CN113805509A - Remote driving system and method based on V2X - Google Patents
Remote driving system and method based on V2X Download PDFInfo
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- CN113805509A CN113805509A CN202111056963.XA CN202111056963A CN113805509A CN 113805509 A CN113805509 A CN 113805509A CN 202111056963 A CN202111056963 A CN 202111056963A CN 113805509 A CN113805509 A CN 113805509A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention relates to the field of car networking, in particular to a remote driving system and method based on V2X. The system comprises: the vehicle-mounted OBU terminal, the vehicle-mounted camera, the vehicle-mounted radar, the vehicle control device and the plurality of are installed on the RSU device and the remote control cabin on the road side, and the vehicle-mounted camera and the vehicle-mounted radar transmit collected data to the OBU. The OBU transmits the acquired vehicle end data to the road-side RSU in a V2X mode. And the road side RSU transmits the vehicle end data to the remote cockpit in a wireless or wired mode. The remote control cabin analyzes the vehicle end data, and a driver remotely controls the vehicle according to the vehicle end data (video data and obstacle data) displayed by the display screen. The vehicle-end data transmission of the invention does not depend on the vehicle networking capability, even if the vehicle has network failure, the vehicle-end environment video data can still be transmitted to the remote control cabin, the data transmission delay is extremely small, and the requirement of the remote control technology on the transmission delay of the vehicle-end video can be perfectly met.
Description
Technical Field
The invention relates to the field of car networking, in particular to a remote driving system and method based on V2X.
Background
With the rise of social labor cost and the development of unmanned technologies, some industries related to transportation are gradually unmanned, and unmanned vehicles capable of meeting different requirements appear, such as unmanned taxies RoboTaxi, unmanned express trolleys, unmanned sale trolleys, unmanned engineering mechanical vehicles and the like.
Unmanned vehicles are not sufficiently unmanned at the present stage, and manual intervention is required in special cases. For example, when the unmanned vehicle cannot make a decision under extreme road conditions or under operation scenes such as high-risk buildings, the wireless communication technology needs to be used for realizing remote driving control so as to assist in solving the problem that the unmanned vehicle and the engineering machinery vehicle cannot cope with the situation. However, to realize remote driving, authenticity and real-time performance of a vehicle end scene are critical, and authenticity and real-time performance are guaranteed, so that an operator in a remote cab can be guaranteed to operate as if the operator sits in a vehicle cab, and finally, safety of remote driving can be guaranteed. In order to ensure the authenticity, video data of a plurality of angles such as the front, the rear, the side and the like of a vehicle are generally required to be acquired; to ensure real-time performance, the adopted wireless communication network must meet the requirements of low delay and high bandwidth.
In the current remote driving method, video data shot by a vehicle-end camera is transmitted to a remote cab in a 4G/5G mode. This transmission mode is severely limited by the network signal quality at the location of the vehicle. When the network quality is poor, the time delay of video transmission to the remote cockpit is very high, which causes the driver to make wrong vehicle control operation according to the video data with too large time delay, and causes vehicle driving safety accidents. Therefore, a data transmission mode independent of the signal quality of the 4G/5G network is provided, and the safety of remote driving is greatly improved. The method can also be used as an alternative mode of data transmission when the signal quality of the 4G/5G network is poor. For example, when the signal quality of the 4G/5G network is good, the 4G/5G network is used for data transmission, and when the signal quality of the 4G/5G network is not good, the mode is automatically switched to the v2x mode for data transmission.
V2X (V2 Xvehicle to evolution) refers to the exchange of information from vehicle to outside, and is a generic term of a series of vehicle-mounted communication technologies. V2X includes car-to-car (V2V), car-to-roadside equipment (V2R), car-to-infrastructure (V2I), car-to-pedestrian (V2P), car-to-locomotive (V2M), and car-to-bus (V2T).
Rsu (road Side Unit), a device installed at the roadside and communicating with On Board Unit (OBU) by using dsrc (dedicated Short Range communication) technology.
The OBU (on board Unit) refers to a vehicle-mounted unit, and adopts DSRC (dedicated Short Range communication) technology to communicate with the RSU.
