CN110069055A - Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle - Google Patents
Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle Download PDFInfo
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- CN110069055A CN110069055A CN201810065913.XA CN201810065913A CN110069055A CN 110069055 A CN110069055 A CN 110069055A CN 201810065913 A CN201810065913 A CN 201810065913A CN 110069055 A CN110069055 A CN 110069055A
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- 238000003860 storage Methods 0.000 title claims abstract description 17
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 16
- 238000004590 computer program Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
Present disclose provides a kind of method, apparatus and computer readable storage medium for dispatching unmanned vehicle, are related to robotic technology field.The device can be after the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, and the other unmanned vehicles for controlling traveling to keyed end brake, and keyed end is the point on road towards intersection direction and intersection interval first distance；It after the unlock point that the first unmanned vehicle travels to crossroad mouth region domain, releases aforementioned brake and controls, unlock point is the point on road far from intersection direction and intersection interval second distance.The disclosure can guarantee unmanned vehicle is safe and orderly pass through intersection while, improve dispatching efficiency of the unmanned vehicle by intersection.
Description
Technical field
This disclosure relates to robotic technology field, in particular to a kind of method, apparatus for dispatching unmanned vehicle and computer can
Read storage medium.
Background technique
Robotization, automated warehousing technology largely realize part manual work in the application of electric business logistics
It is unmanned.In recent years, Automatic Warehouse gradually uses the carrying of unmanned vehicle progress pallet or cage vehicle, as Lin De, Cole rub
Stacking is had the pallet of commodity from warehouse entry inspection area with being carried to pallet heap storage space, or sorting is had package by root unmanned vehicle
Cage vehicle is carried to position to be delivered,
Unmanned vehicle is that control is gone to travel by scheduling system in specific map route running.When there is multiple unmanned vehicles
When will be by intersection, how to guarantee that unmanned vehicle orderly passes through intersection and hardware trigger safety stop does not occur, and protect
Dispatching efficiency of the unmanned vehicle by intersection is demonstrate,proved, focus concerned by people is increasingly becoming.
Summary of the invention
The technical problem that the disclosure solves is how to guarantee that unmanned vehicle is safe and orderly passes through the same of intersection
When, improve dispatching efficiency of the unmanned vehicle by intersection.
According to the one aspect of the embodiment of the present disclosure, provide a kind of method for dispatching unmanned vehicle, comprising: first nobody
Vehicle is travelled to the keyed end in crossroad mouth region domain, and other unmanned vehicles of control traveling to keyed end brake, and keyed end is
Point of the road towards intersection direction and intersection interval first distance；It travels in the first unmanned vehicle to crossroad mouth region
It after the unlock point in domain, releases aforementioned brake and controls, unlock point is on road far from intersection direction and intersection interval
The point of second distance.
In some embodiments, first distance be unmanned vehicle vehicle width half and safety shut-down distance and, second distance
For the half of unmanned vehicle vehicle width.
In some embodiments, safety shut-down distance be safe distance and braking distance and, braking distance is unmanned vehicle
It brakes from maximum travelling speed to distance needed for stopping.
In some embodiments, releasing aforementioned control of braking includes: the crossroad determined jointly in keyed end and unlock point
There are in the case where the second unmanned vehicle, first controlling the second unmanned vehicle by intersection region in the domain of mouth region, then release aforementioned brake
Vehicle control.
In some embodiments, the second unmanned vehicle of control includes: in the second unmanned vehicle of control by intersection region
More unmanned vehicles pass through intersection region according to the sequence of transport task priority from high to low.
In some embodiments, in the case where the first unmanned vehicle is travelled to keyed end, control traveling to keyed end its
The brake of its unmanned vehicle includes: to control transport in two unmanned vehicles in the case where two unmanned vehicles while traveling to keyed end and appoint
The lower unmanned vehicle brake of priority of being engaged in.
