JP7203535B2 - Signal control device and signal control system - Google Patents

Description

The present invention relates to technology for controlling the traffic of vehicles and the like at intersections.

Combining the lighting states of the signal lights, called gensho, indicates whether or not to permit passage through the intersection for each direction of travel. At the end of each presentation, a yellow lighting state and an omnidirectional red lighting state are required to prevent accidents. Traffic jams are caused by time lost due to signal control due to the need for a yellow lighting state and an omnidirectional red lighting state.

Patent Literature 1 describes displaying information indicated by blue, yellow, and red vehicle lamps on a vehicle display.

JP 2013-97721 A

As in the technique described in Patent Literature 1, it has been proposed to display a signal indication on a vehicle in response to the invisibility of the vehicle lamp. However, no consideration has been given to resolving traffic jams caused by time loss due to signal control.
An object of the present invention is to realize traffic control of vehicles and the like at intersections, which can be controlled in consideration of traffic conditions and the like.

A signal control device according to the present invention includes:
A receiving unit that receives vehicle information capable of identifying the speed, position, and direction of travel from each vehicle, an automated vehicle and a non-automated vehicle traveling near the target intersection;
a determination unit that determines whether to allow each vehicle to pass through the target intersection based on the vehicle information about each vehicle received by the reception unit;
For each of the vehicles, sending result information indicating a result of determination of the target vehicle by the determination unit to the target vehicle, and if the target vehicle is an automatic driving vehicle, the result information indicates and a transmitting unit that performs control according to the result, and notifies the driver of the target vehicle of the result indicated by the result information when the target vehicle is a non-automatic vehicle.

In this invention, based on the vehicle information of each vehicle traveling near the target intersection, it is determined whether or not to permit passage for each vehicle, and the decision is transmitted to the automatically driven vehicle and the non-automatically driven vehicle. This eliminates the need for vehicle lamps even when there are not only automatically driven vehicles but also non-automatically driven vehicles, and it is possible to control the traffic of vehicles at intersections in consideration of traffic conditions.

1 is a configuration diagram of a signal control system 1 according to Embodiment 1. FIG. 1 is a configuration diagram of a signal control device 10 according to Embodiment 1. FIG. FIG. 2 is a configuration diagram of the vehicle-mounted device 20 according to the first embodiment; 1 is a configuration diagram of an onboard device 30 according to Embodiment 1. FIG. FIG. 2 is an explanatory diagram of an overview of the operation of the signal control system 1 according to Embodiment 1; FIG. 4 is a flowchart showing the operation of the signal control system 1 according to Embodiment 1; FIG. 4 is an explanatory diagram of a dilemma zone according to the first embodiment; FIG. Explanatory drawing of a signal appearance. 9 is a flowchart showing the operation of the signal control system 1 according to Embodiment 2; FIG. 9 is an explanatory diagram of determination processing according to the second embodiment;

Embodiment 1.
A configuration of a signal control system 1 according to Embodiment 1 will be described with reference to FIG.
The signal control system 1 includes a signal control device 10 , one or more vehicle-mounted devices 20 mounted on an automatically driven vehicle 50 , and one or more vehicle-mounted devices 30 mounted on a non-automatically driven vehicle 60 . The signal control device 10 , each vehicle-mounted device 20 and each vehicle-mounted device 30 are connected via a wireless network 40 .

A configuration of the signal control apparatus 10 according to the first embodiment will be described with reference to FIG.
The signal control device 10 is a computer that is installed at each intersection and controls whether or not vehicles are permitted to pass through the installed intersection. One signal control device 10 may be installed for a plurality of intersections and control whether or not vehicles are permitted to pass through each of the plurality of intersections. In Embodiment 1, it is assumed that the signal control device 10 is installed at each intersection.

The signal control device 10 includes hardware including a processor 11 , a memory 12 , a storage 13 and a communication interface 14 . The processor 11 is connected to other hardware via signal lines and controls these other hardware.

The signal control device 10 includes a receiving section 111, a determining section 112, and a transmitting section 113 as functional components. Functions of the receiving unit 111, the determining unit 112, and the transmitting unit 113 are implemented by software.
The storage 13 stores a program that implements the functions of the receiving section 111 , the determining section 112 and the transmitting section 113 . This program is read into the memory 12 by the processor 11 and executed by the processor 11 . Thereby, the functions of the receiving unit 111, the determining unit 112, and the transmitting unit 113 are realized.

