KR20160059179A - Apparatus and method for controlling vehicle device using function for detecting rainfall - Google Patents

Abstract

The present invention provides a vehicle device control apparatus, and a vehicle device control method using a rainfall detection function. The vehicle device control apparatus determined whether or not rain falls using sound information inputted to a microphone and estimates precipitation to control a vehicle device. According to the present invention, the vehicle device control apparatus using a rainfall detection function comprises: a sound information obtaining unit obtaining sound information generated outside of a vehicle; a rainfall determination unit determining whether or not the rain falls by analyzing the sound information; a precipitation estimation unit estimating the precipitation based on the sound information when it is determined that the rain falls; and a vehicle device control unit controlling the vehicle device containing a wiper based on the precipitation and whether or not the rain falls.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control apparatus and method using a rainfall detection function,

The present invention relates to an apparatus and a method for controlling a vehicle device. More particularly, the present invention relates to an apparatus and method for controlling a vehicle device using a rain detection function.

In recent years, various technologies have been provided to provide driver with convenience during driving. One of them is to operate the wiper when driving on a rainy day.

For example, it is possible to operate the wiper when the refraction occurs by detecting the refraction of the light coming through the rain sensor attached to the driver's front glass.

However, in the above-described method, the rain sensor detects whether the light transmitted through the front of the driver's windshield is refracted, which may cause a malfunction in a portion where the light is severely changed, such as when coming out of a tunnel. It is difficult to determine the wiper speed according to the amount of rain.

Korean Patent No. 526,789 proposes a device for controlling the driving speed of a wiper of an automobile. However, this apparatus has a problem that the cost is excessively increased because the right sensor needs to be separately provided.

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems described above, and it is an object of the present invention to provide a vehicle device control apparatus using a rainfall sensing function for determining a rainfall using sound information input through a microphone (MIC) And to propose a method.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

The present invention has been made in order to achieve the above-mentioned object, and it is an object of the present invention to provide a sound information obtaining unit for obtaining sound information generated from the outside of a vehicle. A rainfall determination unit for analyzing the sound information to determine whether it is rain or not; A rainfall estimator for estimating a rainfall amount based on the sound information when it is determined to be rain; And a vehicle device control unit for controlling the vehicle device including the wiper based on the rainfall amount and the rainfall amount.

Preferably, the sound information obtaining unit obtains the sound information by removing the first sound information output from the AVN system of the vehicle from the information input by the microphone (MIC).

Preferably, the rainfall judging unit includes: a noise removing unit for removing second audio information having continuity in a time domain from the sound information; A pattern information extracting unit for extracting pattern information having a periodic pattern from the sound information after the second sound information is removed from the sound information; And a pattern information based determination unit for determining whether the rain is based on the pattern information.

Preferably, the noise removing unit removes the second audio information while transforming the sound information using a Discrete Fourier Transform (DFT).

Preferably, the pattern information extracting unit detects unit information from the sound information from which the second sound information is removed based on time information, generates the sound information in a two-dimensional matrix form, and extracts, based on the time information, And extracts a node that increases or decreases linearly with the pattern information.

Preferably, the rainfall estimating unit estimates the rainfall amount based on a magnitude value of the sound information from which the second sound information having continuity in the time domain is removed, and a period value of the time information.

Preferably, the rainfall estimator is configured to form the sound information based on the time information. The rainfall estimator divides the nodes having frequency components into at least two groups, and calculates a mean value and a deviation value calculated by the nodes of each group A frequency value is selected based on the frequency value, and a size value of the sound information and a period value of the time information are acquired based on the frequency value, or a size value of the sound information based on a frequency value of the largest number of nodes in each group And the period value of the time information.

Preferably, the vehicle device control unit controls an operation of the vehicle device by changing a switch setting value of the vehicle device using a BCM (Body Control Module).

Preferably, the vehicle device control section controls at least one of the wiper, the headlight, and the brake device with the vehicle device.