According to the one aspect of the embodiment of the present disclosure, a kind of device for dispatching unmanned vehicle is provided, comprising: brake control mould
Block is configured as after the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, and control traveling is other to keyed end
Unmanned vehicle brake, keyed end are the point on road towards intersection direction and intersection interval first distance；Brake control
Module is released, is configured as after the unlock point that the first unmanned vehicle travels to crossroad mouth region domain, aforementioned brake control is released,
Unlock point is the point on road far from intersection direction and intersection interval second distance.
In some embodiments, first distance be unmanned vehicle vehicle width half and safety shut-down distance and, second distance
For the half of unmanned vehicle vehicle width.
In some embodiments, safety shut-down distance be safe distance and braking distance and, braking distance is unmanned vehicle
It brakes from maximum travelling speed to distance needed for stopping.
In some embodiments, brake controls releasing module and is configured as: in the friendship that keyed end and unlock point determine jointly
There are in the case where the second unmanned vehicle, first controlling the second unmanned vehicle by intersection region in the domain of cross road mouth region, then before releasing
State brake control.
In some embodiments, brake controls releasing module and is configured as: in the friendship that keyed end and unlock point determine jointly
There are the more unmanned vehicles in the case where the second unmanned vehicle, first controlled in the second unmanned vehicle according to transport task in the domain of cross road mouth region
The sequence of priority from high to low is by intersection region, then releases aforementioned brake control.
In some embodiments, brake control module is configured as: in two unmanned vehicles while being travelled to the feelings of keyed end
Under condition, the lower unmanned vehicle brake of transport task priority in two unmanned vehicles is controlled.
According to the one aspect of the embodiment of the present disclosure, a kind of device for dispatching unmanned vehicle is provided, wherein include: storage
Device；And it is coupled to the processor of memory, processor is configured as executing above-mentioned based on instruction stored in memory
The method for dispatching unmanned vehicle.
According to the one aspect of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, wherein computer can
It reads storage medium and is stored with computer instruction, scheduling unmanned vehicle above-mentioned is realized in instruction method when being executed by processor.
The disclosure can guarantee unmanned vehicle is safe and orderly pass through intersection while, improve unmanned vehicle pass through crossroad
The dispatching efficiency of mouth.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the relevant technologies and delimit the schematic diagram of square traffic administration safety zone in intersection.
Fig. 2 shows the flow diagrams of the method for the scheduling unmanned vehicle of an embodiment of the present disclosure.
Fig. 3 shows the schematic diagram in the intersection region of disclosure delimitation.
Fig. 4 shows in the region of intersection that there are the situations of more unmanned vehicles.
Fig. 5 shows two unmanned vehicles while travelling to the situation of keyed end.
Fig. 6 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of an embodiment of the present disclosure.
Fig. 7 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of the disclosure another embodiment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, belong to the disclosure protection range.
Inventor makes following consideration first.Square traffic administration safety zone, system record delimited in intersection
Four coordinate points that the square area and unmanned vehicle map route cross.Fig. 1, which is shown, delimit square friendship in intersection
The schematic diagram of siphunculus reason safety zone.Scheduling system can design following traffic administration strategy:
(1) on any one route, coordinate points that unmanned vehicle real-time report is currently located.If falling in the safety zone
Interior, then the region is locked by the unmanned vehicle, and until the unmanned vehicle travels out the region, which can be unlocked；
(2) safety zone, if there is other unmanned vehicles drive in the region, can be notified stopping by during lock point immediately
Traveling；
(3) after safety zone unlocks, if there is multiple vehicles needs pass through, then system allows stops vehicle in the area earliest
Priority pass.
So recycle above-mentioned (1), (2), (3) step, until there is no unmanned vehicle to travel to the safety zone, the safety zone
In latch-up-free state, any unmanned vehicle can seize the safety zone.
Inventor thinks that often bigger, occupancy delimited in safety zone in above scheme after carrying out further research
More road surface region is not that accurate every road of consideration and unmanned vehicle travel situations are set, therefore unmanned vehicle interference region is big
And overall operation efficiency is low.Simultaneously as the priority that different unmanned vehicles carry task is not accounted for, so that whole scheduling effect
Rate is not high.
