CN102231239A - Vehicle-road interaction technology-based energy-saving driving strategy prompt system and working method thereof - Google Patents
Vehicle-road interaction technology-based energy-saving driving strategy prompt system and working method thereof Download PDFInfo
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Abstract
The invention discloses a vehicle-road interaction technology-based energy-saving driving strategy prompt system and a working method thereof. The system comprises a radio frequency transmitter which is arranged at an intersection and can acquire traffic information of the intersection, and an energy-saving driving strategy prompt device which is arranged on a vehicle, wherein the device consists of a software part and a hardware part; the hardware part consists of a microprocessor, a radio frequency receiver, a vehicle-mounted global position system (GPS) navigator and a display and/or a voice prompter; and the software part mainly refers to an energy-saving driving strategy operating module. When the vehicle enters a road section with a signal control intersection ahead, the energy-saving driving strategy prompt device matches real-time data of the vehicle-mounted GPS navigator with the received traffic information, processes the data and the information through the energy-saving driving strategy operating module to acquire a vehicle energy-saving driving strategy, and prompts the vehicle energy-saving driving strategy to a driver through the display and/or the voice prompter. By the system, the aims of energy-saving driving and exhaust emission reduction can be fulfilled.
Description
Technical field
The invention belongs to the intelligent transport technology field.
Background technology
The world today, a lot of international problems, social concern all are energy problem after all.Automobile has greatly improved people's living standard since invention, promoted the progress of human society.But also brought great negative effect, such as having consumed a large amount of energy, and caused serious traffic jam issue and environmental pollution or the like.
At present, the research of vehicle energy saving mainly is to carry out from " increasing income " and " throttling " two aspects." increase income " and be meant that seeking various new forms of energy replaces petroleum-based energy; " throttling " mainly is meant the fuel economy that improves vehicle, as optimizing the car conour design, improve power system and kinematic train and adopting advanced electronic technology etc.But, the prematurity still of " increasing income " technology, comprehensive benefit is also indeterminate, and the R﹠D costs of " throttling " technology are higher.
Vehicle in the process of moving, when especially in the city, travelling, because the driver does not know to be about to arrive the traffic conditions of intersection, the place ahead, in by the process of intersection, the place ahead, may compare frequent controlling to vehicle, such as quickening, slow down, stop, starting, such controlling can make vehicle produce bigger energy dissipation and exhaust emissions.
Summary of the invention
The objective of the invention is to reduce the problem of vehicle power consumption and exhaust emissions from the mutual angle of bus or train route.Based on this, the invention provides a kind of tactful prompt system of energy-conservation driving and method of work thereof based on the bus or train route interaction technique, when vehicle passes through intersection, the place ahead, can make the prompting of driving strategy to human pilot in real time, so that the driver carries out vehicle performance according to prompting, and then reach purpose energy-conservation and the minimizing exhaust emissions.
For reaching above-mentioned purpose, the present invention's technical scheme of taking of dealing with problems is:
A kind of tactful prompt system of energy-conservation driving based on the bus or train route interaction technique comprises the two large divisions:
One is mounted in the radiofrequency launcher that can obtain this crossing traffic information at place, crossing, and this radiofrequency launcher obtains transport information from the signal controller at crossing, place, and by the less radio-frequency transmitter module overseas broadcast in the radiofrequency launcher;
Two are mounted in the tactful suggestion device of energy-conservation driving on the vehicle, and this device is made up of software and hardware two parts, and hardware components is made up of microprocessor, radio frequency receiver, car borne GPS navigation instrument and display and/or voice prompting device; The main dactylus of software section can be driven tactful computing module.Provide real time data by the car borne GPS navigation instrument, by the Receiver Module receiving traffic information, microprocessor mates transport information and real time data, transferring to the tactful computing module of energy-conservation driving calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device.
In the described transport information, comprise phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places; Above-mentioned phase place is meant: in one-period, and a certain or right-of-way that several traffic flows obtained on the level-crossing;
The real time data of described car borne GPS navigation instrument comprises: signal controlling crossing numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, the vehicle travel direction and the highway section speed limit at crossing forwardly.
