CN105390003B - A kind of road surface guide for evading intersection predicament area - Google Patents
A kind of road surface guide for evading intersection predicament area Download PDFInfo
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- CN105390003B CN105390003B CN201510967635.3A CN201510967635A CN105390003B CN 105390003 B CN105390003 B CN 105390003B CN 201510967635 A CN201510967635 A CN 201510967635A CN 105390003 B CN105390003 B CN 105390003B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The present invention relates to traffic safety technology field, and in particular to a kind of road surface guide for evading intersection predicament area.The present invention proposes a kind of road surface guide for evading intersection predicament area, the road surface guide is main by detection unit, communication unit, main control unit, indicating member, the functional units such as power subsystem are constituted, be primarily implemented in the green light transition period carries out velocity measuring to the vehicle for entering crossing inlet road, intersection multiphase traffic time allocation information extraction, vehicle is absorbed in intersection predicament area Situation Assessment and instruction etc., evade vehicle and be absorbed in intersection predicament area, the vehicle hair produced by intersection predicament area is reduced to knock into the back, scratch, side impact, the traffic accidents such as oblique impact and running red light for vehicle illegal activities.Meanwhile, as traffic detector for intersection signal timing designing provides data supporting.
Description
Technical field
The present invention relates to traffic safety technology field, and in particular to a kind of road surface guiding dress for evading intersection predicament area
Put.
Technical background
According to incompletely statistics, in the etesian all kinds of traffic accidents of China, 59% traffic accident occurs intersecting
Mouthful, the traffic accident number that wherein the signalized intersections green light transition period (containing steady yellow) occurs accounts for intersection traffic accidents
50%.Analyzed from traffic engineering and kinematics angle：Huang is converted into when vehicle sails signalized intersections into and runs into green light signals
During modulating signal, according to vehicle location, speed, braking ability, road conditions, traffic flow environment and driver at that time
Heart physiological situation etc., if distance of the vehicle away from intersection parking line less than vehicle be capable of ramp to stop minimum safe parking away from
From, and more than can speed up current maximum safe passing apart from when (this interval is referred to as " predicament interval "), vehicle will sink into
Can neither emergency, be unable to the predicament of safe passing again, no matter which kind of choice driver makes, and emergency brake all necessarily occurs
Brake or make a dash across the red light phenomenon, easily trigger knock into the back, scratch, side impact, the traffic accident such as oblique impact；If vehicle is away from intersection parking line
Distance be capable of the minimum safe stopping distance of ramp to stop more than vehicle, and less than can speed up current maximum safe passing
Apart from when (this interval is referred to as " hesitate interval "), driver can be absorbed in hesitation be selection parking waiting or selection accelerate it is current
Predicament state, if this interval fore-aft vehicle makes opposite decision, i.e. front truck selection parking, rear car selection is current, that
The probability of the traffic accidents such as two cars knock into the back, scratch, oblique impact will be greatly increased.Meanwhile, the time for being available for driver to choose
Predicament that is again extremely short, may again making it be absorbed in " interval of facing a difficult choice " during driver hesitates." the awkward area of intersection
Between " and " hesitate interval " be referred to as intersection predicament area, be the district occurred frequently of signalized intersections green light transition period traffic accident.
The content of the invention
Intersection predicament area is absorbed in the intersection green light transition period in order to evade driver, reduction signalized intersections are rushed red
The traffic accidents such as lamp illegal activities and vehicle knock into the back, scratch, oblique impact, the present invention proposes one kind and evades intersection predicament area
Road surface guide, the road surface guide is main by detection unit, communication unit, main control unit, indicating member, power supply list
The functional units such as unit are constituted, and as shown in Figure 1 and Figure 2, are primarily implemented in the green light transition period to entering the vehicle in crossing inlet road
Carry out velocity measuring, the information extraction of intersection multiphase traffic time allocation, vehicle to be absorbed in intersection predicament area Situation Assessment and indicate etc., evade
Vehicle is absorbed in intersection predicament area, the traffic such as reduction is knocked into the back by the vehicle hair that intersection predicament area produces, scratched, side impact, oblique impact
Accident and running red light for vehicle illegal activities.Meanwhile, as traffic detector for intersection signal timing designing provides data branch
Support.
Technical solution of the invention is main in the import in the certain interval range in signal intersection parking line upstream
Uniform intervals install road surface guide proposed by the present invention in road surface, and car is detected by the detection unit of road surface guide
Speed of service information；Intersection signal phase information is obtained by communication unit, and uploads main control unit and analyze what is formed
Telecommunication flow information；Assess whether vehicle can be absorbed in intersection according to running velocity, intersection phase information by main control unit
Mouth predicament area, and send configured information to indicating member；Indicating member enters according to the configured information for receiving to driving into intersection
The driver in mouth road carries out trailer reversing and drives instruction；By power subsystem for road surface guide provides constant voltage dc source.
A kind of road surface guide for evading intersection predicament area proposed by the present invention, its feature mainly includes：
1) detection unit
Detection unit is embedded with array pulsed laser diode, phototriode, pulse signal generation circuit, pulse signal and connects
The composition such as circuit is received, the pulse signal that pulse signal generation circuit occurs drives array pulsed laser diode transmitting 905nm ripples
Monochromatic light speed narrow-pulse laser long, pulse laser is received by phototriode after being reflected through tested vehicle and is converted into electric pulse letter
Number, and input to pulsed signal circuit；By pulse signal generation circuit and the low and high level of pulsed signal circuit
Pulse signal, record transmitted wave sends the time received with back wave, thus calculate tested vehicle and road surface guide away from
From.A series of laser ranging that detection unit passes through continuous Fixed Time Intervals, obtains tested vehicle and guides dress relative to road surface
The distance sequence for changing over time is put, so as to obtain the speed of service and its change of tested vehicle.
2) communication unit
Communication unit is embedded with DSRC DSRC modules, is communicatively coupled with intersection traffic signal controller,
The phase information in track where the guide of road surface is obtained, long green light time, green light time started, amber light duration, Huang is specifically included
Lamp opens bright time etc.；Meanwhile, main control unit is analyzed the lane traffic stream operational factor to be formed and is sent at a certain time interval
Give intersection traffic signal controller.
3) main control unit
Main control unit is embedded with singlechip controller and 3U CPCI/PXI backboards, and main control unit passes through 3U with each functional unit
CPCI/PXI backboards carry out information exchange, information of vehicles, track phase information in acquisition detection unit, communication unit etc.；It is single
Whether piece machine controller is absorbed in intersection predicament area to vehicle and comments according to vehicle location, speed and track phase information
Estimate, and vehicle to the area that may get into a difficult position carries out braking maneuver prompting；Meanwhile, the vehicle by road surface guide is carried out
Statistical analysis, forms lane traffic stream parameter.
4) indicating member
Indicating member is embedded with safety glass light penetrating panel and LED light, and indicating member is sended over according to main control unit
Configured information, by the light color and Warning Mark of LED light, the braking maneuver for pointing out driver to carry out vehicle.
5) power subsystem
Power subsystem is embedded with high power capacity charged lithium cells group, miniature voltage adjuster, lithium cell charging interface etc., is road surface
Each functional unit of guide provides D.C. regulated power supply, while when lithium battery group not enough power supply is connect by lithium cell charging
Mouth is charged.
Brief description of the drawings
Fig. 1：Road surface guide functional unit composition figure；
Fig. 2：Road surface guide surface structure schematic diagram；
Fig. 3：Road surface guide detection unit is installed and operation principle schematic diagram.
Specific embodiment
A kind of road surface guide for evading intersection predicament area of the present invention is arranged on apart from intersection parking line
Distance isRegional extent in (whereinRespectively the minimum average speed in intersection and highest are put down
Equal speed,It is the average braking acceleration of vehicle.), and road surface guide is installed with uniform distance in this interval range.
The road surface guide is mainly made up of detection unit, communication unit, main control unit, Tip element, power subsystem etc., such as Fig. 1,
Shown in Fig. 2, be primarily implemented in the green light transition period carries out velocity measuring, intersection phase to the vehicle for entering crossing inlet road
Timing information extraction, vehicle are absorbed in intersection predicament area Situation Assessment and instruction etc., evade vehicle and are absorbed in intersection predicament area, subtract
Traffic accident and the illegal rows of running red light for vehicle such as few vehicle hair produced by intersection predicament area knocks into the back, scratches, side impact, oblique impact
For.Meanwhile, as traffic detector for intersection signal timing designing provides data supporting.
