CN104183124A - Trunk road vehicle speed planning method based on single intersection traffic signal information - Google Patents
Trunk road vehicle speed planning method based on single intersection traffic signal information Download PDFInfo
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Abstract
A trunk road vehicle speed planning method based on single intersection traffic signal information includes the following steps that (1) data of the nearest traffic signal lamp are obtained; (2) the distance between a vehicle and the nearest traffic signal lamp is obtained; (3) the time range of the vehicle passing through a traffic intersection is determined; (4) an optimized vehicle speed is calculated; (5) whether the optimized vehicle speed has a computed result is judged, the step (6) is turned to if the optimized vehicle speed has the computed result, and otherwise the vehicle runs at a planned vehicle speed and the step (7) is turned to; (6) the vehicle runs at a constant initial speed and then runs at an accelerated speed or a decelerated speed; (7) the vehicle runs at the accelerated speed or the decelerated speed and then runs at the constant speed; (8) whether the vehicle runs at a too low initial speed for a long time in the step (6) is judged, and if the vehicle runs at the too low initial speed for a long time in the step (6), the step (9) is turned to; (9) accelerated running time, constant speed running time and braking time are calculated; (10) whether the vehicle needs to pass through the next intersection is judged, if the vehicle needs to pass through the next intersection, the step (11) is turned to, and otherwise the vehicle arrives at the destination.
Description
Technical field
The invention belongs to the auxiliary control field of automobile intelligent, relate to a kind of major trunk roads speed of a motor vehicle planing method based on single intersection traffic signals information, also significant for mixed power electric car, Control of Electric Vehicles.
Background technology
Oil crisis is one of major issue of China's economic development faces always.The fuel consume that reduces automobile can effectively reduce the consumption of petroleum in Urban Transportation field, and China's energy sustainable development is had great importance.The fuel consume of orthodox car and driver's acceleration and brake operation course, and dead time is closely related.When automobile moves on through street, can freely travel, the engine rotation that as far as possible remains a constant speed, fuel economy is relatively better.But, when automobile moves on major urban arterial highway, can be subject to the impact of traffic lights, constantly accelerate, the operation of braking, idling, not only the fuel consume of engine increases, and has potential safety hazard.In fact,, in order to reduce the fuel consume of automobile in the time that major trunk roads travel, running car need to be accomplished following 3 points as far as possible:
1), while avoiding by traffic intersection, accelerate fast and brake operating;
2) while avoiding red light, arrive traffic intersection, idle for a long time;
3) speed of a motor vehicle control while automobile being passed through to traffic intersection within limits.
Because driver's vision and drive reaction distance are about 75 meters, that is, the traffic intersection that automobile has traffic lights in distance is about to make in 75 meters and accelerates or brake operating just can affect automobile by the mode of traffic intersection.But because driver cannot accurately predict the situation of change of traffic lights, therefore when by traffic intersection, may take to accelerate fast or braking, and be difficult to initiatively avoid the front auto idle speed of red light.
Perfect along with the development of Modern wireless communication technology and ground communication equipment, when automobile travels on major trunk roads, reach thousands of rice even if automobile and front have the traffic intersection distance of traffic lights, still can obtain in real time this traffic intersection signal information accurately.Speed of a motor vehicle planing method plans the speed of a motor vehicle according to signal information exactly, and offers driver as steered reference, thereby controls the method for the speed of a motor vehicle of automobile as far as possible.The method not only can be avoided driver's quick acceleration and brake operating, and can maximum possible make automobile in the time of green light by traffic intersection, reduce the fuel consume of automobile.But domestic at present, the technology and the method that also do not have relevant automobile speed to plan.
When the present invention is directed to automobile and moving, set up a kind of major trunk roads speed of a motor vehicle planing method based on single intersection traffic signals information on relatively unobstructed major trunk roads.The nearest traffic lights information in front that the method obtains by wireless telecommunications system, automobilism time and acceleration are optimized, and by the speed of a motor vehicle curve of cooking up is offered to driver as steered reference, thereby make automobile can avoid the quick acceleration and deceleration operation bringing due to signal lamp, and idle, fuel consume when reduction automobile moves on relatively unobstructed major trunk roads.
