CN113470383A - Improved method for vehicle starting delay at intersection - Google Patents
Improved method for vehicle starting delay at intersection Download PDFInfo
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/081—Plural intersections under common control
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention provides an intersection vehicle starting delay improvement method, which is characterized in that a queuing position in a fleet is determined according to vehicle running information, starting time of vehicles after green lights are turned on is determined according to the vehicle queuing position, countdown reminding is respectively carried out on different vehicles according to different vehicle starting times, the problem that vehicles with different starting times depend on the same red light for countdown reminding is solved, the countdown reminding of each vehicle is synchronous and consistent with the starting time of the vehicle, starting delay of each vehicle is improved, and traffic efficiency of an intersection is improved.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to an improvement method for vehicle starting delay at an intersection.
Background
Traffic jam is a common disease which is difficult to cure in cities at present, and intersections are bottlenecks in traffic, wherein starting delay of vehicles at green light is an important factor influencing traffic efficiency of the intersections. The intersection controls the stop or start of vehicles in all directions through the signal lamps, the start time of the vehicles close to the stop line is consistent with the red light countdown time, the vehicles can start in time through the red light countdown prompt, the difference between the red light countdown time and the vehicle start time is larger along with the increase of the distance between the vehicles and the stop line, the vehicles do not start and the red light countdown is already finished, so that the red light countdown prompt is meaningless. In addition, the delay in starting one vehicle affects all subsequent vehicles.
Disclosure of Invention
The invention aims to provide an intersection vehicle starting delay improvement method, which is used for respectively prompting starting countdown according to different starting times of different vehicles so as to shorten the vehicle starting delay.
The invention discloses an intersection vehicle starting delay improving method which is characterized by comprising the following steps of:
(1) acquiring vehicle running information within the range of the intersection, wherein the running information comprises vehicle positions and passing directions;
(2) determining a passing fleet where the vehicle is located at an intersection and queuing positions in the fleet according to the vehicle running information;
(3) establishing a relation between the starting time of the vehicle after the green light is turned on and the queuing order of the vehicle;
(4) calculating the starting time of the vehicle after the current green light is turned on according to the queuing times of the vehicle;
(5) and sending starting countdown prompting information through the vehicle terminal before the vehicle starting time, and synchronizing the countdown prompting with the starting time of the vehicle.
The red light countdown at the intersection can only be suitable for short-distance vehicles, and as the distance between the vehicle and a stop line increases, the vehicle starting time is delayed along with the increase of the distance, and cannot be synchronous with the red light countdown, so that the countdown cannot play a role in prompting. According to the invention, the starting time of the vehicles after the green light is turned on is determined through the queuing times of the vehicles in the fleet at the intersection, and countdown reminding is respectively carried out according to different starting times of different vehicles, so that the problem that the vehicles with different starting times are subjected to countdown reminding by the same red light is solved, the countdown reminding of each vehicle is synchronous and consistent with the starting time of the vehicle, the starting delay of each vehicle is improved by fully playing the countdown reminding function, and the traffic efficiency of the intersection is improved.
Furthermore, the traffic state of the vehicle is judged according to the vehicle running information, and when the traffic state deviates, prompt information is sent to the vehicle to correct the vehicle in time, so that the influence on the normal traffic capacity of the intersection and the road is avoided, the intelligent traffic management without people arriving at the site is realized, and the labor cost is saved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle green light starting delay improving method.
Detailed Description
In the flow diagram of the vehicle green light starting delay improvement method shown in fig. 1, a relationship between starting time of a vehicle after a green light is turned on and a queuing order of the vehicle is established, the starting time of the vehicle after the green light is turned on is determined according to the queuing order of the vehicle at an intersection, and starting countdown reminding is performed according to the starting time of the vehicle, and the specific process is as follows:
(1) acquiring vehicle running information within the range of the intersection, wherein the running information comprises vehicle positions and passing directions;
(2) determining a passing fleet where the vehicle is located at an intersection and queuing positions in the fleet according to the vehicle running information;
(3) establishing a relation between the starting time of the vehicle after the green light is turned on and the queuing order of the vehicle;
(4) calculating the starting time of the vehicle after the current green light is turned on according to the queuing times of the vehicle;
(5) and sending starting countdown prompt information through the vehicle terminal before the vehicle starting time, and synchronizing the countdown with the starting time of the vehicle.
