JP4941009B2 - Control information storage device and program - Google Patents

Description

  The present invention relates to a control information storage device that stores control information for use in vehicle control.

  Conventionally, it has been considered to perform vehicle control according to road conditions using map data of a navigation device. In order to realize such vehicle control with high accuracy, the map data of the navigation device is required to be accurate, but the current map data has sufficient accuracy for vehicle control. That's not true.

  In view of this, a technique has been proposed in which a travel locus of a vehicle is stored as control information for use in vehicle control, and vehicle control is performed using the control information. For example, Patent Document 1 discloses a road information correction device that can match an actual road shape including a lane with a road shape based on stored road information. This correction device corrects the stored road information based on the travel locus information of the vehicle when traveling on an actual road. A road where the road information can be bidirectionally passed is defined as one road shape. If it can be expressed, the road information is corrected for each traveling direction based on the travel locus information.

However, what is dealt with here is a static road shape and does not change every time it travels.
On the other hand, for example, Patent Document 2 discloses that traveling data that dynamically changes such as vehicle speed is left as a history. This Patent Document 2 discloses a travel data output device that can encourage the driver to perform safe driving and fuel-saving driving. The route data of the route traveled by the vehicle and the travel of the vehicle when traveling along this route are disclosed. Data is acquired, and the route data and travel data are stored in the travel history database. When the route data that matches the route data of the route on which the vehicle is currently traveling is already stored in the travel history database as past route data, and the past route data that matches is searched In addition, the travel data (fuel consumption, required time, average vehicle speed) corresponding to the travel data of the currently traveled route and the matched past route data are extracted from the travel history database and displayed on the display unit.
JP 2005-121707 A JP 2006-003147 A

  However, in the case of the travel data output device of Patent Document 2, there is no disclosure about how to cope with traveling the same road many times. Therefore, when traveling data is stored for each traveling date, the storage area for traveling data becomes very large.

  In addition, since travel data is stored in units of travel routes, even if there is travel data corresponding to a plurality of travel routes that partially overlap, an appropriate response that takes that point into consideration has not been studied.

  The present invention has been made in view of these problems, and reduces the storage amount when storing control information that is obtained from a vehicle during vehicle travel and is used for vehicle travel control. However, it aims to maintain useful information memory.

An information storage device for control according to claim 1 of the present invention made to achieve the above object,
A travel location identifying means that can identify a location where the vehicle is traveling in units of a predetermined road, an information storage means, and information obtained from the vehicle when the vehicle is traveling, for control used for vehicle travel control Storage control means for storing information in the information storage means in correspondence with a predetermined road unit travel location specified by the travel location specifying means.

“Predetermined road unit” means, for example, a road (so-called link) unit connecting intersections, or a road connecting points (so-called complementary shape points) for indicating a change in road shape existing between links. It means a unit such as a (so-called segment) unit. The “control information” includes at least the vehicle speed.

And a memory | storage control means memorize | stores the average value according to the frequency | count of driving | running | working, when making the information storage means memorize | store the information for control in the same driving | running | working place. At the same time, based on the vehicle speed and the direction of travel, it is determined whether the vehicle has traveled straight, turned left or right, or stopped, and based on the determination result, even if it is information for controlling the same travel location, It is classified into straight travel, right / left turn, and stop and stored in the information storage means. When executing the process for storing the average value, the predetermined road unit corresponding to the travel location entering the intersection is executed for each classification of straight travel , right / left turn, and stop, and the predetermined road unit corresponding to the travel location other than that is performed. Only the straight-line classification is executed for the road unit . As described above, since “control information” includes at least the vehicle speed, the average value includes at least the average vehicle speed.

  According to such a control information storage device, when the vehicle travels in the same travel location as the control information already stored in the information storage means, the control information is not stored separately, but the past In addition, the average value corresponding to the number of running times is stored. Since the control information can be stored not for the entire travel route but for each travel location in a predetermined road unit, for example, when only a part of the travel route is different, the storage amount is obtained by storing the average value for overlapping travel locations. Can be reduced.

  Even when traveling in the same travel location, it may be possible to go straight ahead, turn left or right, or stop. On actual roads, there are traffic lights and it is possible to turn left and right at intersections, so it is preferable to consider them. Therefore, according to the control information storage device of the present invention, useful information storage can be maintained by performing storage control that distinguishes them.

