技术领域technical field
本发明属于交通信号控制中匝道汇入控制领域，具体涉及一种车车通信环境下匝道汇入协同轨迹确定方法及设备。The invention belongs to the field of ramp merge control in traffic signal control, and in particular relates to a method and equipment for determining a ramp merge coordinated trajectory in a vehicle-to-vehicle communication environment.
背景技术Background technique
随着各大城市交通基础建设的大力投入，特别是对快速路建设的热情日益高涨。快速路作为城市道路系统的骨架，承担着城市的主要交通流量，能有效缓解城市交通拥堵，提升城市路网的运行效率及服务水平，具有畅通、快速、舒适、方便的特点。但是随着城市交通量的日益剧增，城市快速路正在失去其快速、高效的作用，处理不好反而成为城市交通系统中的拥堵节点。如何采用有效的控制方法提高快速路系统的使用效率，加强快速路系统的交通管制，恢复其应有的功能，已经成为城市所要解决的交通问题的重中之重。With the great investment in transportation infrastructure in major cities, especially the enthusiasm for expressway construction is increasing day by day. As the skeleton of the urban road system, the expressway bears the main traffic flow in the city, can effectively alleviate urban traffic congestion, improve the operation efficiency and service level of the urban road network, and has the characteristics of smooth, fast, comfortable and convenient. However, with the rapid increase of urban traffic volume, urban expressways are losing their fast and efficient functions, and if they are not properly handled, they will become congestion nodes in the urban traffic system. How to use effective control methods to improve the efficiency of the expressway system, strengthen the traffic control of the expressway system, and restore its proper function has become the top priority of the traffic problems that the city needs to solve.
如果快速路的几何设计合理，入口匝道附近的加速车道一般可以保证驶入加速车道的车辆安全地汇入主线车流，但不能保证驶入车辆在汇入主线的过程中不对主线车流产生"挤压"或阻滞作用。如果能采取一定形式的"汇入控制"，则可以减少"挤压"或阻滞，避免出现主线车辆被迫变换车道的情况。If the geometric design of the expressway is reasonable, the acceleration lane near the entrance ramp can generally ensure that the vehicles entering the acceleration lane can merge into the main-line traffic safely, but it cannot guarantee that the entering vehicles will not "squeeze" the main-line traffic during the process of merging into the main-line. "or retardation. Some form of "merge control" can reduce the "squeeze" or blockage where mainline vehicles are forced to change lanes.
在传统场景下，匝道车辆通过驾驶员自身判断主路车流量，寻找合适的间隙插入主路车流。但人的观察范围、计算能力、判断精确度有限，常常发生匝道车辆无法汇入主路，或强行汇入主路造成主路车流阻塞的情况。In the traditional scenario, the ramp vehicle judges the traffic flow of the main road by the driver himself, and finds a suitable gap to insert into the traffic flow of the main road. However, people's observation range, calculation ability, and judgment accuracy are limited, and it often happens that ramp vehicles cannot merge into the main road, or forcibly merge into the main road, causing traffic congestion on the main road.
随着人工智能与车联网的发展，车车协同系统进入人们的视野。车车协同系统是指基于无线通信、传感探测等技术获取车辆信息，进行信息交互和共享，实现车辆之间智能协同与配合，达到优化利用系统资源、提高道路交通安全、缓解交通拥堵的目标的一种系统。With the development of artificial intelligence and the Internet of Vehicles, the vehicle-vehicle coordination system has entered people's field of vision. The vehicle-vehicle coordination system refers to the acquisition of vehicle information based on wireless communication, sensor detection and other technologies, information exchange and sharing, and intelligent coordination and cooperation between vehicles to achieve the goal of optimizing the use of system resources, improving road traffic safety, and alleviating traffic congestion. of a system.
但现有研究大多是为合流区车辆提供安全预警和换道提示，对面向车车通信环境下自动驾驶车辆协同控制方法研究较少，即使提供了控制方法，也无法定量地提供精确的匝道汇入车辆和主路车流的运行轨迹。However, most of the existing research focuses on providing safety warnings and lane-changing prompts for vehicles in the merge area. There are few studies on the cooperative control method of autonomous vehicles in the vehicle-to-vehicle communication environment. trajectories of incoming vehicles and traffic flow on the main road.
