KR101552017B1 - Performance enhanced driver assistance systems and controlling method for the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving assistance system and a control method thereof, According to another aspect of the present invention, there is provided a control method of a driving assist system having improved performance, comprising: recognizing a target object; Determining a driver correspondence to the target object; Storing the driver correspondence according to a relative distance and relative speed with the target object; And automatically controlling the vehicle with respect to a new target object according to the stored driver correspondence, wherein the driver correspondence is one of acceleration, braking, and direction change of the vehicle, and when the driver correspondence is the braking, If the value obtained by dividing the relative distance with the target object by the relative speed is smaller than a preset threshold value of collision, storing the estimated collision time as a learning collision expected time; And braking the vehicle when the value obtained by multiplying the collision prediction time, which is a value obtained by dividing the relative distance with the new target object by the relative speed, is multiplied by a weight, which is smaller than the expected collision prediction time.

Description

[0001] The present invention relates to a driving assist system and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving assist system having improved performance and a control method thereof, and more particularly, to a driving assist system having improved performance reflecting a driver tendency and a control method thereof.

The driver assistance system uses a state-of-the-art sensor to detect the risk of collision in the same way as the driver recognizes through visual, auditory, and tactile factors, alerting the driver of the risk of an accident, slowing down the speed for avoiding front / Or actively performing emergency braking. In addition, the Advanced Driver Assistance System (ADAS) can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.

The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.

The Advanced Emergency Braking System (AEBS) detects the possibility of collision with an automobile located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, This is a system for automatically braking the vehicle for the purpose of stopping the vehicle.

Adaptive Cruise Control (ACC) is a system in which the vehicle autonomously travels at a speed set by the driver. This system interrupts the traffic flow when a preceding vehicle that runs at a speed lower than the driver's set speed appears during self-driving. So that the vehicle can follow the preceding vehicle. The present invention also provides a function of automatically stopping a vehicle when a preceding vehicle stopped at an intersection or the like during driving and automatically starting the vehicle when the preceding vehicle departs.

In addition, the driving assistance system includes a lane departure warning system (LDWS), a lane keeping assist system (LKAS), blind spot detection (BSD) -end Collision Warning System (RCW), and Smart Parking Assist System (SPAS).

Such a driving assistance system is operated irrespective of the driver's tendency and gives a sense of heterogeneity to the driver.

SUMMARY OF THE INVENTION [0006] The present invention provides a driver assistance system and a control method thereof that reflect a driver tendency.

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

According to an aspect of the present invention, there is provided a control method of a driving assist system having improved performance, comprising: recognizing a target object; Determining a driver correspondence to the target object; Storing the driver correspondence according to a relative distance and relative speed with the target object; And automatically controlling the vehicle with respect to a new target object according to the stored driver correspondence, wherein the driver correspondence is one of acceleration, braking, and direction change of the vehicle, and when the driver correspondence is the braking, If the value obtained by dividing the relative distance with the target object by the relative speed is smaller than a preset threshold value of collision, storing the estimated collision time as a learning collision expected time; And braking the vehicle when the value obtained by multiplying the collision prediction time, which is a value obtained by dividing the relative distance with the new target object by the relative speed, is multiplied by a weight, which is smaller than the expected collision prediction time.

According to an aspect of the present invention, there is provided a driving assist system having improved performance, including: a vision module that captures an image of a vehicle outside and recognizes a target object; A radar module for sensing a relative distance and a relative speed with respect to the target object; An acceleration input module for outputting an acceleration signal for accelerating the vehicle according to a driver's operation; A braking input module for outputting a braking signal for braking the vehicle in response to a driver's operation; A steering input module for outputting a steering signal for changing a traveling direction of the vehicle according to a driver's operation; A power / brake module for accelerating or braking the vehicle; A steering module for changing the traveling direction of the vehicle; And a controller for storing the output signal corresponding to the relative distance with the target object and the relative speed when the at least one of the acceleration signal, the braking signal, and the steering signal is output, , And the driver correspondence is one of acceleration, braking, and direction change of the vehicle, and the controller controls the power / braking module or the steering module according to the driver correspondence stored for a new target object recognized by the vision module The controller estimates the collision prediction time as a collision prediction time if the value obtained by dividing the relative distance with the target object by the relative velocity is smaller than the threshold value for which the collision prediction time is set And estimates the collision expected time, which is a value obtained by dividing the relative distance with the new target object by the relative speed And when the value obtained by multiplying the weight value is smaller than the learning collision expected time, the power / braking module is controlled to brake the vehicle.

The details of other embodiments are included in the detailed description and drawings.