In the step (1), the position of the vehicle is collected through the vehicle terminal, and the vehicle position is sent to the traffic control center in a wireless mode, the traffic control center judges the lane where the vehicle is located according to the position information of the vehicle and the positions of all lanes of the current intersection, and then judges the passing direction of the vehicle at the current intersection according to the lane direction, for example, when the vehicle is located on a left-turn lane, the passing direction of the vehicle can be judged to be left-turn, and when the vehicle is located on a straight lane, the passing direction of the vehicle can be judged to be straight. Of course, the vehicle is required to be located in the road section which is prohibited from changing the road and the lane line is a solid line, if the vehicle is located in the road section which is changeable by the dotted line far away from the intersection, the passing direction of the vehicle at the intersection cannot be judged, and the range of collecting the passing direction is limited to the road section which is prohibited from changing the road at the intersection.
In addition, the passing direction can be obtained through the vehicle terminal, for example, the vehicle-mounted navigation software calculates the passing direction of the current intersection according to the destination, or the passing direction can be obtained through the human-computer interaction unit of the vehicle terminal according to the input information of the driver, for example, the user inputs the passing direction of the current intersection through intelligent voice. The crossing traffic direction acquired through navigation software or man-machine interaction is not limited by a lane change range, and can be acquired in advance at a position where a vehicle is far away from the crossing. The method for acquiring the traffic direction by the vehicle terminal is preferred, and the following description is based on acquiring the traffic direction by the vehicle terminal.
In step (2), firstly, the lane where the vehicle is located is determined according to the position information of the vehicle, and then the passing fleet to which the vehicle belongs is determined. It should be noted that the passing fleet is determined to be a passing fleet whose passing direction is consistent with the lane direction, and if the obtained vehicle passing direction is inconsistent with the lane direction, the fleet to which the vehicle belongs cannot be determined for the moment, and the vehicle enters the lane whose lane direction is consistent with the passing direction after changing the lane, and then the passing fleet to which the vehicle belongs is determined.
After the fleet of vehicles is determined, the ranking of the vehicles in the fleet is determined. The queuing positions are counted from the stop line and are sequentially increased backwards. If there are vehicles in the said platoon with different traffic directions, the vehicles should be removed when calculating the queuing order, if there is a new equidirectional vehicle in front of the determined queuing order vehicle to insert into the platoon through lane change, the queuing order of the inserted vehicle in the platoon should be determined according to the vehicle position, and the queuing order of the following vehicles should be updated.
In the step (3), the establishing of the relationship between the starting time of the vehicle after the green light is turned on and the queuing order of the vehicle includes establishing a one-to-one correspondence relationship between the queuing order of the vehicle and the starting time, for example, the starting time of the first vehicle to the third vehicle is 0 second after the green light is turned on, and is synchronized with red light countdown, the starting time of the fourth vehicle is 1 second after the green light is turned on, the starting time of the fifth vehicle is 1.5 seconds, the starting time of the sixth vehicle is 2 seconds, and the like. The number of the vehicle queue positions is increased gradually, the starting time is also increased sequentially, wherein the starting time can be changed in an equal length or unequal length, for example, the starting time difference between two adjacent vehicles close to the stop line range is shorter, and the starting time difference between two adjacent vehicles far away from the stop line range is slightly larger.
In addition, a relationship between the increment of the vehicle queuing order and the increment of the starting time can be established through a delay interval of the starting time, the starting time is sequentially increased by a set delay interval every time a position is increased according to the queuing order of the vehicle, for example, the delay interval is set to be 1 second, and the starting time of the vehicle is increased by 1 second every time the position of the queue is increased by 1. Obviously, the delay interval of the starting time can be changed according to different queuing orders of the vehicles, and the delay interval before the queuing order is small, and the delay interval after the queuing order is large.
Further, the vehicle starting time is adjusted through the distance between the vehicle and the previous vehicle. If the distance between the vehicle and the front vehicle is larger than the distance between the vehicle and the front vehicle, such as more than 3 meters, the rear vehicle can start slightly in advance than the front vehicle without touching the front vehicle, and the larger the distance is, the more the starting time is in advance; if the distance between the front vehicle and the rear vehicle is smaller, for example, less than 1 meter, the starting time interval between the rear vehicle and the front vehicle should be increased to avoid touching the front vehicle; if the distance between the front vehicle and the rear vehicle is moderate, such as about 2 meters, the rear vehicle can start simultaneously with the front vehicle without touching the front vehicle.