The configuration of the vehicle-mounted device 20 according to the first embodiment will be described with reference to FIG.
The vehicle-mounted device 20 is a computer mounted on the automatic driving vehicle 50 . In Embodiment 1, the automatically driven vehicle 50 is a vehicle whose operation is controlled by computer control. In particular, the automatic driving vehicle 50 is a vehicle having a function of controlling whether to enter an intersection or stop before the intersection.
The vehicle-mounted device 20 includes hardware including a processor 21 , a memory 22 , a storage 23 , and a communication interface 24 . The processor 21 is connected to other hardware via signal lines and controls these other hardware.

The vehicle-mounted device 20 includes a receiver 211, a controller 212, and a transmitter 213 as functional components. Functions of the receiving unit 211, the control unit 212, and the transmitting unit 213 are implemented by software.
The storage 23 stores a program that implements the functions of the receiver 211 , the controller 212 , and the transmitter 213 . This program is read into the memory 22 by the processor 21 and executed by the processor 21 . Thereby, the functions of the receiving unit 211, the control unit 212, and the transmitting unit 213 are realized.

The configuration of the vehicle-mounted device 30 according to the first embodiment will be described with reference to FIG.
The vehicle-mounted device 30 is a computer mounted on the non-automatic driving vehicle 60 . In Embodiment 1, the non-automatic vehicle 60 is a vehicle whose operation is manually controlled by the driver. In particular, the non-self-driving vehicle 60 is a vehicle that does not have a function of controlling whether to enter the intersection or stop before the intersection. In other words, here, for example, even if a vehicle has a driving control function on an expressway, a vehicle that does not have a function to control whether to enter an intersection or stop before the intersection is non-automatic driving. vehicle 60;
The vehicle-mounted device 30 includes hardware including a processor 31 , a memory 32 , a storage 33 , and a communication interface 34 . The processor 31 is connected to other hardware via signal lines and controls these other hardware.

The vehicle-mounted device 30 includes a receiver 311, a notification unit 312, and a transmitter 313 as functional components. The functions of the reception unit 311, the notification unit 312, and the transmission unit 313 are implemented by software.
The storage 33 stores a program that implements the functions of a receiving unit 311 , a notification unit 312 , and a transmitting unit 313 . This program is read into the memory 32 by the processor 31 and executed by the processor 31 . Thereby, the functions of the receiving unit 311, the notifying unit 312, and the transmitting unit 313 are realized.

The processors 11, 21, and 31 are ICs (Integrated Circuits) that perform processing. Specific examples of the processors 11, 21, and 31 are CPUs (Central Processing Units), DSPs (Digital Signal Processors), and GPUs (Graphics Processing Units).

Memories 12, 22, and 32 are storage devices that temporarily store data. Specific examples of the memories 12, 22, and 32 are SRAMs (Static Random Access Memory) and DRAMs (Dynamic Random Access Memory).

Storages 13, 23, and 33 are storage devices that store data. A specific example of the storage 13 is an HDD (Hard Disk Drive). The storages 13, 23, 33 are SD (registered trademark, Secure Digital) memory cards, CF (Compact Flash), NAND flash, flexible disks, optical disks, compact disks, Blu-ray (registered trademark) disks, DVDs (Digital Versatile Disk). It may be a portable storage medium such as

Communication interfaces 14, 24, and 34 are interfaces for communicating with external devices. The communication interfaces 14, 24, and 34 are, as specific examples, ports for Ethernet (registered trademark), USB (Universal Serial Bus), and HDMI (registered trademark, High-Definition Multimedia Interface).

Only one processor 11 is shown in FIG. However, the signal control device 10 may include multiple processors that substitute for the processor 11 . Similarly, the vehicle-mounted device 20 may include multiple processors that replace the processor 21 , and the vehicle-mounted device 30 may include multiple processors that replace the processor 31 . These multiple processors share the execution of programs that implement the functions of each functional component. Each processor, like processors 11, 21, and 31, is an IC that performs processing.

