JP2008009703A - Vehicular driving assist system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular driving assist system which warns a driver in accordance with a distance between an obstacle and a vehicle and a risk level determined by a type of the obstacle. <P>SOLUTION: The vehicular driving assist system which is mounted on the vehicle and provides the driver with information relating to obstacles around the vehicle to assist the driver in driving includes: a reaction force transmission device 3 for informing the driver of information relating to the obstacles, a sensor 2 for sensing an obstacle, and an operation device 1 for calculating a risk level of the sensed obstacle and changes an informing operation of the reaction force transmission device 3 in accordance with the calculation result of risk level calculation. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving assistance system for a vehicle that assists driving by providing a driver with information related to an obstacle that is mounted on the vehicle and exists around the vehicle.

2. Description of the Related Art Conventionally, there is known a vehicular driving assistance system that allows a driver to accurately recognize a risk potential and a danger level around a vehicle and appropriately assist a driving operation. As such a system, for example, in Patent Document 1 (Japanese Patent Laid-Open No. 2001-109999), traveling environment detection means for detecting the traveling environment of the host vehicle and traveling of the host vehicle based on the traveling environment are disclosed. Narrow path detecting means for detecting a narrow path in the direction, ideal path estimating means for estimating an ideal path through which the host vehicle passes the narrow path, and steering when the host vehicle travels on the ideal path. A vehicle driving support comprising: a steering start position calculating means for calculating a position where the vehicle should start; and an audible notification means for starting an audible notification at the steering start position of the host vehicle. An apparatus is disclosed.
JP-A-2001-109999

  The vehicle driving support device disclosed in Patent Document 1 has a mechanism for notifying the driver of the risk by an audible notification means, that is, a sound. However, the driver gradually gets used to experiencing such notification means many times, and even if the notification means is activated and hears an alarm sound, there is a problem that the driver is not aware of danger. .

  Moreover, the vehicle driving assistance device disclosed in Patent Document 1 does not perform notification according to the type of obstacle. That is, in the apparatus of Patent Document 1, since only a certain notification operation is performed for an obstacle such as a wall, the driver must be aware of the importance of the danger according to the type of the obstacle. There was a problem that it was not possible.

  In order to solve such a problem, the invention according to claim 1 is a vehicle driving assistance that assists driving by providing a driver with information related to an obstacle mounted on the vehicle and existing around the vehicle. In the system, a notification means for notifying a vehicle driver of information related to an obstacle, an obstacle detection means for detecting an obstacle, and a risk level for calculating a risk level of an obstacle detected by the obstacle detection means. The notification operation status of the notification unit is changed according to the calculation unit and the calculation result of the risk level calculation unit.

  Further, the invention according to claim 2 is the vehicle driving assistance system according to claim 1, wherein the obstacle detection means detects the distance to the obstacle and / or the type of the obstacle, and The degree calculating means calculates the degree of risk based on a distance to the obstacle and / or a type of the obstacle.

  According to a third aspect of the present invention, in the vehicle driving assistance system according to the first or second aspect of the present invention, the notifying means generates a reaction force transmission device that generates a reaction force in the steering and / or vibrations in the steering wheel. It is a vibration generating device that generates noise.

  According to a fourth aspect of the present invention, in the vehicular driving assistance system according to the third aspect, the magnitude of the reaction force of the reaction force transmission device increases as the degree of risk calculated by the risk level calculation means increases. It changes so that it may become.

  According to a fifth aspect of the present invention, in the vehicular driving assistance system according to the third or fourth aspect, the greater the degree of risk calculated by the risk level calculating means, the higher the frequency of vibration of the vibration generating device. It is characterized by changing to be higher.

  According to a sixth aspect of the present invention, in the vehicular driving assistance system according to any one of the third to fifth aspects, the greater the degree of risk calculated by the risk level calculating means, the greater the vibration of the vibration generating device. It is characterized by changing so that the space | interval of may be shortened.

