IEEE Transactions on Intelligent Vehicles最新文献_第9页

Vehicle Braking Stability Control With Variable Ratio Braking Forces Optimization Distribution During Cornering Braking Process 变比制动力优化分配的车辆转弯制动稳定性控制

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-12 DOI: 10.1109/TIV.2024.3388015

Mingbin Tang;Xiangwen Zhang;Jiacheng Liu

{"title":"Vehicle Braking Stability Control With Variable Ratio Braking Forces Optimization Distribution During Cornering Braking Process","authors":"Mingbin Tang;Xiangwen Zhang;Jiacheng Liu","doi":"10.1109/TIV.2024.3388015","DOIUrl":"https://doi.org/10.1109/TIV.2024.3388015","url":null,"abstract":"During the vehicle cornering braking process, there is a complex coupling relationship between the longitudinal and lateral forces, and the auxiliary steering and braking systems are usually coordinated to achieve the vehicle braking stability and the lane keeping simultaneously. However, the auxiliary steering angle may change the trajectory of the vehicle. In order to simplify the control process and enhance the braking stability, a braking stability control strategy without the auxiliary steering system is proposed based on an adaptive sliding mode control algorithm with optimized braking forces distribution. The distribution ratio of the front and rear braking forces is optimized by considering the various braking strengths and compliance with ECE regulations. The adaptive sliding mode control algorithm is designed to obtain the additional yaw moment to control the steering process. A new convergence law is developed based on a constant rate convergence law and a power rate convergence law to accelerate the convergence process. The ultimate braking forces of each wheel are formed with the optimized front and rear braking forces and the additional braking forces obtained based on the steering characteristics of the vehicle and the additional yaw moment. Finally, the strategy's effectiveness and superiority are validated and compared with the fixed ratio strategy through hardware-in-loop experiments. The results demonstrate that the vehicle braking stability control strategy achieves smaller tracking errors for yaw rate and sideslip angle, reduced fluctuation in the sideslip angle curve, a smaller lateral deviation, a smaller phase plane trajectory area, and improved stability.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6687-6700"},"PeriodicalIF":14.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Extending Operational Design Domain for Perception Systems Through Robust Learning 通过鲁棒学习扩展感知系统的操作设计域

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-12 DOI: 10.1109/TIV.2024.3386915

Chen Sun;Yaodong Cui;Minghao Ning;Yukun Lu;Dongpu Cao;Amir Khajepour

{"title":"Extending Operational Design Domain for Perception Systems Through Robust Learning","authors":"Chen Sun;Yaodong Cui;Minghao Ning;Yukun Lu;Dongpu Cao;Amir Khajepour","doi":"10.1109/TIV.2024.3386915","DOIUrl":"https://doi.org/10.1109/TIV.2024.3386915","url":null,"abstract":"Perception modules in Autonomous Driving Systems (ADS) provide excellent performance in simple, constrained environments but generally have precarious performance in real driving situations with various weather and lighting conditions. Therefore, robust perception performance in new and unanticipated domains is a crucial factor for the large-scale application of autonomous driving, especially when considering unexpected scenarios outside the predefined Operational Design Domain (ODD). This paper proposes a novel approach to extending the ODD for perception modules in ADS through robust learning. The model's robustness is characterized by the anchor data and corresponding perturbation model. The robust learning task is then formulated as a min-max optimization problem conjugated to the perturbation model and a semantically parameter-defined constrained exploration space. The proposed robustify procedures solve the optimization problem in terms of robustness-related batch loss and worst-case loss, which improves the model resilience in multiple domain shift experiments, including virtual-real and weather changes. This paper presents experimental results that demonstrate the efficacy of robust learning approaches in extending the ODD for perception modules and provides insights into future research directions in this field.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6599-6609"},"PeriodicalIF":14.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

VHDMap-SE: A Universal Vectorized High-Definition Map Aided Vehicle State Estimator VHDMap-SE：一种通用的矢量化高清地图辅助车辆状态估计器

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-12 DOI: 10.1109/TIV.2024.3388204

