CN114363813A - V2X communication terminal, system and method based on broadcast - Google Patents
V2X communication terminal, system and method based on broadcast Download PDFInfo
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- CN114363813A CN114363813A CN202210257001.9A CN202210257001A CN114363813A CN 114363813 A CN114363813 A CN 114363813A CN 202210257001 A CN202210257001 A CN 202210257001A CN 114363813 A CN114363813 A CN 114363813A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention discloses a broadcast-based V2X communication terminal, system and method, relates to the technical field of vehicle-road cooperation, and solves the technical problem that the existing terminal is high in cost. The V2X communication terminal is carried by a mobile source and is in communication connection with a base station, and comprises a processing module, a data acquisition module, a wireless transmitting module and a wireless receiving module which are all connected with the processing module. In addition, the invention also provides a V2X communication system and method based on broadcasting. The invention can reduce the hardware cost of the whole vehicle-road cooperative system, improve the operation efficiency of the vehicle-road cooperative system and has wide application value in the field of unmanned driving.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperation, in particular to a broadcast-based V2X communication terminal, system and method.
Background
Currently, with the development of automatic driving technology, the time for the vehicle-road cooperation technology to develop at a high speed comes, and various technologies emerge endlessly. In the vehicle-Road cooperative communication process, the device at the vehicle-mounted end generally has high computing capability, and communicates with an RSU (Road Side Unit), and meanwhile, various terminals, objects, and sensors participating in the vehicle-Road cooperative communication are required to have high computing capability and real-time communication capability. If the requirement of the vehicle-mounted end is that the SOC (System on Chip) can have several TOPS calculation forces; higher TOPS computational power (such as SOC with neural network computing power and real-time processing power) is provided for a drive test unit; for participants, such as moving sources (e.g., pedestrians, pets), a heavier weight class of terminal configuration is also desirable. This often puts higher demands on the terminals in which the mobile sources participate, and is more costly. Therefore, a simple, fast and low-cost method for redistributing the computing power of various roles participating in a scene is needed.
Disclosure of Invention
The invention aims to provide a broadcast-based V2X communication terminal, a system and a method, which aim to solve the technical problem of high terminal cost caused by the fact that the current vehicle-road cooperative system requires strong computational force terminals for a vehicle-mounted terminal and other road measuring terminals. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a broadcast-based V2X communication terminal, wherein the V2X communication terminal is carried by a mobile source and is in communication connection with a base station, and comprises a processing module, a data acquisition module, a wireless transmitting module and a wireless receiving module, wherein the data acquisition module, the wireless transmitting module and the wireless receiving module are all connected with the processing module; the data acquisition module is used for acquiring the position information, the moving direction and the moving speed of the moving source in real time and transmitting the acquired position information, the moving direction and the moving speed of the moving source to the processing module; the wireless receiving module is in communication connection with the base station, can acquire the position information of the base station and transmits the acquired position information of the base station to the processing module; the processing module performs fusion processing on the received position information of the base station and the position information, the moving direction and the moving speed of the moving source to obtain the accurate position information, the moving direction and the moving speed of the moving source, and sends the accurate position information, the moving direction and the moving speed of the moving source to the outside through the wireless transmitting module.
Further, the broadcast-based V2X communication terminal further includes an encryption module; the processing module, the encryption module and the wireless transmitting module are sequentially connected and used for encrypting the accurate position information, the moving direction and the moving speed of the moving source, and the encrypted accurate position information, the moving direction and the moving speed of the moving source are transmitted outwards through the wireless transmitting module.
Further, the broadcast-based V2X communication terminal further includes a storage module connected to the encryption module; the storage module is used for encrypting and storing the accurate position information, the moving direction and the moving speed of the moving source.
Further, the broadcast-based V2X communication terminal further includes a power management module for providing power to the V2X communication terminal; the power management module is connected with the processing module, the data acquisition module, the wireless transmitting module, the wireless receiving module, the encryption module and the storage module, and is also used for carrying out dormancy management on the processing module, the data acquisition module, the wireless transmitting module and the wireless receiving module.
Further, the wireless transmitting module sends out the precise position information, the moving direction and the moving speed of the moving source in a broadcasting mode; the wireless receiving module communicates with the base station in a broadcasting mode; the wireless receiving module is in communication connection with the base station through WiFi or UWB or 5G; the base station is an MEC base station or a positioning base station.
