Image processing device

Abstract

The present invention provides an image processing device in which heat generation can be suppressed while keeping increases in product size and cost in check, and which has the advantages of reductions in power supply and clock circuits and a higher degree of freedom in microcontroller selection. An image processing device (stereo camera 101) is installed in a vehicle and comprises image sensors 102a and 102b that acquire image data obtained by imaging the external world around the vehicle and an electronic circuit (image processing microcontroller 103) provided with hardware (image-for-processing generation part 202) that performs image generation based on the image data, wherein the hardware (image-for-processing generation part 202) that performs image generation is reconfigurable according to the temperature of the image processing device.

Description

Image processing device

[0001] The present invention relates to an image processing device mounted on a vehicle, and more particularly to an image processing device that can contribute to improving reliability in a high-temperature environment.

[0002] As in-vehicle image processing devices become more sophisticated, they generate more heat, making it difficult to ensure reliability. Particularly for products for small cars, product size and cost constraints can make it difficult to take measures such as increasing the product size or adding a fan.

[0003] Therefore, there is a demand for in-vehicle image processing devices that suppress heat generation while preventing increases in product size and cost.

[0004] As a solution to this problem, there is a method of controlling the clock or power supply voltage for the parallax images and the sign images in accordance with the value of a temperature sensor that detects the temperature of the image processing device (Patent Document 1).

[0005] Japanese Patent Application Laid-Open No. 2021-175079

[0006] However, with the method described in Patent Document 1, if it is desired to achieve operations such as full operation of the emergency automatic brake, which is highly dangerous if its performance is reduced, and stopping the function of the sign recognition, which is less dangerous, at high temperatures, it is necessary to reduce only the power supply voltage or clock for the sign images, and therefore a circuit capable of supplying independent power supplies and clocks for the parallax images and the sign images is required.

[0007] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an image processing device that can suppress heat generation while preventing an increase in product size and cost, and that has the advantages of reducing power supply and clock circuits and increasing the freedom of microcomputer selection.

[0008] In order to achieve the above object, the present invention provides an image processing device mounted on a vehicle, which comprises an imaging element that acquires image data of the outside world of the vehicle, and an electronic circuit having hardware that generates an image from the image data, and the hardware that generates the image can be configured according to the temperature of the image processing device.

[0009] According to the present invention configured as described above, the hardware that generates images is switched depending on the temperature of the image processing device, eliminating the need for separate power supplies and clocks. For example, at high temperatures, the sign image generation hardware itself is not needed. Therefore, even if a common power supply and clock configuration is used for both parallax images and sign images, it is possible to disable only the sign image recognition function. This has the advantages of reducing the power supply and clock circuits and increasing the flexibility in selecting a microcontroller compared to conventional technology.

[0010] According to the present invention, it is possible to suppress heat generation while suppressing increases in product size and cost, and it also has the advantages of reducing the power supply and clock circuitry and increasing the freedom in microcomputer selection. Other issues, configurations, and effects will become clear from the description of the following embodiments.

[0011] FIG. 1 is a schematic circuit configuration diagram (basic configuration) of a stereo camera according to an embodiment of the present invention. FIG. 2 is a schematic circuit configuration diagram (normal operation) of a stereo camera according to an embodiment of the present invention. FIG. 3 is a schematic circuit configuration diagram (high temperature operation) of a stereo camera according to an embodiment of the present invention. FIG. 4 is a flowchart showing an operation related to hardware configuration reconstruction of a stereo camera according to an embodiment of the present invention. FIG. 5 is a temperature flow related to hardware configuration reconstruction of a stereo camera according to an embodiment of the present invention.

[0012] Hereinafter, an image processing device according to an embodiment of the present invention will be described with reference to the drawings, taking a stereo camera as an example. In each drawing, the same reference numerals are used to designate the same components, and redundant description will be omitted where appropriate.

[0013] 1 to 3 are schematic circuit diagrams of a stereo camera according to an embodiment of the present invention, with Fig. 1 showing the basic configuration, Fig. 2 showing normal operation, and Fig. 3 showing high-temperature operation. The stereo camera 101 according to this embodiment is mounted on a vehicle and is a device that recognizes the surrounding environment (such as distance information about surrounding objects and sign information) necessary for vehicle control based on image data captured from the outside of the vehicle.

