal display, and when a display signal is input from the main ECU 2, a display screen corresponding to the input display signal is displayed.
[0017]
The vehicle information storage unit 9 stores a vehicle type list table showing a relationship between a vehicle type and a work space necessary for opening and closing the trunk of the vehicle type. In this case, the work space required to open and close the trunk is, for example, a sedan type vehicle, so that the trunk can be opened and closed without the trunk door protruding from the commander. On the other hand, if there is enough space, if the vehicle type is a wagon type, the trunk door generally protrudes from the car commander and the trunk is opened and closed, so that the person can stand up This space is not enough, but it is a space that can be raised by a person plus the length of the trunk door.
[0018]
The work space necessary for opening and closing such a trunk may be a value that can be arbitrarily set by the user, or may be a value that is fixedly set in advance by the system. Further, if the configuration has a communication function, for example, every time a new vehicle is released, the vehicle type list table may be downloaded from a server (not shown) such as a service provider through the network. .
[0019]
The vehicle control unit 10 controls the travel and stop of the vehicle 11. The vehicle control unit 10 controls the travel of the vehicle 11 by outputting a travel command signal to the travel control unit 12, and also sends the stop command signal to the stop control unit 13. To stop the vehicle 11 is controlled. In addition, the parking assistance system 1 described above may be configured such that a part thereof is replaced with a car navigation device.
[0020]
Next, the operation of the above configuration will be described with reference to FIGS. here,
(1) Processing performed by main ECU 2 when user sets distance (2) Processing performed by main ECU 2 when parking is sequentially described.
[0021]
(1) Process performed by main ECU 2 when user sets distance First, "process performed by main ECU 2 when user sets distance" will be described with reference to the flowchart shown in FIG. Here, a case where the user parks the vehicle 11 facing backward will be described.
[0022]
The main ECU 2 outputs a display signal to the display unit 8 to display a display screen for prompting the user to set the distance on the display unit 8 as shown in FIG. 4A, for example (step S1). It waits for setting the distance (step S2). Here, the user sets a desired distance at which the user wants to park the vehicle 11 close to the obstacle. When the main ECU 2 detects that the distance has been normally set in response to the user operating the operation unit 5 ("YES" in step S2), the main ECU 2 stores the set distance in the RAM ( Step S3).
[0023]
Next, the main ECU 2 determines whether or not the user has set a plan to open and close the trunk (step S4). Here, if the user plans to open and close the trunk after parking the vehicle 11, the user selects and sets the "YES" button for "Do you want to open or close the trunk?" On the other hand, if there is no plan to open / close the trunk after the vehicle 11 is parked, the “NO” button is selected and set for “Do you want to open / close the trunk?”.
[0024]
The main ECU 2 detects that the “YES” button has been selected and set for “Do you want to open / close the trunk?”, So that the user has a plan to open / close the trunk. When the effect is detected (“YES” in step S4), the distance stored in the RAM is corrected (updated) according to the work space required to open and close the trunk of the vehicle 11 (step S5).
[0025]
More specifically, in the main ECU 2, the distance set by the user and stored in the RAM is, for example, “30” centimeters, and the work space necessary for opening and closing the trunk of the vehicle 11 is, for example, “100. Assuming "cm", the distance stored in the RAM is corrected to "130" centimeters, which is the sum of "30" centimeters and "100" centimeters.
[0026]
Next, the main ECU 2 determines whether or not to set the vehicle type of the vehicle facing the user (step S6). Here, if the user parks the vehicle 11 against another vehicle, the user selects and sets the “YES” button in response to “Do you want to set the vehicle type of the opposite vehicle?” In contrast, if the vehicle 11 is not parked against another vehicle, select and set the “NO” button for “Do you want to set the vehicle type of the opposite vehicle?” Will do.
[0027]
Then, the main ECU 2 detects the fact that the “YES” button has been selected and set for “Do you want to set the vehicle type of the opposite vehicle?”, So that the user sets the vehicle type of the opposite vehicle. When the effect is detected (“YES” in step S6), the display screen prompts the user to set the vehicle type facing the user, for example, as shown in FIG. Is displayed on the display unit 8 (step S7), and the user waits for setting the vehicle type of the opposite vehicle (step S8). Here, the user sets the vehicle type of the opposite vehicle.
