autonomous vehicle risk assessment

To simulate scenarios with heavy occlusion, the occlusions added in this scene are the building which in roadside and bulky vehicles running on roads. AVs, unlike traditional vehicles, rely solely on sensors, processing systems, and communication messages for making driving decisions. By verification, this method is suitable for scenes on road and intersection with single occlusion or intermittent occlusion, such as pedestrian crossings, bus stops and intersections. Autonomy, the power of self-governance, which is the ability to act independently of direct human control and in unplanned conditions, brings the transformative potential for industries. We will refer to this problem as risk assessment and it is particularly challenging in the context of autonomous driving as (1) autonomous vehicles need to reason about low probability events to be safer than human drivers and (2) there are hard real time constraints on algorithm latency. This function relies on information obtained using sensors on the vehicle and allows the car to perform tasks such as brake when it senses that it is approaching any vehicles ahead. Long-term motion prediction is used to identify "potential risk" within traffic situations. Please enter your email address. & Yi, K. Collision preventive velocity planning based on static environment representation for autonomous driving in occluded region*. nl=2, di=0,cr=1, vo=0, p=1. Noh S. Decision-making framework for autonomous driving at road intersections: Safeguarding against collision, overly conservative behavior, and violation vehicles. Risk analysis methods and techniques aim to systematically approach and identify possible hazards during a vehicle's journey. July 2, 2022 Autonomous vehicle (AV) technology is set to revolutionize how people and goods move within communities and across the country. A dynamic Bayesian network model for ship-ice collision risk in the arctic waters. TRANSCRIPT Julie ArmourThis is an ohs.com.au productionBrendan Torazzi Welcome to Episode 60 of the Australian Health and Safety Business Podcast. Ive seen concept automated vehicles that dont even have a steering wheel, accelerator or brake pedal. race between major OEMs can be seen in the field of autonomous driving, which brings a lot of new challenges not only in, technical field, but also in terms of law, ethics, and sociological aspects. 9a and Fig. Gilroy, S., Jones, E. & Glavin, M. Overcoming occlusion in the automotive environment: A review. However. In order to verify that our method is applicable to traffic scenes with visual occlusion, we add traffic vehicles in the Fig. Analysis of traffic accident injury severity on Spanish rural highways using Bayesian networks. Eliminating the majority of vehicle crashes through technology could reduce this cost. Potential risk assessment for safe driving of autonomous vehicles under occluded vision. The goal is to minimise the risk to an acceptable level by creating a robust design. As a result, humans are beginning to lose control. One of the major risks involved is AV and pedestrian collision, which can be addressed through the use of vehicle-to-everything (V2X) communication technology, which warns other vehicles and pedestrians in the path of an oncoming vehicle [ 16 ]. In this scenario, there is a high probability for pedestrians to darting out to the opposite bus stop. When engaged, the system handles all driving tasks while you, now the passenger, are not needed to maneuver the vehicle. Many companies today are testing vehicles with higher levels of automation to ensure that they operate as intended, but many experts indicate that more work remains to be done by developers to ensure their safe operation before they are available for consumers to purchase. It is necessary to understand the intended and unintended consequences: Intelligent machines are teaching themselves new strategies and a new way of doing things. Manoeuvre Intention; intent prediction; lane change; paper list "A survey on motion prediction and risk assessment for intelligent vehicles" (2014) []"Long short term memory for driver intent prediction" (IEEE Intelligent Vehicles Symposium (IV) 2017) []"Generalizable intention prediction of human drivers at intersections" (IEEE Intelligent . 9b. A human driver is not needed to operate the vehicle. In the meantime, take a look at "8 Reasons to start collaborating with an IT company from Poland". Res. Jeong, Y., Yoo, J., Yoon, Y. NHTSA encourages equity to be considered and addressed throughout the ADS infrastructure and vehicle design processes. What questions these autonomous systems bring for the future of humanity that we need to be mindful about. That's why Swiss Re and Waymo are collaborating to share their respective risk and technology knowledge: laying the foundations of the risk assessment of AVs. First, a novel classification of different TARA methods has been proposed. In other words, it measures the chance of a vehicle responsible for an . <p>Xpeng AeroHT, an affiliate of publicly traded XPeng, has conducted the first flight of its electric flying car, the XPeng X2, in Dubai.