Off-inventory parameter self-learning control method and system, medium and electronic equipment

Abstract

The invention provides a self-learning control method and system for off-inventory parameters, a medium and electronic equipment, and relates to the technical field of safety control of vehicles, and the method comprises the steps: periodically obtaining the working current of a parking motor when a vehicle is in a parking state and a parking mechanism releases a brake pad and a brake disc; determining a difference value between a maximum value and a minimum value in the average working current of the current period and a preset number of historical periods before the current period; if the difference value is smaller than a first preset value and the average working current of the current period is smaller than a second preset value, it is judged that the parking mechanism is at an off-inventory point; and acquiring a brake pad stroke when the parking mechanism starts to release a brake pad and a brake disc until the parking mechanism is at an off-disc point, and updating the off-disc point parameter through the brake pad stroke. According to the invention, the problem of inaccurate out-of-stock parameters in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety control, and in particular to a self-learning control method, system, medium and electronic equipment for off-inventory parameters. Background Art

[0002] The parking mechanism's departure parameters are key parameters for the parking mechanism to clamp and release the brake pads and brake discs. In the current mainstream parking control methods, the departure parameters usually deviate with the use of the car or errors in the factory parameter settings. If the departure parameters are inaccurate, the parking mechanism may make mistakes in the clamping or releasing process of the brake pads and brake discs, and fail to release and clamp the brake pads and brake discs correctly. It is also possible that the brake mechanism can respond to the clamping or releasing request, but because of inaccurate departure parameters, the brake pads and brake discs are clamped for too long or are not released properly, resulting in abnormal situations such as dragging.

[0003] Therefore, in parking control, the accuracy of the parking mechanism inventory parameters is very important. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a self-learning control method, system, medium and electronic device for off-line inventory parameters, which solves the problem of inaccurate off-line inventory parameters in the prior art.

[0005] One embodiment of the present invention provides a self-learning control method for inventory parameters, comprising:

[0006] When the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs, the working current of the parking motor is periodically obtained;

[0007] Determine the difference between the maximum and minimum values ​​of the average working current in the current cycle and the average working current in the preset historical cycles before the current cycle;

[0008] If the difference is less than the first preset value and the average working current of the current cycle is less than the second preset value, it is determined that the parking mechanism is at the off-disk point;

[0009] The brake pad stroke from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the off-disk point is obtained, and the off-disk point parameter is updated according to the brake pad stroke.

[0010] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0011] Through the above method, the present invention can obtain the working current of the parking motor when releasing the brake pads and brake discs each time the vehicle is in the parking state, and the working current can be used to ensure the clamping force between the brake pads and the brake discs driven by the current parking motor; by determining the difference between the maximum value and the minimum value of the average working current in the current cycle and the preset historical cycles before the current cycle, through the difference and the average working current of the current cycle, it can be judged whether the parking mechanism is at the departure point, that is, the brake pads and the brake disc are about to be in a critical state of separation, and then the brake pad travel when the brake pads and the brake discs are actually released from this time until the parking mechanism is at the departure point is used to update the departure point parameters, so as to obtain the actual departure point parameters of the current vehicle;

[0012] Obviously, the method can continuously self-learn to update the off-count parameters according to actual conditions, ensuring that the off-count parameters are always accurate and reliable.

[0013] In a self-learning control method for inventory parameters provided in one embodiment of the present invention, when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc, the working current of the parking motor is periodically obtained, and further includes:

[0014] When the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0, the parking mechanism is controlled to perform a clamping and releasing operation of the brake pad and the brake disc, and the working current of the parking motor is periodically obtained;

[0015] Alternatively, when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc, the operating current of the parking motor is periodically obtained.