Further, the data acquisition module is a speed sensor, a direction sensor, a positioning sensor or a gyroscope.
According to another aspect of the present invention, there is also provided a broadcast-based V2X communication system including at least one broadcast-based V2X communication terminal as described above, at least one base station, a plurality of drive test units, and/or at least one on-board unit; the wireless transmitting module is in communication connection with the drive test unit and the vehicle-mounted unit; the wireless receiving module is in communication connection with the base station; and the wireless transmitting module sends the fused accurate position information, moving direction and moving speed of the moving source to the drive test unit and the vehicle-mounted unit.
Further, the wireless transmitting module is in communication connection with the drive test unit and the vehicle-mounted unit through WiFi, UWB or 5G; the wireless receiving module is in communication connection with the base station through WiFi, UWB or 5G; the base station is an MEC base station or a positioning base station.
Further, the wireless transmitting module is communicated with the drive test unit and the vehicle-mounted unit in a broadcasting mode; the wireless receiving module communicates with the base station in a broadcasting mode.
According to still another aspect of the present invention, there is also provided a broadcast-based V2X communication method, performed based on the broadcast-based V2X communication terminal described above, including a plurality of drive test units and/or at least one on-board unit, and the steps of:
s10, initializing the V2X communication terminal carried by a mobile source;
s20, the data acquisition module acquires the position information, the moving direction and the moving speed of the moving source in real time and transmits the information to the processing module;
s30, the wireless receiving module collects the position information of the base station in real time and transmits the position information to the processing module;
s40, the processing module performs fusion processing on the received position information of the base station, the position information of the mobile source, the mobile direction and the mobile speed to obtain accurate position information, mobile direction and mobile speed of the mobile source;
s50, the wireless transmitting module sends the accurate position information, the moving direction and the moving speed of the moving source to the drive test unit and the vehicle-mounted unit in a broadcasting mode;
and S60, returning to the step S20, and continuing to collect, process and transmit the position information, the moving direction and the moving speed of the moving source until the power of the V2X communication terminal is turned off.
The implementation of one of the technical schemes of the invention has the following advantages or beneficial effects:
the core of the invention is that the mobile source end does not need to process and receive the information of other related parties except the regional base station, and only synthesizes the self-related report information, such as the accurate position information, the moving direction and the moving speed of the mobile source, according to the base station information, and then sends the report information in a broadcasting way. Therefore, the method has great use value in the artificial future automatic driving application environment, and can furthest reduce the design difficulty and cost of vehicle-mounted end and drive test end hardware of the vehicle-road cooperative system; meanwhile, hardware of the V2X communication terminal and the V2X communication terminal system can be selected and configured with hardware carriers which are not too high, so that the hardware cost of the whole vehicle-road cooperative system is reduced, and the operation efficiency of the vehicle-road cooperative system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic structural diagram of a broadcast-based V2X communication terminal according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a broadcast-based V2X communication system according to an embodiment of the present invention;
fig. 3 is a flow chart of a broadcast-based V2X communication method according to an embodiment of the present invention.
In the figure: 1. a processing module; 2. a data acquisition module; 3. a wireless transmitting module; 4. a wireless receiving module; 5. an encryption module; 6. a storage module; 7. a power management module; 8. a base station; 9. a drive test unit; 10. and an on-board unit.
