KR20060067172A - The collision alarming and prevention system of vehicle and method thereof - Google Patents

Abstract

As a vehicle anti-collision device, it is possible to proactively respond to collisions with surrounding vehicles in a more realistic driving environment by considering the critical boundary distance and braking distance considering the relative speed and relative distance between the own vehicle and the preceding vehicle as well as the own vehicle and the preceding vehicle. In doing it,

Receiving a reflected wave irradiated a measurement beam to the preceding vehicle and the subsequent vehicle through the radar while driving, and the first process of detecting the speed of the own vehicle, and by analyzing the speed of the reflected wave and the own vehicle by a set algorithm, between the own vehicle and the preceding vehicle and the subsequent vehicle A second process of detecting the relative distance and the relative speed, a third process of analyzing the state between the vehicles from the relationship between the relative distance and the relative speed, and a process of determining the warning level and the braking and acceleration control of the own vehicle according to the state between the vehicles. And a fifth step of controlling the peripheral device according to the determination result of step 4 and step 4 to transmit a warning message for stepping out a warning sound, accelerating or decelerating the own vehicle, and maintaining a relative distance to a preceding vehicle or a subsequent vehicle. .

Collision Avoidance, Relative Distance, Critical Braking Distance, Critical Warning Distance, Radar

Description

Anti-collision device and its method {TH COLLISION ALARMING AND PREVENTION SYSTEM OF VEHICLE AND METHOD THEREOF}

1 is a schematic configuration diagram of an anti-collision device of a vehicle according to the present invention.

2 is a flow chart of an embodiment of the collision avoidance control execution according to the relationship between the host vehicle and the preceding vehicle in the collision avoidance apparatus of the vehicle according to the present invention.

3 is a flowchart of an embodiment of the execution of the collision avoidance control according to the relationship between the host vehicle and the subsequent vehicle in the collision avoidance apparatus of the vehicle according to the present invention.

The present invention relates to a collision avoidance device of a vehicle. More particularly, the present invention relates to a vehicle in a more realistic driving environment by considering a critical boundary distance and a braking distance in consideration of a relative speed and a relative distance between a host vehicle and a preceding vehicle as well as a host vehicle and a preceding vehicle. An anti-collision apparatus and a method for preventing a collision with a vehicle proactively.

According to the rapid spread of automobiles, which are growing as a necessity of living, statistics show that the road network is much faster than the expansion speed.                         

Accordingly, as the risk of collision between vehicles on the road increases day by day, various intelligent safety systems have been developed and applied by combining the consumer's desire for more stable and intelligent cars with the development trend of the automobile related industry.

In particular, many studies on collision warning and avoidance between the own vehicle and the preceding vehicle or the own vehicle and the subsequent vehicle have been conducted. Such a collision preventing device can guarantee a safer and more comfortable driving environment in a complicated road situation.

However, since there is no definite answer about the time and method of collision warning and avoidance, a lot of studies and tests are in progress.

The anti-collision device detects the preceding vehicle through a radar, which is a distance sensor installed at a predetermined position in front of the vehicle, and the relative distance between the host vehicle and the preceding vehicle from a signal detected by the radar by a control unit. After extracting the relative speed and arithmetically calculating the critical warning distance, if the value is smaller than the set reference value, the driver will be warned by sending a warning sound.

In addition, by arithmetically calculating the critical braking distance between the host vehicle and the preceding vehicle, if the value is kept smaller than the set reference value, the safety distance is secured by driving the brake device or controlling the engine torque reduction.

As described above, the collision avoidance device applied to the conventional vehicle considers only the correlation between the own vehicle and the preceding vehicle, as can be seen in the collision warning and avoiding method, and the critical warning distance and the critical braking distance are conservative depending on the situation felt by the driver. It may also be unconservative.                         

Therefore, the conventional collision avoidance device considering only the critical warning distance and the critical braking distance between the host vehicle and the preceding vehicle has a disadvantage that it is a limited collision avoidance and warning device when considering the relationship with neighboring vehicles as a collision response only for the host vehicle.

The present invention has been invented to solve the above problems, the object of which is to consider the relative speed and relative distance between the host vehicle and the subsequent vehicle, as well as the critical boundary distance and braking distance considering the relative speed and relative distance of the host vehicle and the preceding vehicle. By considering the critical boundary distance and the braking distance at the same time, it is possible to proactively respond to collisions with surrounding vehicles in a more realistic driving environment.