According to another aspect of the present invention, Analyzing the sound information to determine whether it is rain or not; Estimating a rainfall amount based on the sound information when it is determined that rain is coming; And controlling the vehicle device including the wiper based on the rainfall amount and the rainfall amount.

Preferably, the obtaining step obtains the sound information by removing the first sound information output from the AVN system of the vehicle from the information input to the microphone (MIC).

Preferably, the determining step may include: removing second audio information having continuity in a time domain from the audio information; Extracting pattern information having a periodic pattern from the sound information after the second sound information is removed from the sound information; And determining whether the rain is on the basis of the pattern information.

Preferably, the removing step removes the second audio information while the sound information is converted using a DFT (Discrete Fourier Transform).

Preferably, the extracting step detects unit information from the sound information from which the second sound information is removed based on time information, and generates the sound information in a two-dimensional matrix form. The unit information extracting unit extracts, from the unit information, And extracts a node that increases or decreases linearly with the pattern information.

Preferably, the estimating step estimates the rainfall amount based on a magnitude value of the sound information from which the second sound information having continuity in the time domain is removed, and a period value of the time information.

Preferably, the estimating step comprises dividing nodes having frequency components into at least two groups constituting the sound information on the basis of the time information, calculating an average value and a deviation value A frequency value of the sound information is obtained based on the frequency value and a frequency value of the sound information is obtained based on the frequency value of the largest number of nodes in each group, Value and the period value of the time information.

Preferably, the controlling step controls an operation of the vehicle device by changing a switch setting value of the vehicle device using a BCM (Body Control Module).

Preferably, the controlling step controls at least one of the wiper, the headlight, and the brake device with the vehicle device.

The present invention can obtain the following effects by determining whether rainfall is caused by using sound information input to a microphone (MIC) and by controlling a vehicle device by estimating a rainfall amount.

First, it is not necessary to additionally provide a sensor for detecting the proprietor by controlling the vehicle device by sensing the propriety by the SW judgment logic, and a connector for connecting the sensor for detecting the proprietor to the vehicle is also unnecessary.

Second, since it is not necessary to provide a sensor and sensor for detecting the right side to detect the right side, it is possible to reduce the weight and simplify the internal structure of the vehicle.

FIG. 1 is a conceptual diagram illustrating a propriety detection and vehicle device control system according to an embodiment of the present invention.
FIGS. 2 to 4 are reference views for explaining a method of determining rainfall and precipitation in the system of FIG. 1. FIG.
FIG. 5 is a flowchart illustrating a method of controlling a vehicle device according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 6 and FIG. 7 are reference views for explaining a method of controlling a vehicle device according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

FIG. 1 is a conceptual diagram illustrating a propriety detection and vehicle device control system according to an embodiment of the present invention.

The vehicle control system 100 is implemented as an SW function module inside a multimedia device for a vehicle and is configured to detect a weather change using internal modules installed in a multimedia head unit (H / U) And automatically detects rainfall (or rainfall) and controls the operation of the wiper and head lamp. In this type of vehicle detection and vehicle control system 100, it is possible to obtain information on whether rain and precipitation can be obtained without separately providing a sensor for detecting the right of use.

Referring to FIG. 1, a vehicle control system 100 includes a multimedia head unit 110, a body control module 120, a motor driven power steering (MDPS) MCU 131, a wiper MCU 132, And a head lamp MCU 133.

The multimedia head unit 110 includes a voice input device (MIC) 111, a memory unit 112, a CPU 113, a real time clock timer 114, and a vehicle network device 115.

The voice input device 111 performs a function of detecting an unexpected voice and vibration sound wave signal generated from the outside of the vehicle.

The CPU 113 performs a function of analyzing the frequency domain of the signal sensed by the voice input device 111 and calculating the propriety. The CPU 113 may be implemented including the right sensor SW logic.