[0014] [Basic Configuration] As shown in FIG. 1 , a stereo camera 101 according to an embodiment of the present invention includes imaging elements 102 a and 102 b that recognize the environment outside the vehicle and acquire image data, an image processing microcomputer 103 that performs calculations based on the image data received from the imaging elements 102 a and 102 b and acquires information necessary for vehicle control, a memory 104 that stores hardware information of hardware (processing image generation unit 202) that generates processing images for the image processing microcomputer 103, a temperature sensor 105 that acquires (detects) the temperature of the stereo camera 101, and a meter unit 106 that notifies the driver of information about the operating state of the stereo camera 101 (the image processing microcomputer 103) (for example, by a monitor, sound, etc.).

[0015] The image processing microcomputer 103 includes a data processing unit 201 , a processing image generating unit 202 , a recognition processing unit 205 having a parallax image recognition processing unit 203 and a sign image recognition processing unit 204 , and a mode specifying unit 206 .

[0016] The data processing unit 201 adjusts the brightness, gain, etc. of the image data, and sends the processed image data to the processing image generation unit 202 .

[0017] The processing image generation unit 202 is hardware that generates processing images based on image data sent from the data processing unit 201, and is hardware that can reconstruct logic by dynamic reconfiguration. In detail, the processing image generation unit 202 is hardware that can reconstruct logic by writing information (settings) stored in the memory 104. The processing images (in this example, parallax images or sign images) generated by the processing image generation unit 202 based on the image data are sent to the recognition processing unit 205.

[0018] In the recognition processing unit 205, the parallax image recognition processing unit 203 calculates the distance to surrounding objects such as a forward object based on the processing image (here, the parallax image) generated by the processing image generating unit 202.

[0019] In the recognition processing unit 205 , a sign image recognition processing unit 204 identifies signs such as road signs and road markings based on the processing image (here, sign image) generated by the processing image generation unit 202 .

[0020] The mode instruction unit 206 receives temperature information of the stereo camera 101 from the temperature sensor 105, and instructs the memory 104 on a mode to read information (settings) from the memory 104 (for configuring the processing image generation unit 202) based on the temperature information from the temperature sensor 105. The mode instruction unit 206 instructs the memory 104 on a mode according to the temperature information from the temperature sensor 105, thereby making it possible to switch the information to be read from the memory 104 (i.e., image generation hardware configuration information to be operated on the processing image generation unit 202).

[0021] In this example, the mode instructing unit 206 has a normal mode and a high temperature environment mode (also referred to as a high temperature mode) as modes to instruct the memory 104, and temperature thresholds that serve as criteria for determining (switching between) these modes include a first threshold (Temp1) that is (the upper limit of) the guaranteed operating temperature of the stereo camera 101, and a second threshold (Temp2) that is lower than the first threshold and is (the upper limit of) the temperature at which the driver can drive. For example, the first threshold (Temp1) is the temperature of the stereo camera when the upper limit of the ambient temperature at which the driver can drive is 65°C, and the second threshold (Temp2) is the temperature of the stereo camera when the upper limit of the ambient temperature at which the driver can drive is 45°C.

[0022] The memory 104 stores hardware information for configuring the processing image generating unit 202, and stores normal hardware information 301 and high temperature environment hardware information 302.

[0023] [Normal state (when the temperature of the stereo camera is below the second threshold value)] When the mode instruction unit 206 determines that the temperature of the stereo camera 101 detected by the temperature sensor 105 is below the second threshold value (Temp2), it instructs the memory 104 to set it to normal mode, reads out normal state hardware information 301 from the memory 104, and writes it to the processing image generation unit 202, thereby reconstructing the hardware configuration of the processing image generation unit 202.

[0024] At this time, the normal hardware information 301 operates on the processing image generation unit 202 as image generation hardware configuration information (in other words, the processing image generation unit 202 is operated using the normal hardware information 301), and the processing image generation unit 202 is equipped with a parallax image generation unit 202a and a sign image generation unit 202b, as shown in Figure 2, and the parallax image generation unit 202a generates a parallax image as a processing image based on the image data, and the parallax image recognition processing unit 203 calculates the distance to surrounding objects such as an object ahead based on the parallax image as a processing image.

