CN101799977A - Intelligent traffic system - Google Patents
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- CN101799977A CN101799977A CN200910247946A CN200910247946A CN101799977A CN 101799977 A CN101799977 A CN 101799977A CN 200910247946 A CN200910247946 A CN 200910247946A CN 200910247946 A CN200910247946 A CN 200910247946A CN 101799977 A CN101799977 A CN 101799977A
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Abstract
The invention discloses an intelligent traffic system, which reduces traffic jam, environmental pollution, accident rate and the load of drivers and achieves the aims of ensuring security, improving efficiency and environment and saving energy resources. The technical scheme is that the invention adopts the intelligent traffic system which is formed by a road system composed of a lead-in lane and a totally-closed lane, a GPS positioning system, a 3G or 4G communication system, a control system and automatic travel vehicles. After using the intelligent traffic system, the driver can give up autonomic driving and uses automatic driving controlled by the system to reach the destination. The intelligent traffic system uses advanced information technology, data communication transmission technology, global positioning technology, geographic information system technology, electric control technology and computer processing technology, is a novel transportation system integrating informatization, intelligent and socialization and makes traffic infrastructure exert the largest efficacy.
Description
Technical field
The present invention relates to traffic system, relate in particular to a kind of intelligent transportation system that realizes Vehicular automatic driving.
Background technology
Traditional traffic system is driver's autonomous land vehicle on road.Industrialized country has mostly experienced the development that expanding economy has promoted automobile, and the development of automobile industry has stimulated the process of economic development, thereby allows these countries realize the epoch of motorize as early as possible.Along with the rapid expansion of vehicle fleet size causes road resources more and more nervous.Especially to some big cities, vehicle fleet size shortcoming too much and many drivers' the driving ability or the quality of driving a vehicle can often cause congestion in road.Congestion in road is the waste to entire society's resource.And, cause traffic hazard easily because driving is improper, social property and life safety have been caused suitable threat.The economic loss that traffic jam causes is huge, even the very flourishing U.S. of road equipment, Japan also have to turn to technology and the method taked for, need two aspect managed together to improve the traffic problems that are becoming increasingly acute from the thoughtcast that only satisfies the demands by supplys in the past.
Summary of the invention
The objective of the invention is to address the above problem, a kind of intelligent transportation system is provided, reduce road congestion, environmental pollution, accident rate and alleviate driver's burden, reached the purpose that ensures safety, raises the efficiency, improves environment and energy savings.
Technical scheme of the present invention is: the present invention has disclosed a kind of intelligent transportation system, comprises the roadnet, positioning system, communication system, control system and the automatic running vehicle that import track and totally-enclosed track formation, wherein:
Import the track and connect totally-enclosed track, automatic running vehicle enters totally-enclosed track by importing the track, configuration information acquisition station before the importing track enters totally-enclosed track, be used to gather the information of vehicles and the driving information of automatic running vehicle, wherein information of vehicles comprises vehicle identification code, and driving information comprises the information of departure place and destination;
Communication system is used for setting up communicating to connect between each module of intelligent transportation system;
Positioning system is measured position and the speed of automatic running vehicle in roadnet;
Control system further comprises the traffic statistics module, the route planning module, the travel direction control module, speed of a motor vehicle control module, traffic statistics module and positioning system establish a communications link, measurement result according to positioning system obtains the vehicle flow on each track in the roadnet, route planning module and information acquisition station and traffic statistics module establish a communications link, vehicle flow planning travel route according to each track in driving information that comprises departure place and destination that collects and the roadnet, travel direction control module and route planning module and positioning system establish a communications link, according to planning that good travel route and the current location of automatic running vehicle in roadnet are determined and the travel direction of control automatic running vehicle, speed of a motor vehicle control module and traffic statistics module, the information acquisition station establishes a communications link, according to the vehicle flow on the current track at automatic running vehicle place, the performance of automatic running vehicle, vehicle-speed limit on the current track, the speed of a motor vehicle of automatic running vehicle is determined and controlled to the road conditions in current track and weather;
Automatic running vehicle, in establish automated driving system, establish a communications link with control system, receive from control system about the control information of the travel direction and the speed of a motor vehicle and driving automatically in view of the above.
According to an embodiment of intelligent transportation system of the present invention, communication system comprises 3G or 4G communication system.
