CN110502002A - Vehicle guide system, handling facilities control system and vehicle control system - Google Patents
Vehicle guide system, handling facilities control system and vehicle control system Download PDFInfo
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- CN110502002A CN110502002A CN201810476148.0A CN201810476148A CN110502002A CN 110502002 A CN110502002 A CN 110502002A CN 201810476148 A CN201810476148 A CN 201810476148A CN 110502002 A CN110502002 A CN 110502002A
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- 238000004891 communication Methods 0.000 claims abstract description 68
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- 230000006399 behavior Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
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- 210000004556 brain Anatomy 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention discloses a kind of vehicle guide system, handling facilities control system and vehicle control system, to solve the technical problem that prior art automatic driving vehicle can not be stopped at precisely in the region that suspender matches.For handling facilities set-up of control system on handling facilities, which includes stopping guide equipment and the first communication equipment, in which: stopping guide equipment, for obtaining vehicle performance information；The ID number of automatic driving vehicle is determined from the vehicle performance information and guides the guidance movement of the automatic driving vehicle traveling, and generates the key instruction of the ID number comprising the automatic driving vehicle and guidance movement；The key instruction is transferred to the automatic driving vehicle by first communication equipment.
Description
Technical field
The present invention relates to automatic Pilot field, in particular to a kind of vehicle guide system, a kind of handling facilities control system
And vehicle control system.
Background technique
Shore tackle (quay crane) is also known as shore container crane, bridge crane etc., be on bank on ship
The equipment that container is loaded and unloaded.Unload work when, shore tackle grabs container from ship and on the truck that is placed into the area of port,
By truck by Container Transport to stockyard；When loading work onto ship, truck is by under Container Transport to shore tackle, by shore tackle from truck
Crawl container is simultaneously placed on ship.The lower section that automatic driving vehicle drives to handling facilities in the area of port carries out the dress of container
Unloading.
Currently, during ship loading and unloading, loaded and unloaded one arrange in a row vanning before shore tackle will not usually move, only shore tackle
On lifting appliance moving, it is therefore desirable to truck, which stops in the region to match with suspender, to enable suspender accurately by packaging
Case is placed on truck or unloads from truck container, and suspender can carry out transverse shifting on handling facilities but can not
To be vertically moved, it is therefore desirable to which truck stops in the region that suspender matches, and truck driver is needed to control truck back and forth
Longitudinal movement comes so that truck stops in region.It is as shown in Figure 1 handling facilities top view, dotted line frame is to match with suspender
Region A, include 4 lanes below handling facilities, truck needed to stop in one of lane below handling facilities simultaneously
And be located in the A of region, so that suspender can accurately carry out the loading and unloading of container to truck.Current scheme be each
Shore tackle configure a commander, commander by the modes such as gesture, wireless communication, whistle commander truck driver's control card Chinese herbaceous peony into
Or retreat, so that in the region that the suspender that truck stops at the shore tackle matches.This kind of mode needs to match exclusively for each shore tackle
A standby commander, and in order to make truck long working that must be equipped with 2~3 truck drivers for each truck, not only
The working environment of at high cost and commander and truck driver are more dangerous, and there are biggish security risks.
With the development of automatic Pilot technology, in order to reduce cost, the truck in the area of port will be by automatic driving vehicle generation
It replaces, since shore tackle lower section is due to GNSS (Global Navigation Satellite System, Global Satellite Navigation System)
Signal blocks are more serious, and automatic driving vehicle cannot achieve precise positioning, can not be accurately so as to cause automatic driving vehicle
It stops in the region to match with suspender, packaging accurately can not be carried out to automatic driving vehicle so as to will lead to suspender
The loading and unloading of case.Therefore, how to guide automatic driving vehicle precisely to stop in the region that suspender matches then becomes existing
There is the technical problem that technology is urgently to be resolved.
Summary of the invention
In view of above-mentioned technical problem, the present invention provides vehicle guide system, handling facilities control system and vehicle control system
System, to solve the technical problem that prior art automatic driving vehicle can not be stopped at precisely in the region that suspender matches.
The embodiment of the present invention, in a first aspect, providing a kind of handling facilities control system, which is arranged in handling facilities
On, the system comprises stopping guide equipment and the first communication equipment, in which:
Stopping guide equipment, for obtaining vehicle performance information；Automatic Pilot is determined from the vehicle performance information
The ID number of vehicle and the guidance movement for guiding the automatic driving vehicle traveling, and generation includes the ID of the automatic driving vehicle
Number and the guidance movement key instruction；The key instruction is transferred to by first communication equipment and described is driven automatically
Sail vehicle.
The embodiment of the present invention, second aspect provide a kind of handling facilities, the handling facilities provided including aforementioned first aspect
Control system.
The embodiment of the present invention, the third aspect provide a kind of vehicle control system, which is arranged in automatic driving vehicle
On, the system comprises vehicle control apparatus, the second communication equipment and controls to execute equipment, in which:
Vehicle control apparatus, for receiving key instruction from handling facilities control system by second communication equipment,
The key instruction includes the ID number of the automatic driving vehicle and the guidance movement for guiding the automatic driving vehicle traveling；Root
Vehicle control instruction is generated according to the key instruction；Vehicle control instruction is sent to the control and executes equipment；
Control executes equipment, for controlling automatic driving vehicle according to the guidance according to the vehicle control instruction received
Movement traveling.
