CN110288848A - A kind of roadbed automatic Pilot cruise system - Google Patents
A kind of roadbed automatic Pilot cruise system Download PDFInfo
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- CN110288848A CN110288848A CN201910711195.3A CN201910711195A CN110288848A CN 110288848 A CN110288848 A CN 110288848A CN 201910711195 A CN201910711195 A CN 201910711195A CN 110288848 A CN110288848 A CN 110288848A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
The invention discloses a kind of roadbed automatic Pilot cruise systems, it is a kind of traffic delivery means (including automobile based on road surface sensor performance integrated technology and road surface positioning system, engineering truck, tractor etc.) automatic Pilot cruise skill modeling method, including central processing system, 3D road conditions model generates subsystem, environmental treatment subsystem, sender unit, Transport system, manual service center, roadbed image-forming module, camera group, radar group, more redundant safeties protect system and roadbed framing subsystem etc., a kind of roadbed automatic cruising system provided by the invention, this method remarkable advantage is to be able to achieve five kinds of completely new functions, to easily realizing L4 grades of automatic Pilots in controlled section.
Description
Technical field
The present invention relates to a kind of cruise system, specifically a kind of roadbed automatic Pilot cruise system belongs to automatic Pilot and patrols
Boat system applied technical field.
Background technique
Automated driving system is the technology that current each automobile brand is being studied, but since whole system with vehicle is
Main body equipped system, it is difficult to which timely road pavement situation is effectively reacted, so resulting in existing automated driving system not
It is enough perfect.Therefore, a kind of roadbed automatic Pilot cruise system is proposed regarding to the issue above.
Summary of the invention
The object of the invention is that providing a kind of roadbed automatic Pilot cruise system to solve the above-mentioned problems.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of roadbed automatic Pilot cruise system, the road
Base automatic Pilot cruise system is nearby fixedly mounted along the possible running track of Transport system, the roadbed automatic Pilot cruise
System is for generating traffic information and passing to Transport system for generating automatic Pilot instruction by communication interface.
Further, roadbed automatic Pilot cruise system includes central processing system and is connected in central processing system
3D road conditions model generate subsystem, roadbed information processing system, environmental treatment subsystem, more redundant safeties protection system and
It is mounted on the roadbed positioning device of road two sides, the central processing system is connected to delivery subsystem by sender unit
System, one end that the 3D road conditions model generates subsystem connect roadbed image-forming module, and setting camera shooting inside roadbed image-forming module
Head group and radar group, it is preferred that environmental treatment subsystem one end is connected with wind and snow sensor, pavement state sensor, light
Sensor, wind sensor and temperature sensor, described central processing system one end are connected to manual service center, the 3D road conditions
Model generates subsystem and the equal integrated installation of environmental treatment subsystem in mounting post.
Preferably, each camera group is made of more than two cameras (containing infrared camera), is mainly used for white
The Dynamic Recognition of the larger object of it and the stronger environment of light, each radar group is by more than two millimetre-wave radar groups
At for identification compared with the object identification under wisp and night or darker light, camera group forms complementary knowledge with radar group
Not.
Preferably, the wind and snow sensor is made of one group of integrated sensor, includes temperature sensor, sleet conversion identification
Trigger, heater (snow is converted to rain), spray cooler (for cleaning sensor surface and cooling effect) etc. use
Surface grid electrode incudes extraneous sleet situation, and built-in automatic heating device excludes the interference of sleet attachment, two neighboring described
Wind and snow sensor arrangement spacing is between 0.5-5 kilometers；
The pavement state sensor (13) is poor using the phase of echo of ultrasonic radar, to calculate the product on vertical road surface
The native stone of water, accumulated snow, product is the contour lines such as ponding, snow depth contour, the native stone of road surface product, the road surface by chip processing
State sensor (13) using the multispectral camera shooting water and soil mixability on road surface, water and oily mixability, water and other
Molten water substance judges road surface slippery situation degree；The temperature sensor (16) is using the variation of temperature and temperature to determine whether having
Ice sheet；The spacing of two neighboring pavement state sensor (13) is 0.1-5 kilometers；Two neighboring optical sensor (14), wind sensing
Spacing between device (15) and temperature sensor (16) is 0.1-5 kilometers.