  The present invention provides an assist mechanism that notifies the driver of the danger according to the degree of danger, that is, the distance between the obstacle and the vehicle and the kind of the obstacle. And according to the present invention, because it is driving assistance according to the distance determined by the distance between the obstacle and the vehicle, and the type of obstacle, the warning habituation by the driver's auxiliary device is also overcome. It has become. In addition, according to the present invention, since the driver receives a warning according to the degree of danger, the driver can be aware of the importance of the degree of danger according to the type of obstacle, Anxiety during driving can be reduced.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an outline of a system configuration of a vehicle driving assistance system according to an embodiment of the present invention, and FIG. 2 is a reaction force transmission device for a vehicle driving assistance system according to an embodiment of the present invention. FIG. 3 is a diagram showing an operation of a vehicle equipped with the vehicle driving assistance system according to the embodiment of the present invention.

  In FIG. 1, 1 is an arithmetic unit such as a CPU or ECU (electronic control unit), 2 is a sensor for detecting the surrounding situation of the vehicle, and 3 is a reaction force transmission device that generates a reaction force on the steering wheel. In FIG. 2, 4 is a steering for performing a steering operation of the vehicle, 5 is an encoder constituting the reaction force transmission device, and 6 is an actuator constituting the reaction force transmission device.

  In the system configuration of the vehicle driving assistance system of FIG. 1, only the part according to the embodiment of the present invention is illustrated, and the arithmetic unit 1 includes sensors for performing other controls than driving assistance, Further, control devices for controlling various devices mounted on the vehicle according to the sensing results of these sensors, a mass storage device, a communication device, and the like are connected. Non-volatile storage means such as a ROM (not shown) is connected to the arithmetic device 1, and the nonvolatile storage means is a program for operating the vehicle driving assistance system according to the present embodiment, as described above. A program for other control is stored and stored.

  The sensor 2 is, for example, an imaging device that acquires an image around the vehicle, such as a CCD camera, provided at the front, rear, and side of the vehicle, and a laser for detecting a distance from an obstacle around the vehicle. It consists of a ranging device or the like consisting of a radar or a millimeter wave radar. As an alternative to the CCD camera of the sensor 2, an infrared sensor may be used to determine a person, an animal, or an object based on the amount of infrared rays from the obstacle. Further, UWB may be used as a substitute for the CCD camera of the sensor 2. Further, as a substitute for the CCD camera of the sensor 2, a configuration may be adopted in which a three-dimensional object is discriminated by scanning using a laser sensor and the type of obstacle is specified. In the following description, the sensor 2 is assumed to be composed of an imaging device and a distance measuring device.

  The arithmetic unit 1 determines the type of obstacle (tree, grass, wall, car, motorcycle, bicycle, person, etc.) existing around the vehicle by analyzing the image obtained by the imaging device such as a CCD camera. In addition, information related to the distance to the obstacle is obtained by a distance measuring device such as a millimeter wave radar, and the vehicle driving assistance system of the present embodiment as described later is controlled.

  A steering 4 is provided in the driver's seat of the vehicle, and the driver steers the wheel by operating this. The reaction force transmission device 3 includes an encoder 5 and an actuator 6 mounted on the steering 4. In a normal driving operation, when the rotation angle of the steering wheel 4 is detected by the encoder 5, a reaction force corresponding to the rotation angle is applied to the steering wheel 4 by the actuator 6, thereby giving the driver an operational feeling in the rotation angle. Give. The calculation device 1 calculates the detection result from the encoder 5 and drives the actuator 6 according to the calculation. As will be described later, when the distance between the vehicle and the obstacle is reduced and the vehicle driving assistance system of the present embodiment is driven, the reaction force transmission device 3 performs a special operation in addition to the normal operation. It is configured. That is, as shown in FIG. 3, when the vehicle approaches an obstacle from (I) to (II), the arithmetic device 1 drives the vehicle driving assistance system of the present embodiment, and the reaction force transmission device 3 is specially operated. The driver is assisted by performing various actions.

  Next, how the vehicle driving assistance system of the present embodiment operates in cooperation with the arithmetic device 1, the sensor 2, and the anti-transmission device 3 will be described. FIG. 4 is a diagram showing an operation flow of the vehicle driving assistance system according to the embodiment of the present invention, and FIG. 5 shows a risk degree calculation routine in the vehicle driving assistance system according to the embodiment of the present invention. FIG. 6 is a diagram illustrating coefficients according to obstacles in the vehicle driving assistance system according to the embodiment of the present invention. In the operation flow of FIG. 4, the arithmetic device 1, the sensor 2, and the anti-transmission device 3 cooperate based on the program for the vehicle driving assistance system of the present embodiment described in the non-volatile storage means (not shown). Is realized. It can be considered that the program is one routine of a control program for the entire vehicle.