[0028]
Next, when the main ECU 2 detects that the vehicle type of the opposite vehicle is normally set in response to the user operating the operation unit 5 ("YES" in step S8), the main ECU 2 stores the information in the vehicle information storage unit 11. The stored vehicle type list table is searched (step S9), and a work space necessary for opening and closing the trunk of another vehicle is identified (step S10). Then, the main ECU 2 corrects (updates) the distance stored in the RAM according to the work space necessary for opening and closing the trunk of another vehicle (step S11).
[0029]
More specifically, in the main ECU 2, the distance set by the user and stored in the RAM is, for example, “30” centimeters, and the work space necessary for opening and closing the trunk of another vehicle is, for example, “ Assuming 150 centimeters, the distance stored in RAM is corrected to “180” centimeters, which is the sum of “30” centimeters and “150” centimeters.
[0030]
Through the series of processes described above, the user sets a desired distance at which the vehicle 11 is desired to approach the obstacle. At this time, if the trunk is to be opened and closed after the vehicle 11 is parked, the “trunk” Select "YES" button for "Do you want to open or close?", And if you want to park the vehicle 11 against other vehicles, set "Set the vehicle type of the opposite vehicle""?" Button is selected and set, and the vehicle type of the opposite vehicle is set.
[0031]
(2) Process Performed by Main ECU 2 When Parking Next, “process performed by main ECU 2 when parking” will be described with reference to FIGS. 5 and 6. In this case as well, the case where the user parks the vehicle 11 rearward will be described.
[0032]
The main ECU 2 calculates a stop operation start distance suitable for starting the stop operation based on the vehicle speed signal input from the vehicle speed sensor 4, the predicted braking distance, and the distance set by the user and stored in the RAM. (Step S21). Next, the main ECU 2 detects the distance from the vehicle 11 to an obstacle behind the vehicle 11 based on the detection signals input from the ultrasonic sensors 3c and 3d (step S22), and the previously calculated stop The operation start distance and the detected distance from the vehicle 11 to the obstacle behind the vehicle 11 are compared, and it is monitored whether or not they match (step S23).
[0033]
Here, when the main ECU 2 detects that the previously calculated stop operation start distance matches the detected distance from the vehicle 11 to the obstacle behind the vehicle 11 (in step S23). “YES”), a stop command signal is output from the vehicle control unit 11 to the stop control unit 13, thereby starting a stop operation of the vehicle 11 (step S24). When the main ECU 2 detects that the vehicle 11 has stopped ("YES" in step S25), the main ECU 2 turns off the engine (step S26).
[0034]
Through the series of processes described above, the user can bring the vehicle 11 close to the set desired distance and stop the vehicle 11 by setting the desired distance at which the vehicle 11 is desired to approach the obstacle. At this time, if the user selects and sets the “YES” button for “Do you want to open or close the trunk?”, The work space necessary to open and close the trunk of the vehicle 11 is secured. If the vehicle 11 can be stopped at the position and the “YES” button is selected and set for “Do you want to set the vehicle type of the opposite vehicle?”, And the vehicle type of the opposite vehicle is set, The vehicle 11 can be stopped at a position where a work space necessary for opening and closing the trunk of the opposite vehicle is secured. In this case, the process for turning off the engine is not necessarily performed, and the process for turning off the engine may be omitted.
[0035]
By the way, in the structure demonstrated above, when the stop operation start distance and the distance from the vehicle 11 to an obstacle correspond, the stop operation of the vehicle 11 is started. As shown in FIG. A notification operation start distance suitable for starting the operation is calculated, and when the calculated notification operation start distance and the detected distance from the vehicle 11 to the obstacle behind the vehicle 11 coincide, For example, a voice prompting the user to perform a brake operation such as “Please perform the brake operation” may be output from the output unit 7 (steps S31 to S34). Further, immediately before starting the stop operation of the vehicle 11, for example, a sound for notifying the user of the brake operation may be output from the sound output unit 7 to the user such as “I will perform the brake operation from now on”.