Preferably, the roadbed positioning device is made of multiple positioning bodies for being equally distributed on road two sides, positioning body with
Roadbed image-forming module collectively forms roadbed framing subsystem, and the spacing positioned at the ipsilateral positioning body is at 1-100 meters, often
Image focusing, framing area are no less than 7 square metres, for broad way face, add interfix body.
Preferably, the 3D modeling master of the Transport system, non-Transport system or other non-traffic participant targets
To carry out in two steps: step 1 extracts the 3D wire-frame model of target according to Target id in library；Step 2 is compared with image
Method determines the coordinate of target.
Preferably, the roadbed information processing system includes 3D rendering information processing system, environmental information processing system, road
Face Traffic command system, information transmitting system, system information and vehicle interactive system, more the Redundant Safety Systems, manual service
Center etc., 0.5 kilometer of covering one roadbed Integrated Information Processing System, no less than 10 Integrated Information Processing Systems are equipped with one
A manual service center.
The beneficial effects of the present invention are:
A kind of roadbed automatic cruising system provided by the invention is fixed based on road surface sensor performance integrated technology and road surface
A kind of automatic Pilot cruise skill modeling side of traffic delivery means (including automobile, engineering truck, tractor etc.) of position system
Method, this method remarkable advantage are to be able to achieve five kinds of completely new functions, to easily realizing L4 grades of automatic Pilots in controlled section.
1, system-wide section panorama dynamic 3D is imaged.Sensing system i.e. multi-faceted by roadbed, to all shiftings in section
Animal body and static scenery realize dynamic 3D imaging；
2, Dynamic Recognition can be carried out to round-the-clock road conditions.If the daytime of environment and night identify, bright and dark light identification, sleet
Mist identification, ponding and snow detection, environment temperature identification, the identification of wind direction wind-force etc.；
3, the grade positioning of dynamic image.This system uses roadbed positioning system, fixed using the standard for being fixed on roadbed
Position body (such as stone column, stone ball), obtains a series of anchor points or positioning surface by road surface sensor, realizes the automatic of dynamic image
Focusing, image position accuracy can achieve grade；
4, global dynamic instruction allocation strategy.The characteristic information of mobile object and stationary object in section is moved
State identifies (such as shape information, vehicular movement information, vehicle location information), meanwhile, to can be with the vehicle of the system interaction
Can dynamic global assignment move, make the optimal path of movement to vehicle；
5, more redundant safeties protect system.The system is double, more by multiple sensor integrating device, multiple calculation method
It ensure that the mobile safety of automatic driving vehicle, reliability again.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is overall structure of the present invention；
Fig. 2 is modeling procedure schematic diagram of the present invention；
Fig. 3 is that the more redundant safeties of the present invention protect system structure diagram.
In figure: 1, central processing system, 2,3D road conditions model generation subsystem, 3, environmental treatment subsystem, 4, signal hair
Injection device, 5, Transport system, 6, manual service center, 7, roadbed image-forming module, 8, camera group, 9, radar group, 10, how superfluous
Remaining safety system, 11, roadbed framing subsystem, 12, wind and snow sensor, 13, pavement state sensor, 14, light biography
Sensor, 15, wind sensor, 16, temperature sensor.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that, term " on ", "lower", "top", "bottom", "inner", "outside" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
It please refers to shown in Fig. 1-3, a kind of roadbed automatic Pilot cruise system, including central processing system 1 and is connected to
3D road conditions model in central processing system 1 generates subsystem 2, roadbed information processing system, environmental treatment subsystem 3, how superfluous
Remaining safety system 10 and the roadbed positioning device for being mounted on road two sides, the central processing system 1 are sent out by signal
Injection device 4 is connected to Transport system 5, and one end that the 3D road conditions model generates subsystem 2 connects roadbed image-forming module 7, and
Camera group 8 and radar group 9 are set inside roadbed image-forming module 7, and described 3 one end of environmental treatment subsystem is connected with wind and snow sensing
Device 12, pavement state sensor 13, optical sensor 14, wind sensor 15 and temperature sensor 16, the central processing system 1 one
End is connected to manual service center 6, and the 3D road conditions model generates subsystem 2 and the equal integrated installation of environmental treatment subsystem 3 exists
In mounting post.
