CN210634626U - Automobile rollover prevention system - Google Patents
Automobile rollover prevention system Download PDFInfo
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- CN210634626U CN210634626U CN201920659286.2U CN201920659286U CN210634626U CN 210634626 U CN210634626 U CN 210634626U CN 201920659286 U CN201920659286 U CN 201920659286U CN 210634626 U CN210634626 U CN 210634626U
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Abstract
The utility model provides a system of turning on one's side is prevented to car, system of turning on one's side is prevented to car include the electronic control unit, with motor and surface acoustic wave lateral acceleration sensor that the electronic control unit is connected, wherein: the acoustic surface wave transverse acceleration sensor is used for detecting transverse acceleration generated by centrifugal force when the automobile turns, and the direction of the transverse acceleration is the direction of the centrifugal force applied to the automobile; the electronic control unit judges whether the automobile has a rollover trend or not according to the lateral acceleration, and the motor controls an automobile steering wheel according to the rollover trend.
Description
Technical Field
The utility model relates to the technical field of automobiles, in particular to system of turning on one's side is prevented to car.
Background
The automobile industry is rapidly developing, and the number of automobiles is increasing day by day. As the transportation means with the most use, on one hand, the transportation means provides great convenience for daily travel of people, and on the other hand, the transportation means also brings great threat of traffic accidents for personal safety. The automobile is often easily influenced by centrifugal force when turning at high and low speeds, and once the automobile is subjected to great centrifugal force due to too high rotating speed and too much steering when turning, the automobile is extremely easy to overturn, and the automobile is extremely easy to rush out of a runway if the automobile is not turned enough, so that serious traffic accidents are caused.
In the prior art at present, a prevention facility for vehicle body rotation caused by automobile sideslip due to braking or sudden turning is weak, and a common anti-lock braking system (ABS) is used for deceleration braking when the automobile is about to turn over, but the deceleration is not enough only through a brake control system, so that traffic accidents are further reduced, driving personnel are protected as far as possible from being injured, and the driving safety is improved.
The patent with application number CN201110227228, then used singlechip and angle sensor to install near four wheels and gather the inclination angle information of the automobile body in real time, be connected with the automobile speed sensor through the interface of singlechip, read the speed information that the current vehicle went in real time, carry out data analysis through software and handle, judge the vehicle state and carry out real-time judgement processing: the data acquired by the angle sensor is normal, no tire burst or rollover danger exists, and no operation is generated; if the angle sensor has at least one interruption alarm and the vehicle has a certain speed, the single chip microcomputer sends out a control signal, an anti-lock brake system (ABS) is operated to carry out speed reduction braking, a PWM speed regulation signal and a left-turning and right-turning signal are sent out to the steering wheel auxiliary motor, and the control driving module timely adjusts the steering wheel to control the direction of the vehicle to avoid the vehicle from turning over; and simultaneously, a prompt alarm is sent out through the voice module. However, the method adopts an ABS system to calculate and process to obtain the automobile speed, the vehicle acceleration, the acceleration of each wheel, whether the vehicle turns, the turning radius of the vehicle and the like, an ABS control unit in the ABS system compares the analysis and processing results with the actual turning angle of the vehicle direction measured by a steering wheel turning angle sensor, and finally the steering wheel is controlled by the ABS and a power-assisted motor to steer to prevent rollover.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a system of turning on one's side is prevented to car to solve the current slow problem of system response speed of preventing turning on one's side of car.
In order to solve the technical problem, the utility model provides a system of turning on one's side is prevented to car, the system of turning on one's side is prevented to car include the electronic control unit, with motor and surface acoustic wave lateral acceleration sensor that the electronic control unit is connected, wherein:
the acoustic surface wave transverse acceleration sensor is used for detecting transverse acceleration generated by centrifugal force when the automobile turns, and the direction of the transverse acceleration is the direction of the centrifugal force applied to the automobile;
the electronic control unit judges whether the automobile has a rollover trend or not according to the lateral acceleration, and the motor controls an automobile steering wheel according to the rollover trend.