In addition, the CPU 113 also notifies the BCM 120 of the visibility and the right-handedness data determined by the SW logic. The CPU 113 uses the on-vehicle network device 115 when notifying the BCM 120 of whether or not the vehicle is in a good state and the right-handed amount data. In this embodiment, the vehicle network device 115 may be implemented as a CAN (Controller Area Network), or may be implemented as a Local Interconnect Network (LIN), Flexray, Ethernet, or the like.

The CPU 113 can use the time information when calculating the right and left and right-handed amount data. At this time, the time information is obtained by the RTC timer 114.

On the other hand, the visibility and right-weighted amount data determined by the CPU 113 are stored in the memory unit 112. [

The BCM 120 performs a function of controlling operations of a wiper, a head lamp, a braking device, and the like based on the information received from the CPU 113. [

The BCM 120 may control the speed, intensity, etc. of the wiper, head lamp, and brake device by varying the switch setting value according to whether the vehicle is traveling through the vehicle network device 115 or the right-right amount data.

The MDPS MCU 131 controls the operation and the intensity of the brake device under the control of the BCM 120.

The wiper MCU 132 controls the operation of the wiper according to the control of the BCM 120 and the operation speed of the wiper.

The headlamp MCU 133 controls the operation of the headlamp according to the control of the BCM 120.

The above-described propriety detection and vehicle device control system 100 does not need to separately configure the propriety detection sensor or consider the mounting position of the sensor in design, and is designed as a multimedia device internal SW module basically installed in most vehicles, And performance can be easily upgraded through tuning, and the BCM 120 can transmit the information to the BCM 120 to widely use it as control information such as a wiper, a headlight, and a brake according to the design of the BCM 120.

Hereinafter, how the CPU 113 judges whether or not the image is blurred and how to determine the right-most amount of data will be described in more detail.

In the case of rain during driving, due to the structural characteristics of the vehicle and the natural nature of the rain, the rain that hits the vehicle occurs as a frequency sound wave of a specific period including information.

The present invention relates to a method for controlling a vehicle device by using a signal characteristic of a sound region of sound information acquired from the inside of the vehicle and determining whether or not the vehicle is skidding and the amount of rain (precipitation or rainfall) The CPU 113, the memory unit 112, the RTC timer 114, and the vehicle-mounted device 111, which are basically included in the multimedia head unit 110, And implemented as SW logic using the network device 150.

The CPU 113 extracts voice output values output from the multimedia device such as voice guidance of the navigation device and audio output of the radio and the media device from the input value to the MIC 111 to generate the self generated noise of the vehicle and the multimedia device generated noise as primary .

In the first-processed voice input, noise in the interior of the vehicle such as noise on the road surface, wind noise, and air conditioner operation sound, which are generated according to the driving speed of the vehicle, the driver's operation, the road surface characteristics, And exists as speech data having continuity in the time domain. If the CPU 113 converts the input value into a discrete Fourier transform (DFT), the spectrum can be defined as a spectrum of a specific area in the signal area, so that the noise can also be removed secondarily from the microphone input in real time.

In the signal area, the input difference due to the opening and closing of the window and the packing condition of the road changes only the weight of the same spectrum, so it does not become an issue in real time processing.

Also, the technique of separating the periodic pattern noise due to voice input from the signal region is not referred to in the present invention as a general-purpose signal processing noise canceling technique.

In this way, the voice input from which the half-order input noise is removed has only the sudden noises due to rain, the turntable, the road hole, etc. as data, and it is possible to separate the values having the double periodic pattern.

The embodiment of the present invention receives voice signals collected in the vehicle using voice input device (MIC) 111 of the multimedia device as data, and stores voice signal values output from the multimedia device through the CPU 113, (X value) of the correction input signal value after calculating the operation noise to obtain a difference (-), and then generates a pair including the periodic time signal value (y value) generated in the RTC timer 114, The voice signal Node is generated and stored in the memory unit 112 in a two-dimensional matrix format.

