JP7043370B2 - Map information generator and automatic driving system - Google Patents

Description

The present disclosure relates to a map information generator and an automatic driving system.

Currently, technologies for automatically driving vehicles are being actively developed. In autonomous driving, it is important to determine the current position of the vehicle. The current position of the vehicle can generally be determined by, for example, specifying the current coordinates of the vehicle by GNSS (Global Navigation Satellite System) and further specifying the orientation of the vehicle by a sensor.

In the navigation technology using GNSS, the map information is stored in a storage unit such as a database (DB), and the user inputs the destination to the destination input based on the map information stored in the storage unit. Search for a route guidance route. At this time, the map information around the own vehicle is added to the route information to generate high-precision map information, which is output to the automatic driving control device.

For example, in Patent Document 1, a "map information creation device (map information creation program)" has an object of "creating low-cost road map information with a small data size to which the latest and detailed road information is added". 3D point group information of latitude / longitude / altitude for each point at a predetermined interval is acquired from the first server, and 2D map information of latitude / longitude for each pixel or several pixels is acquired from the second server. By synthesizing the dimensional point group information and the two-dimensional map information, basic map information is created by adding the altitude information for each point to the two-dimensional map information, and the road is based on the movement trajectory of the position information acquired from the moving body. Is specified, road map information is created by adding road information to the basic map information, and output to the moving body. At that time, if position information, angular velocity information, and / or acceleration information are acquired from the moving body, they are used. The slope information of the road is calculated based on the information, and the altitude information is added to the road of the road map information based on the altitude information and the slope information for each point. "

Japanese Unexamined Patent Publication No. 2018-106017

However, although the purpose of Patent Document 1 is to reduce the data size of road map information, information such as all features, lanes and road widths is generated as basic map information, and all the information is output to the automatic control device. do. Therefore, high-priority information and low-priority information are mixed and provided to the automatic driving control device, and the reduction in the amount of map information data is insufficient. For example, when a vehicle is approaching an intersection, it can be said that the information on the lane in the direction of travel is more important than the information on the opposite lane and the information behind the vehicle, and it is data to treat these equally. It is also unreasonable from the viewpoint of quantity reduction.
The present disclosure has been made in view of such a situation, and provides a technique for further reducing the amount of map information to be output.

As a result of diligent studies by the present inventor, when the own vehicle approaches a specific place such as an intersection, map information of points that affect the driving of the own vehicle and points where other vehicles flow in (own vehicle). It is not necessary to handle the map information of points that cannot be entered by driving as it is (including points that cannot be entered without making a U-turn) with the same importance (priority), and the latter is given a lower priority than the former. It has been found that the amount of transmitted data can be reduced by providing it to the automatic operation ECU, and the output processing of map information can be efficiently executed.

The present disclosure is desired from a position acquisition unit that acquires the current position of the own vehicle, a high-precision map information storage unit that stores high-precision map information, and a high-precision map information storage unit based on the current position of the own vehicle. It is equipped with a map information generation unit that acquires and outputs map information, and the map information generation unit acquires the first map information of points on which the own vehicle can travel at a predetermined location on the road on which the own vehicle is traveling. Provided is a map information generation device that executes a first process of outputting the map and a second process of acquiring and outputting the second map information of a point where the own vehicle cannot travel after the first process. ..

Further features relating to this disclosure will be apparent from the description herein and the accompanying drawings. In addition, the aspects of the present disclosure are achieved and realized by the combination of elements and various elements, the detailed description below, and the aspects of the appended claims.
It should be understood that the description herein is merely a exemplary example and does not limit the scope or application of the claims in any way.

According to the present disclosure, the capacity of map information output from the high-precision map ECU can be further reduced.

It is a figure which shows the configuration example of the automatic operation system 1 which concerns on this embodiment. It is a figure for demonstrating the outline of the two-step map information output processing executed by the map information output unit 16 in this embodiment. FIG. 2A is a diagram illustrating an output order of map information in the first process. FIG. 2B is a diagram illustrating an output order of map information in the second process. It is a flowchart for demonstrating the detail of the two-step map information output processing by this embodiment.

