Method and system for assisting the driving of a vehicle

Abstract

The invention relates to a method for assisting the driving of a vehicle comprising the following steps: - initialize (52) a counter; - detect (60) a first stationary posture of the occupant for a duration exceeding a first defined duration; - increment (60) the counter by a value; - control (62, 64) the operation of the seat equipment in an operating mode; - when a second stationary posture is detected for a duration exceeding a second defined duration, increment (66) the counter by a value; - compare (68) the value of the counter to a threshold; - when the value of the counter is equal to the threshold, generate (78) a warning signal to assist the driver. Figure to be published with the abbreviation: Figure 2

Description

Title of the invention: Method and system for assisting the driving of a vehicle Technical field of the invention

[0001] The present invention relates to the field of vehicle accident prevention. In particular, the invention relates to a method and a system for assisting the driving of a vehicle. Prior art

[0002] An increasing number of accidents are caused by momentary driver inattention. These momentary inattentions are often caused by cognitive distractions. A cognitive distraction arises from an activity that requires mental attention and diverts the driver's attention from the road. For example, using a voice-activated infotainment system, listening to a hands-free phone conversation, following GPS directions, talking to passengers, or daydreaming are all cognitive distractions. Automobile manufacturers are seeking to implement safety systems to prevent and avoid accidents caused by cognitive distractions. For example, US patent 2022 / 0363264 describes a method for estimating a driver's mental workload and cognitive distractions.

[0003] However, existing methods often use medical equipment such as electrodes. They are therefore difficult to use in a vehicle. Moreover, they generate false alarms. Presentation of the invention

[0004] A first object of the present invention is to propose a driving assistance method enabling the driver to be warned when the latter is in a state of significant cognitive distraction.

[0005] A second object of the present invention is to provide a measure of the driver's mental workload.

[0006] A third object of the present invention is to modify the services offered by the human-machine interface when the driver's mental workload is significant. Summary of the invention

[0007] The present invention relates to a method for assisting the driving of a vehicle implemented by an assistance system comprising a controller, a seat, at least one sensor for detecting the movement of a seat occupant, and at least one seat device capable of operating in a plurality of operating modes; the method comprising the following steps: a) initialize a counter; b) detect a first stationary posture of the occupant for a duration greater than a first defined duration; c) increment the counter by one value; d) control the operation of at least one seat equipment in an operating mode; f) when a second stationary posture is detected for a duration greater than a second defined duration, increment the counter by one value; g) compare the value of the counter to a threshold; h) when the odometer value is equal to the threshold, generate a warning signal to assist the driver. Advantageously, this process allows the driver to be warned when he is in a high level of cognitive distraction so that he can put in place measures to reduce these cognitive distractions, such as stopping talking with other passengers, turning off the radio, concentrating etc.

[0008] The features described in the following paragraphs may optionally be implemented. They may be implemented independently or in combination: - When the counter value is below the threshold, the process comprises the following steps: - to order a modification of the operating mode of said at least one piece of seating equipment and to order the operation of said at least one piece of seating equipment in the modified operating mode, and - return to step f). - The assistance system includes a plurality of seat equipment, and in which, when the meter value is below the threshold, the process includes the following steps: - control the operation of other seat equipment, and - return to step f). - The at least one seat equipment includes at least one vibrating device comprising a support and a vibrating element movable relative to the support; and in which the step of controlling a change in the operating mode of the vibrating device includes the change in the vibration frequency of the vibrating element and / or the change in the vibration amplitude of the vibrating element and / or the change in the vibration duration. Advantageously, vibration stimulation is an effective way to generate movement in the driver and mental refocusing on the driving activity. Advantageously, this method is effective and inexpensive. - The seat comprises a seat and a backrest articulated to the seat; and in which at least one seating equipment comprises a first seating equipment and a second seating equipment carried by one of the backrest and the seat; the first seating equipment being arranged on one side of a central vertical plane, the second seating equipment being arranged on the other side of the central vertical plane. - The seat comprises a seat cushion, a backrest hinged to the seat cushion, and wherein at least one seat component includes an actuator for pivoting the backrest relative to the seat cushion. The control step for the operation of at least one seat component includes a step for controlling the rotation of the backrest relative to the seat cushion by said actuator at an angle between 3% and 6% of the total angular travel of the backrest. - The method includes a step for determining the first duration, defined according to the number of passengers in the vehicle and / or the vehicle's driving environment. - The assistance system further includes a loudspeaker and / or a display screen, and in which, upon receipt of the alert signal, the method further includes a step of displaying an alert message on the display screen and / or broadcasting an audible alert message by the loudspeaker. The process also includes the following steps: i) detect movement of the seat occupant after detection of a second stationary posture, j) determine the time between the start of operation of at least one piece of seat equipment, and / or the start of operation of the other piece of seat equipment, and the detection of occupant movement; k) generate an output signal representative of the determined duration, 1) return to step a). Advantageously, the determined duration D corresponds to a reaction time in response to a stimulus. This reaction time accurately characterizes mental workload according to scientific data. - The assistance system further includes a display screen for displaying images, and in which the process further includes a step of modifying the display parameters of the content of the images displayed on the display screen, when the determined duration is greater than a first limit value. - The assistance system further comprises a communication interface, a loudspeaker and / or a display screen; the communication interface being intended to communicate with a mobile phone, and wherein, when the predetermined duration exceeds a second limit value, the method comprises a step of delaying the display of at least one mini-message on the display screen. and / or delaying the broadcast of at least one audio message through the loudspeaker; the text message and the audio message having been received by the mobile phone. - The assistance system further comprises a loudspeaker and / or a display screen, and wherein the method further comprises a step of displaying and / or broadcasting audio with a value representative of the determined duration and / or the counter values.