According to an embodiment of intelligent transportation system of the present invention, this positioning system comprises the GPS positioning system.
Embodiment according to intelligent transportation system of the present invention, route also is set on the automatic running vehicle module manually is set, traffic route manually is set on the one hand and this route is uploaded to control system, perhaps change destination information on the other hand and be uploaded to control system, by the destination again planning travelling line of control system after according to automatic running vehicle current location and change.
Embodiment according to intelligent transportation system of the present invention, in roadnet, also be provided with semiclosed track, cross-point in semiclosed track and outside track is provided with intelligent signal lamp, intelligent signal lamp and traffic statistics module establish a communications link, according to the signal of the flow regulation intelligent signal lamp in each track on the cross-point.
According to an embodiment of intelligent transportation system of the present invention, handover module and autonomous driving system also are set on the vehicle of driving a vehicle automatically, between the automated driving system of vehicle and autonomous driving system, switch.
According to an embodiment of intelligent transportation system of the present invention, a plurality of services sites also are set in roadnet, services sites provides the energy supplement of automatic running vehicle and the automatic running vehicle that goes wrong is done from totally-enclosed track and withdraws from processing.
Embodiment according to intelligent transportation system of the present invention, on each track of roadnet, keep at a certain distance away induction sign in highway section is set, on each automatic running vehicle, sensing apparatus is installed, highway section induction sign on the sensing apparatus induction track is with the information of obtaining current highway section and the distance between vehicle and the both sides, track, and the information that sensing apparatus is also responded to nearby vehicle is to obtain the distance with nearby vehicle.
According to an embodiment of intelligent transportation system of the present invention, the networking of communication system bond is as communication and/or location.
Embodiment according to intelligent transportation system of the present invention, after the automated driving system operation of vehicle, control system is based on Internet of Things definition Vehicle Speed grade, and vehicle is selected track and speed automatically according to the grade of road Internet of Things along the line, surrounding vehicles, to reduce the automatic operation that vehicle changes.
According to an embodiment of intelligent transportation system of the present invention, this system also comprises the pressure broadcast system, and automatic running vehicle receives the broadcast message of forcing broadcast system to send by fixing wireless frequency or mobile telecommunication channel.
Embodiment according to intelligent transportation system of the present invention installs automatic checkout system on automatic running vehicle, declare from the trend system when running into fault evidence, perhaps take fault mode automatically, to the outer course transition, seek nearest service station, perhaps stopping waits for rescue on curb.
The present invention contrasts prior art following beneficial effect: the present invention adopts communication system, the control system of the roadnet, GPS positioning system, 3G or the 4G that are made of importing track and totally-enclosed track and the intelligent transportation system that automatic running vehicle constituted, the driver can abandon autonomous driving after entering this intelligent transportation system, change by the automatic driving of system's control to walk to the destination.Intelligent transportation system of the present invention has been used advanced infotech, data communication transmission technology, global-positioning technology, geographic information system technology, electron controls technology and Computer Processing technology, this a kind of novel transportation system that collects informationization, intellectuality, socialization makes traffic infrastructure performance maximum efficiency.
Description of drawings
Fig. 1 is the schematic diagram of first embodiment of intelligent transportation system of the present invention.
Fig. 2 is the schematic diagram of first embodiment of automatic running vehicle of the present invention.
Fig. 3 is the schematic diagram of second embodiment of intelligent transportation system of the present invention.
Fig. 4 is the schematic diagram of second embodiment of automatic running vehicle of the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
First embodiment of intelligent transportation system
Fig. 1 shows first embodiment of intelligent transportation system of the present invention.See also Fig. 1, the intelligent transportation system of present embodiment comprises by totally-enclosed track 10 and imports roadnet, GPS positioning system 13 (also can be in the future more advanced positioning system), control system 14, automatic running vehicle 15 and the communication system 16 that track 11 constitutes.Wherein Fig. 2 shows the principle of first embodiment of automatic running vehicle 15.Below be in conjunction with Fig. 1 and Fig. 2 description to the operation logic of the intelligent transportation system of present embodiment.
