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VDA-360 recommendation_360_Interface_ESC_eBooster_V1.pdf
Disclaimer
Contents
1 Introduction
1.1 Brake system definition (definition of the system limits)
1.2 Content of this document
2 System description
2.1 Description of the system components
2.2 Concepts in the system network eBooster + ESC
2.2.1 Degradation concept
2.2.2 HMI concept
2.2.3 Brake light actuation concept
2.2.4 Driver brake request detection concept
2.2.5 Concept for external brake request via eBooster
2.2.6 OBD concept
2.2.7 Wakeup/ postrun concept
2.2.7.1 Wakeup
2.2.7.2 Postrun
2.2.8 Undervoltage/overvoltage concept
2.2.8.1 Separate assessment for the brake force boost
2.2.8.2 Engine start
2.2.8.3 Engine start with start/stop functionality
2.2.8.4 Electrical interface
2.2.9 Diagnosis concept
2.2.10 Component protection in the eBooster
2.3 Division of functions between eBooster + ESC
2.4 Derived requirements for the subsystems
2.4.1 Requirements for the ESC
2.4.2 Requirements for the eBooster
2.4.3 Requirements for the HMI
2.4.4 Requirements for the generator
2.5 Notes on the system specification
2.5.1 Complete brake system design
2.5.2 Load specifications
2.5.2.1 Impacts on the ESC standard functions
2.5.2.2 eBooster load changes
2.5.2.3 Deriving the load for a regenerative brake system
3 Basic functional architecture
3.1 Definition of a functional architecture
3.2 Interface definition
3.2.1 Basic interface: The basic functionality
3.2.1.1 Overview interface description
3.2.1.2 Signal eBESCCompatibilityIndex
3.2.1.2.1 Signal specification
3.2.1.2.2 Signal requirements
3.2.1.3 Signal HbcRequest
3.2.1.3.1 Signal specification
3.2.1.3.2 Signal requirements
3.2.1.4 Signal eBDiagActive
3.2.1.4.1 Signal specification
3.2.1.4.2 Signal requirements
3.2.1.5 Signal BrakePedalApplied
3.2.1.5.1 Signal specification
3.2.1.5.2 Signal requirements
3.2.1.6 Signal BrakePedalApplied_Q
3.2.1.6.1 Signal specification
3.2.1.6.2 Signal requirements
3.2.1.7 Signal pRunout
3.2.1.7.1 Signal specification
3.2.1.7.2 Signal requirements
3.2.1.8 Signal pRunout_Q
3.2.1.8.1 Signal specification
3.2.1.8.2 Signal requirements
3.2.1.9 Signal sOutputRodDriver
3.2.1.9.1 Signal specification
3.2.1.9.2 Signal requirements
3.2.1.10 Signal sOutputRodDriver_Q
3.2.1.10.1 Signal specification
3.2.1.10.2 Signal requirements
3.2.1.11 Signal VehicleSpeed
3.2.1.11.1 Signal specification
3.2.1.11.2 Signal requirements
3.2.1.12 Signal VehicleSpeed_Q
3.2.1.12.1 Signal specification
3.2.1.12.2 Signal requirements
3.2.1.13 Signal pMC1
3.2.1.13.1 Signal specification
3.2.1.13.2 Signal requirements
3.2.1.14 Signal pMC1_Q
3.2.1.14.1 Signal specification
3.2.1.14.2 Signal requirements
3.2.1.15 Signal AbsActive
3.2.1.15.1 Signal specification
3.2.1.15.2 Signal requirements
3.2.1.16 Signal pEstMax
3.2.1.16.1 Signal specification
3.2.1.16.2 Signal requirements
3.2.2 Recuperation interface
3.2.2.1 Overview interface description
3.2.2.2 Signal pForceBlendingPotential
3.2.2.2.1 Signal specification
3.2.2.2.2 Signal requirements
3.2.2.3 Signal pForceBlendingPotential_Q
3.2.2.3.1 Signal specification
3.2.2.3.2 Signal requirements
3.2.2.4 Signal sOutputRodAct
3.2.2.4.1 Signal specification
3.2.2.4.2 Signal requirements
3.2.2.5 Signal sOutputRodAct_Q
3.2.2.5.1 Signal specification
3.2.2.5.2 Signal requirements
