CN102385804A - Intelligent traffic system and navigation method thereof - Google Patents

Intelligent traffic system and navigation method thereof Download PDF

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Publication number
CN102385804A
CN102385804A CN2010102788711A CN201010278871A CN102385804A CN 102385804 A CN102385804 A CN 102385804A CN 2010102788711 A CN2010102788711 A CN 2010102788711A CN 201010278871 A CN201010278871 A CN 201010278871A CN 102385804 A CN102385804 A CN 102385804A
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information
intelligent transportation
service centre
navigation
transportation service
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CN2010102788711A
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Chinese (zh)
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谈宇清
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谈宇清
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Priority to CN2010102788711A priority Critical patent/CN102385804A/en
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Abstract

The invention relates to an intelligent traffic system and a navigation method thereof. The intelligent traffic system comprises an intelligent traffic service center and N mobile terminals. The intelligent traffic service center comprises a distributed server cluster, a geographic information system (GIS), an original information data base and a forecast information data base; the original information data base contains continuously added road driving information; the forecast information data base contains road condition data of all future time intervals; the mobile terminals automatically express to drivers after receiving the navigation command of the intelligent traffic service center, and sending the road condition data acquired in the driving process to the intelligent traffic service center. In the intelligent traffic system, dynamic and accurate real-time navigation information is provided for the vehicle drivers, and the road use ratio is also optimized and the congestion degree is also relieved while the vehicle driving directions are optimized. The mobile terminals and a vehicle-mounted navigator are not required to be provided with the GIS, and the map information in the intelligent traffic system does not need to be periodically upgraded or updated.

Description

A kind of intelligent transportation system and air navigation aid thereof

Technical field the present invention relates to a kind of intelligent transportation system and air navigation aid thereof, relates in particular to a kind of intelligent transportation system of utilizing cloud computing technology and wireless communication technique to optimize single vehicles traffic route.

The present modernized metropolitan traffic system of background technology is based on the manual dispatching system of central video monitoring; The information acquisition system that is fixed on the traffic main points obtains traffic dynamic information, and this traffic dynamic information also can be based on the traffic of phone feedback.The station broadcast system can release the traffic dynamic information behind the human-edited, and traffic-police applies the strategy of throwing waves of people into action and directs traffic on the traffic main artery.

The remarkable vehicles of a lot of performances today have been installed navigational system, and this GPS (Global Positioning System GPS) car-mounted terminal is groped to move ahead with the satnav information that the GPS module is obtained in traffic networking with rapid changepl. never-ending changes and improvements based on the GIS map (GIS Geographic Information System GIS-Geographic Information System) of self configuration.

All traffic systems of the prior art and air navigation aid; No matter be through RFID (Radio Frequency Identification RF identification) data acquisition or based on video information; Still feed back based on voice messaging through manual telephone system; The quantity of its data sampling point and real-time all are discontinuous and incomplete, thereby the vehicles in going can not obtain the place ahead road conditions in real time, can not get accurate, real-time and appropriate driving suggestion.Because the driver lacks the real-time assurance to traffic and road information, further cause the overall operation situation of highway traffic system can not real-time optimization, more can not dynamic optimization; So traffic hazard or traffic accident mediation cycle are long, the vehicle pass-through efficient of road traffic system can not get guaranteeing; Usually be to predict consuming time being difficult to that arrives the destination, not only increased the energy consumption of the unit mileage of vehicle, and often because regular congestion affects work has increased social cost.

Summary of the invention fundamental purpose of the present invention is to disclose a kind of intelligent transportation system and air navigation aid thereof, optimizes traffic route for the single vehicles, improves the utilization factor of public transport roadnet, and in the effect of objectively playing the travel route of dispatching buses.

The invention discloses a kind of intelligent transportation system, comprise an intelligent transportation service centre and N portable terminal, N is the integer more than or equal to 1; Said intelligent transportation service centre comprises distributed server cluster, and GIS-Geographic Information System, original information data storehouse and information of forecasting database; Comprise constantly newly-increased road driving information in the said original information data storehouse; The road condition data that comprises following day part in the said information of forecasting database; Road information history and real-time in the said original information data storehouse, the road network information of combining geographic information system are predicted computing and are drawn the following highway section traffic information in the said information of forecasting database; Said portable terminal receives the navigation instruction from said intelligent transportation service centre, and gathers the original information data storehouse that road condition data sends to intelligent transportation service centre when driving.