Optionally, in the system for preventing a side-turn of an automobile, the system for preventing a side-turn of an automobile further includes a torque sensor, a rotation angle sensor and a rotation speed sensor mounted on a steering wheel of the automobile, wherein:
the torque sensor, the corner sensor and the rotating speed sensor are all connected with the electronic control unit and send the working state of the automobile steering wheel to the electronic control unit;
the torque sensor is used for detecting the torque of the steering wheel of the automobile;
the corner sensor is used for detecting the corner and the steering of the automobile steering wheel;
the rotating speed sensor is used for detecting the rotating speed of the automobile steering wheel;
the electric motor, the electronic control unit, the torque sensor, and the rotation angle sensor are part of an electric power steering apparatus.
Optionally, the system of turning on one's side is prevented to the car in, the system of turning on one's side is prevented to the car still includes yaw rate sensor, yaw rate sensor installs on car central armrest case floor, wherein:
the yaw rate sensor is connected with the electronic control unit and sends the working state of the automobile steering wheel to the electronic control unit;
the electronic control unit is used for judging whether the automobile is over-steered or not according to the automobile yaw rate.
Optionally, in the rollover prevention system of an automobile, the rollover prevention system of an automobile further includes a vehicle speed sensor, wherein:
the vehicle speed sensor is used for detecting the running speed of the automobile.
Optionally, in the automobile rollover prevention system, the surface acoustic wave lateral acceleration sensor includes an input interdigital transducer, an antenna, a substrate and an external circuit reader, wherein:
the input interdigital transducer receives an excitation signal through the antenna, and the excitation signal generates surface acoustic waves on the substrate;
when the automobile is turning, inertial force makes the substrate takes place deformation, so that the frequency of sound surface wave changes, and this change process input interdigital transducer converts the signal of telecommunication into, through the antenna transmission gives outer circuit reader, outer circuit reader will the signal of telecommunication send to the electronic control unit, the electronic control unit handles the analysis, measures total acceleration, the direction of total acceleration is perpendicular with automobile body cross section, the horizontal component of total acceleration does lateral acceleration.
Optionally, in the system of preventing turning on one's side of car, place a closed container by the pinion in the middle of the preceding transverse axis of car, surface acoustic wave lateral acceleration sensor still includes a base, the base is fixed in the closed container.
Optionally, in the system for preventing a side-turn of an automobile, the system for preventing a side-turn of an automobile further comprises an alarm device, and the alarm device is used for reminding a driver of performing the rotation operation of the steering wheel 2 of the automobile.
The utility model provides an among the system of turning on one's side is prevented to car, through when the car turns, the horizontal acceleration that produces because of centrifugal force when surface acoustic wave horizontal acceleration sensor detects the car and turns, the electronic control unit basis whether horizontal acceleration judges the car to have the trend of turning on one's side, and the motor basis trend control car steering wheel of turning on one's side can judge the trend of turning on one's side of car in very short time, in time prevents the trend of turning on one's side of car, increases auttombilism's security.
Further, the utility model discloses a yaw rate sensor detects car yaw velocity, car yaw velocity is the deflection of car around the vertical axis, the electronic control unit basis whether car yaw velocity judges that the auto steering is excessive, can be very directly perceived and simple effectual judgement car turn on one's side the trend, as the testing result of further correcting surface acoustic wave lateral acceleration sensor, further increase safe redundancy.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device adopts surface acoustic wave lateral acceleration sensor to detect car lateral acceleration when turning, has high accuracy, high sensitivity. The utility model discloses measure car lateral acceleration and adopted surface acoustic wave lateral acceleration sensor, the signal of traditional sensor monitoring is mostly the analog quantity, needs to become the signal of telecommunication and just can carry out processing on next step after carrying out the AD transition point to the signal. The acoustic surface wave transverse acceleration sensor directly converts an analog signal into an electric signal through the working principle of a device, and the electric signal is directly transmitted to the electronic control unit, so that the precision and the transmission speed of the signal are improved. And the device itself is sensitive to tiny change and has higher sensitivity.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device, the surface acoustic wave device of adoption have greatly simplified the design of sensor because its distinctive theory of operation adopts wireless transmission, have also reduced the measuring unit size, and this prevents that the method of turning on one's side can effectually avoid the car to take place the danger of turning on one's side.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device has installed the alarm device that prevents to turn on one's side, in case transverse acceleration increases when having very big probability of turning on one's side when being close coefficient 1, and alarm device in time reminds driver steering wheel that turns round, and whether steering angle is suitable when adopting yaw rate sensor ability real-time supervision steering wheel that turns on one's side, avoids the process of turning round automobile body horizontal swing to cause serious traffic accident.