3.2.2.6 Signal pMcVirtual
3.2.2.6.1 Signal specification
3.2.2.6.2 Signal requirements
3.2.2.7 Signal pMcVirtual_Q
3.2.2.7.1 Signal specification
3.2.2.7.2 Signal requirements
3.2.2.8 Signal pForceBlendingMC
3.2.2.8.1 Signal specification
3.2.2.8.2 Signal requirements
3.2.2.9 Signal pForceBlendingMC_Q
3.2.2.9.1 Signal specification
3.2.2.9.2 Signal requirements
3.2.2.10 Signal ForceBlendingActive
3.2.2.10.1 Signal specification
3.2.2.10.2 Signal requirements
3.2.3 Interface for external brake request
3.2.3.1 Overview interface description
3.2.3.2 Signal ExtReqPrio
3.2.3.2.1 Signal specification
3.2.3.2.2 Signal requirements
3.2.3.3 Signal ExtReqStatus
3.2.3.3.1 Signal specification
3.2.3.3.2 Signal requirements
3.2.3.4 Signal qTargetExternal
3.2.3.4.1 Signal specification
3.2.3.4.2 Signal requirements
3.2.3.5 Signal qTargetExternal_Q
3.2.3.5.1 Signal specification
3.2.3.5.2 Signal requirements
3.2.4 Interface for activating the warning lights (HMI)
3.2.4.1 Overview interface description
3.2.4.2 eB_ HMI_WarningOn
3.2.4.2.1 Signal specification
3.2.4.2.2 Signal requirements
3.2.4.3 ESC_HMI_WarningOn
3.2.4.3.1 Signal specification
3.2.4.3.2 Signal requirements
3.2.5 Interface for activating the brake light (BLA)
3.2.5.1 Overview interface description
3.2.5.2 eB_BLA
3.2.5.2.1 Signal specification
3.2.5.2.2 Signal requirements
3.2.5.3 ESC_BLA
3.2.5.3.1 Signal specification
3.2.5.3.2 Signal requirements
3.2.6 Interface for generator actuation
3.2.6.1 Overview interface description
3.2.6.2 RecuBrakeTorqueRequest
3.2.6.2.1 Signal specification
3.2.6.2.2 Signal requirements
3.2.6.3 RecuBrakeTorqueRequest_Q
3.2.6.3.1 Signal specification
3.2.6.3.2 Signal requirements
3.2.6.4 RecuBrakeTorqueCap7F
3.2.6.4.1 Signal specification
3.2.6.4.2 Signal requirements
3.2.6.5 RecuBrakeTorqueCap_Q8F
3.2.6.5.1 Signal specification
3.2.6.5.2 Signal requirements
3.2.6.6 RecuBrakeTorqueAct
3.2.6.6.1 Signal specification
3.2.6.6.2 Signal requirements
3.2.6.7 RecuBrakeTorqueAct_Q
3.2.6.7.1 Signal specification
3.2.6.7.2 Signal requirements
3.2.6.8 RecuBrakeTorqueActDrag
3.2.6.8.1 Signal specification
3.2.6.8.2 Signal requirements
3.2.6.9 RecuBrakeTorqueActDrag_Q
3.2.6.9.1 Signal specification
3.2.6.9.2 Signal requirements
3.2.7 Handling of signal qualifiers
4 Functional safety
4.1 Definition of the scope of a brake control system
4.1.1 Motivation for dividing the brake control system into two items
4.1.2 Item definition and interfaces to other items
4.2 Hazards and risks of the brake control system
4.2.1 Too low brake torque during driving (max. ASIL D)
4.2.2 Unintended or too high brake torque during driving (max. ASIL D)
4.2.3 Too low brake torque at standstill with driver present (QM)
4.2.4 Too high brake torque at standstill (QM)
4.2.5 No activation of the brake light (max. ASIL B)
4.3 Functional safety concept
4.3.1 Safety goal G1.1: Avoid a too low brake torque following a driver brake request
4.3.1.1 Identified safety requirements for safety goal G1.1
4.3.2 Safety goal G1.2: Avoid a too low brake torque following an External brake Request
Textual description of the functional safety concept for safety goal G1.2
4.3.2.1 Identified safety requirements for safety goal G1.2
4.3.3 Safety goal G1.3: Avoid a too low (symmetrical) brake torque in control situation ESC, ABS or TCS (control task cannot be executed).