The embodiment of the present invention, fourth aspect provide a kind of automatic driving vehicle, the vehicle control provided including the third aspect
System.
The embodiment of the present invention, the 5th aspect, provides a kind of vehicle guide system, which includes being arranged on handling facilities
Handling facilities control system, the automatic driving control system that is arranged on automatic driving vehicle, handling facilities control system
System includes stopping guide equipment and the first communication equipment, and the automatic driving control system includes vehicle control apparatus, second logical
Believe that equipment and control execute equipment, in which:
Stopping guide equipment, for obtaining vehicle performance information；Automatic Pilot is determined from the vehicle performance information
The ID number of vehicle and the guidance movement for guiding the automatic driving vehicle traveling, and generation includes the ID of the automatic driving vehicle
Number and the guidance movement key instruction；The key instruction is transferred to by first communication equipment and described is driven automatically
Sail vehicle；
Vehicle control apparatus, for receiving key instruction from handling facilities control system by second communication equipment,
The key instruction includes the ID number of the automatic driving vehicle and the guidance movement for guiding the automatic driving vehicle traveling；Root
Vehicle control instruction is generated according to the key instruction；Vehicle control instruction is sent to the control and executes equipment；
Control executes equipment, for controlling automatic driving vehicle according to the guidance according to the vehicle control instruction received
Movement traveling.
Technical solution provided in an embodiment of the present invention is provided with stopping guide equipment and communication equipment on handling facilities,
Vehicle control apparatus and communication equipment are provided on automatic driving vehicle, stopping guide equipment is receiving automatic driving vehicle
Vehicle performance information when generate comprising automatic driving vehicle ID number and guide the automatic driving vehicle traveling guidance movement
Key instruction, and the key instruction is sent to automatic driving vehicle；Automatic driving vehicle when receiving the key instruction,
It controls automatic driving vehicle and acts traveling according to the guidance in the key instruction.Using technical solution of the present invention, dress can be passed through
The stopping guide equipment in equipment is unloaded to guide automatic driving vehicle to act according to guidance and travel, so as to skill through the invention
Automatic driving vehicle is directed in the matched region of suspender by the realization of art scheme；In addition, technical solution of the present invention and the prior art
It compares, without being equipped with commander for each shore tackle, reduces costs.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
Fig. 1 is a schematic diagram of the top view of handling facilities in the prior art；
Fig. 2 is one of the structural schematic diagram of vehicle guide system in the embodiment of the present invention；
Fig. 3 is the second structural representation of the vehicle guide system in the embodiment of the present invention；
Fig. 4 is the third structural representation of the vehicle guide system in the embodiment of the present invention；
Fig. 5 is the four of the structural schematic diagram of the vehicle guide system in the embodiment of the present invention；
Fig. 6 is the five of the structural schematic diagram of the vehicle guide system in the embodiment of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
Technical solution in the embodiment of the present invention can be applied to road-port area, face waterfront area, entrepot, mining area,
Logistics Park etc., the application do not do stringent restriction to application scenarios.For example, the handling facilities in the embodiment of the present invention control
System can be the system on the handling facilities being arranged in aforementioned applications scene, and the handling facilities can be shore tackle, tire
It hangs, overhead traveling crane, front handling mobile crane, crane etc., the vehicle control system can be the automatic Pilot vehicle being arranged in aforementioned applications scene
System on, the automatic driving vehicle can be all types of vehicles for capableing of transport container, such as truck, goods
Vehicle, trailer etc..In these application scenarios, a corresponding handling facilities control system can be set for each handling facilities,
A corresponding vehicle control system can be set for each automatic driving vehicle.To save space, following embodiment be with
Face waterfront area to be described for application scenarios, the corresponding technical solution of other application scenarios is corresponding with the application scenarios for facing waterfront area
Technical solution it is substantially identical, this is no longer going to repeat them, and those skilled in the art are not required to according to the technical solution for facing waterfront area
Paying laborious creation can be obtained the corresponding technical solution of other application scenarios.
The lower section that automatic driving vehicle drives to handling facilities in the area of port carries out the loading and unloading of container, in shipment, from
It is dynamic to drive vehicle from stockyard for below Container Transport to handling facilities, by handling facilities by the container on automatic driving vehicle
It picks up and is placed on ship；When unloading ship time, by handling facilities by the container loading to automatic driving vehicle on ship, by
Automatic driving vehicle is by Container Transport to stockyard.
Embodiment one
Referring to fig. 2, the structural schematic diagram of the vehicle guide system provided for the embodiment of the present invention one, vehicle guidance system
System includes handling facilities control system 1 and vehicle control system 2, wherein the handling facilities control system 1 setting is set in handling
Standby upper, the vehicle control system 2 is arranged on automatic driving vehicle.The handling facilities control system 1 includes stopping guide
Equipment 11 and the first communication equipment 12, the automatic driving control system 2 include the second communication equipment 21, vehicle control apparatus 22
Equipment 23 is executed with control, in which:
Stopping guide equipment 11, for obtaining vehicle performance information；It determines to drive automatically from the vehicle performance information
Sail vehicle ID number (ID number can be in advance for automatic driving vehicle establishment one number, be also possible to automatic Pilot vehicle
License plate number, the application do not do considered critical) and the guidance automatic driving vehicle traveling guidance movement, and generate and include
The key instruction of the ID number of the automatic driving vehicle and guidance movement；Drawn by first communication equipment 12 by described
It leads instruction and is transferred to the automatic driving vehicle；
Vehicle control apparatus 22 is guided for being received by second communication equipment 21 from handling facilities control system 1
Instruction, the key instruction include the ID number of the automatic driving vehicle and guide the guidance of the automatic driving vehicle traveling dynamic
Make；Vehicle control instruction is generated according to the key instruction；Vehicle control instruction is sent to the control and executes equipment
23；
Control executes equipment 23, for being drawn according to the vehicle control instruction control automatic driving vehicle received according to described
Lead movement traveling.