The present invention is based on the method for work of the tactful prompt system of energy-conservation driving of bus or train route interaction technique: when vehicle enters the place ahead and is the highway section at signal controlling crossing, microprocessor reads car borne GPS navigation instrument information, and receive the place ahead by Receiver Module and arrive place, the crossing transport information that radiofrequency launcher broadcasted, transport information and real time data are mated, transferring to the tactful computing module of energy-conservation driving calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device.
Automobile energy-saving is driven strategy and is included but not limited to that the vehicle maximum possible need not to wait for comparatively economic, the safe travel speed that can pass through junction ahead.
The detailed operation method of the tactful prompt system of above-mentioned energy-conservation driving is:
The first step: beginning, system start-up;
Second step: system initialization;
The 3rd step: microprocessor begins to read car borne GPS navigation instrument information, and information comprises: signal controlling crossing numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, the vehicle travel direction and the highway section speed limit at crossing forwardly;
The 4th step: the transport information that the microprocessor processes Receiver Module receives, and therefrom extracting the phase place timing information at this crossing, transport information comprises: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places;
The 5th step: the microprocessor energy saving in running is driven tactful computing module;
The 6th step: automobile energy-saving is driven strategy be prompted to human pilot by display and/or voice prompting device;
The 7th step: returned for the 3rd step, carry out computing next time.
The calculation step in above-mentioned the 5th step is as follows:
The first step: set each phase place and the phase place duration at this crossing, be called first phase place, first phase place green light excess time successively; Second phase place, the second phase place green time; Third phase position, third phase position green time; The 4th phase place, the 4th phase place green time ... the rest may be inferred.Wherein, first phase place is current phase place, and the first phase place green light is the green light excess time after current time begins excess time; The phase item of first phase place is that be t the excess time of p1, first phase place
r, second phase place the phase item be that the duration of p2, second phase place is t
P2, the third phase position the phase item be that the duration of p3, third phase position is t
P3, the 4th phase place the phase item be that the duration of p4, the 4th phase place is t
P4, by that analogy.
Described current phase place refers to the current phase place that is in the clearance state in this crossing.
Setting phase place green light interval time is T
i, the traffic signals cycle is T, the position is D to the remaining mileage at front signal control crossing; According to vehicle forwardly travel direction and the phase matching at crossing obtain vehicle pass-through mutually item be n; The highway section Maximum speed limit is V
Limit, the minimum speed of vehicle ' is V
m
In second step, calculate the nearest time interval [t1, t2] that the required phase place of vehicle is let pass;
If 1 n=p1, t1=0 then, t2=t
r, changeed for the 3rd step, otherwise continue;
If 2 n=p2, then t1=t
r+ T
i, t2=t1+t
P2, changeed for the 3rd step, otherwise continue;
If 3 n=p3, then t1=t
r+ T
i+ t
P2+ T
i, t2=t1+t
P3, changeed for the 3rd step, otherwise continue;
If 4 n=p4, then t1=t
r+ T
i+ t
P2+ T
i+ t
P3+ T
i, t2=t1+t
P4, changeed for the 3rd step, otherwise continue;
By that analogy.
The 3rd step, calculate vehicle and in n traffic signals Cycle Length, do not have wait by the required speed that reaches in this crossing, use V respectively
1, V
2..., V
nExpression,
Wherein, V
1=(D/t1+D/t2)/2, if t1=0, then V
1=1.2D/t2; V
2=(D/ (t1+T)+D/ (t2+T))/2; Calculate successively, up to V
n=(D/ (t1+ (n-1) * T)+D/ (t2+ (n-1) * T))＜V
m, changeed for the 4th step.Annotate:
V
1The expression vehicle does not have in the 1st traffic signals Cycle Length to be waited for by the required speed that reaches in this crossing;
V
2The expression vehicle did not have in the 2nd traffic signals Cycle Length time to be waited for by the required speed that reaches in this crossing;
And the like;
V
nThe expression vehicle did not have in n traffic signals Cycle Length time to be waited for by the required speed that reaches in this crossing; This speed can reduce along with the increase of n, drops to the minimum speed V of a certain setting of vehicle when this speed
mThe time, stop to calculate.