[0016] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0017] By adding a new control that when the vehicle's continuous mileage exceeds a third preset value and the vehicle speed is 0, the parking motor is controlled to clamp and release the brake pads and brake discs, and the working current of the parking motor is periodically obtained, thereby triggering subsequent calculations of the working current. This allows the vehicle to be driven for a long time without parking to update the departure inventory parameters. The parking mechanism is actively controlled to clamp and release the brake pads and brake discs, obtain the working current of the parking motor, and use this to update the departure inventory parameters, thereby avoiding wear of the brake pads caused by long-term driving of the vehicle, which in turn affects the accuracy of the departure inventory parameters.

[0018] In a self-learning control method for inventory parameters provided in one embodiment of the present invention, the vehicle's continuous mileage exceeding a third preset value includes:

[0019] When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage;

[0020] After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

[0021] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0022] When the vehicle is in the parked state, the current actual vehicle mileage is used as the reference mileage, and it is subtracted from the real-time actual vehicle mileage to obtain the mileage of continuous driving when the current vehicle is not parked, so as to timely update the departure inventory parameters to avoid errors in the departure inventory parameters due to brake pad wear.

[0023] In a self-learning control method for an off-stock parameter provided in one embodiment of the present invention, updating the off-stock parameter by the brake pad travel includes:

[0024] The undetermined discrete point parameters are determined according to the current brake pad stroke. If the difference between the undetermined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the undetermined discrete point parameters are used to update the discrete point parameters currently used by the vehicle.

[0025] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0026] By calculating the difference between the discrete point parameters currently in use and the discrete point parameters to be determined, it is possible to avoid updating the discrete point parameters too frequently and improve the safety of system operation.

[0027] One embodiment of the present invention further provides a self-learning control system for inventory parameters, comprising:

[0028] A working current acquisition module, which periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs;

[0029] A difference calculation module, determining the difference between the maximum and minimum values ​​of the average working current in the current cycle and the preset historical cycles before the current cycle;

[0030] A judgment module, if the difference is less than a first preset value and the average working current of the current cycle is less than a second preset value, then it is judged that the parking mechanism is at an off-stock point;

[0031] The updating module obtains the brake pad travel from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the out-of-stock point, and updates the out-of-stock point parameter according to the brake pad travel.

[0032] In a self-learning control system for inventory parameters provided in one embodiment of the present invention, the working current acquisition module includes:

[0033] a first acquisition unit, which controls the parking mechanism to perform a clamping and releasing operation of the brake pad and the brake disc, and periodically acquires the working current of the parking motor when the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0;

[0034] The second acquisition unit periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc.

[0035] In a self-learning control system for inventory parameters provided by one embodiment of the present invention, the first acquisition unit includes:

[0036] When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage;

[0037] After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

[0038] In a self-learning control system for inventory parameters provided in one embodiment of the present invention, the updating module includes:

[0039] The undetermined discrete point parameters are determined according to the current brake pad stroke. If the difference between the undetermined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the undetermined discrete point parameters are used to update the discrete point parameters currently used by the vehicle.

[0040] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the above-mentioned self-learning control method of off-inventory parameters.

[0041] The present invention also provides an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the self-learning control method of the off-inventory parameter as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a flow chart of a self-learning control method for inventory parameters according to the present invention;

[0043] Figure 2 The present invention is a structural schematic diagram of a self-learning control system for inventory parameters. DETAILED DESCRIPTION

[0044] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0045] The present invention provides a self-learning control method for inventory parameters, please refer to Figure 1 As shown, including:

[0046] When the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs, the working current of the parking motor is periodically obtained;

[0047] Determine the difference between the maximum and minimum values ​​of the average working current in the current cycle and the average working current in the preset historical cycles before the current cycle;

[0048] If the difference is less than the first preset value and the average working current of the current cycle is less than the second preset value, it is determined that the parking mechanism is at the off-disk point;

[0049] The brake pad stroke from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the off-disk point is obtained, and the off-disk point parameter is updated according to the brake pad stroke.