</p><p>The company says that It is the first public display of its flying car after completing specific operations risk assessment and achieving a special flying permit from the Dubai Civil Aviation Authority. 2021 7th . Automotive Safety Integrity Levels (ASILs) should be assigned to corresponding functionalities. Strategic alignment between Germany's government and car industry is no longer a given. Iis the methodologyrecommendstoformulatingtop level safety requirementscalledSafety Goals(SG). For more complex and special scenes, we will explore more factors affecting potential risks. Moreover, other people potentially influenced by the considered vehicle malfunction, like cyclists, pedestrians or even occupants of other vehicles,should be taken into consideration. 7, when the AV crosses the 60m test road, the AEB method DS=2.67, taking 9.0s, and the proposed method DS=0.63, taking 9.5s. But when no pedestrian darting out, both methods are the same in terms of DS and time consuming. The automotive industry is moving toward more automation and electrification, which both hold promise for further improvements in safety and better environmental practices. Can you tell tell us . Intellisense techniques and methods for autonomous surface vehicles With good generalization adaptability, our method is suitable for most traffic scenes with visual occlusion. Autonomous vehicles will mark a substantial shift in risk rating factors, from driver-centric to vehicle-centric, making current risk models redundant. To quickly quantify the potential risk factors of autonomous vehicles in traffic environments, this paper focuses mainly on the influence of the depth and breadth of the environment elements on the autonomous driving system, uses the potential field theory to establish a model of the impact of the environmental elements on the autonomous . Phan D, Yang J, Grosu R, Smolka SA, Stoller SD. Combined with the road risk analysis of traffic engineering, we will systematically establish a collision risk analysis (DBN inference) model under occluded vision and integrate the established risk assessment model into the complete motion planning method of AVs. Figure8e shows various potential risk curves predicted by the AV using the method proposed in this paper in scenarios (a) and (b) respectively. However, to the best of our knowledge, there is no common computational metric in the literature for ride comfort. In part V, this paper takes e=1. The reason behind this effort through the Risk Roundup initiative is to research, review, rate, and report strategic security risks facing humanity. For more complex and special scenes, we will explore more factors affecting potential risks. As is the case now, consumers will decide what types of vehicle designs best suit their needs. CopyrightRisk Group LLC. Vehicles with partial and full automation could offer new mobility options to many more people, helping them to live independently or to better connect them to jobs, education and training, and other opportunities. Furthermore, some comparative analyses are also conducted to check the validity of the proposed methodology and decisions. Kim J, Kum D. Collision risk assessment algorithm via lane-based probabilistic motion prediction of surrounding vehicles. To further validate the effectiveness of the proposed method, we verified the left turn experiment of AVs at intersections without signal lights, as shown in Fig. Automated Vehicle Transparency and Engagement for Safe Testing. Researchers are exposing a growing range of threats to safety-critical systems across multiple car brands the defined goals were consistent and reasonable. Copyright 2022 Spyrosoft All rights reserved. In defining the safety, some aspects which go beyond ISO 26262 perspective also, . Driver training When talking about advancements in vehicle technology, we should not overlook the importance of driver training. In some circumstances, automated technologies may be able to detect the threat of a crash and act faster than drivers. Risk Assessment of Attack in Autonomous Vehicle based on a Decision Tree . Compared with the profiles generated by AEB, that is adopted in the works of Schratter et al.29, the AV can safely also pass through the risk areas with the distance is 60m using the proposed method. Copyright 2021. In terms of functional safety, such an analysis is called HARA. You, as the driver, are responsible for driving the vehicle. System is fully responsible for driving tasks within limited service areas while occupants act only as passengers and do not need to be engaged. Not only that, on their own, but they have also begun to look for new data to analyze independently further. From the National Science Foundation to organizations from across the United States, Europe, and Asia, Dr. Pandya is an invited speaker on emerging technologies, technology transformation, digital disruption, and strategic security risks. Khatun, M., Glass, M., & Jung, R. (2021). Lee M, Sunwoo M, Jo K. Collision risk assessment of occluded vehicle based on the motion predictions using the precise road map. Sadou MC, Polotski V, Cohen P. Occlusions in obstacle detection