The CPU 113 analyzes the stored two-dimensional mattresses on the basis of the time axis to determine whether or not the nodules are linearly increasing / decreasing by analyzing the nodules which are linearly increased or decreased, and calculates the signal generation period (y value period) Change) to determine the amount of rain. At this time, Node values that are not periodically repeated or have no linear change are separated into noise components and are not utilized in the decision logic.

The switch setting values of the vehicle equipments of the BCM 120 are communicated through the communication with the BCM 120 using the vehicle network device 115 in the multimedia device based on the amount data of the ratio and the ratio determined by the CPU 113 Thereby controlling the operation of the wiper, the headlight, and the brake device.

The method of extracting the signal period and the signal size from the Matrix composed of the nodes of the correction input signal value (x value) and the time signal value (y value) collected in the vehicle utilizes the mathematical statistical technique of the signal processing region .

For this purpose, the CPU 113 divides the nodes into groups for each time zone, calculates a mean value of the nodes in each group, and selects a frequency having the smallest deviation and the average. Also, the CPU 113 may directly calculate the correlation of all the frequencies in each group, and calculate the frequency node that generates the most in each group at a representative frequency of the group. The two computation methods can be used by selecting a specific method according to the number of data nodes per unit group.

The multimedia device is built in most vehicles and can communicate with all the modules in the vehicle using the vehicle network device. The present invention realizes a signal processing system that does not receive the installation characteristics of a separate device as SW logic inside the multimedia device, so that all devices connected to the CAN network of the vehicle can be controlled with the same SW logic without any additional device.

FIGS. 2 to 4 are reference views for explaining a method of determining rainfall and precipitation in the system of FIG. 1. FIG. 2 to 4, the x-axis component represents the RTC operation period (in 10 ms units), and the y-axis component represents the input voice in the vehicle.

FIG. 2 is a diagram for explaining a process in which the CPU 113 interprets a voice input matrix per unit time and determines whether or not the voice input matrix is skipped. As shown in FIG. 2, the CPU 113 can judge that it is raining when the nodes tend to increase linearly at intervals of 30 ms.

FIG. 3 is a view for explaining a process of the CPU 113 judging the amount of precipitation by interpreting the speech input matrix per unit time. The CPU 113 can determine the instantaneous precipitation amount by increasing or decreasing the signal intensity based on the x value change and the y value period as shown in Fig.

FIG. 4 is a diagram for explaining a process of the CPU 113 to analyze the voice input matrix per unit time and determine whether or not the voice input is performed. The CPU 113 may judge that the ratio has not expired when it is determined that it is raining as shown in FIG. 4 and then the nodes tend to decrease linearly with a certain period of time.

Next, a description will be given of a method of operating the vehicle control system 100 according to the embodiment of the present invention.

FIG. 5 is a flowchart illustrating a method of controlling a vehicle device according to an exemplary embodiment of the present invention. Referring to FIG. FIG. 6 and FIG. 7 are reference views for explaining a method of controlling a vehicle device according to the present invention.

When the vehicle is running, the voice input device 111 operates periodically (S505) to acquire voice input to the outside of the vehicle (S510).

Then, the CPU 113 primarily removes the voice information output from the multimedia device for the vehicle from the input information obtained by the voice input device 111 (S515). FIG. 6 is a view showing a distribution of noise components of a primary processed voice input, and FIG. 7 is a diagram showing input values after noise removal by DFT processing.

Thereafter, the CPU 113 secondarily removes various kinds of noise caused by the vehicle apparatus (S520).

Thereafter, when the noise is removed through the first to the second filtering in the input information, the CPU 113 stores the candidate nodes constituting the information in the DB in the form of a two-dimensional matrix (S525).

Then, the CPU 113 determines whether the nodes have a cycle (S530).

If it is determined that the nodes do not have a cycle, the CPU 113 judges that it is not currently raining outside the vehicle.

