CN110060474A - A kind of tunnel dynamic edge rate intelligent speed-control system and method - Google Patents
A kind of tunnel dynamic edge rate intelligent speed-control system and method Download PDFInfo
- Publication number
- CN110060474A CN110060474A CN201910293124.6A CN201910293124A CN110060474A CN 110060474 A CN110060474 A CN 110060474A CN 201910293124 A CN201910293124 A CN 201910293124A CN 110060474 A CN110060474 A CN 110060474A
- Authority
- CN
- China
- Prior art keywords
- speed
- rate controlling
- section
- rate
- led light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention is a kind of tunnel dynamic edge rate intelligent speed-control system and method.The present invention includes distribution box, tachymeter, speed controlling terminal, the first wireless data transfer module, the second wireless data transfer module, LED light controlling terminal, LED light array.The method of the present invention acquires the speed distributed data in hypervelocity section as speed sample data sets by tachymeter in advance, best edge rate reticle design scheme is obtained by optimization aim of whole speed least squares optimization by genetic algorithm, and is recorded in controlling terminal.Fleet's speed is measured by tachymeter, fleet's speed is reached speed controlling terminal by tachymeter, and terminal control LED light array makes switch response, to implement design scheme, it is too fast that the driver of over-speed vehicles by visual information perceives speed, actively takes deceleration measure.The present invention can make dynamic response according to the operating status of real-time traffic flow, induce driver's active control running speed, and reduction flow speeds are poor, improve level of security.
Description
Technical field
The invention belongs to tunnel traffic security technology area more particularly to a kind of tunnel dynamic edge rate intelligent speed-control systems
And method.
Background technique
Driver can generate adaptability during turnpike driving to perception speed, and appearance shows to what speed was underestimated
As, this allows for driver and does not often take deceleration measure or undermoderated to generate hypervelocity behavior when driving into tunnel,
And tunnel intraoral illumination in part is insufficient, sight line inducing effect is bad, driver's sighting distance is limited, in addition caused by the erroneous judgement to speed
Hypervelocity increases the probability of accident generation.
It is shown in tunnel accident data statistics, nearly 5 years tunnel accident death rates (death toll caused by every accident) are
0.48 people/rise, is 1.6 times of same period whole accident death rate, wherein freeway tunnel accident death rate highest is 0.55
People/rise, is 1.9 times of same period whole accident death rate, and the main reason for being initiation accident of driving over the speed limit with vehicle rear-end collision.By
This is as it can be seen that taking effective regulation speed method to carry out control to tunnel vehicle driving speed and flow speeds difference is to reduce tunnel
Traffic accident quantity mitigates the requisite measure of tunnel traffic accident intensity.
Although obvious currently used for the edge rate graticule measure slowing effect for controlling overspeed of vehicle, it is opposite that it acts on section
It is fixed, it can not be controlled for real-time road, in order to be directed to the time varying characteristic and individual difference of speed, need to propose a kind of new
Speed control measure, take the vehicle in friction speed section different rate controlling schemes, can be because of Che Eryi, more high-efficiency precision
Quasi- ground regulation speed, is substantially reduced speed variance, and average speed is effectively reduced, whether in macroscopic view or microcosmic point, all
Traffic safety level can be greatly improved.
Summary of the invention
For disadvantage and loophole present in current static edge rate graticule application, it is dynamic that the invention proposes a kind of tunnels
State edge rate intelligent speed-control system and method acquires car flow information, matches the suitable edge graticule period, and pass through trackside LED
Lamp array column pass information to driver, make driver that speed to be initiatively reduced to the desired speed of traffic administration person.
The technical solution of present system is a kind of tunnel dynamic edge rate intelligent speed-control system, including distribution box, is tested the speed
Instrument, speed controlling terminal, the first wireless data transfer module, the second wireless data transfer module, LED light controlling terminal, LED light
Array；
By the distribution box respectively at the tachymeter, speed controlling terminal, the first wireless data transfer module, second
Wireless data transfer module, LED light controlling terminal, LED light array are sequentially connected by conducting wire；The tachymeter, speed control
Terminal processed, the first wireless data transfer module are sequentially connected in series by conducting wire；First wireless data transfer module and institute
Stating the second wireless data transfer module, mode connects by wireless communication；Second wireless data transfer module, LED control
Terminal, LED light array are sequentially connected in series by conducting wire.
Preferably, the distribution box is arranged by controlling terminal, it is the tachymeter, speed controlling terminal, first
Wireless data transfer module, the second wireless data transfer module, LED light controlling terminal, LED light array power supply；
Preferably, the both sides of the road of rate controlling section starting point are arranged in for measuring car speed in the tachymeter, test the speed
Instrument is arranged at 100 meters of hypervelocity section starting point upstream；
Preferably, the speed controlling terminal is arranged between the tachymeter and the LED light array, it to be used for basis
Car speed optimization design obtains the control program of LED light；
Preferably, first wireless data transfer module is used for LED according to the control of the speed controlling terminal
The control program of lamp is wirelessly transmitted to second wireless data transfer module；
Preferably, second wireless data transfer module is used for the control program of wireless receiving LED light, and it is transmitted to
The LED light controlling terminal；
Preferably, the LED light controlling terminal, which is used to generate LED light according to the control program of LED light, controls signal, and
It is transmitted to the LED light array；
Preferably, the LED light array continuous laying is oriented parallel in road in curb or on the inside of tunnel wall
Heart line, at about 0.5 meter of ground level.
The technical solution of the method for the present invention is a kind of tunnel dynamic edge rate intelligent speed-control method, specifically includes following step
It is rapid:
Step 1: by tachymeter in advance acquire hypervelocity section speed distributed data as speed sample data sets with
Building hypervelocity sample data sets, calculate rate controlling section in max. speed and minimum speed, by genetic algorithms approach with
Whole speed least squares optimization is that optimization aim optimizes to obtain best edge rate reticle design scheme, and is stored in speed control
In terminal processed；
Step 2: fleet's speed being measured by tachymeter, fleet's speed is reached speed controlling terminal, speed control by tachymeter
Terminal processed obtains fleet's speed according to step 1 and corresponds to best edge rate reticle design scheme in rate controlling section；
Step 3: it is wireless by first that speed controlling terminal will correspond to best edge rate reticle design scheme in rate controlling section
Data transmission module is wirelessly transmitted to the second wireless data transfer module；
Step 4: the second wireless data transfer module will correspond to best edge rate reticle design scheme transmitting in rate controlling section
To LED light controlling terminal, LED light controlling terminal control LED light array makes switch response；
Step 5:LED lamp array is arranged to be lighted according to best edge rate reticle design scheme, and the driver of over-speed vehicles passes through view
Feel that information Perception is too fast to speed, actively deceleration is taken to arrange.
