Isiqulatho[Fihla][Bonisa]
Iinzwa kunye nesoftware zidityanisiwe kwiimoto ezizimeleyo ukuhamba, ukuhambisa, kunye nokusebenzisa iimoto ezahlukeneyo, kubandakanya izithuthuthu, iimoto, iilori kunye needrones.
Ngokuxhomekeke kwindlela eziye zaphuhliswa ngayo okanye zayilwa ngayo, zinokufuna okanye zingafuna uncedo lomqhubi.
Iimoto ezizimeleyo ngokupheleleyo zinokusebenza ngokukhuselekileyo ngaphandle kwabaqhubi babantu. Abanye, njengaye IWaymo kaGoogle Imoto, yayingakwazi nokuba nevili lokuqhuba.
Isithuthi esizimeleyo, esifana ne tesla, ingathatha ulawulo olupheleleyo lwesithuthi kodwa inokufuna umqhubi ongumntu ukuba ancedise ukuba inkqubo iyathandabuza.
Iidigri ezahlukeneyo zokuzitshintsha zifakiwe kwezi moto, ukusuka kwisikhokelo sendlela kunye noncedo lwebraking ukuya kwiiprototypes ezizimeleyo, eziziqhubayo.
Iinjongo zeemoto ezingaqhubiyo kukuthoba itrafikhi, ukukhutshwa kwezinto ezikhutshwayo kunye namazinga eengozi.
Oku kunokwenzeka ngenxa yokuba izithuthi ezizimeleyo zinobuchule ngakumbi ekubambeleleni kwimithetho yendlela kunabantu.
Ukuqhuba kakuhle, ulwazi oluthile luyimfuneko, njengendawo yemoto okanye naziphi na izinto ezikufutshane, eyona ndlela imfutshane kunye nekhuselekileyo yokuya kwindawo ekuyiwa kuyo, kunye nokukwazi ukusebenzisa inkqubo yokuqhuba.
Kubalulekile ukuqonda ixesha kunye nendlela yokwenza imisebenzi eyimfuneko.
Eli nqaku liza kugubungela umhlaba omninzi, kubandakanya uyilo lwenkqubo kwiimoto ezizimeleyo, amacandelo afunekayo, kunye neenethiwekhi ze-ad hoc zezithuthi (VANETs).
Amacandelo ayimfuneko afunekayo kwiSithuthi esiziThumelayo
Iimoto zanamhlanje ezizimeleyo zisebenzisa iintlobo ngeentlobo zezivamvo, kubandakanywa iikhamera, iGPS, iiyunithi zokulinganisa okunertial (IMUs), i-sonar, ukufumanisa ukukhanya kwe-laser kunye noluhlu (i-lidar), ukufumanisa irediyo kunye ne-radar (radar), ukuhamba kwesandi, kunye nokusukela (sonar), kunye Iimephu ze3D.
Ngokudibeneyo, ezi zivamvo kunye netekhnoloji zihlalutya idatha ngexesha lokwenyani ukulawula isitrato, isantya, kunye ne-braking.
Izixhobo zoluvo lweradar zinceda ukugcina umkhondo weendawo ezikuyo iimoto ezijikelezileyo. Izithuthi zincediswa ngeenzwa ze-ultrasonic ngexesha lokupaka.
Itekhnoloji eyaziwa ngokuba sisilidi yenziwa ngokusebenzisa zombini iindidi zezivamvo. Ngokubonakalisa ukukhanya okuphuma kwindawo ejikeleze imoto, izinzwa zelidar zinokubona imida yeendlela kwaye zichonge iziphawuli zendlela.
Ezi zikwalumkisa abaqhubi ngemiqobo ekufuphi, njengezinye iimoto, abahambi ngeenyawo neebhayisekile.
Ubungakanani kunye nomgama wayo yonke into ejikeleze imoto ilinganiswa ngokusebenzisa iteknoloji ye-lidar, eyenza kwakhona imephu ye-3D evumela ukuba isithuthi sijonge indawo engqongileyo kwaye sichonge nayiphi na ingozi.
Nokuba liliphi na ixesha losuku, nokuba liqaqambile okanye limfiliba, lenza umsebenzi oncomekayo wokurekhoda ulwazi kwiindidi ezahlukeneyo zokukhanya kwendawo.
Imoto isebenzisa iikhamera, iradar, kunye nee-eriyali zeGPS, kunye ne-lidar kunye neekhamera, ukubona indawo eyingqongileyo kunye nokuchonga indawo ekuyo.
