IEEE Open Journal of Intelligent Transportation Systems最新文献_第10页

High-Definition Maps: Comprehensive Survey, Challenges, and Future Perspectives 高清晰地图:综合调查、挑战和未来展望

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-07-14 DOI: 10.1109/OJITS.2023.3295502

Gamal Elghazaly;Raphaël Frank;Scott Harvey;Stefan Safko

{"title":"High-Definition Maps: Comprehensive Survey, Challenges, and Future Perspectives","authors":"Gamal Elghazaly;Raphaël Frank;Scott Harvey;Stefan Safko","doi":"10.1109/OJITS.2023.3295502","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3295502","url":null,"abstract":"In cooperative, connected, and automated mobility (CCAM), the more automated vehicles can perceive, model, and analyze the surrounding environment, the more they become aware and capable of understanding, making decisions, as well as safely and efficiently executing complex driving scenarios. High-definition (HD) maps represent the road environment with unprecedented centimetre-level precision with lane-level semantic information, making them a core component in smart mobility systems, and a key enabler for CCAM technology. These maps provide automated vehicles with a strong prior to understand the surrounding environment. An HD map is also considered as a hidden or virtual sensor, since it aggregates knowledge (mapping) from physical sensors, i.e., LiDAR, camera, GPS and IMU to build a model of the road environment. Maps for automated vehicles are quickly evolving towards a holistic representation of the digital infrastructure of smart cities to include not only road geometry and semantic information, but also live perception of road participants, updates on weather conditions, work zones and accidents. Deployment of autonomous vehicles at a large scale necessitates building and maintaining these maps by a large fleet of vehicles which work cooperatively to continuously keep maps up-to-date for autonomous vehicles in the fleet to function properly. This article provides an extensive review of the various applications of these maps in highly autonomous driving (AD) systems. We review the state-of-the-art of the different approaches and algorithms to build and maintain HD maps. Furthermore, we discuss and synthesise data, communication and infrastructure requirements for the distribution of HD maps. Finally, we review the current challenges and discuss future research directions for the next generation of digital mapping systems.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"527-550"},"PeriodicalIF":0.0,"publicationDate":"2023-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10184094.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49930239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

DNN-Based Map Deviation Detection in LiDAR Point Clouds 基于dnn的LiDAR点云地图偏差检测

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-07-11 DOI: 10.1109/OJITS.2023.3293911

Christopher Plachetka;Benjamin Sertolli;Jenny Fricke;Marvin Klingner;Tim Fingscheidt

引用次数: 1

An Optimized Car-Following Behavior in Response to a Lane-Changing Vehicle: A Bézier Curve-Based Approach 一种响应变道车辆的最优汽车跟随行为:基于bsamzier曲线的方法

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-30 DOI: 10.1109/OJITS.2023.3291177

Gihyeob An;Jun Han Bae;Alireza Talebpour

{"title":"An Optimized Car-Following Behavior in Response to a Lane-Changing Vehicle: A Bézier Curve-Based Approach","authors":"Gihyeob An;Jun Han Bae;Alireza Talebpour","doi":"10.1109/OJITS.2023.3291177","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3291177","url":null,"abstract":"Sudden lane-changing maneuvers can disrupt the traffic flow. In this paper, we introduce an approach to optimize car-following behavior in response to a lane-changing vehicle in a connected driving environment. Our approach utilizes a quadratic Bézier curve in the time-space diagram to represent the car-following behavior. The algorithm adapts to sudden interruptions from the leading vehicle (i.e., the lane-changing vehicle on the road) while considering driving comfort, traffic impacts, and safety. We derive the acceleration term and factor in initial braking and speed reduction along the curve to generate a safe trajectory for car-following behavior. Our approach was simulated using MATLAB and tested against real-world lane-changing trajectory data collected in Chicago, IL. Results show that our approach produces a safe trajectory curve that adjusts according to the preferred driving pattern when provided with a lane-changing trajectory. This approach provides a useful means of designing safe car-following behavior while considering the impact on upstream traffic in a connected driving environment.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"682-689"},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10168963.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49930230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons 异构不确定非线性自主网联车辆队列的弹性自适应有限时间容错控制

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-29 DOI: 10.1109/OJITS.2023.3290815