Intelligent transportation system disclosed by the invention also comprises following subordinate technical characterictic:

Comprise the road network information corresponding in the said original information data storehouse, and all suitably be divided into a plurality of highway sections to each the bar road in the road network with starting point with GIS-Geographic Information System (GIS); The navigation instruction that said intelligent transportation service centre sends comprises a highway section combination after the optimization at least.

Information in the said information of forecasting database comprises vehicle flowrate and the predicted data of average speed of each highway section in following a period of time.

Described intelligent transportation system also comprises M information terminal, and M is the integer greater than 1; Said information terminal is exported the information in the said information of forecasting database.

Said information terminal interactive information terminal, or fixing platform formula information terminal; Said interactive information terminal is end message equipment such as the various PCs that can carry out online query, search operation, smart mobile phone, net book, to inquire about said original information data storehouse and information of forecasting database through alternant way to intelligent transportation service centre; Said platform formula information terminal continues to receive and show the device for display of message from intelligent transportation service centre.

Said portable terminal comprises control module, radio receiving transmitting module, GPS module and human-computer interface module; Comprising CPU, storer, clock and power supply in the said control module, is the combination of hardware and software that is used to control the coordinated operation of said portable terminal; Said GPS module is obtained current location, travel direction and speed data through Navsat, and gives said control module; Said radio receiving transmitting module is accomplished the communication with intelligent transportation service centre, up various data and the information assigned under the control of said control module; Said human-computer interface module be used for demonstration with or voice with or literal output input, realize navigation.

Said interactive information terminal comprises control module, radio receiving transmitting module, human-computer interface module and functional software module; Comprising CPU, storer, clock and power supply in the said control module, is the combination of hardware and software that is used to control the coordinated operation of said interactive information terminal; Said radio receiving transmitting module is accomplished the communication with intelligent transportation service centre, up various data and the information assigned under the control of said control module; Said human-computer interface module be used for demonstration with or voice output and literal or language input; Said functional software module is used for being supported in the said raw data base and the search of information of forecasting database of intelligent transportation service centre and downloading needed information.

The invention also discloses a kind of air navigation aid of intelligent transportation system, use aforesaid intelligent transportation system, comprise the steps:

The first step after said intelligent transportation service centre accepts and sets up a navigation task, is obtained the current point and the impact point of this navigation task, and in the process that said portable terminal moves, is periodically obtained the current point of variation;

Second step; Said intelligent transportation service centre searches out a plurality of navigation highway section combination from the current point to the impact point in said GIS-Geographic Information System; According to the speed limit in each highway section in the above-mentioned navigation highway section combination in the GIS-Geographic Information System and the length situation of distance, according to the requirement optimization navigation highway section combination of portable terminal;

In the 3rd step, said intelligent transportation service centre sends the navigation highway section of optimizing and makes up to said portable terminal.

Air navigation aid disclosed by the invention also comprises following subordinate technical characterictic:

In said second step, said intelligent transportation service centre also optimizes the combination of navigation highway section according to the more excellent highway section of the Information Selection real-time road in the said information of forecasting database.

In said second step, said intelligent transportation service centre periodically searches for again according to real-time current point and impact point and optimizes new navigation highway section and make up; Perhaps; When said mobile terminal request; Perhaps when said intelligent transportation service centre finds the place ahead road conditions generation great change of navigation highway section combination that said portable terminal adopts, said intelligent transportation center is searched for again according to real-time current point and impact point and is optimized new navigation highway section and make up.

In said the 3rd step, said intelligent transportation service centre also dynamically reports according to the demand of said portable terminal and arrives needed running time of impact point and mileage.

Air navigation aid of the present invention also comprised for the 4th step, and said portable terminal sends the driving information of the place vehicles in real time and gives intelligent transportation service centre, comprises the state that stops, walks, speed of going and direction; Also can send the load carried state and the vehicle condition state of the place vehicles.

Intelligent transportation system of the present invention through cloud computing technology and thin client technology utilize wireless communication technique for the vehicle driving people provide dynamically, in real time, navigation information accurately; When optimizing single vehicles traffic route; Optimize the utilization factor of traffic route system, improve driving efficient.Improve driver's frame and taken advantage of experience, reduced energy consumption of vehicles.Automatic navigator does not require and has GIS-Geographic Information System (GIS), need not periodically upgrading yet or upgrades cartographic information wherein.Real-time and the accuracy rate optimized can increase substantially, and economic benefit of bringing and social benefit are very significantly.