<Configuration example of automatic driving system>
FIG. 1 is a diagram showing a configuration example of the automatic operation system 1 according to the present embodiment. The automatic driving system 1 includes a high-precision map ECU 10 (HD MAP ECU: map information generator) that generates and outputs detailed route information, high-precision map information, and the like, and an automatic driving ECU 20 (AD) that controls various controls related to automatic driving. ECU: automatic operation control device) and a communication module 30 are provided. The high-precision map ECU 10 is an arithmetic control unit that is mounted on a vehicle (not shown) that is the target of automatic driving and functions as a route generation device that generates information about the route.

The high-precision map ECU 10 and the automatic operation ECU 20 can be connected, for example, by Ethernet (Ethernet (registered trademark)), which is a well-known communication standard. Further, the automatic operation ECU 20 and the communication module 30 can be connected to an external device (not shown) by a communication standard such as CAN, LIN, MOST, FlexRay, or a combination thereof. The communication standards listed are examples and are not limited thereto.

The automatic operation ECU 20 outputs IVI (In-Vehicle Infotainment) route information for automatic operation to the high-precision map ECU 10, and is generated in the high-precision map ECU 10 based on the IVI route information and the high-precision map information. It is a control unit that executes automatic driving control using detailed route information (scheduled travel route). The IVI route information is generated in a navigation system (not shown) mounted on the vehicle and includes information on the latitude and longitude of a plurality of points along the route between the current location and the destination.

As an example, the high-precision map ECU 10 includes a gyro / acceleration sensor 11, a GNSS receiver 12, a map update unit 13, a high-precision map information storage unit 14, a vehicle position estimation unit 15, and a map information output unit 16. , And a route information conversion unit 17.

The gyro / acceleration sensor 11 is a detector that measures the angular velocity, acceleration, and / or speed of the vehicle. The GNSS receiver 12 is a receiver that acquires the absolute position coordinates of the vehicle from the GNSS system. The map update unit 13 receives the update data of the high-precision map from the outside via the communication module 30, and updates the high-precision map information. The high-precision map information storage unit 14 is a data holding unit that stores updated high-precision map information.

The own vehicle position estimation unit 15 (locator) estimates the current absolute position of the vehicle based on the absolute position coordinates of the vehicle acquired by the GNSS receiver 12, and also estimates the angular velocity, acceleration, vehicle speed, etc. acquired by the gyro / acceleration sensor 11. Estimate the relative position of the vehicle with respect to the absolute position coordinates using the information in. The relative position represents the vehicle position with higher accuracy than the absolute position, and also has a role of complementing the coordinates acquired intermittently via GNSS. Then, the own vehicle position estimation unit 15 executes a map matching process for correcting the calculated vehicle position using the high-precision map information stored in the high-precision map information storage unit 14, and corrects the vehicle position (self). The vehicle position) is output to the map information output unit 16, and the vehicle position (own vehicle position), vehicle orientation, sensor detection information, travel road information, and travel lane information are output to the automatic driving ECU 20. The own vehicle position estimation unit 15 also receives vehicle information about the vehicle to be automatically driven and image pickup information (camera recognition result) taken by a camera mounted on the vehicle from the automatic driving ECU 20 to estimate the relative position. It can also be used for.

The map information output unit 16 contains high-precision map information read from the high-precision map information storage unit 14, the current position of the vehicle (own vehicle position) estimated by the own vehicle position estimation unit 15, and the route information conversion unit 17. Based on the planned travel route (detailed route information) and lane information (only the information of the first lane in the case of a one-lane road) obtained in, refer to the high-precision map information storage unit 14 and make a travel plan. The route information used for the purpose, the map information along the route used for the traveling control, and the surrounding map information are generated and output to the automatic operation ECU (automatic operation control device) 20. In the present embodiment, when the map information output unit 16 outputs the map information to the automatic operation ECU 20, all the information of the distance within a predetermined range from the position of the own vehicle is acquired from the high-precision map information storage unit 14 and acquired. We propose a technology to solve the problem that the amount of transmitted data becomes enormous and it takes time to complete the data transmission when all the information is output. In order to solve the problem, the map information output unit 16 first, among the map information stored in the high-precision map information storage unit 14, the own vehicle travels when approaching a predetermined place (for example, an intersection). Outputs map information of possible travelable lanes, then outputs related map information (map information of inlets from other lanes), and does not output other map information (two-step map information output). process). As described above, in the present embodiment, the map information output unit 16 can output the minimum amount of map information to reduce the amount of data transmitted to the automatic operation ECU 20 (two-stage map information output process). Details will be described later). Here, the route information includes detailed route information and lane information within a predetermined range of the route from the vehicle position to the destination. The map information along the route is map information including road section line information, sign information, feature information, etc. existing within a predetermined range along the requested route (for example, along the route 200 to 500 m ahead of the vehicle position). .. Further, the surrounding map information is map information including sign information, feature information, and the like existing around the position of the own vehicle (for example, within a radius of 200 to 500 m).