The 4th step is from V
1, V
2V
nIn choose value V near the economic speed per hour of vehicle
X, changeed for the 5th step.
The 5th step: determine to drive strategy
If V
X＞V
Limit, then return V
Limit, finish, and point out with V to the driver
LimitSpeed is travelled, otherwise continues;
If V
m＜V
X＜V
Limit, then return V
X, finish, and point out with V to the driver
XSpeed is travelled, otherwise continues;
If V
X＜V
m, no rreturn value is not pointed out, and finishes.
The present invention has following useful technique effect:
After using this system, but the instantly prompting human pilot is taked the scientific and reasonable measure of controlling, steering vehicle need not to pass through the crossing with comparatively economical, safe speed most possibly with waiting for, this is for realizing automobile energy-saving, for the pressure of alleviating urban transportation, for the improvement of urban environment, can both play impetus preferably.
Description of drawings
Fig. 1 is the structural principle schematic block diagram of radiofrequency launcher in the embodiment of the invention.
Fig. 2 is the structural principle schematic block diagram of the tactful suggestion device of energy-conservation driving in the embodiment of the invention.
Fig. 3 is a kind of workflow diagram of the tactful suggestion device of energy-conservation driving.
Fig. 4 is the algorithm flow chart of the tactful computing module of a kind of energy-conservation driving of the tactful suggestion device loading of energy-conservation driving.
Fig. 5 is the scene synoptic diagram of computing example.
Marginal data: A1-crossing signal controller; The A2-radiofrequency emitting module; The A3-antenna; The B1-microprocessor; The B2-antenna; The B3-Receiver Module; B4-display and/or voice prompting device; The B5-GPS navigating instrument; The B6-battery; The A-crossing.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment:
The structure of embodiment is described in conjunction with Fig. 1 and Fig. 2.
A kind of tactful prompt system of energy-conservation driving based on the bus or train route interaction technique is made up of radiofrequency launcher that is installed in the crossing (as shown in Figure 1) and the tactful suggestion device of energy-conservation driving (as shown in Figure 2) that is installed on the vehicle.
As shown in Figure 1, the crossing radiofrequency launcher is made up of radiofrequency emitting module A2 and antenna A3; Obtain real-time phase place timing information from crossing signal controller A1, according to fixed communication protocol described signal broadcasting is gone out by radiofrequency emitting module A2 and antenna A3.
Radiofrequency launcher is installed near the signal controller of crossing, obtains following data from traffic signal control: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, the present phase item in this crossing, current phase place green light excess time, other each phase places.
As shown in Figure 2, the tactful suggestion device of vehicle-mounted energy-conservation driving mainly is made up of microprocessor B1, antenna B2, Receiver Module B3, display and/or voice prompting device B4, GPS navigation instrument B5, battery B6.
Among the present invention, the tactful suggestion device of vehicle-mounted energy-conservation driving is installed in vehicle interior, cooperates the task that automobile energy-saving is driven the strategy prompting of finishing with GPS navigation instrument B5.Concrete, Receiver Module B3 receives the broadcast singal of this crossing traffic signal controller by antenna B2, and be sent to microprocessor B1, microprocessor B1 receives from the relevant information among the GPS navigation instrument B5 simultaneously, can obtain one after the microprocessor B1 COMPREHENSIVE CALCULATING can maximum possible not have comparatively economic, the safe speed of waiting for by this crossing, and by display and/or voice prompting device B4 the driver is made corresponding prompting.
The programmed control flow process of the tactful suggestion device of above-mentioned energy-conservation driving is described below with reference to Fig. 3 as shown in Figure 3:
The first step: beginning, system start-up;
Second step: system initialization;
The 3rd step: microprocessor B1 begins to read car borne GPS navigation instrument information, and information comprises: the speed limit in this crossing ID, remaining mileage, this highway section;
The 4th step: microprocessor B1 handles the transport information that receives, and therefrom extracts the phase place timing information at this crossing;
The 5th step: microprocessor B1 energy saving in running is driven tactful computing module (as shown in Figure 4);
The 6th step: automobile energy-saving is driven strategy be prompted to human pilot by display and/or voice prompting device;
The 7th step: returned for the 3rd step, carry out computing next time.