***Description of operation***
The operation of the signal control system 1 according to the first embodiment will be described with reference to FIGS. 5 to 7. FIG.
The operation of the signal control system 1 according to the first embodiment corresponds to the signal control method according to the first embodiment. Also, the operation of the signal control system 1 according to the first embodiment corresponds to processing of the signal control program according to the first embodiment.

An overview of the operation of the signal control system 1 according to the first embodiment will be described with reference to FIG.
The receiving unit 111 of the signal control device 10 receives vehicle information capable of specifying the speed, position, and traveling direction of each of the automatically driven vehicle 50 and the non-automatically driven vehicle 60 traveling near the target intersection. Based on the vehicle information about each vehicle received by the receiving unit 111, the determining unit 112 determines whether or not each vehicle is permitted to pass through the target intersection. The transmission unit 113 transmits result information indicating the result determined by the determination unit 112 to each vehicle.
The vehicle-mounted device 20 mounted on each automatically driven vehicle 50 controls the automatically driven vehicle 50 based on the result information transmitted from the transmission unit 113 . That is, when the result information indicates that passage through the target intersection is permitted, the vehicle-mounted device 20 controls the automatic driving vehicle 50 to pass through the target intersection. On the other hand, when the result information indicates that passage through the target intersection is not permitted, the vehicle-mounted device 20 slows down or stops the vehicle 50 and controls the vehicle 50 so as not to enter the target intersection.
The vehicle-mounted device 30 mounted on each non-automatic vehicle 60 notifies the driver of the non-automatic vehicle 60 of the result indicated by the result information transmitted from the transmission unit 113 . As a specific example, the vehicle-mounted device 30 displays the result indicated by the result information on a display device mounted on the non-automatic driving vehicle 60 . The vehicle-mounted device 30 may notify the driver of the result indicated by the result information by other means such as sound.

The target intersections are not limited to intersections where blue, yellow, and red vehicle lights are installed, but may be intersections requiring a temporary stop or ordinary intersections.

Details of the operation of the signal control system 1 according to the first embodiment will be described with reference to FIG.
The signal control system 1 repeatedly executes the processing shown in FIG. 6 at regular intervals. For example, the signal control system 1 repeatedly executes the processing shown in FIG. 6 at short time intervals such as every 0.1 seconds.

(Step S1 in FIG. 6: information transmission processing)
The transmission unit 213 of the vehicle-mounted device 20 of each automatically driving vehicle 50 traveling near the target intersection transmits vehicle information that can identify the speed, position, and traveling direction of the automatically driving vehicle 50 to the wireless network 40 via the communication interface 24. Send to Similarly, the transmission unit 313 of the vehicle-mounted device 30 of each non-automatic vehicle 60 traveling near the target intersection transmits vehicle information that can identify the speed, position, and traveling direction of the non-automatic vehicle 60 to the communication interface 34. to the wireless network 40 via.
As a specific example, the vehicle information indicates the speed of the automatically driven vehicle 50 or the non-automatically driven vehicle 60 specified by the speed sensor mounted on the automatically driven vehicle 50 or the non-automatically driven vehicle 60 . The vehicle information also indicates the position of the automatically driven vehicle 50 or the non-automatically driven vehicle 60 specified based on the positioning signal received from the positioning satellite. Further, the vehicle information indicates the traveling direction of the target intersection set for the automatically driven vehicle 50 or the non-automatically driven vehicle 60 . The travel direction of the target intersection set for the non-automatic vehicle 60 is, for example, the travel direction of the target intersection set in the car navigation system mounted on the non-automatic vehicle 60 .

(Step S2 in FIG. 6: information reception processing)
The receiving unit 111 of the signal control device 10 transmits the vehicle information transmitted from the on-board device 20 of each automatically driven vehicle 50 and the on-board device 30 of each non-automatically driven vehicle 60 to the wireless network 40 in step S1 via the communication interface 14. to receive.