The starting time of the vehicle can be calculated more accurately by adjusting the distance between the vehicles, and after the starting time of one vehicle is adjusted, the starting time of the subsequent vehicles is synchronously adjusted, for example, one adjustment time is delayed or one adjustment time is shortened at the same time.
Obviously, the starting time is adjusted based on the distance between the vehicles, and the detection of the vehicle position is required to meet certain precision requirements.
Research shows that the precision of static PPP precision positioning of the single-frequency smart phone is superior to 1.0 meter, and the precision of the double-frequency smart phone can be superior to 0.5 meter. The positioning object of the invention is a vehicle with a stop red light period, and one red light period is usually tens of seconds, so that the requirement of static positioning can be met. Although the red light period faced by the tail vehicle which finally enters the intersection is short, the starting time is also late, and even if a more accurate position cannot be obtained, the influence of the vehicles at the back on the passing in the direction is small.
In addition, a satellite positioning reference point can be arranged, and the relative position of the vehicle relative to the reference point can be calculated by carrying out differential positioning on the reference point and the smart phone. The reference measuring points are arranged on a street lamp post or a signal lamp post within 1km from the intersection, and the accuracy of the floating point solution can reach the level of a decimeter through static RTK positioning.
The purpose of setting the reference measuring points is to improve the relative position precision between the vehicle and the vehicle through the reference measuring points, and because the absolute coordinates of the reference measuring points have no meaning and are high in precision and difficult to obtain, an assumed coordinate can be set for the reference measuring points or the coordinates of the reference measuring points can be obtained through a static PPP post-processing method.
In addition, the size of the vehicle body is considered when the distance between the vehicles is detected, the distance between the buses and the cars is obviously affected differently, the distance between the vehicles needs to be judged by combining the positions of the vehicles and the types of the vehicles, the types of the vehicles can be obtained in advance, and the size of the vehicle body can be determined according to the types of the vehicles. The smart phone is usually placed in the middle of the front console of the vehicle body near the left, the position coordinates of the smart phone are combined with the size of the vehicle body, and when the distance between the vehicle and the front vehicle is detected, the length of the front vehicle body of the vehicle and the length of the rear vehicle body of the front vehicle are subtracted.
In addition, in addition to the inter-vehicle distance affecting vehicle launch time, the launch habits of the driver also affect launch time. And acquiring identification information of the vehicle or the driver, analyzing the starting speed of the vehicle or the driver according to the actual starting time of the vehicle or the driver and the recorded data of the prompt starting time, and adjusting the calculated starting time. The vehicle identification information such as an electronic license plate can be acquired through the vehicle terminal, and the starting speed of the vehicle user can be judged through the difference between the recorded actual starting time and the prompted starting time. Some vehicles are shared by multiple people, and the identity of a driver cannot be distinguished through vehicle identification information.
For a user using the smart phone to position a vehicle, identification information of a driver can be acquired through ID information of the smart phone, the starting rhythm of the user can be judged by detecting the starting time of the user after the starting countdown is finished for a long time, and the starting time is longer than the countdown ending time, the slower the starting is, and the motorcade delay is larger. Therefore, a time period is advanced on the basis of the time of the original countdown prompt, and the starting delay caused by slow starting is counteracted by the method of the countdown prompt in advance. Similarly, the user who starts the vehicle with a fast motion before the countdown is finished can be appropriately presented with a delay according to the time difference of the advance.
The relation between the delay time of vehicle starting and the vehicle queuing order is established, so that the starting time can be gradually tried to be shortened on the basis of historical statistical data of the relation between the vehicle green light starting time and the vehicle queuing order at the intersection, for example, the historical starting time of each order is sequentially shortened by 20%, 10% and 5%, and repeated adjustment is performed according to the prompted feedback result of the actual starting time of the vehicle, so that the applicable shortest starting time of each order is obtained.
In addition, on the basis of the vehicle queuing position, a shorter starting time or a smaller delay time interval is assumed, the starting time is gradually tried to be prolonged or the delay time interval is increased, for example, the assumed starting time of each position is sequentially prolonged by 20%, 10% or 5%, and repeated adjustment is performed according to the feedback result of the actual starting time of the vehicle after being prompted, so that the shortest starting time of each position is obtained.
