JP2018151846A - Vehicle guidance system and vehicle guidance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide an approaching vehicle 109 which incorrectly entered a connecting road 102 connecting the general road and the toll road to an exit road 103.SOLUTION: A second measuring instrument 112 is provided in a second area 105 in a three way path 101 and measures a second distance with the approaching vehicle 109. A third measuring instrument 113 is provided opposite to the second measuring instrument 112 across the connecting road 102 and measures a third distance with the approaching vehicle 109. Based on the second distance and the third distance, a control device determines whether or not the approaching vehicle 109 is heading toward the main line.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a system and method for guiding a vehicle.

Smart interchanges are used in toll areas such as highways, service areas, parking areas or bus stops.
A smart interchange is an interchange provided with a lane for ETC. ETC is an abbreviation for electronic fee collection system. ETC is a registered trademark.

Patent Document 1 discloses a system that safely guides a general vehicle that has erroneously entered an entrance / exit for an ETC vehicle.
In this system, three circuit breakers and four vehicle detection devices are used.

  In the system disclosed in Patent Document 1, since the vehicle passes through two breakers, the stress on the driver increases. In addition, since the number of circuit breakers and vehicle detection devices is large, the cost burden on the road operator increases.

Japanese Patent Laid-Open No. 2006-173860

  An object of the present invention is to make it possible to guide a vehicle that erroneously enters a connecting road that connects a first road (for example, a general road) and a second road (for example, a toll road) to the exit road.

In the vehicle guidance system according to the present invention, an approaching vehicle that has entered the connecting road is a three-way road where a connecting road connecting the first road and the second road intersects with an exit road branched from the connecting road. It is a system for guiding to either of the exit paths.
The vehicle guidance system includes:
A second measurement is provided in a second area, which is an area closer to the second road, of the two areas located on the three-way crossing the exit road, and measures a second distance from the approaching vehicle. And
A third measuring instrument that is provided opposite to the second measuring instrument across the connecting path and measures a third distance from the approaching vehicle;
And a control device for determining whether the approaching vehicle is heading for the second road based on the second distance and the third distance.

  ADVANTAGE OF THE INVENTION According to this invention, it can be determined whether the vehicle which approached the connection road which connects a 1st road (for example, general road) and a 2nd road (for example, toll road) is heading to a 2nd road. Therefore, it becomes possible to guide the vehicle that has erroneously entered the connecting road to the exit road.

1 is a configuration diagram of a vehicle guidance system 100 according to Embodiment 1. FIG. FIG. 2 is a configuration diagram of a control device 120 in the first embodiment. FIG. 3 is a configuration diagram of a three-way road 101 in the first embodiment. The figure which shows the condition when the approaching vehicle 109 arrives at the three-way 101 in Embodiment 1. FIG. The figure which shows the condition when the approaching vehicle 109 advances to the main line in Embodiment 1. FIG. The figure which shows the condition when the approaching vehicle 109 advances toward the exit path 103 in the first embodiment. The figure which shows the structure of the present smart interchange. The hardware block diagram of the control apparatus 120 in embodiment.

  In the embodiment and the drawings, the same reference numerals are given to the same elements or elements corresponding to each other. Description of elements having the same reference numerals will be omitted or simplified as appropriate.

Embodiment 1 FIG.
The form which guides a vehicle by a smart interchange is demonstrated based on FIGS. 1-8.

*** Explanation of configuration ***
Based on FIG. 1, the structure of the vehicle guidance system 100 is demonstrated.
The vehicle guidance system 100 includes a first measuring instrument 111, a second measuring instrument 112, a third measuring instrument 113, a vehicle sensor 160, and a control device 120.
The vehicle guidance system 100 further includes a guidance display 131, a toll collection system 140, and a traffic controller 150.
The toll collection system 140 includes a roadside device 141. The roadside machine 141 includes a roadside antenna 142. Specifically, the fee collection system 140 is ETC (registered trademark).

Based on FIG. 2, the structure of the control apparatus 120 is demonstrated.
The control device 120 is a computer including hardware such as a processor 901, a memory 902, an auxiliary storage device 903, and a communication device 904. These hardwares are connected to each other via signal lines.