[0050] Through the above method, the present invention can obtain the working current of the parking motor when releasing the brake pads and brake discs each time the vehicle is in the parking state, and the working current can be used to ensure the clamping force between the brake pads and the brake discs driven by the current parking motor; by determining the difference between the maximum value and the minimum value of the average working current in the current cycle and the preset historical cycles before the current cycle, through the difference and the average working current of the current cycle, it can be judged whether the parking mechanism is at the departure point, that is, the brake pads and the brake disc are about to be in a critical state of separation, and then the brake pad travel when the brake pads and the brake discs are actually released from this time until the parking mechanism is at the departure point is used to update the departure point parameters, so as to obtain the actual departure point parameters of the current vehicle;

[0051] Obviously, the method can continuously self-learn to update the off-count parameters according to actual conditions, ensuring that the off-count parameters are always accurate and reliable.

[0052] Specifically, in the above method, a self-learning algorithm is included, and the self-learning algorithm specifically includes:

[0053] Determine the difference between the maximum and minimum values ​​of the average working current in the current cycle and the average working current in the preset historical cycles before the current cycle;

[0054] In this embodiment, the preset historical cycles are 4 historical cycles, and one cycle includes the working current of 5 consecutive moments. At present, the number of preset historical cycles and the number of moments included in one cycle are adjustable, and there is no restriction here. At this time, during the release process of the caliper (i.e., the brake pad and the brake disc), the EPB controller collects the working current of the parking motor according to the fixed collection cycle, retains the working current of the current and past 5 cycles, and uses the following formula to calculate the average current of each cycle;

[0055]

[0056] For example, if n is 5, then:

[0057] The average operating current I of the first cycle Aa for,

[0058]

[0059] The average operating current of the second cycle I Aa1 for:

[0060]

[0061] The average operating current I of the third cycle Aa2 for:

[0062]

[0063] The average operating current I of the fourth cycle Aa3 for:

[0064]

[0065] The average operating current I of the fifth cycle Aa4 for:

[0066]

[0067] Among them, the first cycle is the current cycle, I A0 ,I A1 ,I A2 ,I A3 ,I A4 ,I A5 ,I A6 ,I A7 and I A8 It is 9 consecutive moments, and the time sequence is the first occurrence I A8 Until I A0That is, the above continuous cycles obtain the working current by sliding value taking. There are four moments in the cycles connected before and after that are the same. The latter cycle obtains the working current at the latest moment and deletes the working circuit at the most previous moment. Through this method, the correlation between different cycles can be enhanced, the subsequent accuracy can be improved, and the calculation time of the EPB controller can be reduced, and the calculation speed of the inventory parameters can be enhanced.

[0068] Then, determine the above I Aa0 ,I Aa1 ,I Aa2 ,I Aa3 and I Aa4 The minimum value I min and the maximum value I max ;

[0069] I max -I min =I Ad

[0070] Then determine the minimum value I min and the maximum value I max The difference I Ad ;

[0071] If the difference I Ad is less than the first preset value and the average operating current I Aa0 If the value is less than the second preset value, it is determined that the parking mechanism is at the off-stock point;

[0072] Get the brake pad travel from the time when the parking mechanism starts to release the brake pads and brake disc until the parking mechanism is at the out-of-stock point. When this parameter is calculated for the first time, it is necessary to store this parameter in the EEPROM of the EPB controller. When this parameter is calculated subsequently, the set conditions must be met to update the out-of-stock point parameters of the parking mechanism in the EEPROM, where the EEPROM represents the parameter storage area of ​​the EPB controller.

[0073] The above-mentioned setting conditions are as follows: the to-be-determined discrete point parameters are determined according to the current brake pad stroke; if the difference between the to-be-determined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the to-be-determined discrete point parameters are used to update the discrete point parameters currently used by the vehicle; specifically, when the self-learning algorithm is triggered for the second time and thereafter, the calculated to-be-determined departure parameter of the parking mechanism needs to be compared with the departure parameter stored in the EEPROM as a difference; when the difference is greater than the rated value, the EPB controller updates the departure parameter in the EEPROM; if the difference is not greater than the rated value, the departure parameter in the EEPROM is not updated.