The present invention for realizing the above object comprises a first step of receiving a reflected wave irradiated a measurement beam to the preceding vehicle and the subsequent vehicle through a radar while driving, and detecting the speed of the host vehicle; A second step of detecting a relative distance and a relative speed between the own vehicle, the preceding vehicle, and the subsequent vehicle by analyzing the speeds of the reflected wave and the own vehicle with a set algorithm; A third process of analyzing a state between vehicles from the relationship between relative distance and relative speed; A fourth step of determining a warning level and braking and acceleration control of the host vehicle according to the state between the vehicles; And a fifth process of controlling a peripheral device according to the determination result of the fourth process to transmit a warning message for stepping out a warning sound, accelerating or decelerating the own vehicle, and maintaining a relative distance to a preceding vehicle or a subsequent vehicle. It provides a vehicle collision avoidance method.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, an apparatus for preventing collision of a vehicle according to the present invention includes a first radar 10, a second radar 20, a vehicle speed sensor 30, an ECU 40, and an alarm device 50. It comprises a device 60, a throttle actuator 70, and a braking actuator 80.

The first radar 10 is mounted at a predetermined position on the front of the vehicle, and emits a measuring beam at a predetermined angle within the driving front side, and then reflects the angle, relative distance, relative speed, power, etc. from the preceding vehicle. The reflected wave including the information of the received signal is provided to the ECU 40.

The second radar 20 is mounted at a predetermined position on the rear side of the vehicle, emits a measuring beam at a range within a predetermined angle on the rear side of the vehicle, and then reflects an angle, a relative distance, a relative speed, a power, and the like reflected from a subsequent vehicle. The reflected wave including the information of the received signal is provided to the ECU 40.

The vehicle speed sensor 30 detects the traveling speed of the host vehicle and provides information about the vehicle 40 to the ECU 40.

The ECU 40 analyzes the information of the reflected waves provided from the first and second radars 10 and 20 and the speed of the own vehicle provided by the vehicle speed sensor 30 by using a set algorithm to determine the own vehicle, the preceding vehicle, the own vehicle and the following. Relative speed and relative distance between vehicles are extracted, compared with the set threshold warning distance and critical braking distance, and according to the result of the comparison, whether or not the warning sound is transmitted, whether the engine torque reduction control and the braking control are executed.

In addition, the ECU 40 communicates between the host vehicle and the preceding vehicle and the host vehicle and the subsequent vehicle through the transceiver 60 so that the absolute distance to prevent collision can be actively maintained.

According to the control signal applied from the ECU 40, the alarm device 50 is located at a warning sound and a critical braking distance that the relative distance between the host vehicle and the preceding vehicle or the host vehicle and the subsequent vehicle is located at the critical warning distance. To alert the driver by sending a beep.

In the above-mentioned warning sound transmission, the warning sound is transmitted in stages according to the relative distance and speed between the host vehicle and the preceding vehicle or the subsequent vehicle.

The transceiver 60 communicates with the preceding vehicle and the subsequent vehicle under the control of the ECU 40 to transmit and receive information such as relative distance and relative speed.

The throttle actuator 70 is operated according to a control signal applied from the ECU 40 when the relative distance between the host vehicle and the preceding vehicle is included within the set threshold warning distance or threshold braking distance to reduce the intake air amount for the engine torque reduction control. Let's do it.

In addition, when the relative distance between the host vehicle and the subsequent vehicle is included within the set threshold warning distance or the critical braking distance, it operates according to a control signal applied from the ECU 40 to increase the intake air amount to increase the speed of the host vehicle.

The braking actuator 80 is operated according to a control signal applied from the ECU 40 when the relative distance between the host vehicle and the preceding vehicle is included within the set threshold braking distance or the threshold braking distance, so as to maintain the absolute relative distance. Perform.

In the present invention including the functions as described above, the operations for the active relative distance maintenance and the vehicle speed control are executed as follows.

First, an operation for controlling the absolute relative distance maintenance between the host vehicle and the preceding vehicle will be described with reference to FIG. 2.