Iikhamera zijonga abahambi ngeenyawo, iibhayisekile, iimoto, nezinye izithintelo ngoxa zikwabona iimpawu zendlela, zifunda iimpawu zendlela neempawu zendlela, nokugcina umkhondo wezinye izithuthi.
Nangona kunjalo, banokuba nobunzima kwiindawo ezimnyama okanye ezinomthunzi. Isithuthi esizimeleyo sinokubona apho siya khona ngokusebenzisa umxube we-lidar, i-radar, iikhamera, ii-eriyali ze-GPS, kunye nezinzwa ze-ultrasonic ukwenza imephu yendlela ephambi kwayo ngedijithali.
Inqanaba eliphezulu loyilo lweNkqubo
Abenzi boluvo ababalulekileyo, ii-activators, ihardware, kunye nesoftware zidweliswe kulwakhiwo, olukwabonisa yonke indlela yonxibelelwano okanye iprotocol kwii-AVs.
Ukuqonda
Eli nqanaba liquka ukuchonga indawo ye-AV ngokunxulumene nokusingqongileyo kunye nokubona okusingqongileyo okujikeleze i-AV kusetyenziswa iindidi ezahlukeneyo zoluvo.
I-AV isebenzisa i-RADAR, i-LIDAR, ikhamera, i-kinetic yexesha langempela (RTK), kunye nezinye izinzwa kule nyathelo. Iimodyuli zokuqaphela zifumana idatha kwezi zinzwa kwaye ziyiqhube emva kokudlula.
Ngokubanzi, i-AV iqukethe inkqubo yokulawula, i-LDWS, i-TSR, ukuqaphela imiqobo engaziwayo (UOR), imodyuli yokubeka isithuthi kunye nendawo (VPL), njl.
Ulwazi oludibeneyo lunikezelwa kwinqanaba lokuthatha izigqibo kunye nokucwangcisa emva kokuba kuqhutywe.
Isigqibo kunye noCwangciso
Ukunyakaza kunye nokuziphatha kwe-AV kugqitywe, kucwangciswe, kwaye kulawulwe kweli nyathelo kusetyenziswa ulwazi olufunyenwe ngexesha lenkqubo yokubona.
Eli nqanaba, apho ingqondo iya kumela, kulapho ukhetho lwenziwayo kwizinto ezifana nokucwangcisa indlela, uqikelelo lwesenzo, ukuphepha imiqobo, njl.
Ukhetho lusekelwe kulwazi olukhoyo ngoku kwaye lufikeleleke ngokwembali, kubandakanywa idatha yemephu yexesha langempela, i-traffic specifics, intsingiselo, ulwazi lomsebenzisi, njl.
Kunokubakho imodyuli yedatha egcina umkhondo weempazamo kunye nedatha yokusetyenziswa kamva.
ulawulo
Imodyuli yokulawula yenza imisebenzi / izenzo ezihambelana nokulawulwa komzimba we-AV, njengokuqhuba, ukunyathela, ukukhawuleza, njl. emva kokufumana ulwazi kwisigqibo kunye nemodyuli yokucwangcisa.
semoto
Inyathelo lokugqibela libandakanya ukunxibelelana namalungu omatshini ancanyathiselwe kwi-chassis, njengemoto yegiya, ivili lokuqhuba, i-pedal motor, kunye ne-pedal motors ye-accelerator kunye ne-brake.
Imiqondiso yemodyuli yolawulo kwaye ilawula onke la macandelo.
Ngoku siza kuthetha ngonxibelelwano ngokubanzi lwe-AV ngaphambi kokuba sithethe ngoyilo, ukusebenza, kunye nokusetyenziswa kwezinzwa ezingundoqo ezahlukeneyo.
IRADA
Kwii-AVs, iiRADAR zisetyenziselwa ukuskena okusingqongileyo ukufumana kunye nokufumana iimoto kunye nezinye izinto.
I-RADAR zihlala zisebenza kwiinjongo zomkhosi kunye nezoluntu, ezifana nezikhululo zeenqwelomoya okanye iinkqubo zemozulu, kwaye zisebenza kwimillimeter-wave (mm-Wave) spectrum.
Iibhendi zamaza ahlukeneyo, kubandakanywa i-24, 60, 77, kunye ne-79 GHz, zisetyenziswa kwiimoto zangoku kwaye zinoluhlu lomlinganiselo we-5 ukuya kwi-200 m [10].
