An early warning system and early warning method for blind area lane changing integration of an ADAS system

Abstract

The application discloses a kind of ADAS system blind area lane change integrated early warning system and early warning method, it is related to vehicle blind area monitoring technical field, the system includes: millimeter wave radar detection unit, integrated ultrasonic signal unit, front multifunctional camera, look around camera signal unit, early warning display unit, voice alarm unit and built-in central control unit, the present application can be realized when vehicle starts lane change turn signal or steering wheel steering, ADAS early warning system can be activated independently, through ADAS early warning system, the vehicle condition in the vehicle both sides and blind area is automatically collected and monitored, whether there is a car in side blind area is judged, and then through graphic display and side vehicle distance calculation analysis, whether the driver can carry out lane change operation is reminded by voice, solve the problem that traditional driver lane change steering cannot actively remind the driver that there is a vehicle in side blind area, there is the problem of safe hidden danger in lane change steering.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle blind area monitoring, in particular to an ADAS system blind area lane-changing integrated early warning system and method. BACKGROUND

[0002] The ADAS system installed on the whole vehicle in the current market adopts a millimeter wave radar installed on the front bumper (or front grille) of the whole vehicle, a monocular multifunctional camera installed beside the inside rearview mirror of the front windshield, and two millimeter wave radars installed on both sides of the rear bumper. The purpose of this type selection configuration is to save costs, but this configuration will cause obvious blind areas on both sides of the vehicle. When the ego vehicle changes lanes to the adjacent lane, there may be a vehicle in the adjacent lane, and the vehicle in the adjacent lane is in the blind area of the ego vehicle. In this case, if the ego vehicle changes lanes to the adjacent lane with a vehicle, the danger will be greatly increased, and the reason for the hidden danger is that there is no millimeter wave sensor to detect the vehicle in the adjacent lane in the blind area of the ego vehicle. Even if there are blind area ultrasonic radars installed on both sides of the vehicle body, the ultrasonic radar alone cannot solve the problem of early warning of the vehicle in the adjacent lane blind area during active lane changing. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides an ADAS system blind area lane-changing integrated early warning system and method, which solves the problem of serious safety hazards when the vehicle in the blind area changes lanes to the adjacent lane.

[0004] To achieve the above purpose, the present application is implemented by the following technical scheme: an ADAS system blind area lane-changing integrated early warning system, which comprises:

[0005] A millimeter wave radar detection unit for detecting obstacle information on the front and rear sides of the vehicle;

[0006] An integrated ultrasonic signal unit for detecting obstacle information in the left and right blind areas of the vehicle;

[0007] A front multifunctional camera installed on the inside of the front windshield for monitoring image information in front of the vehicle;

[0008] A surround view camera signal unit for collecting image information of the surrounding environment of the vehicle to generate a panoramic image of the surrounding environment of the vehicle;

[0009] An early warning display unit for displaying data information monitored by the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the surround view camera signal unit and the front multifunctional camera;

[0010] A voice alarm unit for sending an alarm signal according to the received monitoring data information;

[0011] The built-in central control unit is used for receiving and analyzing data information monitored by the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the surround view camera signal unit and the front multifunction camera.

[0012] As a further technical solution of the present application, the millimeter wave radar detection unit comprises:

[0013] The front millimeter wave radar is installed on the front bumper or the front grille of the vehicle and is used for monitoring obstacle information in front of the vehicle.

[0014] The rear millimeter wave radar 1 and the rear millimeter wave radar 2 are installed on both sides of the rear of the vehicle and are used for monitoring obstacle information behind the vehicle.

[0015] As a further technical solution of the present application, the integrated ultrasonic signal unit comprises:

[0016] The left blind area ultrasonic radar assembly is installed on the left side of the vehicle and is used for monitoring obstacle information on the left side of the vehicle.

[0017] The right blind area ultrasonic radar assembly is installed on the right side of the vehicle and is used for monitoring obstacle information on the right side of the vehicle.

[0018] As a further technical solution of the present application, the left blind area ultrasonic radar assembly comprises:

[0019] The left front millimeter radar 1 and the left front millimeter radar 2 are installed on the left front side of the vehicle.