  Referring to FIG. 4, when a routine for a vehicle driving assistance system is started in step S100, an obstacle is detected based on information from the sensor 2 in step S101. As described above, the sensor 2 includes the imaging device and the distance measuring device, and information from these devices is used for calculation of the risk level in the next step S102. In step S103, the magnitude of the reaction force generated by the reaction force transmission device 3 is determined based on the calculated degree of risk. In step S104, a reaction force control process for controlling the reaction force transmission device 3 to the determined magnitude of the reaction force is performed by a signal from the arithmetic device 1, and a return is made in step S105.

  Next, a routine for calculating the degree of risk in step S102 will be described with reference to FIGS. First, when a routine for calculating the degree of risk is started in step S200, the coefficient of the target obstacle is acquired in step S201 according to the analysis result of the imaging device constituting the sensor 2. An example of this coefficient is as shown in FIG. 6, in which “coefficient (K)” corresponding to “type of obstacle” is defined. This is a coefficient according to the importance of the obstacle, “people” is the highest value “5”, next is “4” for bicycles, then “3” for “cars / bikes”, “ For example, “2” for “wall” and “1” for “tree / grass” are set as the minimum value. Such a method of determining the coefficients can be set as appropriate, and only an example is shown here.

  Next, in step S <b> 202, distance information (X) of the target obstacle is acquired from the distance measuring device constituting the sensor 2. Here, for example, a case where distance information (X) is managed in units of meters will be described. Next, (1 / X) * K is calculated in step S203, and a return is made in step S204. The value “(1 / X) * K” is a value defined as the degree of risk in the present invention.

  In step S203, for example, when the obstacle is “person” and the distance to the obstacle is 10 m, the value of the risk “(1 / X) * K” is “0.5”. Further, when the distance from the obstacle becomes 5 m, the value becomes “1”.

  For example, when the obstacle is “tree / grass” and the distance from the obstacle is 10 m, this value is “0.1”. Further, when the distance from the obstacle becomes 1 m, the value becomes “1”.

  Returning again to FIG. 4, the magnitude of the reaction force generated by the reaction force transmission device 3 is determined by the value of the risk “(1 / X) * K”. FIG. 7 is a diagram showing the relationship between the degree of risk and the magnitude of the reaction force in the vehicle driving assistance system according to the embodiment of the present invention. As shown in FIG. 7, the magnitude of the reaction force of the reaction force transmission device 3 is increased as the degree of danger increases. Then, the reaction force of the reaction force transmission device 3 is maximized with the danger level of 1 as a guide. When the obstacle type is “person”, when the distance is 5 m, the reaction force of the reaction force transmission device 3 is maximized, and when the obstacle type is “tree / grass”. When the distance is 1 m, the reaction force of the reaction force transmission device 3 is finally maximized.

  As described above, in the vehicle driving assistance system of the present embodiment, the reaction force generated by the reaction force transmission device 3 on the steering 4 according to the degree of danger, that is, the distance between the obstacle and the vehicle and the type of the obstacle. By changing, an assist mechanism that informs the driver of the danger can be provided. According to this, since it is driving assistance according to the distance determined by the distance between the obstacle and the vehicle and the type of the obstacle, the warning habituation by the driver's auxiliary device is also overcome. . In addition, according to this, since the driver receives a warning according to the degree of danger, the driver can be aware of the importance of the degree of danger according to the type of obstacle, etc. Anxiety during driving can be reduced.