Reference when above-mentioned display result supplies human pilot as steering vehicle.
The operational method of the tactful computing module of energy-conservation driving is described with an object lesson below again.
Suppose that a certain car of a certain moment travels from south to north, the place ahead arrives crossing A for 400 meters, requires to pass through in this crossing craspedodrome, crossing A has four phase places, and thing craspedodrome phase item is 1, and the thing left turn phase number is 2, north and south craspedodrome phase item is 3, and the north and south left turn phase number is 4.
Phase place (first phase place just) the phase item of supposing current time is 1, i.e. green light t excess time of p1=1, first phase place
r=10 seconds, the phase item of second phase place was the duration t of p2=2, second phase place
P2=6 seconds, the phase item p3=3 of third phase position, the duration t of third phase position
P3=19 seconds, the phase item of the 4th phase place was the duration t of p4=4, the 4th phase place
P4=5 seconds; Phase place green light T interval time
i=5 seconds (in the time of phase alternation, just have phase place green light interval time); Traffic signals period T=68 second; Remaining mileage D=400 rice; Vehicle crossing is forwardly kept straight on, so vehicle pass-through phase item n=3; Highway section Maximum speed limit V
Limit=70 kilometers/hour, the minimum speed V of vehicle '
mBe 1 kilometer/hour, the economic speed per hour V of vehicle
e=80 kilometers/hour.As shown in Figure 5.
The implementation method of prompt system of the present invention is described according to above-mentioned condition below.
The first step, at first, the tactful suggestion device of vehicle-mounted energy-conservation driving can receive the transport information of crossing A broadcasting by Receiver Module, then, the tactful suggestion device of vehicle-mounted energy-conservation driving can extract this crossing A from the GPS navigation instrument numbering, vehicle arrives information such as the remaining mileage, highway section speed limit of crossing A, the various data of extracting imported the tactful computing module of energy-conservation driving calculate;
In second step, calculate the nearest time interval [t1, t2] that the required phase place of vehicle is let pass;
According to known conditions, the required current phase item n=3=p3 of vehicle, according to technical scheme as can be known, and when n=p3, t1=t then
r+ T
i+ t
P2+ T
i=10+5+6+5=26 (second), t2=t1+t
P3=26+19=45 (second).
In the 3rd step, calculate V
1, V
2V
n:
V
1=(400/26+400/45)/2=12.15 (meter per second)=43.7 (kilometer/hour),
V
2=(400/ (26+68)+400/ (45+68))/2=3.9 (meter per second)=14 (kilometer/hour),
V
3=(400/ (26+68*2)+400/ (45+68*2))/2=2.34 (meter per second)=8.42 (kilometer/hour),
V
4=(400/ (26+68*3)+400/ (45+68*3))/2=1.68 (meter per second)=6.05 (kilometer/hour),
V
5=(400/ (26+68*4)+400/ (45+68*4))/2=1.3 (meter per second)=4.68 (kilometer/hour),
......
V
21=(400/ (26+68*20)+400/ (45+68*20))/2=0.287 (meter per second)=1.03 (kilometer/hour),
V
22=(400/ (26+68*21)+400/ (45+68*21))/2=0.274 (meter per second)=0.986 (kilometer/hour),
V
22＜1 kilometer/hour, stop to calculate.
The 4th step is from V
1, V
2..., V
22In choose near the economic speed per hour V of vehicle
e=80 kilometers/hour value gets V
X=V
1=43.7 kilometers/hour.
In the 5th step, select to drive strategy:
Because V
m＜V
1＜V
Limit, energy-conservation driving policy module will be returned V
1, and will point out V to the driver
1=43.7 kilometers/hour travel speed.
Current phase place among the embodiment (first phase place just) phase item is that the meaning of 1 expression is: vehicle is in 400 meters those moment of distance junction ahead A, and crossing A east-west direction is kept straight on and is in the clearance state.