Description of drawings

Fig. 1 is the theory diagram of intelligent transportation system of the present invention.

Fig. 2 is the workflow diagram that intelligent transportation of the present invention service centre accomplishes the embodiment of navigation task.

Fig. 3 is the theory diagram of an embodiment of portable terminal of the present invention.

Fig. 4 is the theory diagram of an embodiment at interactive information of the present invention terminal.

Embodiment is done further explain below in conjunction with accompanying drawing and embodiment to the present invention.

Intelligent transportation system of the present invention and air navigation aid thereof adopt the cloud computing technology in intelligent transportation service centre, on portable terminal, adopt thin client technology.Client is fixed on the vehicles usually, with the synchronization-moving state of vehicle under, carry out exchanges data through wireless digital communication technology and cloud computing center, comprise and upwards transmit the driving data of self gathering, and the download navigation instruction.The wireless digital communication technology that puts into effect at present include but not limited to CDMA, and the mobile communication technology of other 3G, 4G.

As shown in Figure 1 is the theory diagram of intelligent transportation system of the present invention, and intelligent transportation system comprises intelligent transportation service centre and N portable terminal, and M information terminal, and N here and M are the natural numbers greater than 1.Intelligent transportation service centre comprises distributed server cluster, and original information data storehouse and information of forecasting database and GIS-Geographic Information System (Geographic Information System is called for short GIS).

GIS-Geographic Information System is a kind of infosystem of obtaining, store, analyzing and manage geographical spatial data.It is on subject bases such as geography, cartography, surveying and computer science, to grow up, and has the obtaining of spatial data, stores, shows, the infosystem of function such as editor, processing, analysis, output and application.In brief, GIS is an infosystem based on the analysis of data base management system (DBMS) (DBMS) and management spatial object, is that operand is the fundamental difference of GIS-Geographic Information System and other information systems with the geographical spatial data.In generalized information system, can carry out the stack of layering editor and information.For example newly opened road, and traffic control and road shutoff can be carried out human-edited and setting to the relevant information among the GIS by intelligent transportation service centre for a long time.Provisional congestion in road can carry out the relevant road segments mark according to intelligence computation by system in GIS; Making it in certain period of time, to be set to passage rate is 0, and newly-established like this navigation process can be got rid of this section road automatically in this period and get into the road network combination.

N portable terminal can be a lot of vehicular navigating instruments; This portable terminal can be gathered road condition data when driving and send to intelligent transportation service centre, if public transport can also the information of self for example full load conditions report intelligent transportation service centre; Portable terminal and intelligent transportation service centre keep both-way communication, can also receive the navigation instruction from intelligent transportation service centre, and show and/or voice suggestion is come out through image.

M information terminal can be interactive information terminal, also can be the platform formula information terminal of fixing.Interactive information terminal is various PCs, the smart mobile phone that functional software has been installed, implements and real-time traffic to the position of intelligent transportation service centre inquiry oneself, the traffic in district variously through alternant way, or the like.Platform formula information terminal can regularly receive the information from intelligent transportation service centre, the train number that arrives at a station of bus or train for example, and whether arrival time is incured loss through delay, or the like.

Distributed server cluster is the combination of a plurality of servers of co-ordination, sees from the terminal, and be a server seemingly just.

In GIS-Geographic Information System GIS of the present invention, comprise detailed setting, like geographic position, road name, road travel direction (unidirectional or two-way), track quantity, speed limit, crossing turn direction etc. to traffic road net.Article one, road often is divided into a plurality of highway sections.Partition principle comprises and has intersection, track variation, speed limit variation, bridge, tunnel, and the existence of node such as road name variation.Each highway section all can have a unique identification number to carry out correspondence.Same highway section has some identical information, and for example highway is divided into one, one highway section combination between each different outlets, is to be highway section 2 between 1, No. two outlet in highway section and No. three outlets between an outlet and No. two outlets, or the like.In this generalized information system, each highway section has only an average speeds in each particular moment.The length in each highway section all is known.

Comprised in the original information data storehouse bring in constant renewal in by mobile terminal records and the driving data message that imports into.Intelligent transportation service centre according to the driving data information acquisition point geographic position and direction of traffic, with itself and link up with from the specific road section in the GIS-Geographic Information System.