[0009] The invention also relates to a vehicle driving assistance system, the system comprising a seat, at least one sensor for detecting the movement of a seat occupant, and at least one seat equipment capable of operating in a plurality of operating modes and a controller (10) configured to implement the assistance method as mentioned above. Brief description of the figures

[0010] [Fig-1] is a perspective diagram of an assistance system according to a first method of implementing the invention;

[0011] [Fig.2] is a diagram representing the steps of the assistance process according to the invention;

[0012] [Fig.3] is a diagram representing other steps of the assistance process according to the invention. Detailed description of the invention

[0013] In the following description, the longitudinal direction X means a horizontal direction extending from the front to the rear of the vehicle seat. The transverse direction Y means a horizontal direction extending from one side of the vehicle seat to the other side of the vehicle seat. The vertical direction Z means the direction perpendicular to the longitudinal direction X and the transverse direction Y.

[0014] In the following description, the driver of the vehicle is generally referred to as the "seat occupant".

[0015] Figure 1 shows an example of an assistance system 2 suitable for implementing the vehicle driving assistance method according to the invention. In Figure 1, the seat frame is shown in solid lines; the upholstery and foam are shown in dashed lines.

[0016] In the illustrated example, the assistance system 2 includes a seat 4, sensors 6 for detecting the movement of a seat occupant, seat equipment 8 capable of operating in a plurality of operating modes, a controller 10 connected to the motion detection sensors 6 and the seat equipment 8. The seat 4 can be a motor vehicle seat, a train seat, a truck seat, a bus seat, an airplane seat or a boat seat.

[0017] The seat 4 comprises a seat 12 and a backrest 14 articulated to the seat by an articulation system.

[0018] In the embodiment shown in [Fig. 1] by way of example, the assistance system 2 comprises a first seat 16 and a second seat 18 supported by the backrest 14, a third seat 20 and a fourth seat 22 supported by the seat 12. The first seat 18 is arranged on one side of a central vertical plane P. The second seat 20 is arranged on the other side of the central vertical plane P. The central vertical plane P passes through the middle of the backrest in the transverse direction Y. Similarly, the third seat 20 is arranged on one side of the central vertical plane P. The fourth seat 22 is arranged on the other side of the central vertical plane P.

[0019] Alternatively, the assistance system 2 includes a different number of seat equipment arranged on the backrest and a different number of seat equipment arranged on the seat.

[0020] Alternatively, the assistance system 2 includes only seat equipment on the backrest or only seat equipment on the seat cushion.

[0021] Preferably, the seat equipment 16, 18, 20, 22 include vibrating devices 24 schematically illustrated in [Fig.1]. Vibrating devices 24 comprise a support and a vibrating element movable relative to the support in a direction perpendicular to the support. The operating modes of the vibrating devices are characterized by a vibration frequency of the vibrating element and / or a vibration amplitude of the vibrating element and / or a vibration duration. The vibrating devices may be eccentric rotating mass vibration motors or linear vibrator micromotors. An example of a vibrating device is also described in patent application FR 3 122 128 filed by the applicant.

