A method and apparatus for determining a vehicle brake sensitivity mode

Abstract

The application provides a kind of determination method and device of vehicle braking sensitivity mode, obtains the braking parameter of vehicle at first moment, and braking parameter includes at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal stroke, brake pedal stroke rate of change, steering wheel angle, steering wheel angle rate of change, vehicle acceleration;Second braking sensitivity mode is determined according to the braking parameter of first moment;According to second braking sensitivity mode, control vehicle.The application can determine the required braking sensitivity mode in real time according to the braking parameter in the process of vehicle operation and control vehicle, automatically switch the braking sensitivity mode of vehicle to the required braking sensitivity mode, ensure that the braking sensitivity mode of vehicle is always matched with vehicle condition.Therefore, driver can obtain a braking sensitivity experience matched with current driving scene without actively switching braking sensitivity mode, improve user driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular to a method and apparatus for determining a vehicle braking sensitivity mode. Background Technology

[0002] As more and more vehicles are put into use, people's demands for vehicle braking sensitivity are increasing. For vehicles equipped with decoupled braking systems, multiple different braking sensitivity characteristics, that is, the relationship between brake pedal travel and deceleration, can be matched to generate multiple different braking sensitivity modes for the driver to choose from.

[0003] In existing technologies, switching between different modes is done via a mode switch. Once the driver selects a mode according to their preference, the vehicle deceleration corresponding to the braking distance remains constant across different scenarios. Often, the characteristics of different sensitivity modes differ significantly. When driving in a low-sensitivity mode, insufficient deceleration may be achieved in emergencies due to slow braking response. Conversely, when using a high-sensitivity mode, the driver needs a high degree of control over the brake pedal in situations such as parking or low-speed following; poor control can easily lead to brake dive and other problems, affecting comfort. The mode switch is often hidden below a secondary menu, requiring the driver to tap the large screen multiple times to switch modes. When driving scenarios are complex and varied, frequent mode switching is necessary to achieve the best driving experience, but this frequent switching itself degrades the driving experience. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method for determining the braking sensitivity mode of a vehicle, which can automatically switch the braking sensitivity mode of the vehicle according to real-time vehicle conditions, thereby improving the user's driving experience. The specific solution is as follows:

[0005] Firstly, this application provides a method for determining a vehicle braking sensitivity mode, including:

[0006] The braking parameters of the vehicle at the first moment are obtained, and the braking parameters include at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration.

[0007] The second braking sensitivity mode is determined based on the braking parameters at the first moment;

[0008] The vehicle is controlled according to the second braking sensitivity mode.

[0009] Optionally, determining the second braking sensitivity mode based on the braking parameters at the first moment includes:

[0010] Multiple braking sensitivity modes are determined based on various braking parameters at the first moment;

[0011] The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

[0012] Optionally, determining multiple braking sensitivity modes based on various braking parameters at the first moment includes:

[0013] The braking sensitivity mode corresponding to the parameter range to which the braking parameters belong at the first moment is taken as the braking sensitivity mode corresponding to the braking parameters at the first moment.

[0014] Optionally, controlling the vehicle according to the second braking sensitivity mode includes:

[0015] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode.

[0016] Optionally, controlling the vehicle according to the second braking sensitivity mode includes:

[0017] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters of the vehicle at a second moment are obtained. The second moment is after the first moment.

[0018] The third braking sensitivity mode is determined based on the braking parameters at the second moment;

[0019] When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

[0020] Secondly, embodiments of this application also provide a device for determining a vehicle braking sensitivity mode, comprising:

[0021] The acquisition unit is used to acquire the braking parameters of the vehicle at a first moment. The braking parameters include at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration.

[0022] The determining unit is used to determine the second braking sensitivity mode based on the braking parameters at the first moment;

[0023] A control unit for controlling the vehicle according to the second braking sensitivity mode.