Bianca Caiazzo;Dario Giuseppe Lui;Alberto Petrillo;Stefania Santini

{"title":"Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons","authors":"Bianca Caiazzo;Dario Giuseppe Lui;Alberto Petrillo;Stefania Santini","doi":"10.1109/OJITS.2023.3290815","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3290815","url":null,"abstract":"This paper addresses the control problem of heterogeneous uncertain nonlinear autonomous vehicle platoons in the presence of adversarial threats arising in Vehicular Ad-hoc NETworks (VANET) during the information sharing process. As unpredictable faults and/or malicious attacks may affect the trustworthiness of the messages shared among vehicles, a suitable resilient control law, able to enhance the robustness of the platoon formation, is required for the prevention of dangerous events. With the aim of achieving a safe platoon control, we leverage Multi-Agent System (MAS) framework and we design a novel distributed backstepping finite-time control strategy, embedding adaptive mechanisms able to guarantee vehicles fleet resilience with respect to possible occurring faults. The proposed strategy falls into the passive fault-tolerant control framework and, hence, it does not require additional observers for fault detection and isolation, thus reducing the computational burden. Adaptive mechanisms are designed according to Lyapunov-based theory which, in combination with the Barbalat lemma, ensures the stability of the closed-loop vehicular network. More specifically, our approach allows guaranteeing the convergence towards zero of the spacing and speed errors, while ensuring that all adaptive signals are bounded in a finite-time interval. A detailed simulation analysis, including a comparison w.r.t. the technical literature, confirms the theoretical derivation, the effectiveness and the advantages of the proposed resilient control law in ensuring platoon formation for different driving scenarios despite the occurrence of unexpected faults.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"481-492"},"PeriodicalIF":0.0,"publicationDate":"2023-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10168202.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49929827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Signalling Design in Sensor-Assisted mmWave Communications for Cooperative Driving 基于传感器辅助毫米波通信的协同驾驶信号设计

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-21 DOI: 10.1109/OJITS.2023.3288396

Giovanni Ciaramitaro;Mattia Brambilla;Monica Nicoli;Umberto Spagnolini

{"title":"Signalling Design in Sensor-Assisted mmWave Communications for Cooperative Driving","authors":"Giovanni Ciaramitaro;Mattia Brambilla;Monica Nicoli;Umberto Spagnolini","doi":"10.1109/OJITS.2023.3288396","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3288396","url":null,"abstract":"Millimeter-Wave (mmWave) Vehicle-To-Vehicle (V2V) communications are a key enabler for connected and automated vehicles, as they support the low-latency exchange of control signals and high-resolution imaging data for maneuvering coordination. The employment of mmWave V2V communications calls for Beam Alignment and Tracking (BAT) procedures to ensure that the antenna beams are properly steered during motion. The conventional beam sweeping approach is known to be unsuited for the high vehicular mobility and its large overhead reduces transmission efficiency. A promising solution to reduce BAT signalling foresees the integration of V2V communication systems with on-board vehicle sensors. We focus on a cooperative sensor-assisted architecture for mmWave V2V communications in line of sight, where vehicles exchange the estimate of antenna position and its uncertainty to compute the optimal beam direction and dimension. We analyze and compare different signalling strategies for sharing the information on the antenna estimate, evaluating the tradeoff between signalling overhead and performance loss for different position and uncertainty encoding strategies. Main attention is given to differential quantization on both the antenna position and uncertainty. Analyses over realistic urban mobility trajectories suggest that differential approaches introduce a negligible performance loss while significantly reducing the BAT signalling communication overhead.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"493-505"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10159144.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49930235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Mitigation of ADS-B Spoofing Attack Impact on Departure Sequencing Through Modulated Synchronous Taxiing Approach 利用调制同步滑行方法缓解ADS-B欺骗攻击对起飞顺序的影响

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-16 DOI: 10.1109/OJITS.2023.3286881