  Next, a vehicle driving assistance system according to another embodiment of the present invention will be described. FIG. 8 is a diagram showing an outline of a system configuration of a vehicle driving assistance system according to another embodiment of the present invention, and FIG. 9 is a diagram of a vehicle driving assistance system according to another embodiment of the present invention. It is a figure which shows the warning by a vibration generator. The present embodiment is different from the previous embodiment in that the warning to the driver is performed by the vibration generator 8 that vibrates the steering wheel 4 without using the reaction force transmission device 3. Therefore, the configurations of the arithmetic device 1 and the sensor 2 are the same as those in the previous embodiment. And as shown in FIG. 8, the vibration generator 8 is connected with the arithmetic unit 1 and the sensor 2, and cooperates with these structures, and operate | moves as a driving assistance system for vehicles. The configuration for vibrating the steering 4 may be, for example, an actuator 6 or another new vibration generating means. As shown in FIG. 3, when the vehicle approaches the obstacle from (I) to (II), the distance between the vehicle and the obstacle is reduced, and the vehicle driving assistance system of the present embodiment is driven, the vibration generating device 8 is configured to transition from a normal stop state (the state shown in FIG. 9A) to a lead generation state (the state shown in FIG. 9B). The vibration generator 8 is controlled by the hydrochloric acid storage 1 to control the period of vibration and the time interval between the vibration and the next vibration.

  Next, how the vehicle driving assistance system of this embodiment operates in cooperation with the arithmetic device 1, the sensor 2, and the vibration generator 8 will be described. FIG. 10 is a diagram showing an operation flow of a vehicle driving assistance system according to another embodiment of the present invention. In the operation flow of FIG. 10, the arithmetic device 1, the sensor 2, and the vibration generating device 8 cooperate based on a program for a vehicle driving assistance system of the present embodiment described in a non-volatile storage means (not shown). Is realized. It can be considered that the program is one routine of a control program for the entire vehicle.

  Referring to FIG. 10, first, when a routine for the vehicle driving assistance system is started in step S300, an obstacle is detected based on information from the sensor 2 in step S301. As described above, the sensor 2 includes an imaging device and a distance measuring device, and information from these devices is used for calculation of the risk level in the next step S302. In step S303, the determination of the vibration period and vibration interval to be generated by the vibration generator 8 is determined based on the calculated degree of risk. In step S304, a vibration control process for controlling the vibration generator 8 according to the determined vibration period and vibration interval is performed by a signal from the arithmetic device 1, and the process returns in step S305.

  Also in the present embodiment, since the risk level calculation is the same as that of the previous embodiment, the description of the risk level calculation is omitted. Also in the present embodiment, the determination of the vibration period and the vibration interval generated by the vibration generator 8 is determined by the value of the risk “(1 / X) * K”. FIG. 11 is a diagram showing the relationship between the degree of risk and the vibration interval in the vehicle driving assistance system according to the embodiment of the present invention, and FIG. 12 is a vehicle driving assistance system according to the embodiment of the present invention. It is a figure which shows the relationship between the danger level in and the period of a vibration.

  As shown in FIG. 11, as the degree of risk increases, the vibration interval of the vibration generator 8 is set shorter. Then, the vibration interval of the vibration generator 8 is minimized with reference to when the danger level is 1. Also, as shown in FIG. 12, the vibration period of the vibration generator 8 is set shorter as the degree of risk increases. And the period of vibration of the vibration generator 8 is minimized with reference to when the degree of risk becomes 1. FIG. 13 shows a state of vibration by the vibration generator 8 set as described above. In FIG. 13, (a) shows the vibration when the degree of danger is relatively low, and (b) shows the vibration when the degree of danger is relatively high. As shown in FIG. 13A, when the degree of risk is low, the period of vibration is long, and the vibration interval from when a certain vibration stops once and the next vibration starts is also long. When the degree of danger increases, as shown in FIG. 13 (b), the period of vibration becomes shorter and the interval between vibrations becomes shorter, so the degree of warning for the driver can be increased.

  In the present embodiment, as in the previous embodiment, when the type of obstacle is “person”, the warning level by the vibration generator 8 is maximum at a distance of 5 m, and the type of obstacle is “tree / tree”. In the case of “grass”, the warning according to the type of obstacle and the distance to the obstacle is such that the warning degree of the vibration generator 8 is finally maximized when the distance is 1 m.