  In the control information storage device according to the second aspect, the information output means outputs the control information stored in the information storage means to the vehicle control means for performing vehicle control. According to such a configuration, it is possible to cause the vehicle control means to perform vehicle control based on the control information stored in the control information storage device. The information output means may output the control information as it is to the vehicle control means, but may output it after processing it into information necessary for the vehicle control means.

Next, a program according to a third aspect causes a computer to function as the storage control means included in the control information storage device according to any one of the first or second aspects . According to such a program, the above-described control information storage device can be constructed using a computer, and thereby the above-described effects can be obtained. In particular, the program can be distributed using a network or the like, and the replacement of the program is easier than the replacement of the components. Therefore, the function of the control information storage device can be easily improved. it can.

  Embodiments to which the present invention is applied will be described below with reference to the drawings. The embodiment of the present invention is not limited to the following embodiment, and can take various forms as long as they belong to the technical scope of the present invention.

[1. Description of configuration]
FIG. 1 is a block diagram showing a schematic configuration of a navigation device 10 in which the function of the control information storage device of the present invention is incorporated.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
The navigation device 10 is used in a state of being mounted on a hybrid vehicle powered by a gasoline engine and a motor, and includes a GPS sensor 11, a direction sensor 12, a distance sensor 13, a map database 14, and a control unit. 20.

  The GPS sensor 11 receives radio waves from an artificial satellite for GPS (Global Positioning System) via a GPS antenna, and the absolute position (hereinafter simply referred to as “vehicle”) on which the navigation device 10 is mounted (hereinafter simply referred to as “vehicle”). Detect latitude, longitude and altitude).

The direction sensor 12 detects the absolute direction of the vehicle based on geomagnetism.
The distance sensor 13 detects the travel distance of the vehicle.
The map database 14 stores map data composed of various information related to the map. In this map data, the road on which the vehicle travels is represented by a node set at the center position of each intersection on the actual road and a link connecting the nodes. That is, as shown in FIG. 3, the roads stored in the map data are divided and managed in units of links, and each link is connected to another link at a node (white point) that is the end point. Yes. Each link is given a link ID (road identifier), which is a unique identifier, and the link can be specified using the link ID. Here, the “intersection” is a general point where a plurality of roads are connected, and includes a crossroad, a T-junction, a branch point, a junction, and the like. That is, a point where three or more links are connected is a node.

  One link is composed of one or more segments. When one link is composed of a plurality of segments, complementary shape points (black dots) exist between the nodes. For example, as shown in FIG. 4, there are three complementary shape points (black dots) on the link (1), and the link (1) is constituted by four segments (1) to (4). Similarly, the link (2) is configured by the segments (5) and (6), and the link (3) is configured by the segments (7) to (9) (see FIGS. 3 and 4).

  The map database 14 may be configured to store map data in a hard disk device, and is configured to read map data from a portable storage medium such as a magnetic disk, a magneto-optical disk, or a semiconductor memory. It is also possible.

  The control unit 20 is configured around a microcomputer including a CPU, ROM, RAM, SRAM, I / O, and a bus line connecting these components, and includes a vehicle position calculation unit 21, a learning unit 23, and a safety unit. It functions as the control processing unit 24.

The own vehicle position calculation unit 21 detects the current position (absolute position) of the vehicle based on the detection signals from the GPS sensor 11, the azimuth sensor 12, and the distance sensor 13, and from the map data stored in the map database 14. A map around the current position is read out and displayed on a display unit (not shown) along with the vehicle position mark indicating the current position of the vehicle, and the optimum route from the current position to the destination is searched. The route guidance processing to guide is executed. The ROM stores a program for executing processing to be described later (see FIG. 2).

  In addition, the learning unit 23 stores a storage unit 23a as a temporary memory that temporarily stores information input from the vehicle information sensor group 31 mounted on the vehicle, and the information temporarily stored in the storage unit 23a. And a database 23b for storing information subjected to predetermined processing. The database 23b is composed of a non-volatile storage medium such as a hard disk or flash memory, for example, and can retain data even when the power is turned off. The learning unit 23 also has a function of writing information to the storage unit 23a and the database 23b and executing predetermined processing on information temporarily stored in the storage unit 23a.

