CN110519703A - A kind of mine car Unmanned Systems - Google Patents
A kind of mine car Unmanned Systems Download PDFInfo
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- CN110519703A CN110519703A CN201910806242.2A CN201910806242A CN110519703A CN 110519703 A CN110519703 A CN 110519703A CN 201910806242 A CN201910806242 A CN 201910806242A CN 110519703 A CN110519703 A CN 110519703A
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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
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of mine car Unmanned Systems, including cloud computing and remote service device (1), communication device (2), sensing device (3) and control device (4), wherein: global path and task are sent to control device (4) by communication device (2) for generating global path and task by cloud computing and remote service device (1)；Vehicle-periphery is sent to control device (4) by sensing device (3) for perceiving vehicle-periphery, and sensing device (3) is made of more than one detecting sensor；Control device (4) is used to control vehicle operation according to global path, task and vehicle-periphery.
Description
Technical field
This disclosure relates to intelligent driving control field, and in particular, to a kind of mine car Unmanned Systems.
Background technique
Intelligent driving is related to long-range monitoring, environment sensing, high fine positioning, decision rule, executes numerous subsystems such as control
System.How all subsystems to be combined to form a complete intelligent driving control system and determine that can intelligent driving
It is final to realize.
Existing method is confined to the intelligent driving system of passenger car.For the vehicle of its different field, intelligent driving system
System has larger difference, for mine car, since mine car is transported in typical mining area closed, without regular traffic environment
Row, therefore, mine car has high requirement to intelligent driving system.It is more to be based on taking the photograph to the identification of vehicle environmental in existing method
As the image recognition of head, and there are a large amount of dusts in mining area, and not regular traffic and road markings, is based on image perception vehicle
Environment is difficult to adapt to mining area vehicle demand.In addition, using cloud computing system and traffic mobile terminal system in existing method
Real-time communication plan and control vehicle driving, but mining area is often in the remote area such as mountain area, and the reality in cloud and terminal
When communication it is high to communication need, mining area communication condition is limited and is unable to satisfy the real-time communication of cloud and terminal.
Summary of the invention
(1) technical problems to be solved
Present disclose provides a kind of mine car Unmanned Systems, based on vehicle-periphery, traffic information, global path and
Task controls vehicle operation, reduces mine car real-time communication demand, positions vehicle using GNSS satellite, positioning reference station,
In conjunction with detecting sensor, solve the problems, such as that mine car is difficult to position and perceive under the complex environment of mining area.
(2) technical solution
Present disclose provides a kind of mine car Unmanned Systems, including cloud computing and remote service device, communication device, sense
Know device and control device, in which: the cloud computing and remote service device lead to for generating global path and task
It crosses the communication device and the global path and task is sent to the control device；The sensing device is for perceiving
Vehicle-periphery, and the vehicle-periphery is sent to the control device, the sensing device is by more than one
Detecting sensor composition；The control device is used to control vehicle according to the global path, task and vehicle-periphery
Operation.
Optionally, the communication device is also used to obtain traffic information, and the traffic information is sent to the control
Device；The control device is also used to control vehicle according to the global path, task, vehicle-periphery and traffic information
Operation.
Optionally, the communication device includes V2X module, and the V2X module is for realizing logical between other terminals
News, to obtain the traffic information.
Optionally, the sensing device is also used to be sent to the vehicle-periphery by the communication device described
Cloud computing and remote service device；It is described when the cloud computing and remote service device receive the vehicle-periphery
Cloud computing and remote service device are also used to update the global path according to the vehicle-periphery；The control device is used
It is run in controlling vehicle according to updated global path, the task, vehicle-periphery and traffic information.
Optionally, the different zones of vehicle are arranged in one above detecting sensor.
Optionally, the detecting sensor includes laser radar and millimetre-wave radar.
Optionally, the communication device further include: navigation positioning module, for acquiring map datum and positioning vehicle；
4G/5G communication module, for realizing the communication between communication device and the cloud computing and remote service device.
Optionally, the navigation positioning module includes GNSS satellite and positioning reference station, and the GNSS satellite is used for vehicle
Carry out GNSS positioning, the positioning reference station be used for the GNSS positioning be corrected.
Optionally, the cloud computing and remote service device are used to generate the global path according to the map datum.