Summary of the invention
Because current China is not to automobile primary arterial highway speed of a motor vehicle planing method and technology, affect to a certain extent automobile fuel ecomomy, in order to make up this deficiency, consider the impact of traffic behavior, the present invention, according to the signal information of the nearest traffic intersection in front, plans calculating to automobile speed, and running time and acceleration are optimized, then by the speed of a motor vehicle of having planned is offered to driver as steered reference, thereby reduce the fuel consume of automobile.
The present invention is achieved through the following technical solutions.A major trunk roads speed of a motor vehicle planing method based on single intersection traffic signals information, comprises the following steps:
Step 1): obtain nearest traffic lights data.Automobile enters section, first obtains nearest traffic intersection signal lamp delta data t by wireless communication system
s, s ∈ { g, r}.S is signal lamp type, and g represents green light, and r represents red light.There are two kinds of situations in signal lamp change situation, as shown in Figure 1.In the time running into signal lamp and be initially red light, define the time that is transformed to green light for the 1st time and be
the time that is transformed to red light for the 2nd time is
then the time that is transformed to green light for the 3rd time is
by that analogy.In like manner, in the time being initially green light,
by that analogy.
Step 2): obtain the distance with nearest traffic lights.Automobile enters i section, obtains the distance B of the signal lamp in automobile and i section by wireless location system
i.
Step 3): determine by traffic intersection time range.Consider the flow of road, need to reduce automobile by the time in section as far as possible.The mode of operation that the automobile shortest time arrives road cross is: first from initial velocity v
0, with the maximal value a of acceleration
haccelerate, reach the speed of a motor vehicle maximal value v that road allows
limafter, traffic intersection travels at the uniform speed.
Therefore, the acceleration time t of automobile
afor:
With speed of a motor vehicle v
limthe time of traveling at the uniform speed be:
The automobile shortest time is t by the time at crossing
t,
t
t＝t
a+t
c
Automobile passes through traffic intersection
itime interval on be limited to t
l, under be limited to t
h, automobile by the time section at i crossing is
Be green light for automobile is arrived when traffic intersection, when automobile is with the shortest time during by i crossing, when the initialize signal of the traffic signals information of receiving is green light, automobile by the time interval of traffic intersection is:
If
?
If
?
In formula, k is that signal changes number of times.
Step 4): the calculation optimization speed of a motor vehicle.In order to improve the fuel consume performance of automobile, speed of a motor vehicle planning algorithm need to keep the speed of a motor vehicle constant as far as possible, reduces unnecessary acceleration or brake operating.The present invention, in the time of the planning of the enterprising driving speed of relatively unobstructed major trunk roads, adopts automobile only once to accelerate or the method for brake operating.Automobile is first with initial velocity v
0travel at the uniform speed; Then at moment t
s, the time of carrying out is t
eacceleration or brake operating by traffic intersection, acceleration is a.
In order to ensure the handling capacity of road, need to make automobile exist
in time, pass through traffic intersection.In addition, in order to improve the fuel economy of automobile, need to make the speed of a motor vehicle of automobile change minimum.Therefore, the present invention using by time and acceleration absolute value sum as optimization aim, majorized function as shown in the formula:
Min?|a|+t
Constraint condition is:
2)0＜t
s＜t
3)0＜t
e＜t
4)t
s+t
e＝t
5)t
l≤t≤t
h
6)a
l≤a≤a
h
7)0≤v
0+at
e≤v
lim
In formula, a
lfor acceleration minimum value, a
hfor acceleration maximal value.
Step 5): judge above-mentioned steps 4) equation whether have solution.If there is solution, forward step 6 to); If without solution, forward step 7 to).
Step 6): at the uniform velocity travel with initial velocity, then with acceleration or retarded velocity operation;
Step 7): with acceleration or retarded velocity operation, more at the uniform velocity travel;
Step 8): determining step 6) whether exist with too low initial velocity and travel for a long time, if so, forward step 9 to);
Step 9): recalculate the optimization speed of a motor vehicle, calculate Accelerating running time, the time of traveling at the uniform speed and stop working time.If automobile speed of at the uniform velocity travelling when starting is too low, can cause fuel consume still very high.Therefore the present invention is carrying out after speed of a motor vehicle planning, if automobile is with initial velocity v
0while traveling at the uniform speed, v
0too small, v
0< v
low, and duration t
along, t
a> t
max.For fear of automobile travel at the uniform speed speed per hour spend low cause car load fuel economy lower problem.In the time traveling at the uniform speed under the too low state of the speed of a motor vehicle, first make automobile accelerate to top speed v with acceleration a ' relatively preferably
lim, the acceleration time is t
e'; With speed of a motor vehicle v
limtime t ' travels at the uniform speed
a; Again with relatively mild retarded velocity a, " braking is to traffic intersection, and speed is 0 while arriving, and braking time is t
e"; Arrive after traffic intersection, waiting signal lamp becomes green light and gives it the gun, and the stand-by period is t
w.