In the embodiment of the present invention, the stopping guide equipment 11 can be an industrial personal computer, a computer or embedded
Equipment, the application do not make considered critical.
In the embodiment of the present invention, the vehicle control apparatus 22 can be the FPGA being arranged on automatic driving vehicle
(Field-Programmable Gate Array, i.e. field programmable gate array), tablet computer, industrial computer, portable electric
Brain, MCU (Microcontroller Unit, micro-control unit), ECU (Electronic Control Unit, electronic control
Unit) or embedded device etc., the application does not make considered critical.
In the embodiment of the present invention, the control executes equipment 23 and may include throttle control on automatic driving vehicle, stops
Vehicle controller.
Preferably, in an example 1, the stopping guide equipment 11 includes human-computer interaction interface, as shown in figure 3, behaviour
Vehicle performance information can be inputted in the human-computer interaction interface by making personnel, may include automatic Pilot vehicle in the vehicle performance information
ID number and guidance movement (such as advance, retreat etc.) for guiding the automatic driving vehicle to travel.Therefore, show at this
In example 1, the stopping guide equipment 11 obtains vehicle performance information, specifically can include: receives and grasps from the human-computer interaction interface
Make the vehicle performance information that personnel input in the human-computer interaction interface.
In the example 1, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator obtains the ID number of the automatic driving vehicle by eye-observation, and inputs this in human-computer interaction interface and drive automatically
Sail the ID number of vehicle.In the example 1, another way is that stopping guide equipment 11 is further used for: logical by described first
Believe that equipment 12 receives the information of vehicles of the ID number comprising the automatic driving vehicle and location information from automatic driving vehicle, and in people
The information of vehicles of each automatic driving vehicle is shown on machine interactive interface；Operator can select to need on human-computer interaction interface
The automatic driving vehicle of guidance, and the vehicle operating information of the automatic driving vehicle is inputted in human-computer interaction interface.
Preferably, in an example 2, the stopping guide equipment 11 includes voice-operated device, as shown in Figure 4.Operator
Member can input the vehicle performance information of automatic driving vehicle by way of voice.In the example 2, a kind of mode is sound
Speech recognition algorithm, voice-operated device tune when receiving the vehicle performance information of operator's voice input are provided in control equipment
The vehicle performance information is identified with the speech recognition algorithm, and the vehicle performance information is sent to stopping guide equipment 11, because
This, the stopping guide equipment obtains vehicle performance information, specifically can include: receive and identify operation by the voice-operated device
The vehicle performance information of personnel's voice input.Certainly, those skilled in the art can also provide a kind of alternative side in example 2
Case, is previously provided with semantics recognition algorithm in stopping guide equipment 11, and voice-operated device is receiving the input of operator's voice
Vehicle performance information when, which is sent to stopping guide equipment 11, by stopping guide equipment 11 use language
Sound recognizer identifies the vehicle performance information received, obtains final vehicle performance information.
In the example 2, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator obtains the corresponding ID number of the automatic driving vehicle by eye-observation, and voice wraps when inputting vehicle performance information
Include the ID number and guidance movement of automatic driving vehicle.
Preferably, in an example 3, the handling facilities control system can also further comprise and the stopping guide
At least one controlling equipment that equipment 11 communicates to connect, as shown in figure 5, can be for example provided in the cockpit of handling facilities
At least one controlling equipment, such as the mechanical button of " advance " and " retrogressing ", by Crush trigger button obtain " advancing " or " after
Move back " etc. guidance movement；For example, controlling equipment can be a remote control equipment, remote control equipment and 11 channel radio of stopping guide equipment
Believe, may be provided with the mechanical button or electronic button of " advance " and " retrogressing " on the remote control equipment, pass through Crush trigger button
Or electronic button obtains " advancing " or guidance such as " retrogressings " act；For example, controlling equipment can also be rocking bar device, shaken by control
Bar device move to the left or to the right obtain " advancing " and guidance such as " retrogressings " movement, or by control rocking bar device upward or downward
Movement come obtain " advancing " and guidance such as " retrogressings " act；The application does not make considered critical to the form of controlling equipment.Therefore, In
In example 3, stopping guide equipment 11 obtains vehicle performance information, and specific implementation can be as follows: described in controlling equipment reception
Vehicle performance information.
In the example 3, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator can know the ID number of automatic driving vehicle by eye-observation, and in human-computer interaction circle of controlling equipment
Face inputs the ID number of automatic driving vehicle, carries automatic driving vehicle in the vehicle performance information sent to stopping guide equipment 11
ID number and guidance movement.
Preferably, in an example 4, the handling facilities control system 1 further include communication connection awareness apparatus and
Sensor, as shown in Figure 6, in which: sensor is used to acquire the environmental information on handling facilities periphery；Awareness apparatus is used for basis
The environmental information judgement is located at the opposite position between the automatic driving vehicle below handling facilities and the suspender of the handling facilities
It sets；The vehicle performance information for guiding the automatic driving vehicle close to the suspender is generated depending on that relative position；By institute
It states vehicle performance information and is sent to the stopping guide equipment.In the example 4, the stopping guide equipment 11 obtains vehicle behaviour
Information is controlled, specific implementation can be as follows: receiving the vehicle performance information from the awareness apparatus.