Preferably, acquiring the speed distributed data in hypervelocity section described in step 1 in advance by tachymeter are as follows:
Select the hypervelocity serious tunnel of phenomenon as implementation goal, tachymeter, collecting vehicle is arranged in long forthright section in tunnel
Fast data are as speed sample data sets V1:
Wherein, v1,k(k=1,2,3 ..., NC) be kth vehicle vehicle speed data, NCFor the quantity of vehicle；
Tunnel speed limit is Vs(km/h)；
Speed sample data sets V1Middle max. speed are as follows:
Vmax=max (V1)
Wherein, VmaxFor speed sample data sets V1Middle max. speed data；
Speed sample data sets V1In minimum speed are as follows:
Vmin=min (V1)
Wherein, VminFor speed sample data sets V1In minimum vehicle speed data；
The sample data sets of building hypervelocity described in step 1 are as follows:
Speed sample data sets V1In for being less than tunnel speed limit VsVehicle, it is not necessary to take it rate controlling measure, can
Invariable depending on its speed, the target of rate controlling is more than tunnel speed limit VsVehicle, i.e. speed sample data sets V1At middle speed
In hypervelocity section [Vs,Vmax] in all vehicles；
Hypervelocity section is divided by step-length dv (km/h), from speed limit VsStart to divide a rate controlling section every dv,
Wherein r-th of rate controlling section are as follows:
[Vs+(r-1)dv,Vs+rdv]r∈[1,NV]
Wherein, NVFor (Vmax-VsThe integer part of)/dv is also the total quantity in rate controlling section, by (Vmax-Vs)/dv's is small
Number part i.e. remaining sample speed and speed sample data sets V out1Middle max. speed VmaxReconstitute [V between new districts+NVdv,
Vmax], and it is incorporated into NVA rate controlling section；
Max. speed and minimum speed in calculating rate controlling section described in step 1 are；
R r ∈ [1, NV] all vehicles in a rate controlling section, its speed sample data constitutes set V before rate controllingr,1,
Its speed sample data constitutes set V after rate controllingr,2；
Speed sample data sets V1Middle speed is in hypervelocity section [Vs,Vmax] in all vehicles carry out rate controlling after, it is low
In speed limit VsVehicle do not take rate controlling measure, all vehicles pass through the end cross section speed sample data set of LED light array
It is combined intoIt is also the speed or last section speed after rate controlling, set V2By two
Point vehicle speed data is constituted, and lower than car speed of the speed limit without rate controlling and hypervelocity and receives the car speed after rate controlling, different
Vehicle in speed interval takes different rate controlling modes, and difference is embodied in the design value of laying the road long L and period λ of graticule
On, final goal is so that set V2The variance of all speeds is minimum after rate controlling；
For rate controlling section r r ∈ [1, NV], it requires to find the control in the value range for being laid with the long L and period λ in road
Optimal L under fast sectionrAnd λ *r*；
Being laid with the long sampling step length in road is dL, and in the r of rate controlling section, sampled point value interval bound is respectively
The sampling step length in period is d λ, and in the r of rate controlling section, sampled point value interval bound is respectively λr,max
Wherein, Vr,max=max (Vr,1), Vr,min=min (Vr,1), i.e. highest, minimum speed in r-th of rate controlling section；
Optimize to obtain most preferably using whole speed least squares optimization as optimization aim by genetic algorithms approach described in step 1
Edge rate reticle design scheme are as follows:
R ∈ [1, N in each rate controlling section r is found using genetic algorithm iterationV], it is laid with the long L in roadr,iWith period λr,jIt is optimal
Solution；
The basic parameter of genetic algorithm is arranged: population scale PS, maximum evolutionary generation are MG, crossover probability PC, become
Different probability is PM；
Population's fitness function is consistent with objective function, is shown below, zp,qFor pth in population q-th individual it is suitable
Response (p ∈ [1, MG]；q∈[1,PS])；
In the r of rate controlling section, road is laid in the r of rate controlling section and grows the value L at ith sample pointr,iWith in rate controlling section
Value λ of the period at j-th of sampled point in rr,jIt is all possible to combine shared Mr×NrKind, i ∈ [1, Mr],i∈[1,Nr],
Q-th of body is derived from L at random in initial populationr,iAnd λr,jMr×NrKind combination one of, and then can be calculated by following formula
Lr,iAnd λr,jCombination under, kth vehicle belongs to the end speed after the rate controlling in r-th of rate controlling section in sample data sets
V2,k,r,i,j, and so on, set V can be obtained2All elements, target function value be rate controlling after all car speed variances
Reduction percentage；
Objective function:
In formula:
Std(V1) it is speed sample data sets V1Standard deviation；
Std(V2) it is end cross section speed sample data sets V2Standard deviation；
F is temporal frequency (Hz)；
A is the absolute value of acceleration；
v1,kFor speed sample data sets V1The vehicle speed data of middle kth vehicle；
v2,k,r,i,jFor speed sample data sets V1R-th of rate controlling section of middle kth vehicle is grown on laying road and is adopted at i-th
Value L at sampling pointr,iWith value λ of the period at j-th of sampled pointr,jCombination under, vehicle when last section is crossed after rate controlling
Speed.Set V2Thus the speed of middle kth vehicle is also calculated, i.e. v2,k=v2,k,r,i,j；
Lr,iThe value at ith sample point is grown to be laid with road in the r of rate controlling section are as follows:
Lmin+(i-1)×dL
I is sampled point serial number, i=1,2,3 ..., Mr, MrFor the total quantity for being laid with the long sampled point in road in the r of rate controlling section；
λr,jFor value of the period at j-th of sampled point in the r of rate controlling section are as follows:
λmin+(j-1)×dλ
J be sampled point serial number, j=1,2,3 ..., Nr, NrThe total quantity of period sampled point in the r of rate controlling section；
L in r-th of rate controlling sectionr,iAnd λr,jDesign combination, the M in this rate controlling sectionr×NrRope in kind permutation and combination
Draw serial number tr=i × j (1≤tr≤Mr×Nr, r=1,2 ..., NV)；
For different rate controlling sections, MrAnd NrValue it is different, so index number trValue range it is also different,
To L in each rate controlling sectionr,iAnd λr,jCombined index number trBinary coding is carried out, then by all rate controlling sections corresponding two