[0020] The left middle millimeter radar 1 and the left middle millimeter radar 2 are installed on the left middle side of the vehicle.

[0021] The left rear millimeter radar 1 and the left rear millimeter radar 2 are installed on the left rear side of the vehicle.

[0022] The right blind area ultrasonic radar assembly comprises:

[0023] The right front millimeter radar 1 and the right front millimeter radar 2 are installed on the right front side of the vehicle.

[0024] The right middle millimeter radar 1 and the right middle millimeter radar 2 are installed on the right middle side of the vehicle.

[0025] The right rear millimeter radar 1 and the right rear millimeter radar 2 are installed on the right rear side of the vehicle.

[0026] As a further technical solution of the present application, the surround view camera signal unit comprises:

[0027] The front surround view camera is installed on the front grille or the front bumper of the vehicle and is used for collecting image information in front of the vehicle.

[0028] A left surround camera and a right surround camera are installed at the rearview mirrors of the vehicle to collect image information of the left and right sides of the vehicle.

[0029] A rear surround camera is installed at the middle of the rear side of the vehicle to collect image information of the rear of the vehicle.

[0030] As a further technical solution of the present application, the obstacle information includes: vehicles, objects, pedestrians and distances.

[0031] As a further technical solution of the present application, the output ends of the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the front multifunctional camera and the surround camera signal unit are connected to the input end of the built-in central control unit, and the output end of the built-in central control unit is connected to the input ends of the voice alarm unit and the early warning display unit, and the early warning display unit is a vehicle central control display device.

[0032] An early warning method for ADAS system blind area lane changing integration, the specific steps of the early warning method are as follows:

[0033] S1, whether the driver has a lane changing steering operation is determined through the vehicle steering wheel steering signal and the lane changing steering signal lamp information, if not, the straight driving state is maintained, the vehicle early warning system is not started, if yes, the vehicle early warning system is started according to the lane changing steering information;

[0034] S2, after the vehicle changes lane and steers, according to the lane changing steering information, the obstacle information of the front and rear sides of the vehicle is obtained through the millimeter wave radar detection unit, at the same time, the blind area information of the left and right sides of the vehicle is obtained by using the integrated ultrasonic signal unit;

[0035] S3, the surrounding influence information of the vehicle is obtained through the surround camera signal unit to generate a panoramic image;

[0036] S4, the obtained information of the front and rear sides of the vehicle and the information of the left and right blind areas is transmitted to the built-in central control unit, the built-in central control unit analyzes the obtained data information, processes and analyzes the image information obtained by the surround camera signal unit, calculates the distance data between the side vehicle and the vehicle, and displays the surrounding information of the vehicle through the early warning display unit, analyzes and judges the received data information and analyzes the distance between the side vehicle and the vehicle to determine whether the lane changing steering can be performed;

[0037] S5, if the lane changing steering can be performed, the voice alarm unit sends a signal of "no vehicle in the adjacent lane blind area, lane changing is allowed";

[0038] If there is a vehicle in the left or right blind area or a vehicle enters the blind area, the left and right blind area ultrasonic wave radar components will be triggered, and information will be transmitted to the built-in central control unit, and the vehicle position in the blind area will be displayed through the early warning display unit, and the voice alarm unit will issue an alarm signal "there is a vehicle in the adjacent lane blind area, please do not change lanes".

[0039] As a further technical solution of the present application, the distance data analysis and calculation of the side vehicle and the vehicle are as follows:

[0040] Suppose the height of the right surround-view camera is H, the tilt angle of the optical axis of the right surround-view camera and the road surface is θ, the image visual distance of the side vehicle and the vehicle is L, and the longitudinal vehicle distance of the driver and the side vehicle on the road is L1.

[0041]

[0042]

[0043] Further, when the vehicle is located below the center of the image acquisition of the surround-view camera signal unit, and the vertical distance to the image center in the image plane is a, the longitudinal vehicle distance of the side vehicle and the vehicle is L2, and the formula is as follows:

[0044]

[0045] The distance y1 from the image center in the frame storage coordinates is as follows: Wherein, dy is the physical size of the image pixel in the frame storage coordinates corresponding to the x-axis and y-axis directions of the image plane, i.e., dx and dy, and f is the focal length of the surround-view camera.