[0025] In addition, the sign image generation unit 202b generates a sign image as an image for processing based on the image data, and the sign image recognition processing unit 204 identifies signs such as road signs and road markings based on the sign image as an image for processing.

[0026] While the stereo camera 101 is operating according to the normal hardware information 301, the stereo camera 101 is in full operation (all functions of the stereo camera 101 are operating), and there is no particular need to inform the driver of the operating state, so no command is sent to the meter unit 106.

[0027] [In a high temperature environment (when the temperature of the stereo camera is higher than the second threshold and lower than the first threshold)] When the mode instruction unit 206 determines that the temperature of the stereo camera 101 detected by the temperature sensor 105 is higher than the second threshold (Temp2) and lower than the first threshold (Temp1), it instructs the memory 104 to select the high temperature environment mode, reads out high temperature environment hardware information 302 from the memory 104, and writes it to the processing image generation unit 202, thereby reconstructing the hardware configuration of the processing image generation unit 202.

[0028] At this time, the high temperature environment hardware information 302 operates on the processing image generation unit 202 as image generation hardware configuration information (in other words, the processing image generation unit 202 is operated using the high temperature environment hardware information 302), and the processing image generation unit 202, which has only a parallax image generation unit 202a as shown in FIG. 3, generates a parallax image as a processing image based on the image data, and the parallax image recognition processing unit 203 calculates the distance to surrounding objects such as a forward object based on the parallax image as a processing image.

[0029] The processing image generation unit 202 does not have the function of the sign image generation unit 202b (in other words, its function is restricted or stopped), and the sign image recognition processing unit 204 does not generate a sign image, so no processing is performed.

[0030] While the stereo camera 101 is operating in a high temperature environment according to the hardware information 302, the meter unit 106 is instructed to display a function restriction to inform the driver that the functions are restricted (some functions of the stereo camera 101 are restricted or stopped, or only some functions are operating).

[0031] 4 is a flowchart showing the operation of reconstructing the hardware configuration of the stereo camera according to this embodiment. Each step will be described below in order.

[0032] First, in step S201, the image processing microcomputer 103 acquires temperature information from the temperature sensor 105, and the mode instruction unit 206 receives the temperature information.

[0033] Next, in step S202, the mode instruction unit 206 determines the temperature information. If the mode instruction unit 206 determines in step S202 that the temperature of the stereo camera 101 detected by the temperature sensor 105 is equal to or lower than the second threshold value (Temp2), in step S203, the mode instruction unit 206 reads out the normal hardware information 301 from the memory 104 and writes it to the processing image generation unit 202, thereby reconstructing the hardware configuration of the processing image generation unit 202.

[0034] Then, in step S204, the parallax image generation unit 202a and the sign image generation unit 202b of the processing image generation unit 202 generate parallax images and sign images as processing images, respectively, and the parallax image recognition processing unit 203 and the sign image recognition processing unit 204 perform recognition processing of distance information and sign information of surrounding objects from the parallax images and sign images as processing images, respectively. That is, both the parallax image recognition processing unit 203 and the sign image recognition processing unit 204 perform recognition processing, and the stereo camera 101 is in full operation (all functions of the stereo camera 101 are operating).

[0035] In step S202, if the mode instruction unit 206 determines that the temperature of the stereo camera 101 detected by the temperature sensor 105 is higher than the second threshold (Temp2) and lower than the first threshold (Temp1), in step S205, the hardware configuration of the processing image generation unit 202 is reconstructed by reading the high temperature environment hardware information 302 from the memory 104 and writing it to the processing image generation unit 202.

[0036] Then, in step S206, the parallax image generation unit 202a of the processing image generation unit 202 generates parallax images as processing images, and the parallax image recognition processing unit 203 performs only recognition processing of distance information of surrounding objects from the parallax images as processing images. That is, only the parallax image recognition processing unit 203 performs recognition processing (the sign image recognition processing unit 204 does not perform processing). Furthermore, while the stereo camera 101 is operating according to the high temperature environment hardware information 302, a command is issued to the meter unit 106 to display a function restriction display to inform the driver that functions are restricted (some functions of the stereo camera 101 are stopped or restricted, or only some functions are operating).