(Step S3 in FIG. 6: decision processing)
The determining unit 112 of the signal control device 10 determines whether or not to allow each vehicle to pass through the target intersection based on the vehicle information about each of the automatically driven vehicle 50 and the non-automatically driven vehicle 60 received in step S2. decide.
Specifically, the determination unit 112 determines whether or not each vehicle is permitted to pass through the target intersection so that the total waiting time of each vehicle is shortened. For example, a longer passage time is allocated to a congested traveling direction so that more vehicles can pass in a congested traveling direction than in a less congested traveling direction.
Alternatively, the determination unit 112 determines whether or not each vehicle is permitted to pass through the target intersection so that vehicles traveling in a certain direction are allowed to pass preferentially. For example, the determination unit 112 sets the passable time allocated to a vehicle traveling in a certain traveling direction to be longer than the passable time allocated to vehicles traveling in another traveling direction, thereby determining whether the vehicle traveling in a certain traveling direction is allowed to pass. pass preferentially. Further, the determining unit 112 may change the degree of preferential passage of vehicles in which direction of travel according to information such as date, day of the week, and time.

(Step S4 in FIG. 6: result transmission processing)
The transmission unit 113 of the signal control device 10 transmits the result information indicating the result determined in step S3 to the vehicle-mounted device 20 mounted on each automatic driving vehicle 50 and each non-automatic driving vehicle 50 via the communication interface 14 and the wireless network 40. It transmits to the vehicle-mounted equipment 30 mounted in the vehicle 60. FIG.

(Step S5 in FIG. 6: result reception processing)
The receiving unit 211 of the vehicle-mounted device 20 mounted on each automatic driving vehicle 50 receives the result information transmitted in step S<b>4 via the communication interface 24 .

(Step S6 in FIG. 6: control processing)
The controller 212 of the vehicle-mounted device 20 mounted on each automatically driven vehicle 50 controls the automatically driven vehicle 50 based on the result information received in step S5. That is, when the result information indicates that passage through the target intersection is permitted, the vehicle-mounted device 20 controls the automatic driving vehicle 50 to pass through the target intersection. On the other hand, when the result information indicates that passage through the target intersection is not permitted, the vehicle-mounted device 20 slows down or stops the automatic driving vehicle 50 and controls it so as not to enter the target intersection.
At this time, the control unit 212 may display whether or not the automatically driven vehicle 50 is permitted to pass through the target intersection on a display device mounted on the automatically driven vehicle 50 via the communication interface 24 .

(Step S7 in FIG. 6: result receiving process)
The receiving unit 311 of the vehicle-mounted device 30 mounted on each non-automatic driving vehicle 60 receives the result information transmitted in step S4 via the communication interface 34 .

(Step S8 in FIG. 6: notification processing)
The notification unit 312 of the vehicle-mounted device 30 mounted on each non-automatic vehicle 60 notifies the driver of the non-automatic vehicle 60 of the result indicated by the result information received in step S7.
As a specific example, the notification unit 312 transmits the result indicated by the result information to the display device via the communication interface 34 and displays it. That is, the notification unit 312 displays on the display device whether or not the non-automatic vehicle 60 is permitted to pass through the target intersection. Note that the notification unit 312 may notify the driver of the result indicated by the result information by other means such as sound.

In step S4, when the transmission unit 113 recognizes the information that the driver of the non-automatic vehicle 60 does not allow the vehicle to pass in step S8, the transmission unit 113 avoids the dilemma zone, which is an area in which it is difficult to decide whether to stop the vehicle, and transmits the result information. Send. In other words, the transmission unit 113 transmits the result information that the non-automatic vehicle 60 is not allowed to pass before the dilemma zone when stopping the non-automatic vehicle 60 .
As shown in FIG. 7, the dilemma zone is an area determined based on past empirical rules calculated from the speed of the vehicle and the distance from the position of the vehicle to the intersection when the speed was measured. For example, the dilemma zone can be said to be an area where the distance to the target intersection is longer than the braking distance by a reference distance. That is, the transmission unit 113 transmits result information at a position where the distance to the target intersection is longer than the braking distance by the reference distance or more.

*** Effect of Embodiment 1 ***
As described above, the signal control system 1 according to Embodiment 1, based on the vehicle information of each of the automatically driven vehicle 50 and the non-automatically driven vehicle 60 traveling near the target intersection, the automatically driven vehicle 50 and the non-automated vehicle 60 It is determined whether or not to permit passage for each driving vehicle 60 . As a result, it is possible to control the traffic of the automatically driven vehicle 50 and the non-automatically driven vehicle 60 at the intersection in consideration of traffic conditions and the like. In particular, in the signal control system 1 according to Embodiment 1, even if not only the automatically driven vehicle 50 but also the non-automatically driven vehicle 60 are present, the vehicle light device is not required, and traffic conditions etc. are taken into consideration. Traffic control of vehicles etc. is possible.