Therefore, the acceleration time t of automobile
e' be:
Therefore, the braking time t of automobile
e" be:
With speed of a motor vehicle v
limthe time that travels at the uniform speed t '
afor:
Stand-by period t
wfor
t
w＝t
l-t
e′-t
e″-t′
a。
Step 10): judge that whether automobile needs by next crossing, if so, proceeds to step 1); If not, automobile arrives destination, finishes stroke.
Brief description of the drawings
Fig. 1 speed of a motor vehicle planning implementation method schematic diagram;
Fig. 2 test roads figure;
Fig. 3 traffic signals information schematic diagram;
Fig. 4 speed of a motor vehicle planning curve synoptic diagram;
The major trunk roads speed of a motor vehicle planning speed of a motor vehicle curve map that Fig. 5 obtains;
Traditional driver's regulation speed curve map that Fig. 6 obtains;
Car model figure in Fig. 7 advisor;
Wherein, D in Fig. 3 and 4
lit is the distance between automobile current location and nearest traffic intersection signal lamp.Automobile, in current location, obtains two kinds of situations that nearest traffic intersection signal lamp data exists, and upper figure runs into signal lamp to be initially red light, and figure below is initially green light for running into signal lamp.
In Fig. 5 and 6, upper figure be automobile in the process of moving apart from temporal evolution curve, figure below is automobile speed temporal evolution curve in the process of moving.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Because current China is not to automobile primary arterial highway speed of a motor vehicle planing method and technology, have influence on to a certain extent automobile fuel ecomomy, in order to make up this deficiency, the present invention has carried out speed of a motor vehicle planning to relatively unobstructed major trunk roads, by obtaining the signal information of the nearest traffic intersection in front, automobile speed is planned to calculating, running time and acceleration are optimized, then the speed of a motor vehicle of having planned is offered to driver as steered reference, thereby the fuel consume that reduces automobile, detailed process as shown in Figure 1.
Embodiment 1
Describe as an example of root North Street, Dao Xi imperial city, South Road, Zizhuyuan Park, Beijing example, vehicle running route figure as shown in Figure 2.Taking South Road, Zizhuyuan Park as starting point, root North Street, western imperial city is terminal.On this road altogether through ten traffic intersections that have traffic lights: Capital Gymnasium South Road, Sanlihe Road, civilian emerging East Street, exhibition road, Che Gongzhuan North Street, Guan Yuanqiao, the lane of raising an infant, Zhaodengyu Road, root North Street, He Xi imperial city, street, Xin Jie Kou.
Obtain nearest traffic lights data.Automobile enters section, first obtains nearest traffic intersection signal lamp delta data t by wireless communication system
s, s ∈ { g, r}.S is signal lamp type, and g represents green light, and r represents red light.There are two kinds of situations in signal lamp change situation, as shown in Figure 3.In the time running into signal lamp and be initially red light, define the time that is transformed to green light for the 1st time and be
the time that is transformed to red light for the 2nd time is
then the time that is transformed to green light for the 3rd time is
by that analogy.In like manner, in the time being initially green light,
By that analogy.
This test duration is 7:00:00 in the morning on April 5th, 2014, and automobile is positioned at starting point (South Road, Zizhuyuan Park), the now signal lamp of each traffic intersection conversion moment t
sarray (unit is s):
Capital Gymnasium South Road: [45,85,185,235,335,375,475,525,625], initialize signal lamp is r;
Sanlihe Road: [45,90,160,205,275,320,390,435,505], initialize signal lamp is r;
The emerging East Street of literary composition: [33,89,153,209,273,329,393,449,513], initialize signal lamp is r;
Exhibition road: [80,140,225,285,370,430,515,575,635], initialize signal lamp is r;
Che Gongzhuan North Street: [73,146,219,292,365,438,511,584,657], initialize signal lamp is g;
Official garden bridge: [40,90,245,295,450,500,655,705,860], initialize signal lamp is r;
The lane of raising an infant: [60,140,225,305,390,470,555,635,720], initialize signal lamp is r;
Zhaodengyu Road: [50,140,215,305,380,470,545,635,710], initialize signal lamp is r;
Street, Xin Jie Kou: [87,152,252,317,417,482,582,647,747], initialize signal lamp is r;
Root North Street, western imperial city: [204,284,344,424,484,564,624,704,764], initialize signal lamp is r;
From test starting point to terminal, from root North Street, Dao Xi imperial city, South Road, Zizhuyuan Park, automobile is apart from the array D of the distance composition of traffic intersection
ifor [501,1184,1671,2062,2525,3051,3823,4083,4526,4849], the m of unit.