The method of the scheduling unmanned vehicle of an embodiment of the present disclosure is introduced below with reference to Fig. 2.
Fig. 2 shows the flow diagrams of the method for the scheduling unmanned vehicle of an embodiment of the present disclosure.As shown in Fig. 2, this
The method of scheduling unmanned vehicle in embodiment includes step S202~step S204.
Step S202, after the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, control traveling to keyed end
Other unmanned vehicles brake.Wherein, keyed end is on road towards intersection direction and intersection interval first distance
Point.
First distance can for unmanned vehicle vehicle width half (such as 1 meter) and safety shut-down distance (such as 0.8 meter) and
(such as 1.8 meters).Safety shut-down distance be safe distance (such as 30 centimetres) and braking distance (such as 50 centimetres) and, brake
Distance is the distance that unmanned vehicle brakes from maximum travelling speed to needed for stopping.
Step S204 releases aforementioned brake after the unlock point that the first unmanned vehicle travels to crossroad mouth region domain.Its
In, unlock point is the point on road far from intersection direction and intersection interval second distance.
For example, second distance is the half (such as 1 meter) of unmanned vehicle vehicle width.
It will be understood by those skilled in the art that since unmanned vehicle route is usually unidirectional route, by all keyed ends, solution
Lock point is connected in turn, and is capable of forming the intersection region an of polygon.Fig. 3 shows the crossroad of disclosure delimitation
The schematic diagram in mouth region domain.As shown in figure 3, the region is smaller than intersection safety regional scope shown in FIG. 1.
On any one route, when the coordinate points of unmanned vehicle real-time report are if it is keyed end, scheduling system judges the friendship
Whether cross road mouth region domain has been locked.If not locked, which distributes to unmanned vehicle traveling, the nothing of other subsequent applications
People's vehicle then all brakes.If locked, which will be notified that and brake immediately, and be parked in front of safety collision point.When nobody
When the coordinate points of vehicle real-time report are equal to unlock point, the intersection region that system locked before unlocking so is recycled, directly
It is travelled to no unmanned vehicle, which is then latch-up-free, and any vehicle can be seized.
Method provided by the above embodiment can carry out unmanned vehicle delimitation intersection safety region finer
It delimit, makes full use of traveling map area, the safe and efficient passage of each unmanned vehicle is accurately controlled, to improve nobody
Vehicle by intersection dispatching efficiency.While guaranteeing that unmanned vehicle is safe and orderly and passing through intersection, it is logical to improve unmanned vehicle
Cross the dispatching efficiency of intersection.
Optionally, in step S204, there are second in the intersection region that keyed end and unlock point determine jointly
In the case where unmanned vehicle, the second unmanned vehicle is first controlled by intersection region, then releases aforementioned brake control.
Fig. 4 shows in the region of intersection that there are the situations of more unmanned vehicles.In such a case, it is possible to first control more
Unmanned vehicle passes through intersection region according to the sequence of transport task priority from high to low.For example, the transport of unmanned vehicle A is appointed
Priority of being engaged in is higher than unmanned vehicle B, then unmanned vehicle A can be enabled to first pass through intersection region, then unmanned vehicle B is enabled to pass through intersection
Region.There is no unmanned vehicle and then the aforementioned brake controls of releasing in the region of intersection.
Method provided by the above embodiment can be further ensured that unmanned vehicle is safe and orderly by intersection, improve nobody
The dispatching efficiency that vehicle passes through intersection.
Optionally, in step S202, in the case where two unmanned vehicles are travelled to keyed end simultaneously, control two nobody
The lower unmanned vehicle brake of transport task priority in vehicle, so that the higher unmanned vehicle of transport task priority passes through crossroad
Mouthful.
Fig. 5 shows two unmanned vehicles while travelling to the situation of keyed end.For example, unmanned vehicle C, D are travelled simultaneously to lock
Fixed point.The transport task priority of unmanned vehicle C is higher than unmanned vehicle D, then can control unmanned vehicle D brake, unmanned vehicle C is enabled to first pass through
Intersection region.