4.3.3.1 Identified safety requirements for safety goal G1.3
4.3.4 Safety goal G2.1 Avoid an unintended (symmetrical or asymmetrical) brake torque without driver brake request that causes instability in the vehicle.
4.3.4.1 Identified safety requirements for safety goal G2.1
4.3.5 Safety goal G2.2 Avoid an unintended symmetrical brake torque without driver brake request while maintaining vehicle stability (purely longitudinal)
4.3.6 Safety goal G2.3: Avoid a too high (symmetrical) brake torque in control situation ESC, ABS or TCS (control task cannot be executed).
4.3.6.1 Identified safety requirements for safety goal G2.3
4.3.7 Safety goal G2.4: Avoid a too high symmetrical brake torque during a driver brake request while maintaining the stability of the vehicle (“overbraking”).
4.3.7.1 Identified safety requirements for safety goal G2.4
4.3.8 Safety goal G2.5: Avoid a too high symmetrical brake torque during an external brake request while maintaining the stability of the vehicle (“overbraking”).
4.3.8.1 Identified safety requirements for safety goal G2.5
4.3.9 Safety goal G3.1: Avoid a too low brake torque at standstill when the driver is present (with the option of increasing the brake pressure)
4.3.10 Safety goal G3.2: Avoid a too low brake torque at standstill when the driver is present (without the option of increasing the brake pressure) -vehicle rolls
4.3.11 Safety goal G4.1: Avoid a too high brake torque at standstill, not controllable by the driver via the accelerator pedal (brake torque > possible drive torque)
4.3.12 Safety goal G5.1: Avoid a missing brake light activation during an external brake request or driver braking
4.3.12.1 Identified safety requirements for safety goal G5.1
4.4 ASIL classification of relevant signals and sub-functions
4.5 Suggestion for protection of the communication on the network
5 Safety assessments
5.1 FTA – responsibilities and interface coordination
5.2 FMEA – responsibilities and interface coordination
5.2.1 FMEA structure
5.2.2 Handling information on the interface between the FMEAs
5.3 “Metrics calculations” in accordance with ISO 26262
5.3.1 Hardware architectural metrics in accordance with ISO26262-5 Volume 8
5.3.2 Evaluation of safety goal violations due to random hardware failures in accordance with ISO26262-5 Volume 9
6 Test concept
6.1 Indicator test
6.2 Test strategy for verification and validation
6.2.1 Verification
6.2.2 Validation
6.2.3 Test stages
6.2.4 General explanations and determination of the test strategy
6.2.5 Requirements for the components and system tests
6.2.6 Test activities
6.2.6.1 Test activities of the eBooster OES
6.2.6.2 Test activities of the ESC OES
6.2.6.3 Test activities of the OEM
6.2.6.4 Release recommendation for the complete scope of delivery
6.3 Test for eBooster actuation accuracy
6.3.1 Definition of the test sequence and test environment
6.3.2 Evaluation of the actuator behavior
7 References to standards
8 Glossar
9 Appendix
Recommendation for the implementation of a
communication interface between an electrical brake
booster and an ESC control unit
360
VDA
This non-binding recommendation by the German Association of the Automotive Industry
(VDA) has the following objectives:
Definition and description for the communication interface between an electrical brake
booster and an ESC control unit to simplify the cooperation between different suppliers
(OES) of the active brake booster and the ESC.
Area of applicability of this recommendation is defined as follows:
Applicability according to ECE-R13H: vehicle categories M1 (“passenger cars”) und N1
(cars / trucks for transportation) with gross vehicle weight up to 3.5 t
Version 1.0 from December, 2016
Project group VDA interface eBooster ESC
Publisher: Verband der Automobilindustrie
Behrenstrasse 35
10117 Berlin of duplication are permitted only
Tel. 030/897842-0 if the source is cited.
