A detection management method, device, storage medium and system of a brake system
By acquiring relevant vehicle parameters and signals and analyzing the health status of the braking system using a pre-set table, the problem of inaccurate assessment of braking system health in existing technologies is solved, thus improving the accuracy and safety of the detection.
Patent Information
- Application Number
- CN202210533239.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-05-17
- Publication Date
- 2026-03-03
- Estimated Expiration
- 2042-05-17
AI Technical Summary
Current technology cannot accurately determine the health status of a vehicle's braking system, which may lead to traffic accidents due to driver misjudgment.
By acquiring vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, and vehicle load status, and using a preset master cylinder pressure-deceleration gauge set, the health status of the braking system is analyzed, and combined with wheel speed signals and ground adhesion status, the health detection results are output.
This improves the accuracy of braking system health checks, prevents misjudgments, and ensures driving safety.
Smart Images

Figure CN115060507B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of braking system testing and management technology, and in particular to a braking system testing and management method, device, computer-readable storage medium, and system. Background Technology
[0002] During vehicle use, various situations can affect the health of the braking system, such as: 1. prolonged downhill driving, causing the brakes to overheat and reduce braking efficiency; 2. brakes failing to recover their effectiveness after wading through water; 3. brake discs rusting due to prolonged disuse, leading to reduced braking efficiency. Because drivers often lack the professional knowledge to accurately identify factors affecting the braking system's health, inaccurate driver judgment can lead to traffic accidents. Therefore, managing the health of the vehicle's braking system is crucial for driving safety.
[0003] In existing technologies, the normal working status of the braking angle is usually determined by collecting signals such as temperature, torque, and pressure of the braking angle.
[0004] However, the existing technology still has the following drawbacks: judging the working state of the braking angle cannot accurately determine whether the entire braking system is healthy.
[0005] Therefore, there is a current need for a method, apparatus, computer-readable storage medium, and system for the detection and management of braking systems, in order to overcome the aforementioned deficiencies in the prior art. Summary of the Invention
[0006] This invention provides a method, apparatus, computer-readable storage medium, and system for the detection and management of a braking system, thereby improving the accuracy of braking system health detection and management.
[0007] An embodiment of the present invention provides a detection and management method for a braking system. The detection and management method includes: acquiring the vehicle model of the vehicle to be detected and managed, the deceleration of the vehicle to be detected and managed, the pedal force, the pedal travel, the brake master cylinder pressure, and the vehicle load status; analyzing and acquiring the vehicle weight information of the vehicle model based on the vehicle model and the vehicle load status, and analyzing and acquiring the deceleration reference range corresponding to the vehicle model based on the vehicle weight information, the brake master cylinder pressure, and a preset master cylinder pressure-deceleration table set; and analyzing the health status of the braking system of the vehicle to be detected and managed based on the pedal force, the pedal travel, the deceleration, and the deceleration reference range.
[0008] As an improvement to the above solution, the vehicle weight information of the vehicle model is analyzed and obtained based on the vehicle model and the vehicle load status. Specifically, this includes: obtaining the factory weight information of the vehicle model; determining the personnel load of the vehicle to be inspected based on the vehicle load status; and calculating the vehicle weight information of the vehicle to be inspected based on the factory weight information and the personnel load.
[0009] As an improvement to the above solution, based on the vehicle weight information, the brake master cylinder pressure, and a preset set of master cylinder pressure-deceleration tables, an analysis is performed to obtain a deceleration reference range corresponding to the vehicle model. Specifically, this includes: selecting a first master cylinder pressure-deceleration table from the preset set of master cylinder pressure-deceleration tables based on the vehicle weight information; and obtaining the deceleration reference range of the vehicle to be detected under the brake master cylinder pressure based on the brake master cylinder pressure and the first master cylinder pressure-deceleration table.
[0010] As an improvement to the above scheme, the health status of the braking system of the vehicle to be detected is analyzed based on the deceleration and the deceleration reference range. Specifically, this includes: determining whether the deceleration falls within the deceleration reference range; if so, the braking system of the vehicle to be detected is considered to be healthy; otherwise, the braking system of the vehicle to be detected is considered to be unhealthy.
[0011] As an improvement to the above solution, the detection management method further includes: calibrating each vehicle model to determine the master cylinder pressure-deceleration gauge under different load conditions and the corresponding master cylinder pressure under braking conditions.
