JP6705368B2 - 自動運転装置 - Google Patents
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- 230000001133 acceleration Effects 0.000 description 13
- 238000003384 imaging method Methods 0.000 description 3
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- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
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Description
図1に示されるように、自動運転装置100は、システムを統括的に制御するECU[Electronic Control Unit]10を備えている。ECU10は、CPU[Central Processing Unit]、ROM[Read Only Memory]、RAM[Random Access Memory]、CAN[Controller Area Network]通信回路等を有する電子制御ユニットである。ECU10では、例えば、ROMに記憶されているプログラムをRAMにロードし、RAMにロードされたプログラムをCPUで実行することにより各種の機能を実現する。ECU10は、複数の電子制御ユニットから構成されていてもよい。
Claims (4)
- 予め設定された目的地までの目標走行ルートに基づいて生成された走行計画を用いて車両を走行させる目的地設定型自動運転モードと、目的地が予め設定されていない場合に前記車両の走行中の道路に対して道なりに設定された道なり走行ルートに基づいて生成された走行計画を用いて前記車両を走行させる道なり自動運転モードとに、前記車両の運転モードを切り換え可能な自動運転装置であって、
前記運転モードとして、予め定められた条件に基づいて前記目的地設定型自動運転モード又は前記道なり自動運転モードを選択する運転モード選択部と、
前記運転モード選択部で選択された前記運転モードの前記走行計画に基づいて前記車両の走行を制御する走行制御部と、
前記車両の乗員に情報を提示する表示部と、
前記運転モードが前記目的地設定型自動運転モードである場合に前記目標走行ルートに沿った走行ルートを前記表示部に表示させ、前記運転モードが前記道なり自動運転モードである場合に前記道なり走行ルートに沿った走行ルートを前記表示部に表示させる表示制御部と、
を備え、
前記表示制御部は、前記道なり走行ルートに沿った走行ルートを前記表示部に表示させる場合、前記車両の現在の位置から前記道なり走行ルートに沿った進行方向前方に位置する直近の分岐路までの走行ルート、及び前記直近の分岐路における前記道なり走行ルートに沿った進行方向を前記表示部に表示させ、
前記運転モード選択部は、前記車両が前記目的地設定型自動運転モードで走行中に前記目的地に到着した場合に、前記運転モードとして前記目的地設定型自動運転モードに代えて前記道なり運転モードを選択する、自動運転装置。 - 前記車両の乗員の有無を検出する乗員検出部を更に備え、
前記乗員検出部によって前記乗員が居ると検出されている状態で、前記車両が前記目的地設定型自動運転モードで走行中に前記目的地に到着した場合、前記運転モード選択部は、前記運転モードとして前記目的地設定型自動運転モードに代えて前記道なり運転モードを選択し、
前記乗員検出部によって前記乗員が居ないと検出されている状態で、前記車両が前記目的地設定型自動運転モードで走行中に前記目的地に到着した場合、前記走行制御部は前記車両を停止させる、請求項1に記載の自動運転装置。 - 前記目的地設定型自動運転モードで前記車両が走行中に前記目的地までの距離が所定距離以内となった場合、前記車両が前記目的地に到着したときに前記目的地設定型自動運転モードから前記道なり自動運転モードに前記運転モードが切り替わる旨を報知する切替報知部と、
前記乗員による入力操作を受け付ける入力部と、
を更に備え、
前記運転モード選択部は、前記切替報知部によって前記報知が行われた後、前記入力部での受付結果に基づいて、前記目的地に到着した場合に前記運転モードとして前記目的地設定型自動運転モードに代えて前記道なり運転モードを選択する、請求項1又は2に記載の自動運転装置。 - 予め設定された目的地までの目標走行ルートに基づいて生成された走行計画を用いて車両を走行させる目的地設定型自動運転モードと、目的地が予め設定されていない場合に前記車両の走行中の道路に対して道なりに設定された道なり走行ルートに基づいて生成された走行計画を用いて前記車両を走行させる道なり自動運転モードとに、前記車両の運転モードを切り換え可能な自動運転装置であって、
前記運転モードとして、予め定められた条件に基づいて前記目的地設定型自動運転モード又は前記道なり自動運転モードを選択する運転モード選択部と、
前記運転モード選択部で選択された前記運転モードの前記走行計画に基づいて前記車両の走行を制御する走行制御部と、
前記車両の乗員に情報を提示する表示部と、
前記運転モードが前記目的地設定型自動運転モードである場合に前記目標走行ルートに沿った走行ルートを前記表示部に表示させ、前記運転モードが前記道なり自動運転モードである場合に前記道なり走行ルートに沿った走行ルートを前記表示部に表示させる表示制御部と、
前記乗員による入力操作を受け付ける入力部と、
前記目的地設定型自動運転モードで前記車両が走行中に前記目的地までの距離が所定距離以内となった場合、前記目的地設定型自動運転モードから前記道なり自動運転モードに前記運転モードが切り替わる旨を報知する切替報知部と、
を備え、
前記表示制御部は、前記道なり走行ルートに沿った走行ルートを前記表示部に表示させる場合、前記車両の現在の位置から前記道なり走行ルートに沿った進行方向前方に位置する直近の分岐路までの走行ルート、及び前記直近の分岐路における前記道なり走行ルートに沿った進行方向を前記表示部に表示させ、