Scale coding chain is sequentially connected in series according to its section serial number r, the gene coding strand of q-th of individual in available initial population
GNp,q, p=0 primary；q∈[1,PS]；
One by one to the gene coding strand GN of PS individual in populationp,qIt is decoded, i.e., converts ten for binary coding chain
The index number t of systemr, and then L can be obtainedr,iAnd λr,j, to calculate to obtain the last section speed of vehicle, Suo Youche in each rate controlling section
Last section sets of speeds be V2, the target function value z of population at individual can be acquired at this timep,qIt also is fitness value, in population
Roulette selection is carried out according to fitness value under the premise of scale is constant, generates new progeny population genes of individuals coding strand
GNp,q；
According to intersecting probability of happening PC, crossover operation carried out to progeny population, random pair two-by-two, using single point crossing,
Intersect point random selection；
According to variation probability of happening PM, mutation operation is carried out to the individual after intersection, due to being binary coding, therefore is made a variation
When negate；
Population algebra p=p+1 updates, to the progeny population genes of individuals chain GN after cross and variationp,qOperation is decoded,
Recalculate the target function value z of new progeny populationp,q, also it is fitness value, then judges whether Evolution of Population algebra p reaches
The maximum evolutionary generation MG of setting, if so, iteration terminates；If it is not, then regenerating new progeny population genes of individuals coding
Chain；
Defining the maximum individual q of fitness value in the last reign of a dynasty, that is, p=MG population is optimized individual, and gene coding strand is
GN*p,q, last reign of a dynasty p=MG, q ∈ [1, PS], to GN*p,qIt is decoded, according to the resulting index number t of decodingrIt can find each
In rate controlling section, it is laid with the long optimal combination L with the period in roadrAnd λ *r*, as best edge rate reticle design scheme, by Lr* and
λr*r∈[1,NV] export and be stored in controlling terminal；
Preferably, corresponding to rate controlling section described in step 2 is the rate controlling section serial number s according to belonging to fleet's velocity estimated；
It is the laying long L in road that best edge rate reticle design scheme in the s of rate controlling section is corresponded to described in step 2s* with period λs*；
Preferably, switching response described in step 4 are as follows:
Since the section starting point that exceeds the speed limit, every λs* rice is a response cycle, preceding λ in each response cycles*/2 meter length
LED light lights, rear λs*/2 the LED light of meter length is extinguished, and the accumulative total length of response cycle is Ls*。
The present invention can be effectively reduced flow speeds variance and average speed, guarantee wagon flow safety, steadily pass through tunnel
Road improves tunnel ground traffic efficiency and overall security.
The present invention can be effectively reduced flow speeds variance and average speed, guarantee wagon flow safety, steadily pass through tunnel
Road improves tunnel ground traffic efficiency and overall security.
Detailed description of the invention
Fig. 1: for overall structure diagram of the invention；
Fig. 2: for genetic algorithm flow chart in the present invention；
Fig. 3: for method flow diagram in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It as described in Figure 1, is overall structure diagram of the invention.The technical solution of embodiment of the present invention system is one kind
Tunnel dynamic edge rate intelligent speed-control system, including distribution box, tachymeter, speed controlling terminal, the first wireless data transmission mould
Block, the second wireless data transfer module, LED light controlling terminal, LED light array；
By the distribution box respectively at the tachymeter, speed controlling terminal, the first wireless data transfer module, second
Wireless data transfer module, LED light controlling terminal, LED light array are sequentially connected by conducting wire；The tachymeter, speed control
Terminal processed, the first wireless data transfer module are sequentially connected in series by conducting wire；First wireless data transfer module and institute
Stating the second wireless data transfer module, mode connects by wireless communication；Second wireless data transfer module, LED control
Terminal, LED light array are sequentially connected in series by conducting wire.
The distribution box is arranged by controlling terminal, is the tachymeter, speed controlling terminal, the first wireless data biography
Defeated module, the second wireless data transfer module, LED light controlling terminal, LED light array power supply；
The both sides of the road of rate controlling section starting point are arranged in for measuring car speed in the tachymeter, and tachymeter setting is super
At 100 meters of fast section starting point upstream；
The speed controlling terminal is arranged between the tachymeter and the LED light array, for according to car speed
Optimization design obtains the control program of LED light；
First wireless data transfer module is used for the controlling party of LED light according to the control of the speed controlling terminal
Case is wirelessly transmitted to second wireless data transfer module；
Second wireless data transfer module is used for the control program of wireless receiving LED light, and is transmitted to the LED light
Controlling terminal；
The LED light controlling terminal, which is used to generate LED light according to the control program of LED light, controls signal, and is transmitted to institute
State LED light array；
The LED light array continuous laying is oriented parallel to road axis, distance in curb or on the inside of tunnel wall
At about 0.5 meter of ground level.
The distribution box type selecting is single supply AC220V power supply；The tachymeter type selecting is CSP-2 radar meter；It is described
Speed controlling terminal model MSP430F5438AIPZR；The first wireless data transfer module type selecting is that T-WS300 is wireless
Signal projector；The second wireless data transfer module type selecting is M-150D wireless signal receiver；The LED light control is eventually
End type selecting is T-4000AC controller；The LED light luminous intensity of the LED light array is greater than 6000mcd, and brightness is adjustable.
