Source: https://patents.google.com/patent/EP1467223B1/en
Timestamp: 2020-01-19 23:19:20
Document Index: 671482853

Matched Legal Cases: ['art 131', 'art 130', 'art 131', 'art 130', 'art 132', 'art 132', 'art 131', 'art 130', 'art 132', 'art 131', 'art 130', 'art 131', 'art 130', 'art 132', 'art 131', 'art 130', 'art 131', 'art 130', 'art 131', 'art 130', 'art 132', 'art 131', 'art 130', 'art 132', 'art 120', 'art 110']

EP1467223B1 - Radar device - Google Patents
EP1467223B1
EP1467223B1 EP02715805A EP02715805A EP1467223B1 EP 1467223 B1 EP1467223 B1 EP 1467223B1 EP 02715805 A EP02715805 A EP 02715805A EP 02715805 A EP02715805 A EP 02715805A EP 1467223 B1 EP1467223 B1 EP 1467223B1
continuous plane
EP02715805A
EP1467223A4 (en
EP1467223A1 (en
Hiroshi Hitachi Ltd. IP Group KURODA
Kazuaki Hitachi Ltd. IP Group TAKANO
Fumihiko Hitachi Ltd. IP Group OKAI
2002-01-18 Application filed by Hitachi Ltd filed Critical Hitachi Ltd
2002-01-18 Priority to PCT/JP2002/000317 priority Critical patent/WO2003062852A1/en
2004-10-13 Publication of EP1467223A1 publication Critical patent/EP1467223A1/en
2005-03-30 Publication of EP1467223A4 publication Critical patent/EP1467223A4/en
2007-09-12 Publication of EP1467223B1 publication Critical patent/EP1467223B1/en
230000002596 correlated Effects 0 abstract claims description 19
230000014509 gene expression Effects 0 description 16
A radar apparatus mounted on a moving object moving along a continuous plane comprises 1 a transceiver unit for transmitting a signal having a main lobe in the moving direction of the moving object and a side lobe directed toward the continuous plane and for receiving a first reflection signal from a target in the main lobe direction and a second reflection signal from the continuous plane in the side lobe direction and 2 control processing means for detecting the frequency of a beat signal of the second reflection signal received by the transceiver unit and the signal emitted by the transceiver unit and for detecting information correlated to the posture of the radar apparatus with respect to the continuous plane on the basis of the frequency. As a result, the variation in the posture of the mounted radar device with respect to the moving object can be detected without adding any hardware.
Such radar are classified into a variety of forms depending on the waveform of the radio waves used. In an article entitled "Current Status and Trends of mm-Wave Automobile Radar", on pages 977-981 of the October, 1996 edition, Journal of the Institute of Electronic Information and Communication Engineers for example, a variety of forms of radar are mentioned, including pulse radar, FSK (Frequency Shift Keying) CW (Continuous Wave) radar and FMCW (Frequency Modulated Continuous Wave) radar. A pulse radar is a wireless device that emits pulse waves and detects the distance to a target based on the time that elapses until the echo waves are received. The FSK is a wireless device that emits each of two different continuous wave alternatively, based on a Doppler-shift of each echo thereof, and detects the distance to a target object and the relative speed of the target object. An FMCW radar is a wireless device that emits continuous waves of a suitable repeating frequency modulation, such as a triangular wave frequency modulation or the like, and detects the distance to a target object and the relative speed of the target object based on the beat frequency of the transmitted signals and the reflected signals. Among such radar, FSK CW and FMCW radars detect the distance to and relative speed of a target based on the phase and frequency of peak signals of a frequency spectral obtained by FFT (Fast Fourier Transform) processes applied to signals received at a reception antenna.
First, a vehicle mounted radar is mounted on the vehicle mainly for the purpose of detecting a target (such as a vehicle in front) that exists on the surface of the road, therefore the radar may not erroneously detect a pedestrian bridge positioned over the road for example, as the target. Thus, the radar must maintain an attitude when in the condition of being mounted on the vehicle, enabling radio waves to be transmitted to the planar direction of the road surface and radio waves to be received from the planar direction of the road surface. The technology disclosed in JP-A-2000-56020 is well known in connection with such radars. This technology provides two electromagnetic wave emitting sources for emitting electromagnetic waves in slightly vertically inclined directions for the forward direction of a vehicle, mounted on an object detection apparatus, with changes in the attitude of the object detection apparatus being detected by comparing the strength of reflected waves of the electromagnetic waves from each electromagnetic wave emitting source. JP-A-2000-56020 cites laser rays and milliwaves as examples of the electromagnetic waves.
JP 2002 006032 A relates to an automotive radar, mounted on the front of a vehicle, for measuring the distance to a target such as a vehicle ahead. In JP 2002 006032 A an apparatus and a method are described which maintains the radar beam axis relative to the upward/downward directions horizontal with respect to the road surface so that a vehicle ahead can be detected reliably.
It is an object of the present invention to provide a radar device that can detect variation in the mounting attitude for a moving object, without adding any hardware. To achieve this objective the present invention provides a radar device mounted on a moving object that moves along a continuous plane according to claim 1. The dependent claims relate to preferred embodiments. The radar device may have a transceiver part that transmits a signal having a main lobe in the direction of the movement of the moving object and/or a side lobe directed towards the continuous plane. Said transceiver part may receive a first reflection signal from a target in the direction of the main lobe and/or a second reflection signal from the continuous plane in the direction of the side lobe. The radar device may have control processing means which detects the frequency of a beat signal of the second reflection signal received by the transceiver part and the signal emitted by the transceiver part and/or that detects information correlated to the attitude of the radar device with respect to the continuous plane based on that frequency.
As shown in Fig. 1, normally, a radar antenna is designed having a radiation pattern of radio waves in which a series of side lobes a1, a2, ..., a1' a2' and ..., continuing from a main lobe a0 are represented as radiation within a range of angles of ± 90° extending from the main lobe a0. Accordingly, as shown in Fig. 2, if a radar 100 is mounted on a moving object 400 moving on a level surface 300 such that the main lobe a0 of the antenna and that moving object are parallel, the angles Φ 1, Φ 2, ..., formed between the surface 300 and the side lobes a1, a2, ..., that are a part of the side lobes a1, a2, ..., a1', a2', ... of the antenna, may theoretically be equivalent to the angles ø 1, ø 2, ... of the main lobe a0. Hereinafter this mounting attitude of a radar on a moving object is taken as the standard attitude. Here, if a variation arises in this mounting attitude of the radar 100 on the moving object 400 a variation correlated thereto arises in the angle between the surface 300 and the side lobes a1, a2, ... of the antenna. As shown in Fig. 3 for example, if the mounting attitude of the radar 100 on the moving object is rotated at an angle θ from the standard attitude around a straight axis horizontal to the forward direction of movement of the vehicle on which the radar is mounted, the angles Φ1, Φ2, ... between the surface 300 and the side lobes a1, a2, ... of the antenna may theoretically increase at an angle equivalent to that angle of rotation θ of the radar.
In this way, the angle between the surface and the side lobes of the antenna varies in correlation to the angle of the rotation of the radar around a straight axis horizontal to the direction of movement of the vehicle on which the radar is mounted. According to this embodiment of the present invention, the angles Φ1, Φ2, ... formed between the surface 300 and the side lobes a1, a2, ... of the antenna are detected and the variation in the mounting attitude of the radar on the moving object is estimated based on the detected results. The method for calculating the angles Φ1, Φ2, ... formed between the surface 300 and the side lobes a1, a2, ... of the antenna differs for the modulation system of the radar. Concrete examples of this follow.
The angles Φ1, Φ2, ... formed between the surface 300 and the side lobes a1, a2, ... of the antenna for a FSK CW radar for example, can be calculated in the following way.
If an object exists in the region of radio waves radiation from the antenna of a radar the antenna receives an echo from that object. This echo is subject to the Doppler effect due to the relative movement between the radar and the object. Accordingly, the frequency of this echo shifts only the Doppler frequency f provided by expression (1) from the emitted frequency fc of the radio waves from the antenna. f = 2 ⋅ fc ⋅ v / c
If static objects exist in the directions of each of the side lobes a1, a2, ... of the antenna of a radar moving at speed V the relative speeds of each of those static objects and the radar are V · cos Φ1, V · cos Φ2. Accordingly if the Doppler frequencies f1, f2, ... of the echo received from each of the static objects by the antenna of the radar are obtained from expression (1), expression (2) is obtained. fk = 2 ⋅ fc ⋅ V ⋅ cos Φk / c k = 1 , 2 , …
If the surface existing in the directions of each of the side lobes a1, a2, ... of the antenna when the radar is mounted on the moving object moving over that surface at speed V is considered to be a static object and the Doppler frequencies f1, f2, ... of the echoes from the surface are detected using FFT processes, the angles Φ1, Φ2, ... between the surface 300 and the side lobes a1, a2, ... of the antenna can be obtained by substituting those detected values f1, f2, ... in expression (2).
Further, the angles Φ1, Φ2, ... formed between the surface 300 and the side lobes a1, a2, ... of the antenna for an FMCW radar for example, can be calculated in the following way.
The Range, being the distance from a radar to an object existing in the region of radiation of radio waves from the antenna of the radar, can be obtained by expression (3). Range = c ⋅ fb + + fb - / 8 ⋅ ΔF ⋅ fm
Here, c is the speed of light, fb+ + fb- is the sum of values fb+, fb- (refer to Fig. 11) alternately shown by frequencies of the beat signal of the echo from the object, fm indicates the cycles of repetition of transmission of radio waves (refer to Fig. 10) from the transmission antenna, ΔF is the bandwidth of the frequency deviation of radio waves transmitted from the transmission antenna and λ is the wavelength of radio waves from the transmission antenna.
If the surface existing in the directions of each of the side lobes a1, a2, ... of the radar antenna is considered a static object, the distance (R1, R2, ... in Figs. 2 and 3) between the radar and the position at which each of the side lobes a1, a2, ... from the radar antenna reach the surface can also be obtained by the Range of expression (3). If the distance (R1, R2, ... of Figs. 2 and 3) between the radar and the position at which each of the side lobes a1, a2, ... from the radar antenna reach the surface are geometrically calculated expression (4) is obtained. Rk = H / sin Φk k = 1 , 2 , …
Substituting distance Rk obtained from expression (4) for the Range of Fig. (3) produces expression (5). H / sin Φk = c ⋅ ( fb + + fb - ) / ( 8 ⋅ ΔF ⋅ fm ) k = 1 , 2 , …
Detecting the frequencies fb +, fb- shown alternately by the beat signal of the echo from the surface for each side lobe using FFT processes and substituting those detected values fb+, fb- in expression (5) enables the angles Φ1, Φ2, ... formed between the surface 300 and each of the side lobes a1, a2, ... of the antenna to be obtained.
As shown in Fig. 5, the housing has two guards with through holes 141a disposed on opposite sides of the housing, a securing member (not shown in the drawing) for securing the housing 141 to a holding bracket 140 secured to the front part of the radar mounted vehicle and a plurality of tightening bolts 142 that engage the corresponding tightening screw holes 140a of the holding bracket 140 when the adjusting bolts 142 are inserted in each of the through holes of the two guards 141a. This housing being so configured, a user can adjust the interval between the housing 141 and the bracket 140 through a plurality of positions by adjusting the degree of tightening of each of the adjusting bolts 142, thereby enabling the user to adjust the attitude of the housing 141 for the holding bracket 140, in other words to adjust the mounting attitude of the radar for the radar mounted vehicle. The cover 141 may be secured at three points by the group of adjusting screws 142 to enable the inclination of the cover 141 to be corrected around the x-axis and the y-axis, however this is not essential. For example the cover 141 can be secured in position by the group of adjusting screws 142 in four or more points to enable fine adjustment of the inclination of the cover 141. Further, the cover 141 can be secured in position by the group of adjusting screws 142 along two points above the central axis of the cover following in the direction of the y-axis, to mitigate the effects of the inclination of the cover 141 around the y-access on results measured.
The processes executed by the microcomputer of the radar 100, that is to say, the processes run by each functioning processing part as realized by the execution of software by the microcomputer, will now be described including an explanation of the processes of adjustment performed by the user. Here, the focus will be on the strong first side lobe a1 and second side lobe a2 from among the series of side lobes a1, a2, ... on the side of the road surface.