Detailed Description
In order that the objects, aspects and advantages of the present invention will become more apparent, various exemplary embodiments will be described below with reference to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary embodiments in which the invention may be practiced. The same numbers in different drawings identify the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. It is to be understood that they are merely examples of processes, methods, apparatus, etc. consistent with certain aspects of the present disclosure as detailed in the appended claims, and that other embodiments may be used or structural and functional modifications may be made to the embodiments set forth herein without departing from the scope and spirit of the present disclosure.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," and the like are used in the orientations and positional relationships illustrated in the accompanying drawings for the purpose of facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the elements so referred to must have a particular orientation, be constructed in a particular orientation, and be operated. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "plurality" means two or more. The terms "coupled" and "connected" are to be construed broadly and may include, for example, a fixed connection, a removable connection, a unitary connection, a mechanical connection, an electrical connection, a communicative connection, a direct connection, an indirect connection via intermediate media, and may include, but are not limited to, a connection between two elements or an interactive relationship between two elements. The term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to explain the technical solution of the present invention, the following description is made by way of specific examples, which only show the relevant portions of the embodiments of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the present invention provides a broadcast-based V2X communication terminal, wherein the V2X communication terminal is carried by a mobile source and is in communication connection with a base station, and comprises a processing module 1, a data acquisition module 2, a wireless transmission module 3, and a wireless reception module 4, all of which are connected to the processing module 1. Specifically, the data acquisition module 2 is configured to acquire position information, a moving direction, and a moving speed of the moving source in real time, and transmit the acquired position information, moving direction, and moving speed of the moving source to the processing module 1; the wireless receiving module 4 is in communication connection with the base station, can acquire the position information of the base station, and transmits the acquired position information of the base station to the processing module 1; the processing module 1 performs fusion processing on the received position information of the base station and the position information, the moving direction and the moving speed of the moving source, obtains the accurate position information, the moving direction and the moving speed of the moving source, and sends the accurate position information, the moving direction and the moving speed of the moving source to the outside through the wireless transmitting module 3. The invention effectively and quickly identifies and marks the moving sources of pedestrians, pets and the like participating in the vehicle-road cooperative scene, and can quickly feed back the moving sources to the whole vehicle-road cooperative network, so that the passing of the moving sources of the pedestrians, the pets and the like has higher or highest priority and safety guarantee. V2X means Vehicle-to-entertainment, i.e., information exchange between vehicles and the outside world, and includes V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), V2P (Vehicle-to-pedestrian), and V2N (Vehicle-to-Network). The communication terminal of the embodiment can realize that the mobile source can rapidly release the accurate information of the mobile source in a given scene or area by matching with a scene area and other facilities and technologies through a portable terminal with broadcast radio message capability and area high-precision positioning capability carried by a pedestrian, thereby saving the calculation force and hardware cost of a vehicle-mounted end (such as a vehicle-mounted unit described below) and other road measurement ends (such as a road measurement unit described below) of a vehicle-road cooperative system, and enabling the whole vehicle-road cooperative system to be simpler, more convenient and faster.
Further, the V2X communication terminal of the present embodiment further includes an encryption module 5 and a storage module 6 connected to the encryption module 5. The processing module 1, the encryption module 5 and the wireless transmission module 3 are sequentially connected and used for encrypting the accurate position information, the moving direction and the moving speed of the moving source, and the encrypted accurate position information, the moving direction and the moving speed of the moving source are sent out through the wireless transmission module 3; the storage module 6 is used for encrypting and storing the precise position information, the moving direction and the moving speed of the moving source. And further, the information security of the mobile source is guaranteed.
Further, the V2X communication terminal of the present embodiment further includes a power management module 7 for supplying power to the V2X communication terminal. The power management module 7 is connected with the processing module 1, the data acquisition module 2, the wireless transmitting module 3, the wireless receiving module 4, the encryption module 5 and the storage module 6, and the power management module 7 is also used for carrying out dormancy management on the processing module 1, the data acquisition module 2, the wireless transmitting module 3 and the wireless receiving module 4.
In this embodiment, the wireless transmitting module 3 sends the accurate position information, the moving direction, and the moving speed of the moving source to the outside in a broadcast manner, and the wireless receiving module 4 communicates with the base station in a broadcast manner, where the base station is an MEC (Mobile Edge Computing) base station or a positioning base station. The wireless receiving module 4 is in communication connection with a base station through WiFi, UWB or 5G. The data acquisition module 2 is a speed sensor, a direction sensor, a positioning sensor or a gyroscope.
In summary, the core of the V2X communication terminal is that the mobile source end does not need to process and receive information of other interested parties except for regional base stations, and only synthesizes reporting information related to itself, such as accurate position information, moving direction and moving speed of the mobile source, according to the base station information, and then sends out the information in a broadcast manner. Therefore, the method has great use value in the artificial future automatic driving application environment, and can furthest reduce the design difficulty and cost of vehicle-mounted end and drive test end hardware of the vehicle-road cooperative system; meanwhile, hardware of the V2X communication terminal can be selectively configured with a hardware carrier which is not too high, so that the hardware cost of the whole vehicle-road cooperative system is reduced, and the operation efficiency of the vehicle-road cooperative system is improved.