[0012] As an improvement to the above solution, the detection management method further includes: acquiring the wheel speed signal of the vehicle to be detected and managed; determining the wheel slip state and ground adhesion state based on the wheel speed signal and the brake master cylinder pressure; and outputting the detection result based on the wheel slip state, the ground adhesion state, and the health state.
[0013] As an improvement to the above solution, the detection management method further includes: when the analysis determines that the health status of the braking system of the vehicle to be detected is unhealthy, sending a prompt message to the driver.
[0014] Another embodiment of the present invention provides a detection and management device for a braking system. The detection and management device includes an information reading unit, an analysis and acquisition unit, and a health detection unit. The information reading unit is used to acquire the vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, and vehicle load status of the vehicle to be detected and managed. The analysis and acquisition unit is used to analyze and acquire vehicle weight information based on the vehicle model and vehicle load status, and to analyze and acquire a deceleration reference range corresponding to the vehicle model based on the vehicle weight information, the master cylinder pressure, and a preset master cylinder pressure-deceleration table set. The health detection unit is used to analyze the health status of the braking system of the vehicle to be detected and managed based on the pedal force, pedal travel, deceleration, and the deceleration reference range.
[0015] As an improvement to the above solution, the analysis and acquisition unit is further configured to: acquire the factory weight information of the vehicle model; determine the personnel load status of the vehicle to be inspected and managed based on the vehicle load status; and calculate the vehicle weight information of the vehicle to be inspected and managed based on the factory weight information and the personnel load status.
[0016] As an improvement to the above solution, the analysis and acquisition unit is further configured to: select a first master cylinder pressure-deceleration table from a preset set of master cylinder pressure-deceleration tables based on the vehicle weight information; and obtain the deceleration reference range of the vehicle to be detected under the brake master cylinder pressure based on the brake master cylinder pressure and the first master cylinder pressure-deceleration table.
[0017] As an improvement to the above solution, the health detection unit is further used to: determine whether the deceleration falls within the deceleration reference range; if so, analyze and consider the health status of the braking system of the vehicle under test to be healthy; otherwise, analyze and consider the health status of the braking system of the vehicle under test to be unhealthy.
[0018] As an improvement to the above solution, the detection management device also includes a reference calibration unit, which is used to calibrate each vehicle model to determine the master cylinder pressure-deceleration gauge under different load conditions and the corresponding master cylinder pressure under braking conditions.
[0019] As an improvement to the above solution, the detection management device further includes a result confirmation unit, which is used to: acquire the wheel speed signal of the vehicle to be detected and managed; determine the wheel slip state and the ground adhesion state based on the wheel speed signal and the brake master cylinder pressure; and update the health state based on the wheel slip state, the ground adhesion state, and the health state.
[0020] As an improvement to the above solution, the detection management device further includes an anomaly alert unit, which is used to send an alert message to the driver when the health status is unhealthy.
[0021] Another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the detection and management method of the braking system as described above.
[0022] Another embodiment of the present invention provides a detection and management system for a braking system, the detection and management system including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the detection and management method for the braking system as described above.
[0023] Compared with existing technologies, this technical solution has the following beneficial effects:
[0024] This invention provides a method, apparatus, computer-readable storage medium, and system for the detection and management of a braking system. By obtaining a reference range of deceleration of the vehicle under braking system health conditions based on the vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, vehicle load status, and a preset master cylinder pressure-deceleration table set, the method, apparatus, computer-readable storage medium, and system analyze the health status of the vehicle's braking system based on the vehicle's deceleration and the reference range. This method, apparatus, computer-readable storage medium, and system improve the accuracy of braking system health detection and management.
[0025] Furthermore, the braking system detection and management method, device, computer-readable storage medium, and system provided by the present invention also determine the vehicle slip state, ground adhesion state, and health state through the wheel speed signal or acceleration signal of the vehicle to be managed, and update the health state, thereby preventing misjudgment of the braking system's health state and further improving the accuracy of braking system health detection and management. Attached Figure Description
[0026] Figure 1 This is a flowchart illustrating a detection and management method for a braking system according to an embodiment of the present invention;
[0027] Figure 2 This is a schematic diagram of the structure of a detection and management device for a braking system provided in an embodiment of the present invention. Detailed Implementation
[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Specific Implementation Example 1
[0030] The present invention first describes a detection and management method for a braking system. Figure 1 This is a flowchart illustrating a detection and management method for a braking system provided in an embodiment of the present invention.