Mohd Ruzeiny Kamaruzzaman;Md Delwar Hossain;Yuzo Taenaka;Youki Kadobayashi

{"title":"Mitigation of ADS-B Spoofing Attack Impact on Departure Sequencing Through Modulated Synchronous Taxiing Approach","authors":"Mohd Ruzeiny Kamaruzzaman;Md Delwar Hossain;Yuzo Taenaka;Youki Kadobayashi","doi":"10.1109/OJITS.2023.3286881","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3286881","url":null,"abstract":"Apart from delay to flight arrivals, occurrence of ghost aircraft from ADS-B message injection attack will also cause delay to the departure operations. Moreover, if attacks are designed meticulously, departure operations can suffer substantially with extensive flight delays and cancellations. To mitigate this incident, we propose a custom method for taxiing-out which encompasses three key components. First is by establishing situational awareness based on pivotal information about the taxiway and spoofing conditions. Next is application of dedicated algorithms to quickly capitalize available time to initiate aircraft clusters taxiing-out after temporal suspension. Lastly is the function to alternately switching clusters to recommence taxiing-out depending on changes in spoofing pattern. We simulated our proposed ‘Modulated Synchronous Taxiing Approach’ under several attack scenarios coupled with various taxiing-out schedules using a specially built discrete events model. Through a model that is formed based on integrated queues driven by a taxiing-out algorithm, experiment results show that our proposed approach fares better than other conventional taxiing-out approaches with more aircraft managed to get into the runway or closer to the runway. Overall, our proposed approach enhances departure operations resiliency whilst constantly maintaining safety first principle as the utmost priority amid uncertainties caused by cyberattack.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"720-739"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10153982.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49930233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CV2X-PC5 Vehicle-Based Tolling Transaction System CV2X-PC5车载收费交易系统

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-08 DOI: 10.1109/OJITS.2023.3283463

Krishna Bandi;Swetha Shailendra;Chitra Varanasi

{"title":"CV2X-PC5 Vehicle-Based Tolling Transaction System","authors":"Krishna Bandi;Swetha Shailendra;Chitra Varanasi","doi":"10.1109/OJITS.2023.3283463","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3283463","url":null,"abstract":"With an increase in Toll roads in the United States, tolling agencies are looking for ways to simplify the process for themselves and their customers. Cellular Vehicle-to-everything (CV2X-PC5) Tolling offers a new approach to smart tolling system - it provides a significant opportunity to improve the usage of tolling systems for both customers and tolling agencies. Unlike existing tolling systems, the proposed CV2X-PC5 tolling system offers the tolling agencies a more dynamic and reliable tolling and road usage scheme, and the toll user - a transparent real-time information about tolling zones and receipts. In this paper, we present the feasibility test analysis and the various benefits of CV2X-PC5 vehicle based tolling transaction system that could bring great value to the vehicle driver and tolling agency utilizing this wireless communication technology. This paper details the test summaries for two-tolling use-cases: Fixed Rate Tolling and Managed Lane Tolling. Our results show that CV2X-PC5 vehicle based tolling transaction system will be an integral part of a future in connected transportation, by leveraging connected vehicle systems and data we can create better flowing, transparent, smart transaction system and improve the overall customer experience.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"431-438"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10146540.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49930030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3-D Vehicle Detection Enhancement Using Tracking Feedback in Sparse Point Clouds Environments 稀疏点云环境下基于跟踪反馈的三维车辆检测增强

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-08 DOI: 10.1109/OJITS.2023.3283768

Yeqiang Qian;Xiaoliang Wang;Hanyang Zhuang;Chunxiang Wang;Ming Yang

{"title":"3-D Vehicle Detection Enhancement Using Tracking Feedback in Sparse Point Clouds Environments","authors":"Yeqiang Qian;Xiaoliang Wang;Hanyang Zhuang;Chunxiang Wang;Ming Yang","doi":"10.1109/OJITS.2023.3283768","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3283768","url":null,"abstract":"In recent years, vehicle detection in intelligent transportation systems using 3D LIDAR point clouds based on deep neural networks has made substantial progress. However, when the point clouds are very sparse, the detection model cannot generate proposals efficiently, resulting in false negative results. Considering that the object tracking technology accurately predicts vehicles based on historical measurements and motion models, and these prediction results can become proposals for object detection. Therefore, this paper proposes a novel object detection paradigm based on tracking feedback to address the false negative problem based on sparse point clouds. According to the distribution of the state vector from the Kalman prediction, multiple proposals are sampled and fed back to the second stage of two-stage detection models. After regression and non-maximum suppression, the false negative results can be effectively reduced. This method enhances the vehicle detection capability of classical neural networks. Comparing the recall metric of multiple detection models at different distances in the public KITTI and nuSences datasets, the proposed method can promote up to 5.31% compared to the previous method, which reflects the effectiveness and versatility of the proposed method.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"471-480"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10147030.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49929825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Occlusion Model—A Geometric Sensor Modeling Approach for Virtual Testing of ADAS/AD Functions 遮挡模型——用于ADAS/AD功能虚拟测试的几何传感器建模方法