[0037] If the mode instructing unit 206 determines in step S202 that the temperature of the stereo camera 101 detected by the temperature sensor 105 has exceeded the first threshold value (Temp1), then in step S207, the power is turned off to stop all functions of the stereo camera 101. Also, to inform the driver that the stereo camera is stopped, the mode instructing unit 206 commands the meter unit 106 to display a message indicating that the stereo camera is stopped.

[0038] [Temperature Flow] FIG. 5 shows a temperature flow relating to the reconstruction of the hardware configuration of the stereo camera according to this embodiment.

[0039] As described above, the temperature thresholds of the stereo camera 101 that serve as the mode determination criteria (switching criteria) include a first threshold (Temp1) that is (the upper limit of) the temperature at which the stereo camera 101 is guaranteed to operate, and a second threshold (Temp2) that is lower than the first threshold and is (the upper limit of) the temperature at which the driver can drive. For example, the first threshold (Temp1) is the temperature of the stereo camera when the upper limit of the ambient temperature at which the driver can operate is 65°C, and the second threshold (Temp2) is the temperature of the stereo camera when the upper limit of the ambient temperature at which the driver can drive is 45°C.

[0040] When the mode instruction unit 206 determines that the temperature of the stereo camera 101 detected by the temperature sensor 105 is equal to or lower than Temp2, the normal hardware information 301 is read from the memory 104 and written to the processing image generation unit 202, thereby reconstructing the hardware configuration of the processing image generation unit 202. At this time, the stereo camera 101 provides full operation (all functions of the stereo camera 101 are operational).

[0041] If the mode instruction unit 206 determines that the temperature of the stereo camera 101 detected by the temperature sensor 105 is higher than Temp2 and lower than Temp1, the hardware configuration of the processing image generation unit 202 is reconstructed by reading out high temperature environment hardware information 302 from the memory 104 and writing it to the processing image generation unit 202.

[0042] If the stereo camera is designed to be as small as possible while still ensuring mountability, and is always operated at full capacity according to the normal hardware information 301, the temperature of the stereo camera 101 may exceed Temp1 as shown by the dotted line 501. However, by switching to the high temperature environment hardware information 302 when the temperature of the stereo camera 101 is higher than Temp2 but is equal to or lower than Temp1, it is possible to keep the temperature within the operating temperature range without changing the size as shown by the solid line 502.

[0043] Even when the temperature of the stereo camera 101 exceeds Temp2, the emergency automatic brake (using the parallax image recognition processing unit 203) operates at full capacity, so safety is not compromised. Furthermore, when the temperature of the stereo camera 101 exceeds Temp2, the driver will inevitably turn on the air conditioner in the car or open the windows, so after a short time has passed since the driver started driving, the temperature of the stereo camera 101 will fall below Temp2 and the camera will immediately return to full operation. Therefore, convenience for the driver is not compromised.

[0044] While the hardware information is being switched, image generation is not possible, but there are products that can complete the switch within 500 msec, and from the perspective of functional safety, it is possible to switch the hardware information without violating safety goals.

[0045] [Summary] As described above, the image processing device (stereo camera 101) of this embodiment is mounted on a vehicle and includes image sensors 102a, 102b that acquire image data of the outside world of the vehicle, and an electronic circuit (image processing microcomputer 103) that includes hardware (processing image generation unit 202) that generates an image from the image data, and the hardware that generates the image (processing image generation unit 202) can be configured according to the temperature of the image processing device (in other words, the electronic circuit can configure the hardware that generates the image according to the temperature of the image processing device).

[0046] The hardware that generates the image (the processing image generation unit 202) can be configured according to the temperature of the image processing device (stereo camera 101), so that it is possible to stop certain functions at high temperatures and suppress heat generation. This has the advantage of reducing the power supply and clock circuitry and increasing the freedom of microcomputer selection compared to conventional technology.

[0047] The image processing device (stereo camera 101) also includes a memory 104 that stores first image generation hardware configuration information (normal hardware information 301), which is hardware information that operates all functions of the image processing device, and second image generation hardware configuration information (high temperature environment hardware information 302), which is hardware information that stops some functions of the image processing device (operates only some functions), a temperature sensor 105 that detects the temperature of the image processing device, and a switching unit (mode instruction unit 206) that switches the image generation hardware configuration information to be run on the configurable hardware (hardware that performs image generation) between the first image generation hardware configuration information (normal hardware information 301) and the second image generation hardware configuration information (high temperature environment hardware information 302) depending on the temperature of the image processing device detected by the temperature sensor 105.