[0031] like Figure 1 As shown, the detection management method includes:
[0032] S1: Obtain the vehicle model of the vehicle to be detected and managed, the deceleration of the vehicle to be detected and managed, the pedal force, the pedal travel, the brake master cylinder pressure, and the vehicle load status.
[0033] For different vehicles, the deceleration or brake master cylinder pressure fed back by the same pedal force and pedal travel will be different. Therefore, in order to detect and manage the health of the braking system, it is first necessary to obtain information on the vehicle model, the deceleration of the vehicle to be detected and managed, the pedal force, the pedal travel, the brake master cylinder pressure, and the vehicle load status.
[0034] S2: Based on the vehicle model and the vehicle load status, analyze and obtain the vehicle weight information of the vehicle model, and based on the vehicle weight information, the brake master cylinder pressure, and the preset master cylinder pressure-deceleration table set, analyze and obtain the deceleration reference range corresponding to the vehicle model.
[0035] In one embodiment, analyzing and obtaining vehicle weight information based on the vehicle model and the vehicle load status specifically includes: obtaining the factory weight information of the vehicle model; determining the personnel load of the vehicle to be inspected based on the vehicle load status; and calculating the vehicle weight information of the vehicle to be inspected based on the factory weight information and the personnel load.
[0036] In one embodiment, based on the vehicle weight information, the brake master cylinder pressure, and a preset set of master cylinder pressure-deceleration tables, an analysis is performed to obtain a deceleration reference range corresponding to the vehicle model. Specifically, this includes: selecting a first master cylinder pressure-deceleration table from the preset set of master cylinder pressure-deceleration tables based on the vehicle weight information; and obtaining the deceleration reference range of the vehicle to be detected under the brake master cylinder pressure based on the brake master cylinder pressure and the first master cylinder pressure-deceleration table.
[0037] S3: Analyze the health status of the braking system of the vehicle to be tested based on the applied pedal force, pedal travel, deceleration, and deceleration reference range.
[0038] In one embodiment, the health status of the braking system of the vehicle under test is analyzed based on the deceleration and the deceleration reference range. Specifically, this includes: determining whether the deceleration falls within the deceleration reference range; if so, the braking system of the vehicle under test is considered to be healthy; otherwise, the braking system of the vehicle under test is considered to be unhealthy.
[0039] In practical applications, since different vehicle models have different master cylinder pressure-deceleration tables, it is necessary to calibrate the corresponding vehicle models in advance to provide an accurate deceleration range benchmark when implementing this solution. In one embodiment, the detection management method further includes: calibrating each vehicle model to determine the master cylinder pressure-deceleration table under different load conditions and the corresponding master cylinder pressure under braking conditions.
[0040] Since the relationship between deceleration and master cylinder braking pressure may be affected under different road conditions or environmental factors, to prevent misjudgment, in one embodiment, the detection management method further includes: acquiring the wheel speed signal of the vehicle to be detected; determining the wheel slip state and ground adhesion state based on the wheel speed signal and the master cylinder braking pressure; and outputting a detection result based on the wheel slip state, the ground adhesion state, and the health state. Furthermore, as an alternative embodiment, the detection management method further includes: acquiring the onboard deceleration signal of the vehicle to be detected; determining the wheel slip state and ground adhesion state based on the onboard deceleration signal and the master cylinder braking pressure; and outputting a detection result based on the wheel slip state, the ground adhesion state, and the health state.
[0041] In one embodiment, the detection management method further includes: when the analysis indicates that the health status of the braking system of the vehicle under detection is unhealthy, sending a prompt message to the driver. In one embodiment, sending the prompt message may take the form of illuminating a corresponding indicator light, displaying a QR code, or a combination of one or more of the above. Scanning the displayed QR code can reveal the possible causes of the abnormal braking system health status, facilitating driver identification and appropriate action.