A kind of road surface guide for evading intersection predicament area proposed by the present invention, the idiographic flow of its work is：
1) detection unit
The pulse signal that pulse signal generation circuit in detection unit occurs drives the transmitting of array pulsed laser diode
The monochromatic light speed narrow-pulse laser of 905nm wavelength, array pulsed laser diode is sent out with certain frequency to the vehicle for coming is run over
Narrow-pulse laser is penetrated, pulse laser is received by phototriode after being reflected through tested vehicle and is converted into electric impulse signal, and is input into
Pulsed signal circuit is given, as shown in Figure 3；Estimated by recording the time difference of transmitted wave and received wave tested vehicle with
The distance of road surface guide, detection unit obtains tested vehicle by a series of laser ranging of continuous Fixed Time Intervals
Relative to the distance sequence that road surface guide is changed over time, so as to obtain the speed of service and its change of tested vehicle.Tool
Body running step is as follows：
Step1：Array pulsed laser diode launches the single beam of 905 wavelength with certain frequency to urban road surfaces
Array narrow-pulse laser, when phototriode receives pulse laser emission ripple first, record receives pulse laser reflection
The time of ripple is T1, and calculate the distance of tested vehicle and road surface guide：
Wherein：L1It is the distance of road surface guide and tested vehicle under array pulsed laser diode measurement angle；tTR1
The round trip propagation time for being pulse laser from road surface guide to tested vehicle；CairIt is the aerial propagation of pulse laser
Speed.
Step2：Array pulsed laser diode is at regular intervals to urban road surfaces transmitting 905nm wavelength
Single beam array narrow-pulse laser, when phototriode i ＆ lt receives pulse laser back wave, record i ＆ lt is received
The time of pulse laser back wave is T1, and calculate the distance of i ＆ lt tested vehicle and road surface guide：
Wherein：LiFor under array pulsed laser diode i ＆ lt measurement angle road surface guide and tested vehicle away from
From；tTRiIt is round trip propagation time of the pulse laser i ＆ lt from road surface guide to tested vehicle.
Step3：When phototriode last time is received from the pulsed laser signal that tested vehicle is reflected, note
Record last time receives the time T of pulse laser emission ripplen, and last time tested vehicle is calculated with road surface guide
Distance：
Wherein：LnIt is road surface guide and tested vehicle under array pulsed laser diode last time measurement angle
Distance；tTRnIt is round trip propagation time of the pulse laser last time from road surface guide to tested vehicle.
Step4：According to phototriode receive the time series of the laser pulse signal that tested vehicle is fired back with
And the tested vehicle being calculated and the distance sequence of road surface guide, calculate the speed of service of tested vehicle：
Wherein：ViThe tested vehicle speed of service that i ＆ lt is calculated, 1≤i<n；θ is the pulse laser and road of transmitting
The angle of plane.
Step5：The information such as the position sequence of tested vehicle, time series, velocity series are passed through 3U by detection unit
CPCI/PXI backboards send the singlechip controller of main control unit to.
2) detection unit
The wireless DSRC modules of DSRC of communication unit are communicatively coupled with intersection traffic signal controller,
Obtain the phase information in track where the guide of road surface；Meanwhile, DSRC module that DSRC is wireless is with the regular hour
Interval obtains main control unit singlechip controller and analyzes the lane traffic stream operational factor to be formed by 3U CPCI/PXI backboards,
And sending intersection traffic signal controller to, specific works step is as follows：
Step1：DSRC module that DSRC is wireless with the traffic signal cycles of intersection be adjustment cycle, road pavement
Guide carries out clock alignment and synchronization；And obtain guiding dress in road surface in the intersection traffic signal controller current demand signal cycle
The phase information in track where putting, including long green light time, green light open bright time, green light end time, amber light duration, amber light and open bright
The information such as time.
Step2：The phase letter in track where the road surface guide that DSRC module that DSRC is wireless will get
Breath sends the singlechip controller of main control unit to by 3U CPCI/PXI backboards.
Step3：DSRC module that DSRC is wireless is obtained with adjustable time interval by 3U CPCI/PXI backboards
Take main control unit singlechip controller and analyze the lane traffic stream operational factor to be formed, and send the control of intersection traffic signal to
Device.
3) main control unit
Main control unit by 3U CPCI/PXI backboards obtain the position sequence of vehicle, velocity series, time serial message with
And the phase information in track where the guide of road surface, singlechip controller comments according to vehicle operating information, track phase information
Estimate whether vehicle can be absorbed in intersection predicament area, and configured information is sent to indicating member, specific works step is as follows：
Step1：When track where detection unit is detected has vehicle to drive into intersection, singlechip controller extracts track
Phase information, calculating current time is Δ t apart from the phase green light end time.