According to the driving assistance system and the control method of the present invention, one or more of the following effects can be obtained.

First, it learns the driving behavior of the driver about the target object and has the advantage of controlling the cruise by reflecting it on the new target object.

Second, there is an advantage that the driver's response can be accurately reflected by storing the driver's correspondence according to the relative distance and the relative speed with the target object.

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

1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating a method of learning driver's propensity in a driving assistance system control method according to an embodiment of the present invention.
4 is a flowchart illustrating an adaptive cruise control method in a driving assistance system control method according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, the present invention will be described with reference to the drawings for explaining a driving assistance system and a control method thereof according to embodiments of the present invention.

FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.

The driving assistance system according to an embodiment of the present invention includes a vision module 131 for capturing an image of a vehicle outside and recognizing a target object, a radar module 132 for sensing a relative distance and a relative speed between the target object and the target object, An acceleration input module 121 for outputting an acceleration signal for accelerating the vehicle in accordance with a driver's operation, a braking input module 122 for outputting a braking signal for braking the vehicle in accordance with the operation of the driver, A steering input module (123) for outputting a steering signal for changing the traveling direction of the vehicle, and a steering angle sensor for detecting an output And a controller 111 for storing the received signal in response to the driver.

The acceleration input module 121 is an operation device of the driver for increasing the speed of the vehicle. The acceleration input module 121 increases the power of the power / brake module 192 to increase the speed of the vehicle. Generally, the acceleration input module 121 increases the speed of the vehicle by increasing the rotation of the vehicle engine. The acceleration input module 121 is generally provided as an accelerator pedal in the form of a pedal below the driver's seat of the vehicle.

The acceleration input module 121 can input the acceleration degree according to the operation of the driver. If the acceleration input module 121 is an accelerator pedal, the degree of acceleration may be input according to the pedestrian pressure.

When the driver operates the acceleration input module 121, the acceleration input module 121 outputs an acceleration signal including the acceleration degree to the controller 111. [ The controller 111 controls the power / braking module 192 according to the input acceleration signal to accelerate the vehicle. According to the embodiment, the acceleration input module 121 can directly control the power / braking module 192 to accelerate the vehicle.

The braking input module 122 is an operation device of the driver for reducing the speed of the vehicle or for braking the vehicle. The braking input module 122 reduces the power of the power / braking module 192 or generates a braking force to decelerate or brak down the vehicle. Generally, the braking input module 122 operates a brake that applies a frictional force to a disk of a vehicle's wheel to reduce the speed of the vehicle. Depending on the embodiment, the braking input module 122 may directly reduce the rotation of the vehicle engine or operate a reduction device such as a retarder. The braking input module 122 is generally provided as a brake pedal in the form of a pedal below the driver's seat of the vehicle.

The braking input module 122 can be inputted with the degree of deceleration according to the operation of the driver. When the braking input module 122 is a brake pedal, the degree of deceleration may be inputted according to the pedal pressure.

When the driver operates the braking input module 122, the braking input module 122 outputs the braking signal including the degree of deceleration to the controller 111. [ The controller 111 controls the power / braking module 192 according to the input braking signal to decelerate or brak down the vehicle. The braking input module 122 can directly control the power / braking module 192 to decelerate or brak down the vehicle.

The steering input module 123 is an operation device of the driver for changing the traveling direction of the vehicle. The steering input module 123 changes the steering angle of the steering module 193 to change the traveling direction of the vehicle. In general, the steering input module 123 changes the direction of the rotation axis of the vehicle front wheel to change the traveling direction of the vehicle. The steering input module 123 is generally provided as a steering wheel on the dashboard in front of the driver's seat of the vehicle. The steering input module 123 can input the degree of change of the traveling direction according to the operation of the driver.

When the driver operates the steering input module 123, the steering input module 123 outputs the steering signal including the degree of change of the traveling direction to the controller 111. [ The controller 111 controls the steering module 193 according to the input steering signal to change the traveling direction of the vehicle. According to the embodiment, the steering input module 123 may be mechanically connected to the steering module 193 or directly controlled to change the traveling direction of the vehicle.

The speed detection module 141 detects the current speed of the vehicle. The speed sensing module 141 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output shaft of the transmission connected to the engine of the vehicle to calculate the current speed of the vehicle. The speed sensing module 141 may include a speed sensor for sensing the rotation speed and a processor for calculating the current speed value of the vehicle.