[0022] As an alternative or in addition, the seat equipment 8 includes an actuator 26 suitable for driving the pivoting of the backrest 14 relative to the seat 12 around the articulation system 28. Alternatively, the assistance system 2 comprises a single seat component. This seat component may, for example, consist of a single vibrating device suitable for operation in different operating modes or of the actuator 26 suitable for driving the pivoting of the backrest relative to the seat. The 6 motion detection sensors include, for example, four capacitive sensors with interdigitated electrodes arranged on the backrest and four capacitive sensors with interdigitated electrodes arranged on the seat. Each capacitive sensor with interdigitated electrodes comprises two coplanar comb-shaped electrodes which They interpenetrate each other. Each electrode is connected to the controller by a conductive track. One electrode is connected to a potential between 5 Volts and 12 Volts. The other electrode is connected to ground. The potential differences (or capacitance variations) between the electrodes of capacitive sensors with interdigitated electrodes indicate the presence of an occupant in the seat. The capacitance variations over time in each capacitive sensor allow for the detection of occupant movement, such as a natural, uncontrolled, and unintentional reflex movement. Capacitive sensors with interdigitated electrodes are schematically represented by a rectangle in [Fig. 1]. Examples of capacitive sensors with interdigitated electrodes are described and illustrated in patent applications published under numbers FR 3 126 666, FR 3 126 668, FR 3 126 669, and FR 3 120 124 in the name of the applicant. Alternatively, the assistance system comprises a single motion detection sensor.

[0023] Alternatively, the motion detection sensors 6 include at least one camera for capturing images of the interior of the passenger compartment and a processing unit including executable code configured to detect movement of the seat occupant from the captured images.

[0024] The controller 10 includes a central processing unit (CPU) such as, for example, a processor or a microprocessor.

[0025] The controller 10 can be a programmable device that uses software, a specific integrated circuit (ASIC), a field-programmable gate array (FPGA), part of an electronic control unit (ECU), or a computer. The controller 10 is configured to perform the functions of a clock and a counter. The clock is suitable for measuring durations. The counter is suitable for counting events and incrementing by a value when predefined events occur.

[0026] The controller also includes memory storing executable code for implementing the assistance method using the assistance system. The memory of controller 10 also includes executable code for implementing a method of detecting the movement of a seat occupant based on the measurement of capacitance variation between the electrodes of the capacitive sensors with interdigitated electrodes. Such a method is described in patent application FR 3 106 094 filed by the applicant. For this purpose, controller 10 supplies voltage to one of the electrodes of the detection sensors. Controller 10 is also configured to control the operation of the seat equipment and to control changes in the operating mode of the seat equipment.

[0027] The assistance system 2 may also include a speaker 30 connected to the controller 10 and / or a display screen 32 connected to the controller 10, and a communication interface 34 connected to the controller 10. The speaker 30, the display screen 32, and the communication interface 34 may be elements of the vehicle's human-machine interface. The communication interface 34 is intended to communicate with a mobile phone via a wired or wireless connection.

[0028] The assistance system 2 may, in addition, include a device 36 for determining the vehicle's driving environment and a system 38 for determining the number of passengers in the vehicle.

[0029] The driving environment determination device 38 is adapted to determine whether the vehicle is traveling on a highway, in a city, in heavy traffic, or in light traffic. The vehicle environment determination device 36 may, for example, include a geolocation system, a mapping system, and a traffic information system. The driving environment determination device may also include a vehicle speed measurement device, one or more cameras for viewing the vehicle's surroundings, and / or a telemetry device such as, for example, radar, lidar, or an infrared light device.

[0030] The system for determining the number of passengers in the vehicle may, for example, include person detection sensors arranged on the seats. Alternatively, the system for determining the number of passengers may include a camera for capturing images of the interior of the passenger compartment, and a processing unit comprising executable code configured to determine the number of passengers present in the passenger compartment from the captured images.