The existing patent numbers: in CN111634234A "remote driving vehicle end scene information acquisition and information display method and remote driving method based on combination of multiple cameras and radar", the remote driving vehicle end scene information acquisition method based on combination of multiple cameras and radar includes the following steps: 1) judging whether the wireless communication network where the vehicle is currently located is 4G or 5G; 2) if the number is 5G, simultaneously acquiring video data of a plurality of angles of the vehicle through a plurality of cameras installed on the vehicle, and transmitting the video data to a remote cab after encoding; 3) if the angle is 4G, video data right in front of the vehicle is collected through only one camera, the video data are transmitted to a remote cab after being coded, and meanwhile scene data of other angles are collected through a plurality of radars mounted on a vehicle body and transmitted to the remote cab. On the basis of the method, the invention further provides a vehicle-end information display method and a remote driving method. The invention adopts a mode of combining the camera and the radar, can well solve the problem of insufficient bandwidth of transmitting multi-path high-definition video under the 4G network, and ensures the authenticity and the real-time performance of remote driving.
But multiplexed video transmission has extremely high requirements on 4G/5G signal quality. When the signal quality is poor, the data at the vehicle end is often subjected to a large delay when being transmitted to the remote cockpit. At the moment, a driver operates the vehicle based on the backward video data, so that safety accidents are easily caused. In some special scenarios, such as tunnels, under bridges, in mountains, there may be no 4G/5G signal, in which case remote driving of the vehicle would not be possible.
Disclosure of Invention
In view of this, the present invention provides a more reliable remote driving system. So that remote driving is not dependent on 4G/5G signal quality. When the 4G/5G signal quality is poor, an alternative mode can be used for transmitting vehicle-end video data to a remote control cabin for a driver to remotely drive the vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
a V2X-based remote driving system, comprising: vehicle-mounted OBU terminal and vehicle-mounted camera
The RSU device of roadside, remote cockpit are installed to on-vehicle radar, vehicle control device, a plurality of, wherein: the vehicle-mounted camera, the vehicle-mounted radar and the OBU are communicated in a vehicle-mounted Ethernet mode; and the vehicle-mounted OBU terminal establishes V2X communication connection with the RSU in the signal coverage range of the RSU. The RSU is connected with the remote cockpit through a wired optical fiber or in a wireless mode. The vehicle control device includes an inertial navigation system, a power control system, an EPS, an EPB, an eboster, and an ESC.
Preferably, the number of the vehicle-mounted cameras is 5, the vehicle-mounted cameras are distributed around and in the vehicle body and are used for acquiring video information of the surrounding environment of the vehicle;
preferably, 12 vehicle-mounted radars are all ultrasonic radars and are distributed around the vehicle body and used for collecting information of obstacles around the vehicle;
preferably, the remote cockpit comprises a server, a vehicle control signal collector, a cockpit with 6 degrees of freedom and a display, wherein the server is used for receiving network signals and performing video decoding;
the vehicle control signal collector is used for carrying out serial port collection on the driving operation of an operator to form a vehicle control instruction, and then converting the vehicle control instruction into an Ethernet signal to be transmitted to the server;
the display is used for displaying the image of the vehicle-end environment data;
the 6-degree-of-freedom cockpit is used for simulating current running state information and inputting a vehicle control command; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the motion conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6 degrees of freedom.
A remote driving method based on V2X comprises the following steps:
firstly, hardware physical data transmission connection is established among the vehicle-mounted OBU terminal, the vehicle-mounted camera and the vehicle-mounted radar in a vehicle-mounted Ethernet mode.
Secondly, the vehicle-mounted OBU terminal collects videos around the vehicle and in a cab through 5 fisheye cameras, video coding is carried out by adopting an H264/H265 coding format, and a vehicle-mounted radar collects information of obstacles around the vehicle;
step three, the vehicle-mounted OBU terminal packages the acquired vehicle-end environment data;
step four, the vehicle-mounted OBU terminal sends the vehicle-end environment data to the road-side RSU device in a V2X mode according to the packaged vehicle-end environment data in a smaller time period;
the RSU device receives vehicle-end environment data sent by the vehicle-mounted OBU terminal and converts the vehicle-end environment data into a network signal;
step six, the RSU device transmits vehicle end environment data to a remote cockpit;
step seven, the remote cockpit server restores the received network signals into videos and vehicle running information, carries out video decoding through an H264/H265 decoding format and then displays the videos and the vehicle running information on a remote cockpit display interface;
step eight, an operator performs operations such as engaging a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel in the 6-freedom-degree cockpit according to information displayed by the display; the vehicle control signal collector collects the driving operation of an operator through a serial port, converts the driving operation into a network signal and transmits the network signal to the server;
step nine, the server converts the vehicle control data into network signals and transmits the network signals to the road side RSU device;
step ten, the road side RSU device transmits the network signal to the vehicle-mounted OBU terminal through V2X, and vehicle control data of the vehicle-mounted OBU terminal are written into the vehicle control device through a vehicle-mounted Ethernet mode to complete real-time control of the vehicle.