  The control device 120 includes a determination unit 121, a message control unit 122, a toll collection control unit 123, a traffic control unit 124, a storage unit 125, and a communication unit 126 as functional components. The determination unit 121, the message control unit 122, the toll collection control unit 123, and the traffic control unit 124 are realized by software.

The auxiliary storage device 903 stores a vehicle guidance program that realizes the determination unit 121, the message control unit 122, the toll collection control unit 123, and the traffic control unit 124. The vehicle guidance program is loaded into the memory 902 and executed by the processor 901.
Data obtained by executing the vehicle guidance program is stored in a storage device such as the memory 902, the auxiliary storage device 903, a register in the processor 901, or a cache memory in the processor 901.

The memory 902 functions as a storage unit 125 that stores data. However, another storage device may function as the storage unit 125 instead of the memory 902 or together with the memory 902.
The communication device 904 functions as the communication unit 126 that communicates data.

The control device 120 may include a plurality of processors that replace the processor 901. The plurality of processors share execution of the vehicle guidance program.
The vehicle guidance program can be stored in a computer-readable manner in a non-volatile storage medium such as a magnetic disk, an optical disk, or a flash memory. A non-volatile storage medium is a tangible medium that is not temporary.

Based on FIG. 3, the structure of the three-way road 101 where the approaching vehicle 109 is guided will be described.
In the first embodiment, the three-way fork 101 is provided in the smart interchange.

The three-way 101 is an intersection where the connecting road 102 and the exit road 103 intersect and its periphery.
The connecting road 102 is a road that connects the first road and the second road. In the first embodiment, the first road is a general road and the second road is a main line. General roads are non-pay roads, and the main road is a toll road.
The exit path 103 is a road branched from the connection path 102 and is connected to a general road.
The approaching vehicle 109 is a vehicle that has entered the connection path 102. The approaching vehicle 109 is guided to either the main line or the exit path 103.

  The area closer to the general road out of the two areas located across the exit path 103 in the three-way 101 is referred to as a first area 104. Of the two areas, an area closer to the main line is referred to as a second area 105.

The first measuring instrument 111 is a device that is provided beside the exit path 103 in the first zone 104 and measures the distance from the approaching vehicle 109. The distance measured by the first measuring instrument 111, that is, the distance from the first measuring instrument 111 to the approaching vehicle 109 is referred to as a first distance L1.
The second measuring instrument 112 is a device that is provided at a location where the connecting road 102 and the exit road 103 intersect in the second section 105 and measures the distance from the approaching vehicle 109. The distance measured by the second measuring instrument 112, that is, the distance from the second measuring instrument 112 to the approaching vehicle 109 is referred to as a second distance L2.
The third measuring instrument 113 is a device that is provided opposite to the second measuring instrument 112 across the connecting path 102 and measures the distance from the approaching vehicle 109. The distance measured by the third measuring instrument 113, that is, the distance from the third measuring instrument 113 to the approaching vehicle 109 is referred to as a third distance L3.
Specifically, the 1st measuring device 111, the 2nd measuring device 112, and the 3rd measuring device 113 are apparatuses which measure the distance with the approaching vehicle 109 using an electronic beacon. For example, an electronic beacon is a pulse wave.

For example, each measuring instrument measures the distance from the approaching vehicle 109 as follows.
The measuring instrument transmits an electronic beacon to the vehicle-mounted device mounted on the approaching vehicle 109. The on-vehicle device responds to the electronic beacon when it receives the electronic beacon transmitted from the measuring instrument. The measuring device receives the electronic beacon that is responded from the vehicle-mounted device. And a measuring device approximates the distance with the approaching vehicle 109 using the delay time after transmitting an electronic beacon until receiving an electronic beacon.

  The guidance display 131 is a display provided on the three-way intersection 101. In the first embodiment, the guidance display 131 is provided in the second area 105. Specifically, the guidance display 131 is provided at a location where the connection path 102 and the exit path 103 intersect in the second area 105.

  The traffic controller 150 is a device that restricts traffic to the main line on the connection path 102. The traffic controller 150 is provided on the connection path 102 closer to the main line across the exit path 103. In the first embodiment, the traffic controller 150 is a circuit breaker that raises and lowers the control rod.

  The roadside antenna 142 is an antenna for communicating with the vehicle-mounted device mounted on the approaching vehicle 109. The roadside antenna 142 is provided on the connection path 102 closer to the general road across the exit path 103.