[0031] The vehicle driver assistance method according to the invention can be implemented by the assistance system described in connection with [Fig. 1]. This method makes it possible to monitor the driver's attention. This method makes it possible to assess the driver's cognitive state. With reference to [Fig. 2], the process can begin with a step 50 of determining a first defined duration DI. This determination is made from maps stored in the controller's memory and the number of passengers determined by the determination system 38 and / or from the driving environment determined by the determination device 36. For example, the first defined duration DI can be between 15 and 25 seconds when the vehicle is traveling on a highway. The first defined duration DI can be between 5 and 15 seconds when the vehicle is traveling in the city.

[0032] Alternatively, the first defined duration DI is predetermined and fixed regardless of the number of passengers in the vehicle and regardless of the driving environment. In this case, the first defined duration DI is stored in the memory of controller 10 and the process begins with step 52.

[0033] During step 52, the counter is initialized. In other words, the counter is reset to zero.

[0034] During step 54, the clock is triggered.

[0035] During step 56, the motion detection sensors determine if The occupant of the seat makes a movement.

[0036] If the detection sensors detect movement of the occupant of seat 4 before the end of the first defined duration DI (output N of step 56), the clock is stopped during a step 58 and the assistance process returns to step 50 or step 52. If the detection sensors detect no movement of the occupant or a movement of low amplitude (resulting, for example, in a small and short variation in capacitance) for a duration exceeding the first defined duration DI (output N of step 56), the counter is incremented by one value and the clock is stopped during a step 60. In this patent application, the absence of movement of the seat occupant is defined as a stationary posture of the occupant of seat 4.This stationary posture of the occupant of seat 4 or a small amplitude movement (such as a natural, uncontrolled, unintentional reflex of the occupant) which is carried out during an initial phase, is referred to as the first stationary posture in this patent application.

[0037] During a step 62, the controller 10 commands the operation of at least one seat equipment in a first operating mode.

[0038] In the example illustrated in [Fig. 1], the controller 10 can, for example, control the operation of the first vibrating device 16, which is located on one side of the vertical central plane P, according to a first operating mode. The first vibrating device 16 begins to vibrate at a defined frequency, a defined amplitude, and for a first defined period of time corresponding to the first operating mode. For example, the vibrating element vibrates with an amplitude of 0.5 meters per second squared, at a frequency of 80 Hertz, for a duration of 1 second.

[0039] Preferably, in the first operating mode: - the vibration amplitude of the vibrating element is between 0.3 ms2 and between 0.8 ms2. - the vibration frequency of the vibrating element is between 70 Hertz and 120 Hertz. - the duration of the first time period is between 0.5 seconds and 1.5 seconds.

[0040] In addition to or as an alternative to step 62, during a step 64, the controller 10 commands the actuator 26 to rotate the seat back relative to the seat by an angle between 3% and 6% of the total angular stroke of the back relative to the seat. Steps 62 and 64 aim to generate a disturbance, a disruption for the seat occupant. This disturbance should elicit movement from the seat occupant. This reactive movement is an intentional movement of medium or large amplitude, going beyond a small, unintentional, reflexive movement of a natural type. If the seat occupant does not exhibit at least a medium-amplitude movement, it is assumed that they are experiencing some level of cognitive distraction.

[0041] During a step 66, the clock is triggered. This triggering occurs simultaneously with the transmission of the operating command of the first vibrating device 16 and / or the actuator 26.

[0042] During a step 68, the motion detection sensors determine whether the seat occupant is making a movement.

[0043] If the motion detection sensors 6 do not detect any movement of at least average amplitude of the seat occupant for a duration greater than a second defined duration D2, the counter is incremented by a value during a step 70. The total value of the counter is representative of a level of cognitive distraction of the seat occupant.

[0044] The second duration D2 is, for example, between 2.5 seconds and 5 seconds.

[0045] This new stationary posture is referred to as the second stationary posture in the present patent application. During step 72, the value of the counter is compared to a threshold S. The threshold S is between 2 and 4. Preferably, the threshold S is equal to 3. When the counter value is below the threshold S (outcome o of step 72), the controller 10 commands a change in the operating mode of the seat equipment during step 74. Then, during this step 74, the controller 10 commands the seat equipment to operate in the modified operating mode. In the example shown in [Fig. 1], the vibrating device 16 is set to a second operating mode. In the second operating mode, the vibrating element vibrates, for example, with an amplitude of 1.5 meters per second squared, at a frequency of 60 Hertz, for a duration of 1 second.