As shown in FIG. 8, conventionally, it is indicated whether or not to permit passage through an intersection for each traveling direction by combining the lighting states of signal lamps, which is called a current indication. At the end of each presentation, a yellow lighting state and an omnidirectional red lighting state are required to prevent accidents, resulting in time loss and causing traffic jams.
However, in the signal control system 1 according to Embodiment 1, no time loss occurs due to signal control. Therefore, it is possible to prevent the occurrence of traffic congestion due to time loss due to signal control.

***Other Configurations***
<Modification 1>
In Embodiment 1, the functions of the reception unit 111, the determination unit 112, and the transmission unit 113 of the signal control device 10, the functions of the reception unit 211, the control unit 212, and the transmission unit 213 of the vehicle-mounted device 20, and the vehicle-mounted device 30 The functions of the receiving unit 311, the notifying unit 312, and the transmitting unit 313 are implemented by software. However, as Modification 1, these functions may be implemented by hardware. Differences between the first modification and the first embodiment will be described.

When these functions are realized by hardware, the signal control device 10 has a processing circuit instead of the processor 11, the memory 12 and the storage 13. FIG. This processing circuit is a dedicated electronic circuit that realizes the functions of the receiving unit 111 , the determining unit 112 and the transmitting unit 113 and the functions of the memory 12 and the storage 13 .
Similarly, the vehicle-mounted device 20 has a processing circuit instead of the processor 21 , the memory 22 and the storage 23 . This processing circuit is a dedicated electronic circuit that realizes the functions of the receiver 211 , the controller 212 and the transmitter 213 and the functions of the memory 22 and the storage 23 .
Similarly, the vehicle-mounted device 30 has a processing circuit instead of the processor 31 , memory 32 and storage 33 . This processing circuit is a dedicated electronic circuit that implements the functions of the receiver 311 , the notification unit 312 and the transmitter 313 and the functions of the memory 32 and the storage 33 .

The processing circuits included in the signal control device 10, the vehicle-mounted device 20, and the vehicle-mounted device 30 include a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array) are assumed.
Each function may be implemented by one processing circuit, or may be implemented by distributing each function to a plurality of processing circuits.

<Modification 2>
As a modification 2, some functions may be implemented by hardware and other functions may be implemented by software. That is, among the functions of the signal control device 10, the vehicle-mounted device 20, and the vehicle-mounted device 30, part of the functions may be implemented by hardware, and other functions may be implemented by software.

The processors 11, 21, 31, the memories 12, 22, 32, the storages 13, 23, 33 and the processing circuits are collectively called "processing circuitry". That is, each function is realized by processing circuitry.

Embodiment 2.
Embodiment 2 considers signal information indicating whether or not passage in each traveling direction is permitted at an intersection near the target intersection, and the automatic driving vehicle 50 and the non-automatic driving vehicle traveling near the target intersection It is different from the first embodiment in that it is determined whether or not each vehicle 60 is permitted to pass through the target intersection. In the second embodiment, this different point will be explained, and the explanation of the same point will be omitted.

***Description of operation***
The operation of the signal control system 1 according to the second embodiment will be described with reference to FIG.
The processing from step S11 to step S12 is the same as the processing from step S1 to step S2 in FIG. The processing from step S14 to step S18 is the same as the processing from step S4 to step S8 in FIG.

(Fig. 9 step S19: signal information reception processing)
The determining unit 112 determines whether passage in each traveling direction is permitted at the intersection from the traffic light installed at the intersection near the target intersection or the signal control device 10 installed at the intersection near the target intersection. receive signal information indicating

(Step S13 in FIG. 9: decision processing)
The decision unit 112 decides whether or not to permit each vehicle to pass through the target intersection in consideration of the signal information received in step S19.
Specifically, the determining unit 112 determines whether or not to permit each vehicle to pass through the target intersection so that the possibility of a vehicle passing through a nearby intersection stopping at the target intersection is low. As a result, the determining unit 112 can increase the possibility that the total waiting time of each vehicle will be shortened.
For example, as shown in FIG. 10, it is assumed that at time T, passage in the traveling direction D of a certain arterial road changes from being disallowed to being permitted at an intersection X before the target intersection. In this case, it is expected that the vehicle passing through the intersection X will approach the target intersection after the time Δt obtained by dividing the distance between the target intersection and the intersection X by the speed limit of the trunk road. Therefore, if passage in the traveling direction D at the target intersection is permitted slightly before the time T+Δt, the possibility that the vehicle that has passed through the intersection X will stop at the target intersection is reduced.