Optionally, the control device includes: computing module, for according to the global path, task and vehicle
Ambient enviroment generates expectation driving trace；Control module, for raw according to the expectation driving trace and current running state
At control instruction, and vehicle is controlled according to the control instruction and follows the expectation driving trace.
(3) beneficial effect
The mine car Unmanned Systems that the disclosure provides, have the advantages that
(1) by building cloud computing and remote service device, the place of the data such as a large amount of maps can be completed based on server
Reason and cartography, greatly improve the map datum processing capacity and efficiency of system；
(2) cloud computing and remote service device can complete fleet operations' task such as normally travel, loading, unloading, to be installed
Etc. tasks Real-Time Scheduling, complete global path planning, the pressure of computing module in control device has been liberated significantly, also certain
The requirement of mining area real-time communication is reduced in degree；
(3) cloud computing and remote service device have remote control function, can be realized the remote control based on camera
It drives, can take over and control on other occasions vehicle, increase the safety of vehicle operation；
(4) the detecting sensor scheme determined by real steering vectors, realizes identification of the vehicle for ambient enviroment, simultaneously
Based on GPS signal and RTK signal framing vehicle, in conjunction with radar sensor, in mining area, this distinctive camera is difficult to applicable
In the case of, solve the problems, such as the vehicle location and environment sensing under the complex environment of mining area；
(5) the intelligent vehicle-carried computing module based on industrial personal computer can fast implement the iteration and real vehicle of intelligent driving algorithm
Test, in the case where the research and development of hardware platform are relatively slow for before the fast implementing and provide one kind of mine car intelligent driving technology
Phase solution, subsequent research and develop when the hardware platform of vehicle rule rank are completed, and can carry out Rapid transplant to relatively stable algorithm,
Greatly improve the realization of mine car intelligent driving technology.
Detailed description of the invention
Fig. 1 diagrammatically illustrates the block diagram of the mine car Unmanned Systems according to the embodiment of the present disclosure；
Fig. 2 diagrammatically illustrates the structure of cloud computing and remote service device in mine car Unmanned Systems shown in FIG. 1
Block diagram；
Fig. 3 diagrammatically illustrates the structural block diagram of communication device in mine car Unmanned Systems shown in FIG. 1；
Fig. 4 diagrammatically illustrates the structural block diagram of control device in mine car Unmanned Systems shown in FIG. 1；
Fig. 5 A and Fig. 5 B diagrammatically illustrate headstock direction and tailstock side in mine car Unmanned Systems shown in FIG. 1 respectively
To the detecting sensor arrangement schematic diagram of sensing device；And
Fig. 6 diagrammatically illustrates the perception schematic diagram of sensing device in mine car Unmanned Systems shown in FIG. 1.
Description of symbols:
1- cloud computing and remote service device；2- communication device；3- sensing device；4- control device；The other terminals of 5-；
11- vehicle AM access module；12- data memory module；13- business platform module；14- business application module；21-V2X module；
22- navigation positioning module；23-4G/5G communication module；41- computing module；42- control module.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
Embodiment of the disclosure provides a kind of mine car Unmanned Systems, is mainly used for controlling the building ring such as mine car
The automatic driving vehicle of border complexity.Refering to fig. 1, in combination with Fig. 2~Fig. 6, system shown in Figure 1 is described in detail.
Mine car Unmanned Systems include cloud computing and remote service device 1, communication device 2, sensing device 3 and control dress
Set 4.Cloud computing and remote service device 1 pass through communication device 2 for global path for generating global path and task
Control device 4 is sent to task.Sensing device 3 sends vehicle-periphery for perceiving vehicle-periphery
To control device 4.Control device 4 is used to control vehicle operation according to global path, task and vehicle-periphery.Vehicle
Ambient enviroment is road environment of vehicle periphery, such as road boundary, puddle, barrier, pedestrian etc..In the embodiment of the present disclosure,
Communication device 2, sensing device 3, control device 4 are all mounted in automatic driving vehicle, and cloud computing and remote service device 1 are base
In the remote scheduling subsystem that cloud computing is built.
As shown in figure 3, communication device 2 includes V2X module 21, navigation positioning module 22 and 4G/5G communication module 23.V2X
Refer to vehicle to everything, i.e., vehicle is to extraneous information exchange.