[0036]
In addition, the “YES” button is selected and set for “Do you want to open / close the trunk?”, And the “YES” button is selected for “Do you want to set the model of the opposite vehicle?” When the vehicle type of the opposite vehicle is set, the user sets on the assumption that the user of the other vehicle does not open / close the trunk of the other vehicle at the same time that the user opens / closes the trunk of the vehicle 11 Depending on the larger working space of the working space required for the user to open and close the trunk of the vehicle 11 and the working space required for the user of the other vehicle to open and close the trunk of the other vehicle at a desired distance May be corrected.
[0037]
Further, when the user parks the vehicle 11 forward, the work space necessary for the user to open and close the trunk of the vehicle 11 does not cause any problem. For example, the position of the shift lever indicates a forward movement. In the case of “D”, the process of setting that the user is scheduled to open and close the trunk may be omitted.
[0038]
As described above, according to the present embodiment, in the parking support system 1, the distance from the vehicle 11 to the obstacle and the stop operation start distance calculated according to the desired distance set in advance by the user are as follows. Since the vehicle 11 is configured to stop when they match, the user sets the desired distance at which the user wants the vehicle 11 to be close to the obstacle, so that the vehicle 11 is appropriately approached to the obstacle set by the user to the desired distance. It is possible to appropriately stop the user from parking at a desired position.
[0039]
In this case, in the parking assistance system 1, when the user sets that the trunk of the vehicle 11 is scheduled to be opened and closed, the work space necessary for the trunk of the vehicle 11 to be opened and closed by a distance set in advance by the user. The vehicle 11 is stopped when the distance from the vehicle 11 to the obstacle coincides with the stop operation start distance calculated according to the distance corrected by a desired distance preset by the user. Since the configuration is such that the user can set the possibility that the trunk of the vehicle 11 may be opened and closed, a position where the work space necessary for the user to open and close the trunk of the vehicle 11 is ensured, That is, the vehicle 11 can be appropriately stopped at a position where the user can easily open and close the trunk of the vehicle 11.
[0040]
Further, in this case, in the parking support system 1, when the vehicle type of the vehicle facing the user is set, the distance set in advance by the user is corrected according to the work space necessary for opening and closing the trunk of the other vehicle. The vehicle 11 is stopped when the distance from the vehicle 11 to the obstacle coincides with the stop operation start distance calculated according to the distance obtained by correcting the desired distance preset by the user. By setting the vehicle type of the other vehicle, the position where the work space necessary for the other user to open and close the trunk of the other vehicle is ensured, that is, the other user is disturbed. The vehicle can be stopped appropriately at a position where there is no occurrence.
[0041]
The present invention is not limited to the embodiments described above, and can be modified or expanded as follows.
A voice input function may be used so that a user can set a desired distance by voice input.
The number of ultrasonic sensors and the manner of arrangement may be other.
For example, instead of outputting a voice prompting the user to perform a brake operation such as “Please perform a brake operation” from the voice output unit, a display screen that prompts the user to perform a brake operation may be displayed on the display unit. Also, a display screen that prompts the user to perform a braking operation may be displayed at the same time as outputting a sound prompting the user to perform a braking operation.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing an embodiment of the present invention. FIG. 2 is a diagram schematically showing an arrangement of ultrasonic sensors. FIG. 3 is a flowchart. FIG. 4 is a display example. Figure equivalent to Figure 3 [Figure 6] Figure equivalent to Figure 3 [Explanation of symbols]
In the drawings, 1 is a parking assist system, 2 is a main ECU (control means, storage means), 3a to 3d are ultrasonic sensors (sensors), 5 is an operation unit (setting means), and 7 is an audio output unit (notification means). Reference numeral 10 denotes a vehicle control unit (vehicle movement control means), and 11 denotes a vehicle.