Fax 030/897842-606
Internet: www.vda.de
Copyright
Reprints and any other form
VDA recommendation 360 Version 1.0 December 2016 Page 2
Disclaimer
VDA recommendations are freely available and are intended as advice only. They offer
orientation for all interested companies, but do not take into consideration any general
conditions for specific cases. They have to be interpreted by the business partners
involved in the processes.
VDA recommendations represent the latest technology and standardization level at the
time of issue. Application of VDA recommendations does not relieve the users of
responsibility for their own actions. In this regard, all users act at their own risk. The
VDA and those involved with VDA recommendations do not accept any liability.
Anyone applying VDA recommendations who identifies inaccuracies or discrepancies
is requested to inform the VDA and become involved in the continuing standardization
process.
User of this Recommendation are asked to report to VDA any intellectual property
rights that could be problematic for the current recommendation.
VDA has been notified about the existence of intellectual property rights which could
be relevant for implementations of the current recommendation. VDA asks owners of
the respective intellectual property rights to submit a declaration, that they are ready
to grant to any user a license to the respective intellectual property rights under FRAND
conditions, provided that the user interested in such a license is ready to grant a license
to his intellectual property rights which relate to the Recommendation under FRAND
conditions as well. Information about who has submitted such a declaration may be
obtained at VDA.
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 3
Contents
Disclaimer .................................................................................................................. 2
Contents ..................................................................................................................... 3
Introduction ........................................................................................................... 9
1
1.1 Brake system definition (definition of the system limits) ................................ 9
1.2 Content of this document .............................................................................. 9
2 System description ............................................................................................. 11
2.1 Description of the system components ........................................................ 11
2.2 Concepts in the system network eBooster + ESC ....................................... 14
2.2.1 Degradation concept ............................................................................... 14
2.2.2 HMI concept ............................................................................................ 15
2.2.3 Brake light actuation concept .................................................................. 21
2.2.4 Driver brake request detection concept .................................................. 23
2.2.5 Concept for external brake request via eBooster .................................... 24
2.2.6 OBD concept .......................................................................................... 25
2.2.7 Wakeup/ postrun concept ....................................................................... 26
2.2.7.1 Wakeup ......................................................................................... 26
Postrun.......................................................................................... 27
2.2.7.2
2.2.8 Undervoltage/overvoltage concept ......................................................... 28
Separate assessment for the brake force boost ............................ 28
Engine start ................................................................................... 29
Engine start with start/stop functionality ........................................ 29
Electrical interface ......................................................................... 30
2.2.9 Diagnosis concept .................................................................................. 31
2.2.10 Component protection in the eBooster ................................................... 32
2.3 Division of functions between eBooster + ESC ........................................... 34
2.4 Derived requirements for the subsystems ................................................... 36
2.4.1 Requirements for the ESC ...................................................................... 36
2.4.2 Requirements for the eBooster ............................................................... 37
2.4.3 Requirements for the HMI ....................................................................... 38
2.4.4 Requirements for the generator .............................................................. 39
2.5 Notes on the system specification ............................................................... 39
2.2.8.1
2.2.8.2
2.2.8.3
2.2.8.4
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 4
2.5.2.1
2.5.2.2
2.5.2.3
2.5.1 Complete brake system design ............................................................... 39
2.5.2 Load specifications ................................................................................. 40
Impacts on the ESC standard functions ........................................ 40
eBooster load changes ................................................................. 40
Deriving the load for a regenerative brake system ........................ 40
3 Basic functional architecture ............................................................................... 41
3.1 Definition of a functional architecture .......................................................... 41
3.2 Interface definition ....................................................................................... 45
3.2.1 Basic interface: The basic functionality ................................................... 46
Overview interface description ...................................................... 47
3.2.1.1
Signal eBESCCompatibilityIndex .................................................. 49