And (4) after the relation between the vehicle starting time and the vehicle queuing order is established in the step (3), calculating the starting time of the vehicle in the next green light direction after the current green light is turned on according to the determined vehicle queuing order, as in the step (4).
In the step (5), a countdown time period is set, and in the set time period before the vehicle starting time comes, starting countdown prompt information is sent out through the vehicle terminal, and the countdown time is synchronized with the starting time of the vehicle. For example, a countdown time period of 3 seconds or 5 seconds is set, a countdown of 3 seconds or 5 seconds is sent out 3 seconds or 5 seconds before the vehicle starting time arrives, when the countdown is finished, the vehicle starting time arrives at the same time, the two times are in step, and the vehicle starts in time according to the countdown prompt.
It can be seen that the vehicle closer to the stop line has the start countdown synchronized with the red light countdown, and as the distance between the vehicle and the stop line increases, the delay time of the start time compared with the red light countdown is gradually increased, the vehicle is not started yet, and the red light countdown is already finished.
Further, after the vehicle starts in the direction, the vehicle terminal prompts the started vehicle for the optimal speed of the vehicle passing through the intersection, so that the vehicle can quickly pass through the intersection, and the intersection passing efficiency is improved. The optimal speed can be obtained by counting the historical traffic speed of the road junction, can also be a set maximum speed limit, or can be calculated by the actual speed and the distance between the vehicles.
Further, the passing state of the vehicle is judged according to the vehicle running information, and when the passing state of the vehicle deviates, prompt information is sent out through the vehicle terminal.
The vehicle passing state deviation comprises that the vehicle passing direction is inconsistent with the lane direction. The method comprises the steps that when a vehicle enters an intersection, the passing direction of the intersection is obtained through a vehicle terminal, a user is prompted to select a lane in time according to the passing direction, whether the lane direction where the vehicle is located is consistent with the passing direction of the vehicle can be judged according to the position of the vehicle, and if the lane direction where the vehicle is located is not consistent with the passing direction, a reminding message is sent through the vehicle terminal to remind the user to change the lane in time. The lane change is beneficial to smooth traffic in advance, and if the vehicle starts to change lanes before approaching the lane change prohibition line, the probability of forced parking is increased, the current lane of the vehicle is blocked, and the inserted lane is also influenced.
The deviation of the vehicle passing state comprises that the distance between the vehicle and the vehicle in front does not accord with a set threshold value, the distance comprises that the parking distance in the process that the vehicle enters the intersection is larger than the set threshold value and the running distance of the vehicle in the process of passing the intersection is smaller than the set threshold value. The former wastes lane space, and the latter affects intersection traffic efficiency. Firstly, a user can be actively prompted to keep a proper distance from a front vehicle through a vehicle terminal, then the distance between the vehicles is judged according to the positions of the vehicles, and prompt information is sent according to conditions.
The deviation of the vehicle passing state comprises that the vehicle starting time delay exceeds a set threshold value. The reason for the vehicle starting time delay may be that the vehicle itself may also be caused by the vehicle starting delay in front, and the vehicle distance needs to be judged in combination. If the vehicle is delayed to start and the distance between the vehicle and the front vehicle is larger than that before the vehicle stops, the vehicle is judged to be delayed to send out prompt information, and if the vehicle is delayed to start and the distance between the vehicle and the front vehicle is not changed than that before the vehicle stops, the vehicle is judged to be influenced by the front vehicle to delay and no prompt is sent out.
The deviation of the vehicle passing state comprises the fact that the vehicle starting time is based, and the vehicle speed of the vehicle is smaller than a set threshold value. In the process that the vehicle starts to pass through the intersection, the vehicle speed is gradually increased and reaches the optimal speed at the set time, and if the vehicle does not reach the corresponding speed at the specific time after starting, such as 5 seconds and 10 seconds, the vehicle is reminded to accelerate.
The process of passing vehicles into or out of an intersection is carried out in fleet units, where any vehicle that does not travel at the expected pace affects its successors, causing a break in a continuous fleet. Therefore, once the passing state of the vehicle deviates, the vehicle can be timely reminded and corrected, and the method is important for guaranteeing the passing efficiency of the intersection. This is also true for road traffic, especially in congested conditions.