Above embodiment only is one of the specific embodiment of the present invention, in practice, and possible p1=2, at this moment, p2=3, p3=4, p4=1; Or p1=3, at this moment, p2=4, p3=1, p4=2; Or p1=4, at this moment, p2=1, p3=2, p4=3.So protection scope of the present invention is not limited to embodiment, any people who is familiar with this technology can understand conversion or the replacement expected in the disclosed technical scope of the present invention, all should be encompassed in of the present invention comprising within the scope.
Claims (4)
1. tactful prompt system of energy-conservation driving based on the bus or train route interaction technique is characterized in that it comprises the two large divisions:
The one, be contained in the radiofrequency launcher that can obtain this crossing traffic information that the crossing is located, this radiofrequency launcher obtains transport information from the signal controller at crossing, place, and by the less radio-frequency transmitter module overseas broadcast in the radiofrequency launcher;
Two are mounted in the tactful suggestion device of energy-conservation driving on the vehicle, and this device is made up of software and hardware two parts, and hardware components is made up of microprocessor, radio frequency receiver, car borne GPS navigation instrument and display and/or voice prompting device; Software section mainly is meant the tactful computing module of energy-conservation driving in the microprocessor; Provide real time data by the car borne GPS navigation instrument, by the radio frequency receiver receiving traffic information, microprocessor mates transport information and real time data, transferring to the tactful computing module of energy-conservation driving calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device;
Above-mentioned transport information comprises: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places; Described phase place is meant: in one-period, and a certain or right-of-way that several traffic flows obtained on the level-crossing;
The real time data of above-mentioned car borne GPS navigation instrument comprises: signal controlling crossing numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, the vehicle travel direction and the highway section speed limit at crossing forwardly.
2. the method for work of prompt system as claimed in claim 1, it is characterized in that, during work, when vehicle enters the place ahead and is the highway section at signal controlling crossing, the tactful suggestion device of energy-conservation driving will receive the place ahead by radio frequency receiver and arrive place, the crossing transport information that broadcaster broadcasted, and the real time data of obtaining the car borne GPS navigation instrument, and transport information and real time data mated, transferring to the tactful computing module of energy-conservation driving calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device.
3. method of work as claimed in claim 2 is characterized in that step is as follows:
The first step: beginning, system start-up;
Second step: system initialization;
The 3rd step: microprocessor begins to read car borne GPS navigation instrument information, and information comprises: signal controlling crossing numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, the vehicle travel direction and the highway section speed limit at crossing forwardly;
The 4th step: the transport information that the microprocessor processes radio frequency receiver receives, and therefrom extracting the phase place timing information at this crossing, transport information comprises: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places;
The 5th step: the microprocessor energy saving in running is driven tactful computing module;
The 6th step: automobile energy-saving is driven strategy be prompted to human pilot by display and/or voice prompting device;
The 7th step: returned for the 3rd step, carry out computing next time.
4. as claim 2 or 3 described method of works, it is characterized in that the operational method of the tactful computing module of described energy-conservation driving is as follows:
The first step: set each phase place and the phase place duration at this crossing, be called first phase place, first phase place green light excess time successively; Second phase place, the second phase place green time; Third phase position, third phase position green time; The 4th phase place, the 4th phase place green time ... the rest may be inferred; Wherein, first phase place is current phase place, and the first phase place green light is the green light excess time after current time begins excess time; Wherein: the phase item of first phase place is that be t the excess time of p1, first phase place