Ngokubala i-ToF phakathi kwesignali edlulisiweyo kunye ne-echo ebuyisiweyo, umgama phakathi kwe-AV kunye nento inqunywe.
Kwii-AVs, ii-RADAR zisebenzisa uluhlu lwee-antenna ezincinci ezenza ingqokelela ye-lobes ukuphucula isisombululo soluhlu kunye nokuchongwa kweethagethi ezininzi. I-mm-Wave RADAR inokuvavanya ngokuchanekileyo izinto ezikuluhlu olusondeleyo kulo naliphi na icala ngokusebenzisa ukuhluka kwi-Doppler shift ngenxa yokwanda kokungena kwayo kunye ne-bandwidth enkulu.
Kuba ii-radars ze-mm-Wave zinobude obude, zine-anti-blocking kunye ne-anti-ngcoliseko amandla okwenza ukuba zisebenze emvuleni, kwikhephu, kwinkungu kunye nokukhanya okuphantsi.
Ukongeza, i-Doppler shift inokusetyenziselwa ukubala isantya esihambelanayo ngeerada ze-mm-Wave. Ngenxa yesakhono sabo, i-radars ye-mm-Wave ifaneleka kakuhle kwiinkqubo ezininzi ze-AV, kubandakanywa ukufumanisa umqobo, kunye nokuqaphela abahamba ngeenyawo kunye nesithuthi.
Iinzwa ze-ultrasonic
Ezi zinzwa zisebenza kuluhlu lwe-20-40 kHz kwaye zisebenzisa amaza e-ultrasonic. Inwebu ekwaziyo ukumelana nemagnethi esetyenziselwa ukulinganisa umgama wento ivelisa la maza.
Ngokubala ixesha lokuhamba (i-ToF) ye-wave ekhutshwayo kwi-echoed signal, umgama unqunywe. Uluhlu oluqhelekileyo lweenzwa ze-ultrasonic lungaphantsi kweemitha ezi-3.
Isiphumo senzwa sihlaziywa rhoqo nge-20 ms, ethintela ukuba ihambelane neemfuno zeQoS ezingqongqo ze-ITS. Ezi zivamvo zinoluhlu oluncinci lokubona umqadi kwaye ziqondiswe.
Ke ngoko, ukufumana umbono ogcweleyo wentsimi, uninzi lwezoluvo luyafuneka. Nangona kunjalo, uninzi lwabenzi boluvo luya kusebenzisana kwaye lunokubangela ukungachaneki okubalulekileyo koluhlu.
LiDAR
I-spectra ye-905 kunye ne-1550 nm isetyenziswa kwi-LiDAR. Ekubeni iliso lomntu lichaphazeleka kumonakalo we-retinal ukusuka kuluhlu lwe-905 nm, i-LiDAR yangoku isebenza kwi-1550 nm band ukunciphisa umonakalo we-retinal.
Ukuya kuthi ga kwi-200 yeemitha lolona luhlu luphezulu lokusebenza lwe-LiDAR. I-Solid-state, i-2D, kunye ne-3D LiDAR ngamacandelo ahlukeneyo e-LiDAR.
I-laser beam enye isasazwa phezu kwesibuko esijikeleza ngokukhawuleza kwi-2D LiDAR. Ngokubeka ii-lasers ezininzi kwi-pod, i-3D LiDAR inokufumana umfanekiso we-3D wendawo engqongileyo.
Kuye kwaboniswa ukuba inkqubo ye-LiDAR yendlela yendlela inciphisa inani leemoto ezihamba ngeenyawo (V2P) kwiindawo ezinqamlezileyo kunye nezingadibaniyo.
Isebenzisa umgca we-16, ixesha lokwenyani, inkqubo ye-LiDAR esebenzayo.
Kucetyiswa ukuba kusetyenziswe i-encoder enzulu eyenziweyo inethiwekhi yomnatha (DA-ANN), efezekisa ukuchaneka kwe-95% kuluhlu lwe-30 m.
Kuyo, kuboniswa indlela umatshini we-vector yenkxaso (SVM)-based algorithm edityaniswe ne-64-line ye-3D LiDAR inokuphucula ukuqatshelwa kwabahambi ngeenyawo.
Ngaphandle kokuchaneka komlinganiselo ongcono kunye nombono we-3D kune-radar ye-mm-Wave, i-LiDAR iqhuba kakuhle kancinci kwimozulu embi kubandakanya inkungu, ikhephu kunye nemvula.