And determining the number of vehicles or the length of the fleet of vehicles which can pass through the intersection in the current green light period according to the vehicle running information, particularly the position information, and combining the direction green light duration, namely locking the backmost vehicle which passes through the intersection to be used as the tail vehicle node of the current fleet of vehicles. And sending prompt information that the vehicle behind the last tail car cannot pass through the intersection in the current green light period. Through can not send the red light signal to this direction in advance to green light cycle, make the user heart have a number, slow down in advance, improve user experience, improve safety.
The green light duration comprises variable green light duration adjusted according to vehicle driving information of each passing direction of the intersection. Firstly, the maximum value of the sum of the green light periods of the intersection is determined, and the green light periods in different directions can be mutually adjusted under the condition that the total green light period in all directions is not increased. When the intersection is not congested, the green light period of each direction can be shortened, and further the total signal lamp period is shortened, wherein the green light period of the intersection with more vehicles can be longer than that of the intersection with less vehicles. If the vehicles in one direction are jammed and the vehicles in the other direction are not jammed, under the condition that the total period time of the signal lamps is not changed, the green light time of the jam direction is shortened, the green light time of the jam direction is prolonged, and the green light time of the jam direction is adjusted to be partially for the jam direction. And when congestion occurs in each direction, keeping the total period duration of the signal lamp unchanged, and performing green light timing according to the congestion degree in each direction.
Further, the last tail car is determined by combining the running distance between the passing vehicles. The method comprises the steps of firstly, temporarily determining the last tail vehicle which can pass through a crossing according to the time length of green light during timing, then further judging the distance between the vehicle and the previous vehicle, if the distance is larger than a set threshold value, marking the last tail vehicle as a non-passable vehicle, adjusting the previous vehicle as a passable last tail vehicle, further judging the distance between the last tail vehicle and the previous vehicle, and if the distance is smaller than the set threshold value, determining that the vehicle is the tail vehicle of a passable motorcade.
The purpose of introducing the vehicle interval is to avoid green light waste caused by overlarge vehicle distance in the crossing process, shorten the vehicle passing interval and improve the passing efficiency. The following vehicles with too large following distance are limited to pass by shortening the green light time of the direction, the time for eliminating the vehicle distance is transferred to the red light period, and the shortened green light time is adjusted to other more needed directions.
After the last tail car which can pass through the intersection is determined through the green light period, the green light period of the direction is adjusted in turn according to the passing time of the last tail car. The signal lamp is controlled through the passing process of the vehicle at the intersection, and the signal lamp is more accurate than the signal lamp controlled through the passing time. Because the time and the running of the vehicle are two different scales, when the time and the running of the vehicle are matched, the signal lamps controlled by the time and the vehicle are consistent, and if the time and the running of the vehicle are not synchronous, the green light waste without vehicle passing can be caused by the time-based control.
And judging the time of passing through the stop line according to the position and the speed of the last tail car, calculating the remaining time of the green light in the passing direction according to the time, and displaying the prompt information of countdown of the green light in the passing direction through a display device, such as displaying the countdown of the last 5 seconds or 10 seconds of the green light through a display screen. The shorter the countdown time is, the closer the tailgating vehicle is to the stop line, and the more accurate the countdown is.
And when the last tail car passes through the stop line, controlling the green light to be switched into the yellow light so as to enable the green light countdown prompt information sent out in front to be consistent.
In addition, the time of passing the intersection is judged according to the position and the speed of the last tail car, the red light remaining time in the next passing direction is calculated according to the time, and the red light countdown is displayed through a display device, for example, the last 5 seconds or 10 seconds of the red light countdown is displayed through a display screen. The shorter the countdown time is, the closer the tail car is to the exit of the intersection, and the more accurate the countdown is.
And when the last tail car passes through the intersection, controlling the red light of the next passing direction to be converted into the green light.
Note that the green light countdown and the red light countdown controlled by the traveling process of the tail car indicate that the change in the remaining distance of the tail car passing through the stop line or the change in the remaining distance of the tail car passing through the intersection does not necessarily coincide with the time change, that is, the countdown is not time-controlled but is vehicle speed-controlled.