The first radar 10 mounted at a predetermined position on the front side of the vehicle while driving to an arbitrary destination emits a measuring beam within a predetermined angle range and then reflects the angle, relative distance, and relative speed reflected from the preceding vehicle. And receiving the reflected wave including information such as power to the ECU 40, and the vehicle speed sensor 30 detects the traveling speed of the host vehicle and provides the information to the ECU 40 (S101).

Accordingly, the ECU 40 analyzes the information of the reflected wave provided from the first radar 10 and the speed of the host vehicle provided by the vehicle speed sensor 30 through a set algorithm to determine the relative distance and the relative speed between the host vehicle and the preceding vehicle. Extract (S102).

Thereafter, the extracted relative distance and relative speed and the information of the vehicle speed sensor 30 are analyzed to check the state between the host vehicle and the preceding vehicle (S103).

If it is determined in S103 that the vehicle is traveling at high speed, the condition of the warning level and the presence or absence of the brake is determined based on the relationship between the present inter-vehicle distance, the critical warning distance, and the critical braking distance, as shown in Equation 1 below (S104).

'D' is the current inter-vehicle distance, 'd _br ' is the critical warning distance, 'd _w ' is the critical braking distance.

The threshold warning distance is set as in Equation 2 below, and the critical braking distance is set as in Equation 3 below.

In the above, 'v' is the host vehicle speed, 'v _rel ' is the relative speed between vehicles, 'α' is the maximum deceleration of both vehicles, 'd _o ' is the headway offset, and 'τ _s ' is the system delay 'Τ _d ' is the driver delay time.

In the above, 'v _rel ' is the relative speed between the vehicles, 'α' is the maximum deceleration of both vehicles, 't _hum ' is the driver delay time, 't _sys ' is the system delay time.

As a result of the determination in S104, there is a risk of collision with the preceding vehicle due to the high-speed driving of the own vehicle, and when it is determined that the braking condition (w <0), the ECU 40 controls the throttle actuator 70 to reduce the intake air amount. The engine torque is reduced, and the vehicle speed is reduced by controlling the braking actuator 80 to maintain the relative distance with the preceding vehicle in a stable manner (S105).

In addition, when it is determined in S104 that the heavy warning sound is required to be transmitted as the vehicle travels at a speed close to the collision risk due to the high speed driving of the own vehicle (0 <w <a), the ECU 40 may generate an alarm device ( 50) and transmits a heavy warning sound for deceleration to the driver (S106).

Further, as a result of the determination of S104, the collision risk between the own vehicle and the preceding vehicle is not urgent, but when it is determined that the condition (a <w <1) is required to send a light warning sound because the relative distance has not secured a sufficient safety distance, the ECU ( 40 transmits a light warning sound for decelerating to the driver through the alarm device 50 (S107).

It is determined whether the stable relative distance between the own vehicle and the preceding vehicle is secured by the deceleration control of the driver in the state of transmitting the heavy warning sound or the light warning sound in S106 and S107 (S108) (S109), and the stable relative distance is not secured. If it is returned to the process of S104 to perform the continuous control of the warning sound or braking, and if a stable relative distance is secured, it is returned to the initial process.

In addition, when it is determined in S103 that the preceding vehicle is driven at a low speed, the ECU 40 may not secure a relative safety distance from a subsequent vehicle that is driven after the vehicle is driven at a low speed through the transceiver 60. Delivers a warning message for the presence (S110).

As described above, after the warning message of the low speed driving is transmitted to the preceding vehicle in the subsequent traveling vehicle, the first vehicle accelerates to determine whether the relative safety distance is secured by analyzing the information received through the first radar 10. (S111).

If it is determined in S111 that the preceding vehicle accelerates and the relative safety distance is secured, it is returned to the initial process, and even if the preceding vehicle accelerates, the relative safety distance is not secured or the acceleration is not accelerated. Equation 1 is applied to determine the condition of the warning level and braking (S112).

As a result of the determination in S112, when the relative distance between the host vehicle and the preceding vehicle is determined as the braking condition (w <0) of the host vehicle that is close to the distance at which there is a danger of collision, according to the low-speed driving of the preceding vehicle, the ECU 40 determines the throttle actuator 70. The engine torque is reduced by controlling the reduction of the amount of intake air by controlling a), and the vehicle speed is decelerated through the control of the braking actuator 80 to maintain a stable relative distance with the preceding vehicle (S113).