[0024] Optionally, the determining unit is used for:

[0025] Multiple braking sensitivity modes are determined based on various braking parameters at the first moment;

[0026] The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

[0027] Optionally, the determining unit is used for:

[0028] The braking sensitivity mode corresponding to the parameter range to which the braking parameters belong at the first moment is taken as the braking sensitivity mode corresponding to the braking parameters at the first moment.

[0029] Optionally, the control unit is used for:

[0030] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode.

[0031] Optionally, the control unit is used for:

[0032] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters of the vehicle at a second moment are obtained. The second moment is after the first moment.

[0033] The third braking sensitivity mode is determined based on the braking parameters at the second moment;

[0034] When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

[0035] This application provides a method and apparatus for determining a vehicle braking sensitivity mode. It acquires the vehicle's braking parameters at a first moment, including at least one of the following: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. A second braking sensitivity mode is determined based on the braking parameters at the first moment. The vehicle is then controlled according to the second braking sensitivity mode. This application can determine the required braking sensitivity mode in real time based on the braking parameters during vehicle operation and control the vehicle, automatically switching the vehicle's braking sensitivity mode to the required mode to ensure that the braking sensitivity mode is always matched to the vehicle's condition. Therefore, without actively switching the braking sensitivity mode, the driver can obtain a braking sensitivity experience that matches the current driving scenario, resulting in better braking feel and improved user driving experience. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A flowchart illustrating a method for determining a vehicle braking sensitivity mode according to an embodiment of this application is shown;

[0038] Figure 2 A flowchart of another method for determining a vehicle braking sensitivity mode provided in an embodiment of this application is shown;

[0039] Figure 3 This invention provides a schematic diagram of the ECU's processing of braking parameters according to an embodiment of the present application.

[0040] Figure 4 A flowchart of another method for determining a vehicle braking sensitivity mode provided in an embodiment of this application is shown;

[0041] Figure 5 This is a schematic diagram of a device for determining a vehicle braking sensitivity mode, provided in an embodiment of this application. Detailed Implementation

[0042] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] As described in the background section, in existing technologies, vehicles equipped with decoupled braking systems generally have multiple braking sensitivity modes, which are switched between each other via a switch. Depending on different vehicle conditions, the driver can only meet their needs by manually switching the braking sensitivity mode. Moreover, the mode switch is often hidden below a secondary menu, requiring the driver to tap the large screen multiple times to switch modes. When driving scenarios are complex and varied, frequent switching of driving modes is necessary to obtain the best driving experience, but the frequent switching itself reduces the driving experience.

[0045] To address the aforementioned technical issues, this application provides a method for determining a vehicle's braking sensitivity mode. The method involves acquiring the vehicle's braking parameters at a first moment, including at least one of the following: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. A second braking sensitivity mode is determined based on the braking parameters at the first moment. The vehicle is then controlled according to the second braking sensitivity mode. This application can determine the required braking sensitivity mode in real time based on the braking parameters during vehicle operation and control the vehicle, automatically switching the vehicle's braking sensitivity mode to the required mode to ensure that the braking sensitivity mode is always matched to the vehicle's condition. Therefore, without actively switching the braking sensitivity mode, the driver can obtain a braking sensitivity experience that matches the current driving scenario, resulting in better braking feel and improved user driving experience.

[0046] For ease of understanding, the following detailed description, in conjunction with the accompanying drawings, provides a method and apparatus for determining vehicle braking sensitivity modes according to embodiments of this application.

[0047] refer to Figure 1 The diagram shown is a flowchart of a method for determining a vehicle braking sensitivity mode according to an embodiment of this application. The method may include the following steps.

[0048] S101, Obtain the vehicle's braking parameters at the first moment. The braking parameters include at least one of the following parameters: vehicle speed, throttle opening change rate, brake pedal travel, brake pedal travel change rate, steering wheel angle, steering wheel angle change rate, and vehicle acceleration.