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-07 DOI: 10.1109/OJITS.2023.3283618

Simon Genser;Stefan Muckenhuber;Christoph Gaisberger;Sarah Haas;Timo Haid

{"title":"Occlusion Model—A Geometric Sensor Modeling Approach for Virtual Testing of ADAS/AD Functions","authors":"Simon Genser;Stefan Muckenhuber;Christoph Gaisberger;Sarah Haas;Timo Haid","doi":"10.1109/OJITS.2023.3283618","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3283618","url":null,"abstract":"New advanced driver assistance system/automated driving (ADAS/AD) functions have the potential to significantly enhance the safety of vehicle passengers and road users, while also enabling new transportation applications and potentially reducing CO2 emissions. To achieve the next level of driving automation, i.e., SAE Level-3, physical test drives need to be supplemented by simulations in virtual test environments. A major challenge for today’s virtual test environments is to provide a realistic representation of the vehicle’s perception system (camera, lidar, radar). Therefore, new and improved sensor models are required to perform representative virtual tests that can supplement physical test drives. In this article, we present a computationally efficient, mathematically complete, and geometrically exact generic sensor modeling approach that solves the FOV (field of view) and occlusion task. We also discuss potential extensions, such as bounding-box cropping and sensor-specific, weather-dependent FOV-reduction approaches for camera, lidar, and radar. The performance of the new modeling approach is demonstrated using camera measurements from a test campaign conducted in Hungary in 2020 plus three artificial scenarios (a multi-target scenario with an adjacent truck occluding other road users and two traffic jam situations in which the ego vehicle is either a car or a truck). These scenarios are benchmarked against existing sensor modeling approaches that only exclude objects that are outside the sensor’s maximum detection range or angle. The modeling approach presented can be used as is or provide the basis for a more complex sensor model, as it reduces the number of potentially detectable targets and therefore improves the performance of subsequent simulation steps.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"439-455"},"PeriodicalIF":0.0,"publicationDate":"2023-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10146003.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49959988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

HISS: A Pedestrian Trajectory Planning Framework Using Receding Horizon Optimization HISS:一个使用后退视界优化的行人轨迹规划框架

IEEE Open Journal of Intelligent Transportation Systems Pub Date : 2023-06-02 DOI: 10.1109/OJITS.2023.3282237

Saumya Gupta;Mohamed H. Zaki;Adan Vela

{"title":"HISS: A Pedestrian Trajectory Planning Framework Using Receding Horizon Optimization","authors":"Saumya Gupta;Mohamed H. Zaki;Adan Vela","doi":"10.1109/OJITS.2023.3282237","DOIUrl":"https://doi.org/10.1109/OJITS.2023.3282237","url":null,"abstract":"The paper proposes a generative pedestrian trajectory modeling framework named HISS - Human Interactions in Shared Space. The trajectory modeling framework is based on a receding horizon optimization approach utilizing pedestrian behavior and interactions that seeks to capture pedestrian trajectory planning and execution. The benefit of the proposed dynamic optimization trajectory generation approach is that it requires minimal calibration data under a variety of traffic scenarios. In this paper, we formalize several pedestrian-pedestrian interaction scenarios and implement trajectories’ conflict avoidance through mixed integer linear programming (MILP). We validate the proposed framework on two benchmark datasets - DUT and TrajNet++. The paper shows that when the framework’s parameters are tuned to certain initial conditions and pedestrian behavior and interaction rules, the framework generates pedestrian trajectories similar to those observable in real-world scenarios, justifying the framework’s capability to provide explanations and solutions to various traffic situations. This feature makes the proposed framework useful for modelers and urban city planners in making policy decisions.","PeriodicalId":100631,"journal":{"name":"IEEE Open Journal of Intelligent Transportation Systems","volume":"4 ","pages":"456-470"},"PeriodicalIF":0.0,"publicationDate":"2023-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8784355/9999144/10143376.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49929823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0