Totally-enclosed track 10 is connected with extraneous traditional track by importing track 11.Import track 11 and be similar to the ring road that enters totally-enclosed highway in traditional highway by common road.Import track 11 and be arranged on the place that traditional road need insert totally-enclosed track 10 usually.Configuration information acquisition station 12 before importing track 11 enters totally-enclosed track 10.The information of vehicles and the driving information of automatic running vehicle can be gathered in information acquisition station 12, and information of vehicles comprises the vehicle identification code with uniqueness.The vehicle identification code essential record vehicle brand, model, the date of production etc. and the relevant information of the attribute of vehicle own.Driving information comprises the information of departure place and destination.Certainly, driver's relevant information can also be gathered in information acquisition station 12, and system distributes a driver ID number for each driver, obtains driver's relevant information by reading this driver ID number.
In addition, the work of vehicle detection also is responsible at information acquisition station 12, and specifically, the information acquisition standing-meeting differentiates whether loaded automated driving system 150 in the vehicle and whether automated driving system 150 is working properly.Just allow vehicle enter totally-enclosed track 10 under all normal situations and trigger automatic running vehicle 15 and open automated driving systems 150 judging.
The automatic running vehicle 15 that the driver drives in the native system enters importing track 11 from traditional road, uploads vehicle relevant information and driving information at information acquisition station 12 to system.Control system 14 establishes a communications link by communication system 16 (for example 3G communication system or 4G communication system or more senior communication system) and information acquisition station 12, obtains the driving information that comprises departure place and destination from information acquisition station 12.GPS positioning system 13 is used for measuring automatic running vehicle 15 in whole the roadnet position and the speed of (comprise totally-enclosed track 10 and import track 11).Traffic statistics module 140 has been obtained the measurement result of GPS positioning system 13 from GPS positioning system 13, calculate the vehicle flow on each track in the roadnet easily according to the measurement result of GPS positioning system.Certainly, traffic statistics module 140 obtains the vehicle flow except the result from the GPS location, can also be by camera be installed on road at a certain distance, according to camera collection to unit interval in the vehicle fleet size that passes through estimate vehicle flow on the road.
Travel direction control module 142 receives from the travel route of route planning module 141 and from the current location of automatic running vehicle 15 in roadnet of GPS positioning system 13, determine the travel direction of vehicle with this, and the control information of relevant travel direction is issued on the corresponding automatic running vehicle 15.The steering order that automated driving system 150 in the automatic running vehicle 15 receives from the travel direction of control system 14, comprise in the automated driving system 150 that a controller is connected to bearing circle, controller receives after the steering order of travel direction according to this instruction steering wheel rotation, thereby realizes the automatic control of vehicle heading.
Speed of a motor vehicle control module 143 is obtained the vehicle flow on the current track at vehicle place from traffic statistics module 140, and obtain the vehicle performance of automatic running vehicle from information acquisition station 12, determine the current vehicle speed of vehicle again in conjunction with the road conditions in the vehicle-speed limit on the current track (if any, can be the upper limit, lower limit or upper and lower bound), current track (as path formation, road rugged etc.) and weather conditions (for example rain, dense fog, fine etc.).Speed of a motor vehicle control module 143 will determine that the good speed of a motor vehicle sends to the automated driving system 150 of automatic running vehicle 15 with instruction mode.Be provided with a speed of a motor vehicle controller in the automated driving system 150, be connected to gas pedal and brake pedal, speed of a motor vehicle controller receives after the speed of a motor vehicle steering order folding degree according to instruction control gas pedal or brake pedal, thereby realizes the automatic control of car speed.
Between control system 14 and the information acquisition station 12, all pass through 3G or 4G or more senior communication system between control system 14 and the automatic running vehicle 15 and realize data communication.
In the inside of automatic running vehicle 15, also be provided with GPS terminal module (as the GPS receiver), communication terminal module (as GSM mobile handset) certainly.
An automatic checkout system is installed on automatic running vehicle 15, control system 14 from the trend intelligent transportation system when running into fault evidence is declared, perhaps take fault mode automatically, that is to the outer course transition and seek nearest service station, perhaps stopping waits for rescue on curb.
Intelligent transportation system can also be provided with one and force broadcast system, and automatic running vehicle 15 receives the broadcast message of forcing broadcast system to send by fixing wireless frequency or mobile telecommunication channel.When automatic running vehicle 15 is in automatic driving condition, force broadcast system just to be in normally open, be convenient to notify the generation of special circumstances.