3.2.1.2
Signal HbcRequest ....................................................................... 50
3.2.1.3
Signal eBDiagActive ..................................................................... 51
3.2.1.4
Signal BrakePedalApplied ............................................................. 52
3.2.1.5
Signal BrakePedalApplied_Q ........................................................ 53
3.2.1.6
Signal pRunout ............................................................................. 53
3.2.1.7
Signal pRunout_Q ......................................................................... 54
3.2.1.8
3.2.1.9
Signal sOutputRodDriver .............................................................. 55
3.2.1.10 Signal sOutputRodDriver_Q .......................................................... 56
3.2.1.11 Signal VehicleSpeed ..................................................................... 57
3.2.1.12 Signal VehicleSpeed_Q ................................................................ 58
3.2.1.13 Signal pMC1 ................................................................................. 58
3.2.1.14 Signal pMC1_Q ............................................................................. 59
3.2.1.15 Signal AbsActive ........................................................................... 60
3.2.1.16 Signal pEstMax ............................................................................. 61
3.2.2 Recuperation interface ............................................................................ 62
Overview interface description ...................................................... 63
Signal pForceBlendingPotential .................................................... 64
Signal pForceBlendingPotential_Q ............................................... 64
Signal sOutputRodAct ................................................................... 65
Signal sOutputRodAct_Q .............................................................. 66
Signal pMcVirtual .......................................................................... 67
Signal pMcVirtual_Q ..................................................................... 67
3.2.2.1
3.2.2.2
3.2.2.3
3.2.2.4
3.2.2.5
3.2.2.6
3.2.2.7
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 5
3.2.3.1
3.2.3.2
3.2.3.3
3.2.3.4
3.2.3.5
3.2.4.1
3.2.4.2
3.2.4.3
3.2.4
3.2.5
3.2.3
3.2.5.1
3.2.5.2
3.2.5.3
Signal pForceBlendingMC ............................................................ 68
3.2.2.8
3.2.2.9
Signal pForceBlendingMC_Q ........................................................ 69
3.2.2.10 Signal ForceBlendingActive .......................................................... 70
Interface for external brake request ........................................................ 71
Overview interface description ...................................................... 72
Signal ExtReqPrio ......................................................................... 73
Signal ExtReqStatus ..................................................................... 73
Signal qTargetExternal.................................................................. 74
Signal qTargetExternal_Q ............................................................. 75
Interface for activating the warning lights (HMI) ...................................... 76
Overview interface description ...................................................... 76
eB_ HMI_WarningOn .................................................................... 77
ESC_HMI_WarningOn .................................................................. 78
Interface for activating the brake light (BLA) ........................................... 79
Overview interface description ...................................................... 79
eB_BLA ......................................................................................... 80
ESC_BLA ...................................................................................... 81
Interface for generator actuation ............................................................. 82
Overview interface description ...................................................... 83
RecuBrakeTorqueRequest ............................................................ 84
RecuBrakeTorqueRequest_Q ....................................................... 85
RecuBrakeTorqueCap .................................................................. 86
RecuBrakeTorqueCap_Q .............................................................. 87
RecuBrakeTorqueAct .................................................................... 87
RecuBrakeTorqueAct_Q ............................................................... 88
RecuBrakeTorqueActDrag ............................................................ 89
RecuBrakeTorqueActDrag_Q ....................................................... 89
3.2.7 Handling of signal qualifiers .................................................................... 91
Functional safety ................................................................................................ 93
4.1 Definition of the scope of a brake control system ........................................ 93
4.1.1 Motivation for dividing the brake control system into two items .............. 93
4.1.2
Item definition and interfaces to other items ........................................... 95
4.2 Hazards and risks of the brake control system ............................................ 96
3.2.6.1
3.2.6.2
3.2.6.3
3.2.6.4
3.2.6.5
3.2.6.6
3.2.6.7
3.2.6.8
3.2.6.9
3.2.6
4
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 6
4.3.1.1
4.2.1 Too low brake torque during driving (max. ASIL D) ................................ 97
4.2.2 Unintended or too high brake torque during driving (max. ASIL D) ........ 98
4.2.3 Too low brake torque at standstill with driver present (QM) .................... 99
4.2.4 Too high brake torque at standstill (QM) ................................................. 99
4.2.5 No activation of the brake light (max. ASIL B) ........................................ 99
4.3 Functional safety concept .......................................................................... 100