  Thus, in the vehicle driving assistance system of the present embodiment, the vibration generated by the vibration generator 8 of the steering 4 is changed according to the degree of risk, that is, the distance between the obstacle and the vehicle and the type of the obstacle. Thus, an assist mechanism that informs the driver of the danger can be provided. According to this, since it is driving assistance according to the distance determined by the distance between the obstacle and the vehicle and the type of obstacle, the warning habituation by the driver's auxiliary device is also overcome. . In addition, according to this, since the driver receives a warning according to the degree of danger, the driver can be aware of the importance of the degree of danger according to the type of obstacle, etc. Anxiety during driving can be reduced.

Next, a vehicle driving assistance system according to another embodiment of the present invention will be described. FIG. 14 is a diagram showing an outline of a system configuration of a vehicle driving assistance system according to another embodiment of the present invention.
This embodiment is characterized by performing both the warning operation by the reaction force transmission device 3 shown in the first embodiment and the warning operation by the vibration generator 8 shown in the second embodiment. The configurations of the arithmetic device 1 and the sensor 2 are the same as those of the previous embodiments. As shown in FIG. It becomes the composition which is done. These components cooperate with each other to operate as a vehicle driving assistance system of the present embodiment. A configuration of a reaction force transmission device 3 that generates a reaction force on the steering 4; Since the configuration of the vibration generator 8 that vibrates the tearing 4 is the same as that of the previous embodiment, the description thereof is omitted. In this embodiment, when the vehicle approaches an obstacle and warns the driver, both the warning by the reaction force transmission device 3 and the warning by the vibration generator 8 described so far are performed. Yes.

  Next, how the vehicle driving assistance system of the present embodiment operates in cooperation with the arithmetic device 1, the sensor 2, the reaction force transmission device 3, and the vibration generator 8 will be described. FIG. 15 is a diagram showing an operation flow of a vehicle driving assistance system according to another embodiment of the present invention. The operation flow of FIG. 15 is based on the program for the vehicle driving assistance system of the present embodiment described in the non-volatile storage means (not shown), the arithmetic device 1, the sensor 2, the reaction force transmission device 3, and the vibration generator. This is realized by the cooperation of 8. It can be considered that the program is one routine of a control program for the entire vehicle.

  Referring to FIG. 15, first, when a routine for a vehicle driving assistance system is started in step S400, an obstacle is detected based on information from the sensor 2 in step S401. As described above, the sensor 2 includes the imaging device and the distance measuring device, and information from these devices is used for calculation of the risk level in the next step S402. In step S403, the magnitude of the reaction force generated by the reaction force transmission device 3 is determined based on the calculated degree of risk. In step S <b> 404, a reaction force control process for controlling the reaction force transmission device 3 to the determined magnitude of the reaction force based on a signal from the arithmetic device 1 is performed. In step 4305, the vibration period and vibration interval to be generated by the vibration generator 8 are determined based on the calculated risk. In step S406, a vibration control process for controlling the vibration generator 8 according to the determined vibration period and vibration interval is performed based on the signal from the arithmetic device 1, and the process returns in step S407.

  Also in the present embodiment, since the risk level calculation is the same as that of the previous embodiment, the description of the risk level calculation is omitted. Also in the present embodiment, the magnitude of the reaction force generated by the reaction force transmission device 3, the vibration period generated by the vibration generation device 8, and the determination of the vibration interval are determined by the value of the risk “(1 / X) * K”. To do.

  FIG. 16 is a diagram showing the relationship between the degree of risk, the magnitude of reaction force, the vibration interval, and the vibration period in the vehicle driving assistance system according to the embodiment of the present invention. As shown in FIG. 16, the magnitude of the reaction force of the reaction force transmission device 3 is increased as the degree of danger increases. Then, the reaction force of the reaction force transmission device 3 is maximized with the danger level of 1 as a guide. Further, as shown in FIG. 16, the vibration interval of the vibration generator 8 is set to be shorter as the degree of risk increases. Then, the vibration interval of the vibration generator 8 is minimized with reference to when the danger level is 1. Further, as shown in FIG. 16, the vibration period of the vibration generator 8 is set to be shorter as the degree of risk increases. And the period of vibration of the vibration generator 8 is minimized with reference to when the degree of risk becomes 1.