  Information input from the vehicle information sensor group 31 is, for example, shift change information, accelerator opening information, engine speed information, brake signal information, vehicle speed information, fuel injection amount information, and the like.

The safety control processing unit 24 controls a plurality of vehicle control units (vehicle control means) 41 and 42 mounted on a vehicle on which the navigation device 10 of the present embodiment is mounted.
This vehicle control unit will be described in detail. A low fuel consumption control unit 41 that controls the engine and the vehicle drive motor so as to improve fuel consumption, and when there is no preceding vehicle, the vehicle runs at a constant speed, and there is a preceding vehicle. The appropriate inter-vehicle distance from the preceding vehicle is controlled by controlling the engine, gears, brakes, etc. of the own vehicle so that the target acceleration set based on the distance and relative speed with the preceding vehicle and the traveling state of the own vehicle is obtained. And an ACC control unit 42 that performs adaptive cruise control.

  And the navigation apparatus 10 of this embodiment memorize | stores the information for control used for the vehicle control performed on the road of the area from the departure place to the destination in the database 23b (refer FIG. 1) per segment. Here, “vehicle speed” will be described as an example of the control information.

  As shown in FIG. 4, information is stored in segment units for each of the outbound route and the inbound route even on the same road. This information is stored for each of three types of average vehicle speeds: average vehicle speed straight travel, average vehicle speed right / left turn, and average vehicle speed stop, with the elapsed time and the number of travels as a set.

  As can be seen from FIG. 4, for the segment entering the intersection, information is stored for all three types of average vehicle speeds: average vehicle speed straight ahead, average vehicle speed right / left turn, and average vehicle speed stop. Information is stored only for one type of average vehicle speed of straight vehicle speed. That is, in the example shown in FIG. 4, in the forward path, information is stored for all three types of average vehicle speeds of the average vehicle speed straight travel, average vehicle speed right / left turn, and average vehicle speed stop for segments (4), (6), and (9) For the other segments (1), (2), (3), (5), (7), and (8), information is stored only for one type of average vehicle speed of straight average vehicle speed. On the return route, for segments (1), (5) and (7), information is stored for all three types of average vehicle speeds: average vehicle speed straight ahead, average vehicle speed left / right turn, and average vehicle speed stop, and other segments (2) For (3), (4), (6), (8), and (9), information is stored regarding only one type of average vehicle speed of straight average vehicle speed.

  Such control information is stored in the database 23b, and the control information is output from the safety control processing unit 24 to the low fuel consumption control unit 41 and the ACC control unit 42 when traveling on a road on which the control information is already stored. To do. Thereby, in the fuel-efficient control part 41 and the ACC control part 42, it becomes possible to implement | achieve the highly accurate vehicle control based on the information for control. Details of this will be described later.

[2. Explanation of processing]
Next, the specific content of the process which the control part 20 performs is demonstrated. Here, only the forward path of the segment (1) → segment (2) →... Shown in FIGS. 3 and 4 is taken up, and FIGS. 5 to 7 show examples of database storage only for the forward path.

[2.1 Process overview]
When the power supply to the navigation device 10 is started, the control unit 20 starts the control information storage process shown in the flowchart of FIG.

  When this control information storage process is started, first, in S10, a running segment ID (segment number) is acquired. In subsequent S20, it is determined whether there is a previous segment ID.

  If there is a previous segment ID (S20: YES), the process proceeds to S30, and the vehicle speed data in the previous segment is confirmed. In the subsequent S40, it is determined whether or not there is a change in the vehicle speed data at the connection portion with the traveling segment.

  If there is no change in the vehicle speed data at the connecting portion with the traveling segment (S40: NO), the vehicle speed data in the previous segment is stored as straight-ahead data (S50). For example, as shown in FIG. 6, the learning data value corresponding to the segment (1) is stored as an average vehicle speed of straight traveling 10 m / s, an elapsed time of 2 seconds, and a running count of 1 (times).

  On the other hand, if there is a change in the vehicle speed data (S40: YES), it is determined whether or not “vehicle speed> 0” and “there is a change in direction” at the connection portion with the traveling segment (S60). When this condition is not satisfied (S60: NO), it is stored as stop data (S70), and when the condition is satisfied (S60: YES), it is stored as right / left turn data (S80).