[0049] In this embodiment, during vehicle operation, based on the current driving state, braking parameters of the vehicle at a first moment are obtained. These braking parameters may include, but are not limited to, vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. In this application, one or more braking parameters can be obtained, and these parameters can be combined arbitrarily. For example, the vehicle speed at a first moment can be obtained, or the throttle opening rate of change, brake pedal travel, and steering wheel angle can be obtained at a first moment.

[0050] S102, determine the second braking sensitivity mode based on the braking parameters at the first moment.

[0051] In this embodiment, when the braking parameters include multiple parameters such as vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration, a second braking sensitivity mode is determined based on the braking parameters at a first moment. This can specifically include the following steps. (Reference) Figure 2 The diagram shown is a flowchart of another method for determining vehicle braking sensitivity mode provided in an embodiment of this application.

[0052] S1021 determines multiple braking sensitivity modes based on various braking parameters at the first moment.

[0053] In this embodiment, when the braking parameters include multiple parameters, a corresponding braking sensitivity mode can be determined based on each parameter. Each braking parameter, after processing, will obtain a braking sensitivity mode. Specifically, the braking sensitivity mode corresponding to the parameter range to which the braking parameter belongs at the first moment is taken as the braking sensitivity mode corresponding to the braking parameter at the first moment.

[0054] Specifically, based on the number of existing braking sensitivity modes for the vehicle, the physical characteristic range of parameters for a specific driving state is divided into a corresponding number of intervals. The upper and lower limits of each interval are defined according to requirements. The sensitivity mode for each sensitivity interval is defined based on the corresponding braking sensitivity intensity; higher sensitivity modes have larger values. For example, when the braking parameter is vehicle speed, if the speed range is 0 kph to 180 kph, and the vehicle has three braking sensitivity modes, the speed can be divided into interval 1 (0 kph to 20 kph, corresponding to sensitivity mode 1), interval 2 (20 kph to 100 kph, corresponding to sensitivity mode 2), and interval 3 (100 kph to 180 kph, corresponding to sensitivity mode 3). When the vehicle speed is 80 kph, it falls within the interval 20 kph to 100 kph, corresponding to braking sensitivity mode 2. Therefore, the braking sensitivity mode corresponding to the braking parameter being vehicle speed is mode 2.

[0055] S1022, The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

[0056] In this embodiment, since each braking parameter, after processing, yields a braking sensitivity mode, all braking sensitivity modes obtained at the same time are compared, and the braking sensitivity mode with the highest sensitivity is determined as the second braking sensitivity mode. The ECU (Electronic Control Unit) can receive the values ​​of each monitored parameter, perform corresponding processing, and obtain the required braking sensitivity mode. (Refer to...) Figure 3The diagram shows the structure of the ECU processing braking parameters. In the diagram, 1, 2…n represent braking parameters, such as braking parameter 1, braking parameter 2…braking parameter n. The ECU can process multiple input parameters to obtain braking sensitivity modes. For example, when the braking parameters include vehicle speed, throttle opening change rate, and brake pedal travel, the braking sensitivity mode corresponding to vehicle speed is 2, the braking sensitivity mode corresponding to throttle opening change rate is 2, and the braking sensitivity mode corresponding to brake pedal travel is 3. Therefore, the second braking sensitivity mode is determined to be 3.

[0057] In this embodiment, when the braking parameters include only one parameter, the braking sensitivity mode can be directly determined based on that parameter. Specifically, when the braking parameters include only vehicle speed, the braking sensitivity mode corresponding to vehicle speed is 2, then the second braking sensitivity mode is 2.

[0058] S103, control the vehicle according to the second braking sensitivity mode.

[0059] In this embodiment, the vehicle can be controlled according to a second braking sensitivity mode. Specifically, the vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode. For example, if the current first braking sensitivity mode of the vehicle is 1, and the second braking sensitivity mode determined according to the braking parameters is 2, and the first braking sensitivity mode is less than the second braking sensitivity mode, then the vehicle's braking sensitivity mode is automatically switched to the second braking sensitivity mode.