  A range in which charges are collected by the charge collection system 140 via the roadside antenna 142 is referred to as a charge collection range 106.

  The vehicle sensor 160 is a sensor for detecting the approaching vehicle 109 that has entered the toll collection range 106. The vehicle sensor 160 is provided on the connection path 102 closer to the general road across the exit path 103. That is, the vehicle sensor 160 is provided in the vicinity of the roadside antenna 142. Specifically, the vehicle sensor 160 is provided in the toll collection range 106.

*** Explanation of operation ***
A vehicle guidance method will be described with reference to FIGS.
The vehicle guidance method corresponds to the operation of the vehicle guidance system 100.

FIG. 4 shows a situation when the approaching vehicle 109 reaches the toll collection range 106.
When the vehicle sensor 160 detects the approaching vehicle 109, the vehicle sensor 160 transmits a detection signal to the control device 120.
When the detection signal is transmitted from the vehicle sensor 160, the control device 120 operates as follows.
The communication unit 126 receives the detection signal.
When the detection signal is received, the fee collection control unit 123 operates the fee collection system 140. Specifically, the toll collection control unit 123 transmits a toll collection command to the roadside device 141 via the communication unit 126. The charge collection command is a command for instructing the charge collection.

When a fee collection command is transmitted from the control device 120, the fee collection system 140 operates as follows.
The roadside device 141 determines whether toll collection communication with the vehicle-mounted device mounted on the approaching vehicle 109 is possible. The toll collection communication is road-to-vehicle communication that is performed between the roadside device 141 and the vehicle-mounted device for collecting tolls.
When toll collection communication is possible, the roadside device 141 performs toll collection communication with the vehicle-mounted device, and the toll collection system 140 collects tolls for the approaching vehicle 109. Then, the roadside device 141 transmits a toll collection notification to the control device 120. The toll collection notice is a notice notifying that the toll collection has been performed.
If the toll collection communication is not possible, the roadside device 141 transmits a toll collection notification to the control device 120. The non-acquisition notification is a notification notifying that the fee cannot be collected.

When the toll collection notification is transmitted from the roadside device 141, the control device 120 operates as follows.
The communication unit 126 receives a fee collection notification.
When the toll collection notification is received, the traffic control unit 124 controls the traffic controller 150 to cancel the restriction on traffic to the main line.
Specifically, the traffic control unit 124 transmits a release command to the traffic controller 150 via the communication unit 126. The cancellation command is a command for canceling the restriction on traffic to the main line. The traffic controller 150 receives the release command, lifts the control rod, and releases the restriction on the traffic to the main line.

When the fee collection notification is received, the message control unit 122 causes the guidance display 131 to display the third guidance message.
The third guidance message is a message for guiding the approaching vehicle 109 to the main line. For example, the third guidance message is a message “Please enter the main line”.
Specifically, the message control unit 122 transmits a third guidance command to the guidance display 131 via the communication unit 126. The third guidance command is a command for instructing display of the third guidance message. The guidance display 131 receives the third guidance command and displays a third guidance message.

The driver of the approaching vehicle 109 confirms the third guidance message displayed on the guidance display 131 and advances the approaching vehicle 109 to the main line.
After the approaching vehicle 109 passes, the traffic controller 150 lowers the control rod and restricts traffic to the main line.

If the toll collection notification has not been received, the traffic control unit 124 controls the traffic controller 150 to limit traffic to the main line.
Specifically, when the toll collection notification has not been received, the traffic control unit 124 does not transmit a release command to the traffic controller 150. As a result, restrictions on traffic to the main line are not lifted.

When a receipt / impossibility notification is transmitted from the roadside device 141, the control device 120 operates as follows.
The communication unit 126 receives a receipt / impossibility notification.
When the receipt / impossibility notification is received, the message control unit 122 causes the guidance display 131 to display the second guidance message.
The second guidance message is a message for guiding the approaching vehicle 109 to the exit path 103. For example, the second guidance message is a message “Please exit from the exit route”.
Specifically, the message control unit 122 transmits the second guidance command to the guidance display 131 via the communication unit 126. The second guidance command is a command for instructing display of the second guidance message. The guidance display 131 receives the second guidance command and displays a second guidance message.