In example 4, the sensor may include one or more of: video camera, laser radar, millimetre-wave radar, red
Outer transceiver etc..Multiple sensors can be set on handling facilities, and operative sensor is provided towards sky, for acquiring packet
The environmental information of suspender containing handling facilities；A part of sensor is provided towards ground, includes automatic Pilot vehicle for acquiring
Environmental information；Module of target detection can be previously provided in awareness apparatus, by module of target detection to sensor
Collected environmental information is handled, and determines the location information of the suspender of handling facilities and the position letter of automatic driving vehicle
Breath；Awareness apparatus determines suspender and automatic driving vehicle according to the location information of suspender and the location information of automatic driving vehicle
Between relative position, and depending on the relative position determine guidance movement.For example, if suspender is located at what automatic driving vehicle was located at
Rear, it is determined that guidance movement is " retrogressing "；If suspender is located at the front of automatic driving vehicle, it is determined that guidance movement is " preceding
Into ".
In the example 4, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, sensor includes video camera, includes the image of automatic driving vehicle by video camera acquisition；It is preset in awareness apparatus
There is image recognition algorithm, the image comprising automatic driving vehicle is identified by image recognition algorithm, obtains described automatic
Drive the ID number of vehicle.Awareness apparatus is in the vehicle performance information for generating the ID number comprising automatic driving vehicle and guidance movement.
Preferably, in aforementioned all embodiments, a kind of mode is that the guidance movement in the vehicle performance information can
To include longitudinal movement (such as advance, retrogressing etc.), if longitudinal movement, the vehicle control apparatus 22 refers to according to the guidance
It enables and generates vehicle control instruction, specifically include: determining that gas pedal opening degree, brake pedal open and close according to the longitudinal movement
Degree, gear information corresponding with the longitudinal movement；Generate includes the gas pedal opening degree, brake pedal opening degree and institute
State the vehicle control instruction of gear information.For example, the gear information is forward gear if longitudinal movement is " advance "；If vertical
It is " retrogressing " to movement, then the gear information is retreating gear.Correspondingly, control executes equipment 23 according to the vehicle control received
System instruction control automatic driving vehicle is acted according to the guidance to travel, and can specifically protect includes: firstly, releasing of brake pedal；Its
It is secondary, it puts into gear according to the gear information；Then, accelerated according to gas pedal opening degree control gas pedal；
Finally, slowing down according to brake pedal opening degree control brake pedal, neutral gear is suspended to when automatic driving vehicle stops.
Preferably, in aforementioned all embodiments, another way is the guidance movement in the vehicle performance information
It may include longitudinal movement (such as advance, retrogressing etc.) and stop motion, if longitudinal movement, the vehicle control apparatus 22
According to the key instruction generate vehicle control instruction, specifically include: according to the longitudinal movement determine gas pedal opening degree, with
The corresponding gear information of the longitudinal movement；Generate the vehicle control comprising the gas pedal opening degree and the gear information
Instruction.For example, the gear information is forward gear if longitudinal movement is " advance "；If longitudinal movement is " retrogressing ", described
Gear information is retreating gear；Correspondingly, control executes equipment 23 according to the vehicle control instruction control automatic Pilot vehicle received
According to the guidance act travel, can specifically protect includes: firstly, releasing of brake pedal；Secondly, according to the gear information into
Row is put into gear；Then, accelerated according to gas pedal opening degree control gas pedal.If the guidance in vehicle performance information
Movement is stop motion, then the vehicle control apparatus 22 generates vehicle control instruction according to the key instruction, is specifically included:
Brake pedal opening degree is determined according to the stop motion；The vehicle control comprising the brake pedal opening degree is generated to instruct；
Correspondingly, control executes equipment 23 and is acted according to the vehicle control instruction control automatic driving vehicle received according to the guidance
Traveling, can specifically protect includes: firstly, unclamping gas pedal；Then, according to the brake pedal opening degree control brake pedal into
Row slows down.For example, stopping guide equipment 11 can first send continuous one or more key instructions, the guidance in which
Guidance movement in instruction is " advance ", then retransmits the key instruction that a guidance movement is " stop motion "；Parking
Guidance equipment 11 can first send continuous one or more key instructions, the guidance movement in the key instruction be " after
Move back ", then retransmit the key instruction that a guidance movement is " stop motion ".
Preferably, in the aforementioned embodiment, for being capable of timely learning convenient for the handling facilities control system on handling facilities
The relevant information of the automatic driving vehicle on periphery, the vehicle control apparatus 22 are further used for: obtaining the automatic Pilot
Location information；Generate the information of vehicles of the ID number comprising the automatic driving vehicle and location information；It is communicated by described second
The information of vehicles is transferred to handling facilities control system by equipment 21.Correspondingly, the stopping guide equipment 11 is further used
In: ID number and location information comprising the automatic driving vehicle are received from automatic driving vehicle by first communication equipment
Information of vehicles.Vehicle control apparatus 22 can be from the positioning device (such as GPS (Global on automatic driving vehicle
Positioning System, global positioning system) sensor, IMU (Inertial Measurement Unit, inertia measurement
Unit) sensor etc.) obtain location information.