Embodiments of the present invention are introduced below with reference to Fig. 1 to Fig. 3, specifically:
Step 1: by tachymeter in advance acquire hypervelocity section speed distributed data as speed sample data sets with
Building hypervelocity sample data sets, calculate rate controlling section in max. speed and minimum speed, by genetic algorithms approach with
Whole speed least squares optimization is that optimization aim optimizes to obtain the i.e. L of best edge rate reticle design schemerAnd λ *r*, it and is stored up
There are in speed controlling terminal.
Acquire the speed distributed data in hypervelocity section described in step 1 in advance by tachymeter are as follows:
Select the hypervelocity serious tunnel of phenomenon as implementation goal, tachymeter, collecting vehicle is arranged in long forthright section in tunnel
Fast data are as speed sample data sets V1:
Wherein, v1,k(k=1,2,3 ..., NC) be kth vehicle vehicle speed data, NCFor the quantity of vehicle；
Tunnel speed limit is Vs(km/h)；
Speed sample data sets V1Middle max. speed are as follows:
Vmax=max (V1)
Wherein, VmaxFor speed sample data sets V1Middle max. speed data；
Speed sample data sets V1In minimum speed are as follows:
Vmin=min (V1)
Wherein, VminFor speed sample data sets V1In minimum vehicle speed data；
The sample data sets of building hypervelocity described in step 1 are as follows:
Speed sample data sets V1In for being less than tunnel speed limit VsVehicle, it is not necessary to take it rate controlling measure, can
Invariable depending on its speed, the target of rate controlling is more than tunnel speed limit VsVehicle, i.e. speed sample data sets V1At middle speed
In hypervelocity section [Vs,Vmax] in all vehicles；
Hypervelocity section is divided by step-length dv (km/h), from speed limit VsStart to divide a rate controlling section every dv,
Wherein r-th of rate controlling section are as follows:
[Vs+(r-1)dv,Vs+rdv]r∈[1,NV]
Wherein, NVFor (Vmax-VsThe integer part of)/dv is also the total quantity in rate controlling section, by (Vmax-Vs)/dv's is small
Number part i.e. remaining sample speed and speed sample data sets V out1Middle max. speed VmaxReconstitute [V between new districts+NVdv,
Vmax], and it is incorporated into NVA rate controlling section；
Max. speed and minimum speed in calculating rate controlling section described in step 1 are；
R r ∈ [1, NV] all vehicles in a rate controlling section, its speed sample data constitutes set V before rate controllingr,1,
Its speed sample data constitutes set V after rate controllingr,2；
Speed sample data sets V1Middle speed is in hypervelocity section [Vs,Vmax] in all vehicles carry out rate controlling after, it is low
In speed limit VsVehicle do not take rate controlling measure, all vehicles pass through the end cross section speed sample data set of LED light array
It is combined intoIt is also the speed or last section speed after rate controlling, set V2By two
Point vehicle speed data is constituted, and lower than car speed of the speed limit without rate controlling and hypervelocity and receives the car speed after rate controlling, different
Vehicle in speed interval takes different rate controlling modes, and difference is embodied in the design value of laying the road long L and period λ of graticule
On, final goal is so that set V2The variance of all speeds is minimum after rate controlling；
For rate controlling section r r ∈ [1, NV], it requires to find the control in the value range for being laid with the long L and period λ in road
Optimal L under fast sectionrAnd λ *r*；
Being laid with the long sampling step length in road is dL, and in the r of rate controlling section, sampled point value interval bound is respectively
The sampling step length in period is d λ, and in the r of rate controlling section, sampled point value interval bound is respectively λr,max
Wherein, Vr,max=max (Vr,1), Vr,min=min (Vr,1), i.e. highest, minimum speed in r-th of rate controlling section；
Optimize to obtain most preferably using whole speed least squares optimization as optimization aim by genetic algorithms approach described in step 1
Edge rate reticle design scheme are as follows:
R ∈ [1, N in each rate controlling section r is found using genetic algorithm iterationV], it is laid with the long L in roadr,iWith period λr,jIt is optimal
Solution；
The basic parameter of genetic algorithm is arranged: population scale PS=60, maximum evolutionary generation are MG=100, intersect generally
Rate is PC=0.7, mutation probability PM=0.05；
Population's fitness function is consistent with objective function, is shown below, zp,qFor pth in population q-th individual it is suitable
Response (p ∈ [1, MG]；q∈[1,PS])；
In the r of rate controlling section, road is laid in the r of rate controlling section and grows the value L at ith sample pointr,iWith in rate controlling section
Value λ of the period at j-th of sampled point in rr,jIt is all possible to combine shared Mr×NrKind, i ∈ [1, Mr],i∈[1,Nr],
Q-th of body is derived from L at random in initial populationr,iAnd λr,jMr×NrKind combination one of, and then can be calculated by following formula
Lr,iAnd λr,jCombination under, kth vehicle belongs to the end speed after the rate controlling in r-th of rate controlling section in sample data sets
V2,k,r,i,j, and so on, set V can be obtained2All elements, target function value be rate controlling after all car speed variances
Reduction percentage；
Objective function:
In formula:
Std(V1) it is speed sample data sets V1Standard deviation；
Std(V2) it is end cross section speed sample data sets V2Standard deviation；
F is temporal frequency (Hz)；
A is the absolute value of acceleration；
v1,kFor speed sample data sets V1The vehicle speed data of middle kth vehicle；
v2,k,r,i,jFor speed sample data sets V1R-th of rate controlling section of middle kth vehicle is grown on laying road and is adopted at i-th
Value L at sampling pointr,iWith value λ of the period at j-th of sampled pointr,jCombination under, vehicle when last section is crossed after rate controlling
Speed.Set V2Thus the speed of middle kth vehicle is also calculated, i.e. v2,k=v2,k,r,i,j；
Lr,iThe value at ith sample point is grown to be laid with road in the r of rate controlling section are as follows:
Lmin+(i-1)×dL
I is sampled point serial number, i=1,2,3 ..., Mr, MrFor the total quantity for being laid with the long sampled point in road in the r of rate controlling section；
λr,jFor value of the period at j-th of sampled point in the r of rate controlling section are as follows:
λmin+(j-1)×dλ
J be sampled point serial number, j=1,2,3 ..., Nr, NrThe total quantity of period sampled point in the r of rate controlling section；
L in r-th of rate controlling sectionr,iAnd λr,jDesign combination, the M in this rate controlling sectionr×NrRope in kind permutation and combination
Draw serial number tr=i × j (1≤tr≤Mr×Nr, r=1,2 ..., NV)；
For different rate controlling sections, MrAnd NrValue it is different, so index number trValue range it is also different,