[0060] In this embodiment, the vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters of the vehicle at a second moment are obtained, and the second moment is after the first moment. A third braking sensitivity mode is determined based on the braking parameters at the second moment. When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

[0061] Specifically, when the first braking sensitivity mode is greater than the second braking sensitivity mode, the first braking sensitivity mode is not immediately adjusted to the second braking sensitivity mode. Instead, updated braking parameters and corresponding braking sensitivity modes are continuously acquired multiple times, and the last determined braking sensitivity mode is compared with the first braking sensitivity mode. When the last determined braking sensitivity mode is less than the first braking sensitivity mode, the first braking sensitivity mode is adjusted to the last determined braking sensitivity mode, the counter is reset to zero, and counting restarts. The counter can be set to 10 times, and the braking sensitivity mode is adjusted only after 10 judgments. Of course, the number can be changed according to requirements in actual solutions.

[0062] refer to Figure 4 The diagram shows a flowchart of another method for determining vehicle braking sensitivity mode. The counter is set to 10 times. First, the braking sensitivity mode A, which has the highest sensitivity corresponding to the vehicle's braking parameters at the first moment, is obtained. It is then determined whether braking sensitivity mode A is greater than braking sensitivity mode B, where braking sensitivity mode B is the currently executed braking sensitivity mode. If so, braking sensitivity mode A is switched to; otherwise, the updated braking sensitivity mode A is obtained and determined again until the tenth determination. If braking sensitivity mode A is not greater than braking sensitivity mode B, then braking sensitivity mode A is switched to. The number of determinations can be 10 or 5.

[0063] In this embodiment, when controlling the vehicle according to the second braking sensitivity mode, interpolation or other methods can be used to smoothly transition between the current sensitivity characteristic curve and the target sensitivity curve. After controlling the vehicle according to the second braking sensitivity mode, braking parameters can be acquired, the corresponding braking sensitivity mode can be calculated, and compared with the braking sensitivity mode currently executed by the vehicle. The vehicle's braking sensitivity mode can be adjusted in real time to match real-time vehicle condition information and improve the user's driving experience.

[0064] This application provides a method for determining a vehicle braking sensitivity mode. The method involves acquiring the vehicle's braking parameters at a first moment, including at least one of the following: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. A second braking sensitivity mode is determined based on the braking parameters at the first moment. The vehicle is then controlled according to the second braking sensitivity mode. This application can determine the required braking sensitivity mode in real time based on the braking parameters during vehicle operation and control the vehicle, automatically switching the vehicle's braking sensitivity mode to the required mode to ensure that the braking sensitivity mode is always matched to the vehicle's condition. Therefore, without actively switching the braking sensitivity mode, the driver can obtain a braking sensitivity experience that matches the current driving scenario, resulting in better braking feel and improved user driving experience.

[0065] Based on the above method for determining vehicle braking sensitivity mode, this application embodiment also provides a device for determining vehicle braking sensitivity mode, referencing... Figure 5 The diagram shown is a schematic of a vehicle braking sensitivity mode determination device provided in an embodiment of this application. The device may include:

[0066] The acquisition unit 100 is used to acquire the braking parameters of the vehicle at a first moment. The braking parameters include at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration.

[0067] The determining unit 200 is used to determine the second braking sensitivity mode based on the braking parameters at the first moment;

[0068] Control unit 300 is used to control the vehicle according to the second braking sensitivity mode.

[0069] Optionally, the determining unit is used for:

[0070] Multiple braking sensitivity modes are determined based on various braking parameters at the first moment;

[0071] The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

[0072] Optionally, the determining unit is used for:

[0073] The braking sensitivity mode corresponding to the parameter range to which the braking parameters belong at the first moment is taken as the braking sensitivity mode corresponding to the braking parameters at the first moment.

[0074] Optionally, the control unit is used for:

[0075] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode.

[0076] Optionally, the control unit is used for:

[0077] The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters of the vehicle at a second moment are obtained. The second moment is after the first moment.