The route information conversion unit 17 is between the IVI route information (first route information) acquired from the automatic operation ECU 20 and the link / node data included in the high-precision map information obtained from the high-precision map information storage unit 14. According to the result, detailed route information (second route information: planned travel route), which is more accurate route information than IVI route information, is generated and output to the automatic operation ECU 20. The route information conversion unit 17 also acquires information on the position of the vehicle from the own vehicle position estimation unit 15, and reflects the information on the position of the vehicle in the detailed route information.

<Two-step map information output processing>
As described above, the map information output unit 16 solves the problem of reducing the amount of data transmitted to the automatic operation ECU 20 and shortening the data transmission time at a predetermined place (for example, an intersection, lane restriction, or closed to traffic). Of the map information stored in the high-precision map information storage unit 14, the first process and the first process of outputting the map information of the travelable lane in which the own vehicle can travel when approaching the location of Later, the second process of outputting related map information (map information of the inflow port from another lane, etc.) and not outputting other map information is executed.

(I) Outline of the two-stage map information output process FIG. 2 is a diagram for explaining an outline of the two-stage map information output process executed by the map information output unit 16 in the present embodiment. FIG. 2A is a diagram illustrating an output order of map information in the first process. FIG. 2B is a diagram illustrating an output order of map information in the second process. In FIG. 2, for the sake of simplicity, the case of a one-lane road will be described as an example.

In map information, roads are composed of nodes (points A to V in FIG. 2) and links connecting the nodes (eg, 50-100 m). Map information on and around the road (information on features such as road signs, signboards, and buildings) is managed in association with links. For example, the map information existing between the links between the node A and the node H is associated with the link, and if the link is specified, the map information accompanying the link can be acquired.

When it is detected that the position of the own vehicle is approaching an intersection or other predetermined point, the map information output unit 16 executes the first process. That is, the map information output unit 16 is a point (node) of a lane in which the vehicle can travel (along the traveling direction), and is a predetermined distance (for example, 200 to 500 m) from the current position of the vehicle. Get information for each point (each node). Then, the map information output unit 16 determines the order of the points (nodes) of the map information to be transmitted to the automatic operation ECU 20. For example, as shown in FIG. 2A, when the own vehicle is located between points H and A (when traveling between HA), the traveling direction (straight direction, right turn direction, and left turn direction) from the own vehicle position. ) Acquires information on nodes and links included in a predetermined distance (for example, 500 m). In the case of FIG. 2A, the acquired points (nodes) are A, B, C, D, Q, R, T, S ... Next, the map information output unit 16 determines the transmission order of the map information according to a predetermined rule. Here, as a predetermined rule, for example, when the vehicle does not turn on the turn signal, the priority is set in the order of straight-ahead direction → left turn direction → right turn direction, and when the turn signal is turned on, the turn signal is set. The priority can be set higher in the order of the direction of exit, the direction of going straight, and the direction of turning in the opposite direction of the turn signal. In the case of FIG. 2A (assuming that the blinker is not output), the transmission order can be A-> B-> T-> Q-> C-> S-> R-> D. Since the map information is linked to the link between the nodes, the transmission order of the map information is as follows: map information between AB → map information between BC → map information between TS → map information between QR → map between CDs. Information-> Map information between S and the next node-> Map information between R and the next node-> Map information between D and the next node-> ...