[0046] Preferably, in the second operating mode: - the vibration amplitude of the vibrating element is between 1ms2 and 2ms2. - the vibration frequency of the vibrating element is between 40 Hertz and 70 Hertz. - The duration of the second time period is between 1 and 2.5 seconds. Alternatively, or in addition, during step 76, the controller 10 controls the operation of another seat component. Thus, in the example shown in [Fig. 1], the controller 10 controls the operation of the second vibrating device 18. The second vibrating device 18 can be activated in the first operating mode or in the second operating mode. Note that this alternative or additional step is implemented only in embodiments where the assistance system includes at least two seat components.

[0047] During step 77, the process returns to step 66. The following steps are repeated. These steps may be repeated two or three times. In this case, at each repetition, the operating mode of the seat equipment is modified to generate a stronger or longer vibration that is more likely to disturb the seat occupant and cause them to move in reaction.

[0048] When the value of the counter is equal to the threshold S (outcome N of step 72), the controller 10 generates an alert signal to assist the driver during a step 78. The threshold S has been defined as a limit beyond which it is considered that the seat occupant, despite the demands exerted by the seat equipment, is subject to significant cognitive distractions which could endanger him while driving.

[0049] The method may also include a step 80 of displaying an alert message on the display screen 32 and / or broadcasting an audible alert message via the loudspeaker 30.

[0050] The warning signal may optionally be transmitted to the braking system so that it can slow down the vehicle's speed automatically.

[0051] If after step 68, the motion detection sensors 6 detect, during a step 82, a movement of the seat occupant and if the movement is detected during the second defined duration D2, then the clock is stopped.

[0052] Then, during a step 84, the controller 10 determines the duration D between the start of the operation of the seat equipment during step 62 and the detection of the occupant's movement.

[0053] When the operating mode of the seat equipment has been changed during step 74, the controller 10 determines the time D between the start of the operation of the seat equipment during step 74 and the detection of the occupant's movement.

[0054] When a second seat equipment has been put into operation during step 76 and the process does not include step 74, the controller 10 determines the duration D between the start of the operation of the seat equipment during step 76 and the detection of the occupant's movement.

[0055] This duration D corresponds to the reaction time of the seat occupant. This duration D is representative of the mental workload of the seat occupant. Generally speaking, a significant mental workload is defined as a substantial demand placed on a person's cognitive or emotional faculties. For example, a person's mental workload is often significant when they are thinking about an argument.

[0056] During a step 86, the controller 10 generates an output signal representative of the determined duration D. Then the process returns to step 50 or 52, and the subsequent steps of the process are repeated. Information about the mental workload of the seat occupant can be used for various vehicle functions. For example, mental workload information can be used to adapt the services offered to the driver by the vehicle's human-machine interface.

[0057] For example, with reference to [Fig. 3], the method may include a step 88 of comparing the determined duration D to a first limit value L1 and a step 90 of modifying the display parameters of the images displayed on the display screen 32 when the determined duration D is greater than the first limit value L1. Thus, for example, the number of icons and control buttons displayed on the display screen may be reduced. Similarly, the size of the icons and control buttons may be increased.

[0058] The first limit value Ll is for example between 3 seconds and 5 seconds.

[0059] For example, if during a step 92, the driver has established a wired or wireless connection between his mobile phone or his smartphone with the communication interface 34, and the driver receives a phone call, a notification or a mini-message on his mobile phone, the method may include a step 94 of delaying the display of the mini-message on the display screen 32 and / or of delaying the broadcast of an audio message by the speaker, when the predetermined duration D is greater than a second limit value L2.

[0060] The second limit value L2 is for example between 4 seconds and 5 seconds. For example, the human-machine interface can communicate to the seat occupant the mental workload and / or level of cognitive distraction determined by the process in order to make them aware of their state and alert them that they must He might want to take a break. This communication also helps raise his awareness of the importance of his level of concentration on the road.

[0061] To this end, the method may include a step 96 of displaying and / or broadcasting audio values ​​representative of the determined durations D and / or the recorded counter values. Alternatively, the method may display and / or broadcast an index representative of these.

[0062] This step 96 can be performed at a predefined frequency. For example, this step can be performed every hour.

[0063] Alternatively, this step can be carried out at the end of driving, when the driver switches off the ignition.