To L in each rate controlling sectionr,iAnd λr,jCombined index number trBinary coding is carried out, then by all rate controlling sections corresponding two
Scale coding chain is sequentially connected in series according to its section serial number r, the gene coding strand of q-th of individual in available initial population
GNp,q, p=0 primary；q∈[1,PS]；
One by one to the gene coding strand GN of PS individual in populationp,qIt is decoded, i.e., converts ten for binary coding chain
The index number t of systemr, and then L can be obtainedr,iAnd λr,j, to calculate to obtain the last section speed of vehicle, Suo Youche in each rate controlling section
Last section sets of speeds be V2, the target function value z of population at individual can be acquired at this timep,qIt also is fitness value, in population
Roulette selection is carried out according to fitness value under the premise of scale is constant, generates new progeny population genes of individuals coding strand
GNp,q；
According to intersecting probability of happening PC, crossover operation carried out to progeny population, random pair two-by-two, using single point crossing,
Intersect point random selection；
According to variation probability of happening PM, mutation operation is carried out to the individual after intersection, due to being binary coding, therefore is made a variation
When negate；
Population algebra p=p+1 updates, to the progeny population genes of individuals chain GN after cross and variationp,qOperation is decoded,
Recalculate the target function value z of new progeny populationp,q, also it is fitness value, then judges whether Evolution of Population algebra p reaches
The maximum evolutionary generation MG of setting, if so, iteration terminates；If it is not, then regenerating new progeny population genes of individuals coding
Chain；
Defining the maximum individual q of fitness value in the last reign of a dynasty, that is, p=MG population is optimized individual, and gene coding strand is
GN*p,q, last reign of a dynasty p=MG, q ∈ [1, PS], to GN*p,qIt is decoded, according to the resulting index number t of decodingrIt can find each
In rate controlling section, it is laid with the long optimal combination L with the period in roadrAnd λ *r*, as best edge rate reticle design scheme, by Lr* and
λr*r∈[1,NV] export and be stored in controlling terminal；
Step 2: fleet's speed being measured by tachymeter, fleet's speed is reached speed controlling terminal, speed control by tachymeter
Terminal processed obtains fleet's speed according to step 1 and corresponds to best edge rate reticle design scheme in rate controlling section；
It is the rate controlling section serial number s according to belonging to fleet's velocity estimated that rate controlling section is corresponded to described in step 2；
It is the laying long L in road that best edge rate reticle design scheme in the s of rate controlling section is corresponded to described in step 2sAnd the period *
λs*；
Step 3: it is wireless by first that speed controlling terminal will correspond to best edge rate reticle design scheme in rate controlling section
Data transmission module is wirelessly transmitted to the second wireless data transfer module；
Step 4: the second wireless data transfer module will correspond to best edge rate reticle design scheme transmitting in rate controlling section
To LED light controlling terminal, LED light controlling terminal control LED light array makes switch response；
Response is switched described in step 4 are as follows:
Since the section starting point that exceeds the speed limit, every λs* rice is a response cycle, preceding λ in each response cycles*/2 meter length
LED light lights, rear λs*/2 the LED light of meter length is extinguished, and the accumulative total length of response cycle is Ls*；
Step 5:LED lamp array is arranged to be lighted according to best edge rate reticle design scheme, and the driver of over-speed vehicles passes through view
Feel that information Perception is too fast to speed, actively takes deceleration measure.
Although be used more herein distribution box, tachymeter, speed controlling terminal, the first wireless data transfer module,
The terms such as the second wireless data transfer module, LED light controlling terminal, LED light array, but be not precluded using other terms can
It can property.The use of these items is only for more easily describing essence of the invention, it is construed as any additional
Limitation be all to be disagreed with spirit of that invention.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (6)
1. a kind of tunnel dynamic edge rate intelligent speed-control system, which is characterized in that eventually including distribution box, tachymeter, speed control
End, the first wireless data transfer module, the second wireless data transfer module, LED light controlling terminal, LED light array；
Wirelessly respectively at the tachymeter, speed controlling terminal, the first wireless data transfer module, second by the distribution box
Data transmission module, LED light controlling terminal, LED light array are sequentially connected by conducting wire；The tachymeter, speed control are eventually
End, the first wireless data transfer module are sequentially connected in series by conducting wire；First wireless data transfer module and described the
Mode connects two wireless data transfer modules by wireless communication；Second wireless data transfer module, LED control are eventually
End, LED light array are sequentially connected in series by conducting wire.
2. tunnel dynamic edge rate intelligent speed-control system according to claim 1, which is characterized in that
The distribution box is arranged by controlling terminal, is the tachymeter, speed controlling terminal, the first wireless data transmission mould
Block, the second wireless data transfer module, LED light controlling terminal, LED light array power supply；
The both sides of the road of rate controlling section starting point are arranged in for measuring car speed in the tachymeter, and tachymeter setting is on hypervelocity road
At 100 meters of the upstream Duan Qidian；
The speed controlling terminal is arranged between the tachymeter and the LED light array, for being optimized according to car speed
Design obtains the control program of LED light；
First wireless data transfer module be used for according to the control of the speed controlling terminal by the control program of LED light without
Line is transmitted to second wireless data transfer module；
Second wireless data transfer module is used for the control program of wireless receiving LED light, and is transmitted to the LED light control
Terminal；
The LED light controlling terminal, which is used to generate LED light according to the control program of LED light, controls signal, and is transmitted to the LED
Lamp array column；
The LED light array continuous laying is oriented parallel to road axis, apart from ground in curb or on the inside of tunnel wall
At about 0.5 meter of height.