Suppose that initial speed of a motor vehicle when automobile starts stroke is 40km/h; The max. speed of road is 50km/h; The acceleration of automobile is 1.5m/s
2; Retarded velocity is-2m/s
2.
Step 1): automobile during from South Road, Zizhuyuan Park, first obtains the traffic lights information converting at Capital Gymnasium South Road, [45,85,185,235,335,375,475,525,625] by wireless communication system.Because initialize signal lamp is r; Therefore,
The like.
Step 2): meanwhile, automobile, by wireless location system and road-map, can obtain the distance B at automobile and Capital Gymnasium South Road
1, D
1=501m.
Step 3): determine that automobile passes through the time range at Capital Gymnasium South Road.The initial velocity v of automobile
0=40km/h, accelerates a with peak acceleration
h=1.5m/s
2, reach the speed of a motor vehicle maximal value v that road allows
lim=50 rear km/h, traffic intersection travels at the uniform speed.
Therefore, the acceleration time t of automobile
afor:
With speed of a motor vehicle v
limthe time of traveling at the uniform speed be:
The time that the automobile shortest time arrives crossing is t
t,
t
t＝t
a+t
c＝36.2572s
Therefore, the time interval of definition automobile by traffic intersection i on be limited to t
l, under be limited to t
h.
Known according to the traffic lights information converting at Capital Gymnasium South Road, first automobile accelerates to maximal rate, and while then traveling at the uniform speed traffic intersection, signal lamp is red light, therefore cannot pass through smoothly.For make automobile when the green light by traffic intersection, the present invention adopts the time range of nearest green time section as automobile.Can obtain according to traffic lights information converting, this interval be [45 85).
Step 4): the calculation optimization speed of a motor vehicle.In order to improve the fuel consume performance of automobile, speed of a motor vehicle planning algorithm need to keep the speed of a motor vehicle constant as far as possible, reduces unnecessary acceleration or brake operating.The present invention, in the time of the planning of the enterprising driving of the less major trunk roads of vehicle flowrate speed, adopts automobile only once to accelerate or the method for brake operating.Automobile is first with initial velocity v
0travel at the uniform speed; Then at the t zero hour
s, the time of carrying out is t
eacceleration or brake operating by traffic intersection, acceleration is a.Speed of a motor vehicle planning curve as shown in Figure 4.
In order to make the acceleration minimum of automobile, and the handling capacity of guarantee road, need to make automobile exist
in time, pass through traffic intersection.The present invention using acceleration absolute value and by time sum as optimization aim, majorized function as shown in the formula:
Min?|a|
+t
Constraint condition is:
2)0≤t
s＜t
3)0＜t
e＜t
4)t
s+t
e＝t
5)t
l≤t≤t
h
6)a
l≤a≤a
h
7)0≤v
0+at
e≤v
lim
In formula, a
lfor acceleration minimum value ,-2m/s
2, a
hfor acceleration maximal value, 1.5m/s
2.
By adopting matlab to write the calculation procedure of above-mentioned formula, can obtain automobile from South Road, Zizhuyuan Park to Capital Gymnasium South Road during, optimum speed of a motor vehicle curve is for first with the initial velocity 16.2103s that travels at the uniform speed, then with acceleration 0.0024m/s
2operation 28.7897s, by Capital Gymnasium South Road traffic intersection.Be 45s the working time of whole process, and during travelling, automobile does not stop.
Step 5): automobile during from Capital Gymnasium South Road, first obtains the traffic lights signal message of Sanlihe Road, is now 7:00:45.The traffic lights information converting of the Sanlihe Road that automobile is received is [45,115,160,230,275,345,390,460], and initialize signal lamp is g.The distance of the traffic lights of automobile and Sanlihe Road is D
2=1184m-501m=683m.First calculate automobile the shortest in time and time interval, and speed of a motor vehicle curve is optimized to calculating.By calculating, can obtain optimum speed of a motor vehicle curve for first with the initial velocity 0s that travels at the uniform speed, then with retarded velocity-0.0912m/s
2operation 115s, by Sanlihe Road traffic intersection.Be 115s the working time of whole process, and during travelling, automobile does not stop.