The speed detection module 141 outputs the sensed speed value of the vehicle to the controller 111. [

The posture sensing module 142 senses the posture variation of the vehicle. The posture sensing module 142 senses a variation of at least one of a pitch axis, a yaw axis, and a roll axis and senses a yaw rate in the present embodiment. That is, in the present embodiment, the attitude sensing module 142 senses the yaw rate of the vehicle and senses the degree of rotation of the vehicle. The posture detection module 142 may include a gyro sensor or an acceleration sensor for detecting attitude variation, a processor for calculating a variation value, and the like.

The posture detection module 142 outputs the detected posture variation value of the vehicle to the controller 111. [

The driver recognition module 151 recognizes and distinguishes the driver who is currently driving the vehicle. The driver recognition module 151 can recognize the driver of the vehicle in various ways. The driver recognition module 151 recognizes the driver according to the vehicle smart key, the FOB key, and the remote controller for the vehicle owned by the driver, or recognizes the driver according to the driver's seat setting.

The driver recognition module 151 outputs the recognized driver information to the controller 111. [

The vision module 131 is a device for recognizing an object outside the vehicle by photographing an image outside the vehicle and discriminating the type of the object. The vision module 131 is generally disposed at the front end of the vehicle and photographs an image of the front of the vehicle.

As shown in FIG. 2 (a), the vision module 131 can distinguish the road R and recognize various objects O on the road R to recognize and distinguish the objects. The vision module 131 can recognize whether the object O is a vehicle, a person, or a simple object by recognizing the shape of the object O. In the case of a vehicle, the vision module 131 can discriminate whether it is a passenger car, a truck or a two-

The vision module 131 can recognize the lane L on the road R and discriminate whether the lane L is a general lane or a center line or a curb line or a separate lane. In addition, the vision module 131 can recognize and distinguish a curb or a walk on the road.

The vision module 131 can recognize the lane N between the lane L and the lane L through the recognized lane L. [ The vision module 131 can recognize the lane N in which the subject vehicle H equipped with the vision module 131 is running. The vision module 131 may also recognize which lane N the recognized object O is located on or the recognized object O lies on the lane L. [

The recognition and the discrimination of the object O can be performed in the vision module 131 itself or in the controller 111 through the image photographed by the vision module 131. [

The vision module 131 has a constant field of view. As shown in FIG. 2 (a), the vision module 131 photographs the objects O in the clock F. FIG. According to the embodiment, the vision module 131 can change the shooting direction up and down and / or left and right. That is, the vision module 131 can change the center of the clock F up and down and / or right and left.

The vision module 131 may include a camera that captures an image, a processor that processes the captured image, and a memory that stores data. According to the embodiment, the vision module 131 may include a driving device capable of changing the photographing direction of the camera.

The vision module 131 may output the photographed image data to the controller 111 or output information of the recognized object O to the controller 111. [

The radar module 132 is an apparatus that emits an electromagnetic wave to a target object O and then receives an electromagnetic wave reflected from the object O and senses a distance, a position, a direction, and a speed with respect to the object O. The radar module 132 is generally disposed at the front end of the vehicle to calculate the distance to the target object O in front of the vehicle and the like. According to an embodiment, the radar module 132 may be a lidar that fires a laser at the object O. [

The radar module 132 detects the distance, the position, the direction, the speed, and the like to the target object T which is a specified one among the various objects O as shown in FIG. 2 (b). The target object T is selected from the data detected by the radar module 132 and the vision module 131 as the object O to be tracked by the controller 111 and is generally set to the radar module 132 and the vision module 131, Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed.

The radar module 132 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.

The radar module 132 outputs information such as distance, position, direction, speed, etc. to the object O to the controller 111. [

In this embodiment, the radar module 132 senses the relative distance and relative speed between the subject vehicle H and the target object T, and outputs the detected distance to the controller 111. [

The warning module 191 is a device for giving a warning to the driver who drives the vehicle. The warning module 191 can warn various audiences visually, audibly and tactually according to the embodiment. The warning module 191 may display a warning on the dash panel of the driver's seat, head-up display, navigation, integrated information display device and the like. The warning module 191 can make a warning through the speaker of the vehicle. The warning module 191 can warn the driver by vibrating the handle of the vehicle or tightening the seat belt.

The warning module 191 may operate under the control of the controller 111 to alert the driver.

The power / brake module 192 is a device that accelerates, decelerates, or brakes the vehicle. The power / brake module 192 may include an engine and / or a motor that generates a rotational force to rotate the wheels of the vehicle, and a transmission that changes the rotation ratio of the engine and / or the motor. The power / brake module 192 may include a brake and / or retarder that generates a braking force or reduces rotation of the engine and / or motor.

The power / braking module 192 may operate under the control of the controller 111 or may be operated by the acceleration input module 121 or the braking input module 122.