Preferably, the power control system in the vehicle control device performs accelerator depression and energy recovery operations; the EPS performs steering operation; the EPB executes an electronic hand brake operation; eboost, ESC executes braking operation;
preferably, the cycle of sending the packaged vehicle-end environment data to the road-side RSU device by the vehicle-mounted OBU terminal is 10 ms;
preferably, the RSU device is connected with the remote cockpit through a wired optical fiber, so that data transmission delay can be effectively reduced;
preferably, the display splices images of 5 cameras to form two view frames of front 180 degrees and rear 180 degrees;
the technical scheme of the invention has the following beneficial effects:
the vehicle-end data transmission does not depend on the vehicle networking capability, and even if the vehicle has a network fault, the vehicle-end environment video data can still be transmitted to the remote cockpit. The V2X mode is adopted to transmit the vehicle end data, the data transmission delay is extremely small, and the requirement that the transmission delay of the vehicle end video is as low as possible by the remote driving technology can be perfectly met.
Drawings
FIG. 1 is a schematic structural diagram of a remote driving system based on V2X according to an embodiment of the present invention;
FIG. 2 is a schematic data flow diagram of a remote driving system based on V2X according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a remote driving method based on V2X according to an embodiment of the present invention;
FIG. 4 is a plan view of a V2X-based remote control system 6 degree-of-freedom cockpit according to an embodiment of the present invention;
fig. 5 is a distribution and view diagram of 5 fisheye cameras of a remote driving system based on V2X according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In this embodiment, the present invention provides a remote driving system based on V2X, as shown in fig. 1, the upgrade system includes: RSU device 5, remote control cabin 6 at the roadside are installed to on-vehicle OBU terminal 1, on-vehicle camera 2, on-vehicle radar 3, vehicle controlling means 4, a plurality of, wherein: the vehicle-mounted camera 3, the vehicle-mounted radar 4 and the OBU1 are communicated in a vehicle-mounted Ethernet mode; the vehicle-mounted OBU terminal 1 establishes V2X communication connection with the RSU device 5 in the signal coverage range of the RSU device 5. The RSU device 5 is connected with the remote cockpit 6 through a wired optical fiber or in a wireless mode. The vehicle control device 4 includes an inertial navigation system, a power control system, EPS, EPB, eboover, and ESC.
In the prior art, the communication range between the vehicle-mounted OBU and the RSU device through V2X is about 1000 meters.
Wherein the number of RSUs means at least two RSUs.
In this embodiment, all RSU devices are connected to the remote cockpit by fiber optics.
In the present embodiment, as shown in fig. 5, there are 5 vehicle-mounted cameras 2, which are all fish-eye cameras, distributed on the front, rear, left, right, and roof inside the vehicle body, and are used for collecting video information of the surrounding environment of the vehicle;
in this embodiment, 12 vehicle-mounted radars 3 are all ultrasonic radars, are distributed around the vehicle body, and are used for collecting information of obstacles around the vehicle;
in this embodiment, the V2X communication mode between the RSU device and the on-board OBU terminal mainly adopts the DSRC technology, the DSRC (dedicated short-range communication technology) is an efficient short-range wireless communication technology, the DSRC has a dedicated frequency band, and a 75MHz bandwidth located in the 5.9GHz frequency band is divided into traffic safety spectrum dedicated to the DSRC. This is different from some common other communication protocols. For example, Wi-Fi, bluetooth and Zigbee share an open 2.4Ghz band, and thus are not interfered by other signals in the current area or generate congestion. The system can realize the identification and the two-way communication of a moving target moving at a high speed in a specific small area, transmit image, voice and data information in real time and connect a vehicle with a Road Side Unit (RSU).
In the present embodiment, the remote cockpit 6 comprises a server 61, a car control signal collector 62, a cockpit 64 with 6 degrees of freedom (including a steering wheel, a gear, a throttle, a brake, and a seat), a display 65, and the like, wherein:
and the server 61 is used for receiving the network signal and decoding the video in the H264/H265 format.