Hongji Liu;Mingkai Tang;Mingkai Jia;Yingbing Chen;Jin Wu;Ming Liu

{"title":"VHDMap-SE: A Universal Vectorized High-Definition Map Aided Vehicle State Estimator","authors":"Hongji Liu;Mingkai Tang;Mingkai Jia;Yingbing Chen;Jin Wu;Ming Liu","doi":"10.1109/TIV.2024.3388204","DOIUrl":"https://doi.org/10.1109/TIV.2024.3388204","url":null,"abstract":"As unmanned ground vehicles (UGVs) applications expand to large-scale and open road scenarios, vectorized high-definition maps (VHD maps) demonstrate greater potential in solving state correction problems than traditional metric maps. Previous related studies typically employ proprietary versions of VHD maps without fully leveraging the common traffic elements' information. In addition, there is a lack of research on efficient interaction methods between UGVs and VHD maps. To fill these gaps, we propose a universal UGV state estimation system and a query-based VHD map data exchange protocol. The system utilizes VHD maps to correct the lateral and longitudinal positions as well as the yaw orientation of UGVs. The data exchange protocol enables UGVs to obtain real-time VHD map information and process it efficiently. To ensure universality, we accommodate two widely used VHD map formats, ASAM OpenDRIVE and Apollo OpenDRIVE and provide corresponding map parsing methods. The evaluation of the system is conducted both in simulated and real-world scenes. In the simulation experiments, we fully measure the effectiveness and accuracy of our method, as well as its sensitivity to measurement noise. In real-world experiments, we compare the state estimation accuracy of our system with SOTA simultaneous localization and mapping methods on an open road. The results show that our system demonstrates better accuracy than other baselines on most data sequences. The proposed map data exchange protocol meets real-time requirements.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6701-6715"},"PeriodicalIF":14.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Longitudinal Decoupling Control of Altitude and Velocity for a Fixed-Wing Aircraft 固定翼飞机高度与速度的纵向解耦控制

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-12 DOI: 10.1109/TIV.2024.3388257

Hongbo Xin;Qingyang Chen;Yuewei Xian;Peng Wang;Yuejie Wang;Xuan Yao;Yafei Lu;Zhongxi Hou

{"title":"Longitudinal Decoupling Control of Altitude and Velocity for a Fixed-Wing Aircraft","authors":"Hongbo Xin;Qingyang Chen;Yuewei Xian;Peng Wang;Yuejie Wang;Xuan Yao;Yafei Lu;Zhongxi Hou","doi":"10.1109/TIV.2024.3388257","DOIUrl":"https://doi.org/10.1109/TIV.2024.3388257","url":null,"abstract":"The longitudinal altitude and airspeed coordinated control is critical for unmanned fixed-wing aircrafts, especially during the taxiing landing process However, due to the strongly coupled relation of kinetic energy and gravitational potential energy, the precision longitudinal control is difficult. The traditional longitudinal control method based on PID (Proportional-Integral-Differential) usually adopts different control parameters at different flight stages. But the regulation of the control structure is complex, and some fluctuation may exist during the transition process, which will affect the control performance. The TECS (Total Energy Control System) method adopts the decoupling strategy that the throttle controls the total energy and the pitch angle controls the energy balance between kinetic and potential. However, the parameters-adjusting process is relatively complex and the adaptability to model nonlinearity is imperfect. Based on the INDI (Incremental Nonlinear Dynamic Inversion) method and the trim relation of the aircrafts, a longitudinal altitude/airspeed decoupling control method is proposed in this paper. Firstly, the process of control law design is systematically described. The core points of states balance and transition are described for the design of the method. Secondly, the feasibility and basic control effects of the control method are verified by simulations. During the simulation, a variable coefficient PI pseudo is proposed, to accommodate the requirements of accurate gliding and smooth grounding. Finally, to further verify the effectiveness and superiority of the proposed method, comparisons between the proposed method and the TECS method is carried out. From the simulation results, the in the sense of precise altitude control during auto landing process.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6738-6748"},"PeriodicalIF":14.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

MH-Net: Multiheaded 3D Hand Pose Estimation Network With 3D Anchorsets and Improved Multiscale Vision Transformer MH-Net：多头三维手部姿态估计网络与三维锚定和改进的多尺度视觉变压器

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-11 DOI: 10.1109/TIV.2024.3387344