Step2：Singlechip controller calculate tested vehicle reach intersection parking line needed for time be：
Wherein：tARTime for needed for current time tested vehicle reaches intersection parking line；LstopFilled for road surface guides
Put the distance apart from intersection parking line；L (t) is the distance of the tested vehicle that current time t is detected and road surface guide；
V (t) is the speed of service of the tested vehicle that current time t is detected.
Step3：Whether assessment tested vehicle reaches the time of intersection parking line in the range of excess phase green time：
If Δ t >=tAR, then tested vehicle will not be absorbed in intersection predicament area, singlechip controller is not sent out indicating member
Send any configured information；
If Δ t<tAR, then Current vehicle will sink into intersection predicament area, singlechip controller determines whether tested vechicle
The driver behavior behavior of driver：
Wherein：αiIt is the braking acceleration of the tested vehicle that i ＆ lt is calculated, 1≤i<n.
Step3.1：As tested vehicle braking acceleration sequence αi∈ [- δ, δ], 1≤i<N, then it is assumed that tested vehicle average rate
Traveling.
IfThen singlechip controller sends " accelerating current " configured information to indicating member.
IfThen singlechip controller sends " ramp to stop " configured information to indicating member.
Wherein：δ is the critical characterization value of acceleration；ε is that acceleration brakes comfortable critical value.
Step3.2：When tested vehicle braking acceleration sequence has αi>0(1≤i<And α n)i+1-αi≥0(1≤i<N-1),
Then think that tested vehicle gives it the gun.
IfThen Current vehicle being capable of safety intersection
Mouthful, singlechip controller does not send any configured information to indicating member.
IfAnd α (t)>ε, then singlechip controller is to finger
Show that unit sends " ramp to stop " configured information.
IfAnd α (t)≤ε, then singlechip controller is to finger
Show that unit sends " accelerating current " configured information.
IfAnd α (t)≤ε, then singlechip controller is to finger
Show that unit sends " ramp to stop " configured information.
Wherein：α (t) is the braking acceleration of current time t tested vehicle.
Step3.3：When tested vehicle braking acceleration sequence has αi<0(1≤i<And α n)i+1-αi≤0(1≤i<N-1),
Then think tested vehicle Reduced Speed Now.
IfAnd | α (t) |≤ε, then singlechip controller
" keep speed, by crossing " configured information is sent to indicating member.
IfAnd | α (t) |≤ε, then Current vehicle can
Emergency, singlechip controller sends " emergency " configured information to indicating member.
IfAnd | α (t) |>ε, then singlechip controller is to finger
Show that unit sends " ramp to stop " configured information.
IfAnd | α (t) |>ε, then singlechip controller is to finger
Show that unit sends " keep speed, by crossing " configured information.
Step4：It is single when detection unit phototriode last time receives the pulse laser back wave of tested vehicle
Piece machine controller is estimated the interval speed of service of tested vehicle, Vehicle length：
VL=V (Tn-T1)
VO=Tn-T1
VH=T1-T′n
Wherein：V is the area operation speed of tested vehicle；VLIt is the length of tested vehicle；VOFor the detection of tested vehicle is accounted for
There is the time；VHIt is tested vehicle and the time headway of front truck；T′nFor the previous car last time of tested vehicle detection is detected
The time of pulse laser back wave.
By VLContrasted with vehicle classification standard, determined the type V of tested vehicleC；At a certain time interval statistically
State vehicle parameter, when can obtain track flow, track vehicle composition, track vehicle time occupation rate, track vehicle headstock away from,
The lane traffic stream parameter such as track vehicle average speed.
Step5：Singlechip controller is made up of track flow, track vehicle 3U CPCI/PXI backboards, track vehicle
When time occupancy, track vehicle headstock communication unit is sent to away from lane traffic stream parameters such as, track vehicle average speeds, by
Communication unit sends intersection traffic signal controller to.
4) indicating member
The configured information that indicating member is sended over according to main control unit singlechip controller, by being embedded in indicating member
In LED light, the driver behavior behavior by LED light light color and Warning Mark to driver points out, specifically
Job step is as follows：
Step1：When indicating member is not received by any configured information of singlechip controller, LED light is in be put out
Go out state, any Warning Mark is not shown.
Step2：When indicating member receives " accelerating current " configured information that singlechip controller is sended over, LED
Indicator lamp gives a green light, and animation display acceleratesWarning Mark, points out driver to accelerate current.
Step3：When indicating member receives " ramp to stop " configured information that singlechip controller is sended over, LED
Indicator lamp shiny red, animation display is slowed downWarning Mark, points out driver's ramp to stop.