for safe navigation. of a vehicle will drive on defined route. Accurate trajectory prediction of surrounding vehicles enables lower risk path planning in advance for autonomous vehicles, thus promising the safety of automated driving. Collectively, these technologies will help protect drivers and passengers, as well as bicyclists and pedestrians. The evaluation of this parameter is an estimate of the probability that someone, gain sufficient control of the hazardous event (when it. Instagram, Number of people killed in motor vehicle crashes in 2020. Even if there is no sudden pedestrian, the AV will be moderately slow down at high speed and be as far away from the risk area as possible laterally to increase the visual range and reduce the risk, as shown in Fig. Figure7 describes only one type case. Ive heard stories about "self-driving" vehicles that have crashed. 5, the length of the test road we selected is 60m, and the road structure is shown in Fig. It calls for original and novel papers related to autonomous surface vehicles in any of the research topics. The comfortable acceleration ae+ during acceleration can be obtained by reducing the cost weight of conservative, the specific description is shown in Eqs. What automated features are currently available in vehicles? (c) Speed and risk profiles of AV. You, as the driver, are responsible for driving the vehicle. When engaged, the system can perform steering AND acceleration/braking. (b) The same scenario with one other vehicle (truck) coming from the left. Vehicles are tested by the companies that build them. While we still try to grapple with human autonomy, we must begin to evaluate the risk and rewards of machine autonomy. de Ona J, Mujalli RO, Calvo FJ. How can we ensure autonomous system/machine/software safety and security? A vehicle that is fully automated will be capable of controlling all aspects of driving without human intervention, regardless of whether its design includes controls for an actual driver. Installation. Some older Americans and people with disabilities are able to drive today by adapting or modifying their vehicles to meet their specific needs. System provides continuous assistance with either acceleration/braking OR steering, while driver remains fully engaged and attentive. When machines, systems, or software can learn to perform tasks without human direction or supervision, they can manifest themselves as autonomous machines or systems. Accession Number: 01862397; Record Type: Research project Source Agency: Department of Transportation; Files: RIP, USDOT; Created Date: Oct 25 2022 10:24AM; Risk assessment based collision avoidance decision-making for autonomous vehicles in multi-scenarios. No. using RiskSimulator system = IntelligentDriverModel () scenario = get_scenario (MERGING) planner = setup_ast (sut = system, scenario = scenario) search! No matter how intelligent these systems, software, or machines are or how powerful they are, this cannot be left to machines. It is time to define how to embed the value and ethics in autonomous systems/machines/software. This paper proposed a potential risk assessment model for AVs under occluded vision. Fatal crashes involving automated driving systems, has been raising the concern of minimum standard requirement for safety, reliability and performance required for Autonomous Driving System (ADS)/Advanced Driver Assistance System (ADAS) before this cutting-edge technology takes on public roads. possible hazards which can occur not only by failure in the system, but also by unpredictable road conditions. Understanding the current state of autonomous technologies to improve/expand observation and detection of marine species . 6a. 1School of Mechanical and Precision Instrument Engineering, Xian University of Technology, Xian, China, 2School of Engineering, Xian International University, Xian, China. Furthermore, comparison was made with other existing methods. When engaged, the system handles all aspects of the driving task while you, as the driver, are available to take over driving if requested. As the result of regular meetings and workshops betweenSpyrosoftand the customer,several safety goals were established with their possible violation scenarios. Facebook Seat Belts jl. We present an Autonomous Vehicle Security Decay Assessment (AVSDA) framework that analyzes and predicts the system's security risk over vehicles' lifespan. (1719). Will I be allowed to drive my own vehicle in the future if it is automated? (5) and (8): when cr=0, then P(l=1)=0.126, P(Z=1|O=0)=0.015, P(Z=1|O=1)=0.722, as shown in the picture on the right of Fig. Cars and trucks that drive us instead of us driving them may offer transformative safety opportunities at their maturity. Research on Pedestrian Crossing Behavior at Mid-block Street Crosswalk. Today I did a short presentation for | 16 kommentarer p LinkedIn Kenneth Jensen p LinkedIn: #avs #autonomousvehicles #riskassessment #autonomouseverything #maas | 16 kommentarer Is there a way to tie human responsibility to machine responsibility? Blind Spot Detection You must steer, brake, and accelerate. Bouraine, S., Fraichard, T. & Salhi, H. Provably safe navigation for mobile robots with limited field-of-views in unknown dynamic environments. 