In addition, the detection precision of the dynamic position of the vehicle also influences the judgment of the passing time of the tail vehicle, and researches show that the real-time dynamic RTK positioning precision based on the smart phone is better than 1 meter and can meet the traffic signal control in seconds.
The red light countdown at the intersection at present is only useful for starting a few vehicles in front, and for the vehicles which are slightly far away from a stop line, the vehicles start after seeing the front vehicles, and then start related actions, so that starting connection delay is caused. The invention calculates the starting time of the vehicles according to the queuing positions of the vehicles and prompts a user to finish the starting operation in advance through countdown, and the starting of the vehicles is not based on the transmission control between the vehicles but on the coordinated and unified time control, so that the starting connection between the vehicles is compact and ordered, and the delay of a motorcade is reduced.
Claims (10)
1. An intersection vehicle starting delay improvement method is characterized by comprising the following steps:
(1) acquiring vehicle running information within the range of the intersection, wherein the running information comprises vehicle positions and passing directions;
(2) determining a passing fleet where the vehicle is located at an intersection and queuing positions in the fleet according to the vehicle running information;
(3) establishing a relation between the starting time of the vehicle after the green light is turned on and the queuing order of the vehicle;
(4) calculating the starting time of the vehicle after the current green light is turned on according to the queuing times of the vehicle;
(5) and sending starting countdown prompt information through the vehicle terminal before the vehicle starting time, and synchronizing the countdown with the starting time of the vehicle.
2. The method as set forth in claim 1, wherein: the relation between the starting time of the vehicle after the green light is turned on and the queuing order of the vehicle comprises the one-to-one corresponding relation between the queuing order of the vehicle and the starting time; or the incremental increase of the vehicle queuing positions and the incremental increase of the starting time.
3. The method of claim 1 or 2, wherein: and adjusting the starting time of the vehicle and the vehicle behind the vehicle according to the distance between the vehicle and the previous vehicle.
4. The method of claim 1 or 2, wherein: the method further comprises the steps of obtaining identification information of the vehicle or the driver, analyzing the starting speed of the vehicle or the driver according to the actual starting time of the vehicle or the driver and the recorded data of the starting time prompt, and adjusting the calculated starting time.
5. The method as set forth in claim 1, wherein: the method prompts the optimal vehicle speed passing through the intersection to the started vehicle through the vehicle terminal.
6. The method as set forth in claim 1, wherein: the method comprises the steps of judging the passing state of a vehicle according to vehicle running information, and sending prompt information through the vehicle terminal when the passing state of the vehicle deviates.
7. The method of claim 6, further comprising: the vehicle passing state deviation comprises any one of the condition that the vehicle passing direction is not consistent with the lane direction, or the condition that the distance between the vehicle and the front vehicle is not consistent with a set threshold value, or the vehicle starting time delay exceeds the set threshold value, or the vehicle speed of the vehicle is less than the set threshold value based on the vehicle starting time.
8. The method as set forth in claim 1, wherein: and determining the last tail vehicle in the fleet which can pass through the intersection, and sending prompt information that the vehicles behind the last tail vehicle cannot pass through the intersection in the current green light period.
9. The method as recited in claim 8, further comprising: the step of determining the last tail vehicle which can pass through the intersection in the motorcade comprises the step of calculating that the time required for passing through a stop line is less than a set time and/or the running distance between the vehicle and the front vehicle is less than a set threshold value according to the position and the speed of the vehicle.
10. The method of claim 8 or 9, wherein: judging the time of passing through a stop line according to the position and the speed of the last tail car, calculating the remaining duration of the green light in the passing direction according to the time, and displaying prompt information of countdown of the green light in the passing direction through a display device; or judging the time of passing through the intersection according to the position and the speed of the last tail car, calculating the remaining red light duration of the next passing direction according to the time, and displaying the prompt information of red light countdown of the direction through a display device.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115410391A (en) * | 2022-09-08 | 2022-11-29 | 重庆长安汽车股份有限公司 | Traffic light control method and device based on navigation, electronic equipment and storage medium |
| CN117451072A (en) * | 2023-12-21 | 2024-01-26 | 广汽埃安新能源汽车股份有限公司 | Track planning method and device for vehicle starting stage |
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| CN117451072B (en) * | 2023-12-21 | 2024-03-26 | 广汽埃安新能源汽车股份有限公司 | Track planning method and device for vehicle starting stage |
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