3. a kind of carry out tunnel dynamic edge rate intelligence using tunnel dynamic edge rate intelligent speed-control system as claimed in claim 2
Speed control method, which is characterized in that
Step 1: by tachymeter in advance acquire hypervelocity section speed distributed data as speed sample data sets to construct
Exceed the speed limit sample data sets, max. speed and minimum speed in rate controlling section is calculated, by genetic algorithms approach with entirety
Speed least squares optimization is that optimization aim optimizes to obtain best edge rate reticle design scheme, and is stored in speed control eventually
In end；
Step 2: fleet's speed being measured by tachymeter, fleet's speed is reached speed controlling terminal by tachymeter, and speed control is eventually
End obtains fleet's speed according to step 1 and corresponds to best edge rate reticle design scheme in rate controlling section；
Step 3: speed controlling terminal will correspond to best edge rate reticle design scheme in rate controlling section and pass through the first wireless data
Transmission module is wirelessly transmitted to the second wireless data transfer module；
Step 4: best edge rate reticle design scheme in corresponding rate controlling section is transferred to LED by the second wireless data transfer module
Lamp controlling terminal, LED light controlling terminal control LED light array make switch response；
Step 5:LED lamp array is arranged to be lighted according to best edge rate reticle design scheme, and the driver of over-speed vehicles is believed by vision
It is too fast that breath perceives speed, actively deceleration is taken to arrange.
4. tunnel dynamic edge rate intelligent speed-control method according to claim 3, which is characterized in that
Acquire the speed distributed data in hypervelocity section described in step 1 in advance by tachymeter are as follows:
Select the hypervelocity serious tunnel of phenomenon as implementation goal, tachymeter is arranged in long forthright section in tunnel, acquires speed number
According to as speed sample data sets V1:
Wherein, v1,k(k=1,2,3 ..., NC) be kth vehicle vehicle speed data, NCFor the quantity of vehicle；
Tunnel speed limit is Vs(km/h)；
Speed sample data sets V1Middle max. speed are as follows:
Vmax=max (V1)
Wherein, VmaxFor speed sample data sets V1Middle max. speed data；
Speed sample data sets V1In minimum speed are as follows:
Vmin=min (V1)
Wherein, VminFor speed sample data sets V1In minimum vehicle speed data；
The sample data sets of building hypervelocity described in step 1 are as follows:
Speed sample data sets V1In for being less than tunnel speed limit VsVehicle, it is not necessary to take it rate controlling measure, it is visual its
Speed is invariable, and the target of rate controlling is more than tunnel speed limit VsVehicle, i.e. speed sample data sets V1Middle speed is in super
Fast section [Vs,Vmax] in all vehicles；
Hypervelocity section is divided by step-length dv (km/h), from speed limit VsStart to divide a rate controlling section every dv, wherein the
R rate controlling section are as follows:
[Vs+(r-1)dv,Vs+rdv]r∈[1,NV]
Wherein, NVFor (Vmax-VsThe integer part of)/dv is also the total quantity in rate controlling section, by (Vmax-VsThe fractional part of)/dv
Divide i.e. remaining sample speed and speed sample data sets V out1Middle max. speed VmaxReconstitute [V between new districts+NVdv,Vmax],
And it is incorporated into NVA rate controlling section；
Max. speed and minimum speed in calculating rate controlling section described in step 1 are；
R r ∈ [1, NV] all vehicles in a rate controlling section, its speed sample data constitutes set V before rate controllingr,1, after rate controlling
Its speed sample data constitutes set Vr,2；
Speed sample data sets V1Middle speed is in hypervelocity section [Vs,Vmax] in all vehicles carry out rate controlling after, lower than limit
Fast VsVehicle do not take rate controlling measure, all vehicles are combined by the end cross section speed sample data set of LED light arrayIt is also the speed or last section speed after rate controlling, set V2By two parts vehicle
Fast data are constituted, and lower than car speed of the speed limit without rate controlling and hypervelocity and receive the car speed after rate controlling, friction speed
Vehicle in section takes different rate controlling modes, and difference is embodied in the design value of the laying long L and period λ in road of graticule,
Final goal is so that set V2The variance of all speeds is minimum after rate controlling；
For rate controlling section r r ∈ [1, NV], it requires to find the rate controlling section in the value range for being laid with the long L and period λ in road
Under optimal LrAnd λ *r*；
Being laid with the long sampling step length in road is dL, and in the r of rate controlling section, sampled point value interval bound is respectively Lr,maxAnd Lr,min
(m),
The sampling step length in period is d λ, and in the r of rate controlling section, sampled point value interval bound is respectively λr,maxAnd λr,min(m),
Wherein, Vr,max=max (Vr,1), Vr,min=min (Vr,1), i.e. highest, minimum speed in r-th of rate controlling section；
Optimize to obtain best edge as optimization aim using whole speed least squares optimization by genetic algorithms approach described in step 1
Rate reticle design scheme are as follows:
R ∈ [1, N in each rate controlling section r is found using genetic algorithm iterationV], it is laid with the long L in roadr,iWith period λr,jOptimal solution；
The basic parameter of genetic algorithm is arranged: population scale PS, maximum evolutionary generation are MG, crossover probability PC, make a variation generally
Rate is PM；
Population's fitness function is consistent with objective function, is shown below, zp,qIt is pth for the fitness of q-th of individual in population
(p∈[1,MG]；q∈[1,PS])；
In the r of rate controlling section, road is laid in the r of rate controlling section and grows the value L at ith sample pointr,iWith in the r of rate controlling section
Value λ of the period at j-th of sampled pointr,jIt is all possible to combine shared Mr×NrKind, i ∈ [1, Mr],i∈[1,Nr], just
Q-th of body is derived from L at random in beginning populationr,iAnd λr,jMr×NrKind combination one of, and then can be calculated by following formula