Firstly, the signal processing part 131 of the control processing part 130 makes the frequency of the frequency spectral obtained at Step 502 dimensionless by dividing by the vehicle speed data V from the vehicle speed sensor (Step 504). The signal processing part 131 of the control processing part 130 then stores the frequency spectral data the frequency of which has been made dimensionless in the storage part 132 as history information, synthesizes frequency spectral data stored within a prescribed time (e.g. for one minute) from the present from among the frequency spectral data groups stored as history information in the storage part 132 and divides that synthesized data by the number of synthesized data (Step 505). In this way, as shown in Fig. 7, the frequency spectra are obtained in which peak signals p1 and p2 arise in the positions of the frequencies s1 and s2 established by the design values ø 1 and ø 2 of the angles Φ1 and Φ2 formed by the main lobe a0 and each of the side lobes a1 and a2. In contrast to this, if the radar 100 rotates from the standard attitude around a straight axis horizontal to the forward direction of the radar mounted vehicle, as shown in Fig. 8, the frequency spectral is obtained in which peak signals pl' and p2' arise in the positions of the frequencies s1' and s2' established by the sum of the angle of rotation θ of the radar 100 and the design values ø 1 and ø 2 of the angles Φ1 and Φ2 formed by the main lobe a0 and each of the side lobes a1 and a2.
The signal processing part 131 of the control processing part 130 reads the threshold values P1 and P2 (P1 > P2) for detecting the two side lobes from the storage part 132, and detects the peak signal existing between these two side lobe detection threshold values (above P2 below P1) from the frequency spectral obtained at Step 505 (Step 506). Peak signal groups including peak signals corresponding to each of the side lobes a1 and a2 are detected in this way.
Thereafter, the signal processing part 131 of the control processing part 130 reads the two threshold values for detecting mounting attitude error S1 and S2 (S1 > S2) and decides whether or not the same number of peak signal frequencies exist in the frequency region (above S2 below S1) between these two threshold values for detecting mounting attitude error, as the number of side lobes a1 and a2 (Step 507). If the detected results indicate that the same number of peak signals (2) exist between the two threshold values for detecting mounting attitude error as the number of side lobes a1 and a2 (2), it can be assumed that the radar 100 is maintaining the standard attitude for the radar mounted vehicle.
Thus, when the number of peak signals existing between the two threshold values for detecting mounting attitude error (above S2 below S1) is the same as the number of side lobes a1 and a2, that is to say, when the radar 100 is maintaining the standard attitude for the radar mounted vehicle, the signal processing part 131 of the control processing part 130 calculates information measured concerning the target from the phase difference and the peak signal frequency (Doppler frequency) correlated to the main lobe and outputs that information to the output device 200. Practically, it reads the target detection threshold P3 from the storage part 132, detects the peak signal (peak signal P0 in Fig. 7) above the target detection threshold P3 for each transmitted frequency, and calculates information on measurements concerning the relative speeds, Rate, of the radar 100 and the target and the distance, Range, from the radar 100 to the target, from the phase difference and the frequency of the peak signals P0 (Step 509). Here, the expressions (6) and (7) are used for calculating this information measured concerning the target. Range = c ⋅ Δ ⁢ ∅ / 4 ⋅ π ⋅ Δf
Rate = c ⋅ fd / 2 ⋅ fc
Here, c is the speed of light, Δø is the phase difference (ø 1-ø 2) of the peak signals of the frequency spectral obtained for each transmitted frequency f1 and f2, Δf is the difference (f1-f2) between the transmitted frequencies f1 and f2, fd is the average value (fd1 + fd2) / 2 of the frequencies fd1 and fd2 of the peak signals of each frequency spectral obtained for each transmitted frequency f1 and f2 and fc is the average value (f1 + f2) / 2 of the transmitted frequencies f1 and f2 (the same as the following expressions also).