Drawings
FIG. 1 is a schematic view of an anti-rollover system for a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an installation of the rollover prevention system of the vehicle in the vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a surface acoustic wave lateral acceleration sensor according to an embodiment of the present invention;
fig. 4 is a schematic view of the determining process of the electronic control unit according to an embodiment of the present invention;
shown in the figure: the device comprises a 1-rotation angle sensor, a 2-automobile steering wheel, a 3-steering column, a 4-torque sensor, a 5-speed reducing mechanism, a 6-closed container, a 7-surface acoustic wave transverse acceleration sensor, a 71-substrate, a 72-inertial mass, a 73-reflecting grating, a 74-input interdigital transducer, a 75-base, an 8-pinion, a 9-wheel, a 10-transverse pull rod, an 11-motor, a 12-vehicle speed sensor, a 13-rack, a 14-electronic control unit, a 15-rotation speed sensor and a 16-yaw rate sensor.
Detailed Description
The present invention provides a rollover prevention system for a vehicle, which is described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.
The utility model discloses a core thought lies in providing a system of turning on one's side is prevented to car to solve the current slow problem of system response speed of preventing turning on one's side of car.
In order to realize the above idea, the utility model provides a system of turning on one's side is prevented to car, system of turning on one's side is prevented to car include the electronic control unit, with motor and surface acoustic wave lateral acceleration sensor that the electronic control unit is connected, wherein: the acoustic surface wave transverse acceleration sensor is used for detecting transverse acceleration generated by centrifugal force when the automobile turns, and the direction of the transverse acceleration is the direction of the centrifugal force applied to the automobile; the electronic control unit judges whether the automobile has a rollover trend or not according to the lateral acceleration, and the motor controls an automobile steering wheel according to the rollover trend.
An embodiment of the utility model provides a system of turning on one's side is prevented to car, as shown in fig. 1, the system of turning on one's side is prevented to car include electronic control unit 14, with motor 11, surface acoustic wave lateral acceleration sensor 7 and alarm device (not shown in the figure) that electronic control unit 14 is connected, wherein: the surface acoustic wave transverse acceleration sensor 7 is used for detecting transverse acceleration generated by centrifugal force when the automobile turns, and the direction of the transverse acceleration is the direction of the centrifugal force applied to the automobile; when the automobile turns, the surface acoustic wave transverse acceleration sensor 7 detects the transverse acceleration, the electronic control unit 14 judges whether the automobile has a side turning trend according to the transverse acceleration, and the motor 11 controls the automobile steering wheel 2 according to the side turning trend.
As shown in fig. 2, the steering wheel 2 of the automobile is connected to the steering column 3, the electric motor 11 is connected to the steering column 3 through the reduction mechanism 5, that is, the steering and the rotation speed of the steering column 3 are controlled by the reduction mechanism 5, the steering column 3 is connected to the pinion 8, and further the pinion 8 is controlled by the steering column 3, and the pinion 8 is connected to the wheel 9 through the tie rod 10 and the rack 13.