Tekie Tsegay Tewolde;Ali Asghar Manjotho;Zhendong Niu

{"title":"MH-Net: Multiheaded 3D Hand Pose Estimation Network With 3D Anchorsets and Improved Multiscale Vision Transformer","authors":"Tekie Tsegay Tewolde;Ali Asghar Manjotho;Zhendong Niu","doi":"10.1109/TIV.2024.3387344","DOIUrl":"https://doi.org/10.1109/TIV.2024.3387344","url":null,"abstract":"Accurate 3D hand pose estimation is a challenging computer vision problem primarily because of self-occlusion and viewpoint variations. Existing methods address viewpoint variations by applying data-centric transformations, such as data alignments or generating multiple views, which are prone to data sensitivity, error propagation, and prohibitive computational requirements. We improve the estimation accuracy by mitigating the impact of self-occlusion and viewpoint variations from the network side and propose MH-Net, a novel multiheaded network for accurate 3D hand pose estimation from a depth image. MH-Net comprises three key components. First, a multiscale feature extraction backbone based on an improved multiscale vision transformer (MViTv2) is proposed to extract shift-invariant global features. Second, a 3D anchorset generator is proposed to generate three disjoint sets of 3D anchors that serve two purposes: formulating hand pose estimation as an anchor-to-joint offset estimation and defining three unique viewpoints from a single depth image. Third, three identical regression heads are proposed to regress 3D joint positions based on unique viewpoints defined by their respective anchorsets. Extensive ablation studies have been conducted to investigate the impact of anchorsets, regression heads, and feature extraction backbones. Experiments on three public datasets, ICVL, MSRA, and NYU, show significant improvements over the state-of-the-art.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6660-6671"},"PeriodicalIF":14.0,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Systematic Mapping of Autonomous Vehicle Prototypes: Trends and Opportunities 自动驾驶汽车原型的系统映射：趋势和机遇

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-11 DOI: 10.1109/TIV.2024.3387394

Ericson Silva;Felipe Soares;Wenderson Júnio de Souza;Henrique Freitas

{"title":"A Systematic Mapping of Autonomous Vehicle Prototypes: Trends and Opportunities","authors":"Ericson Silva;Felipe Soares;Wenderson Júnio de Souza;Henrique Freitas","doi":"10.1109/TIV.2024.3387394","DOIUrl":"https://doi.org/10.1109/TIV.2024.3387394","url":null,"abstract":"Autonomous driving vehicles (ADVs) are the next significant evolution in transportation systems. Using machine learning techniques supported by strong processing units and sensors, the driver would be removed and the vehicle would drive itself, bringing countless advantages to the commuting system. There are too many players developing their own ADV prototypes all over the world. For this reason, this paper aims to use a systematic mapping study (SMS) to identify trends and patterns in ADV development. From a set of academic databases, a total of 68 papers were selected from a total of 548 after applying inclusion and exclusion criteria and snowballing techniques. The results showed the technical characteristics of the platform required to develop real-size and mini ADV prototypes. In addition, the paper explains the detailed software and hardware architectures and their main aspects and requirements. Finally, the paper discusses the necessary set of sensors which are required and their characteristics and main suppliers. It was possible to map the publications distribution based on venues, year, authors' affiliation, and most prolific countries. This work can guide researchers to design their ADV prototype or identify development bottlenecks that could lead to narrow research and innovation possibilities in autonomous driving vehicle development.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 11","pages":"6777-6802"},"PeriodicalIF":14.0,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144501938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

eVTOL Performance Analysis: A Review From Control Perspectives eVTOL 性能分析：从控制角度回顾

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-11 DOI: 10.1109/TIV.2024.3387405

Jiangcheng Su;Hailong Huang;Hong Zhang;Yutong Wang;Fei-Yue Wang

引用次数: 0

Optimal Encirclement Control Along Arbitrary Orbits for Vehicles Considering Safety Constraints: A Safe Learning Approach 考虑安全约束的车辆沿任意轨道最优包围圈控制：一种安全学习方法

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-11 DOI: 10.1109/TIV.2024.3387550

Fei Zhang;Guang-Hong Yang;Georgi Marko Dimirovski

{"title":"Optimal Encirclement Control Along Arbitrary Orbits for Vehicles Considering Safety Constraints: A Safe Learning Approach","authors":"Fei Zhang;Guang-Hong Yang;Georgi Marko Dimirovski","doi":"10.1109/TIV.2024.3387550","DOIUrl":"https://doi.org/10.1109/TIV.2024.3387550","url":null,"abstract":"This paper studies the optimal encirclement problem for autonomous vehicles along arbitrary patterns subject to safety constraints (i.e., avoidance region). A learning-based safe optimal encircling control scheme is proposed to steer vehicles to pursue the target within arbitrary shapes while minimizing the cost and avoiding obstacles. Specifically, an encirclement orbit generator is explored to produce user-specified reference paths centered on targets, rendering the optimal circling problem converted to an optimal tracking issue with additional safety constraints. Furthermore, by mathematically describing the obstacles as control barrier functions (CBFs), a new Hamilton-Jacobi-Bellman (HJB) equation with CBF constraints is constructed, and then a crucial safety declaration is incorporated into the reinforcement learning (RL) strategy to assure safety. Afterward, an improved critic-only approximator is tailored to synthesize the control policy, in which a novel finite-time learning rule formulated by parametric adaptation with guaranteed convergence is developed via setting the auxiliary variables. Compared with the prevailing enclosing alternatives forming an ordinary circular or elliptical path, the proposed approach can not only deliver an arbitrarily user-defined encirclement pattern but also endow an optimum encircling performance without violating safety constraints via online safe learning. Finally, simulations verify the feasibility and superiority of the suggested algorithm.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6672-6686"},"PeriodicalIF":14.0,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Improved LOS Guidance and Sail-Rudder Cooperative Controller for the Path Tracking of Unmanned Sailboats 一种改进的LOS制导和帆舵协同控制器用于无人驾驶帆船的路径跟踪