[0046] Advantages

[0047] The present application provides an ADAS system blind area lane changing integrated early warning system and method. Compared with the prior art, the following advantages are achieved:

[0048] An ADAS system blind area lane changing integrated early warning system and method, through the cooperation of the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the front multifunctional camera and the surround-view camera signal unit, the built-in central control unit, the early warning display unit and the voice alarm unit, the ADAS early warning system can be activated automatically when the vehicle turns on the lane changing turn signal or the steering wheel, the vehicle conditions on both sides and in the blind area are automatically collected and monitored through the ADAS early warning system, it is judged whether there is a vehicle in the side blind area, and then through the graphical display and the side vehicle distance calculation and analysis, the driver is reminded whether the lane changing operation can be performed through the voice, solving the problem that the traditional driver cannot actively remind the driver that there is a vehicle in the side blind area when changing lanes, and there is a safety hazard when changing lanes. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 Figure is a warning system diagram in a kind of ADAS system blind area lane change integrated warning system and warning method;

[0050] Figure 2 Figure is a schematic diagram in a kind of ADAS system blind area lane change integrated warning system and warning method;

[0051] Figure 3 Figure is the position distribution diagram of each monitoring unit on vehicle in a kind of ADAS system blind area lane change integrated warning system and warning method;

[0052] Figure 4 Figure is the side vehicle and visual field blind area display diagram in a kind of ADAS system blind area lane change integrated warning system and warning method;

[0053] Figure 5 Figure is the vehicle distance measurement schematic diagram of side vehicle and vehicle in a kind of ADAS system blind area lane change integrated warning system and warning method. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0055] Please refer to Figure 1 The present application provides a kind of ADAS system blind area lane change integrated warning system and warning method technical scheme: a kind of ADAS system blind area lane change integrated warning system, the system includes:

[0056] Millimeter wave radar detection unit, for detecting the obstacle information of vehicle front, rear side;

[0057] Further, millimeter wave radar detection unit includes:

[0058] Front millimeter wave radar installed on the front bumper or front grille of vehicle, for monitoring the obstacle information in front of vehicle;

[0059] Rear millimeter wave radar 1 and rear millimeter wave radar 2 installed on the rear side of vehicle, for monitoring the obstacle information in rear of vehicle;

[0060] Integrated ultrasonic signal unit, for detecting the obstacle information in the blind area of vehicle left and right;

[0061] Further, integrated ultrasonic signal unit includes:

[0062] A left blind area ultrasonic radar assembly is installed on the left side of the vehicle to monitor the obstacle information on the left side of the vehicle.

[0063] The left blind area ultrasonic radar assembly comprises:

[0064] A left front millimeter radar 1 and a left front millimeter radar 2 are installed on the left front side of the vehicle.

[0065] A left middle millimeter radar 1 and a left middle millimeter radar 2 are installed on the left middle of the vehicle.

[0066] A left rear millimeter radar 1 and a left rear millimeter radar 2 are installed on the left rear side of the vehicle.

[0067] A right blind area ultrasonic radar assembly is installed on the right side of the vehicle to monitor the obstacle information on the right side of the vehicle.

[0068] The right blind area ultrasonic radar assembly comprises:

[0069] A right front millimeter radar 1 and a right front millimeter radar 2 are installed on the right front side of the vehicle.

[0070] A right middle millimeter radar 1 and a right middle millimeter radar 2 are installed on the right middle of the vehicle.

[0071] A right rear millimeter radar 1 and a right rear millimeter radar 2 are installed on the right rear side of the vehicle.

[0072] A front multifunction camera is installed on the inner side of the front windshield to monitor the image information in front of the vehicle.

[0073] A surround view camera signal unit is used to collect image information for monitoring the surrounding environment of the vehicle, and generate a panoramic image of the surrounding environment of the vehicle.

[0074] Further, the surround view camera signal unit comprises:

[0075] A front surround view camera is installed on the front grille or the front bumper of the vehicle to collect image information in front of the vehicle.