Example two:
as shown in fig. 2, the present invention further provides a broadcast-based V2X communication system, which includes at least one broadcast-based V2X communication terminal according to the first embodiment, at least one base station 8, a plurality of drive test units 9, and/or at least one vehicle-mounted unit 10. Specifically, the wireless transmitting module 3 is in communication connection with the drive test Unit 9 and the On board Unit 10 (On board Unit), the wireless receiving module 4 is in communication connection with the base station 8, and the wireless transmitting module 3 sends the accurate position information, the moving direction and the moving speed of the mobile source subjected to fusion processing to the drive test Unit 9 and the On board Unit 10. Wherein the drive test unit 9 is arranged at a drive test, such as a traffic light, and the on-board unit 10 is arranged on a car. Further, the wireless transmitting module 3 is in communication connection with the drive test unit 9 and the vehicle-mounted unit 10 through WiFi, UWB or 5G, the wireless receiving module 4 is in communication connection with the base station 8 through WiFi, UWB or 5G, and the wireless transmitting module 3 is in communication with the drive test unit 9 and the vehicle-mounted unit 10 through a broadcasting mode; the wireless receiving module 4 communicates with the base station 8 by broadcasting.
In the system, a base station 8 sends position information of the base station 8 to a wireless transmitting module 3 in a broadcasting mode; meanwhile, the data acquisition module 2 acquires the real-time position, moving direction and speed of a moving source (such as a pedestrian). Two sets of data finally transmit to processing module 1, calculate through fusing by processing module 1, obtain the accurate real-time position, moving direction and the speed of moving the source, the accurate real-time position of the source of moving of calculation, moving direction and speed are broadcast to drive test unit 9, on-vehicle unit 10 through wireless transmitting module 3 to through drive test unit 9, on-vehicle unit 10 dodge the source of moving under the source of moving is current to have higher or highest priority, and then the safety of guarantee source of moving.
Example three:
as shown in fig. 3, the present invention further provides a broadcast-based V2X communication method, which is performed based on the broadcast-based V2X communication terminal according to the first embodiment, and includes a plurality of drive test units and/or at least one vehicle-mounted unit, and the following steps:
s10, initializing the V2X communication terminal carried by the mobile source. The initialization of this step includes initializing the gyroscope, the positioning module, the speed and direction sensor of the data acquisition module 2, such as setting of an offset angle, locking of an initial state of position information, such as initialization of a relevant angle and speed parameters based on an initial effective position after initial effective positioning of a GPS position, and the like. After the initialization of the step, the terminal outputs effective information of the position of the effective self moving source to the outside; in addition, the method also comprises a V2X communication terminal which is started, namely, the power management module 7 is turned on to be in a working state;
s20, the data acquisition module 2 acquires the position information, the moving direction and the moving speed of the moving source in real time and transmits the information to the processing module 1;
s30, the wireless receiving module 4 collects the position information of the base station 8 in real time and transmits the position information to the processing module 1;
s40, the processing module 1 performs fusion processing on the received position information of the base station 8, the position information of the moving source, the moving direction, and the moving speed to obtain the accurate position information, the moving direction, and the moving speed of the moving source. The fusion processing is to further perform multi-dimensional data matching and algorithm optimization calculation on the positioning information given by the reference base station 8 and the effective information acquired by the data acquisition module 2, so that the information of the position, the speed, the direction and the like of the mobile source is more accurate, and the wireless transmitting module 3 can broadcast and transmit more accurate information, which is the prior art and is not described herein again;
s50, the wireless transmitting module 3 sends the accurate position information, the moving direction and the moving speed of the moving source to the drive test unit 9 and the vehicle-mounted unit 10 in a broadcasting mode;
and S60, returning to the step S20, and continuing to collect, process and send the position information, the moving direction and the moving speed of the moving source until the power management module 7 of the V2X communication terminal is turned off.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A broadcast-based V2X communication terminal is characterized in that the V2X communication terminal is carried by a mobile source and is in communication connection with a base station, and comprises a processing module (1), a data acquisition module (2) connected with the processing module (1), a wireless transmitting module (3) and a wireless receiving module (4);
the data acquisition module (2) is used for acquiring the position information, the moving direction and the moving speed of a moving source in real time and transmitting the acquired position information, the moving direction and the moving speed of the moving source to the processing module (1);
the wireless receiving module (4) is in communication connection with the base station, can acquire the position information of the base station, and transmits the acquired position information of the base station to the processing module (1);
the processing module (1) performs fusion processing on the received position information of the base station and the position information, the moving direction and the moving speed transmission of the moving source to obtain the accurate position information, the moving direction and the moving speed of the moving source, and sends the accurate position information, the moving direction and the moving speed of the moving source to the outside through the wireless transmitting module (3).
2. The broadcast-based V2X communication terminal according to claim 1, further comprising an encryption module (5);
the processing module (1), the encryption module (5) and the wireless transmitting module (3) are sequentially connected and used for encrypting the accurate position information, the moving direction and the moving speed of the moving source, and the accurate position information, the moving direction and the moving speed of the moving source after encryption are transmitted outwards through the wireless transmitting module (3).
3. The broadcast-based V2X communication terminal according to claim 2, further comprising a storage module (6) connected to the encryption module (5);
the storage module (6) is used for encrypting and storing the accurate position information, the moving direction and the moving speed of the moving source.
4. The broadcast-based V2X communication terminal of claim 3, further comprising a power management module (7) for providing power to the V2X communication terminal;
the power management module (7) is connected with the processing module (1), the data acquisition module (2), the wireless transmitting module (3), the wireless receiving module (4), the encryption module (5) and the storage module (6) and is also used for carrying out dormancy management on the processing module (1), the data acquisition module (2), the wireless transmitting module (3) and the wireless receiving module (4).
5. The broadcast-based V2X communication terminal according to claim 1, wherein the wireless transmission module (3) transmits the precise location information, the moving direction and the moving speed of the moving source outwards by broadcasting;
the wireless receiving module (4) communicates with the base station in a broadcasting mode;
the wireless receiving module (4) is in communication connection with the base station through WiFi, UWB or 5G;
the base station is an MEC base station or a positioning base station.
6. The broadcast-based V2X communication terminal of claim 1, wherein the data acquisition module is a speed sensor, a direction sensor, a positioning sensor, or a gyroscope.
7. A broadcast based V2X communication system, characterized in that it comprises at least one broadcast based V2X communication terminal of any of claims 1-6, at least one base station (8), a plurality of drive test units (9) and/or at least one on-board unit (10);
the wireless transmitting module (3) is in communication connection with the drive test unit (9) and the vehicle-mounted unit (10); the wireless receiving module (4) is in communication connection with the base station (8);
the wireless transmitting module (3) sends the accurate position information, the moving direction and the moving speed of the moving source subjected to fusion processing to the drive test unit (9) and the vehicle-mounted unit (10).
8. The broadcast-based V2X communication system according to claim 7, wherein the wireless transmitting module (3) is communicatively connected with the drive test unit (9), the vehicle-mounted unit (10) through WiFi, UWB or 5G;
the wireless receiving module (4) is in communication connection with the base station (8) through WiFi, UWB or 5G;
the base station is an MEC base station or a positioning base station.
9. The broadcast-based V2X communication system according to claim 7, wherein the wireless transmitting module (3) communicates with the drive test unit (9), the vehicle-mounted unit (10) by means of broadcast;
the wireless receiving module (4) communicates with the base station (8) in a broadcasting mode.
10. A broadcast based V2X communication method, characterized in that, based on the broadcast based V2X communication terminal of any one of claims 1-6, comprising a plurality of drive test units (9) and/or at least one on-board unit (10) and the steps of:
s10, initializing the V2X communication terminal carried by a mobile source;
s20, the data acquisition module (2) acquires the position information, the moving direction and the moving speed of the moving source in real time and transmits the position information, the moving direction and the moving speed to the processing module (1);
s30, the wireless receiving module (4) collects the position information of the base station (8) in real time and transmits the position information to the processing module (1);
s40, the processing module (1) carries out fusion processing on the received position information of the base station (8), the position information of the moving source, the moving direction and the moving speed to obtain accurate position information, moving direction and moving speed of the moving source;
s50, the wireless transmitting module (3) sends the accurate position information, the moving direction and the moving speed of the moving source to the drive test unit (9) and the vehicle-mounted unit (10) in a broadcasting mode;
and S60, returning to the step S20, and continuing to collect, process and transmit the position information, the moving direction and the moving speed of the moving source until the power of the V2X communication terminal is turned off.
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Application publication date: 20220415 |