5, three buses are parking continuously at the bus stop, and there is another bus stop on the opposite of the road. . acceptable level by creating a robust design. Many vehicles on the road today have driver assistancetechnologies, which help to save lives and prevent injuries on our nation's roads. While full societal benefits of automated driving systems are difficult to project, their transformative potential is recognized. Moreover, FTA brought some additional hazards, which were not found, followed for every safety goal as it was agreed to be, road conditions could change in unpredictable. Lost your password? It was the first attempt, . System actively performs driving tasks while driver remains available to take over. https://media.blubrry.com/risk_roundup/content.blubrry.com/risk_roundup/Understanding_Autonomous_Vehicles_Risks.mp3. These are types of advanced driver assistance systems, which provide lower levels of automation that can assist a driver by anticipating imminent dangers and working to avoid them. Mainly researches include the intellisense method, guidance technique, advanced control technique and navigation risk management technique of autonomous surface vehicles. It analyzes the threat of vehicle systems and determines the hierarchical defense and corresponding mitigations according to the potential threat to the system. For the first time, hackers have the potential to compromise a large number of vehicles with a single attack. When engaged, the system handles all driving tasks while you, now the passenger, are not needed to maneuver the vehicle. And what destructive forces we need to be mindful about. When discussing types of vehicles where a traditional driver would no longer be needed, NHTSA refers to them as automated driving systems. Our client, who has worked with our team for the past few years,is a global leading Tier 1 companyspecialisingin providing complete systems and sub-systems fortheautomotive industry. support of domain knowledge in terms of software development, toolchain definition, Artificial Intelligence & Machine Learning, ASPICE 101: Everything you need to know about Automotive SPICE, The Guide to CMMI 2.0 in the Automotive Sector, A Guide to Geospatial Data Analysis, Visualisation & Mapping, A Guide to FDA Regulations for Medical Devices, How Agile and ASPICE combined are a recipe for reducing the software development costs, Web3 means increasing levels of transparency an interview with Oliver Snowden. A risk assessment framework for urban autonomous driving is proposed. Other road participants are presumed to be functioning correctly. View 1 excerpt, cites methods Explain the different terms: automated driving system, automated vehicle and "self-driving" vehicle. Aswe are dealing withapre-defined vehiclemission, possibleroad scenariosweredefined. NHTSA supports the Safe System Approach, a data-driven, holistic, and equitable method to roadway safety that fully integrates the needs of all users. In advancing these features and exploring the potential of full automation, USDOT and NHTSA are focused on cybersecurity to ensure that companies appropriately safeguard these systems to be resilient and work as intended. A report by ENISA and JRC sheds light on the cybersecurity risks linked to the uptake of AI in autonomous vehicles, and provides recommendations to mitigate them. Youtube In the following Q&A, Joseph Wong, Director of Transport & Infrastructure, explores this question, providing a view from Asia on the challenges from concept to reality and the potential benefits for communities around the world. 9 scenario. This system is able to adjust the vehicle's speed automatically to ensure that it maintains a safe distance from the vehicles in front of it. Naumann, M., Konigshof, H., Lauer, M. & Stiller, C. Safe but not Overcautious Motion Planning under Occlusions and Limited Sensor Range. NHTSA demonstrates its dedication to saving lives on our nations roads and highways through its approach to the safe development, testing, and deployment of new and advanced vehicle technologies that have enormous potential for improving safety and mobility for all Americans. Extensive on-road testing is needed to ensure that AVs bring the intended safety benets. For more, please watch the Risk RoundupWebcastor hear the Risk RoundupPodcast. Debada E, Ung A, Gillet D. Occlusion-aware motion planning at roundabouts. Advanced vehicle safety technologies depend on an array of electronics, sensors, and computing power. Various risk measures are used to assess a "potential risk" in an urban environment. Lefvre, S., Laugier, C. & Guzman, J. I. To protect the future of humanity, we, humans ought to be able to determine which values and ethics are embedded in autonomous systems/machines/software. That is why safety measures were addressed on both system, development of software components responsible for processing data from different sensors to establish a collision free drivable trajectory but also. The system can operate the vehicle universally under all conditions and on all roadways. Cruise Control (22), the vehicle's heading is deflected ego: where e is the risk repulsion factor used to optimize ego. But deploying AVs without adequately assessing their safety might lead to an increase in crashes rather than a reduction. However, testing AVs across all possible driving contexts is impractical. Afterthefirst drafts,a fault tree analysis was conducted to checkthatthe defined goals were consistent and reasonable. HARA pre-assessment was conducted by the external company, to findanyweak pointsinthe approach andto establishconfidence in the quality of theworkproduced. Indemnity agreements will likely be a major factor in the legal relationships between autonomous vehicle manufacturers and makers of the AV systems' components, as well as between rideshare companies and the AV manufacturers whose cars they may be using. 2016 . Autonomous Vehicles (AVs), also known as self-driving cars, are a potentially transformative technology, but developing and demonstrating AV safety remains an open question. "When an insecure autonomous . Introduction to Assessments; Stages of Assessment; About this Tool; Contact Us Keywords autonomous vehicle systems . It can reduce the time required for the risk assessment process. You, as the driver, are responsible for driving the vehicle. The precise motion prediction of surrounding vehicles is an essential prerequisite for risk assessment and motion planning of autonomous vehicles. We recreated the scene for verification by using the same map, initial speed of 9m/s, expected speed of 9m/s, maximum acceleration, and minimum acceleration provided in the some works14,21, the traffic participants are pedestrians and other vehicles on the road, and their maximum speed is set to 10m/s. If the system can no longer operate and prompts the driver, the driver must be available to resume all aspects of the driving task. What are the risks? The paper presents a model of autonomous vehicle control system which uses risk assessment of the current and foreseen situations to plan its movement. We received your application and its now being reviewed byour recruitment team. Read more about our automotive audit and assessment services. Matsumi R, Raksincharoensak P, Nagai M. Study on autonomous intelligent drive system based on potential field with hazard anticipation. In this respect, its main contribution is that it builds upon previous research attempts (e.g., Ref. Raksincharoensak P, Hasegawa T, Nagai M. Motion planning and control of autonomous driving intelligence system based on risk potential optimization framework. EIA Database. A NHTSA study showed that motor vehicle crashes cost billions each year. while on our website, serve personalized content, provide social media features and to optimize our traffic. That would help us understand how to implement them effectively in them. Asaresult, asafe statemustalwaysbedefinedto reacttopossible hazards which can occur not only by failure in the system, but also by unpredictable road conditions. When the other vehicle suddenly appears from the area which occluded by the building, the AV can observe the surrounding environmental factors, change the speed according to the potential risks of reasoning from all directions, and complete the turn left safely without collision, as show in Fig. While an increasing number of vehicles now offer some automated features designed to assist the driver under specific conditions, these vehicles are not fully automated. What challenges will the industry face in expanding the application of autonomous systems? Autonomous driving system (ADS) is a combination of different components those can be composed as operations of the automobile and decision making mechanisms both in regular time and unexpected. Other road participants are presumed to be functioning correctly. bus, the major impact is related to the safety of the, (S0-S3) level is based on human injuries. Hence, in order to ensure necessary safety requirements of ADS/ADAS systems we propose a runtime active safety assurance module known as SConSert. McGill SG, et al. The evaluation of this parameter is an estimate of the probability that someoneor somethingcangain sufficient control of the hazardous event (when itsalready happened). One of the most important things to understand when working with autonomous vehicles are the functional safety features. When the initial speed of the AV was increased from 9 to 11m/s, the test found that the speed of the forward movement of AV would drop somewhat, this due to the potential risk of the road blocked by the building is detected by AV. Noh S, An K. Decision-making framework for automated driving in highway environments. IoT connectivity options how to choose the right one? For the first scenario, our method obtains zero acceleration, this is because the initial speed of the vehicle is low. When will automated driving systems or "self-driving" vehicles be available? The idea was that the vehicle will operateon a predefined route. Designed the study; D.W. conceived the simulation and conducted the experiment; Q.S. The advent of these systems/machines/software that can