Moreover, the distance between each vehicle can be known from the positions of the vehicles included in the vehicle information. Based on this distance, the determination unit 112 can determine up to which vehicle the target intersection should be passed. For example, the determining unit 112 can determine to allow the preceding vehicle to pass and the following vehicle to stop when there is a certain distance or more between the preceding vehicle and the following vehicle. This reduces the chance of an accident occurring.

*** Effect of Embodiment 2 ***
As described above, the signal control system 1 according to Embodiment 2 considers signal information indicating whether or not passage in each traveling direction is permitted at intersections near the target intersection, and each vehicle is controlled at the target intersection. Decide whether to allow passage through This makes it possible to realize smooth traffic at the target intersection. Also, it is possible to improve the safety at the target intersection.

***Other Configurations***
<Modification 3>
The determination unit 112 may determine whether or not each vehicle is permitted to pass through the target intersection based on prediction by AI (Artificial Intelligence).
As a specific example, the determination unit 112 classifies and manages the past traffic volume in each traveling direction for each condition such as weather, date and time, and day of the week. Then, the determination unit 112 predicts the traffic volume in each traveling direction from the past traffic volume that satisfies the condition. The determining unit 112 determines a passable time to be allocated to vehicles in each traveling direction based on the predicted traffic volume.
This makes it possible to increase the possibility that the total waiting time of each vehicle will be shortened.

1 signal control system, 10 signal control device, 11 processor, 12 memory, 13 storage, 14 communication interface, 111 reception unit, 112 determination unit, 113 transmission unit, 20 vehicle-mounted device, 21 processor, 22 memory, 23 storage, 24 communication Interface 211 Receiving Unit 212 Control Unit 213 Transmitting Unit 30 Vehicle-mounted Device 31 Processor 32 Memory 33 Storage 34 Communication Interface 311 Receiving Unit 312 Notification Unit 313 Transmitting Unit.

Claims (6)

A receiving unit that receives vehicle information capable of identifying the speed, position, and direction of travel from each of a plurality of vehicles, including an automated vehicle and a non-automated vehicle, that run near the target intersection. When,
A determination unit for determining whether or not to permit each vehicle to pass through the target intersection based on the vehicle information about each vehicle received by the reception unit, the determination unit comprising: a determination unit that determines, based on the distance, which of the vehicles is allowed to pass through;
A signal control device comprising: a transmission unit configured to transmit result information indicating a result of determination of the target vehicle by the determination unit to the target vehicle, with each vehicle being individually determined as the target vehicle . The signal control device according to claim 1, wherein the determination unit determines whether or not to allow each vehicle to pass through the target intersection so that the total waiting time of each vehicle is shortened. The receiving unit receives signal information indicating whether or not passage in the traveling direction D toward the target intersection is permitted at an intersection before the target intersection,
The determination unit divides the distance between the target intersection and the preceding intersection by the speed limit of the road to calculate time Δt, and the time T at which the signal information changes from a state indicating non-permission to a state indicating permission. 3. The signal control device according to claim 1 or 2, wherein passage in the traveling direction D at the target intersection is permitted before the time after the time Δt. The decision unit decides whether or not to allow each vehicle to pass through the target intersection so that a vehicle that has passed through the preceding intersection is less likely to stop at the target intersection. 4. The signal control device according to 3. 5. Any one of claims 1 to 4, wherein the transmission unit transmits the result information when the distance from the target vehicle to the target intersection is longer than the braking distance of the target vehicle by a reference distance or more. The signal control device according to item 1. A signal control device according to any one of claims 1 to 5;
An on-vehicle device mounted on a vehicle, wherein when the vehicle is an automatic driving vehicle, the vehicle is controlled based on the result information transmitted from the transmitting unit, and the vehicle is a non-automatic driving vehicle and a vehicle-mounted device that notifies a driver of the result indicated by the result information.

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