发明内容Contents of the invention
发明目的：随着自动驾驶汽车与车联网的发展，本发明目的在于提供了一种车车通信环境下匝道汇入协同轨迹确定方法及设备，通过计算匝道自动车辆与主路自动车辆协调配合运动轨迹,使得匝道车辆顺利汇入主路并使得主路车流受到影响尽可能小。Purpose of the invention: With the development of automatic driving vehicles and the Internet of Vehicles, the purpose of the present invention is to provide a method and device for determining the coordinated trajectory of the ramp merge in the vehicle-to-vehicle communication environment. By calculating the coordinated movement of the ramp automatic vehicle and the main road automatic vehicle Trajectory, so that the ramp vehicles merge into the main road smoothly and make the traffic flow of the main road be affected as little as possible.
技术方案：为实现上述发明目的，本发明采用如下技术方案：Technical solution: In order to achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solution:
一种车车通信环境下匝道汇入协同轨迹确定方法，包括以下步骤：A method for determining a ramp-in collaborative trajectory in a vehicle-to-vehicle communication environment, comprising the following steps:
(1)将主路上匝道汇入点上游的车辆以从下游到上游的顺序依次编号，从第二辆车开始依次遍历，搜索合适的换道间隙；其中判断每辆车与前车之间的是否存在插入位置的方法包括：(1) Number the vehicles upstream of the ramp-in point on the main road in sequence from downstream to upstream, traverse from the second vehicle in turn, and search for a suitable lane-changing gap; where the distance between each vehicle and the preceding vehicle is judged Methods for the presence or absence of an insertion position include:
(1.1)设Ci与Ci-1正中间多出一辆以Vi速度行驶的虚拟车辆Cu，使用IDM跟驰模型计算Ci的加速度ai与虚拟车辆Cu的加速度au；其中i为主路上车辆编号；(1.1) Assume that there is a virtual vehicle Cu running at the speed of Vi in the middle of Ci and Ci-1 , and use the IDM car-following model to calculate the acceleration ai of Ci and the acceleration au of the virtual vehicleCu ; Where i is the vehicle number on the main road;
(1.2)若ai与au均不小于设定的阈值，则继续执行步骤(1.3)，否则认为当前车辆不存在插入位置，进行下一辆车的判断；(1.2) If both ai and au are not less than the set threshold, continue to step (1.3), otherwise it is considered that the current vehicle does not have an insertion position, and the next vehicle is judged;
(1.3)判断匝道车辆C0是否能够通过与插入位置的后车进行协同变化速度的方式，达到顺利汇入主路的目的，具体方法为：(1.3) Judging whether the ramp vehicle C0 can achieve the purpose of smoothly merging into the main road by coordinating with the rear vehicle at the insertion position to change the speed, the specific method is as follows:
将匝道拉直与主线平行，建立平面二维坐标系，横轴为时间轴t，纵轴为距离轴y；Straighten the ramp parallel to the main line, establish a plane two-dimensional coordinate system, the horizontal axis is the time axis t, and the vertical axis is the distance axis y;
设C0以恒定加速度加速，得到C0的运行轨迹y0(t)，设虚拟车辆Cu一直位于Ci与Ci-1正中间，得到虚拟车辆Cu的运行轨迹yu(t)；Assume that C0 accelerates with a constant acceleration to obtain the trajectory y0 (t) of C0 , and assume that the virtual vehicle Cu is always in the middle of Ci and Ci-1 , and obtain the trajectory yu (t) of the virtual vehicle Cu ;
计算抛物线y0(t)与直线yu(t)相切时的交点是否满足三个约束条件：加速度限制0≤a≤am、换道位置限制L1≤yu(t)≤L2和主路车辆减速程度限制dmin≤d≤1；其中am为最大加速度，[L1,L2]为可换道位置的y轴范围，d为主路车辆速度折减系数，dmin为设定的折减系数阈值；Calculate whether the intersection of the parabola y0 (t) and the straight line yu (t) meets three constraints: acceleration limit 0≤a≤am , lane change position limit L1 ≤yu (t)≤L2 and the deceleration degree limit of vehicles on the main road dmin ≤ d ≤ 1; where am is the maximum acceleration, [L1 , L2 ] is the y-axis range of the lane-changing position, d is the reduction factor of the vehicle speed on the main road, dmin is the set reduction factor threshold;
若满足则说明C0在Ci之前插入不会给主路造成明显影响，进入步骤(3)，否则认为当前车辆不存在插入位置，进行下一辆车的判断；If it is satisfied, it means that the insertion of C0 before Ci will not cause obvious impact on the main road, and enter step (3), otherwise it is considered that the current vehicle does not have an insertion position, and the next vehicle is judged;
(2)若车辆遍历结束未能搜索到合适的插入位置，则C0在匝道入口处停车等待；(2) If the vehicle traversal fails to find a suitable insertion position, C0 stops at the entrance of the ramp and waits;
(3)C0以加速度a稳定加速至d×Vi，Ci减速至d×Vi，C0保持车速d×Vi并顺利汇入主路。(3) C0 accelerates stably to d×Vi with acceleration a, Ci decelerates to d×Vi , C0 maintains vehicle speed d×Vi and smoothly merges into the main road.