Lr,iAnd λr,jCombination under, kth vehicle belongs to the end speed after the rate controlling in r-th of rate controlling section in sample data sets
V2,k,r,i,j, and so on, set V can be obtained2All elements, target function value be rate controlling after all car speed variances
Reduction percentage；
Objective function:
In formula:
Std(V1) it is speed sample data sets V1Standard deviation；
Std(V2) it is end cross section speed sample data sets V2Standard deviation；
F is temporal frequency (Hz)；
A is the absolute value of acceleration；
v1,kFor speed sample data sets V1The vehicle speed data of middle kth vehicle；
v2,k,r,i,jFor speed sample data sets V1R-th of rate controlling section of middle kth vehicle is grown being laid with road in ith sample point
The value L at placer,iWith value λ of the period at j-th of sampled pointr,jCombination under, speed when last section is crossed after rate controlling, collect
Close V2Thus the speed of middle kth vehicle is also calculated, i.e. v2,k=v2,k,r,i,j；
Lr,iThe value at ith sample point is grown to be laid with road in the r of rate controlling section are as follows:
Lmin+(i-1)×dL
I is sampled point serial number, i=1,2,3 ..., Mr, MrFor the total quantity for being laid with the long sampled point in road in the r of rate controlling section；
λr,jFor value of the period at j-th of sampled point in the r of rate controlling section are as follows:
λmin+(j-1)×dλ
J be sampled point serial number, j=1,2,3 ..., Nr, NrThe total quantity of period sampled point in the r of rate controlling section；
L in r-th of rate controlling sectionr,iAnd λr,jDesign combination, the M in this rate controlling sectionr×NrIndex sequence in kind permutation and combination
Number be tr=i × j (1≤tr≤Mr×Nr, r=1,2 ..., NV)；
For different rate controlling sections, MrAnd NrValue it is different, so index number trValue range it is also different, to each
L in rate controlling sectionr,iAnd λr,jCombined index number trBinary coding is carried out, then by the corresponding binary system in all rate controlling sections
Coding strand is sequentially connected in series according to its section serial number r, the gene coding strand GN of q-th of individual in available initial populationp,q, just
For p=0；q∈[1,PS]；
One by one to the gene coding strand GN of PS individual in populationp,qIt is decoded, i.e., converts the decimal system for binary coding chain
Index number tr, and then L can be obtainedr,iAnd λr,j, so that the last section speed of vehicle in each rate controlling section is calculated to obtain, all vehicles
Last section sets of speeds is V2, the target function value z of population at individual can be acquired at this timep,qIt also is fitness value, in population scale
Roulette selection is carried out according to fitness value under the premise of constant, generates new progeny population genes of individuals coding strand GNp,q；
According to probability of happening PC is intersected, crossover operation is carried out to progeny population, two-by-two random pair, using single point crossing, intersected
Point random selection；
According to variation probability of happening PM, mutation operation is carried out to the individual after intersection, due to being binary coding, therefore is taken when variation
It is anti-；
Population algebra p=p+1 updates, to the progeny population genes of individuals chain GN after cross and variationp,qIt is decoded operation, again
Calculate the target function value z of new progeny populationp,q, also it is fitness value, then judges whether Evolution of Population algebra p reaches setting
Maximum evolutionary generation MG, if so, iteration terminates；If it is not, then regenerating new progeny population genes of individuals coding strand；
Defining the maximum individual q of fitness value in the last reign of a dynasty, that is, p=MG population is optimized individual, and gene coding strand is GN*p,q, end
For p=MG, q ∈ [1, PS], to GN*p,qIt is decoded, according to the resulting index number t of decodingrEach rate controlling section can be found
It is interior, it is laid with the long optimal combination L with the period in roadrAnd λ *r*, as best edge rate reticle design scheme, by LrAnd λ *r*r∈
[1,NV] export and be stored in controlling terminal.
5. tunnel dynamic edge rate intelligent speed-control method according to claim 3, which is characterized in that corresponding described in step 2
Best edge rate reticle design scheme is to be laid with the long L in road in the s of rate controlling sections* with period λs*。
6. according to tunnel dynamic edge rate intelligent speed-control method described in claim 3, which is characterized in that opened described in step 4
Close response are as follows:
Since the section starting point that exceeds the speed limit, every λs* rice is a response cycle, preceding λ in each response cycles*/2 LED of meter length
Lamp lights, rear λs*/2 the LED light of meter length is extinguished, and the accumulative total length of response cycle is Ls*。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293124.6A CN110060474B (en) | 2019-04-12 | 2019-04-12 | Tunnel dynamic edge rate intelligent speed control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293124.6A CN110060474B (en) | 2019-04-12 | 2019-04-12 | Tunnel dynamic edge rate intelligent speed control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110060474A true CN110060474A (en) | 2019-07-26 |
| CN110060474B CN110060474B (en) | 2021-09-24 |
Family
ID=67317760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910293124.6A Active CN110060474B (en) | 2019-04-12 | 2019-04-12 | Tunnel dynamic edge rate intelligent speed control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110060474B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111402581A (en) * | 2020-03-11 | 2020-07-10 | 浙江大华技术股份有限公司 | Traffic state detection method and detection device |
| CN112822825A (en) * | 2021-01-05 | 2021-05-18 | 合肥奕聚信息科技有限公司 | Urban area express bus road lamp control system based on prejudgment, acquisition and sensing |
| WO2022203617A1 (en) * | 2021-03-23 | 2022-09-29 | Avrasya Tüneli̇ İşletme İnşaat Ve Yatirim Anoni̇m Şi̇rketi̇ | In-tunnel speed regulator moving lighting system and method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001019930A1 (en) * | 1999-09-16 | 2001-03-22 | Christer Vettorato | Coating for surfaces such as walls and floors |