On the other hand, when the number of peak signals existing between the two threshold values for detecting mounting attitude error (above S2 below S1) is not the same as the number of side lobes a1 and a2, that is to say, when the attitude of the radar 100 for the radar mounted vehicle has varied, the signal processing part 131 of the control processing part 130 calculates the angle θ by which the mounting attitude of the radar 100 is rotated from the standard attitude around a straight axis horizontal to the forward direction of movement of the radar mounted vehicle from the following two expressions (8) and (9). θ = cos - 1 { s ⁢ 1 ⁢ ʹ ⋅ c / 2 ⋅ fc } - ∅ ⁢ 1
θ = cos - 1 { s ⁢ 2 ⁢ ʹ ⋅ c / 2 ⋅ fc } - ∅ ⁢ 2
The signal processing part 131 of the control processing part 130 outputs the average value of the two angles obtained from the expressions (8) and (9) to the output device 200 as information on the inclination of the radar 100 with respect to the radar mounted vehicle. Further, the signal processing part 131 of the control processing part 130 reads a warning message from the storage part 132 indicating the need for an adjustment of the mounting attitude of the radar and outputs this warning message to the output device 200 together with the information on the inclination of the radar 100. In this way, a warning message indicating the need for an adjustment of the mounting attitude of the radar 100 and information on the inclination of the radar 100 with respect to the radar mounted vehicle are output from the output device 200 in at least one form from among audio and visual output (Step 508). The result is that through this warning message, a user is made aware that the mounting attitude of the radar requires adjustment and is able to recognize, from the information on the inclination of the radar 100 with respect to the radar mounted vehicle, the degree to which the mounting attitude of the radar with respect to the radar mounted vehicle has changed from the standard attitude. The work of adjusting the mounting attitude of the radar 100 can then be smoothly performed by tightening the adjusting bolts 142.
By performing same processes as described above (Steps 500-506), once the peak signals existing between the threshold (above P1 below P2) for detecting the two side lobes are detected, the signal processing part 131 of the control processing part 130 decides whether or not history information on peak signals correlated to the side lobes a1 and a2 exists in the storage part 132 (Step 510).
If an object exists in the region of radiation of the radio waves, at the receiving part 120, firstly, the receiving antenna 113 receives an echo B from the object as shown in Fig. 10, and the mixer mixes the echoes B and radio waves A from the directionality coupler 14. In this way, a beat signal the frequency of which alternately shows the two values fb+ and fb- at predetermined cycles as shown in Fig. 11 is generated. These beat signals are sampled at determined sampling intervals T by an A/D converter after being demodulated and amplified at an analog circuit 123 at each half cycle of those repeated cycles.
The FFT processing Step 502' of the flowcharts shown in figs. 13 and 14 differs from the FFT processing Step 502 of the flowcharts shown in figs. 6 and 9 in the respect that sampled signals from the receiving part 110 decompose into frequency components for each half cycle of the repeated cycles of the beat signals. The frequency spectral obtained by FFT processing Step 502' in the flowcharts of figs. 13 and 14 is shown in fig. 12. In one frequency spectral among the frequency spectra obtained for each half cycle of the cycles of repeated beat signals, a peak signal arises respectively in one frequency f1b+ among the frequencies alternately shown by the beat signals from the echoes from the first side lobe a1 and in one frequency f2b+ among the frequencies alternately shown by the beat signals of the echoes from the second side lobe a2. Further, in the other frequency spectral (not shown in the drawings), a peak signal arises respectively in the other frequency f1b- among the frequencies alternately shown by the beat signals of the echoes from the first side lobe a1 and in the other frequency f2b- among the frequencies alternately shown by the beat signals of the echoes from the second side lobe a2.
Again, the target detection process 504' of the flowcharts shown in figs. 13 and 14 differs from the target detection process 504 of the flowcharts shown in figs. 6 and 9 in using the following expressions (10) and (11) for calculation information concerning the target. Range = c ⋅ fb + + fb - / 8 ⋅ ΔF ⋅ fm
Rate = λ ⋅ ( fb + - fb - ) / 4
Here, fm is the cycle of repetition of the triangular waves, ΔF is the bandwidth of the frequency deviation of FM, λ is the wavelength of radio waves from the transmitting antenna and fb+ and fb- are frequencies shown by peak signals correlated to the main lobe.