  The driver of the approaching vehicle 109 confirms the second guidance message displayed on the guidance display 131 and advances the approaching vehicle 109 toward the exit path 103.

FIG. 5 shows a situation where the approaching vehicle 109 has advanced toward the main line.
The second measuring instrument 112 repeats the measurement of the distance L2 with the approaching vehicle 109. Then, every time the distance L2 is measured, the second measuring instrument 112 notifies the control device 120 of the distance L2.
The third measuring instrument 113 repeats the measurement of the distance L3 with the approaching vehicle 109. Each time the distance L3 is measured, the third measuring instrument 113 notifies the control device 120 of the distance L3.

Each time the distance L2 and the distance L3 are notified, the control device 120 operates as follows.
First, the communication unit 126 receives the notification of the distance L2 and the notification of the distance L3.
Next, the determination part 121 determines whether the approaching vehicle 109 is heading to the main line based on the distance L2 and the distance L3. Specifically, the determination unit 121 compares the distance L2 and the distance L3 with the arrival determination range. When both the distance L2 and the distance L3 are included in the arrival determination range, the determination unit 121 determines that the approaching vehicle 109 is heading toward the main line. The arrival determination range is a predetermined distance range.
The determination unit 121 may determine whether the approaching vehicle 109 has entered the exit path 103 based on the distance L1, the distance L2, and the distance L3. The determination unit 121 may determine whether the approaching vehicle 109 has entered the exit path 103 based on any one of the distance L1, the distance L2, and the distance L3.
Although there is only one vehicle (the approaching vehicle 109) in the drawing, the following vehicle may reach the toll collection range 106 immediately after the first vehicle reaches the toll collection range 106. When the vehicles are connected in a daisy chain, the gate is opened by determining to which vehicle the gate (traffic control device 150) may be opened. Therefore, it is determined for each vehicle whether the vehicle is headed to the main line or the exit path.

  The toll collection result is determined at the timing when the approaching vehicle 109 exceeds the traffic controller 150, that is, the timing when the entering vehicle 109 enters the main line.

FIG. 6 shows a situation where the approaching vehicle 109 has traveled toward the exit path 103.
The first measuring instrument 111 repeats the measurement of the distance L1 with the approaching vehicle 109. Then, every time the distance L1 is measured, the first measuring instrument 111 notifies the control device 120 of the distance L1.
The second measuring instrument 112 repeats the measurement of the distance L2 with the approaching vehicle 109. Then, every time the distance L2 is measured, the second measuring instrument 112 notifies the control device 120 of the distance L2.

Each time the distance L1 and the distance L2 are notified, the control device 120 operates as follows.
First, the communication unit 126 receives the notification of the distance L1 and the notification of the distance L2.
Next, the determination unit 121 determines whether the approaching vehicle 109 has entered the exit path 103 based on the distance L1 and the distance L2. Specifically, determination unit 121 compares distance L1 and distance L2 with the exit determination range. When both the distance L1 and the distance L2 are included in the exit determination range, the determination unit 121 determines that the approaching vehicle 109 has entered the exit path 103. The exit determination range is a predetermined distance range. However, the determination unit 121 may determine whether the approaching vehicle 109 has entered the exit path 103 based on either the distance L1 or the distance L2.
When it is determined that the approaching vehicle 109 has entered the exit path 103, the message control unit 122 deletes the displayed guidance message from the guidance display 131. Specifically, the message control unit 122 transmits an erasure command to the guidance display 131. The erase command is a command for instructing to erase the displayed guidance message. The guidance display 131 receives the erase command and erases the displayed guidance message. For example, the guidance display 131 erases the second guidance message or the third guidance message.

If it is determined that the approaching vehicle 109 has entered the exit path 103 and the toll collection notification has been received, the toll collection control unit 123 cancels the toll collection in the toll collection system 140. Make it. Specifically, the fee collection control unit 123 transmits a cancellation command to the fee collection system 140 via the communication unit 126. The cancellation instruction is an instruction for instructing cancellation of toll collection.
In other words, when the toll collection communication is performed in the toll collection range 106 and the approaching vehicle 109 enters the exit path 103 intentionally or mistakenly, the toll collection result is discarded.

It supplements about the road-vehicle communication performed between the roadside machine 141 and onboard equipment.
The roadside device 141 transmits a WCN (wireless code number), a roadside device identifier, and toll gate information to the vehicle-mounted device via the roadside antenna 142. The roadside machine identifier is an identifier of the roadside machine 141. Tollgate information is information corresponding to the identifier of the smart interchange.
When the in-vehicle device confirms that the roadside device identifier is valid, it stores the toll gate information in the built-in memory. Further, the vehicle-mounted device transmits the WCN and the vehicle-mounted device information to the roadside device 141 via the roadside antenna 142. The in-vehicle device information includes an on-vehicle device identifier, vehicle type information, contract information, traffic history information, and the like. The vehicle-mounted device identifier is an identifier of the vehicle-mounted device, and the vehicle type information is information indicating the type of vehicle on which the vehicle-mounted device is mounted. The contract information is information for calculating and charging a fee. For example, the contract information is billing account information. The traffic history information is information on a toll gate that the vehicle has traveled before.
In this way, information related to automatic toll collection is transferred between the roadside device 141 and the vehicle-mounted device by road-to-vehicle communication.

*** Effects of Embodiment 1 ***
The vehicle guidance system 100 in Embodiment 1 has the following remarkable effects as compared with the current smart interchange as shown in FIG.
As shown in FIG. 7, in the current smart interchange, three traffic controllers 150 are used. Therefore, the cost burden on road operators is large.
The three traffic controllers 150 are provided at three locations serving as entrances and exits of the three-way intersection 101. Therefore, the approaching vehicle 109 must pass through the two traffic controllers 150 regardless of whether the vehicle enters the main line or the exit road 103. As a result, the stress on the driver increases.
In addition, if the vehicle is accidentally entered into the connecting road 102 without intending to enter the main line, the driver can use the connecting road to open the traffic controller 150 provided at the entrance of the exit road 103. It is necessary to stop the vehicle at 102 and contact the staff using the intercom. The clerk needs to guide the vehicle to the exit path 103 by performing a remote operation on the traffic controller 150. Subsequent vehicles need to wait for the vehicle to leave the exit path 103. In such a case, although the smart change is installed for the purpose of improving the convenience of the user, the convenience of the user is lowered along with the operation efficiency of the smart interchange.

On the other hand, the vehicle guidance system 100 according to the first embodiment guides the approaching vehicle 109 by grasping the approaching vehicle 109 with a radio wave beacon instead of blocking the passage by the traffic controller 150.
Even in this method, it is possible to ensure the operation in which the approaching vehicle 109 that cannot be confirmed by the ETC card and the vehicle-mounted device is not put on the main line.
In addition, even if the approaching vehicle 109 guided to the main line after toll collection has left the exit route 103 by mistake, it is possible to grasp the position of the entering vehicle 109 with a radio beacon. Thus, the toll collection can be performed correctly for the following vehicle.
A driver who does not intend to use the main line may simply leave the approaching vehicle 109 from the exit path 103 without interacting with the staff. Therefore, the operation efficiency of smart interchange is not lowered.
There is one traffic controller 150 through which the entering vehicle 109 passes when entering the main line, and there are zero traffic controllers 150 through which the entering vehicle 109 passes when exiting the exit path 103. Therefore, it is possible to reduce the driver's stress.

*** Other configurations ***
In the first embodiment, the guidance display 131 is an example of an output device that outputs a guidance message.
Instead of the guidance display 131 or together with the guidance display 131, a guidance speaker, a vehicle-mounted display, a vehicle-mounted speaker, or the like may be used as an output device.
The induction speaker is a speaker provided on the three-way road 101. The guidance speaker outputs a guidance message by voice.
The in-vehicle display is a display mounted on the approaching vehicle 109. The in-vehicle display displays a guidance message.
The in-vehicle speaker is a speaker mounted on the approaching vehicle 109. The in-vehicle speaker outputs a guidance message by voice.

  The approaching vehicle 109 may be a vehicle that performs automatic driving. That is, the approaching vehicle 109 may be provided with an automatic driving device, and the automatic driving device may drive the approaching vehicle 109 by determining the traveling direction instead of the driver. For example, the automatic driving device determines a traveling direction by analyzing a communication result with the ETC or a radio wave beacon from each measuring instrument. The radio wave beacon includes position information and other information.