When the first process is completed, the map information output unit 16 executes the second process. In the second process, the map information output unit 16 is a predetermined distance (smaller than the range in the case of the first process) from the position of the own vehicle at each point (node) of the road (lane) corresponding to the inflow port of the intersection. It may be set in the range, for example, the information of each point up to 100 to 200 m) is acquired. Then, the map information output unit 16 determines the order of the points (nodes) of the map information to be transmitted to the automatic operation ECU 20. For example, as shown in FIG. 2B, when the own vehicle enters an intersection (when traveling between HABs), the information of each point from the inlet point of the lane where the own vehicle cannot travel is acquired. .. In the case of FIG. 2B, the acquired points (nodes) are L, M, N, O, P, U, V ... Next, the map information output unit 16 sets the transmission order, for example, in order of proximity to the vehicle position. In the case of FIG. 2B, since the point P is the closest to the position of the own vehicle, the map information associated with each is output to the automatic driving ECU 20 in the clockwise order from the point P. That is, the transmission order can be P → L → U → K .... Since the map information is linked to the link between the nodes, the transmission order of the map information is as follows: map information between POs → map information between LMs → map information between UVs → map information between KJs → O and the next Map information between nodes → Map information between MNs → Map information between V and the next node → Map information between JIs → ... Since the map information of the retreat points (H and G in FIG. 2) of the own vehicle has already been acquired by the time the vehicle reaches the intersection and is transmitted to the automatic driving ECU 20, it is subject to the two-step map information output processing. It is possible to be outside. However, in the second process, the output of the points H and G is not excluded, and the map information related to the receding point may be output in the second process.

(Ii) Details of the two-step map information output process FIG. 3 is a flowchart for explaining the details of the two-step map information output process according to the present embodiment. Here, the operation main body in each step is the map information output unit 16, but when the map information output unit 16 is composed of a program, the high-precision map ECU 10 as a processor can be read as the operation main body. In the flowchart, the two-step map information output process is executed in the order of step 301 to step 306, but the process may be executed in the order of step 303 → step 305 → step 304 → step 306. good. That is, the output order of all points may be determined and then the corresponding map information may be output. Further, a parallel processing configuration may be used in which map information is output sequentially from the point whose output order is determined.

(Ii-1) Step 301
While the vehicle is running, the map information output unit 16 is traveling based on the vehicle position acquired from the vehicle position estimation unit 15 and the detailed route information acquired from the route information conversion unit 17. The link (link between nodes) is specified, and the map information around the vehicle position associated with the specified link is acquired from the high-precision map information storage unit 14. For example, when the own vehicle is traveling on the link between the nodes G and H, the map information associated with the link (for example, information such as a feature existing within a radius of 100 m of the own vehicle position). Is obtained.

(Ii-2) Step 302
The map information output unit 16 determines whether or not the position of the own vehicle is within a predetermined distance (for example, 100 to 200 m) within a predetermined distance to the intersection ahead. When it is determined that the own vehicle has entered within the predetermined distance range (Yes in step 302), the process proceeds to step 303. When it is determined that the own vehicle has not yet entered within the predetermined distance range (No in step 302), the process returns to step 301, and the execution of the normal map information acquisition process is continued. In this embodiment, an example of executing the two-step map information output processing when the own vehicle enters within a predetermined distance range to the "intersection" is described, but it is not limited to the "intersection" and "lane regulation". Any place such as "a place" or "a place where multiple lanes meet" can be used as long as it is a place where the priority (importance) of the acquired information can be given as the entrance point of the own vehicle and the entrance point of another vehicle.

(Ii-3) Step 303
The map information output unit 16 identifies a lane point (node) on which the vehicle can travel at an intersection to be entered, according to the travel lane information (the position of the lane in which the vehicle is traveling) acquired from the vehicle position estimation unit 15. Determine the output order of map information. If the road on which the vehicle is traveling is a one-lane road, the output (transmission) order of the map information of the lane points on which the vehicle can travel is one type, but if the road on which the vehicle is traveling is a road with two or more lanes, the order is one. , The output order determined depends on the driving lane of the own vehicle.