前記運転モード選択部は、前記切替報知部によって前記報知が行われた後、前記入力部での受付結果に基づいて、前記運転モードとして前記目的地設定型自動運転モードに代えて前記道なり運転モードを選択する、自動運転装置。
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JP2016236663A JP6705368B2 (ja) | 2016-12-06 | 2016-12-06 | 自動運転装置 |
DE102017126238.5A DE102017126238B4 (de) | 2016-12-06 | 2017-11-09 | Autonome Fahrvorrichtung und autonomes Fahrsteuerungsverfahren |
US15/810,887 US10654490B2 (en) | 2016-12-06 | 2017-11-13 | Autonomous driving device and autonomous driving control method that displays the following road traveling route |
US16/840,884 US11124203B2 (en) | 2016-12-06 | 2020-04-06 | Autonomous driving device and autonomous driving control method that displays the following road traveling route |
US17/407,895 US11713054B2 (en) | 2016-12-06 | 2021-08-20 | Autonomous driving device and autonomous driving control method that displays the following road traveling route |
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JP5382218B2 (ja) * | 2010-06-16 | 2014-01-08 | トヨタ自動車株式会社 | 運転支援装置 |
JP6705368B2 (ja) | 2016-12-06 | 2020-06-03 | トヨタ自動車株式会社 | 自動運転装置 |
CN110582439B (zh) * | 2017-03-02 | 2022-07-22 | 松下知识产权经营株式会社 | 驾驶辅助方法以及利用了该驾驶辅助方法的驾驶辅助装置、驾驶辅助系统 |
US11332157B2 (en) * | 2018-07-03 | 2022-05-17 | Mitsubishi Electric Corporation | Vehicle control apparatus |
DE102018215292B4 (de) * | 2018-09-07 | 2020-08-13 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Darstellen einer Fahrzeugumgebung in einem Fahrzeug und zugehörige Vorrichtung |
JP6702390B2 (ja) | 2018-10-09 | 2020-06-03 | トヨタ自動車株式会社 | 車両用駆動装置の制御装置、車載電子制御ユニット、学習済みモデル、機械学習システム、車両用駆動装置の制御方法、電子制御ユニットの製造方法及び出力パラメータ算出装置 |
JP7147575B2 (ja) * | 2019-01-17 | 2022-10-05 | トヨタ自動車株式会社 | 報知装置 |
JP7151566B2 (ja) * | 2019-03-14 | 2022-10-12 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP7440237B2 (ja) | 2019-10-16 | 2024-02-28 | トヨタ自動車株式会社 | 表示装置 |
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JPS5382218A (en) | 1976-12-28 | 1978-07-20 | Nec Corp | Television signal coding unit |
EP0678731B1 (en) | 1994-04-15 | 1999-06-30 | Nissan Motor Co., Ltd. | Vehicle navigation system |
JP3866060B2 (ja) | 2001-07-09 | 2007-01-10 | 株式会社ケンウッド | ナビゲーション装置、表示方法、及びプログラム |
JP4950624B2 (ja) * | 2006-11-07 | 2012-06-13 | クラリオン株式会社 | 自動制動制御装置 |
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US20200231174A1 (en) | 2020-07-23 |
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DE102017126238B4 (de) | 2024-06-13 |
US11124203B2 (en) | 2021-09-21 |
JP2018091779A (ja) | 2018-06-14 |
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US20210380124A1 (en) | 2021-12-09 |
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