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-10 DOI: 10.1109/TIV.2024.3386964

Hongde Qin;Peilong Xu;Fumin Zhang;Yifan Xue

{"title":"An Improved LOS Guidance and Sail-Rudder Cooperative Controller for the Path Tracking of Unmanned Sailboats","authors":"Hongde Qin;Peilong Xu;Fumin Zhang;Yifan Xue","doi":"10.1109/TIV.2024.3386964","DOIUrl":"https://doi.org/10.1109/TIV.2024.3386964","url":null,"abstract":"Unmanned sailboats are driven only by wind, making them good platforms for the synchronous observation of air-sea interfaces over a large range. Compared with traditional unmanned ships, the unmanned sailboat involves simultaneous sail and rudder control for path tracking in unpredictable marine environments. The system is characterized by strong coupling and nonlinearity, creating challenges for the design of controllers. This paper combines line-of-sight (LOS) guidance with the introduction of a sideslip angle observer and model predictive control. A high-precision path tracking strategy suitable for cooperative sail and rudder control for unmanned sailboats is proposed. First, considering the lateral error easily caused by the large sideslip angle of sailboats, a full-path fixed-time guidance strategy with double fixed-time sideslip angle observers (DFSO) is proposed. Second, different from the previous strategy of decoupling the sail and rudder to control the speed and heading, the proposed cooperative control framework uses Lyapunov-based model predictive control (LMPC). The sailing speed and heading angle are both accounted for in the objective function, and the stability is verified by Lyapunov theory. Finally, the feasibility and superiority of this proposed method are confirmed by numerical simulation experiments involving the path tracking of a four degree of freedom sailboat model integrated with wind and waves in an ocean environment.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6610-6623"},"PeriodicalIF":14.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Recovering Physiological Signals From Facial Videos: Recent Advances and Applications in Intelligent Vehicles 从面部视频中恢复生理信号：最新进展及其在智能车辆中的应用

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-04-10 DOI: 10.1109/TIV.2024.3386859

Guoliang Xiang;Yuheng Ou;Jiaxian Li;Lvyang Wang;Yehan Hu;Xin Wang;Xianhui Wu;Yong Peng

{"title":"Recovering Physiological Signals From Facial Videos: Recent Advances and Applications in Intelligent Vehicles","authors":"Guoliang Xiang;Yuheng Ou;Jiaxian Li;Lvyang Wang;Yehan Hu;Xin Wang;Xianhui Wu;Yong Peng","doi":"10.1109/TIV.2024.3386859","DOIUrl":"https://doi.org/10.1109/TIV.2024.3386859","url":null,"abstract":"In recent years, non-contact physiological signal monitoring based on facial video has garnered significant attention due to its convenience and low cost. Unlike traditional methods for physiological signal monitoring, which necessitate complex equipment and stringent monitoring conditions, remote photoplethysmography (rPPG) technology relies solely on a camera to recover photoplethysmography (PPG) signals and analyze a broad spectrum of physiological metrics. This approach can be easily integrated into existing sensors in smart vehicles, enabling in-vehicle occupant status monitoring. In this paper, we conduct a comprehensive review of current research progress in detecting physiological signals using rPPG technology, specifically focusing on smart vehicles. This includes benchmark datasets, video preprocessing methods, unsupervised, supervised, and self-supervised signal restoration techniques, as well as post-processing methods applied to the signals. We also provide a performance summary of all these methods across various datasets. Additionally, we delve into the primary applications of rPPG technology in intelligent vehicles and highlight the current challenges. Finally, we conclude with a discussion on future research directions in this area to facilitate broader application of rPPG technology in the field of intelligent vehicles.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 10","pages":"6576-6598"},"PeriodicalIF":14.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0