In accordance with an embodiment of the present disclosure, communication device 2 is also used to obtain traffic information, and traffic information is sent to control
Device 4 is run so that control device 4 controls vehicle according to global path, task, vehicle-periphery and traffic information.
In accordance with an embodiment of the present disclosure, communication device 2 realizes the communication between other terminals 5 by V2X module 21, with
Obtain traffic information.Traffic information is, for example, traffic signals, other vehicles etc..Other terminals 5 are, for example, city traffic signal lamp
Control system, other automatic driving vehicles etc..
Navigation positioning module 22 is for acquiring map datum and positioning vehicle.In accordance with an embodiment of the present disclosure, navigation is fixed
Position module 22 includes Global Navigation Satellite System (Global Navigation Satellite System, GNSS) satellite and determines
Position base station, GNSS satellite are used to carry out vehicle GNSS positioning, and positioning reference station is used to be corrected GNSS positioning, according to
The track map datum that result generates vehicle driving is corrected, the offline acquisition of vehicle driving trace map datum is completed.Navigation is fixed
Position module 22 global positioning system (Global Positioning System, GPS) signal based on GNNS satellite and fixed simultaneously
Real-time dynamic (Real Time Kinematic, the RTK) signal of position base station carries out vehicle location, solves mining area complexity ring
Vehicle is difficult to the problem of positioning under border.Specifically, navigation positioning module 22 is located at vehicle end, can be with pilot steering vehicle or long-range
Remote driving vehicle, to acquire the map datum in mining area using navigation positioning module 22, navigation positioning module 22 is logical by 4G/5G
It interrogates module 23 and collected map datum is sent to cloud computing and remote service device 1.
4G/5G communication module 23 for realizing the communication between communication device 2 and cloud computing and remote service device 1, with
And the communication between realization Che Duanyu positioning reference station.Specifically, 4G/5G communication module 23 is used for map datum, vehicle week
Collarette border etc. is sent to cloud computing and remote service device 1, and receive cloud computing and remote service device 1 global path,
Task etc..
As shown in Fig. 2, cloud computing and remote service device 1 include vehicle AM access module 11, data memory module 12, business
Console module 13 and business application module 14.
Vehicle AM access module 11 is used to connect vehicle by corresponding access service, so that cloud computing and remote service dress
It sets 1 pair of access vehicle and carries out remote scheduling.In addition it is also possible to by installing camera at vehicle end, to realize vehicle based on camera
Remote control drive, it is to be understood that camera the overwhelming majority times be used merely to vehicle it is long-range monitoring with
Remote control drives, and can not exclude the identification used for vehicles positioned with environment in the system of subsequent optimization certainly.
Data memory module 12 is used for corresponding point cloud datas, reality such as map datum, the vehicle-peripheries received
When data, detailed data etc. parsed, handled and stored.
Business platform module 13 is used to be believed according to map datum, vehicle-periphery stored in data memory module 12 etc.
Breath is handled, and to complete cartography and cook up global path, and determines the task of access vehicle.Specifically,
Data generate global path according to the map, and the task of vehicle can also be generated according to the current working condition of vehicle.In addition,
Business platform module 13 can also update global path according to the vehicle-periphery that sensing device 3 perceives.Task example
For example normally travel, loading, unloading, to be installed etc..
Business application module 14 is shown and task scheduling for completing platform service.Platform service is for example including production
Running scheduling managing and control system, business support system, GIS-Geographic Information System (Geographic Information System, GIS)
Deng.
Sensing device 3 is used to perceive vehicle-periphery, vehicle-periphery directly can be sent to control device 4,
Or vehicle-periphery can also be sent to by cloud computing and remote service device 1 by communication device 2.
The road ring such as the vehicle-periphery perceived is road boundary, puddle, barrier, pedestrian of sensing device 3
When border, the vehicle-periphery perceived is transmitted directly to control device 4 by sensing device 3, so that control device 4 is according to the overall situation
Path, task and vehicle-periphery control vehicle operation.Further, control device 4 can be according to global path, work
Make task, vehicle-periphery and traffic information control vehicle operation.
Sensing device 3 is such as when the vehicle-periphery perceived is routing information current driving path is obstructed, perception
Device 3 will perceive vehicle-periphery and be sent to cloud computing and remote service device 1.Cloud computing and remote service device 1
Global path is updated according to the vehicle-periphery received, and control is sent by communication device 2 by updated global path
Device 4 processed is run so that control device 4 controls vehicle according to updated global path, task and vehicle-periphery.