Method provided by the above embodiment can preferentially allow the unmanned vehicle that task priority is high, task is urgent preferentially to pass through friendship
Cross road mouth, support mission are timely completed, and further improve dispatching efficiency of the unmanned vehicle by intersection.
The device of the scheduling unmanned vehicle of an embodiment of the present disclosure is introduced below with reference to Fig. 6.
Fig. 6 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of an embodiment of the present disclosure.As shown in fig. 6, this
The device 60 of the scheduling unmanned vehicle of embodiment includes that brake control module 602 and brake control release module 604.
Brake control module 602 is configured as after the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, control
Other unmanned vehicles of system traveling to keyed end brake, and keyed end is on road towards intersection direction and intersection interval
The point of first distance.
Brake control releases module 604, is configured as travelling in the first unmanned vehicle to the unlock in crossroad mouth region domain and puts it
Afterwards, it releases aforementioned brake to control, unlock point is on road far from intersection direction and intersection interval second distance
Point.
In some embodiments, first distance be unmanned vehicle vehicle width half and safety shut-down distance and, second distance
For the half of unmanned vehicle vehicle width.
In some embodiments, safety shut-down distance be safe distance and braking distance and, braking distance is unmanned vehicle
It brakes from maximum travelling speed to distance needed for stopping.
In some embodiments, brake control releases module 604 and is configured as: determining jointly in keyed end and unlock point
There are in the case where the second unmanned vehicle, first controlling the second unmanned vehicle by intersection region in the region of intersection, then release
Aforementioned brake control.
Device provided by the above embodiment can carry out unmanned vehicle delimitation intersection safety region finer
It delimit, makes full use of traveling map area, the safe and efficient passage of each unmanned vehicle is accurately controlled, to improve nobody
Vehicle by intersection dispatching efficiency.While guaranteeing that unmanned vehicle is safe and orderly and passing through intersection, it is logical to improve unmanned vehicle
Cross the dispatching efficiency of intersection.
In some embodiments, brake control releases module 604 and is configured as: determining jointly in keyed end and unlock point
There are the more unmanned vehicles in the case where the second unmanned vehicle, first controlled in the second unmanned vehicle in the region of intersection appoints according to transport
The sequence of priority of being engaged in from high to low is by intersection region, then releases aforementioned brake control.
Device provided by the above embodiment can be further ensured that unmanned vehicle is safe and orderly by intersection, improve nobody
The dispatching efficiency that vehicle passes through intersection.
In some embodiments, brake control module 602 is configured as: in two unmanned vehicles while being travelled to keyed end
In the case of, control the lower unmanned vehicle brake of transport task priority in two unmanned vehicles.
Device provided by the above embodiment can preferentially allow the unmanned vehicle that task priority is high, task is urgent preferentially to pass through friendship
Cross road mouth, support mission are timely completed, and further improve dispatching efficiency of the unmanned vehicle by intersection.
Fig. 7 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of the disclosure another embodiment.As shown in fig. 7,
The device 70 of the scheduling unmanned vehicle of the embodiment includes: memory 710 and the processor 720 for being coupled to the memory 710, place
Reason device 720 be configured as executing based on the instruction being stored in memory 710 scheduling in any one aforementioned embodiment nobody
The method of vehicle.
Wherein, memory 710 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
The device 70 for dispatching unmanned vehicle can also include input/output interface 730, network interface 740, memory interface 750
Deng.It can for example be connected by bus 760 between these interfaces 730,740,750 and memory 710 and processor 720.Its
In, the input-output equipment such as input/output interface 730 is display, mouse, keyboard, touch screen provide connecting interface.Network connects
Mouth 740 provides connecting interface for various networked devices.The external storages such as memory interface 740 is SD card, USB flash disk provide connection and connect
Mouthful.
The disclosure further includes a kind of computer readable storage medium, is stored thereon with computer instruction, and the instruction is processed
Device realizes the scheduling unmanned vehicle in any one aforementioned embodiment method when executing.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.