[0078] The third braking sensitivity mode is determined based on the braking parameters at the second moment;

[0079] When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

[0080] This application provides a device for determining a vehicle braking sensitivity mode. An acquisition unit acquires the vehicle's braking parameters at a first moment, including at least one of the following: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. A determination unit determines a second braking sensitivity mode based on the braking parameters at the first moment. A control unit controls the vehicle based on the second braking sensitivity mode. This application can determine the required braking sensitivity mode in real time based on the braking parameters during vehicle operation and control the vehicle, automatically switching the vehicle's braking sensitivity mode to the required mode, ensuring that the braking sensitivity mode of the vehicle is always matched to the vehicle conditions. Therefore, without actively switching the braking sensitivity mode, the driver can obtain a braking sensitivity experience that matches the current driving scenario, achieving a better braking feel and improving the user's driving experience.

[0081] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0082] The above description is merely a preferred embodiment of this application. Although this application has disclosed preferred embodiments above, it is not intended to limit this application. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this application using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of this application. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solutions of this application shall still fall within the protection scope of the technical solutions of this application.

Claims

1. A method for determining a vehicle braking sensitivity mode, characterized in that, include: The braking parameters of the vehicle at the first moment are obtained, and the braking parameters include at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. The second braking sensitivity mode is determined based on the braking parameters at the first moment; The vehicle is controlled according to the second braking sensitivity mode; Controlling the vehicle according to the second braking sensitivity mode includes: The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters and their corresponding braking sensitivity modes at a second moment are acquired multiple times consecutively, and the last determined braking sensitivity mode is determined as the third braking sensitivity mode. The second moment is used to indicate one or more moments after the first moment. When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

2. The method according to claim 1, characterized in that, The step of determining the second braking sensitivity mode based on the braking parameters at the first moment includes: Multiple braking sensitivity modes are determined based on various braking parameters at the first moment; The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

3. The method according to claim 2, characterized in that, The determination of multiple braking sensitivity modes based on various braking parameters at the first moment includes: The braking sensitivity mode corresponding to the parameter range to which the braking parameters belong at the first moment is taken as the braking sensitivity mode corresponding to the braking parameters at the first moment.

4. A device for determining a vehicle braking sensitivity mode, characterized in that, include: The acquisition unit is used to acquire the braking parameters of the vehicle at a first moment. The braking parameters include at least one of the following parameters: vehicle speed, throttle opening rate of change, brake pedal travel, brake pedal travel rate of change, steering wheel angle, steering wheel angle rate of change, and vehicle acceleration. The determining unit is used to determine the second braking sensitivity mode based on the braking parameters at the first moment; A control unit for controlling the vehicle according to the second braking sensitivity mode; The control unit is used for: The vehicle has a first braking sensitivity mode at a first moment. When the first braking sensitivity mode is less than the second braking sensitivity mode, the first braking sensitivity mode is adjusted to the second braking sensitivity mode. When the first braking sensitivity mode is greater than the second braking sensitivity mode, the braking parameters and their corresponding braking sensitivity modes at a second moment are acquired multiple times consecutively, and the last determined braking sensitivity mode is determined as the third braking sensitivity mode. The second moment is used to indicate one or more moments after the first moment. When the first braking sensitivity mode is greater than the third braking sensitivity mode, the first braking sensitivity mode is adjusted to the third braking sensitivity mode.

5. The apparatus according to claim 4, characterized in that, The determining unit is used for: Multiple braking sensitivity modes are determined based on various braking parameters at the first moment; The braking sensitivity mode with the highest sensitivity among multiple braking sensitivity modes is determined as the second braking sensitivity mode.

6. The apparatus according to claim 5, characterized in that, The determining unit is used for: The braking sensitivity mode corresponding to the parameter range to which the braking parameters belong at the first moment is taken as the braking sensitivity mode corresponding to the braking parameters at the first moment.

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