Preferably, aforementioned vehicle information can also further include other status informations of automatic driving vehicle, such as go
Direction, travel speed etc. are sailed, the application does not make considered critical.
Preferably, in previous embodiment, the stopping guide equipment 11 and vehicle control apparatus 22 can pass through wifi (
One communication equipment 12 and the second communication equipment 21 can be wifi transceiver), it is infrared that (the first communication equipment 12 and the second communication are set
Standby 21 can be infrared transceiver), 4G network, 3G network, (the first communication equipment 12 and the second communication equipment 21 can be with for 5G network
For LTE communication equipment) or V2X (Vehicle to everything) technology (the first communication equipment 12 and second communication equipment
21 can be V2X equipment) etc. communicated, the application does not make considered critical.
Since the maximum communication distance of V2X equipment is up to 300 meters, transmission delay is lower than 100ms, is relatively suitble to port area built-in
Unload the communication requirement of equipment Yu automatic driving vehicle this middle distance and short distance, it is preferable that in the embodiment of the present invention, described
One communication equipment 12 may include the first V2X equipment, and second communication equipment 21 may include the 2nd V2X equipment.In aforementioned implementation
In example, the stopping guide equipment 11 sends the guidance to the automatic driving vehicle by first communication equipment 12 and refers to
It enables, specifically includes: the key instruction being packaged by V2X message by the first V2X equipment and sends the V2X message to
Specified air interface；Correspondingly, vehicle control apparatus 22 is by second communication equipment 21 from handling facilities control system
Key instruction is received, is specifically included: the handling facilities being received from specified air interface by the 2nd V2X equipment and are controlled
The V2X message that system is sent, and the key instruction is parsed from the V2X message.In the aforementioned embodiment, vehicle control
The information of vehicles is transferred to handling facilities control system by second communication equipment by equipment 22, is specifically included: being passed through
The information of vehicles is packaged into V2X message and sends specified air interface for the V2X message by the 2nd V2X equipment；
Correspondingly, the vehicle guidance equipment 11 is received by first communication equipment 12 from automatic driving vehicle drives automatically comprising this
The ID number of vehicle and the information of vehicles of location information are sailed, is specifically included: by the first V2X equipment from specified air interface
The V2X message that automatic driving vehicle is sent is received, and parses the vehicle letter of the automatic driving vehicle from the V2X message
Breath.
Embodiment two
Same idea based on a kind of vehicle guide system that previous embodiment one provides, the embodiment of the present invention two also provide
A kind of handling facilities control system, the handling facilities set-up of control system is on handling facilities, the handling facilities control system packet
Include stopping guide equipment and the first communication equipment, in which:
Stopping guide equipment, for obtaining vehicle performance information；Automatic Pilot is determined from the vehicle performance information
The ID number of vehicle and the guidance movement for guiding the automatic driving vehicle traveling, and generation includes the ID of the automatic driving vehicle
Number and the guidance movement key instruction；The key instruction is transferred to by first communication equipment and described is driven automatically
Sail vehicle.
In the embodiment of the present invention, the stopping guide equipment for an industrial personal computer, a computer or embedded can be set
Standby, the application does not make considered critical.
In an example 1, the stopping guide equipment includes human-computer interaction interface, and operator can be in the man-machine friendship
Mutual interface inputs vehicle performance information, may include the ID number of automatic driving vehicle in the vehicle performance information and for guiding
The guidance movement (such as advance, retrogressing etc.) of automatic driving vehicle traveling.In the example 1, the stopping guide equipment is obtained
Vehicle performance information is taken, is specifically included: receiving operator from the human-computer interaction interface and is inputted in the human-computer interaction interface
Vehicle performance information.
In the example 1, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator obtains the ID number of the automatic driving vehicle by eye-observation, and inputs this in human-computer interaction interface and drive automatically
Sail the ID number of vehicle.In the example 1, another way is that stopping guide equipment is further used for: being communicated by described first
Equipment receives the information of vehicles of the ID number comprising the automatic driving vehicle and location information from automatic driving vehicle, and in man-machine friendship
The information of vehicles of each automatic driving vehicle is shown on mutual interface；Operator can select to need to guide on human-computer interaction interface
Automatic driving vehicle, and input the vehicle operating information of the automatic driving vehicle in human-computer interaction interface.
In an example 2, the stopping guide equipment includes voice-operated device.Operator can be by way of voice
Input the vehicle performance information of automatic driving vehicle.In the example 2, a kind of mode is that voice knowledge is provided in voice-operated device
Other algorithm, voice-operated device call the speech recognition algorithm to identify when receiving the vehicle performance information of operator's voice input
The vehicle performance information, and the vehicle performance information is sent to stopping guide equipment, therefore, the stopping guide equipment obtains
Vehicle performance information, specifically can include: the vehicle performance of operator's voice input is received and identified by the voice-operated device
Information.Certainly, those skilled in the art can also provide a kind of alternative scheme in example 2, pre- in stopping guide equipment
It is first provided with semantics recognition algorithm, voice-operated device is when receiving the vehicle performance information of operator's voice input, by the vehicle
Manipulation information be sent to stopping guide equipment, by stopping guide equipment using speech recognition algorithm to the vehicle performance received
Information is identified, final vehicle performance information is obtained.
In the example 2, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator obtains the corresponding ID number of the automatic driving vehicle by eye-observation, and voice wraps when inputting vehicle performance information
Include the ID number and guidance movement of automatic driving vehicle.