A vehicle control signal collector 62 for collecting the driving operation of the operator via a serial port to form vehicle control data, and converting the vehicle control data into an ethernet signal to be transmitted to the server 61;
a display 65 for displaying an image of the vehicle-end environment data;
the 6-degree-of-freedom cockpit 64 is also called a six-degree-of-freedom driving simulator, and is used for simulating current driving state information and inputting vehicle control instructions; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6-degree-of-freedom motion. The lower platform 642 of the six-degree-of-freedom driving simulator is installed on the ground, the upper platform 641 is a moving platform and is supported by six electric cylinders 643, the moving platform 641 is connected with push rods 646 of the electric cylinders 643 through six hook joints 645, the electric cylinders 643 are connected with a fixed base 644, and the six electric cylinders are driven by servo motors. The computer control system coordinates and controls the stroke of the electric cylinder 643 to realize six-degree-of-freedom motion of the motion platform 641, i.e., three translational motions in a cartesian coordinate system and rotation around three coordinate axes. As shown in fig. 4.
Based on the above conditions, the system can realize the remote driving function, as shown in fig. 2 and fig. 5 of the drawings, and the flow corresponding to the remote driving method based on V2X is as follows:
and S1, establishing hardware physical data transmission connection among the vehicle-mounted OBU terminal 1, the vehicle-mounted camera 2 and the vehicle-mounted radar 3 in a vehicle-mounted Ethernet mode.
S2, the vehicle-mounted OBU terminal collects videos around the vehicle and in a cab through 5 fisheye cameras 2, video coding is carried out by adopting an H264/H265 coding format, and the vehicle-mounted radar 3 collects obstacle information around the vehicle;
s3, the vehicle OBU terminal 1 packages the acquired vehicle-end environment data;
s4, the vehicle-mounted OBU terminal 1 sends the vehicle-mounted environment data to the road-side RSU device 5 in a V2X mode according to the time period of 10ms after the vehicle-mounted OBU terminal packages;
s5, the RSU device 5 receives the vehicle-end environment data sent by the vehicle-mounted OBU terminal 1 and converts the vehicle-end environment data into a network signal;
s6, the RSU device 5 transmits the vehicle-end environment data to the remote control cabin 6;
specifically, the RSU device 5 and the remote cockpit 6 are connected by a wired connection through an optical fiber, so that data transmission delay can be reduced to the maximum extent;
s7, the server 61 restores the received network signals into videos and driving information of the vehicle, carries out video decoding through an H264/H265 decoding format, then splices 5 cameras 2 to form a 360-degree annular view to be displayed on the interface of the display 65; specifically, the display 65 splices the images of the 5 cameras to form two view frames of front 180 degrees and back 180 degrees;
s8, the operator performs operations such as engaging a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel on the 6-freedom-degree cab 64 according to the information displayed by the display 65; the vehicle control signal collector 62 collects the driving operation of the operator through a serial port, converts the driving operation into a network signal and transmits the network signal to the server 61;
s9, the server 61 converts the vehicle control data into network signals and transmits the network signals to the road-side RSU device 5;
and S10, the road-side RSU device 5 transmits the network signal to the vehicle-mounted OBU terminal 1 through V2X, and vehicle control data of the vehicle-mounted OBU terminal 1 is written into the vehicle control device 4 through a vehicle-mounted Ethernet mode to complete real-time operation of the vehicle. A power control system in the vehicle control device 4 executes accelerator stepping and energy recovery operations; the EPS performs steering operation; the EPB executes an electronic hand brake operation; eboost, ESC executes braking operation;
among them, eps (electric Power steering), which is a Power steering system that relies on a motor to provide an assist torque;
an Electronic Stability Controller (ESC), namely an electronic Stability control system of a vehicle body, which is an active safety technology for assisting a driver to control a vehicle, wherein the ESC mainly controls the longitudinal Stability and the transverse Stability of the vehicle to ensure the stable running of the vehicle;
EPB (electrical park brake), i.e. an electronic Parking system, which controls the Parking brake by electronic circuitry. The function is the same as that of a mechanical pull rod hand brake.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A V2X-based remote driving system, comprising: RSU device, the remote control cabin at the roadside are installed to on-vehicle OBU terminal, on-vehicle camera, on-vehicle radar, vehicle control device, a plurality of, wherein: the vehicle-mounted camera, the vehicle-mounted radar and the OBU are communicated in a vehicle-mounted Ethernet mode; the vehicle-mounted OBU terminal establishes V2X communication connection with the RSU in the RSU signal coverage range;
the RSU is connected with the remote cockpit through a wired optical fiber or in a wireless manner;
the vehicle control device comprises an inertial navigation system, a power control system, an EPS, an EPB, an Eboost and an ESC;
the vehicle-mounted cameras are distributed around and in the vehicle body and used for acquiring video information of the surrounding environment of the vehicle;
the vehicle-mounted radar is distributed around the vehicle body and used for collecting information of obstacles around the vehicle.