Further, control device 4 controls vehicle according to updated global path, task, vehicle-periphery and traffic information
Operation.
Sensing device 3 is made of more than one detecting sensor, which is arranged in vehicle
Different zones.In accordance with an embodiment of the present disclosure, detecting sensor mainly includes laser radar and millimetre-wave radar, vehicle and vehicle
It can be perceived mutually by radar between and establish communication.In addition, also in the driver's cabin of vehicle, headstock, the tailstock and vehicle
Surrounding installation settings has human eye or fish-eye camera to realize that remote control drives.
The embodiment of the present disclosure diagrammatically illustrates a kind of perception dress for the body construction of mine car and the working environment of mine car
The schematic layout pattern set, as shown in Figure 5 A and 5B.It combines the millimetre-wave radar of the laser radar of different stage and different size
It is mounted on the front end, side and rear end of vehicle, to form complete intelligent perception system.The installation site of each detecting sensor
Determined by the experiment of a large amount of real steering vectors and performance test, indicated with " fixed range " in Fig. 5 A and Fig. 5 B, should " it is fixed away from
From " specific value range be greater than 0.By real steering vectors, the result shows that, the framework of this detecting sensor can be realized mine car
360 ° of environment sensings identification, specific perceptual performance and effect are as shown in Figure 6.
Numerical value can be obtained according to the functional attributes parameter of radar sensor in Fig. 6, occurrence with sensor model number not
With and different from, Fig. 6 are only one of examples.As shown in Figure 6, two kinds of multi-line laser radars are able to complete vehicle
The Context awareness in scanning and vehicle periphery radius 50m within the scope of surrounding radius 200m.Long range millimeter before and after vehicle
Wave radar can complete the obstacle recognition in the 250m of vehicle front and back.The millimetre-wave radar of headstock two sides can complete vehicle two sides
Context awareness in 95m, certain angle.As seen in Figure 6, vehicle may be implemented in the sensing device 3 in the embodiment of the present disclosure
360 ° and front and back long range Context awareness, to realize the formation intelligent driving operation of fleet.
As shown in figure 4, control device 4 includes computing module 41 and control module 42.
Computing module 41 is used to generate expected driving status according to global path, task and vehicle-periphery.Into
One step, computing module 41 generates expected traveling shape according to global path, task, vehicle-periphery and traffic information
State.It is expected that desired locations, desired speed, expectation acceleration and expectation direction of travel etc. of the driving status for example including vehicle.This
In open embodiment, computing module 41 divide for industrial personal computer or the domain controller based on respective chip platform both.
Control module 42 is used to generate control instruction according to expected driving status and current running state, and according to control
Instruction control vehicle operation.Control instruction be used for complete vehicle longitudinally, laterally with vehicle corresponding function accessories (such as wagon box liter
Drop) control.Further, control module 42 is sent to corresponding vehicle end actuator by the entire car controller of vehicle, thus
Control vehicle is in desired driving status, so that the path locus traveling of vehicle desirably.Current running state for example including
Current location, current vehicle speed, current acceleration and current direction of travel of vehicle etc..Control instruction is opened for example including gas pedal
Degree, braking deceleration, braking mode, gear instruction, steering wheel angle etc..
It is understood that control module 42 can integrate in computing module 41, control module 42 can also individually be set
It is set to vehicle motion control device.
To sum up, the mine car Unmanned Systems provided in the embodiment of the present disclosure build cloud computing and long-range based on cloud computing
Service unit improves the data-handling capacity and efficiency of system；Global path is completed by cloud computing and remote service device
Planning, reduces the real-time communication demand in mining area；Vehicle location is carried out based on GPS signal and RTK signal simultaneously, is passed in conjunction with radar
Sensor perception, solves the problems, such as vehicle location and environment sensing under environment of mining area；Control device based on industrial personal computer can be fast
Speed realizes the iteration and real steering vectors of intelligent driving algorithm, improves fast implementing for mine car intelligent driving technology.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of mine car Unmanned Systems, including cloud computing and remote service device (1), communication device (2), sensing device
(3) and control device (4), in which:
The cloud computing and remote service device (1) pass through the communication device for generating global path and task
(2) global path and task are sent to the control device (4)；
The vehicle-periphery is sent to the control and filled by the sensing device (3) for perceiving vehicle-periphery
It sets (4), the sensing device (3) is made of more than one detecting sensor；
The control device (4) is used to control vehicle operation according to the global path, task and vehicle-periphery.