r, second phase place the phase item be that the duration of p2, second phase place is t
P2, the third phase position the phase item be that the duration of p3, third phase position is t
P3, the 4th phase place the phase item be that the duration of p4, the 4th phase place is t
P4, by that analogy;
Described current phase place refers to the current phase place that is in the clearance state in this crossing;
Setting phase place green light interval time is T
i, the traffic signals cycle is T, the position is D to the remaining mileage at front signal control crossing; According to vehicle forwardly travel direction and the phase matching at crossing obtain vehicle pass-through mutually item be n; The highway section Maximum speed limit is V
Limit, the minimum speed of vehicle ' is V
m
In second step, calculate the nearest time interval [t1, t2] that the required phase place of vehicle is let pass;
If 1 n=p1, t1=0 then, t2=t
r, change the 3rd.Step, otherwise continue;
If 2 n=p2, then t1=t
r+ T
i, t2=t1+t
P2, changeed for the 3rd step, otherwise continue;
If 3 n=p3, then t1=t
r+ T
i+ t
P2+ T
i, t2=t1+t
P3, changeed for the 3rd step, otherwise continue;
If 4 n=p4, then t1=t
r+ T
i+ t
P2+ T
i+ t
P3+ T
i, t2=t1+t
P4, changeed for the 3rd step, otherwise continue;
By that analogy;
The 3rd step, calculate vehicle and in n traffic signals Cycle Length, do not have wait by the required speed that reaches in this crossing, use V respectively
1, V
2..., V
nExpression,
Wherein, V
1, V
2V
n, V
1=(D/t1+D/t2)/2, if t1=0, then V
1=1.2D/t2; V
2=(D/ (t1+T)+D/ (t2+T))/2;
Calculate successively, up to V
n=(D/ (t1+ (n-1) * T)+D/ (t2+ (n-1) * T))＜V
m, changeed for the 4th step.Annotate:
V
1The expression vehicle does not have in the 1st traffic signals Cycle Length to be waited for by the required speed that reaches in this crossing;
V
2The expression vehicle did not have in the 2nd traffic signals Cycle Length time to be waited for by the required speed that reaches in this crossing;
By that analogy;
V
nThe expression vehicle did not have in n traffic signals Cycle Length time to be waited for by the required speed that reaches in this crossing; This speed can reduce along with the increase of n, drops to the minimum speed V of a certain setting when this speed
mThe time, stop to calculate;
The 4th step is from V
1, V
2V
nIn choose value V near the economic speed per hour of vehicle
X, changeed for the 5th step;
The 5th step: determine to drive strategy:
If V
X＞V
Limit, then return V
Limit, finish, and point out with V to the driver
LimitSpeed is travelled, otherwise continues;
If V
m＜V
X＜V
Limit, then return V
X, finish, and point out with V to the driver
XSpeed is travelled, otherwise continues;
If V
X＜V
m, no rreturn value is not pointed out, and finishes.
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| CN103390349A (en) * | 2013-08-02 | 2013-11-13 | 北京汽车股份有限公司 | Navigation device, signal lamp control device and automobile |
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| CN104217603B (en) * | 2014-09-12 | 2016-04-20 | 南京理工大学 | Cognitive method and system in a kind of intersection traffic signal vehicle |
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| CN104575064A (en) * | 2015-01-06 | 2015-04-29 | 山东建筑大学 | Traffic signal light with wireless communication function and application method thereof |
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| CN104794915B (en) * | 2015-05-11 | 2017-08-11 | 清华大学 | A kind of continuous intersection vehicle passing control method and device |
| CN106205171A (en) * | 2016-09-30 | 2016-12-07 | 薛秋香 | A kind of car steering aid system |
| CN108237918A (en) * | 2016-12-23 | 2018-07-03 | 三星电子株式会社 | Vehicle and its control method |
| CN107067784A (en) * | 2017-06-09 | 2017-08-18 | 南京越博动力系统股份有限公司 | A kind of urban road vehicle safety intelligence monitoring and controlling system and its monitoring method |
| CN107742433A (en) * | 2017-09-22 | 2018-02-27 | 东南大学 | A kind of vehicle guidance method and its system based on guidance path |
| CN108961755A (en) * | 2018-07-21 | 2018-12-07 | 浙江天地人科技有限公司 | Running red light for vehicle method for detecting and system |
| CN109147348A (en) * | 2018-09-17 | 2019-01-04 | 奇瑞汽车股份有限公司 | Control method for vehicle and device |
| CN109686118A (en) * | 2019-01-24 | 2019-04-26 | 嘉兴行适安车联网信息科技有限公司 | A kind of economic control loop and its drive manner based on the collaboration of people's bus or train route |
| CN111179613A (en) * | 2020-02-20 | 2020-05-19 | 李迎 | Traffic signal lamp-based driving method for vehicle |
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