[0076] A left surround view camera and a right surround view camera are installed on the left and right side mirrors of the vehicle to collect image information on the left and right sides of the vehicle.

[0077] A rear surround view camera is installed on the middle rear side of the vehicle to collect image information in the rear of the vehicle.

[0078] As Figure 3As shown, the figure number is the installation position of each monitoring unit on the vehicle, figure 1 is a front multifunctional camera, 2 is a front surround view camera, 21 is a left surround view camera, 22 is a right surround view camera, 23 is a rear surround view camera, 3 is a left front millimeter radar 1, 31 is a left front millimeter radar 2, 4 is a left middle millimeter radar 1, 41 is a left middle millimeter radar 2, 6 is a left rear millimeter radar 1, 61 is a left rear millimeter radar 2, 7 is a right front millimeter radar 1, 71 is a right front millimeter radar 2, 8 is a right middle millimeter radar 1, 81 is a right middle millimeter radar 2, 9 is a right rear millimeter radar 1, 91 is a right rear millimeter radar 2, 5 is a front millimeter wave radar, 51 is a rear millimeter wave radar 1, and 52 is a rear millimeter wave radar 2;

[0079] A pre-warning display unit is used to display the data information monitored by the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the surround view camera signal unit and the front multifunctional camera;

[0080] A voice alarm unit is used to send an alarm signal for the received monitoring data information, and the broadcast mode has two kinds, one is "no car in the blind area of the adjacent lane, can change lanes", and the other is "there is a car in the blind area of the adjacent lane, please do not change lanes";

[0081] A built-in central control unit is used to receive and analyze the data information monitored by the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the surround view camera signal unit and the front multifunctional camera;

[0082] The above-mentioned obstacle information includes: vehicles, objects, pedestrians and distances;

[0083] Further, the output ends of the millimeter wave radar detection unit, the integrated ultrasonic signal unit, the front multifunctional camera and the surround view camera signal unit are connected with the input end of the built-in central control unit, and the output end of the built-in central control unit is connected with the input end of the voice alarm unit and the pre-warning display unit respectively, and the pre-warning display unit is a vehicle central control display device.

[0084] Referring to Figure 2 As shown, a kind of ADAS system blind area lane changing integrated pre-warning method, the specific steps of the pre-warning method are as follows:

[0085] S1, whether the driver has lane changing steering operation is judged by vehicle steering wheel steering signal and lane changing steering signal light information, if not, keep straight, vehicle pre-warning system is not started, if yes, vehicle pre-warning system is started according to lane changing steering information;

[0086] S2, after determining that the vehicle changes lane, according to the lane changing steering information, the obstacle information in front and rear of the vehicle is obtained by the millimeter wave radar detection unit, and at the same time, the blind area information on the left and right sides of the vehicle is obtained by the integrated ultrasonic signal unit;

[0087] S3, acquire vehicle surrounding influence information through the surround view camera signal unit, and generate a panoramic image;

[0088] S4, transmit the acquired information of the front and rear sides of the vehicle and the information of the left and right blind spots to the built-in central control unit, analyze the acquired data information by the built-in central control unit, process and analyze the image information acquired by the surround view camera signal unit, calculate the distance data of the side vehicle and the vehicle, and display the vehicle surrounding information through the early warning display unit. Through the analysis and judgment of the received data information and the analysis of the distance between the side vehicle and the vehicle, it is judged whether the lane change steering can be performed;

[0089] As shown in Figure 4 When the side vehicle enters the visual blind area, the vehicle data information and image information in the blind area can be acquired through the integrated ultrasonic signal unit, so as to transmit the data to the built-in central control unit, so as to analyze and calculate the side vehicle data in the visual blind area by the built-in central control unit;

[0090] S5, if the lane change steering can be performed, the voice alarm unit sends a signal "no vehicle in the adjacent lane blind area, can change lane";

[0091] If there is a vehicle in the left and right blind areas of the vehicle or a vehicle enters the blind area, the left and right blind area ultrasonic radar components will be triggered, and then the information is transmitted to the built-in central control unit, and the vehicle position in the blind area is displayed through the early warning display unit, and the voice alarm unit sends an alarm signal "there is a vehicle in the adjacent lane blind area, please do not change lane".