IiKhamera
Kuxhomekeke kubude besixhobo, ikhamera ekwi-AVs inokuba yi-infrared-okanye ebonakalayo-esekelwe kukukhanya.
Isixhobo esidityanisiweyo (i-CCD) kunye ne-metal-oxide-semiconductor (CMOS) ehambelanayo ye-sensors yemifanekiso isetyenziswa kwikhamera (CMOS).
Ngokuxhomekeke kumgangatho welensi, uluhlu oluphezulu lwekhamera lujikeleze i-250 m. Iibhanti ezintathu ezisetyenziswa ziikhamera ezibonakalayo-Ebomvu, eluhlaza, neBlue-zahlulwe ngamaza obude obufana neso lomntu, okanye i-400-780 nm (RGB).
Iikhamera ezimbini ze-VIS zidityaniswe nobude obumiselweyo obusekiweyo ukwenza umjelo omtsha oqulethe ulwazi olunzulu (D), okuvumela ukuyilwa kombono we-stereoscopic.
Umbono we-3D wendawo ejikeleze isithuthi unokufumaneka ngokubonga kwesi sixhobo ngekhamera (RGB-D).
Iinzwa zePassive ezinobude obuphakathi kwe-780 nm kunye ne-1 mm zisetyenziswa yikhamera ye-infrared (IR). Ekukhanyeni okuphezulu, iinzwa ze-IR kwii-AVs zibonelela ngolawulo olubonakalayo.
Le khamera inceda ii-AVs ngokuqaphela into, ulawulo lokujonga ecaleni, ukurekhoda kwengozi, kunye ne-BSD. Noko ke, xa imozulu imbi, njengekhephu, inkungu, nokutshintsha kokukhanya, indlela esebenza ngayo ikhamera iyatshintsha.
Iingenelo eziphambili zekhamera kukukwazi kwayo ukuqokelela ngokuchanekileyo kwaye irekhode ukuthungwa, ukuhanjiswa kombala, kunye nokumila kokusingqongileyo.
I-Global Navigation Satellite System kunye ne-Global Positioning System, i-Inertial Measurement Unit
Le teknoloji inceda i-AV ekuhambeni ngokukhomba indawo yayo echanekileyo. Iqela lesathelayithi kwi-orbit ejikeleza umphezulu weplanethi isetyenziswa yi-GNSS ukuze ihlale kwindawo.
Inkqubo igcina idatha kwindawo ye-AV, isantya, kunye nexesha elichanekileyo.
Isebenza ngokufumanisa i-ToF phakathi komqondiso ofunyenweyo kunye nokukhutshwa kwesathelayithi. Ulungelelwaniso lweGlobal Positioning System (GPS) luhlala lusetyenziswa ukufumana indawo ye-AV.
Ulungelelwaniso olukhutshiweyo lweGPS alusoloko luchanekile, kwaye ngokuqhelekileyo bongeza imposiso yendawo enexabiso eliphakathi kwe-3 m kunye nokwahluka komgangatho we-1 m.
Kwiimeko zemetropolitan, ukusebenza kuye konaka ngakumbi, kukho impazamo kwindawo efikelela kwi-20 m, kwaye kwiimeko ezithile ezinzima, impazamo yendawo yeGPS imalunga ne-100 m.
Ukongeza, ii-AVs zinokusebenzisa inkqubo ye-RTK ukumisela ngokuchanekileyo indawo yesithuthi.
Kwii-AVs, indawo kunye nolwalathiso lwesithuthi sinokumiselwa kwakhona ngokusebenzisa ukubala okufile (DR) kunye ne-inertial position.
Fusion woluvo
Ukulawulwa ngokufanelekileyo kwesithuthi kunye nokhuseleko, ii-AVs kufuneka zifumane ulwazi oluchanekileyo, lwexesha langempela lwendawo, isimo, kunye nezinye izinto zesithuthi ezifana nobunzima, ukuzinza, isantya, njl.
Olu lwazi kufuneka luqokelelwe zii-AVs zisebenzisa iindidi ezahlukeneyo zoluvo.
Ngokudibanisa idatha efunyenwe kwiinzwa ezininzi, ubuchule bokudibanisa inzwa busetyenziswa ukuvelisa ulwazi oluhambelanayo.