Specifically, in the vehicle rollover prevention system, as shown in fig. 4, when a vehicle turns, the surface acoustic wave lateral acceleration sensor 7 detects that the lateral acceleration α is greater than a first threshold value of a rollover coefficient, the electronic control unit 14 determines that the vehicle has a first rollover trend, detects a working state of the vehicle steering wheel 2, the electronic control unit 14 sends a first reverse signal to control the motor 11 to provide a first reverse moment, and the first reverse moment reduces the rotation speed of the vehicle steering wheel 2, when the vehicle turns, the surface acoustic wave lateral acceleration sensor 7 detects that the lateral acceleration α is less than the first threshold value of the rollover coefficient and the change speed of the lateral acceleration reaches the first threshold value of the rollover coefficient within 1 second, the electronic control unit 14 determines that the vehicle has a second rollover trend, and detects the working state of the vehicle steering wheel 2, the electronic control unit 14 sends a second reverse signal to control the motor 11 to provide a second reverse moment, and the second reverse moment reduces the rotation speed of the vehicle steering wheel 2, when the vehicle turns, the lateral acceleration sensor 7 detects that the lateral acceleration is greater than the first threshold value, the surface acoustic wave lateral acceleration sensor 14 sends a third reverse signal to prompt the driver to change the electronic control unit 14 to send a third reverse signal to prompt the driver to send a third reverse steering wheel 14, and send a third reverse signal to prompt the electronic control unit to send a third reverse steering wheel 14 to send a reverse signal to prompt the electronic control unit to send a reverse steering wheel 14.
Further, as shown in fig. 4, in the system for preventing a vehicle from rolling over, when the vehicle turns, the surface acoustic wave lateral acceleration sensor 7 detects that the lateral acceleration α is smaller than the first threshold value of the rolling-over coefficient and larger than the third threshold value β of the rolling-over coefficient, the electronic control unit 14 determines that the vehicle has a second rolling-over tendency and detects the working state of the steering wheel 2, the electronic control unit 14 sends a second reverse signal to control the motor 11 to provide a second reverse moment, which reduces the rotation speed of the steering wheel 2, when the vehicle turns, the surface acoustic wave lateral acceleration sensor 7 detects that the lateral acceleration α is smaller than the first threshold value of the rolling-over coefficient and smaller than the third threshold value β of the rolling-over coefficient, the electronic control unit 14 determines that the vehicle has no rolling-over tendency and detects the working state of the steering wheel 2, the electronic control unit 14 sends a normal working signal to control the motor 11 to provide a forward moment, which maintains the rotation speed of the steering wheel 22The second threshold value of the side-turning coefficient is 0.95m/s2The third threshold value of the side turning coefficient is 0.6m/s2。
As shown in fig. 1, in the rollover prevention system for a vehicle, the rollover prevention system for a vehicle further includes a torque sensor 4, a rotation angle sensor 1 and a rotation speed sensor 15 mounted on a steering wheel 2 of the vehicle, wherein: the torque sensor 4, the rotation angle sensor 1 and the rotating speed sensor 15 are all connected with the electronic control unit 14, and the working state of the automobile steering wheel 2 is sent to the electronic control unit 14; the torque sensor 4 is used for detecting the torque of the automobile steering wheel 2; the steering angle sensor 1 is used for detecting the steering angle and the steering direction of an automobile steering wheel 2; the rotational speed sensor 15 is used to detect the rotational speed of the steering wheel 2 of the vehicle. The electric motor 11, the electronic control unit 14, the torque sensor 4, and the rotation angle sensor 1 are part of an electric power steering apparatus. The automobile rollover prevention system further comprises a yaw rate sensor 16, wherein the yaw rate sensor 16 is installed on the floor of the central armrest box of the automobile, and the automobile rollover prevention system comprises: the yaw rate sensor 16 is connected with the electronic control unit 14 and sends the working state of the automobile steering wheel 2 to the electronic control unit 14; the yaw rate sensor 16 is configured to detect a yaw rate of the vehicle, which is a yaw of the vehicle about a vertical axis, and the electronic control unit 14 determines whether the vehicle is turned excessively according to the yaw rate of the vehicle. As shown in fig. 2, the rollover prevention system of the vehicle further includes a vehicle speed sensor 12, wherein: the vehicle speed sensor 12 is used for detecting the speed of the vehicle.
As shown in fig. 3, in the system for preventing rollover of an automobile, the surface acoustic wave lateral acceleration sensor 7 includes an input interdigital transducer 74, an antenna (not shown), a substrate 71 and an external circuit reader (not shown), wherein: the input interdigital transducer 74 receives an excitation signal through the antenna, the excitation signal generating a surface acoustic wave on the substrate 71; when the automobile turns, the substrate 71 is deformed by the inertial force (inertial mass 72) (such as a reflection grating 73 in the figure) so as to change the frequency of the surface acoustic wave, the change is converted into an electric signal through the input interdigital transducer 74, the electric signal is transmitted to the external circuit reader through the antenna, the external circuit reader sends the electric signal to the electronic control unit 14, the electronic control unit 14 performs processing analysis to measure the total acceleration, the direction of the total acceleration is vertical to the cross section of the automobile body, and the horizontal component of the total acceleration is the transverse acceleration. As shown in fig. 2, a closed container 6 is placed beside a pinion 8 in the middle of a front transverse shaft of the automobile, and the surface acoustic wave lateral acceleration sensor 7 further comprises a base 75, wherein the base 75 is fixed in the closed container 6.
As shown in FIG. 4, in the determination process, the electronic control unit ECU calculates the lateral acceleration α, and determines α whether or not it is greater than the rolloverIf the trend is larger than the first rollover trend threshold value (α is larger than 0.8 m/s), the electronic control unit controls the alarm device to remind a driver of turning the steering wheel, and then judges whether the yaw rate sensor detects that the turning angle is too large, if so, the motor provides reverse assistance to reduce the rotating speed of the steering wheel, if α is smaller than the second rollover trend threshold value, the electronic control unit judges whether α is larger than the first rollover trend threshold value (α is larger than 0.8 m/s)2) If so, the motor provides reverse power to reduce the rotating speed of the steering wheel, if not, further judging α whether the rotating speed of the steering wheel is larger than a third threshold value (whether α is larger than β) of the rollover trend, if so, the motor provides reverse power to reduce the rotating speed of the steering wheel, if not, the motor does not provide reverse main force in normal operation, continuing judging whether α is larger than β, if so, re-judging α is larger than 0.8m/s2。
The utility model provides an among the system of turning on one's side is prevented to car, through when the car turns, the horizontal acceleration that produces because of centrifugal force when surface acoustic wave horizontal acceleration sensor detects the car and turns, the electronic control unit basis whether horizontal acceleration judges the car to have the trend of turning on one's side, and the motor basis trend control car steering wheel of turning on one's side can judge the trend of turning on one's side of car in very short time, in time prevents the trend of turning on one's side of car, increases auttombilism's security.
Further, the utility model discloses a yaw rate sensor detects car yaw velocity, car yaw velocity is the deflection of car around the vertical axis, the electronic control unit basis whether car yaw velocity judges that the auto steering is excessive, can be very directly perceived and simple effectual judgement car turn on one's side the trend, as the testing result of further correcting surface acoustic wave lateral acceleration sensor, further increase safe redundancy.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device adopts surface acoustic wave lateral acceleration sensor to detect car lateral acceleration when turning, has high accuracy, high sensitivity. The utility model discloses measure car lateral acceleration and adopted surface acoustic wave lateral acceleration sensor, the signal of traditional sensor monitoring is mostly the analog quantity, needs to become the signal of telecommunication and just can carry out processing on next step after carrying out the AD transition point to the signal. The acoustic surface wave transverse acceleration sensor directly converts an analog signal into an electric signal through the working principle of a device, and the electric signal is directly transmitted to the electronic control unit, so that the precision and the transmission speed of the signal are improved. And the device itself is sensitive to tiny change and has higher sensitivity.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device, the surface acoustic wave device of adoption have greatly simplified the design of sensor because its distinctive theory of operation adopts wireless transmission, have also reduced the measuring unit size, and this prevents that the method of turning on one's side can effectually avoid the car to take place the danger of turning on one's side.
The utility model discloses control system that turns on one's side is prevented to car based on electric power steering device has installed the alarm device that prevents to turn on one's side, in case transverse acceleration increases when having very big probability of turning on one's side when being close coefficient 1, and alarm device in time reminds driver steering wheel that turns round, and whether steering angle is suitable when adopting yaw rate sensor ability real-time supervision steering wheel that turns on one's side, avoids the process of turning round automobile body horizontal swing to cause serious traffic accident.