| CN102720148A (en) * | 2012-06-29 | 2012-10-10 | 武汉理工大学 | Low-cost mountainous-area expressway tunnel entrance vehicle speed control facility designing method |
| CN102747697A (en) * | 2012-07-11 | 2012-10-24 | 武汉理工大学 | Self-illumination road lamp setting method for reducing rear-end accidents on expressway |
| CN103147371A (en) * | 2013-03-08 | 2013-06-12 | 武汉理工大学 | Design method of speed-control marking line based on edge rate for long and flat straight-line road segment of freeway |
| CN203882446U (en) * | 2014-04-22 | 2014-10-15 | 长安大学 | Intelligent visual-perception speed controller based on edge rate principle |
| CN105679094A (en) * | 2016-03-04 | 2016-06-15 | 武汉理工大学 | Vehicle deceleration and vehicle spacing increase system |
| CN105869420A (en) * | 2016-05-16 | 2016-08-17 | 同济大学 | Road optical illusion forced deceleration system and method for vehicle access joint |
| CN106971540A (en) * | 2017-04-28 | 2017-07-21 | 长安大学 | The behaviorist risk quantization method of driver under freeway tunnel environment |
| CN108385457A (en) * | 2018-03-15 | 2018-08-10 | 武汉理工大学 | A kind of underground interchange intelligent vehicle speed control method based on edge rate |
| CN108399765A (en) * | 2018-05-09 | 2018-08-14 | 武汉理工大学 | A kind of construction area traffic intelligent guiding system and method |
-
2019
- 2019-04-12 CN CN201910293124.6A patent/CN110060474B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001019930A1 (en) * | 1999-09-16 | 2001-03-22 | Christer Vettorato | Coating for surfaces such as walls and floors |
| CN102720148A (en) * | 2012-06-29 | 2012-10-10 | 武汉理工大学 | Low-cost mountainous-area expressway tunnel entrance vehicle speed control facility designing method |
| CN102747697A (en) * | 2012-07-11 | 2012-10-24 | 武汉理工大学 | Self-illumination road lamp setting method for reducing rear-end accidents on expressway |
| CN103147371A (en) * | 2013-03-08 | 2013-06-12 | 武汉理工大学 | Design method of speed-control marking line based on edge rate for long and flat straight-line road segment of freeway |
| CN203882446U (en) * | 2014-04-22 | 2014-10-15 | 长安大学 | Intelligent visual-perception speed controller based on edge rate principle |
| CN105679094A (en) * | 2016-03-04 | 2016-06-15 | 武汉理工大学 | Vehicle deceleration and vehicle spacing increase system |
| CN105869420A (en) * | 2016-05-16 | 2016-08-17 | 同济大学 | Road optical illusion forced deceleration system and method for vehicle access joint |
| CN106971540A (en) * | 2017-04-28 | 2017-07-21 | 长安大学 | The behaviorist risk quantization method of driver under freeway tunnel environment |
| CN108385457A (en) * | 2018-03-15 | 2018-08-10 | 武汉理工大学 | A kind of underground interchange intelligent vehicle speed control method based on edge rate |
| CN108399765A (en) * | 2018-05-09 | 2018-08-14 | 武汉理工大学 | A kind of construction area traffic intelligent guiding system and method |
Non-Patent Citations (6)
| Title |
|---|
| ANDERSEN,GJ 等: "Speed,size,and edge-rate information for the detection of collision events", 《JOURNAL OF EXPERIMENTAL PSYCHOLOGY-HUMAN PERCEPTION AND PERFORMANCE》 * |
| 丁乃侃 等: "边缘标线影响跟车车距调节行为的结构方程", 《东南大学学报》 * |
| 刘兵 等: "边缘率标线长度对减速行为的影响现象和机理研究", 《中国安全科学学报》 * |
| 刘兵 等: "高速公路直线段边缘率控速标线周期长度设计模型", 《中国公路学报》 * |
| 朱顺应 等: "路面边缘率标线减速效果的影响机理", 《中国安全科学学报》 * |
| 朱顺应 等: "高速公路边缘率标线时间频率及角度与减速效果关系", 《中国公路学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111402581A (en) * | 2020-03-11 | 2020-07-10 | 浙江大华技术股份有限公司 | Traffic state detection method and detection device |
| CN112822825A (en) * | 2021-01-05 | 2021-05-18 | 合肥奕聚信息科技有限公司 | Urban area express bus road lamp control system based on prejudgment, acquisition and sensing |
| WO2022203617A1 (en) * | 2021-03-23 | 2022-09-29 | Avrasya Tüneli̇ İşletme İnşaat Ve Yatirim Anoni̇m Şi̇rketi̇ | In-tunnel speed regulator moving lighting system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110060474B (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110060474A (en) | A kind of tunnel dynamic edge rate intelligent speed-control system and method | |
| CN110164162A (en) | A kind of special vehicle fining guidance system and passing method | |
| CN105188229B (en) | The tunnel illumination control system and method for a kind of adaptive segmentation control | |
| CN109637160B (en) | Single-point control method under dynamic traffic condition | |
| CN111338351B (en) | Multi-intelligent-network-connected vehicle cooperative confluence control method for expressway ramp entrance | |
| KR102077113B1 (en) | Traffic signal information service system based on cloud | |
| US9376051B1 (en) | First responders' roadway priority system | |
| CN106332345B (en) | Continuous tunnel group's intelligent lighting system | |
| CN106920401B (en) | Crossroad traffic lights duration control method and device | |
| CN107240282A (en) | A kind of intelligent transportation graticule system | |
| CN109118761A (en) | A kind of wisdom traffic solution and its management system based on artificial intelligence | |
| CN108819839A (en) | Vehicle atmosphere lamp control method, device, system and vehicle | |
| CN109874211B (en) | Intelligent illuminating system and method for expressway tunnel | |
| CN103225245B (en) | Based on the arterial highway No-shell culture driving at night safety facility design method of reflex reflection | |
| CN108573607A (en) | A kind of traffic light control system and method | |
| CN107146434A (en) | Show the method and system of speed-limiting messages | |
| US11475620B2 (en) | Information processing apparatus for providing information associated with a vehicle, information providing method, and storage medium | |
| CN102878518A (en) | Method for laying tunnel portal strengthened illuminating system | |
| CN110751842B (en) | Traffic signal control method and device for intelligent lamp pole, system and storage medium thereof | |
| CN109874213B (en) | Improved generation highway tunnel lighting auxiliary device | |
| CN108399765B (en) | Intelligent traffic guidance system and method for construction area | |
| CN209543583U (en) | A kind of pedestrian's street crossing safety assisting system | |
| CN205622953U (en) | Controlling means of tunnel illumination system based on real -time detection sends a car | |
| CN111489565A (en) | Intelligent traffic system based on big data and control method thereof | |
| KR101038023B1 (en) | LED Street Lamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |