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There is a BEIGE MINI VAN driving this-way with 31km/h and a wood estate-car driving left at a speed of 27 kilometers per hour
 BEIGE, MINI VAN, this-way, 31km/h, wood, estate-car, left, 27 kilometers per hour
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: vehicle type, position of vehicle, color of vehicle, orientation of vehicle, vehicle velocity, vehicle range, brand of vehicle, vehicle model, SUV, hatchback, sports car, sedan, bus, truck, vintage car, coupe, roadster, estate car, motorcycle, MPV, van 
Text: {0} 
Answer:
 BEIGE, MINI VAN, this-way, 31km/h, wood, estate-car, left, 27 kilometers per hour