[0042] This invention describes a method for detecting and managing a braking system. By using the vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, vehicle load status, and a preset master cylinder pressure-deceleration table set, a deceleration reference range for the vehicle under braking system health status is obtained. Based on the vehicle's deceleration and the deceleration reference range, the health status of the vehicle's braking system is analyzed. This method improves the accuracy of braking system health detection and management. Furthermore, this invention also uses wheel speed signals or acceleration signals to determine the vehicle's slip state, ground adhesion state, and health status, updating the health status to prevent misjudgments of the braking system's health status and further improve the accuracy of braking system health detection and management. Specific Implementation Example 2
[0044] In addition to the methods described above, embodiments of the present invention also disclose a detection and management device for a braking system. Figure 2 This is a schematic diagram of the structure of a detection and management device for a braking system provided in an embodiment of the present invention.
[0045] like Figure 2 As shown, the detection management device includes an information reading unit 11, an analysis and acquisition unit 12, and a health detection unit 13.
[0046] The information reading unit 11 is used to acquire the vehicle model of the vehicle to be detected and managed, the deceleration of the vehicle to be detected and managed, the brake master cylinder pressure, and the vehicle load status.
[0047] The analysis and acquisition unit 12 is used to analyze and acquire the vehicle weight information of the vehicle model and the vehicle load state, and to analyze and acquire the deceleration reference range corresponding to the vehicle model based on the vehicle weight information, the brake master cylinder pressure and the preset master cylinder pressure-deceleration table set.
[0048] The health detection unit 13 is used to analyze the health status of the braking system of the vehicle under test based on the applied pedal force, pedal travel, deceleration, and deceleration reference range.
[0049] In one embodiment, the analysis and acquisition unit 12 is further configured to: acquire the factory weight information of the vehicle model; determine the personnel load status of the vehicle to be inspected and managed based on the vehicle load status; and calculate the vehicle weight information of the vehicle to be inspected and managed based on the factory weight information and the personnel load status.
[0050] In one embodiment, the analysis and acquisition unit 12 is further configured to: select a first master cylinder pressure-deceleration table from a preset master cylinder pressure-deceleration table set according to the vehicle weight information; and obtain the deceleration reference range of the vehicle to be detected under the brake master cylinder pressure according to the brake master cylinder pressure and the first master cylinder pressure-deceleration table.
[0051] In one embodiment, the health detection unit 13 is further configured to: determine whether the deceleration falls within the deceleration reference range; if so, analyze and consider the health status of the braking system of the vehicle to be detected to be healthy; otherwise, analyze and consider the health status of the braking system of the vehicle to be detected to be unhealthy.
[0052] In one embodiment, the detection management device further includes a reference calibration unit, which is used to calibrate each vehicle model to determine the master cylinder pressure-deceleration gauge under different load conditions and the corresponding master cylinder pressure under braking conditions.
[0053] In one embodiment, the detection management device further includes a result confirmation unit, which is configured to: acquire the wheel speed signal of the vehicle to be detected and managed; determine the wheel slip state and the ground adhesion state based on the wheel speed signal and the brake master cylinder pressure; and update the health state based on the wheel slip state, the ground adhesion state, and the health state.
[0054] In one embodiment, the detection management device further includes an anomaly alerting unit, which is used to send an alert message to the driver when the health status is unhealthy.
[0055] If the integrated unit of the detection and management device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.
[0056] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between units indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.
[0057] This invention describes a braking system detection and management device and a computer-readable storage medium. By using the vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, vehicle load status, and a preset master cylinder pressure-deceleration table set, the device obtains a deceleration reference range for the vehicle under braking system health conditions. Based on the vehicle's deceleration and the deceleration reference range, the device analyzes the braking system health status of the vehicle under testing. This improves the accuracy of braking system health detection and management. Furthermore, the device and storage medium also determine the vehicle's slip state, ground adhesion state, and health status using wheel speed or acceleration signals, and update the health status to prevent misjudgments of the braking system's health status, further improving the accuracy of braking system health detection and management. Specific Implementation Example 3
[0059] In addition to the methods and apparatus described above, embodiments of the present invention also describe a detection and management system for a braking system.
[0060] The detection and management system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the detection and management method of the braking system as described above.
[0061] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the device, connecting various parts of the device via various interfaces and lines.
[0062] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.
[0063] This invention describes a braking system detection and management system. By analyzing the vehicle model, deceleration, pedal force, pedal travel, master cylinder pressure, vehicle load status, and a preset master cylinder pressure-deceleration table, the system obtains a deceleration reference range for the vehicle under braking system health conditions. Based on the vehicle's deceleration and the deceleration reference range, the system analyzes the braking system health status of the vehicle under testing. This detection and management system improves the accuracy of braking system health detection and management. Furthermore, this invention also determines the vehicle's slip state, ground adhesion state, and health status using wheel speed or acceleration signals, and updates the health status to prevent misjudgments of the braking system's health status, further improving the accuracy of braking system health detection and management.