  After the data is stored in any of S50, S70, and S80, the process proceeds to S90 to determine whether or not the destination has been reached. Until it arrives at the destination (S90: NO), it returns to S10 and repeats the processing from S10 onward. When it arrives at the destination (S90: YES), this control information storage processing is terminated.

[2.2 Details of storage of vehicle speed data by segment]
Here, with reference to FIGS. 8 and 9, generation of vehicle speed data in units of segments and storage thereof will be described. 8 and 9 show the principle of generating vehicle speed data in segment units. The unit of the vehicle speed is [m / s] as in FIGS.

  The stored vehicle speed data is data in segment units, but the learning unit 23 of the control unit 20 collects vehicle speed data from the vehicle information sensor group 31 at a predetermined sampling period and buffers it in the storage unit 23a ( (See FIG. 8).

  Such buffering is continued while traveling through the segment A, and the vehicle position calculation unit 21 notifies the learning unit 23 at the timing when the segment A is exited. The learning unit 23 obtains vehicle speed data from the entry time (to segment A) (0000 in the example of FIG. 8) to the exit time (0015 in the example of FIG. 8) from the data buffered in the storage unit 23a. Then, the averaging process is performed. Then, the vehicle speed data averaged for each segment ID is stored in the database 23b.

Similarly, while continuing the segment B, the above buffering is continued and the segment B
The vehicle position calculation unit 21 notifies the learning unit 23 at the timing when the vehicle exits. The learning unit 23 obtains data from the entry time (to the segment B) (0016 in the example of FIG. 8) to the exit time (0030 in the example of FIG. 8) from the data buffered in the storage unit 23a. , Perform the averaging process. Then, the vehicle speed data averaged for each segment ID is stored in the database 23b.

  On the other hand, the determination shown in S60 of FIG. 2 will be described with reference to FIG. The case where it turns left from the segment A and drive | works the segment C is shown. The learning unit 23 of the control unit 20 collects vehicle speed data from the vehicle information sensor group 31 at a predetermined sampling period, buffers the data in the storage unit 23a, and causes the vehicle position calculation unit 21 to exit the segment A at a timing. The learning unit 23 is notified. The entry time to segment A is 0000 in the example of FIG. 9, and the exit time is 0015 in the example of FIG. Then, the traveling direction for N seconds from the exit time of segment A is checked. Then, it is determined whether or not the azimuth change amount is larger than a predetermined threshold value.

[2.3 Specific examples of learning data values being stored in the database]
Here, a specific example in which learning data values are stored in the database 23b will be described with reference to FIGS.

  FIG. 5 shows an example of the first run, in which the vehicle travels in the order of segments (1) → (2) → (3) → (4) → (5) → (6), from one end of segment (1). The case where the vehicle starts to move, the vehicle temporarily stops at the intersection where the segments (4), (5) and (7) connect, and stops at one end of the segment (6) is shown. In this case, the information regarding the segments (4) and (6) is classified as the average vehicle speed stop, and the others are classified as the average vehicle speed straight travel. Since this is the first run, the number of runs is 1 as shown in FIG.

  FIG. 6 shows an example of the second run, and the vehicle shown in FIG. 6 is shown in the same travel route, that is, in the order of segments (1) → (2) → (3) → (4) → (5) → (6). Traveled and started moving from one end of segment (1). This time, the vehicle did not stop at the intersection where segments (4), (5), and (7) connect, and stopped at one end of segment (6). Shows the case.

  In this case, the information regarding the segment (4) is classified as the average vehicle speed stop, and the other information is classified as the average vehicle speed straight travel. For the segments (1), (2), (3), and (5), the average vehicle speed goes straight as in the case of FIG. 5, and for the segment (6), the average vehicle speed stops as in the case of FIG. Therefore, as shown in FIG. 6, the number of runnings is 2 in these segments. Since the data are stored in the same place on the database, the average vehicle speed and the elapsed time are stored in the values averaged at the first time and the second time.

  On the other hand, in segment (4), the vehicle travels straight without stopping in the second run, so it is classified and stored as average vehicle speed straight travel. Naturally, in this case, since the average vehicle speed is stored for the first time, the number of running is 1.