Step4：When " keep speed, by crossing " that indicating member receives that singlechip controller sends over indicates letter
During breath, LED light gives a green light, and animation shows current " → " Warning Mark, points out driver to pass through intersection.
Step5：When indicating member receives " emergency " configured information that singlechip controller is sended over, LED
Indicator lamp shiny red, animation display parking " ← " Warning Mark, points out operator brake parking.
5) power subsystem
Power subsystem is made up of high power capacity charged lithium cells group and miniature voltage adjuster, and predominantly road surface guide is each
Functional unit provides D.C. regulated power supply.When high power capacity charged lithium cells group not enough power supply, can be by charging inlet, with road
Side power supply unit or power supply connection are charged, without blocked road construction.
Claims (2)
1. a kind of road surface guide for evading intersection predicament area, it is characterised in that：Main control unit is carried on the back by 3UCPCI/PXI
Plate obtains the phase information in position sequence, velocity series, time serial message and the road surface guide place track of vehicle,
According to vehicle operating information, track phase information, whether assessment vehicle can be absorbed in intersection predicament area to singlechip controller, and to
Indicating member sends configured information, and specific works step is as follows：
Step1：When track where detection unit is detected has vehicle to drive into intersection, singlechip controller extracts track phase
Information, calculating current time is Δ t apart from the phase green light end time；
Step2：Singlechip controller calculate tested vehicle reach intersection parking line needed for time be：
Wherein：tARTime for needed for current time tested vehicle reaches intersection parking line；LstopFor road surface guide away from
With a distance from intersection parking line；L (t) is the distance of the tested vehicle that current time t is detected and road surface guide；V(t)
It is the speed of service of the tested vehicle that current time t is detected；θ is the angle of the pulse laser with road plane of transmitting；
Step3：Whether assessment tested vehicle reaches the time of intersection parking line in the range of excess phase green time：
If Δ t >=tAR, then tested vehicle will not be absorbed in intersection predicament area, singlechip controller does not send to indicating member appoints
What configured information；
If Δ t ＜ tAR, then Current vehicle will sink into intersection predicament area, singlechip controller determines whether that tested vehicle is driven
The driver behavior behavior of the person of sailing：
Wherein：αiIt is the braking acceleration of the tested vehicle that i ＆ lt is calculated, 1≤i ＜ n；
Step3.1：As tested vehicle braking acceleration sequence αi∈ [- δ, δ], 1≤i ＜ n, then it is assumed that tested vehicle average rate is travelled；
IfThen singlechip controller sends " accelerating current " configured information to indicating member；
IfThen singlechip controller sends " ramp to stop " configured information to indicating member；
Wherein：δ is the critical characterization value of acceleration；ε is that acceleration brakes comfortable critical value；
Step3.2：When tested vehicle braking acceleration sequence has αi＞ 0 (1≤i ＜ n) and αi+1-αi>=0 (1≤i ＜ n-1),
Then think that tested vehicle gives it the gun；
IfThen Current vehicle can safety intersection,
Singlechip controller does not send any configured information to indicating member；
IfAnd α (t) ＞ ε, then singlechip controller is to instruction
Unit sends " ramp to stop " configured information；
IfAnd α (t)≤ε, then singlechip controller is single to indicating
Unit sends " accelerating current " configured information；
IfAnd α (t)≤ε, then singlechip controller is single to indicating
Unit sends " ramp to stop " configured information；
Wherein：α (t) is the braking acceleration of current time t tested vehicle；
Step3.3：When tested vehicle braking acceleration sequence has αi＜ 0 (1≤i ＜ n) and αi+1-αi≤ 0 (1≤i ＜ n-1),
Then think tested vehicle Reduced Speed Now；
IfAnd | α (t) |≤ε, then singlechip controller is to finger
Show that unit sends " keep speed, by crossing " configured information；
IfAnd | α (t) |≤ε, then Current vehicle can be safe
Parking, singlechip controller sends " emergency " configured information to indicating member；
IfAnd | α (t) | ＞ ε, then singlechip controller is single to indicating
Unit sends " ramp to stop " configured information；
IfAnd | α (t) | ＞ ε, then singlechip controller is single to indicating
Unit sends " keep speed, by crossing " configured information；
Step4：When detection unit phototriode last time receives the pulse laser back wave of tested vehicle, single-chip microcomputer
Controller is estimated the interval speed of service of tested vehicle, Vehicle length：
VL=V (Tn-T1)
VO=Tn-T1
VH=T1-T′n
Wherein：V is the area operation speed of tested vehicle；VLIt is the length of tested vehicle；VOWhen occupying for the detection of tested vehicle
Between；VHIt is tested vehicle and the time headway of front truck；T′nFor the previous car last time of tested vehicle detection detects pulse
The time of laser reflection ripple；
By VLContrasted with vehicle classification standard, determined the type V of tested vehicleC；Above-mentioned car is counted at a certain time interval
Parameter, away from, track when can obtain track flow, track vehicle composition, track vehicle time occupation rate, track vehicle headstock
Vehicle average speed；
Step5：Singlechip controller is made up of track flow, track vehicle 3U CPCI/PXI backboards, track vehicle time
Communication unit is sent to away from, track vehicle average speed, intersection is sent to by communication unit when occupation rate, track vehicle headstock
Traffic signal control.