*** Supplement to the embodiment ***
In the embodiment, the function of the control device 120 may be realized by hardware.
FIG. 8 shows a configuration when the function of the control device 120 is realized by hardware.
The control device 120 includes a processing circuit 990. The processing circuit 990 is also called a processing circuit.
The processing circuit 990 is a dedicated electronic circuit that implements the determination unit 121, the message control unit 122, the toll collection control unit 123, the traffic control unit 124, and the storage unit 125.
For example, the processing circuit 990 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, GA, ASIC, FPGA, or a combination thereof. GA is an abbreviation for Gate Array, ASIC is an abbreviation for Application Specific Integrated Circuit, and FPGA is an abbreviation for Field Programmable Gate Array.

  The control device 120 may include a plurality of processing circuits that replace the processing circuit 990. The plurality of processing circuits share the role of the processing circuit 990.

  The embodiments are exemplifications of preferred forms and are not intended to limit the technical scope of the present invention. The embodiment may be implemented partially or in combination with other embodiments.

100 vehicle guidance system, 101 three-way crossing, 102 connecting road, 103 exit road, 104 first zone, 105 second zone, 106 toll collection range, 109 approaching vehicle, 111 first measuring instrument, 112 second measuring instrument, 113 third Measuring instrument, 120 control device, 121 determination unit, 122 message control unit, 123 toll collection control unit, 124 traffic control unit, 125 storage unit, 126 communication unit, 131 guidance display, 140 toll collection system, 141 roadside machine, 142 roadside Antenna, 150 Traffic controller, 160 Vehicle sensor, 901 Processor, 902 Memory, 903 Auxiliary storage device, 904 Communication device, 990
Processing circuit.

Claims (7)

An approaching vehicle that has entered the connecting road at a three-way intersection where a connecting road connecting the first road and the second road intersects with an exit road branched from the connecting road is either the second road or the exit road. A vehicle guidance system for guiding,
A second measurement is provided in a second area, which is an area closer to the second road, of the two areas located on the three-way crossing the exit road, and measures a second distance from the approaching vehicle. And
A third measuring instrument that is provided opposite to the second measuring instrument across the connecting path and measures a third distance from the approaching vehicle;
A vehicle guidance system provided with a control device which judges whether the approaching vehicle is going to the 2nd road based on the 2nd distance and the 3rd distance. The second measuring device is a device that measures the second distance using a radio wave beacon,
The vehicle guidance system according to claim 1, wherein the third measuring instrument is a device that measures the third distance using a radio wave beacon. The said control apparatus makes the output apparatus output the 2nd guidance message which guides the said approach vehicle to the said exit path, when the collection of the charge by a fee collection system is not possible with respect to the said approach vehicle. The vehicle guidance system described in 1. The control device causes the output device to output a third guidance message for guiding the approaching vehicle to the second road when the toll collection is performed on the approaching vehicle by the toll collection system. Item 4. The vehicle guidance system according to Item 3. The connection road is provided with a traffic controller that restricts traffic to the second road,
The control device restricts traffic to the second road by controlling a traffic controller when the toll collection by the toll collection system is not performed on the approaching vehicle, The vehicle according to any one of claims 1 to 4, wherein when receipt is performed on the approaching vehicle, the restriction on passage to the second road is canceled by controlling the traffic controller. Guidance system. The output device is
An induction display provided in the three-way crossing;
An induction speaker provided at the three-way crossing;
An in-vehicle display mounted on the approaching vehicle;
The vehicle guidance system according to claim 3 or 4, wherein the vehicle guidance system is at least one of a vehicle-mounted speaker mounted on the approaching vehicle. An approaching vehicle that has entered the connecting road at a three-way intersection where a connecting road connecting the first road and the second road intersects with an exit road branched from the connecting road is either the second road or the exit road. A vehicle guidance method for guiding,
A second measuring device is provided in a second area, which is an area closer to the second road, of the two areas located on the three-way crossing the exit road, and a second distance from the approaching vehicle. Measure
A third measuring instrument is provided opposite the second measuring instrument across the connecting path, and measures a third distance from the approaching vehicle;
A vehicle guidance method in which the control device determines whether the approaching vehicle is heading for the second road based on the second distance and the third distance.

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