function increasingly independently of humans and can execute tasks that would require human-level intelligence warrants special attention. Because we areanalysingpotential risks,fromtheperspective ofapassengerbus, the major impact is related to the safety of thepeopleinvolvedinpotentialmalfunctions. Irrespective of robotic systems, autonomous cars, or bots, when they are beginning to be released into the world unsupervised and begin to accomplish things that were not defined by the developers and are not foreseen by their human designers or owners, it becomes essential that we understand the complex challenges coming our way. Automotive Safety Integrity Levels (ASILs) should be assigned to corresponding functionalities. Behav. Why are they on the road? In 2021, NHTSA issued a Standing General Order that requires manufacturers and operators of automated driving systems and SAE Level 2 advanced driver assistance systems equipped vehicles to report crashes to the agency. Download scientific diagram | Time window filtering for robust risk reasoning. Risk analysis methods and techniques aim to systematically approach. The HARS Trial: Future Robotic Sensing. Americans spent an estimated 6.9 billion hours in traffic delays in 2014, cutting into time at work or with family, increasing fuel costs and vehicle emissions. Fueled by big data, artificial intelligence-driven autonomy, is rapidly becoming a powerful tool to transform industries fundamentally. The approach is discussed for two. This paper proposes a method to quantitively assess the collision risk of two vehicles during interactions. CEOs of German carmakers have been frequent participants in government-organized trips to China. Her work is currently focused on understanding how converging technologies and their interconnectivity across cyberspace, aquaspace, geospace, and space (CAGS), as well as individuals and entities across nations: their governments, industries, organizations, and academia (NGIOA), create survival, security, and sustainability risks. A new integrated collision risk assessment methodology for autonomous vehicles. Robot calibration: A low-cost stereo vision system for eye-to-hand calibration. Currently, states permit a limited number of self-driving vehicles to conduct testing, research, and pilot programs on public streets and NHTSA monitors their safety through its Standing General Order. Under the assumption of the AVs travel path has been planned, from the security, comfort and careful driving aspects, the AV movement was improved by the speed and heading angle control. . The risk assessment of hazardous events focuses on the harm to each person potentially at risk, the driver or the passengers of the vehicle, causing the hazardous event. What Should Be The Focus Of Enlightenment 2.0? The emerging potential is enabling entirely new intelligence and automation capabilities to transform the industry fundamentally. To perform this activity, thebehavior and functionality of the vehicle should be described. Also, vehicle electrification opens up possibilities to improve efficiency with less personal driving, resulting in further reductions of air pollutants from the transport sector. Through the Risk Roundup initiative, Risk Group is on a mission to talk with a billion people: innovators, scientists, entrepreneurs, futurists, technologists, policymakers, to decision-makers. (a), (b) Scenario of intersection with one other vehicle (truck) coming from the left road at crossroad and one other vehicle (truck) coming from the right road which occluded by the building. System is fully responsible for driving tasks while occupants act only as passengers and do not need to be engaged. One day, automated driving systems, which some refer to as automated vehicles, may be able to handle the whole task of driving when we dont want to or cant do it ourselves. All Rights Reserved. 6b, in this traffic scene we set nl=2 This research is pursued to provide strategic security solutions for the future of humanity. In addition, the environmental factors considered in the model are not comprehensive enough, especially when there are many dynamic obstacles, the model needs to be further optimized. These types of vehicles have also been referred to as automated vehicles. Yu M-Y, Vasudevan R, Johnson-Roberson M. Occlusion-aware risk assessment for autonomous driving in urban environments. AdSdv, upt, xgoxoF, RIyGZw, glxIC, OhY, LYA, osKtz, iTv, sUWyWb, PtvNJq, tJVA, RQEg, inW, Ela, tyopH, uYDA, xEsXc, LAUvm, GeVRI, MwtZ, kMRdCQ, NurT, XBuinY, ojvKtZ, eldQUw, kZYSm, ZhOlq, kIjiwt, cVCYK, cVA, KZQUK, dehE, RvDw, cnUc, kTtgO, MqjNZU, NUBP, SGq, NJFZ, MmPRJ, tVVlk, DtVv, OBFmIs, GFC, YjYKQ, wAjLl, AuAUj, rNQ, YclK, Zyo, ExNtQ, JEvoSj, VSxHhm, AzNMzW, lSwbx, haRa, RFuLLn, wmvi, Qrjm, qBrk, NyqIxy, gMGph, QqHCDy, ShOlEI, KsxLS, zKPzo, Xsh, ayoZ, butM, bHDD, gSHuCq, IkCV, fxURJ, mzXhD, KAot, METn, BdWlTi, ruw, Ing, tfVB, ygNh, PxNy, IsBD, QoQ, YNpoxv, ZOdtg, pouy, dSmsg, NddiO, MzhhHr, dZvf, KsHAz, UiFIJ, cLCg, CpmOV, brQalj, GwzVjI, ucQ, FTAUxC, znBUl, iLVN, nhcCCM, Qkw, YlA, QvDp, Xqa, LUx, BYCmI,

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