Claims (14)
1. a kind of method for dispatching unmanned vehicle, comprising:
After the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, control traveling to the keyed end it is other nobody
Vehicle brake, the keyed end are the point on road towards intersection direction and intersection interval first distance；
After the unlock point that the first unmanned vehicle travels to crossroad mouth region domain, aforementioned brake control is released, the unlock point is
Point on road far from intersection direction and intersection interval second distance.
2. the method for claim 1, wherein the first distance is the half and safety shut-down distance of unmanned vehicle vehicle width
Sum, the second distance be unmanned vehicle vehicle width half.
3. method according to claim 2, wherein safety shut-down distance be safe distance and braking distance and, institute
Stating braking distance is the distance that unmanned vehicle brakes from maximum travelling speed to needed for stopping.
4. the method for claim 1, wherein aforementioned brake control of the releasing includes:
Exist in the case where the second unmanned vehicle in the keyed end and the unlock point jointly determining intersection region, it is first
Second unmanned vehicle is controlled by the intersection region, then releases aforementioned brake control.
5. method as claimed in claim 4, wherein control second unmanned vehicle is wrapped by the intersection region
It includes:
Control more unmanned vehicles in second unmanned vehicle pass through according to the sequence of transport task priority from high to low it is described
Intersection region.
6. the method for claim 1, wherein described in the case where the first unmanned vehicle is travelled to the keyed end, control
Other unmanned vehicles of system traveling to the keyed end, which brake, includes:
In the case where two unmanned vehicles are travelled to the keyed end simultaneously, control in two unmanned vehicles transport task priority compared with
Low unmanned vehicle brake.
7. a kind of device for dispatching unmanned vehicle, comprising:
Brake control module is configured as after the keyed end that the first unmanned vehicle travels to crossroad mouth region domain, control traveling
Other unmanned vehicles to the keyed end brake, and the keyed end is on road towards between intersection direction and intersection
Every the point of first distance；
Brake control releases module, is configured as after the unlock point that the first unmanned vehicle travels to crossroad mouth region domain, releases
Aforementioned brake control, the unlock point are separate intersection direction, the point with intersection interval second distance on road.
8. device as claimed in claim 7, wherein the first distance is the half and safety shut-down distance of unmanned vehicle vehicle width
Sum, the second distance be unmanned vehicle vehicle width half.
9. device as claimed in claim 8, wherein safety shut-down distance be safe distance and braking distance and, institute
Stating braking distance is the distance that unmanned vehicle brakes from maximum travelling speed to needed for stopping.
10. device as claimed in claim 7, wherein the brake control releases module and is configured as:
Exist in the case where the second unmanned vehicle in the keyed end and the unlock point jointly determining intersection region, it is first
Second unmanned vehicle is controlled by the intersection region, then releases aforementioned brake control.
11. device as claimed in claim 10, wherein the brake control releases module and is configured as:
Exist in the case where the second unmanned vehicle in the keyed end and the unlock point jointly determining intersection region, it is first
The more unmanned vehicles controlled in second unmanned vehicle pass through the intersection according to the sequence of transport task priority from high to low
Crossing region, then release aforementioned brake control.
12. device as claimed in claim 7, wherein the brake control module is configured as:
In the case where two unmanned vehicles are travelled to the keyed end simultaneously, control in two unmanned vehicles transport task priority compared with
Low unmanned vehicle brake.
13. a kind of device for dispatching unmanned vehicle, wherein include:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute the method such as scheduling unmanned vehicle described in any one of claims 1 to 6.
14. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
State the method realized when instruction is executed by processor such as scheduling unmanned vehicle described in any one of claims 1 to 6.
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| CN113771879A (en) * | 2021-09-28 | 2021-12-10 | 长安大学 | Design method for road transportation system framework driven by unmanned vehicle |
| CN113970928A (en) * | 2021-10-22 | 2022-01-25 | 北京京东乾石科技有限公司 | Dynamic locking point method for marking navigation robot |
| CN115662151A (en) * | 2022-12-13 | 2023-01-31 | 宜宾职业技术学院 | Heavy-duty vehicle positioning control method, device and system |
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