The steering module 193 is a device for changing the traveling direction of the vehicle. The steering module 193 includes a gear mechanism and a link mechanism that change the rotational axis direction of the front wheel of the vehicle.

The steering module 193 may operate according to the control of the controller 111 or may be operated by the steering input module 123.

The controller 111 includes an acceleration input module 121, a braking input module 122, a steering input module 123, a vision module 131, a radar module 132, a speed sensing module 141, And the driver recognition module 151, and controls the warning module 191, the power / brake module 192, and the steering module 193 according to the processed result. The controller 111 may include a network such as a CAN (Controller Area Network) for data communication with each module.

The controller 111 stores the driver correspondence according to the relative distance and the relative speed with respect to the target object T in the memory 112 and automatically controls the vehicle with respect to the new target object T in accordance with the stored driver response. A detailed description thereof will be described later with reference to FIG. 3 and FIG.

Memory 112 stores programs, instructions, and data. The controller 111 stores data in the memory 112 or calls programs, commands, or data stored in the memory 112. [

FIG. 3 is a flowchart illustrating a method of learning driver's propensity in a driving assistance system control method according to an embodiment of the present invention.

The driver recognition module 151 recognizes the driver (S210). The driver recognition module 151 can recognize the driver of the vehicle in various ways by the driver recognition module 151. In this embodiment, the driver recognition module 151 recognizes the driver according to the vehicle smart key owned by the driver. The driver recognition module 151 outputs the recognized driver information to the controller 111 and the controller 111 stores the driver information in the memory 112. [

The radar module 132 and the vision module 131 recognize the target object T (S220). The target object T is selected from the data detected by the radar module 132 and the vision module 131 as the object O to be tracked by the controller 111 and is generally set to the radar module 132 and the vision module 131, Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed. The radar module 132 senses the relative distance and the relative speed with the recognized target object T. [

The controller 111 determines whether there is a driver correspondence to the target object T (S230). The driver's response is that the driver accelerates or brakes the vehicle in response to the target object T or changes the traveling direction of the vehicle. Here, changing the traveling direction of the vehicle is to change the lane N during driving. At least two of accelerating, braking, and changing the traveling direction can be performed at the same time for the driver. That is, the acceleration and the change of the traveling direction can be performed at the same time, or the braking and the traveling direction can be changed at the same time. Here, simultaneous means that there is a time to be made at the same time even if the starting point and the ending point are different.

The controller 111 determines whether an acceleration signal is output from the acceleration input module 121, a braking signal is output from the braking input module 122, or a steering signal is output from the steering input module 123. The controller 111 determines that there is a driver's response when at least one of the acceleration signal, the braking signal, and the steering signal is input.

The controller 111 continuously detects whether or not the driver responds until a driver response occurs.

When there is a driver response, the controller 111 stores the driver correspondence in the memory 112 according to the relative distance and the relative speed with respect to the target object T (S240). The controller 111 stores the relative distance and the relative speed with respect to the target object T sensed by the radar module 132 in the memory 112 together with the generated driver response when the driver response occurs.

The controller 111 preferably stores the driver correspondence in the memory 112 according to the relative distance and relative speed to the target object T for each recognized driver.

The stored driver response is at least one of an acceleration signal, a braking signal, and a steering signal, and stores the acceleration degree included in the acceleration signal, the deceleration degree included in the braking signal, and the degree of change in the traveling direction included in the steering signal.

When the collision prediction time ttc, which is a value obtained by dividing the relative distance D with the target object T by the relative velocity V when the braking signal is outputted, is smaller than the set threshold value, The expected time is stored in the memory 112 as the learning collision expected time.

That is, when the collision expected time ttc = relative distance D / relative speed V,

If the collision expected time ttc < threshold value,

Estimated learning collision time (lttc) = expected collision time (ttc)

4 is a flowchart illustrating an adaptive cruise control method in a driving assistance system control method according to an embodiment of the present invention.

The driver recognition module 151 recognizes the driver (S310). The driver recognition module 151 outputs the recognized driver information to the controller 111 and the controller 111 stores the driver information in the memory 112. [

The controller 111 determines whether the driving assist system is operating (S320). The controller 111 determines whether the adaptive cruise control system, in particular the driving assist system, is operating.

When the driving assist system is in operation, the radar module 132 senses the relative distance and the relative speed with respect to the new target object T 'recognized by the vision module 131 (S330). The new target object T 'may be the same as or different from the above-described target object T as the target object being tracked by the current controller 111. The radar module 132 outputs to the controller 111 the relative distance and the relative speed to the detected new target object T '.