作为优选，所述步骤(1.3)中，二维坐标系中以当前时刻为t＝0，C0所在位置点为y＝0，匝道车辆C0的运行轨迹虚拟车辆Cu的运行轨迹其中，bm为主路车辆Ci的容许减速度，Si为主路车辆Ci的车头间距。As preferably, in described step (1.3), in the two-dimensional coordinate system, be t=0 at current moment, C0 location point is y=0, and the running locus of ramp vehicle C0 The trajectory of the virtual vehicle Cu Among them, bm is the allowable deceleration of vehicle Ci on the main road, and Si is the headway distance of vehicle Ci on the main road.
作为优选，所述步骤(1.3)中通过求解如下方程得到交点：As preferably, in described step (1.3), obtain intersection point by solving following equation:
yu(t)＝y0(t)yu (t) = y0 (t)
将方程具体展开解得Expand the equation to solve
将三个约束转换成以t与Δt为变量的约束，在以Δt为横轴，t为纵轴的平面直角坐标系中，寻找是否存在可行解。Transform the three constraints into constraints with t and Δt as variables, and find whether there is a feasible solution in the plane Cartesian coordinate system with Δt as the horizontal axis and t as the vertical axis.
作为优选，步骤(1.1)中Ci和Cu的加速度ai与au计算公式为：As preferably, in the step (1.1), the calculation formula of acceleration ai and au of Ci and Cu is:
其中，v0为理想驾驶速度，s0为静止安全距离，T为安全时间间隔，a为起步加速度，b为舒适减速度，δ>0为加速度指数，vi为第i辆车的速度，Si为第i辆车的车头间距。Among them, v0 is the ideal driving speed, s0 is the static safety distance, T is the safety time interval, a is the starting acceleration, b is the comfortable deceleration, δ>0 is the acceleration index, vi is the speed of the i-th vehicle, Si is the distance between the heads of the i-th car.
本发明另一方面公开的一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述计算机程序被加载至处理器时实现所述的匝道汇入协同轨迹确定方法。Another aspect of the present invention discloses a computer device, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor. When the computer program is loaded into the processor, the ramp-in Cooperative trajectory determination method.
有益效果：匝道车辆在车车通信条件下，超越了人类司机的观察范围、计算能力、判断精确度的约束。依据本发明的汇入控制策略，匝道车辆和主路车流按照精确计算出的轨迹运行，可以减少"挤压"或阻滞情况的发生，避免出现主线车辆被迫变换车道的情况，实现匝道车辆汇入主路的同时，主路车流受到的干扰尽可能低，达到局部的动态最优效果。Beneficial effects: Under the condition of vehicle-to-vehicle communication, the on-ramp vehicle surpasses the constraints of the human driver's observation range, calculation ability, and judgment accuracy. According to the merging control strategy of the present invention, the ramp vehicles and the main road traffic flow run according to the accurately calculated trajectories, which can reduce the occurrence of "squeeze" or block situations, avoid the situation that the main line vehicles are forced to change lanes, and realize the ramp vehicles. While merging into the main road, the interference to the traffic flow on the main road is as low as possible to achieve the local dynamic optimal effect.