A specific example will be described with reference to FIG. 2A. For example, on a three-lane road, when the own vehicle is traveling in the central lane, the point (node) B is set to have a higher priority than the points T and Q. At this time, the output order of the map information can be determined as A → B → T → Q ... Further, when the own vehicle is traveling in the left lane, for example, points B and T are set to have the same priority, and point Q is set to have a lower priority than them. At this time, the output order of the map information can be determined as A-> B-> T-> Q ... Or A-> T-> B-> Q .... For example, if the own vehicle puts out a left turn signal at an early stage, the output order may be determined as A → T → B → Q .... Further, when the own vehicle is traveling in the right lane, the points B and Q have the same priority, and the point T has a lower priority than them. At this time, the output order of the map information can be determined as A-> B-> Q-> T ... Or A-> Q-> B-> T .... For example, if the own vehicle puts out a right turn turn signal at an early stage, the output order may be determined as A → Q → B → T ....

(Ii-4) Step 304
The map information output unit 16 outputs the map information of the own vehicle travelable lane point at the intersection to the automatic driving ECU 20 according to the output order determined in step 303. For example, when the output order is determined as A->B->T->Q->C->S->R-> D in step 304, the map information is linked to the link between the nodes, so that the map information output order is , Map information between AB → Map information between BC → Map information between TS → Map information between QR → Map information between CD → Map information between S and the next node → Between R and the next node Map information → Map information between D and the next node → ...

(Ii-5) Step 305
The map information output unit 16 identifies the other vehicle inlet point (node) at the intersection to be entered according to the travel lane information (the position of the lane in which the vehicle is traveling) acquired from the own vehicle position estimation unit 15, and maps information. Determine the output order of. If the driving road is a one-lane road, the output (transmission) order of the map information of the other vehicle inlet point will be one type, but if the driving road is a road with two or more lanes, it will be self. The output order determined depends on the driving lane of the vehicle.

A specific example will be described with reference to FIG. 2B. For example, on a three-lane road, when the own vehicle is traveling in the central lane, the point (node) P is set to have a higher priority than the points L and U. At this time, the output order of the map information can be determined as P → L → U → K .... Further, when the own vehicle is traveling in the left lane, for example, the point U is set to have a higher priority than the points P, L, and K, and then the point L has a higher priority than the points P and K. Set high. Further, since there is a possibility that a vehicle makes a U-turn from the point P, the point P is set to have a higher priority than the point K. At this time, the output order of the map information can be determined as U-> L-> P-> K .... Further, when the own vehicle is traveling in the right lane, the priority is set in the order of point U, then point L, and then points P and K. At this time, the output order of the map information can be determined as U-> L-> P-> K .... For example, if the own vehicle puts out a right turn turn signal at an early stage, the output order may be determined as A → Q → B → T ....

Regarding the output order of the map information at the inlet point of another vehicle, the output order of the map information at the lane point where the vehicle can travel is not strictly considered, and the vehicle is in which lane. May also be determined in a fixed output order (for example, always P → L → U → K ...).

(Ii-6) Step 306
The map information output unit 16 outputs the map information of the other vehicle inlet point at the intersection to the automatic driving ECU 20 according to the output order determined in step 305. For example, when the output order is determined in step 305 as P → L → U → K ..., the map information is linked to the link between the nodes, so that the output order of the map information is the map between POs. Information → Map information between LM → Map information between UV → Map information between KJ → Map information between O and the next node → Map information between MN → Map information between V and the next node → Between JI Map information → ...
For example, when the own vehicle passes through the intersection, the two-step map information output process ends.

<Summary>
(I) As described above, in the present embodiment, the map information generation unit (map information output unit 16) has a predetermined location on the road on which the own vehicle is traveling (for example, an intersection, a location where other roads meet, etc.). ), The first process of acquiring and outputting the first map information (information on features, information on lane markings, information on lane restrictions at time, etc.) at points where the own vehicle (own vehicle) can travel, and After the first process, the second process of acquiring and outputting the second map information of the point where the own vehicle cannot travel (for example, the entry prohibited part or the entrance where the vehicle runs in the opposite direction) is executed. By doing so, information important to the own vehicle can be preferentially output to the automatic driving ECU 20, so that the amount of data to be transmitted in one process can be reduced.