[0048] The memory 104 stores image generation hardware configuration information for normal settings and high temperature settings (in a high temperature environment), and by switching the hardware information to be run on the configurable hardware (hardware that performs image generation) according to the temperature of the image processing device (stereo camera 101), the amount of processing at high temperatures can be reduced and reliability at high temperatures can be improved.

[0049] Furthermore, when the temperature of the image processing device is equal to or lower than a predetermined threshold (second threshold), the switching unit (mode instruction unit 206) operates the hardware that performs the image generation using the first image generation hardware configuration information (normal hardware information 301), and when the temperature of the image processing device is higher than the predetermined threshold (second threshold), it operates the hardware that performs the image generation using the second image generation hardware configuration information (high temperature environment hardware information 302).

[0050] In detail, the image processing device (stereo camera 101) has a first threshold value that is a guaranteed operating temperature of the image processing device and a second threshold value that is a temperature lower than the first threshold value as temperature thresholds, and the switching unit (mode instruction unit 206) operates the hardware that performs the image generation using the first image generation hardware configuration information (normal hardware information 301) when the temperature of the image processing device is equal to or lower than the second threshold value, and operates the hardware that performs the image generation using the second image generation hardware configuration information (high temperature environment hardware information 302) when the temperature of the image processing device is higher than the second threshold value and equal to or lower than the first threshold value.

[0051] By switching the hardware configuration at a temperature lower than the guaranteed operating temperature, it is possible to reduce heat generation at high temperatures, and the product size can be kept within the guaranteed operating temperature range without increasing in size.

[0052] The image processing device (stereo camera 101) also includes a parallax image recognition processing unit 203 that recognizes distance information of surrounding objects based on parallax images generated by the hardware that generates the images, and a sign image recognition processing unit 204 that recognizes sign information based on sign images generated by the hardware that generates the images.

[0053] In the image generation hardware configuration at normal temperatures, processing is performed by both the parallax image recognition processing unit 203 and the sign image recognition processing unit 204, but in the image generation hardware configuration at high temperatures (in a high temperature environment), processing is performed by only the parallax image recognition processing unit 203, thereby reducing heat generation at high temperatures.

[0054] Furthermore, the first image generation hardware configuration information (normal hardware information 301) includes a parallax image generation unit 202a that generates the parallax image from the image data and a sign image generation unit 202b that generates the sign image from the image data, and the second image generation hardware configuration information (high temperature environment hardware information 302) includes only the parallax image generation unit 202a that generates the parallax image from the image data, and when the configurable hardware (hardware that performs the image generation) is operated with the first image generation hardware configuration information (normal hardware information 301), both the parallax image recognition processing unit 203 and the sign image recognition processing unit 204 perform recognition processing, and when the configurable hardware (hardware that performs the image generation) is operated with the second image generation hardware configuration information (high temperature environment hardware information 302), only the parallax image recognition processing unit 203 performs recognition processing.

[0055] In the hardware that generates images (processing image generation unit 202), by constructing only the parallax image generation unit 202a and not constructing the sign image generation unit 202b at high temperatures (in a high temperature environment), it becomes possible to stop the sign image recognition process without changing the recognition processing unit 205.

[0056] In addition, the image processing device (stereo camera 101) further includes a notification unit (meter unit 106) that notifies the operating status of the image processing device (stereo camera 101) according to image generation hardware configuration information that runs on the configurable hardware (hardware that performs the image generation).

[0057] This allows the driver to be sure that the function is restricted at high temperatures (in a high temperature environment).