In addition, when the determination result of S112 indicates that the relative distance between the host vehicle and the preceding vehicle is close to the distance at which there is a danger of collision, it is determined that the condition (0 <w <a) is required to send a heavy warning sound. The alarm device 50 transmits a heavy warning sound for deceleration to the driver (S114).

In addition, as a result of the determination in S112, the relative distance between the host vehicle and the preceding vehicle is not included in the danger of collision but the absolute safety distance is not maintained. ECU 40 transmits a light warning sound requesting deceleration to the driver through the alarm device 50 (S115).

It is determined whether the stable relative distance between the own vehicle and the preceding vehicle is secured by the deceleration control of the driver in the state of transmitting a heavy warning sound or a light warning sound in S114 and S115 (S116) (S117), and the stable relative distance is not secured. If it is returned to the process of S112 to perform continuous control of the warning sound or braking, and if a stable relative distance is secured is returned to the initial process.                     

By repeating the above process to prevent the occurrence of a collision by securing a relative safety distance between the own vehicle and the preceding vehicle provides stability and reliability to the operation.

In addition, an operation for controlling the absolute relative distance maintenance between the host vehicle and the subsequent vehicle will be described with reference to FIG. 3 with reference to FIG. 3.

In the state of driving to an arbitrary destination, the second radar 20 emits a measuring beam within a predetermined predetermined angle range and then includes information such as an angle, a relative distance, a relative speed, and a power reflected from a subsequent vehicle. The reflected wave is received and provided to the ECU 40, and the vehicle speed sensor 30 detects the traveling speed of the host vehicle and provides information about the reflected speed to the ECU 40 (S201).

Accordingly, the ECU 40 analyzes the information of the reflected wave provided from the second radar 20 and the speed of the host vehicle provided by the vehicle speed sensor 30 through a set algorithm to determine the relative distance and the relative speed between the host vehicle and the subsequent vehicle. Extract it (S202).

Thereafter, the extracted relative distance and relative speed and the information of the vehicle speed sensor 30 are analyzed to check the state between the host vehicle and the subsequent vehicle (S203).

When it is determined that the vehicle is traveling at low speed in S203, Equation 1 is applied to determine the condition of warning level and braking from the relationship between the current inter-vehicle distance, the critical warning distance, and the critical braking distance (S204).

As a result of the determination of S204, when the vehicle is approaching a close distance in which there is a risk of collision with a subsequent vehicle due to the low speed driving of the own vehicle, when it is determined that the acceleration condition (w <0), the ECU 40 controls the throttle actuator 70 through control. By increasing the intake air amount to increase the engine output torque, the speed of the host vehicle is accelerated to maintain a stable relative distance to the subsequent vehicle (S205).

Further, as a result of the determination of S204, when the relative distance between the own vehicle and the subsequent vehicle approaches the risk of collision due to the low speed traveling of the own vehicle, when it is determined that the condition (0 <w <a) is required to send a heavy warning sound, the ECU ( 40 transmits a heavy warning sound requiring a sufficient acceleration to the driver through the alarm device (S206).

Further, as a result of the determination of S204, the risk of collision between the own vehicle and the subsequent vehicle is not urgent, but when it is determined that the condition (a <w <1) is required to send a light warning sound because the relative distance does not secure a sufficient safety distance, the ECU ( 40 transmits a light warning sound requesting acceleration to the driver through the alarm device 50 (S207).

It is determined whether a stable relative distance between the own vehicle and a subsequent vehicle is secured by the driver's acceleration control in the state of transmitting a heavy warning sound or a light warning sound in S206 and S207 (S208) (S209), and the stable relative distance is not secured. If it is returned to the process of S204 to perform continuous control of the sound or acceleration of the warning sound, and if a stable relative distance is secured, it is returned to the initial process.

In addition, when it is determined that the subsequent vehicle is driven at a high speed in the determination of S203, the ECU 40 is driven at a high speed to the subsequent vehicle through the transceiver 60, so that a relative safety distance from the preceding vehicle is not secured. Deliver a warning message for the presence (S210).

As described above, after transmitting a warning message indicating that the vehicle is traveling at a high speed, the information received through the second radar 20 is analyzed to determine whether the subsequent vehicle is decelerated to secure a relative safety distance (S211).