附图说明Description of drawings
图1为匝道几何形态、车辆坐标、距离示意图。Figure 1 is a schematic diagram of ramp geometry, vehicle coordinates, and distances.
图2为虚拟车和匝道汇入车协调运动的轨迹示意图。Figure 2 is a schematic diagram of the trajectory of the coordinated movement of the virtual car and the ramp-merging car.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
本发明实施例公开的一种车车通信环境下匝道汇入协同轨迹确定方法，使用这种方法的场景是，道路上所有车辆皆为全自动驾驶车辆，依靠车辆之间的通信实现换道汇入的协同。该方法通过逐个遍历主路车辆，判断匝道车辆是否能顺利汇入某个主路车之前并且不对主路车辆的运行造成超过10％的影响，搜索合适的换道间隙并计算相应的匝道车辆与主路车辆运行轨迹；若未搜索到合适换道间隙则匝道车辆停车等待；若搜索到合适换道间隙，则匝道车辆与汇入点后的主路车辆按照计算出的轨迹运行，从而匝道车辆汇入主路。The embodiment of the present invention discloses a method for determining a ramp-in cooperative trajectory in a vehicle-to-vehicle communication environment. The scenario where this method is used is that all vehicles on the road are fully automatic driving vehicles, and the communication between vehicles is used to realize lane change. input collaboration. This method traverses the main road vehicles one by one to judge whether the ramp vehicles can smoothly merge into a certain main road vehicle without affecting the operation of the main road vehicles by more than 10%, searches for the appropriate lane change gap and calculates the corresponding ramp vehicles and The running trajectory of the main road vehicle; if no suitable lane-changing gap is found, the ramp vehicle will stop and wait; if a suitable lane-changing gap is found, the ramp vehicle and the main road vehicle after the merging point will run according to the calculated trajectory, so that the ramp vehicle Merge into the main road.
如图1所示，设当前匝道上全自动驾驶车辆(编号为C0)的速度为V0，距离准许变道区的最近距离为L1，准许变道区的长度为L0，距离准许变道区的最远距离为L2＝L1+L0；主路上匝道汇入点上游的全自动驾驶车辆，以从下游到上游的顺序依次编号为C1、C2……Cn。Cn为距离匝道汇入区H米以内(H的经验值为500)的最远车辆，C0与C1、C2……Cn自动建立通讯连接。As shown in Figure 1, assume that the speed of the fully automatic driving vehicle (coded as C0 ) on the current ramp is V0 , the shortest distance from the permitted lane change area is L1 , the length of the permitted lane change area is L0 , and the distance from the permitted lane change area is L 0 . The farthest distance of the lane change area is L2 =L1 +L0 ; the fully automatic driving vehicles upstream of the ramp-in point on the main road are numbered C1 , C2 ... Cn in sequence from downstream to upstream. Cn is the farthest vehicle within H meters from the ramp-in area (the experience value of H is 500), and C0 establishes a communication connection with C1 , C2 ... Cn automatically.
本发明实施例的匝道汇入协同轨迹确定方法具体包括如下步骤：The method for determining the ramp-in cooperative trajectory in the embodiment of the present invention specifically includes the following steps:
1)从C2开始，遍历C2、C3……Cn，重复执行11)至19)步骤，以搜索合适的换道间隙。即遍历主路车队中的车辆，寻找合适的插入后车，主要执行两层判定条件：第一层，判断间隙大小是否充足；第二层，若满足第一层，判断匝道车辆是否能够通过与插入位置的后车进行协同变化速度的方式，达到顺利汇入主路的目的。1) Starting from C2 , traverse C2 , C3 . . . Cn , and repeat steps 11) to 19) to search for a suitable lane change gap. That is, it traverses the vehicles in the main road convoy to find a suitable car to insert, and mainly implements two levels of judgment conditions: the first level, to determine whether the gap size is sufficient; the second level, if the first level is satisfied, to determine whether the ramp vehicle can pass and The rear car at the insertion position performs a coordinated speed change to achieve the purpose of smoothly merging into the main road.