[0092] In the above, the image information acquired by the surround view camera signal unit is processed and analyzed, and the distance data of the side vehicle and the vehicle is calculated, and the specific operation is as follows:

[0093] As shown in Figure 5 , the height of the right surround view camera is H, the inclination angle of the right surround view camera optical axis and the road surface is θ, L is the image visual distance between the side vehicle and the vehicle, that is, the distance between the intersection (x0, y0) of the right surround view camera optical axis and the road surface and the vertical projection point of the right surround view camera on the road surface, L1 is the longitudinal distance between the driver and the side vehicle on the road, and the formula is as follows:

[0094]

[0095]

[0096] Similarly, the distance of the side vehicle from the host vehicle can be obtained when the side vehicle is above or below the image center, and when the vehicle is below the center of the image acquisition by the surround-view camera signal unit and the vertical distance to the image center in the image plane is a, the longitudinal distance between the side vehicle and the host vehicle is L2 at this time;

[0097] The distance y1 from the image center in the frame storage coordinates is: where dy is the physical size of the image acquisition pixel in the frame storage coordinates in the x-axis and y-axis directions of the image plane, i.e., dx and dy;

[0098] Further, the longitudinal distance L2 at this time can be obtained according to the above, and the formula is:

[0099]

[0100] where f is the focal length of the surround-view camera; similarly, the longitudinal distance between the side vehicle and the host vehicle can be obtained when the vehicle is above the center of the image acquisition by the surround-view camera signal unit.

[0101] After the surround-view camera signal unit collects the images of the side vehicle and the host vehicle, and analyzes and calculates the longitudinal distance information of the side vehicle and the host vehicle, and the integrated ultrasonic signal unit acquires the blind area information on the left and right sides of the vehicle, the feasibility of the vehicle lane changing and turning can be more accurately obtained, the safety of the vehicle lane changing and turning is ensured, and the effect of early warning is achieved.

Claims

1. A method for early warning of blind zone lane change integration in an ADAS system, characterized in that, The specific steps of this early warning method are as follows: S1. Determine whether the driver has performed a lane change operation by using the vehicle's steering wheel turn signal and lane change turn signal light information. If not, maintain straight driving and the vehicle warning system is not activated. If so, activate the vehicle warning system based on the lane change turn information. S2. After determining that the vehicle has changed lanes and turned, based on the lane change and turning information, the millimeter-wave radar detection unit obtains information on obstacles in front of and behind the vehicle. At the same time, the integrated ultrasonic signal unit obtains information on the blind spots on the left and right sides of the vehicle. S3. Then, the surround-view camera signal unit acquires information about the surrounding environment of the vehicle to generate a panoramic image. S4. The acquired information from the front and rear side monitoring of the vehicle, as well as the information from the left and right blind spot monitoring, is transmitted to the built-in central control unit. The built-in central control unit analyzes the acquired data and processes and analyzes the image information acquired by the surround-view camera signal unit. It calculates the distance data between the vehicle and the side vehicles and then displays the information around the vehicle through the warning display unit. After analyzing and judging the received data and the distance analysis between the vehicle and the side vehicles, it determines whether a lane change or turn is possible. S5. If it is permissible to change lanes and turn, a signal of "No vehicles in the blind spot of the adjacent lane, you may change lanes" will be issued through the voice alarm unit. If there is a vehicle in the left or right blind spot or a vehicle enters the blind spot, the left and right blind spot ultrasonic radar components will be triggered, which will then transmit information to the built-in central control unit, display the position of the vehicle in the blind spot through the warning display unit, and issue a warning signal of "There is a vehicle in the blind spot of the adjacent lane, please do not change lanes" through the voice alarm unit. The distance data between the above-mentioned vehicles on the side and this vehicle is analyzed and calculated as follows: Let the height of the right-side surround-view camera be H, the tilt angle between the optical axis of the right-side surround-view camera and the road surface be θ, the visual distance between the vehicle on the side and the vehicle itself be L, and the longitudinal distance between the driver and the vehicle on the side on the road be... As can be seen from the formula: ; ; Furthermore, when the vehicle is located below the center of the image acquired by the surround-view camera signal unit, and the vertical distance from the image center in the image plane is 'a', the longitudinal distance between the vehicle on the side and the vehicle itself is then [missing information]. The formula is as follows: ; Distance from the image center in frame store coordinates Then it is: The frame buffer coordinates are used to obtain the image pixels corresponding to the physical dimensions of the image plane at the upper end of the x and y axes, namely dx and dy, and f is the focal length of the surround-view camera.