[0074] By calculating the difference between the discrete point parameters currently in use and the discrete point parameters to be determined, it is possible to avoid updating the discrete point parameters too frequently and improve the safety of system operation.

[0075] In this embodiment, there are two working conditions that trigger the self-learning algorithm:

[0076] One of them is:

[0077] When the vehicle is in the parking state, the EPB controller receives a release request from the mechanical switch or CAN signal to drive the parking mechanism to release the brake pads and brake discs, and then periodically obtains the working current of the parking motor and triggers the self-learning algorithm to update the parking parameters;

[0078] The second is:

[0079] When the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0, the parking mechanism is controlled to perform a clamping and releasing operation of the brake pad and the brake disc, and the working current of the parking motor is periodically obtained;

[0080] By adding a new control that when the vehicle's continuous mileage exceeds a third preset value and the vehicle speed is 0, the parking mechanism is controlled to clamp and release the brake pads and brake discs, and the working current of the parking motor is periodically obtained, thereby triggering subsequent calculations of the working current. This allows the vehicle to be driven for a long time without parking to update the departure inventory parameters. The parking mechanism is actively controlled to clamp and release the brake pads and brake discs, obtain the working current of the parking motor, and use this to update the departure inventory parameters, thereby avoiding wear of the brake pads caused by long-term driving of the vehicle, which in turn affects the accuracy of the departure inventory parameters.

[0081] Specifically, the continuous mileage of the vehicle exceeding the third preset value includes:

[0082] When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage;

[0083] After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

[0084] That is, the EPB controller receives the vehicle speed V and the actual vehicle mileage sent by the vehicle controller. When the EPB controller determines that the vehicle is in the parking state and the parking motor is in the clamping state, it will record the actual vehicle mileage as the reference mileage. When the EPB controller determines that the parking motor is in the released state, the reference mileage will not be updated. If the EPB controller determines that the difference between the recorded reference mileage and the actual vehicle mileage currently sent by the vehicle controller in real time is greater than the third preset value, it is considered that the vehicle is in a long-term driving state, and the parking mechanism's departure inventory parameters have changed, and the parking mechanism's departure inventory parameters need to be updated. When the vehicle speed V is 0, the EPB controller controls the parking mechanism to perform a clamping and releasing action, and the above-mentioned self-learning algorithm will be triggered during the release process.

[0085] When the vehicle is in the parked state, the current actual vehicle mileage is used as the reference mileage, and it is subtracted from the real-time actual vehicle mileage to obtain the mileage of continuous driving when the current vehicle is not parked, so as to timely update the departure inventory parameters to avoid errors in the departure inventory parameters due to brake pad wear.

[0086] The method can update the parking mechanism's departure inventory parameters during vehicle use, so that the departure inventory parameters have higher accuracy; accommodate the parking mechanism hardware differences between different vehicles, and improve the consistency of vehicle parking control.

[0087] This method is mainly based on the optimization of algorithm control logic, does not involve changes in mechanical hardware, and has high feasibility. Through software optimization, the reliability of the clamping and releasing of the EPB parking mechanism can be improved, the quality of the vehicle parking mechanism can be improved, and after-sales quality complaints can be reduced.

[0088] The present invention also provides a self-learning control system for inventory parameters, comprising:

[0089] A working current acquisition module, which periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs;

[0090] A difference calculation module, determining the difference between the maximum and minimum values ​​of the average working current in the current cycle and the preset historical cycles before the current cycle;

[0091] A judgment module, if the difference is less than a first preset value and the average working current of the current cycle is less than a second preset value, then it is judged that the parking mechanism is at an off-stock point;

[0092] The updating module obtains the brake pad travel from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the out-of-stock point, and updates the out-of-stock point parameter according to the brake pad travel.

[0093] Furthermore, the working current acquisition module includes:

[0094] a first acquisition unit, which controls the parking mechanism to perform a clamping and releasing operation of the brake pad and the brake disc, and periodically acquires the working current of the parking motor when the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0;

[0095] The second acquisition unit periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc.