11)标记当前遍历到的车辆编号为Ci，(2≤i≤n)，其与前车Ci-1的车头间距为Si，其当前车速为Vi，其距离准许变道区的最近距离为Yi；11) Mark the number of the currently traversed vehicle as Ci , (2≤i≤n), the distance between it and the front vehicle Ci-1 is Si , its current speed is Vi , and its distance from the permitted lane change area is The closest distance is Yi ;
12)进行如下情景判断：12) Make the following scenario judgments:
121)若Ci与Ci-1正中间突然多出一辆以Vi速度行驶的虚拟车辆Cu，计算Ci的加速度ai与虚拟车辆Cu的加速度au；121) If there is a virtual vehicle Cu running at the speed of Vi in the middle of Ci and Ci-1 , calculate the acceleration ai of Ci and the acceleration au of the virtual vehicle C u;
本步骤使用IDM跟驰模型计算Ci和Cu的加速度ai与au；This step uses the IDM car-following model to calculate the accelerations ai and au of Ci and Cu ;
其中，v0为理想驾驶速度(默认35m/s)，s0为静止安全距离(默认10m)，T为安全时间间隔(默认2s)，a为起步加速度(默认2m/s2)，b为舒适减速度(默认1m/s2)，δ>0为加速度指数(默认为2)，vi为第i辆车的速度，Si为第i辆车的车头间距。Among them, v0 is the ideal driving speed (default 35m/s), s0 is the static safety distance (default 10m), T is the safety time interval (default 2s), a is the starting acceleration (default 2m/s2 ), b is Comfortable deceleration (default 1m/s2 ), δ>0 is the acceleration index (default is 2), vi is the speed of the i-th car, Si is the headway distance of the i-th car.
122)若ai与au均不小于-1m/s2，则继续执行步骤13)，否则结束本次循环进入下一次循环，遍历车辆Ci+1；122) If both ai and au are not less than -1m/s2 , proceed to step 13), otherwise end this cycle and enter the next cycle to traverse the vehicle Ci+1 ;
13)设虚拟车辆Cu保持与Ci相同的速度行驶，虚拟车辆Cu一直位于Ci前的处；13) Let the virtual vehicle Cu maintain the same speed as Ci , and the virtual vehicle Cu is always located in front of Ci place;
14)将匝道拉直与主线平行，建立平面二维坐标系，横轴为时间轴t，以当前时刻为t＝0，纵轴为距离轴y，C0所在位置点为y＝0；确定如下坐标：14) Straighten the ramp parallel to the main line, establish a plane two-dimensional coordinate system, the horizontal axis is the time axis t, take the current moment as t=0, the vertical axis is the distance axis y, and the point where C0 is located is y=0; determine The following coordinates:
141)计算可换道位置的y轴范围[L1,L2]；141) Calculate the y-axis range [L1 , L2 ] of the lane-changing position;
142)计算t＝0时虚拟车辆Cu的y坐标142) Calculate the y coordinate of the virtual vehicle Cu when t=0
15)设C0当前车速为V0，最大加速度为am，C0以恒定加速度加速，得到C0的运行轨迹0≤a≤am；15) Let the current vehicle speed of C0 be V0 , the maximum acceleration be am , and C0 accelerate at a constant acceleration to obtain the running track of C0 0≤a≤am ;
16)设主路车辆Ci配合C0的汇入提前减速，主路车辆受到的最大影响程度为10％，速度最低减至0.9Vi；速度折减系数为d，0.9≤d≤1。主路车辆Ci的容许减速度为bm；计算虚拟车辆轨迹：16) Assuming that the vehicle Ci on the main road decelerates in advance in conjunction with the import of C0 , the maximum impact on the vehicle on the main road is 10%, and the minimum speed is reduced to 0.9Vi ; the speed reduction factor is d, 0.9≤d≤1. The allowable deceleration of vehicle Ci on the main road is bm ; calculate the virtual vehicle trajectory:
161)计算从Vi减速至d×Vi所需时间161) Calculate the time required to decelerate from Vi to d×Vi
162)计算减速这段时间Ci前进的距离162) Calculate the distance Ci advances during the deceleration period
163)设虚拟车辆会一直位于Ci前的处，得到虚拟车辆Cu的运行轨迹163) Assume that the virtual vehicle will always be in front of Ci , get the trajectory of the virtual vehicle Cu
17)解如下方程：17) Solve the following equation:
yu(t)＝y0(t)yu (t) = y0 (t)
18)判断求出的解是否满足三个约束条件：18) Judging whether the obtained solution satisfies three constraints:
加速度限制0≤a≤am；Acceleration limit 0≤a≤am ;