Second embodiment of intelligent transportation system
Fig. 3 shows second embodiment of intelligent transportation system of the present invention.See also Fig. 3, the intelligent transportation system of present embodiment comprises roadnet, GPS positioning system 33 (perhaps more senior positioning system), control system 34, automatic running vehicle 35, communication system 36, the intelligent signal lamp 38 that is made of totally-enclosed track 30, importing track 31, semiclosed track 37.Wherein Fig. 4 shows the principle of second embodiment of automatic running vehicle 35.Below be in conjunction with Fig. 3 and Fig. 4 description to the operation logic of the intelligent transportation system of present embodiment.
Totally-enclosed track 30 is connected with extraneous traditional track by importing track 31, in addition also comprises a kind of semiclosed track 37 in roadnet.Import track 11 and be similar to the ring road that enters totally-enclosed highway in traditional highway by common road.Import track 11 and be arranged on the place that traditional road need insert totally-enclosed track 10 usually.Configuration information acquisition station 12 before importing track 11 enters totally-enclosed track 10.The information of vehicles and the driving information of automatic running vehicle can be gathered in information acquisition station 12, and information of vehicles comprises the vehicle identification code with uniqueness.The vehicle identification code essential record vehicle brand, model, the date of production etc. and the relevant information of the attribute of vehicle own.Driving information comprises the information of departure place and destination.Certainly, driver's relevant information can also be gathered in information acquisition station 12, and system distributes a driver ID number for each driver, obtains driver's relevant information by reading this driver ID number.
There is cross-point in semiclosed track 37 and traditional track, therefore intelligent signal lamp 38 need be installed at the cross-point place.This intelligent signal lamp 38 is different from the traffic lights of common Fixed Time Interval figure signal, and it and traffic statistics module 340 establish a communications link, and regulates the signal of intelligent signal lamp according to the vehicle flow in each track on the cross-point.For instance, when vehicle flow on the semiclosed track 37 during much larger than traditional track at cross-point place, make time of current green light of the intelligent signal lamp 38 on the semiclosed track 37 elongated, on the contrary, when the vehicle flow in traditional track at cross-point place during, make time of red light of the intelligent signal lamp 38 on the semiclosed track 37 elongated much larger than semiclosed track 37.
In addition, the work of vehicle detection also is responsible at information acquisition station 32, and specifically, information acquisition station 32 can differentiate whether loaded automated driving system 153 in the vehicles and whether automated driving system 153 is working properly.Just allow vehicle enter totally-enclosed track 30 under all normal situations and trigger automatic running vehicle 35 and open automated driving systems 153 judging.
The automatic running vehicle 35 that the driver drives in the native system enters importing track 31 from traditional road, uploads vehicle relevant information and driving information at information acquisition station 32 to system.Control system 34 establishes a communications link by communication system 36 (for example 3G communication system or 4G communication system or more senior communication system) and information acquisition station 32, obtains the driving information that comprises departure place and destination from information acquisition station 32.GPS positioning system 33 is used for measuring automatic running vehicle 35 in whole the roadnet position and the speed of (comprise totally-enclosed track 30, semiclosed track 37, import track 31).Traffic statistics module 340 has been obtained the measurement result of GPS positioning system 33 from GPS positioning system 33, calculate the vehicle flow on each track in the roadnet easily according to the measurement result of GPS positioning system.Certainly, traffic statistics module 340 obtains the vehicle flow except the result from the GPS location, can also be by camera be installed on road at a certain distance, according to camera collection to unit interval in the vehicle fleet size that passes through estimate vehicle flow on the road.
Travel direction control module 342 receives from the travel route of route planning module 341 and from the current location of automatic running vehicle 35 in roadnet of GPS positioning system 33, determine the travel direction of vehicle with this, and the control information of relevant travel direction is issued on the corresponding automatic running vehicle 35.The steering order that automated driving system 153 in the automatic running vehicle 35 receives from the travel direction of control system 34, comprise in the automated driving system 153 that a controller is connected to bearing circle, controller receives after the steering order of travel direction according to this instruction steering wheel rotation, thereby realizes the automatic control of vehicle heading.