In an example 3, the handling facilities control system can also further comprise logical with the stopping guide equipment
Believe at least one controlling equipment of connection, such as at least one controlling equipment can be provided in the cockpit of handling facilities,
Such as the mechanical button of " advance " and " retrogressing ", it obtains " advancing " by Crush trigger button or guidance such as " retrogressings " acts；Example
Such as, controlling equipment can be a remote control equipment, and remote control equipment and stopping guide equipment are wirelessly communicated, can be set on the remote control equipment
It is equipped with the mechanical button or electronic button of " advance " and " retrogressing ", obtains " advancing " by Crush trigger button or electronic button
Or the guidance such as " retrogressing " movement；For example, controlling equipment can also be rocking bar device, by control rocking bar device move to the left or to the right come
Obtain " advancing " and the movement such as " retrogressing " guidance, or be moved upwardly or downwardly obtaining " advancing " by controlling rocking bar device and
The movement such as " retrogressing " guidance；The application does not make considered critical to the form of controlling equipment.Therefore, in example 3, stopping guide is set
Standby to obtain vehicle performance information, specific implementation can be as follows: receiving the vehicle performance information from the controlling equipment.
In the example 3, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, operator can know the ID number of automatic driving vehicle by eye-observation, and in human-computer interaction circle of controlling equipment
Face inputs the ID number of automatic driving vehicle, carries automatic driving vehicle in the vehicle performance information sent to stopping guide equipment
ID number and guidance movement.
In an example 4, the handling facilities control system further includes the awareness apparatus and sensor of communication connection,
In: sensor is used to acquire the environmental information on handling facilities periphery；Awareness apparatus, for being located at according to environmental information judgement
Automatic driving vehicle below handling facilities and the relative position between the suspender of the handling facilities；It gives birth to depending on that relative position
At the vehicle performance information for guiding the automatic driving vehicle close to the suspender；The vehicle performance information is sent to institute
State stopping guide equipment.In the example 4, the stopping guide equipment obtains vehicle performance information, and specific implementation can be as follows: from
The awareness apparatus receives the vehicle performance information.
In example 4, the sensor may include one or more of: video camera, laser radar, millimetre-wave radar, red
Outer transceiver etc..Multiple sensors can be set on handling facilities, and operative sensor is provided towards sky, for acquiring packet
The environmental information of suspender containing handling facilities；A part of sensor is provided towards ground, includes automatic Pilot vehicle for acquiring
Environmental information；Module of target detection can be previously provided in awareness apparatus, by module of target detection to sensor
Collected environmental information is handled, and determines the location information of the suspender of handling facilities and the position letter of automatic driving vehicle
Breath；Awareness apparatus determines suspender and automatic driving vehicle according to the location information of suspender and the location information of automatic driving vehicle
Between relative position, and depending on the relative position determine guidance movement.For example, if suspender is located at what automatic driving vehicle was located at
Rear, it is determined that guidance movement is " retrogressing "；If suspender is located at the front of automatic driving vehicle, it is determined that guidance movement is " preceding
Into ".
In the example 4, a kind of mode is that the ID of the automatic driving vehicle is provided at the top of automatic driving vehicle
Number, sensor includes video camera, includes the image of automatic driving vehicle by video camera acquisition；It is preset in awareness apparatus
There is image recognition algorithm, the image comprising automatic driving vehicle is identified by image recognition algorithm, obtains described automatic
Drive the ID number of vehicle.Awareness apparatus is in the vehicle performance information for generating the ID number comprising automatic driving vehicle and guidance movement.
Certainly, in the embodiment of the present invention two, the guidance movement in the vehicle performance information may also include " stopping ".
Preferably, in the aforementioned embodiment, the stopping guide equipment is further used for: passing through first communication equipment
The information of vehicles of the ID number comprising the automatic driving vehicle and location information is received from automatic driving vehicle.
Preferably, in the aforementioned embodiment, first communication equipment includes the first V2X equipment, and the stopping guide is set
It is standby that the key instruction is sent to the automatic driving vehicle by first communication equipment, it specifically includes:
The key instruction is packaged into V2X message by the first V2X equipment and is sent the V2X message to specified
Air interface.
Embodiment three
Based on the identical design of vehicle guide system that previous embodiment one provides, the embodiment of the present invention three also provides one kind
Vehicle control system, the vehicle control system are arranged on automatic driving vehicle, and the system comprises vehicle control apparatus, second
Communication equipment and control execute equipment, in which:
Vehicle control apparatus, for receiving key instruction from handling facilities control system by second communication equipment,
The key instruction includes the ID number of the automatic driving vehicle and the guidance movement for guiding the automatic driving vehicle traveling；Root
Vehicle control instruction is generated according to the key instruction；Vehicle control instruction is sent to the control and executes equipment；
Control executes equipment, for controlling automatic driving vehicle according to the guidance according to the vehicle control instruction received
Movement traveling.
Preferably, in one example, in the vehicle performance information guidance movement may include longitudinal movement (such as
Advance, retreat etc.), when guidance movement is longitudinal movement, the vehicle control apparatus generates vehicle control according to the key instruction
System instruction, specifically includes: determining gas pedal opening degree, brake pedal opening degree and the longitudinal direction according to the longitudinal movement
Move corresponding gear information；It generates comprising the gas pedal opening degree, brake pedal opening degree and the gear information
Vehicle control instruction.For example, the gear information is forward gear if longitudinal movement is " advance "；If longitudinal movement be " after
Move back ", then the gear information is retreating gear.Correspondingly, control executes equipment and is controlled certainly according to the vehicle control instruction received
The dynamic vehicle that drives is travelled according to guidance movement, and can specifically protect includes: firstly, releasing of brake pedal；Secondly, according to the gear
Position information is put into gear；Then, accelerated according to gas pedal opening degree control gas pedal；Finally, according to described
Brake pedal opening degree control brake pedal slow down until automatic driving vehicle stops, and is suspended to neutral gear.