  In the present embodiment, as in the previous embodiment, when the type of obstacle is “person”, the warning level by the vibration generator 8 is maximum at a distance of 5 m, and the type of obstacle is “tree / tree”. In the case of “grass”, the warning according to the type of obstacle and the distance to the obstacle is such that the warning degree of the vibration generator 8 is finally maximized when the distance is 1 m.

Thus, in the vehicle driving assistance system of the present embodiment, the reaction force generated by the reaction force transmission device 3 on the steering 4 according to the degree of risk, that is, the distance between the obstacle and the vehicle and the type of the obstacle, By changing the vibration generated by the vibration generator 8, an assist mechanism that informs the driver of the danger can be provided. According to this, since it is driving assistance according to the distance determined by the distance between the obstacle and the vehicle and the type of the obstacle, the warning habituation by the driver's auxiliary device is also overcome. . In addition, according to this, since the driver receives a warning according to the degree of danger, the driver can be aware of the importance of the degree of danger according to the type of obstacle, etc. Anxiety during driving can be reduced.

It is a figure showing the outline of the system configuration of the driving assistance system for vehicles concerning an embodiment of the invention. It is a figure which shows the outline | summary of the reaction force transmission apparatus of the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows operation | movement of the vehicle carrying the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows the operation | movement flow of the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows the risk calculation routine in the vehicle driving assistance system which concerns on embodiment of this invention. It is a figure which shows the coefficient according to the obstruction in the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows the relationship between the degree of danger and the magnitude | size of reaction force in the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows the outline of the system configuration | structure of the driving assistance system for vehicles which concerns on other embodiment of this invention. It is a figure which shows the warning by the vibration generator of the driving assistance system for vehicles which concerns on other embodiment of this invention. It is a figure which shows the operation | movement flow of the driving assistance system for vehicles which concerns on other embodiment of this invention. It is a figure which shows the relationship between the danger and the space | interval of a vibration in the vehicle driving assistance system which concerns on embodiment of this invention. It is a figure which shows the relationship between the danger level and the period of a vibration in the driving assistance system for vehicles which concerns on embodiment of this invention. It is a figure which shows the mode of a vibration of the vibration generator according to the risk in the vehicle driving assistance system which concerns on embodiment of this invention. It is a figure which shows the outline of the system configuration | structure of the driving assistance system for vehicles which concerns on other embodiment of this invention. It is a figure which shows the operation | movement flow of the driving assistance system for vehicles which concerns on other embodiment of this invention. It is a figure which shows the relationship between the degree of danger and the magnitude | size of reaction force, the space | interval of a vibration, and the period of a vibration in the driving assistance system for vehicles which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Arithmetic unit, 2 ... Sensor, 3 ... Reaction force transmission device, 4 ... Steering, 5 ... Encoder, 6 ... Actuator

Claims (6)

In a vehicle driving assistance system for assisting driving by providing information related to obstacles that are mounted on a vehicle and exist around the vehicle,
An informing means for informing the vehicle driver of information related to the obstacle;
Obstacle detection means for detecting obstacles;
A risk degree calculating means for calculating a risk degree of the obstacle detected by the obstacle detecting means;
A driving assistance system for a vehicle, wherein the notification operation status of the notification means is changed according to a calculation result of the risk level calculation means. The obstacle detection means detects the distance to the obstacle and / or the kind of the obstacle, and the risk calculation means is based on the distance to the obstacle and / or the kind of the obstacle. The vehicle driving assistance system according to claim 1, wherein a risk level is calculated. The vehicle driving assistance according to claim 1 or 2, wherein the notification means is a reaction force transmission device that generates a reaction force in the steering and / or a vibration generation device that generates a vibration in the steering. system. 4. The vehicular driving assistance system according to claim 3, wherein the magnitude of the reaction force of the reaction force transmission device increases as the degree of risk calculated by the risk level calculation means increases. 5. The vehicular driving assistance system according to claim 3, wherein a change is made such that the greater the degree of risk calculated by the risk level calculation means, the higher the frequency of vibration of the vibration generator. 6. The vehicular driving according to claim 3, wherein the greater the degree of risk calculated by the risk level calculation means, the shorter the vibration interval of the vibration generator is shortened. Auxiliary system.

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