Speed of a motor vehicle control module 343 is obtained the vehicle flow on the current track at vehicle place from traffic statistics module 340, and obtain the vehicle performance of automatic running vehicle from information acquisition station 32, determine the current vehicle speed of vehicle again in conjunction with the road conditions in the vehicle-speed limit on the current track (if any, can be the upper limit, lower limit or upper and lower bound), current track (as path formation, road rugged etc.) and weather conditions (for example rain, dense fog, fine etc.).Speed of a motor vehicle control module 343 will determine that the good speed of a motor vehicle sends to the automated driving system 153 of automatic running vehicle 35 with instruction mode.Be provided with a speed of a motor vehicle controller in the automated driving system 153, be connected to gas pedal and brake pedal, speed of a motor vehicle controller receives after the speed of a motor vehicle steering order folding degree according to instruction control gas pedal or brake pedal, thereby realizes the automatic control of car speed.
Between control system 34 and the information acquisition station 32, between control system 34 and the automatic running vehicle 35, the communication system of all passing through 3G or 4G between intelligent signal lamp 38 and the control system 34 realizes data communication.
Please further referring to Fig. 4, sometimes, the driver is dissatisfied or Iterim Change destination to the travel route of systems organization, need route be set in automatic running vehicle 35 module 151 manually is set.Route manually is provided with module 151 traffic route is set, and traffic route is uploaded to control system 34.After control system 34 receives traffic route after the user upgrades voluntarily, determine the travel direction and the speed of a motor vehicle by wherein travel direction control module 342 and speed of a motor vehicle control module 343 according to the traffic route after upgrading again, move instruction is to corresponding automatic running vehicle 35, and the automated driving system 153 in the automatic running vehicle 35 is according to instruction control bearing circle, gas pedal and brake pedal.
Automatic running vehicle 35 can be new forms of energy vehicle (for example utilizing sun power or electric energy), also can be the vehicle that tradition is used gasoline or diesel oil.Also be provided with a lot of services sites in roadnet, the function of these services sites can also withdraw from from totally-enclosed track 30 for the automatic running vehicle that goes wrong except providing the energy supplement for automatic running vehicle.
In addition, consider that the automated driving system 153 of automatic running vehicle 35 may break down the signal of receiving control system (for example can't), two kinds of solutions are provided.First kind is in automatic running vehicle 35 inside handover module 155 and autonomous driving system 157 to be set.Handover module 155 connects autonomous driving system 157 and automated driving system 153.When automated driving system 153 goes wrong, can switch to autonomous driving system 157 by handover module 155, independently control by the driver.Second workaround is to keep at a certain distance away highway section induction sign (for example magnet sensor is embedded in the below, road surface) is set on each bar track of roadnet, on each automatic running vehicle 35 sensing apparatus 159 has been installed.Sensing apparatus 159 can be responded to the highway section induction sign on the track, obtain the distance that the information (for example highway section title, link flow etc.) in current highway section and vehicle and both sides, track are separated by, the information that induces nearby vehicle (front truck, back car, other car) simultaneously is to obtain the distance of being separated by with nearby vehicle.The range information that current vehicle basis induces carries out the control on speed and the direction, avoids the generation of colliding.In addition, can also draw the speed of a motor vehicle and the safe distance that detects vehicle by radar installations radar installations being installed on the vehicle to substitute the sensing apparatus on the vehicle.
In the inside of automatic running vehicle 35, also be provided with GPS terminal module (as the GPS receiver), communication terminal module (as GSM mobile handset) certainly.
An automatic checkout system is installed on automatic running vehicle 35, control system 34 from the trend intelligent transportation system when running into fault evidence is declared, perhaps take fault mode automatically, that is to the outer course transition and seek nearest service station, perhaps stopping waits for rescue on curb.
Intelligent transportation system can also be provided with one and force broadcast system, and automatic running vehicle 35 receives the broadcast message of forcing broadcast system to send by fixing wireless frequency or mobile telecommunication channel.When automatic running vehicle 35 is in automatic driving condition, force broadcast system just to be in normally open, be convenient to notify the generation of special circumstances.
The foregoing description provides to those of ordinary skills and realizes or use of the present invention; those of ordinary skills can be under the situation that does not break away from invention thought of the present invention; the foregoing description is made various modifications or variation; thereby protection scope of the present invention do not limit by the foregoing description, and should be the maximum magnitude that meets the inventive features that claims mention.