Each camera group 8 by more than two camera groups 8 at (contain infrared camera), be mainly used for daytime and
The Dynamic Recognition of the larger object of the stronger environment of light, each radar group 9 by more than two millimetre-wave radar groups 9 at,
For identification compared with the object identification under wisp and night or darker light, camera group 8 forms complementary knowledge with radar group 9
Not.
The wind and snow sensor 12 is made of one group of integrated sensor, is touched comprising temperature sensor 16, sleet conversion identification
Device, heater (snow is converted to rain), spray cooler (for cleaning sensor surface and cooling effect) etc. are sent out, using table
Face grid electrode incudes extraneous sleet situation, and built-in automatic heating device excludes the interference of sleet attachment, the two neighboring wind
Ice sensor 12 arranges spacing between 0.5-5 kilometers；
The pavement state sensor 13 is poor using the phase of echo of ultrasonic radar, come calculate vertical road surface ponding,
The native stone of accumulated snow, product is the contour lines such as ponding, snow depth contour, the native stone of road surface product, the pavement state by chip processing
Sensor 13 utilizes the water and soil mixability on multispectral camera shooting road surface, water and oily mixability, water and other molten water objects
Matter judges road surface slippery situation degree；The temperature sensor 16 is using the variation of temperature and temperature to determine whether there is ice sheet；Phase
The spacing of adjacent two pavement state sensors 13 is 0.1-5 kilometers；Two neighboring optical sensor 14, wind sensor 15 and temperature pass
Spacing between sensor 16 is 0.1-5 kilometers.
The roadbed positioning device is made of multiple positioning bodies for being equally distributed on road two sides, and positioning body and roadbed are imaged
Module 7 collectively forms roadbed framing subsystem 11, and the spacing positioned at the ipsilateral positioning body is at 1-100 meters, each time
Image focusing, framing area are no less than 7 square metres, for broad way face, add interfix body.
The 3D modeling of the Transport system 5, non-Transport system 5 or other non-traffic participant targets is mainly divided to two
A step carries out: step 1 extracts the 3D wire-frame model of target according to Target id in library；Step 2 is true with image comparison method
The coordinate to set the goal.
The roadbed information processing system includes 3D rendering information processing system, environmental information processing system, road surface running vehicle
Command system, information transmitting system, system information and the interactive system of vehicle, more the Redundant Safety Systems, manual service center 6
Deng 0.5 kilometer of covering, one roadbed Integrated Information Processing System, no less than 10 Integrated Information Processing Systems are equipped with a people
Manual service center 6.
The technology of this system most critical is to realize that system-wide section panorama dynamic 3D imaging, round-the-clock road conditions dynamic are known
Not, the positioning of grade roadbed, dynamic image the positioning of millimeter class precision, global dynamic instruction allocation strategy and more redundant safeties
Protection system 10, to provide more complete automatic Pilot cruise control model in all covering sections of system.
System-wide section panorama dynamic 3D imaging technique.It is to utilize to be fixed on camera, radar of roadbed mounting post etc., to visual
(Transport system 5 refers to energy and system for Transport system 5, non-Transport system 5 or other non-traffic participants in range
The delivery vehicle of information exchange is carried out, non-Transport system 5 refers to the delivery vehicle that not can be carried out information exchange with system, including
Non power driven vehicle, pedestrian and other objects etc., other non-traffic participants refer to the stationary object on road surface), establish dynamic line
Frame model or surface model, line position of going forward side by side sets, is displaced, the dynamically track of speed, angular speed, acceleration.The following Fig. 3 institute of schematic diagram
Show.Since roadbed sensor is distributed in both sides of the road, the intermediate isolating band of wider road needs to increase intermediate row sensor, institute's cloth
Sensor enables object at least 3 sensors of overlay area to be irradiated to, thus at the same time, it can be to body surface shape
Shape carries out more accurately 3D modeling.
The 3D modeling of Transport system 5, non-Transport system 5 or other non-traffic participant targets is mainly divided to two steps
Rapid to carry out: step 1 extracts the 3D wire-frame model of target according to Target id in library.Step 2 determines mesh with image comparison method
Target coordinate.