Indlela ivumela ukuhlanganiswa kwedatha engalungiswanga efunyenwe kwimithombo yokuncedisana.
Ngenxa yoko, i-sensor fusion yenza ukuba i-AV iqonde ngokuchanekileyo indawo engqongileyo ngokudibanisa yonke idatha eluncedo eqokelelwe kwii-sensors ezahlukeneyo.
Iindidi ezahlukeneyo ze-algorithms, kubandakanywa izihlungi ze-Kalman kunye nezihlungi zeBayesi, zisetyenziselwa ukuqhuba inkqubo yokudibanisa kwii-AVs.
Ngenxa yokuba isetyenziswa kwizicelo ezininzi, kubandakanya ukulandelela iRADAR, iinkqubo zokuhamba ngesathelayithi, kunye ne-optical odometry, isihluzo seKalman sibonwa njengento ebalulekileyo ukuba isithuthi sisebenze ngokuzimeleyo.
Uthungelwano lwe-Vehicular Ad-Hoc (VANETs)
I-VANETs yi-subclass entsha yeenethiwekhi ze-ad hoc ezinokuthi zenze ngokuzenzekelayo uthungelwano lwezixhobo eziphathwayo / izithuthi. I-Vehicle-to-vehicle (V2V) kunye ne-car-to-infrastructure (V2I) unxibelelwano lunokwenzeka nge-VANETs.
Eyona njongo iphambili yobugcisa obunjalo kukwandisa ukhuseleko ezindleleni; umzekelo, kwiimeko ezinobungozi ezifana neengozi kunye nokuxinana kwezithuthi, iimoto zinokusebenzisana kunye kunye nothungelwano ukudlulisa ulwazi olubalulekileyo.
Ezi zilandelayo zizinto eziphambili zeteknoloji yeVANET:
- I-OBU (iyunithi yebhodi): Yinkqubo yokulandelela esekelwe kwi-GPS ebekwe kwisithuthi ngasinye esivumela ukuba basebenzisane kunye kunye neeyunithi zendlela (RSU). I-OBU ifakwe izinto ezininzi ze-elektroniki, kubandakanywa iprosesa yomyalelo wesixhobo (RCP), izixhobo zoluvo, kunye ujongano lomsebenzisi, ukufumana ulwazi oluyimfuneko. Injongo yayo ephambili kukusebenzisa inethiwekhi engenazingcingo ukunxibelelana phakathi kwee-RSU ezininzi kunye ne-OBUs.
- IYunithi esecaleni kwendlela (i-RSU): Ii-RSU ziiyunithi ezizinzileyo zekhompyutha ezibekwe kwiindawo ezichanekileyo ezitratweni, iindawo zokupaka iimoto, nakwiindawo ezidityanisiweyo. Eyona njongo yayo iphambili kukunxibelelanisa izithuthi ezizimeleyo kwiziseko ezingundoqo, kwaye ikwanceda nokwakhiwa kwezithuthi. Ukongeza, inokusetyenziselwa ukunxibelelanisa isithuthi kwezinye ii-RSU zisebenzisa ezahlukeneyo ii-topology zenethiwekhi. Ukongeza, ziye zaqhutywa kwimithombo yamandla ambient kubandakanya amandla elanga.
- Igunya elithembekileyo (TA): Liqumrhu elilawula inyathelo ngalinye lenkqubo ye-VANETs, eqinisekisa ukuba kuphela ii-RSU ezisemthethweni kunye nee-OBUs zezithuthi ezinokubhalisa kunye nokusebenzisana. Ngokuqinisekisa i-ID ye-OBU kunye nokuqinisekisa isithuthi, inika ukhuseleko. Ukongeza, ifumana unxibelelwano oluyingozi kunye nokuziphatha okungaqhelekanga.
I-VANETs isetyenziselwa unxibelelwano lwe-vehicular, olubandakanya i-V2V, i-V2I, kunye ne-V2X yonxibelelwano.
Isithuthi 2 Unxibelelwano lweMoto
Ikhono leemoto lokuthetha kunye nokwabelana ngolwazi olubalulekileyo malunga nokuxinana kwezithuthi, iingozi, kunye nezithintelo zesantya kwaziwa njengonxibelelwano phakathi kwezithuthi (IVC).
Unxibelelwano lwe-V2V lunokwenza uthungelwano ngokudibanisa iindawo ezahlukeneyo (iZithuthi) kunye zisebenzisa i-mesh topology, nokuba yinxenye okanye igcwele.