Claims (12)
1. an intelligent transportation system comprises the roadnet, positioning system, communication system, control system and the automatic running vehicle that import track and totally-enclosed track formation, wherein:
Import the track and connect totally-enclosed track, automatic running vehicle enters totally-enclosed track by importing the track, configuration information acquisition station before the importing track enters totally-enclosed track, be used to gather the information of vehicles and the driving information of automatic running vehicle, wherein information of vehicles comprises vehicle identification code, and driving information comprises the information of departure place and destination;
Communication system is used for setting up communicating to connect between each module of intelligent transportation system;
Positioning system is measured position and the speed of automatic running vehicle in roadnet;
Control system further comprises the traffic statistics module, the route planning module, the travel direction control module, speed of a motor vehicle control module, traffic statistics module and positioning system establish a communications link, measurement result according to positioning system obtains the vehicle flow on each track in the roadnet, route planning module and information acquisition station and traffic statistics module establish a communications link, vehicle flow planning travel route according to each track in driving information that comprises departure place and destination that collects and the roadnet, travel direction control module and route planning module and positioning system establish a communications link, according to planning that good travel route and the current location of automatic running vehicle in roadnet are determined and the travel direction of control automatic running vehicle, speed of a motor vehicle control module and traffic statistics module, the information acquisition station establishes a communications link, according to the vehicle flow on the current track at automatic running vehicle place, the performance of automatic running vehicle, vehicle-speed limit on the current track, the speed of a motor vehicle of automatic running vehicle is determined and controlled to the road conditions in current track and weather;
Automatic running vehicle, in establish automated driving system, establish a communications link with control system, receive from control system about the control information of the travel direction and the speed of a motor vehicle and driving automatically in view of the above.
2. intelligent transportation system according to claim 1 is characterized in that, communication system comprises 3G or 4G communication system.
3. intelligent transportation system according to claim 1 is characterized in that this positioning system comprises the GPS positioning system.
4. intelligent transportation system according to claim 1, it is characterized in that, route also is set on the automatic running vehicle module manually is set, traffic route manually is set on the one hand and this route is uploaded to control system, perhaps change destination information on the other hand and be uploaded to control system, by the destination again planning travelling line of control system after according to automatic running vehicle current location and change.
5. intelligent transportation system according to claim 1, it is characterized in that, in roadnet, also be provided with semiclosed track, cross-point in semiclosed track and outside track is provided with intelligent signal lamp, intelligent signal lamp and traffic statistics module establish a communications link, according to the signal of the flow regulation intelligent signal lamp in each track on the cross-point.
6. intelligent transportation system according to claim 1 is characterized in that, handover module and autonomous driving system also are set on the vehicle of driving a vehicle automatically, switches between the automated driving system of vehicle and autonomous driving system.
7. intelligent transportation system according to claim 1, it is characterized in that, a plurality of services sites also are set in roadnet, and services sites provides the energy supplement of automatic running vehicle and the automatic running vehicle that goes wrong is done from totally-enclosed track and withdraws from processing.
8. intelligent transportation system according to claim 1, it is characterized in that, on each track of roadnet, keep at a certain distance away induction sign in highway section is set, on each automatic running vehicle, sensing apparatus is installed, highway section induction sign on the sensing apparatus induction track is with the information of obtaining current highway section and the distance between vehicle and the both sides, track, and the information that sensing apparatus is also responded to nearby vehicle is to obtain the distance with nearby vehicle.
9. intelligent transportation system according to claim 2 is characterized in that, the networking of communication system bond is as communication and/or location.
10. intelligent transportation system according to claim 1, it is characterized in that, after the automated driving system operation of vehicle, control system is based on Internet of Things definition Vehicle Speed grade, and vehicle is selected track and speed automatically according to the grade of road Internet of Things along the line, surrounding vehicles, to reduce the automatic operation that vehicle changes.
11. intelligent transportation system according to claim 1 is characterized in that, this system also comprises the pressure broadcast system, and automatic running vehicle receives the broadcast message of forcing broadcast system to send by fixing wireless frequency or mobile telecommunication channel.
12. intelligent transportation system according to claim 1, it is characterized in that, automatic checkout system is installed on automatic running vehicle, declare from the trend system when running into fault evidence, perhaps take fault mode automatically, to the outer course transition, seek nearest service station, perhaps stopping waits for rescue on curb.
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