If it is determined in step S211 that the subsequent vehicle is decelerated and the relative safety distance is secured, it is returned to the initial process, and even if the subsequent vehicle is decelerated, it is determined that the relative safety distance is not secured or the speed is not decelerated. The condition of the warning level and braking is determined by applying Equation 1 (S212).

As a result of the determination in S212, when the relative distance between the host vehicle and the subsequent vehicle is close to the distance at risk of collision according to the high speed driving of the subsequent vehicle, the ECU 40 determines that the acceleration condition (w <0) of the host vehicle is the throttle actuator. By controlling the 70, the engine output torque is increased by increasing the amount of intake air, thereby accelerating the vehicle speed of the host vehicle and maintaining a stable relative distance with the preceding vehicle (S213).

In addition, when the determination result of the S212 determines that the relative distance between the host vehicle and the subsequent vehicle is close to the distance at which there is a danger of collision, it is determined that the condition (0 <w <a) is required to send a heavy warning sound (the ECU 40). The alarm device 50 transmits a heavy warning sound requesting rapid acceleration to the driver (S214).

In addition, as a result of the determination in S212, the relative distance between the host vehicle and the preceding vehicle is not included in the distance of the risk of collision, but the condition that a light warning sound is transmitted is not maintained while maintaining the absolute safety distance (a <w <1). ECU 40 transmits a light warning sound requesting acceleration to the driver through the alarm device 50 (S215).

It is determined whether the stable relative distance between the own vehicle and the subsequent vehicle is secured by the driver's acceleration control in the state of transmitting a heavy warning sound or a light warning sound in S214 and S215 (S216) (S217), and the stable relative distance is not secured. If it is returned to the process of S212 to perform continuous transmission or acceleration control of the warning sound, and if a stable relative distance is secured is returned to the initial process.

By repeating the above process to prevent the occurrence of a collision by securing a relative safety distance between the own vehicle and the subsequent vehicle provides stability and reliability to the operation.

As described above, the present invention provides an effect of active collision prevention control considering a more realistic situation by constructing a collision warning and avoidance system considering not only the own vehicle and the preceding vehicle but also the relationship between the own vehicle and the subsequent vehicle.

In addition, the warning sound according to the relative distance between the own vehicle and the preceding vehicle or the own vehicle and the subsequent vehicle is gradually warned according to the relative distance, thereby allowing the driver to cope with the risk gradually.

Claims (10)

It is installed at the front / rear part of the vehicle, respectively, and fires the measuring beam within the angle set in the front / rear side while driving, and then displays the information of the angle, relative distance, and relative speed reflected from the preceding and subsequent vehicles. A radar for receiving a reflected wave comprising; A vehicle speed sensor for detecting a traveling speed of the own vehicle; The information of the reflected wave and the speed of the own vehicle are analyzed by the set algorithm to extract the relative speed and the relative distance between the own vehicle, the preceding vehicle, and the subsequent vehicle, and compared with the set critical warning distance and the critical braking distance. An ECU which executes transmission, engine torque control, and braking control; An alarm device that sends out a warning sound according to the relative distance in step that the relative distance between the host vehicle and the preceding vehicle or the subsequent vehicle is located at the critical warning distance or the critical braking distance according to the control signal of the ECU; A transceiver for communicating with a preceding vehicle and a subsequent vehicle according to a control signal of the ECU and transmitting and receiving relative distance and relative speed information; A throttle actuator operated according to a control signal of the ECU to control the amount of intake air to increase or decrease the engine output torque; And a braking actuator configured to perform braking control according to a control signal of the ECU to maintain an absolute relative distance between the host vehicle and the preceding vehicle. Receiving a reflected wave irradiating a measurement beam to a preceding vehicle and a subsequent vehicle through a radar while driving, and detecting a speed of the own vehicle; A second step of detecting a relative distance and a relative speed between the own vehicle, the preceding vehicle, and the subsequent vehicle by analyzing the speeds of the reflected wave and the own vehicle with a set algorithm; A third process of analyzing a state between vehicles from the relationship between relative distance and relative speed; A fourth step of determining a warning level and braking and acceleration control of the host vehicle according to the state between the vehicles; And a fifth process of controlling a peripheral device according to the determination result of the fourth process to transmit a warning message for stepping out a warning sound, accelerating or decelerating the own vehicle, and maintaining a relative distance to a preceding vehicle or a subsequent vehicle. How to prevent collision of vehicles. The method of claim 2, In the third process, the analysis of the state between the vehicle is a speed relationship between the host vehicle and the preceding vehicle and the speed relationship between the host vehicle and the subsequent vehicle, and the speed relationship between the host vehicle and the preceding vehicle determines whether the host vehicle is the high speed or the low speed of the preceding vehicle. And determining whether the speed relationship between the host vehicle and the subsequent vehicle is the low speed of the host vehicle and the high speed of the subsequent vehicle. The method of claim 2, The determination method of the warning level and the braking and acceleration control of the own vehicle according to the inter-vehicle state applies the following equation (4) from the relationship between the current inter-vehicle distance, the critical warning distance and the critical braking distance. .