2. A warning system for implementing the warning method for blind spot lane change integration in ADAS systems as described in claim 1, characterized in that, The system includes: Millimeter-wave radar detection unit, used to detect obstacle information in front of and behind the vehicle; An integrated ultrasonic signal unit is used to detect obstacle information in the left and right blind spots of the vehicle; The front multi-function camera is installed inside the windshield to monitor image information in front of the vehicle. The surround-view camera signal unit is used to collect image information of the environment around the vehicle and generate a panoramic image of the vehicle's surroundings. The early warning display unit is used to display data information monitored by the millimeter-wave radar detection unit, the integrated ultrasonic signal unit, the surround-view camera signal unit, and the front multi-function camera. The voice alarm unit is used to issue alarm signals in response to the received monitoring data. It has a built-in central control unit for receiving and analyzing data from the millimeter-wave radar detection unit, the integrated ultrasonic signal unit, the surround-view camera signal unit, and the front multi-function camera.

3. The ADAS system blind spot lane change integrated early warning system according to claim 2, characterized in that, The millimeter-wave radar detection unit includes: The front millimeter-wave radar, installed on the front bumper or front grille of the vehicle, is used to monitor obstacle information directly in front of the vehicle. The rear millimeter-wave radar 1 and rear millimeter-wave radar 2, installed on both sides of the rear of the vehicle, are used to monitor obstacle information behind the vehicle.

4. The ADAS system blind spot lane change integrated early warning system according to claim 2, characterized in that, The integrated ultrasonic signal unit includes: The left blind spot ultrasonic radar assembly, installed on the left side of the vehicle, is used to monitor obstacle information on the left side of the vehicle. The right blind spot ultrasonic radar assembly, installed on the right side of the vehicle, is used to monitor obstacle information on the right side of the vehicle.

5. The ADAS system blind spot lane change integrated early warning system according to claim 4, characterized in that, The left blind zone ultrasonic radar component includes: Left front millimeter radar 1 and left front millimeter radar 2 are installed on the left front side of the vehicle; Left-center millimeter radar 1 and left-center millimeter radar 2 are installed on the left side of the vehicle. Left rear millimeter radar 1 and left rear millimeter radar 2 are installed on the left rear side of the vehicle; The right blind zone ultrasonic radar component includes: Right front millimeter radar 1 and right front millimeter radar 2 are installed on the right front side of the vehicle; Right-center millimeter radar 1 and right-center millimeter radar 2 are installed on the middle right side of the vehicle; Right rear millimeter radar 1 and right rear millimeter radar 2 are installed on the right rear side of the vehicle.

6. The ADAS system blind spot lane change integrated early warning system according to claim 2, characterized in that, The surround-view camera signal unit includes: A front surround view camera installed in the front grille or front bumper of a vehicle is used to collect image information of the front of the vehicle. The left and right surround view cameras, installed on the side mirrors of the vehicle, are used to collect image information from the left and right sides of the vehicle. The rear-view camera, installed in the middle of the rear side of the vehicle, is used to collect image information from behind the vehicle.

7. The ADAS system blind spot lane change integrated early warning system according to claim 2, characterized in that, The obstacle information includes: vehicles, objects, pedestrians, and distance.

8. The ADAS system blind spot lane change integrated early warning system according to claim 2, characterized in that, The output terminals of the millimeter-wave radar detection unit, the integrated ultrasonic signal unit, the front multi-function camera, and the surround-view camera signal unit are all connected to the input terminal of the built-in central control unit. The output terminal of the built-in central control unit is connected to the input terminal of the voice alarm unit and the warning display unit, respectively. The warning display unit is a vehicle central control display device.

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