2. The V2X-based remote driving system according to claim 1, wherein there are 5 fisheye cameras.
3. The V2X-based remote driving system according to claim 1, wherein the remote driving cabin comprises a server, a car control signal collector, a driving cabin with 6 degrees of freedom, and a display, wherein the server is used for receiving network signals and performing video decoding; the vehicle control signal collector is used for carrying out serial port collection on the driving operation of an operator to form a vehicle control instruction, and then converting the vehicle control instruction into an Ethernet signal to be transmitted to the server; the display is used for displaying the image of the vehicle-end environment data; the 6-degree-of-freedom cockpit is used for simulating current running state information and inputting a vehicle control command; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the motion conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6 degrees of freedom.
4. A V2X-based remote driving method applied to the V2X-based remote driving system as claimed in claim 3, wherein:
firstly, establishing hardware physical data transmission connection among a vehicle-mounted OBU terminal, a vehicle-mounted camera and a vehicle-mounted radar in a vehicle-mounted Ethernet mode;
secondly, the vehicle-mounted OBU terminal collects videos around the vehicle and in a cab through 5 fisheye cameras, video coding is carried out by adopting an H264/H265 coding format, and a vehicle-mounted radar collects information of obstacles around the vehicle;
and step three, the vehicle-mounted OBU terminal packages the acquired vehicle-end environment data.
5. The V2X-based remote driving method according to claim 4, further comprising a fourth step, the vehicle-mounted OBU terminal sends the packaged vehicle-end environment data to the road-side RSU device in a V2X mode according to a cycle of 10 ms;
the RSU device receives vehicle-end environment data sent by the vehicle-mounted OBU terminal and converts the vehicle-end environment data into a network signal;
step six, the RSU device transmits vehicle end environment data to a remote cockpit;
step seven, the remote cockpit server restores the received network signals into videos and vehicle running information, carries out video decoding through an H264/H265 decoding format and then displays the videos and the vehicle running information on a remote cockpit display interface;
step eight, an operator performs operations such as engaging a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel in the 6-freedom-degree cockpit according to information displayed by the display; the vehicle control signal collector collects the driving operation of an operator through a serial port, converts the driving operation into a network signal and transmits the network signal to the server;
step nine, the server converts the vehicle control data into network signals and transmits the network signals to the road side RSU device;
step ten, the road side RSU device transmits the network signal to the vehicle-mounted OBU terminal through V2X, and vehicle control data of the vehicle-mounted OBU terminal are written into the vehicle control device through a vehicle-mounted Ethernet mode to complete real-time control of the vehicle.
6. The V2X-based remote driving method according to claim 4, wherein the display splices the images of 5 cameras to form two views, front 180 ° and rear 180 °.
7. The V2X-based remote driving method according to claim 6, wherein a power control system in the vehicle control device performs gas-pedal, energy recovery operations; the EPS performs steering operation; the EPB executes an electronic hand brake operation; ebooster, ESC performs the braking operation.
8. The V2X-based remote driving method according to claim 6, wherein the vehicle-mounted radar is a plurality of ultrasonic radars, and the ultrasonic radars are used for detecting obstacles around the vehicle.
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| CN112804578A (en) * | 2021-01-28 | 2021-05-14 | 广州虎牙科技有限公司 | Atmosphere special effect generation method and device, electronic equipment and storage medium |
| CN114290996A (en) * | 2021-12-30 | 2022-04-08 | 深圳市智慧城市通信有限公司 | Vehicle over-the-horizon video sharing system and method based on Internet of vehicles technology |
| CN114786036A (en) * | 2022-03-02 | 2022-07-22 | 上海仙途智能科技有限公司 | Monitoring method and device for automatic driving vehicle, storage medium and computer equipment |
| CN114786036B (en) * | 2022-03-02 | 2024-03-22 | 上海仙途智能科技有限公司 | Method and device for monitoring automatic driving vehicle, storage medium and computer equipment |
| CN115209501A (en) * | 2022-05-26 | 2022-10-18 | 卡斯柯信号有限公司 | Automatic switching method and device based on 5G and LTE-V2X |
| CN114973736A (en) * | 2022-05-30 | 2022-08-30 | 东风汽车集团股份有限公司 | Remote driving monitoring system based on virtual simulation |
| CN115320584A (en) * | 2022-10-13 | 2022-11-11 | 之江实验室 | Vehicle remote driving assistance method and remote driving system considering obstacle early warning |
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