Further, in the first process, the map information generation unit may set priorities at a plurality of points where the own vehicle can travel at a predetermined place and output the first map information in the order of the priorities. good. Information on all points is not important at the same level even if the vehicle can run. Therefore, in the present embodiment, when there are a plurality of points for outputting the first map information during the first processing, the priority (importance) is determined for them, and the first map information is automatically performed in that order. Output to the operating ECU 20. By doing so, the efficiency of data transmission can be improved.

Further, in the second process as well, the map information generation unit sets priorities to a plurality of points at a predetermined place where the own vehicle cannot travel, and outputs the second map information in the order of the priorities. You may do so. By doing so, the efficiency of data transmission can be further improved.

When the own vehicle approaches an intersection of the road, the map information generation unit determines the output order of the first map information of a plurality of points in the lane in which the own vehicle can travel at the intersection in the first process, and the determination is made. The first map information is output to the automatic operation ECU 20 in the output order. Further, in the second process, the map information generation unit determines the output order of the second map information at the points where other vehicles flow into the intersection (including the points where the own vehicle cannot enter), and the determined output. The second map information is output to the automatic operation ECU 20 in order. By doing so, it becomes possible to improve the efficiency of the transmission processing of the map information at the intersection and reduce the amount of data to be transmitted. The first map information includes information on lane markings at a plurality of points at intersections where the own vehicle can travel, and information on features. In addition, the second map information includes information on lane markings at points where other vehicles flow into intersections and information on features.

(Ii) Modifications The present disclosure is not limited to the above embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present disclosure in an easy-to-understand manner, and is not necessarily limited to the one including all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

Each of the above configurations, functions, processing units, processing means and the like may be realized by hardware, for example, by designing a part or all of them by an integrated circuit or the like. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be placed in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card or an SD card. In addition, the control lines and information lines indicate what is considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected.

1 Automatic operation system 10 High-precision map ECU
20 Automatic operation ECU
30 Communication module 11 Gyro / Accelerometer 12 GNSS receiver 13 Map update unit 14 High-precision map information storage unit 15 Own vehicle position estimation unit 16 Map information output unit 17 Route information conversion unit

Claims (6)

A map information generator that generates map information used for automatic driving control of own vehicle.
The position acquisition unit that acquires the current position of the own vehicle, and the position acquisition unit.
A high-precision map information storage unit that stores high-precision map information,
A map information generation unit that acquires and outputs desired map information from the high-precision map information storage unit based on the current position of the own vehicle is provided.
The map information generation unit acquires the first map information of the high-precision map information of the points on which the own vehicle can travel at a predetermined location on the road on which the own vehicle is traveling, and causes the automatic operation control device. After the first process to be provided and the first process, the second map information of the point where the own vehicle cannot travel is acquired from the high-precision map information, and the second map information is used as the first map. The second process provided to the automatic operation control device is executed as information less important than the information, and the map information other than the first map information and the second map information included in the high-precision map information is obtained. A map information generation device configured not to be provided to the automatic operation control device. In claim 1,
In the first process, the map information generation unit sets priorities at a plurality of points on which the own vehicle can travel at the predetermined location, and automatically controls the first map information according to the priorities. A map information generator provided to the device. In claim 1,
In the second process, the map information generation unit sets priorities at a plurality of points where the own vehicle cannot travel at the predetermined location, and automatically operates the second map information according to the priorities. A map information generator provided to the control device . In claim 1,
The given place on the road is an intersection
The map information generation unit
In the first process, the order of providing the first map information at a plurality of points in the lane in which the own vehicle can travel at the intersection is determined, and the first map information is automatically operated in the determined order of provision . Provided to the controller ,
In the second process, the map is determined in the order of providing the second map information at the point where another vehicle flows into the intersection, and the second map information is provided to the automatic driving control device in the determined providing order. Information generator. In claim 4,
The first map information includes information on lane markings at a plurality of points at the intersection where the own vehicle can travel, and information on features.
The second map information is a map information generation device including information on lane markings at points where the other vehicle flows into an intersection and information on features. The map information generator according to claim 1 and
The map information generator receives the first map information generated by the first process and the second map information generated by the second process, and automatically controls the automatic operation of the own vehicle. Operation control device and
An automatic driving system equipped with.

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