[0096] Furthermore, the first acquiring unit includes:

[0097] When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage;

[0098] After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

[0099] Furthermore, the update module includes:

[0100] The undetermined discrete point parameters are determined according to the current brake pad stroke. If the difference between the undetermined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the undetermined discrete point parameters are used to update the discrete point parameters currently used by the vehicle.

[0101] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the self-learning control method of the off-inventory parameters as described above.

[0102] The present invention also provides an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the self-learning control method of the off-inventory parameter as described above is implemented.

[0103] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0105] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A self-learning control method for inventory parameters, characterized in that: include: When the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs, the working current of the parking motor is periodically obtained; Determine the difference between the maximum and minimum values ​​of the average working current in the current cycle and the average working current in the preset historical cycles before the current cycle; If the difference is less than the first preset value and the average working current of the current cycle is less than the second preset value, it is determined that the parking mechanism is at the off-disk point; The brake pad stroke from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the off-disk point is obtained, and the off-disk point parameter is updated according to the brake pad stroke.

2. A self-learning control method for off-line inventory parameters according to claim 1, characterized in that: When the vehicle is in the parking state and the parking mechanism releases the brake pads and brake discs, the working current of the parking motor is periodically obtained, including: When the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0, the parking mechanism is controlled to perform a clamping and releasing operation of the brake pad and the brake disc, and the working current of the parking motor is periodically obtained; Alternatively, when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc, the operating current of the parking motor is periodically obtained.

3. A self-learning control method for inventory parameters according to claim 2, characterized in that: The continuous driving mileage of the vehicle exceeds the third preset value including: When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage; After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

4. The self-learning control method of the inventory parameter according to claim 1 is characterized in that: Updating the departure parameter by the brake pad travel includes: The undetermined discrete point parameters are determined according to the current brake pad stroke. If the difference between the undetermined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the undetermined discrete point parameters are used to update the discrete point parameters currently used by the vehicle.

5. A self-learning control system for inventory parameters, characterized in that: include: A working current acquisition module, which periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and brake discs; A difference calculation module, determining the difference between the maximum and minimum values ​​of the average working current in the current cycle and the preset historical cycles before the current cycle; A judgment module, if the difference is less than a first preset value and the average working current of the current cycle is less than a second preset value, then it is judged that the parking mechanism is at an off-stock point; The updating module obtains the brake pad travel from when the parking mechanism starts to release the brake pad and the brake disc until the parking mechanism is at the out-of-stock point, and updates the out-of-stock point parameter according to the brake pad travel.

6. A self-learning control system for inventory parameters according to claim 5, characterized in that: The working current acquisition module includes: a first acquisition unit, which controls the parking mechanism to perform a clamping and releasing operation of the brake pad and the brake disc, and periodically acquires the working current of the parking motor when the continuous driving mileage of the vehicle exceeds a third preset value and the vehicle speed is 0; The second acquisition unit periodically acquires the working current of the parking motor when the vehicle is in a parking state and the parking mechanism releases the brake pads and the brake disc.

7. A self-learning control system for inventory parameters according to claim 6, characterized in that: The first acquiring unit includes: When the vehicle is in the parking state, the current actual vehicle mileage is used as the reference mileage; After the vehicle is running, when the difference between the actual vehicle mileage and the reference trip mileage is greater than a third preset value, it is considered that the continuous mileage of the vehicle exceeds the third preset value.

8. According to the self-learning control system of the inventory parameters of claim 5, the updating module comprises: The undetermined discrete point parameters are determined according to the current brake pad stroke. If the difference between the undetermined discrete point parameters and the discrete point parameters currently used by the vehicle is greater than the rated value, the undetermined discrete point parameters are used to update the discrete point parameters currently used by the vehicle.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on the terminal device, the terminal device executes the self-learning control method for off-inventory parameters as described in any one of claims 1 to 4.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the self-learning control method of the off-inventory parameter as described in any one of claims 1 to 4 is implemented.

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