On the other hand, if it is determined that the nodes have cycles, the CPU 113 determines whether the slope of the nodes linearly increases or decreases (S535).

If it is determined that the inclination value of the nodes does not linearly increase or decrease, the CPU 113 performs the process from step S505 again.

On the other hand, if it is determined that the inclination value of the node linearly increases or decreases, the CPU 113 determines that the vehicle is currently raining outside and determines the amount of the rain using the inclination value (S540).

1 to 7, an embodiment of the present invention has been described. Best Mode for Carrying Out the Invention Hereinafter, preferred forms of the present invention that can be inferred from the above embodiment will be described.

The apparatus for controlling a vehicle apparatus using a rainfall sensing function according to a preferred embodiment of the present invention includes a sound information obtaining unit, a rainfall judging unit, a rainfall estimating unit, a vehicle equipment control unit, a power supply unit and a main control unit.

The power supply unit performs a function of supplying power to each configuration constituting the vehicle equipment control apparatus. The main control unit performs a function of controlling the overall operation of each component constituting the vehicle equipment control apparatus. Considering that the vehicle device control apparatus is provided in the vehicle, the power supply unit and the main control unit can be implemented by the vehicle battery and the MCU (or ECU), so that the power supply unit and the main control unit may not be provided in the present embodiment.

The sound information obtaining unit obtains sound information generated from the outside of the vehicle.

The sound information obtaining unit may obtain the sound information by removing the first sound information output from the AVN system of the vehicle from the information input by the microphone (MIC).

The rainfall determination unit analyzes the sound information and determines whether or not it is rain.

The rainfall judging unit may include a noise removing unit, a pattern information extracting unit, and a pattern information based judging unit.

The noise removing unit removes the second audio information having continuity in the time domain from the sound information.

The noise removing unit may remove the second audio information while the sound information is converted using a DFT (Discrete Fourier Transform).

The pattern information extracting unit extracts pattern information having a periodic pattern from the sound information after the second sound information is removed from the sound information.

The pattern information extraction unit detects the unit information from the sound information from which the second sound information is removed based on the time information, generates the two-dimensional matrix form, and linearly increases or decreases the unit information Can be extracted as pattern information.

The pattern information base determination unit performs a function of determining whether or not it is raining based on the pattern information.

The rainfall estimating unit estimates the rainfall amount based on the sound information when it is determined that it is raining.

The rainfall estimating unit may estimate the rainfall amount based on the magnitude value of the sound information from which the second sound information having continuity in the time domain is removed and the period value of the time information.

The rainfall estimating unit forms sound information based on time information. The rainfall estimating unit divides the nodes having frequency components into at least two groups, selects a frequency value based on the average value and the deviation value calculated by the nodes of each group , And the magnitude value of the sound information and the period value of the time information can be obtained based on the frequency value.

Alternatively, the rainfall estimator may obtain the magnitude value of the sound information and the period value of the time information based on the frequency value of the most nodes in each group.

The vehicle device control unit performs a function of controlling the vehicle device including the wiper based on whether or not it is raining and the amount of rainfall.

The vehicle device control unit can control the operation of the vehicle device by changing a switch setting value of the vehicle device using a BCM (Body Control Module).

The vehicle device control unit can control at least one of the wiper, the headlight, and the brake device with the vehicle device.

Next, an operation method of the vehicle control apparatus using the rain detection function will be described.

First, the sound information obtaining unit obtains sound information generated from the outside of the vehicle.

Thereafter, the rainfall judging unit analyzes the sound information and judges whether it is rain or not.

If it is determined by the rainfall judging unit that rain is coming, the rainfall estimating unit estimates the rainfall amount based on the sound information.