Step 6): automobile during from Sanlihe Road, first obtains the traffic lights signal message of civilian emerging East Street, is now 7:02:40.The traffic lights information converting of the emerging East Street of literary composition that automobile is received is [49,113,169,233,289,353], and initialize signal lamp is g.The distance of the traffic lights of automobile and civilian emerging East Street is D
3=1671m-1184m=487m.Adopt the method for accelerating again or run slowly that first travels at the uniform speed to carry out speed of a motor vehicle planning, find step 4) in equation without solution.Therefore, adopts and first accelerate or run slowly, then the mode traveling at the uniform speed is carried out speed of a motor vehicle planning:
Majorized function as shown in the formula:
Min?|a|+t
Constraint condition is:
2)0≤t
e≤t
3)t
l≤t＜t
h
4)a
l≤a≤a
h
5)0≤v
0+at
e≤v
lim
In formula, a
lfor acceleration minimum value, a
hfor acceleration maximal value.
By calculating, during can obtaining Dao Wenxing East Street, automobile Sanlihe Road, optimum speed of a motor vehicle curve is for first with acceleration 1.4632m/s
2operation 9.0161s, then travels at the uniform speed and arrives civilian emerging East Street.Be 40s the working time of whole process, thereby the mode not stop that ensures is passed through civilian emerging East Street.
Step 7): when then automobile is from the emerging East Street of literary composition, adopt said method successively by exhibition road, Che Gongzhuan North Street.
Step 8): when automobile is by behind Che Gongzhuan North Street, initial velocity is 17.2836km/h, and the time is 7:04:52.Now the traffic lights signal message of acquisition official garden bridge is: [3,158,208,363,413], and initialize signal lamp is g; The distance of Yu Guan garden bridge is 526m.Automobile by interval judgement be [158208).Automobile speed is carried out first at the uniform velocity again after the speed of a motor vehicle planning of speed change, first automobile needs the 79.9940s that travels at the uniform speed with 2.0487km/h, then taking acceleration as 0.1417m/s
2operation 79.0060s.
Step 9) consider when automobile initial velocity 2.0487km/h travels at the uniform speed, suppose v
lowfor 20km/h, v
0< v
low, and working time is long, supposes t
a=10s, t
s> t
a.Cause the bad problem of car load fuel economy for fear of the long-time slow running of automobile, the mode that the present invention is stopped after adopting and accelerating.Accelerate to top speed v with acceleration a ' relatively preferably
lim, the Accelerating running time is t
e', with speed of a motor vehicle v
limthe time of traveling at the uniform speed be t '
a, then " braking is to traffic intersection, and speed is 0 while arriving, and braking time is t with retarded velocity a relatively preferably
e", arriving traffic intersection, waiting signal lamp becomes green light and gives it the gun, and the stand-by period is t
w.Suppose a '=1m/s
2, a "=-1.5m/s
2.Described relatively preferably acceleration and relative preferably retarded velocity be in program according to after driver driving speed of a motor vehicle curve is summed up, acceleration and the relative mild retarded velocity relatively preferably automatically determined.
Therefore, the acceleration time t of automobile
e' be:
The braking time t of automobile
e" be:
With speed of a motor vehicle v
limthe time that travels at the uniform speed t '
afor:
Stand-by period t
wfor
t
w＝t
l-t
e′-t
e″-t′
a＝113.6528s
Step 10): continue to calculate raise an infant lane, Zhaodengyu Road, root North Street, He Xi imperial city, street, Xin Jie Kou, until by root North Street, western imperial city, result of calculation is as shown in Figure 5.Automobile is by the tenth crossing, that is, be 636s total working time of root North Street, western imperial city.
Contrast with the speed of a motor vehicle curve without speed of a motor vehicle planning algorithm, being driver obtains traffic signals information and accelerates or when the distance of deceleration-operation is 75m according to vision, speed of a motor vehicle curve map is as shown in Figure 6: automobile is by the tenth crossing, and be 630s total working time of root North Street, western imperial city.