[0064] Alternatively, this step can be carried out at the request of the driver.

[0065] Steps 88 to 96 are optional. They can be carried out in a different order.

Claims

Demands

1. A method for assisting the driving of a vehicle implemented by an assistance system (2) comprising a controller (10), a seat (4), at least one sensor (6) for detecting the movement of a seat occupant, and at least one seat equipment (8, 16, 18, 20, 22, 26) capable of operating in a plurality of operating modes; the method comprising the following steps: a) initializing (52) a counter; b) detecting (60) a first stationary posture of the occupant for a duration greater than a first defined duration (D1), the first defined duration being greater than 5 seconds; c) incrementing (60) the counter by a value; d) controlling (62, 64) the operation of at least one seat equipment (8, 16, 18, 20, 22, 26) in an operating mode; f) when a second stationary posture is detected for a duration greater than a second defined duration (D2), increment (66) the counter by one value;(g) compare (68) the value of the counter to a threshold (S); (h) when the value of the counter is less than the threshold, command (74) a change in the operating mode of said at least one seat equipment, command (74) the operation of said at least one seat equipment in the changed operating mode, and return (77) to step (f); (i) when the value of the counter is equal to the threshold (S), generate (78) a warning signal to assist the driver.

2. An assistance method according to claim 1, wherein the assistance system (2) comprises a plurality of seat equipment (8, 16, 18, 20, 22, 26), and wherein when the value of the counter is less than the threshold (S), the method comprises the following steps: - commanding (76) the operation of another seat equipment, and - returning (77) to step f).

3. An assistance method according to any one of claims 1 and 2, wherein at least one seat equipment (8, 16, 18, 20, 22, 26) comprises at least one vibrating device (16, 18, 20, 22) comprising a support and a vibrating element movable relative to the support; and in which the control step (74) of a modification of the operating mode of the vibrating device includes the modification of the vibration frequency of the vibrating element and / or the modification of the vibration amplitude of the vibrating element and / or the modification of the vibration duration.

4. An assistance method according to any one of claims 1 to 3, wherein the seat comprises a seat (12), a backrest (14) articulated to the seat and wherein at least one seat equipment (8, 16, 18, 20, 22, 26) comprises an actuator (26) adapted to drive the pivoting of the backrest relative to the seat, and wherein the control step (62, 64) of the operation of at least one seat equipment comprises a control step (64) for driving the rotation of the backrest relative to the seat by an angle between 3% and 6% of the total angular stroke of the backrest by said actuator (26).

5. An assistance method according to any one of claims 1 to 4, wherein the method further comprises the following steps: i) detecting (82) a movement of the seat occupant after detection of a second stationary posture, j) determining (84) the duration (D) between the start of operation of at least one seat equipment, and / or the start of operation of the other seat equipment, and the detection of the occupant's movement; k) generating (86) an output signal representative of the determined duration (D), l) returning to step a).

6. An assistance method according to claim 5, wherein the assistance system (2) further comprises a display screen (32) adapted to display images, and wherein the method further comprises a step (90) of modifying the display parameters of the content of the images displayed on the display screen (32), when the determined duration (D) is greater than a first limit value (L1).

7. An assistance method according to claim 5, wherein the assistance system (2) further comprises a communication interface (34), a loudspeaker (30) and / or a display screen (32); the communication interface (34) being intended to communicate with a mobile phone, and wherein when the predetermined duration (D) exceeds a second limit value (L2), the method includes a step of delaying the display of at least one mini-message on the display screen (32) and / or delaying the broadcast of at least one audio message by the loudspeaker (30); the mini-message and the audio message having been received by the mobile phone.

8. An assistance method according to claim 5, wherein the assistance system (2) further comprises a loudspeaker (30) and / or a display screen (32), and wherein the method further comprises a step (96) of displaying and / or broadcasting audio of a value representative of the determined time and / or the counter values.

9. Assistance method according to claim 1, wherein the second defined duration (D2) is between 2.5 seconds and 5 seconds.

10. Vehicle driving assistance system (2), the system (2) comprising a seat (4), at least one sensor (6) for detecting the movement of a seat occupant, and at least one seat equipment (8, 16, 18, 20, 22, 26) capable of operating in a plurality of operating modes and a controller (10) configured to implement the assistance method according to any one of claims 1 to 9.

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