[0064] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.
Claims
1. A detection management method of a brake system, characterized by, The detection management method comprises: acquiring a vehicle model of a vehicle to be detected and managed, a deceleration of the vehicle to be detected and managed, a pedal force, a pedal stroke, a brake master cylinder pressure, and a vehicle load state; according to the vehicle model and the vehicle load state, analyzing and acquiring vehicle weight information of the vehicle model, and according to the vehicle weight information, the brake master cylinder pressure, and a preset master cylinder pressure-deceleration table set, analyzing and acquiring a deceleration reference range corresponding to the vehicle model, comprising: according to the vehicle weight information, correspondingly selecting a first master cylinder pressure-deceleration table from the preset master cylinder pressure-deceleration table set; and according to the brake master cylinder pressure and the first master cylinder pressure-deceleration table, correspondingly acquiring the deceleration reference range of the vehicle to be detected and managed under the brake master cylinder pressure; according to the pedal force, the pedal stroke, the deceleration, and the deceleration reference range, analyzing a health state of a brake system of the vehicle to be detected and managed.
2. The detection management method of a brake system according to claim 1, characterized by, According to the vehicle model and the vehicle load state, analyzing and acquiring vehicle weight information of the vehicle model, specifically comprising: acquiring factory weight information of the vehicle model, and judging personnel load conditions of the vehicle to be detected and managed according to the vehicle load state; according to the factory weight information and the personnel load conditions, calculating vehicle weight information of the vehicle to be detected and managed.
3. The detection management method of a brake system according to claim 2, characterized by, According to the deceleration and the deceleration reference range, analyzing a health state of a brake system of the vehicle to be detected and managed, specifically comprising: judging whether the deceleration falls within the deceleration reference range; if yes, analyzing and considering that the health state of the brake system of the vehicle to be detected and managed is healthy; otherwise, analyzing and considering that the health state of the brake system of the vehicle to be detected and managed is unhealthy.
4. The detection management method of a brake system according to claim 3, characterized by, The detection management method further comprises: calibrating each vehicle model to determine master cylinder pressure-deceleration tables under different load conditions and corresponding master cylinder pressures under brake states.
5. The detection management method of a brake system according to claim 4, characterized by, The detection management method further comprises: acquiring a wheel speed signal of the vehicle to be detected and managed, and determining a wheel slip state and a ground adhesion state according to the wheel speed signal and the brake master cylinder pressure; updating the health state according to the wheel slip state, the ground adhesion state, and the health state.
6. The detection management method of a brake system according to any one of claims 1 to 5, characterized in that, The detection management method further comprises: when the health state is unhealthy, sending prompt information to a driver.
7. A detection management device of a brake system characterized by comprising: The detection management device comprises an information reading unit, an analysis and acquisition unit, and a health detection unit, wherein the information reading unit is used to acquire a vehicle model of a vehicle to be detected and managed, a deceleration of the vehicle to be detected and managed, a pedal force, a pedal stroke, a brake master cylinder pressure, and a vehicle load state; The analysis acquisition unit is configured to analyze and acquire vehicle weight information of the vehicle model according to the vehicle model and the vehicle load state, and analyze and acquire a deceleration reference range corresponding to the vehicle model according to the vehicle weight information, the brake master cylinder pressure, and a preset master cylinder pressure-deceleration table set, including: selecting a first master cylinder pressure-deceleration table from the preset master cylinder pressure-deceleration table set according to the vehicle weight information; and acquiring the deceleration reference range of the to-be-detected management vehicle under the brake master cylinder pressure according to the brake master cylinder pressure and the first master cylinder pressure-deceleration table. The health detection unit is configured to analyze a health state of a brake system of the to-be-detected management vehicle according to the pedal force, the pedal stroke, the deceleration, and the deceleration reference range.
8. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored computer program, wherein the computer program controls a device in which the computer readable storage medium is located to execute the detection management method of the brake system according to any one of claims 1-6 when the computer program is running.
9. A detection management system of a brake system, characterized by, The detection management system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement the detection management method of the brake system according to any one of claims 1-6.
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