The controller 111 calls the stored driver correspondence corresponding to the relative distance and the relative speed in the memory 112 (S340). The controller 111 calls the driver's correspondence in the memory 112 according to the relative distance and the relative speed to the recognized operation. The controller 111 calls the driver correspondence corresponding to the relative distance and the relative speed to the new target object T in the driver-driver correspondence stored in the memory 112. [

It is preferable that the called driver response is at least one of an acceleration signal including an acceleration degree, a braking signal including a deceleration degree, and a steering signal including a degree of change of a traveling direction.

The controller 111 automatically controls the vehicle according to the called driver's response (S350). The controller 111 controls the power / braking module 192 to accelerate the vehicle when the called driver response is an acceleration signal. The controller 111 controls the power / braking module 192 to brake the vehicle when the called driver corresponds to the braking signal. The controller 111 controls the steering module 193 to change the traveling direction of the vehicle when the called driver's response is the steering signal.

The controller 111 calls the learning collision prediction time lttc stored in the memory 112 to calculate the relative distance D 'with respect to the new target object T' The controller 111 controls the power / braking module 192 to control the power / braking module 192 so that the value of the vehicle collision prediction time ttc ', which is a value obtained by multiplying the collision expected time ttc' Can braking.

That is, when the estimated collision time ttc '= the relative distance D' / the relative speed V '

&Lt; Impact Estimation Time ttc &lt; Learning Collision Estimated Time (ttc ') *

Perform vehicle braking.

When an acceleration signal is outputted from the acceleration input module 121 or a braking signal is outputted from the braking input module 122 or a steering signal is outputted from the steering input module 123 according to the operation of the driver according to the embodiment, 111 can stop the automatic vehicle control and control the vehicle according to the output signal.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

Claims (5)

A control method for a driving assist system having improved performance,
Recognizing a target object;
Determining a driver correspondence to the target object;
Storing the driver correspondence according to a relative distance and relative speed with the target object; And
And automatically controlling the vehicle with respect to a new target object according to the called driver's correspondence after calling the driver correspondence in which the relative distance and the relative speed with the new target object match in the stored driver correspondence,
Wherein the driver response is at least one of acceleration, braking,
Storing the collision prediction time as a collision prediction time when the collision prediction time, which is a value obtained by dividing the relative distance with the target object by the relative speed, is less than a preset threshold value when the driver corresponding to the braking is braking; And
And braking the vehicle when the value obtained by multiplying the collision predicted time, which is a value obtained by dividing the relative distance with the new target object by the relative speed, is multiplied by a weight, which is smaller than the estimated collision predicted time. The method according to claim 1,
Further comprising the step of recognizing a driver driving the vehicle,
And the driver correspondence is stored for each of the recognized drivers. The method according to claim 1,
Wherein the target object is selected from a vision module for capturing an image of the outside of the vehicle and recognizing the object, and a radar module for sensing a distance and a velocity between the target object and the vision module,
Wherein the relative distance to the target object and the relative speed are detected from the radar module. In a driving assistance system with improved performance,
A vision module for capturing an image outside the vehicle and recognizing a target object;
A radar module for sensing a relative distance and a relative speed with respect to the target object;
An acceleration input module for outputting an acceleration signal for accelerating the vehicle according to a driver's operation;
A braking input module for outputting a braking signal for braking the vehicle in response to a driver's operation;
A steering input module for outputting a steering signal for changing a traveling direction of the vehicle according to a driver's operation;
A power / brake module for accelerating or braking the vehicle;
A steering module for changing the traveling direction of the vehicle; And
Wherein when at least one of the acceleration signal, the braking signal, and the steering signal is output, the output signal corresponding to the relative distance to the target object and the relative speed is stored in correspondence with the driver, And a controller for automatically controlling the vehicle with respect to a new target object in response to the called driver's response after calling the driver's correspondence in which the relative distance and the relative speed with the new target object coincide with each other,
Wherein the driver response is at least one of acceleration, braking,
Wherein the controller controls the power / brake module or the steering module according to the driver's correspondence stored for a new target object recognized by the vision module,
Wherein the controller stores the estimated collision time as a collision expected time if the estimated collision time, which is a value obtained by dividing the relative distance with the target object by the relative speed, is less than a preset threshold value when the driver corresponding to the driver is braking And braking the vehicle by controlling the power / braking module when a value obtained by multiplying a collision prediction time, which is a value obtained by dividing a relative distance with the new target object by a relative speed, is multiplied by a weight. 5. The method of claim 4,
Further comprising: a driver recognition module for recognizing a driver driving the vehicle,
Wherein the controller sets the driver correspondence for each driver recognized by the driver recognition module.

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