'D' is the current inter-vehicle distance, 'd _br ' is the critical warning distance, 'd _w ' is the critical braking distance. The method of claim 4, wherein The threshold warning distance is determined by the following equation (5).

In the above, 'v' is the host vehicle speed, 'v _rel ' is the relative speed between vehicles, 'α' is the maximum deceleration of both vehicles, 'd _o ' is the headway offset, and 'τ _s ' is the system delay 'Τ _d ' is the driver delay time. The method of claim 4, wherein The critical braking distance is determined by Equation 6 below.

In the above, 'v _rel ' is the relative speed between the vehicles, 'α' is the maximum deceleration of both vehicles, 't _hum ' is the driver delay time, 't _sys ' is the system delay time. The method of claim 2, In the analysis of the vehicle-to-vehicle condition according to the third and fourth processes, if the relative distance to the preceding vehicle is within the collision distance when the host vehicle is a high speed, the engine torque reduction and the braking control are automatically executed by controlling the reduction of the intake air amount. Process of doing; Transmitting a warning sound in stages when the relative distance to the preceding vehicle approaches the collision distance; When the relative distance is secured to the safety distance without the risk of collision by the braking control of the driver in response to the step-by-step warning sound is transmitted, the vehicle collision prevention method characterized in that the reset. The method of claim 2, In the analysis of the inter-vehicle states according to the third and fourth processes, if the preceding vehicle is low speed, an alarm message is requested to accelerate the preceding vehicle and then the relative distance is secured as a safety distance by the acceleration of the preceding vehicle. Judging process; After the transmission of the warning message, if the relative distance between the preceding vehicle and the host vehicle is not secured as a safety distance and the relative distance is within the collision distance, automatically performing engine torque reduction and braking control by controlling the reduction of the intake air amount; Transmitting a warning sound in stages when the relative distance to the preceding vehicle approaches the collision distance; When the relative distance is secured to the safety distance without the risk of collision by the braking control of the driver in response to the step-by-step warning sound is transmitted, the vehicle collision prevention method characterized in that the reset. The method of claim 2, The process of accelerating the vehicle speed by increasing the engine torque through the increase control of the intake air amount when the relative distance with the subsequent vehicle is the collision distance when the own vehicle is low speed in the analysis of the inter-vehicle state according to the third process and the fourth process and; Transmitting a warning sound in stages when a relative distance with a subsequent vehicle approaches a collision distance; When the relative distance is secured to the safety distance without the risk of collision by the acceleration of the driver in response to the step-by-step warning sound is sent to the vehicle, characterized in that the reset to the initial operation. The method of claim 2, In the analysis of the inter-vehicle states according to the third and fourth processes, if a subsequent vehicle is a high speed, an alarm message requesting deceleration is transmitted to the subsequent vehicle, and then the relative distance is secured as a safety distance by the deceleration of the subsequent vehicle. Judging process; Accelerating the host vehicle by increasing the engine torque through the intake air amount increase control of the host vehicle if the relative distance between the subsequent vehicle and the host vehicle is not secured as a safety distance after transmission of the alarm message; Transmitting a warning sound in stages when a relative distance with a subsequent vehicle approaches a collision distance; When the relative distance is secured to a safe distance without the risk of collision by the acceleration control of the driver according to the transmission of the warning sound for each step, the vehicle collision prevention method characterized in that the reset to the initial operation.

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