  FIG. 7 shows an example of the third run. This time, when the vehicle runs in the order of segment (1) → (2) → (3) → (4) → (7) → (8) → (9). Is shown. When moving from one end of segment (1), this time turning left at the intersection where segments (4), (5) and (7) are connected, proceeding to segment (7), and stopping at one end of segment (9) Is shown.

In this case, the information related to the segment (4) is classified as an average vehicle speed left / right turn, the segment (9) is classified as an average vehicle speed stop, and the others are classified as an average vehicle speed straight ahead.
Segments (1), (2), and (3) are straight ahead in average vehicle speed as in the case of FIGS. 5 and 6, and therefore, the number of runnings is 3 in these segments as shown in FIG. In the segment (4), the vehicle is classified and stored as an average vehicle speed left / right turn. In this case, since the vehicle is stored for the first time as an average vehicle speed left / right turn, the number of travels is 1. Since the segments (7), (8), and (9) are running for the first time, the number of times of driving is naturally 1. In FIG. 7, the columns of segments (5) and (6) in the database are omitted.

[3. Explanation of control using control information]
For example, when a guidance route is set in the navigation device 10, the safety control processing unit 24 obtains an average vehicle speed (information for control) corresponding to a segment constituting the guidance route from the database 23 b of the learning unit 23. , 42.

  For example, the fuel efficiency control unit 41 controls the driving force by the engine and the vehicle drive motor based on the received average vehicle speed for each segment, and performs efficient charge / discharge. In the case of a hybrid vehicle, the electric power stored in the power storage means is used to turn the motor to obtain driving power, while the regenerative energy obtained during deceleration, downhill, etc. is converted into electric power to be stored in the power storage means. Electric power is stored.

  Such engine rotation energy and regenerative energy during deceleration, etc. are greatly affected by the driving situation. Therefore, the timing at which the power can be stored in the power storage means and the amount of power storage are also greatly affected by the driving situation. To receive. Therefore, it is very important to efficiently store the electric power in the power storage means according to the traveling situation. As described above, the average vehicle speed on the travel route can be effective information when making a charge / discharge plan. Therefore, based on this average vehicle speed results in an improvement in energy utilization efficiency.

  The ACC control unit 42 performs constant speed traveling control (performed when there is no preceding vehicle) based on the received average vehicle speed. For example, speed control is performed such that the speed is automatically reduced to an appropriate speed when making a left turn.

  Without such speed control, the driver had to decelerate by stepping on the brake at his / her own discretion, but by executing constant speed traveling control based on the average vehicle speed, the driver's burden was further increased. Can be reduced.

  In the above description, the information input from the vehicle information sensor group 31 is, for example, shift change information, accelerator opening information, engine speed information, brake signal information, vehicle speed information, fuel injection amount information, and the like. Stated. Although only the vehicle speed has been described, other information can also be control information. However, the information used depends on the application.

  For example, the fuel efficiency control unit 41 can use the fuel injection amount as control information in addition to the vehicle speed. On the other hand, in addition to the vehicle speed, the ACC control unit 42 can use shift change, accelerator opening, engine speed, and brake signal as control information.

[4. effect]
(1) In the navigation device 10 of the present embodiment, the vehicle speed is acquired in units of segments and stored in the database 23b. When the same segment is traveled a plurality of times, the average value (average vehicle speed) of the plurality of times is obtained. Is remembered. Since the average vehicle speed can be stored in segments instead of the entire travel route, for example, when only a part of the travel route is different, the storage amount in the database 23b can be reduced by storing the average vehicle speed for overlapping segments. it can.

  At that time, based on the vehicle speed and the direction change, it is determined whether the vehicle has traveled straight in the segment, whether it has turned left or right, or stopped. , Classified into straight travel, right / left turn, and stop, and stored in the database 23b. And when performing the storage process of the average vehicle speed by the driving | running | working of multiple times, and the connection process of a learning data value, it is performing for every classification | category of straight ahead, right / left turn, and a stop.

  Even when traveling in the same travel location, it may be possible to go straight ahead, turn left or right, or stop. On actual roads, there are traffic lights and it is possible to turn left and right at intersections, so it is preferable to consider them. Therefore, according to the navigation device 10 of the present embodiment, useful information storage can be maintained by performing storage control that distinguishes them.