Thereafter, the vehicle device control unit controls the vehicle device including the wiper on the basis of the result determined by the rainfall determination unit (i.e., whether or not it is rain) and the rainfall amount estimated by the rainfall estimation unit.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (15)

A sound information acquiring unit for acquiring sound information generated from the outside of the vehicle;
A rainfall determination unit for analyzing the sound information to determine whether it is rain or not;
A rainfall estimator for estimating a rainfall amount based on the sound information when it is determined to be rain; And
And a vehicle equipment control unit for controlling the vehicle equipment including the wiper based on the rainfall amount and the rainfall amount,
And a controller for controlling the vehicle device using the rain detection function. The method according to claim 1,
Wherein the sound information obtaining unit obtains the sound information by removing the first sound information output from the AVN system of the vehicle from the information input by the microphone (MIC). The method according to claim 1,
The rainfall-
A noise removing unit for removing second audio information having continuity in a time domain from the sound information;
A pattern information extracting unit for extracting pattern information having a periodic pattern from the sound information after the second sound information is removed from the sound information; And
Based on the pattern information, a pattern information-based determination unit
And a controller for controlling the vehicle device using the rain detection function. The method of claim 3,
Wherein the noise removing unit removes the second audio information while converting the sound information using a DFT (Discrete Fourier Transform). The method of claim 3,
Wherein the pattern information extraction unit detects unit information from the sound information from which the second sound information is removed based on the time information to generate the second information in a two-dimensional matrix form, and extracts, based on the time information, Wherein the pattern information extracting unit extracts a node that increases or decreases as the pattern information. The method according to claim 1,
Wherein the rainfall estimating unit estimates the rainfall amount based on a magnitude value of the sound information from which the second sound information having continuity in the time domain is removed and a period value of the time information, . The method according to claim 6,
The rainfall estimator is configured to divide the nodes having the frequency component into at least two groups constituting the sound information based on the time information, and calculate a rainfall amount based on the average value and the deviation value calculated by the nodes of each group Acquiring a magnitude value of the sound information and a period value of the time information based on the frequency value,
Wherein a value of the sound information and a period value of the time information are obtained on the basis of a frequency value of the largest number of nodes in each group. The method according to claim 1,
Wherein the vehicle device control unit controls the operation of the vehicle device by changing a switch setting value of the vehicle device using a BCM (Body Control Module). The method according to claim 1,
Wherein the vehicle device control unit controls at least one of the wiper, the headlight, and the braking device with the vehicle device. Obtaining sound information generated outside the vehicle;
Analyzing the sound information to determine whether it is rain or not;
Estimating a rainfall amount based on the sound information when it is determined that rain is coming; And
Controlling the vehicle device including the wiper based on whether or not the rain has occurred and the rainfall amount
And a rainfall detection function for detecting a rainfall. 11. The method of claim 10,
Wherein the acquiring step acquires the sound information by removing the first sound information output from the AVN system of the vehicle from information input to the microphone (MIC). 11. The method of claim 10,
Wherein the determining step comprises:
Removing second audio information having continuity in a time domain from the audio information;
Extracting pattern information having a periodic pattern from the sound information after the second sound information is removed from the sound information; And
Determining whether the rain is on the basis of the pattern information
And a rainfall detection function for detecting a rainfall. 13. The method of claim 12,
Wherein the extracting step detects unit information from the sound information from which the second audio information is removed based on the time information and generates the unit information in a form of a two-dimensional matrix, and extracts, from the unit information, Wherein the step of extracting a node that increases or decreases in accordance with the pattern information is performed. 11. The method of claim 10,
Wherein the estimating step estimates the rainfall amount based on a magnitude value of the sound information from which the second sound information having continuity in the time domain is removed and a period value of the time information, Way. 15. The method of claim 14,
Wherein the estimating step comprises: dividing nodes having frequency components into at least two groups constituting the sound information based on the time information, calculating frequency values based on an average value and a deviation value calculated by the nodes of each group, And acquiring a value of the sound information and a period value of the time information based on the frequency value,
Wherein a value of the sound information and a period value of the time information are obtained based on a frequency value of a node having the largest number of nodes in each group.

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