Preferably, in one example, in the vehicle performance information guidance movement may include longitudinal movement (such as
Advance, retreat etc.) and stop motion, if longitudinal movement, then the vehicle control apparatus generates vehicle according to the key instruction
Control instruction, specifically includes: determining gas pedal opening degree, gear corresponding with the longitudinal movement according to the longitudinal movement
Position information；Generate the vehicle control instruction comprising the gas pedal opening degree and the gear information.For example, if longitudinal movement
For " advance ", then the gear information is forward gear；If longitudinal movement is " retrogressing ", the gear information is retreating gear；Phase
Ying Di, control execute equipment according to the vehicle control instruction control automatic driving vehicle received according to the guidance action row
It sails, can specifically protect includes: firstly, releasing of brake pedal；Secondly, putting into gear according to the gear information；Then, according to described
Gas pedal opening degree control gas pedal is accelerated.If the guidance movement in vehicle performance information is " stop motion ",
The vehicle control apparatus generates vehicle control instruction according to the key instruction, specifically includes: true according to the stop motion
Determine brake pedal opening degree；The vehicle control comprising the brake pedal opening degree is generated to instruct；Correspondingly, control executes equipment
It is acted and is travelled according to the guidance according to the vehicle control instruction control automatic driving vehicle received, can specifically protect includes: head
First, gas pedal is unclamped；Then, slow down according to brake pedal opening degree control brake pedal.For example, the present invention is real
It applies in example, the second communication equipment can first receive continuous one or more key instructions, and the guidance in the key instruction is dynamic
Work is " advance ", then receives the key instruction that a guidance movement is " stop motion " again；Second communication equipment may be used also
To be first to receive continuous one or more key instructions, the guidance movement in the key instruction is " retrogressing ", then again
Receive the key instruction that a guidance movement is " stop motion ".
Preferably, in the aforementioned embodiment, for being capable of timely learning convenient for the handling facilities control system on handling facilities
The relevant information of the automatic driving vehicle on periphery, the vehicle control apparatus are further used for: obtaining the position of the automatic Pilot
Confidence breath；Generate the information of vehicles of the ID number comprising the automatic driving vehicle and location information；It is set by second communication
It is standby that the information of vehicles is transferred to handling facilities control system.
Preferably, aforementioned vehicle information can also further include other status informations of automatic driving vehicle, such as go
Direction, travel speed etc. are sailed, the application does not make considered critical.
Preferably, second communication equipment includes the 2nd V2X equipment, and the vehicle control apparatus is logical by described second
Believe that equipment receives key instruction from handling facilities control system, specifically include: by the 2nd V2X equipment from specified aerial
The V2X message that handling facilities control system described in interface is sent, and parse the guidance from the V2X message and refer to
It enables.
In the embodiment of the present invention, the vehicle control apparatus can be the FPGA being arranged on automatic driving vehicle, plate
Computer, industrial computer, portable computer, MCU, ECU or embedded device etc., the application does not make considered critical.
Example IV
The embodiment of the present invention four also protects a kind of handling facilities, may include any in previous embodiment two in the handling facilities
The handling facilities control system of one embodiment.The handling facilities can be shore tackle, tyre crane, front handling mobile crane, overhead traveling crane, crane etc..
Embodiment five
The embodiment of the present invention five also protects a kind of automatic driving vehicle, may include previous embodiment in the automatic driving vehicle
The vehicle control system of any one embodiment in three.The automatic driving vehicle can be truck, lorry, trailer etc..
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (17)
1. a kind of handling facilities control system, which is characterized in that be arranged on handling facilities, the system comprises stopping guides to set
Standby and the first communication equipment, in which:
Stopping guide equipment, for obtaining vehicle performance information；Automatic driving vehicle is determined from the vehicle performance information
ID number and guide the guidance movement of automatic driving vehicle traveling, and generate the ID number comprising the automatic driving vehicle and
The key instruction of the guidance movement；The key instruction is transferred to the automatic Pilot vehicle by first communication equipment
.
2. system according to claim 1, which is characterized in that the stopping guide equipment includes human-computer interaction interface；
The stopping guide equipment obtains vehicle performance information, specifically includes: receiving operator from the human-computer interaction interface
In the vehicle performance information of human-computer interaction interface input.
3. system according to claim 1, which is characterized in that the stopping guide equipment includes voice-operated device；
The stopping guide equipment obtains vehicle performance information, specifically includes: receiving and identifying operation by the voice-operated device
The vehicle performance information of personnel's voice input.
4. system according to claim 1, which is characterized in that the system also includes communicate with the stopping guide equipment
At least one controlling equipment of connection；
The stopping guide equipment obtains vehicle performance information, specifically includes: receiving the vehicle performance from the controlling equipment
Information.