Zihlelwa njenge-single-hop (SIVC) okanye ii-multi-hop (MIVC) iinkqubo ngokuxhomekeke ekubeni zingaphi iihophu ezisetyenziselwa unxibelelwano phakathi kwezithuthi.
Ngelixa i-MIVC inokusetyenziselwa unxibelelwano olude, olufana nokujongwa kwetrafikhi, i-SIVC inokusetyenziselwa izicelo zomgama omfutshane ezifana nokudibanisa indlela, i-ACC, njl.
Izibonelelo ezininzi, ezibandakanya i-BSD, i-FCWS, i-automated emergency braking (AEB), kunye ne-LDWS, zinikezelwa ngonxibelelwano lwe-V2V.
Isithuthi 2 Unxibelelwano lweziseko zophuhliso
Iimoto ziyakwazi ukunxibelelana nee-RSU ngenkqubo eyaziwa ngokuba yi-roadside-to-vehicle communication (RVC). Inceda ekubhaqweni kweemitha zokupaka, iikhamera, iziphawuli zendlela, kunye nemiqondiso yendlela.
I-Ad hoc, i-wireless, kunye noqhagamshelwano lwe-bidirectional phakathi kweemoto kunye nesiseko.
Kulawulo nokubekwa kweliso kwetrafikhi, iinkcukacha zeziseko zophuhliso ziyasetyenziswa. Zisetyenziselwa ukulungelelanisa iiparamitha zesantya ezahlukeneyo ezivumela iimoto ukuba zonyuse uqoqosho lwamafutha kwaye zilawule ukuhamba kwetrafikhi.
Inkqubo ye-RVC inokwahlulwa kwi-Sparse RVC (SRVC) kunye ne-Ubiquitous RVC ngokuxhomekeke kwisiseko (URVC).
Inkqubo ye-SRVC ibonelela kuphela ngeenkonzo zonxibelelwano kwiindawo ezishushu, ezinjengokukhangela iindawo zokupaka ezivulekileyo okanye izikhululo zepetroli, ngelixa inkqubo ye-URVC ibonelela ngokhuseleko kuyo yonke indlela, nakwizantya eziphezulu.
Ukuze kuqinisekiswe ukhuseleko lwenethiwekhi, inkqubo ye-URVC ifuna utyalo-mali olukhulu.
Isithuthi 2 Yonke into yoNxibelelwano
Imoto inokudibanisa namanye amaziko nge-V2X, kubandakanywa abahamba ngeenyawo, izinto zendlela, izixhobo, kunye neGridi (V2P, V2R, kunye neV2D) (V2G).
Besebenzisa olu hlobo lonxibelelwano, abaqhubi banokukuphepha ukubetha abahambi ngeenyawo abasengozini, abakhweli beebhayisikile nabakhweli bezithuthuthu.
Inkqubo ye-Pedestrian Collision Warning (PCW) inokulumkisa umqhubi womkhweli osecaleni kwendlela phambi kokuba kwenzeke ingozi yontlitheko ngenxa yonxibelelwano lwe-V2X.
Ukuze uthumele abahambi ngeenyawo imiyalezo ebalulekileyo, i-PCW inokwenza inzuzo yeBluetooth ye-smartphone okanye iNxibelelwano yeNdawo ekufutshane (NFC).
isiphelo
Ubuchwephesha obuninzi obusetyenziselwa ukwenza iimoto ezizimeleyo bunokuba nefuthe elikhulu kwindlela ezisebenza ngayo.
Okona kusisiseko, imoto iphuhlisa imephu yendawo eyingqongileyo isebenzisa uluhlu lwezinzwa ezibonelela ngolwazi malunga nendlela ejikelezayo kunye nezinye izithuthi kwindlela yayo.
Le datha ke ihlalutywe yinkqubo enzima yokufunda ngomatshini, eyenza iseti yezenzo zemoto ukuba iqhutywe. Ezi ndlela zokuziphatha zitshintshwa rhoqo kwaye zihlaziywa njengoko inkqubo ifunda ngakumbi malunga nokusingqongileyo kwesithuthi.
Ngaphandle kweenzame zam zokukubonisa isishwankathelo senkqubo yoyilo lwezithuthi ezizimeleyo, kuninzi okuqhubekayo emva kwezigcawu.
Ndiyathemba ukuba uya kulufumana olu lwazi lubalulekile kwaye ulusebenzise.
Shiya iMpendulo