[0058] That is, the image processing device (stereo camera 101) of this embodiment switches the processing content of the image generation unit depending on the temperature conditions, and suppresses heat generation by eliminating image generation units with low-risk functions at high temperatures. To this end, the image processing device (stereo camera 101) of this embodiment is equipped with a microcomputer capable of reconfiguring logic circuits, which generates the image generation unit and switches the processing content of the image generation unit depending on the temperature conditions. Under normal conditions, the image generation unit includes both a parallax image generation unit and a sign image generation unit and operates at full capacity. When the temperature becomes high, the image generation unit is rewritten to configure only the parallax image generation unit. With this configuration, when it is desired to operate at high temperatures without sacrificing certain functions, there are no restrictions on the selection of a microcomputer in terms of hardware or which core to use for processing in terms of software.

[0059] According to the present embodiment configured as described above, the hardware that generates images is switched depending on the temperature of the image processing device, so there is no need to have separate power supplies and clocks. For example, at high temperatures, the sign image generation hardware itself that generates images is eliminated, so even if a common power supply and clock configuration is used for both parallax images and sign images, it is possible to stop only the sign image recognition function. This has the advantages of reducing the power supply and clock circuits and increasing the flexibility in selecting a microcomputer compared to conventional technology.

[0060] According to this embodiment, it is possible to suppress heat generation while suppressing increases in product size and cost, and there are advantages in that the power supply and clock circuits are reduced and the degree of freedom in selecting a microcomputer is improved.

[0061] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments and includes various modifications and applications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations.

[0062] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0063] 101... stereo camera (image processing device), 102a, 102b... imaging element, 103... image processing microcomputer (electronic circuit), 104... memory, 105... temperature sensor, 106... meter unit (notification unit), 201... data processing unit, 202... processing image generation unit (hardware for image generation), 202a... parallax image generation unit, 202b... sign image generation unit, 203... parallax image recognition processing unit, 204... sign image recognition processing unit, 205... recognition processing unit, 206... mode instruction unit (switching unit), 301... normal hardware information (first image generation hardware configuration information), 302... high temperature environment hardware information (second image generation hardware configuration information)

Claims

1. An image processing device mounted on a vehicle, comprising: an imaging element that acquires image data of the outside world of the vehicle; and an electronic circuit having hardware that generates an image from the image data, wherein the hardware that generates an image can be configured according to the temperature of the image processing device.

2. An image processing device as described in claim 1, comprising: a memory storing first image generation hardware configuration information, which is hardware information for operating all functions of the image processing device, and second image generation hardware configuration information, which is hardware information for stopping some functions of the image processing device; a temperature sensor for detecting the temperature of the image processing device; and a switching unit for switching the image generation hardware configuration information to be run on the configurable hardware to the first image generation hardware configuration information or the second image generation hardware configuration information depending on the temperature of the image processing device detected by the temperature sensor.

3. In the image processing device described in claim 2, the switching unit operates the hardware that performs the image generation with the first image generation hardware configuration information when the temperature of the image processing device is below a predetermined threshold, and operates the hardware that performs the image generation with the second image generation hardware configuration information when the temperature of the image processing device is higher than the predetermined threshold.

4. In the image processing device as described in claim 2, the temperature thresholds of the image processing device include a first threshold which is a guaranteed operating temperature of the image processing device and a second threshold which is a temperature lower than the first threshold, and the switching unit operates the hardware that performs the image generation with the first image generation hardware configuration information when the temperature of the image processing device is lower than the second threshold, and operates the hardware that performs the image generation with the second image generation hardware configuration information when the temperature of the image processing device is higher than the second threshold and lower than the first threshold.

5. An image processing device according to claim 2, comprising: a parallax image recognition processing unit that recognizes distance information of surrounding objects based on parallax images generated by the hardware that generates the images; and a sign image recognition processing unit that recognizes sign information based on sign images generated by the hardware that generates the images.

6. In the image processing device described in claim 5, the first image generation hardware configuration information comprises a parallax image generation unit that generates the parallax image from the image data and a sign image generation unit that generates the sign image from the image data, the second image generation hardware configuration information comprises only a parallax image generation unit that generates the parallax image from the image data, when the configurable hardware is operated with the first image generation hardware configuration information, both the parallax image recognition processing unit and the sign image recognition processing unit perform recognition processing, and when the configurable hardware is operated with the second image generation hardware configuration information, only the parallax image recognition processing unit performs recognition processing.

7. An image processing device according to claim 1, further comprising a notification unit that notifies an operating state of said image processing device according to image generation hardware configuration information to be operated on said configurable hardware.

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