5. system according to claim 1, which is characterized in that the system also includes the awareness apparatus of communication connection and biographies
Sensor；
Sensor, for acquiring the environmental information on the handling facilities periphery；
Awareness apparatus, the automatic driving vehicle for being located at below handling facilities according to environmental information judgement are set with the handling
Relative position between standby suspender；Generating depending on that relative position guides the automatic driving vehicle close to the suspender
Vehicle performance information；The vehicle performance information is sent to the stopping guide equipment.
6. described in any item systems according to claim 1~5, which is characterized in that the stopping guide equipment is further used for:
The vehicle of the ID number comprising the automatic driving vehicle and location information is received from automatic driving vehicle by first communication equipment
Information.
7. described in any item systems according to claim 1~5, which is characterized in that first communication equipment includes the first V2X
Equipment, the stopping guide equipment send the key instruction to the automatic driving vehicle by first communication equipment,
It specifically includes:
The key instruction is packaged into V2X message by the first V2X equipment and sends specified sky for the V2X message
Middle interface.
8. a kind of handling facilities, which is characterized in that control system including the handling facilities as described in claim 1~7 any one
System.
9. a kind of vehicle control system, which is characterized in that be arranged on automatic driving vehicle, the system comprises vehicle controls to set
Standby, the second communication equipment and control execute equipment, in which:
Vehicle control apparatus, it is described for receiving key instruction from handling facilities control system by second communication equipment
Key instruction includes the ID number of the automatic driving vehicle and the guidance movement for guiding the automatic driving vehicle traveling；According to institute
It states key instruction and generates vehicle control instruction；Vehicle control instruction is sent to the control and executes equipment；
Control executes equipment, for being acted according to the vehicle control instruction control automatic driving vehicle received according to the guidance
Traveling.
10. system according to claim 9, which is characterized in that the guidance movement includes longitudinal movement, then vehicle control
Equipment generates vehicle control instruction according to the key instruction, specifically includes:
Gas pedal opening degree, brake pedal opening degree, gear corresponding with the longitudinal movement are determined according to the longitudinal movement
Position information；
The vehicle control comprising the gas pedal opening degree, brake pedal opening degree and the gear information is generated to instruct.
11. system according to claim 9, which is characterized in that the guidance movement includes stop motion, then vehicle control
Equipment generates vehicle control instruction according to the key instruction, specifically includes:
Brake pedal opening degree is determined according to the stop motion；
The vehicle control comprising the brake pedal opening degree is generated to instruct.
12. according to the described in any item systems of claim 9~11, which is characterized in that the vehicle control apparatus is further used
In:
Obtain the location information of the automatic driving vehicle；
Generate the information of vehicles of the ID number comprising the automatic driving vehicle and location information；
The information of vehicles is transferred to handling facilities control system by second communication equipment.
13. according to the described in any item systems of claim 9~11, which is characterized in that second communication equipment includes second
V2X equipment, the vehicle control apparatus receive key instruction, tool from handling facilities control system by second communication equipment
Body includes: to receive the V2X report that the handling facilities control system is sent from specified air interface by the 2nd V2X equipment
Text, and the key instruction is parsed from the V2X message.
14. a kind of automatic driving vehicle, which is characterized in that including the vehicle control as described in claim 9~12 any one
System.
15. a kind of vehicle guide system, which is characterized in that including be arranged on handling facilities handling facilities control system, set
The automatic driving control system on automatic driving vehicle is set, the handling facilities control system includes stopping guide equipment and
One communication equipment, the automatic driving control system include that vehicle control apparatus, the second communication equipment and control execute equipment,
In:
Stopping guide equipment, for obtaining vehicle performance information；Automatic driving vehicle is determined from the vehicle performance information
ID number and guide the guidance movement of automatic driving vehicle traveling, and generate the ID number comprising the automatic driving vehicle and
The key instruction of the guidance movement；The key instruction is transferred to the automatic Pilot vehicle by first communication equipment
；
Vehicle control apparatus, it is described for receiving key instruction from handling facilities control system by second communication equipment
Key instruction includes the ID number of the automatic driving vehicle and the guidance movement for guiding the automatic driving vehicle traveling；According to institute
It states key instruction and generates vehicle control instruction；Vehicle control instruction is sent to the control and executes equipment；
Control executes equipment, for being acted according to the vehicle control instruction control automatic driving vehicle received according to the guidance
Traveling.
16. system according to claim 15, which is characterized in that the vehicle control apparatus is further used for: obtaining institute
State the location information of automatic driving vehicle；Generate the information of vehicles of the ID number comprising the automatic driving vehicle and location information；
The information of vehicles is transferred to handling facilities control system by second communication equipment；
The stopping guide equipment is further used for: being received from automatic driving vehicle comprising being somebody's turn to do certainly by first communication equipment
The information of vehicles of the dynamic ID number for driving vehicle and location information.
17. system according to claim 15, which is characterized in that first communication equipment includes the first V2X equipment, institute
Stating the second communication equipment includes the 2nd V2X equipment；
The stopping guide equipment sends the key instruction, tool to the automatic driving vehicle by first communication equipment
Body includes: that the key instruction is packaged into V2X message by the first V2X equipment and is sent the V2X message to specified
Air interface；
Vehicle control apparatus receives key instruction from handling facilities control system by second communication equipment, specifically includes:
The V2X message that the handling facilities control system is sent is received from specified air interface by the 2nd V2X equipment, and from
The key instruction is parsed in the V2X message.
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| CN201810476148.0A CN110502002B (en) | 2018-05-17 | 2018-05-17 | Vehicle guidance system, loading and unloading equipment control system and vehicle control system |
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