Claims (4)

A sensor for measuring the distance from the vehicle to obstacles such as walls and other vehicles that may be an obstacle to the vehicle;
A setting means by which the user can set the distance and the user can set whether to open or close the trunk of the vehicle;
Storage means for storing the distance set by the user using the setting means;
Vehicle movement control means for controlling movement of the vehicle;
A vehicle information storage unit storing a vehicle type list table indicating a relationship between a vehicle type and a work space necessary for opening and closing the trunk of the vehicle type;
Based on the distances stored in the vehicle speed signal and the storage means is inputted from the vehicle speed sensor calculates a stop operation start distance that is suitable to initiate stopping operation, measured by the sensor distance and the previous Kitoma Control means for stopping the vehicle by the vehicle movement control means when the stop operation start distance coincides,
The control means stores the distance stored in the storage means in the vehicle information storage section when the user has set that the setting means will open and close the trunk of the vehicle. Correct the distance corresponding to the work space required for opening and closing the trunk of the vehicle by adding the distance measured by the sensor, the vehicle speed signal, and the corrected distance stored in the storage means. A parking assistance system, wherein the vehicle movement control means stops the vehicle when the stop operation start distance calculated accordingly matches. A sensor for measuring the distance from the vehicle to obstacles such as walls and other vehicles that may be an obstacle to the vehicle;
A setting means that allows the user to set the distance and allows the user to set the vehicle type of another vehicle;
Storage means for storing the distance set by the user using the setting means;
Vehicle movement control means for controlling movement of the vehicle;
A vehicle information storage unit storing a vehicle type list table indicating a relationship between a vehicle type and a work space necessary for opening and closing the trunk of the vehicle type;
Based on the distances stored in the vehicle speed signal and the storage means is inputted from the vehicle speed sensor calculates a stop operation start distance that is suitable to initiate stopping operation, measured by the sensor distance and the previous Kitoma Control means for stopping the vehicle by the vehicle movement control means when the stop operation start distance coincides,
When the user sets the vehicle type of another vehicle by the setting unit, the control unit sets the distance stored in the storage unit to the distance of the other vehicle stored in the vehicle information storage unit. Is corrected by adding the length corresponding to the work space required to open and close the vehicle, and is calculated according to the distance measured by the sensor, the vehicle speed signal, and the corrected distance stored in the storage means A parking assistance system, wherein the vehicle is stopped by the vehicle movement control means when the stop operation start distance matches. A sensor for measuring the distance from the vehicle to obstacles such as walls and other vehicles that may be an obstacle to the vehicle;
A setting means by which the user can set the distance and the user can set whether to open or close the trunk of the vehicle;
Storage means for storing the distance set by the user using the setting means;
A notification means for performing a notification operation;
A vehicle information storage unit storing a vehicle type list table indicating a relationship between a vehicle type and a work space necessary for opening and closing the trunk of the vehicle type;
Based on the distances stored in the vehicle speed signal and the storage means is inputted from the vehicle speed sensor calculates a stop operation start distance that is suitable to initiate stopping operation, measured by the sensor distance and the previous Kitoma A control unit that causes the notification unit to perform a notification operation when the stop operation start distance matches,
The control means stores the distance stored in the storage means in the vehicle information storage section when the user has set that the setting means will open and close the trunk of the vehicle. Correct the distance corresponding to the work space required for opening and closing the trunk of the vehicle by adding the distance measured by the sensor, the vehicle speed signal, and the corrected distance stored in the storage means. When the stop operation start distance calculated accordingly matches, the notification unit causes the notification unit to perform a notification operation. A sensor for measuring the distance from the vehicle to obstacles such as walls and other vehicles that may be an obstacle to the vehicle;
A setting means that allows the user to set the distance and allows the user to set the vehicle type of another vehicle;
Storage means for storing the distance set by the user using the setting means;
A notification means for performing a notification operation;
A vehicle information storage unit storing a vehicle type list table indicating a relationship between a vehicle type and a work space necessary for opening and closing the trunk of the vehicle type;
Based on the distances stored in the vehicle speed signal and the storage means is inputted from the vehicle speed sensor calculates a stop operation start distance that is suitable to initiate stopping operation, measured by the sensor distance and the previous Kitoma A control unit that causes the notification unit to perform a notification operation when the stop operation start distance matches,
When the user sets the vehicle type of another vehicle by the setting unit, the control unit sets the distance stored in the storage unit to the distance of the other vehicle stored in the vehicle information storage unit. Is corrected by adding the length corresponding to the work space required to open and close the vehicle, and is calculated according to the distance measured by the sensor, the vehicle speed signal, and the corrected distance stored in the storage means The parking assist system, wherein when the stop operation start distance is matched, the notification means performs a notification operation.

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