换道位置限制L1≤yu(t)≤L2；Lane changing position limit L1 ≤yu (t)≤L2 ;
主路车辆减速程度限制，0.9≤d≤1；Limits on deceleration degree of vehicles on the main road, 0.9≤d≤1;
19)若计算出来的t与a、d满足上述约束条件，则说明C0在Ci之前插入不会给主路造成明显影响，跳出循环，进入步骤3)；否则进入下一轮循环；19) If the calculated t, a, and d meet the above constraint conditions, it means that the insertion of C0 before Ci will not have a significant impact on the main road, jump out of the loop, and enter step 3); otherwise, enter the next round of loop;
2)若车辆遍历结束，未能搜索到合适的插入位置，则C0在匝道入口处停车等待；2) If the vehicle traversal ends and a suitable insertion position cannot be found, C0 stops at the entrance of the ramp and waits;
3)C0以加速度a稳定加速至d×Vi，Ci减速至d×Vi，C0保持车速d×Vi并顺利汇入主路。3) C0 accelerates stably to d×Vi with acceleration a, Ci decelerates to d×Vi , C0 maintains vehicle speed d×Vi and merges into the main road smoothly.
判定第二层条件时，本质是计算抛物线y0与直线yu相切时的交点是否满足三个约束条件：加速度限制、换道位置限制和主路车辆减速程度限制。When judging the second-level conditions, the essence is to calculate whether the intersection point of the parabola y0 and the straight line yu meet the three constraints: acceleration limit, lane change position limit and main road vehicle deceleration limit.
yu(t)＝y0(t)yu (t) = y0 (t)
将方程具体展开解得Expand the equation to solve
将三个约束put the three constraints
0.9≤d≤10.9≤d≤1
0≤a≤am0≤a≤am
L1≤yu(t)≤L2L1 ≤ yu (t) ≤ L2
整理为organized as
即根据上述t与Δt的关系，在以Δt为横轴，t为纵轴的平面直角坐标系中，寻找是否存在可行解。That is, according to the above relationship between t and Δt, in the plane Cartesian coordinate system with Δt as the horizontal axis and t as the vertical axis, find out whether there is a feasible solution.
若存在可行解，说明C0在Ci之前插入不会给主路造成明显影响，结束遍历，C0和Ci按照计划方式前进直至汇合，见图2。否则进入下一轮判定循环。If there is a feasible solution, it means that the insertion of C0 before Ci will not have a significant impact on the main road. After the traversal is over, C0 and Ci will move forward according to the plan until they converge, as shown in Figure 2. Otherwise, enter the next round of judgment cycle.
基于相同的技术构思，本发明实施例公开了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，该计算机程序被加载至处理器时实现上述实施例所述的匝道汇入协同轨迹确定方法。Based on the same technical concept, the embodiment of the present invention discloses a computer device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the computer program is loaded into the processor, the above implementation The method for determining the coordinated trajectory of the ramp merge described in the example.
| Application Number | Priority Date | Filing Date | Title |
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| CN201810810596.XACN108986488B (en) | 2018-07-23 | 2018-07-23 | A method and device for determining a collaborative trajectory of a ramp-merge in a vehicle-to-vehicle communication environment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810596.XACN108986488B (en) | 2018-07-23 | 2018-07-23 | A method and device for determining a collaborative trajectory of a ramp-merge in a vehicle-to-vehicle communication environment |
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| CN108986488Atrue CN108986488A (en) | 2018-12-11 |
| CN108986488B CN108986488B (en) | 2020-03-31 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201810810596.XAExpired - Fee RelatedCN108986488B (en) | 2018-07-23 | 2018-07-23 | A method and device for determining a collaborative trajectory of a ramp-merge in a vehicle-to-vehicle communication environment |
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