2. system according to claim 1, in which:
The communication device (2) is also used to obtain traffic information, and the traffic information is sent to the control device (4)；
The control device (4) is also used to be controlled according to the global path, task, vehicle-periphery and traffic information
Vehicle operation.
3. the system stated according to claim 2, in which: the communication device (2) includes V2X module (21), the V2X module
(21) for realizing the communication between other terminals, to obtain the traffic information.
4. system according to claim 2, in which:
The sensing device (3) is also used to that the vehicle-periphery is sent to the cloud meter by the communication device (2)
It calculates and remote service device (1)；
When the cloud computing and remote service device (1) receive the vehicle-periphery, the cloud computing and long-range clothes
Business device (1) is also used to update the global path according to the vehicle-periphery；
The control device (4) is also used to according to updated global path, the task, vehicle-periphery and traffic
Information controls vehicle operation.
5. system according to claim 1, wherein the not same district of vehicle is arranged in one above detecting sensor
Domain.
6. system according to claim 1, wherein the detecting sensor includes laser radar and millimetre-wave radar.
7. system according to claim 1, wherein the communication device (2) further include:
Navigation positioning module (22), for acquiring map datum and positioning vehicle；
4G/5G communication module (23), for realizing the communication device (2) and the cloud computing and remote service device (1) it
Between communication.
8. system according to claim 7, wherein the navigation positioning module (22) includes GNSS satellite and positioning datum
It stands, the GNSS satellite is used to carry out vehicle GNSS positioning, and the positioning reference station is used to carry out school to GNSS positioning
Just.
9. system according to claim 7, wherein the cloud computing and remote service device (1) are for according to described
Diagram data generates the global path.
10. system according to claim 1, wherein the control device (4) includes:
Computing module (41), for generating expectation driving trace according to the global path, task and vehicle-periphery；
Control module (42) is used for according to the expectation driving trace and current running state generation control instruction, and according to
The control instruction control vehicle follows the expectation driving trace.
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| CN111137325A (en) * | 2019-12-30 | 2020-05-12 | 北京易控智驾科技有限公司 | Calibration device and method for loading position of unmanned system in mining area |
| CN111240338A (en) * | 2020-02-11 | 2020-06-05 | 三一智矿科技有限公司 | Autonomous loading and unloading method and system for unmanned mine car |
| CN111260913A (en) * | 2020-01-16 | 2020-06-09 | 江苏徐工工程机械研究院有限公司 | Unloading method and system for mining truck of unmanned transportation system of surface mine |
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| CN115657692A (en) * | 2022-12-28 | 2023-01-31 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned driving, electronic equipment and storage medium |
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| CN115675493A (en) * | 2023-01-04 | 2023-02-03 | 北京易控智驾科技有限公司 | Method and device for unmanned driving by utilizing information of manual driving track layer |
| CN116022174A (en) * | 2023-03-29 | 2023-04-28 | 北京易控智驾科技有限公司 | Remote driving information display method and device, electronic equipment and storage medium |
| CN116931498A (en) * | 2023-09-15 | 2023-10-24 | 北京易控智驾科技有限公司 | Man-machine co-driving system, method and device |
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| CN114360274A (en) * | 2021-12-13 | 2022-04-15 | 珠海格力智能装备有限公司 | Distribution vehicle navigation method, system, computer equipment and storage medium |
| CN115649186A (en) * | 2022-12-26 | 2023-01-31 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned driving, electronic equipment and storage medium |
| CN115649186B (en) * | 2022-12-26 | 2023-11-07 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned operation, electronic equipment and storage medium |
| CN115657692A (en) * | 2022-12-28 | 2023-01-31 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned driving, electronic equipment and storage medium |
| CN115675493A (en) * | 2023-01-04 | 2023-02-03 | 北京易控智驾科技有限公司 | Method and device for unmanned driving by utilizing information of manual driving track layer |
| CN115675493B (en) * | 2023-01-04 | 2023-08-11 | 北京易控智驾科技有限公司 | Unmanned method and device using manual driving track layer information |
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