Round-the-clock road conditions dynamic recognition technique.Include luminous intensity identification, wind direction and wind velocity identification, surface gathered water amount, snowpack
Identification, mist and the identification of haze degree, the identification of sleet degree etc..The sunlight sensor 14 of roadbed mounting post, can identify the light of road conditions
Light and shade, the wind sensor 15 of roadbed mounting post can identify that wind direction, wind speed, the sleet mist sensor of roadbed mounting post can identify road
The sleet mist size of condition.Pavement state sensor 13, is the radar sensor with roadbed mounting post, dynamic scan road and surface,
And compared with the former road bed height in database, to judge the depth of ponding, accumulated snow.Round-the-clock road conditions dynamic is known
Other technology, efficiently solve be installed on automotive interior sensor at present cannot identify round-the-clock road conditions limitation, thus for from
Dynamic cruise vehicle carries out precisely perfect control strategy.If surface gathered water is deeper, then vehicle deceleration traveling or road surface parking, also or
It is changed to pilot steering；Such as ponding, the traffic lines on snow cover road surface and other marks, then call traffic lines in database or
The data of other marks, are virtually shown and are controlled.
The grade location technology of dynamic image.The location technology is to utilize several standard settings for being fixed on roadbed
Body is scanned by the camera of roadbed, radar etc., the geometric center of positioning body is quickly found out, thus the dynamic in the region
Image is focused, and accurate object space is found.Roadbed positioning device, generally specific shape (such as column, spherical), material
For the array of the compositions such as ore, plastics, metal, focusing each time should be determined comprising at least interspersing among three of road two sides or more
The location area that position body is included.For safety, usual system is focused every time, at least should comprising ten of road two sides with
On positioning body, if positioning body is destroyed or moves individually, then influence degree can be down to sufficiently low.It, can using the location technology
It navigates in section without using GPS positioning system.
In more redundant safeties protection system 10, each Transport system 5 or other targets synchronization at least
(no matter target is in which region of navigation area) can be detected simultaneously by 3 sensors, when a sensor failure
Or when safeguarding, 3D road conditions model normally can be generated and be sent.Automated driving system to safety, reliability requirement compared with
It is high.In order to further increase the safety and reliability of automatic Pilot, invention introduces the concepts of PowerShadow, in 3D road conditions
Model generates except system (being composed by generating subsystem 2 along each 3D road conditions model that road is arranged), adds 3D road conditions mould
Type generates PowerShadow, and the PowerShadow and original system use identical interface standard and interface protocol, but by difference
Development teams designed using different inside structure and data structure.Under default setting, original system is responsible for generating the road 3D
Condition model is simultaneously sent to each Transport system 5, and each Transport system 5 generates automatic Pilot instruction simultaneously according to 3D road conditions model
It executes, while automatic Pilot instruction and oneself state is sent to original system and PowerShadow.PowerShadow is generated according to itself
3D road conditions model (model is only for PowerShadow itself using not being sent to each Transport system 5 under default setting) and receive
To received from each Transport system 5 automatic Pilot instruction calculated and supervised, when its find security risk when apply
Entire automated driving system interrupts, and is switched to pilot steering or realizes curb parking.Under normal circumstances, original system and shadow
Subsystem can configure mutually switching by modification.When original system breaks down, PowerShadow can automatically switch into original system,
System enters single system operating mode, and original system completes the default effect for undertaking PowerShadow after maintenance, and system restores dual system
Safety guarantee
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that by fall in claim with all in the meaning and scope of important document
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of roadbed automatic Pilot cruise system, it is characterised in that: the roadbed automatic Pilot cruise system is along delivery subsystem
Possible running track of uniting nearby is fixedly mounted, and the roadbed automatic Pilot cruise system is for generating 3D road conditions model and passing through
Communication interface passes to Transport system and generates automatic Pilot instruction.