Further, the processes for issuing a warning about an error of the mounting attitude of the radar, Step 508' in the flowcharts shown in figs. 13 and 14, differs from the processes for issuing a warning about an error of the mounting attitude of the radar of Step 508 in the flowcharts shown in figs. 6 and 9 in using the following expressions (12) and (13) to calculate the attitude of the inclination of the target for the radar mounted vehicle. θ / sin - 1 ( { H / ( f ⁢ 1 ⁢ b + + f ⁢ 1 ⁢ b - ) ⋅ ( 8 ⋅ ΔF ⋅ fm / c ) } - ∅ ⁢ 1
θ / sin - 1 ( { H / ( f ⁢ 2 ⁢ b + + f ⁢ 2 ⁢ b - ) ⋅ ( 8 ⋅ ΔF ⋅ fm / c ) } - ∅ ⁢ 2
Here, H is the distance (H of fig. 2) from the surface to the main lobe when the radar is maintaining the standard attitude, f1b+ and f1b- are the frequency of the peak signal correlated to the first side lobe a1 and the frequency of the peak signal correlated to the second side lobe a2.
A radar device mounted on a moving object (400) moving along a continuous plane comprising:
a transceiver unit which transmits a signal having a main lobe (a0) in a direction of movement of said moving object (400) and which receives a first reflection signal from a target in a direction of said main lobe (a0),
the radar device (100) comprising:
the transceiver unit which transmits a side lobe (a1, a2, ...) directed toward said continuous plane and which receives a second reflection signal from said continuous plane in a direction of said side lobe (a1, a2, ...); and
control processing means (130) which detects a frequency of a beat signal of said second reflection signal received by said transceiver unit and a signal emitted by said transceiver unit and
which detects information correlated to the relative attitude of said radar device (100) for said continuous plane based on said frequency.
A radar device according to claim 1,
wherein said information correlated to the relative attitude is information correlated to changes in an attiude.
A radar device according to claim 1 or 2,
wherein said control processing means (130) detects a surface condition of said continuous plane based on the strength of a beat signal of said second reflection signal received by said transceiver unit and the signal emitted by said transceiver unit.
A radar system mounted on a moving object (400) moving along a continuous plane comprising:
said radar device of claim 1; and
output means (200) which outputs a result detected by said control processing means (130) as information showing an attitude of said radar (100) for said moving object (400).
said radar device of claim 2; and
output means (200) which notifies a change in an attitude of said radar device (100) for said moving object (400) when said control processing means (130) detects a change in mounting attitude of said radar device (100) for said continuous plane.
said radar device of claim 3; and
output means (200) which outputs a notification of a surface condition of said continuous plane detected by said control processing means (130).
EP02715805A 2002-01-18 2002-01-18 Radar device Expired - Fee Related EP1467223B1 (en)
PCT/JP2002/000317 WO2003062852A1 (en) 2002-01-18 2002-01-18 Radar device
EP1467223A1 EP1467223A1 (en) 2004-10-13
EP1467223A4 EP1467223A4 (en) 2005-03-30
EP1467223B1 true EP1467223B1 (en) 2007-09-12
ID=27590508
EP02715805A Expired - Fee Related EP1467223B1 (en) 2002-01-18 2002-01-18 Radar device
US (1) US7061424B2 (en)
EP (1) EP1467223B1 (en)
JP (1) JP4088589B2 (en)
DE (1) DE60222471T2 (en)
WO (1) WO2003062852A1 (en)
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2002-01-18 DE DE2002622471 patent/DE60222471T2/en active Active
2002-01-18 EP EP02715805A patent/EP1467223B1/en not_active Expired - Fee Related
2002-01-18 US US10/501,709 patent/US7061424B2/en not_active Expired - Fee Related
2002-01-18 WO PCT/JP2002/000317 patent/WO2003062852A1/en active IP Right Grant
DE60222471T2 (en) 2008-06-12
JPWO2003062852A1 (en) 2005-05-26
EP1467223A4 (en) 2005-03-30
DE60222471D1 (en) 2007-10-25
US20050017891A1 (en) 2005-01-27
WO2003062852A1 (en) 2003-07-31
EP1467223A1 (en) 2004-10-13
US7061424B2 (en) 2006-06-13
JP4088589B2 (en) 2008-05-21
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2005-03-30 RIC1 Classification (correction)
Ipc: 7G 01S 13/34 B
Ipc: 7G 01S 13/93 A
Ipc: 7G 01S 7/40 B
2005-03-30 A4 Despatch of supplementary search report
Inventor name: OKAI, FUMIHIKOH
Inventor name: KURODA, HIROSHI,H
Inventor name: TAKANO, KAZUAKI,H
2007-09-05 RAP1 Transfer of rights of an ep published application
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