From Fig. 5 and Fig. 6, can find, the used time of two kinds of speed of a motor vehicle curves is substantially the same, differs 6s.But the speed of a motor vehicle curve that adopts speed of a motor vehicle planning algorithm to set up, can at utmost avoid automobile to stop before red light, has reduced the dead time of automobile; And acceleration and brake operating milder, thereby at utmost reduce the fuel consume of automobile.
The present invention is based on the advisor of vehicle simulation software in U.S.'s regenerative resource laboratory, application orthodox car model has or not transport condition and the comparative analysis of car load fuel consume under speed of a motor vehicle planning control, and car model as shown in Figure 7.
Table 1 embodiment 1 calculates fuel consume contrast table
From table 1, can obtain, automobile, according to the speed of a motor vehicle curve that adopts speed of a motor vehicle planning algorithm to obtain, is compared the speed of a motor vehicle curve driving that does not adopt speed of a motor vehicle planning algorithm to obtain, and hundred kilometers of fuel consumes reduce 14.3%.Therefore, adopt major trunk roads speed of a motor vehicle planning algorithm can improve effectively significantly the fuel economy of automobile.
Claims (7)
1. the major trunk roads speed of a motor vehicle planing method based on single intersection traffic signals information, comprises the following steps:
Step 1) obtain nearest traffic lights data;
Step 2) obtain and the distance of nearest traffic lights;
Step 3) determine by traffic intersection time range;
Step 4) the calculation optimization speed of a motor vehicle;
Step 5) judge that whether optimize the speed of a motor vehicle has result of calculation, if had, forwards step 6 to); Otherwise, adopt the planning speed of a motor vehicle to travel, forward step 7 to);
Step 6) at the uniform velocity travel with initial velocity, then with acceleration or retarded velocity operation;
Step 7) with acceleration or retarded velocity operation, more at the uniform velocity travel;
Step 8) determining step 6) whether exist with too low initial velocity and travel for a long time, if so, forward step 9 to);
Step 9) calculating Accelerating running time, the time of traveling at the uniform speed and braking time;
Step 10) judge whether to pass through next crossing, if so, proceed to step 1); Otherwise, arrive destination.
2. method according to claim 1, is characterized in that described step 1) obtain nearest traffic lights data by wireless communication system.
3. method according to claim 1, is characterized in that described step 2) obtain and the distance of nearest traffic lights by wireless location system.
4. method according to claim 1, is characterized in that described step 3) in calculate by following formula the time t that the shortest time arrives crossing
t=t
a+ t
c; Wherein, t
afor the acceleration time of automobile, t
cfor traveling at the uniform speed the time of automobile;
Wherein, v
limfor the speed of a motor vehicle maximal value allowing, v
0for initial velocity, a
hfor the maximal value of acceleration, D
ifor the distance of the signal lamp in automobile and i section, α is acceleration.
5. method according to claim 1, is characterized in that described step 4) in using acceleration absolute value and by time sum as optimization aim.
6. method according to claim 1, is characterized in that described step 9) in the said Accelerating running time for accelerating to top speed v
limtime
With speed of a motor vehicle v
limthe time of traveling at the uniform speed be:
Braking time is
Wherein a ' is for accelerating to top speed v
limacceleration, a is " for braking is to the retarded velocity of traffic intersection.
7. method according to claim 1, is characterized in that, described method is based on the advisor of vehicle simulation software, and application orthodox car model has or not transport condition and the comparative analysis of car load fuel consume under speed of a motor vehicle planning control.
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| CN113874926A (en) * | 2019-03-25 | 2021-12-31 | 日产自动车株式会社 | Method for ensuring that a vehicle can safely pass through a traffic light |
| CN113874926B (en) * | 2019-03-25 | 2023-10-03 | 日产自动车株式会社 | Method for ensuring that a vehicle can safely pass through a traffic light |
| CN116110229A (en) * | 2023-04-10 | 2023-05-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Single intersection network connection signal timing method, electronic equipment and storage medium |
| CN116129652A (en) * | 2023-04-10 | 2023-05-16 | 深圳市城市交通规划设计研究中心股份有限公司 | Single intersection internet-connected vehicle speed guiding method, electronic equipment and storage medium |
| CN116129652B (en) * | 2023-04-10 | 2023-08-01 | 深圳市城市交通规划设计研究中心股份有限公司 | Single intersection internet-connected vehicle speed guiding method, electronic equipment and storage medium |
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