2. roadbed automatic Pilot cruise system as described in claim 1, it is characterised in that: including central processing system (1) with
And the 3D road conditions model being connected on central processing system (1) generates subsystem (2), roadbed information processing system, environmental treatment
Subsystem (3), more redundant safeties protection system (10) and the roadbed positioning device for being mounted on road two sides；
The central processing system (1) is connected to Transport system (5) by sender unit (4), the 3D road conditions model
The one end for generating subsystem (2) connects roadbed image-forming module (7), and roadbed image-forming module (7) is internally provided with camera group (8)
With radar group (9), described central processing system (1) one end is connected to manual service center (6), and the 3D road conditions model generates son
System (2) and environmental treatment subsystem (3) integrated installation are in mounting post.
3. according to right want 2 described in a kind of roadbed automatic Pilot cruise system, it is characterised in that: the environmental treatment
Wind and snow sensor (12), pavement state sensor (13), optical sensor (14), wind sensor have been provided in subsystem (3)
(15) and temperature sensor (16).
4. a kind of roadbed automatic Pilot cruise system according to claim 2, it is characterised in that: each camera group
(8) by more than two camera groups (8) at, the camera group (8) be mainly used for daytime and the stronger environment of light compared with
The Dynamic Recognition of big object, each radar group (9) is by more than two millimetre-wave radar groups (9) at smaller object for identification
Object identification under body and night or darker light, camera group (8) identification complementary with radar group (9) formation.
5. a kind of roadbed automatic Pilot cruise system according to claim 3, it is characterised in that: the wind and snow sensor (12)
It is made of one group of integrated sensor, includes temperature sensor (16), sleet conversion identification trigger, heater and misting cooling
Device；The wind and snow sensor (12) incudes extraneous sleet situation using surface grid electrode, and built-in automatic heating device excludes rain
The interference of attachment is avenged, two neighboring wind and snow sensor (12) the arrangement spacing is between 0.5-5 kilometers.
6. a kind of roadbed automatic Pilot cruise system according to claim 3, it is characterised in that: the pavement state sensor
(13) poor using the phase of echo of ultrasonic radar, to calculate the native stone of ponding, accumulated snow, product on vertical road surface, by chip processing
Multispectral camera shooting is utilized for contour lines, the pavement state sensors (13) such as ponding, snow depth contour, the native stones of road surface product
The water and soil mixability on head shooting road surface, water judge road surface slippery situation degree with oily mixability, water and other molten water substances；Institute
Variation of the temperature sensor (16) using temperature and temperature is stated to determine whether there is ice sheet；Two neighboring pavement state sensor
(13) spacing is 0.1-5 kilometers；Between two neighboring optical sensor (14), wind sensor (15) and temperature sensor (16)
Spacing is 0.1-5 kilometers.
7. a kind of roadbed automatic Pilot cruise system according to claim 2, it is characterised in that: the roadbed positioning device
It is made of multiple positioning bodies for being equally distributed on road two sides, positioning body and roadbed image-forming module (7) collectively form roadbed image
Positioning subsystem (11), the spacing positioned at the ipsilateral positioning body is at 1-100 meters, and image is focused each time, framing
Area is no less than 7 square metres, for broad way face, adds interfix body.
8. a kind of roadbed automatic Pilot cruise system according to claim 2, it is characterised in that: the Transport system
(5), the 3D modeling of non-Transport system (5) or other non-traffic participant targets mainly carries out in two steps: step 1
The 3D wire-frame model of target is extracted in library according to Target id；Step 2 determines the coordinate of target with image comparison method.
9. a kind of roadbed automatic Pilot cruise system according to claim 2, it is characterised in that: the roadbed information processing
System includes 3D rendering information processing system, environmental information processing system, road surface running vehicle command system, information transmitting system, is
Information of uniting and the interactive system of vehicle, more the Redundant Safety Systems and manual service center (6), 0.5 kilometer of covering, one roadbed are comprehensive
Information processing system is closed, no less than 10 Integrated Information Processing Systems are equipped with people's manual service center (6).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111735841A (en) * | 2020-07-07 | 2020-10-02 | 北京交跃通达检测科技有限公司 | Method and device for measuring wet skid degree of pavement |
| CN111845786A (en) * | 2020-07-13 | 2020-10-30 | 中国联合网络通信集团有限公司 | Method and device for determining automatic driving strategy |
| CN114093191A (en) * | 2021-11-25 | 2022-02-25 | 济南亚跃信息技术有限公司 | Unmanned intelligent scheduling system and automatic driving method |
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