4.3.1 Safety goal G1.1: Avoid a too low brake torque following a driver brake
request ............................................................................................................. 100
Identified safety requirements for safety goal G1.1 ..................... 101
4.3.2 Safety goal G1.2: Avoid a too low brake torque following an External brake
Request ............................................................................................................ 104
Textual description of the functional safety concept for safety goal G1.2 ......... 104
Identified safety requirements for safety goal G1.2 ..................... 104
4.3.3 Safety goal G1.3: Avoid a too low (symmetrical) brake torque in control
situation ESC, ABS or TCS (control task cannot be executed). ........................ 106
Identified safety requirements for safety goal G1.3 ..................... 106
4.3.4 Safety goal G2.1 Avoid an unintended (symmetrical or asymmetrical)
brake torque without driver brake request that causes instability in the
vehicle. ............................................................................................................. 108
Identified safety requirements for safety goal G2.1 ..................... 108
4.3.5 Safety goal G2.2 Avoid an unintended symmetrical brake torque without
driver brake request while maintaining vehicle stability (purely longitudinal) .... 110
4.3.6 Safety goal G2.3: Avoid a too high (symmetrical) brake torque in control
situation ESC, ABS or TCS (control task cannot be executed). ....................... 111
Identified safety requirements for safety goal G2.3 ..................... 111
4.3.7 Safety goal G2.4: Avoid a too high symmetrical brake torque during a driver
brake request while maintaining the stability of the vehicle (“overbraking”). ..... 113
Identified safety requirements for safety goal G2.4 ..................... 113
4.3.8 Safety goal G2.5: Avoid a too high symmetrical brake torque during an
external brake request while maintaining the stability of the vehicle (“overbraking”).
4.3.7.1
4.3.6.1
4.3.2.1
4.3.3.1
4.3.4.1
116
4.3.8.1
Identified safety requirements for safety goal G2.5 ..................... 116
4.3.9 Safety goal G3.1: Avoid a too low brake torque at standstill when the driver
is present (with the option of increasing the brake pressure) ........................... 118
4.3.10 Safety goal G3.2: Avoid a too low brake torque at standstill when the driver
is present (without the option of increasing the brake pressure) -vehicle rolls .. 118
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 7
130
6
4.3.12.1
4.3.11 Safety goal G4.1: Avoid a too high brake torque at standstill, not
controllable by the driver via the accelerator pedal (brake torque > possible drive
torque) 118
4.3.12 Safety goal G5.1: Avoid a missing brake light activation during an external
brake request or driver braking ......................................................................... 118
Identified safety requirements for safety goal G5.1 ..................... 118
4.4 ASIL classification of relevant signals and sub-functions .......................... 120
4.5 Suggestion for protection of the communication on the network ............... 124
5 Safety assessments ......................................................................................... 126
5.1 FTA – responsibilities and interface coordination ...................................... 126
5.2 FMEA – responsibilities and interface coordination ................................... 126
5.2.1 FMEA structure ..................................................................................... 126
5.2.2 Handling information on the interface between the FMEAs .................. 128
5.3 “Metrics calculations” in accordance with ISO 26262 ................................ 130
5.3.1 Hardware architectural metrics in accordance with ISO26262-5 Volume
8
5.3.2 Evaluation of safety goal violations due to random hardware failures in
accordance with ISO26262-5 Volume 9 ........................................................... 130
Test concept ..................................................................................................... 131
6.1 Indicator test .............................................................................................. 131
6.2 Test strategy for verification and validation ............................................... 132
6.2.1 Verification ............................................................................................ 133
6.2.2 Validation .............................................................................................. 133
6.2.3 Test stages ........................................................................................... 133
6.2.4 General explanations and determination of the test strategy ................ 133
6.2.5 Requirements for the components and system tests ............................ 133
6.2.6 Test activities ........................................................................................ 134
Test activities of the eBooster OES ............................................ 134
Test activities of the ESC OES ................................................... 135
Test activities of the OEM ........................................................... 136
Release recommendation for the complete scope of delivery ..... 136
6.3 Test for eBooster actuation accuracy ........................................................ 137
6.3.1 Definition of the test sequence and test environment ........................... 137
6.3.2 Evaluation of the actuator behavior ...................................................... 139
6.2.6.1
6.2.6.2
6.2.6.3
6.2.6.4
Copyright: VDA
VDA recommendation 360 Version 1.0 December 2016 Page 8
7 References to standards .................................................................................. 140
8 Glossar ............................................................................................................. 141
9 Appendix .......................................................................................................... 144
Copyright: VDA
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