In summary, the above embodiments have described the different configurations of the rollover prevention system for the vehicle in detail, and of course, the present invention includes but is not limited to the configurations listed in the above embodiments, and any configuration that is changed based on the configurations provided by the above embodiments is within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure are all within the scope of the claims.
Claims (7)
1. The utility model provides a system of preventing turning on one's side of car, its characterized in that, system of preventing turning on one's side of car includes the electronic control unit, with motor and surface acoustic wave lateral acceleration sensor that the electronic control unit is connected, wherein:
the acoustic surface wave transverse acceleration sensor is used for detecting transverse acceleration generated by centrifugal force when the automobile turns, and the direction of the transverse acceleration is the direction of the centrifugal force applied to the automobile;
the electronic control unit judges whether the automobile has a rollover trend or not according to the lateral acceleration, and the motor controls an automobile steering wheel according to the rollover trend.
2. The vehicle rollover prevention system according to claim 1, further comprising a torque sensor, a rotation angle sensor, and a rotation speed sensor mounted on a steering wheel of the vehicle, wherein:
the torque sensor, the corner sensor and the rotating speed sensor are all connected with the electronic control unit and send the working state of the automobile steering wheel to the electronic control unit;
the torque sensor is used for detecting the torque of the steering wheel of the automobile;
the corner sensor is used for detecting the corner and the steering of the automobile steering wheel;
the rotating speed sensor is used for detecting the rotating speed of the automobile steering wheel;
the electric motor, the electronic control unit, the torque sensor, and the rotation angle sensor are part of an electric power steering apparatus.
3. The vehicle rollover prevention system according to claim 1, further comprising a yaw rate sensor mounted on a floor of a center console box of the vehicle, wherein:
the yaw rate sensor is connected with the electronic control unit and sends the working state of the automobile steering wheel to the electronic control unit;
the electronic control unit is used for judging whether the automobile is over-steered or not according to the automobile yaw rate.
4. The vehicle rollover prevention system according to claim 1, further comprising a vehicle speed sensor, wherein:
the vehicle speed sensor is used for detecting the running speed of the automobile.
5. The vehicle rollover prevention system of claim 1, wherein the surface acoustic wave lateral acceleration sensor comprises an input interdigital transducer, an antenna, a substrate, and an external circuit reader, wherein:
the input interdigital transducer receives an excitation signal through the antenna, and the excitation signal generates surface acoustic waves on the substrate;
when the automobile is turning, inertial force makes the substrate takes place deformation, so that the frequency of sound surface wave changes, and this change process input interdigital transducer converts the signal of telecommunication into, through the antenna transmission gives outer circuit reader, outer circuit reader will the signal of telecommunication send to the electronic control unit, the electronic control unit handles the analysis, measures total acceleration, the direction of total acceleration is perpendicular with automobile body cross section, the horizontal component of total acceleration does lateral acceleration.
6. The system of claim 1, wherein a closed container is disposed beside the pinion gear in the middle of the front transverse shaft of the vehicle, and the surface acoustic wave lateral acceleration sensor further comprises a base fixed in the closed container.
7. The vehicle rollover prevention system according to claim 1, further comprising an alarm device for alerting a driver to perform a vehicle steering wheel turning operation.
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| CN201920659286.2U CN210634626U (en) | 2019-05-09 | 2019-05-09 | Automobile rollover prevention system |
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| CN201920659286.2U CN210634626U (en) | 2019-05-09 | 2019-05-09 | Automobile rollover prevention system |
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| CN210634626U true CN210634626U (en) | 2020-05-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194213A (en) * | 2019-05-09 | 2019-09-03 | 上海工程技术大学 | Anti-rollover system for automobiles |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194213A (en) * | 2019-05-09 | 2019-09-03 | 上海工程技术大学 | Anti-rollover system for automobiles |
| CN110194213B (en) * | 2019-05-09 | 2023-11-24 | 上海工程技术大学 | Automobile rollover prevention system |
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