2. a kind of road surface guide for evading intersection predicament area according to claim 1, it is characterised in that：Indicate single
The configured information that unit sends over according to main control unit singlechip controller, by the LED light being embedded in indicating member,
Riding manipulation behavior by LED light light color and Warning Mark to driver is pointed out, and specific works step is as follows：
Step1：When indicating member is not received by any configured information of singlechip controller, LED light is in extinguishes shape
State, any Warning Mark is not shown；
Step2：When indicating member receives " accelerating current " configured information that singlechip controller is sended over, LED is indicated
Lamp gives a green light, and animation display acceleratesWarning Mark, points out driver to accelerate current；
Step3：When indicating member receives " ramp to stop " configured information that singlechip controller is sended over, LED is indicated
Lamp shiny red, animation display is slowed downWarning Mark, points out driver's ramp to stop；
Step4：When " keep speed, by crossing " configured information that indicating member receives that singlechip controller sends over
When, LED light gives a green light, and animation shows current " → " Warning Mark, points out driver to pass through intersection；
Step5：When indicating member receives " emergency " configured information that singlechip controller is sended over, LED is indicated
Lamp shiny red, animation display parking " ← " Warning Mark, points out operator brake parking.
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| CN106056974A (en) * | 2016-07-14 | 2016-10-26 | 清华大学苏州汽车研究院（吴江） | Active safety early warning device based on vehicle infrastructure integration |
| CN109215345B (en) * | 2018-09-30 | 2021-03-16 | 淮阴工学院 | Stop line position determination method for eliminating intersection predicament area |
| CN109584556A (en) * | 2018-12-13 | 2019-04-05 | 河海大学 | A kind of intersection blue flash signal time based on predicament domain tyeory determines method |
| CN109785614A (en) * | 2018-12-17 | 2019-05-21 | 北京掌行通信息技术有限公司 | A kind of monitoring method and device of magnanimity mobile position data |
| CN111402606A (en) * | 2019-01-02 | 2020-07-10 | 韩晓义 | Traffic signal lamp auxiliary method and device |
| CN110060490A (en) * | 2019-04-08 | 2019-07-26 | 河南城建学院 | A kind of crossing safety auxiliary system and its control method based on line holographic projections |
| CN112509343B (en) * | 2020-10-26 | 2022-12-02 | 长沙理工大学 | Roadside type guiding method and system based on vehicle-road cooperation |
| CN112258862A (en) * | 2020-11-10 | 2021-01-22 | 长沙理工大学 | Early warning method for vehicle running red light based on vehicle-road cooperation technology |
| CN113990087B (en) * | 2021-10-26 | 2022-12-20 | 江苏科创车联网产业研究院有限公司 | Signal control method for improving road traffic safety |
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| WO2000031707A1 (en) * | 1998-11-23 | 2000-06-02 | Nestor, Inc. | Non-violation event filtering for a traffic light violation detection system |
| CN103177590B (en) * | 2013-03-07 | 2015-04-01 | 王俊昌 | Road intersection brake warning light and control method thereof |
| CN104183149B (en) * | 2014-08-29 | 2017-12-15 | 浙江吉利汽车研究院有限公司 | A kind of automobile-used traffic precognition suggestion device and method |
| CN104282161B (en) * | 2014-09-29 | 2016-05-18 | 同济大学 | The awkward district of a kind of signalized intersections based on real-time vehicle track control method |
| CN104637315B (en) * | 2015-02-06 | 2016-07-13 | 北京交通大学 | Unsignalized intersection optimal control method under bus or train route cooperative surroundings and system |
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