  (2) The average vehicle speed stored in the database 23b is output as control information to the vehicle control units 41 and 42, and efficient charge / discharge control by the fuel efficiency control unit 41 and efficient constant control by the ACC control unit 42 are performed. Contributes to speed control. Here, since the amount of information in the database 23b is reduced as compared with the case where the information is not combined, the processing load at the time of control in the fuel efficiency control unit 41 and the ACC control unit 42 is reduced.

[5. Correspondence with Claims]
In the navigation device 10 of the present embodiment, the GPS sensor 11, the direction sensor 12, the distance sensor 13, the map database 14, and the vehicle position calculation unit 21 in the control unit 20 are the travel location specifying means of the present invention. It corresponds to.

The database 23b in the learning unit 23 corresponds to the information storage unit, and the learning unit 23 excluding the database 23b corresponds to the storage control unit.
The safety control processing unit 24 corresponds to the information output means of the present invention.

Further, the fuel efficiency control unit 41 and the ACC control unit 42 correspond to the vehicle control means of the present invention.
A segment corresponds to a predetermined road unit of the present invention.
[6. Other forms]
(1) In the above embodiment, the vehicle speed, which is the control information, is stored in segment units. However, storing the vehicle speed in link units is not excluded. However, for example, if it is classified by link unit, even if it is classified as straight ahead when it is classified by segment unit, if it turns right / left or stops at the end of the link, it turns right / left by link unit There are cases where it is classified as a stop and insufficient in reflecting the actual situation. On the other hand, in the case of segment units, for example, if the link is composed of six segments, the first five segments are classified as straight, and the last one segment is classified as right / left turn / stop. It will reflect the actual situation. Therefore, it can be said that the segment unit is preferable in this respect.

  (2) In the above embodiment, an example in which the vehicle is mounted on a hybrid vehicle powered by a gasoline engine and a motor has been described. However, the present invention can also be applied to a gasoline engine vehicle or an electric vehicle.

(3) In the above embodiment, the example realized as the navigation device 10 incorporating the function of the control information storage device of the present invention has been described. However, the present invention is not limited to this.
It is also possible to configure as a device different from the navigation device.

It is a block diagram which shows schematic structure of the navigation apparatus of embodiment. It is a flowchart for demonstrating control information preservation | save processing. It is explanatory drawing of a link and a segment. It is explanatory drawing of the database 23b in the learning part 23. FIG. It is explanatory drawing of the specific example in which a learning data value is preserve | saved at the database 23b. It is explanatory drawing of the specific example in which a learning data value is preserve | saved at the database 23b. It is explanatory drawing of the specific example in which a learning data value is preserve | saved at the database 23b. It is explanatory drawing which shows the principle of the vehicle speed data generation in a segment unit. It is explanatory drawing which shows the principle of the vehicle speed data generation in a segment unit.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 11 ... GPS sensor, 12 ... Direction sensor, 13 ... Distance sensor, 14 ... Map database, 20 ... Control part, 21 ... Own vehicle position calculation part, 23 ... Learning part, 23a ... Storage part, 23b ... Database, 24 ... safety control processing unit, 41 ... low fuel consumption control unit, 42 ... ACC control unit.

Claims (3)

A travel location identifying means capable of identifying a location where the vehicle is traveling in a predetermined road unit;
Information storage means;
Information obtained from the vehicle when the vehicle travels, the control information used for vehicle travel control corresponding to the predetermined road unit travel location specified by the travel location specifying means, the information storage means Storage control means for storing
With
The control information includes at least a vehicle speed,
The storage control means
When storing the control information in the same travel location in the information storage means, the average value according to the number of travels is stored,
Based on the vehicle speed and direction of travel, determine whether the vehicle has traveled straight, turned left or right, or stopped,
Based on the determination result, even if it is information for control of the same traveling location, it is classified into the straight travel, left-right turn, stop and stored in the information storage means,
When executing the process of storing the average value, the predetermined road unit corresponding to the travel location entering the intersection is executed for each of the straight travel , right / left turn, and stop classifications, and the predetermined road unit corresponding to the travel location other than that. For the road unit, only the straight traveling classification is executed . The control information storage device according to claim 1,
An information storage device for control comprising: information output means for outputting the control information stored in the information storage means to vehicle control means for performing vehicle control. A program that causes a computer to function as the storage control unit included in the control information storage device according to claim 1.