The information of forecasting database comprises the road condition data after the optimizing and combining of a large amount of historical driving information and real-time information to each highway section of collecting, and can both provide vehicle flowrate and average speed in following a period of time to each highway section.

As shown in Figure 2 is the workflow diagram that intelligent transportation of the present invention service centre accomplishes the embodiment of navigation task.Intelligent transportation service centre at first can periodically obtain the current point and impact point (for example different longitude and latitude, perhaps other mark out next coordinate figure in road network) of navigation task after accepting and setting up a navigation task; The road network highway section of in according to GIS-Geographic Information System, dividing then searches out a plurality of highway sections combination from the current point to the impact point, and having is that All roads lead to Rome, usually more than one of the highway section combination from the current point to the impact point; And then according to the speed limit in each highway section and real-time passage situation, select to optimize the highway section combination, the highway section combination that preferred running time is the shortest, the perhaps the shortest highway section combination of mileage according to the requirement of client's portable terminal; Send to portable terminal to the highway section combination of optimizing then, can also dynamically report according to the demand of portable terminal to arrive needed running time of impact point and mileage.

Here, intelligent transportation service centre can not only optimize the combination of navigation highway section according to the length of the route of different arrival destination, can also optimize the combination of navigation highway section to the influence that arrives the needed time length in destination according to the speed limit of each bar road; But also can upgrade the navigation highway section combination of more optimizing according to the road conditions in the place ahead in the combination of the selected navigation of portable terminal highway section.That is to say; In the motion process of portable terminal; Intelligent transportation service centre periodically accepts the current point (being the current position of portable terminal) of mobile terminal reporting; And periodically repeated searching arrives the highway section combination of impact point, and optimizes renewal navigation highway section combination according to original information data storehouse, information of forecasting database.Intelligent transportation service centre can also be according to the requirement of portable terminal, instant search, optimization navigation highway section combination.

As shown in Figure 3 is the theory diagram of an embodiment of portable terminal of the present invention.Comprise control module, radio receiving transmitting module, GPS module and demonstration and or the voice output module; Comprise CPU, storer, clock and power supply or the like hardware and software in the control module, be used to control the coordinated operation of portable terminal; The GPS module is obtained current location, travel direction and speed or the like data through Navsat; Radio receiving transmitting module is accomplished the communication with intelligent transportation service centre, up various data and the information assigned; Demonstration with or the voice output module be man-machine interface, instruction of output driving or the like information also can receive input information.

Fig. 4 is the theory diagram of an embodiment at interactive information of the present invention terminal.Be that with the portable terminal difference it also has the functional software module, the interactive information terminal can comprise or not comprise the GPS module.The functional software module supports the interactive information terminal in the information of forecasting database of intelligent transportation service centre, to search for and download needed information.

In one embodiment of the invention, navigation task is to accomplish like this:

1, the driver of bus or driver and conductor submit the information (including but not limited to place name, latitude, longitude numerical value) of driving destination in advance to;

2, above-mentioned information is sent to the cloud computing center of intelligent transportation rapidly with the synchronization-moving client instantaneous acquiring of vehicle self geographical position information, driving azimuth information and velocity information, and through wireless network;

3, the cloud computing center is through comprehensive computing, and search and the combination of optimization highway section in GIS are sent back to client fast with navigation instruction (the highway section combination of optimization);

4, client converts navigation instruction to literal, voice and picture cues, will pass to the driver with the driving instruction;

Perhaps 4.1, client connects automated driving system and directly carries out vehicle drive;

5, vehicle except can and real-time communication is carried out at the cloud computing center and the exchanges data, can also carry out point-to-point communication with contiguous vehicle, to take precautions against and to avoid the generation of traffic hazards such as colliding.

In another embodiment of the present invention, portable terminal obtains in the flow process of highway section combination, and the concrete vehicles comprise according to the flow process that real-time road obtains the intelligent navigation service:

1, driver or driver and conductor's initialization are installed on the intelligent transportation system client of vehicle, and submit the information (including but not limited to place name, latitude, longitude numerical value) of driving destination to;

2, client instantaneous acquiring self geographical position information, driving azimuth information and velocity information, and through wireless network above-mentioned information is sent to the cloud computing center of intelligent transportation service centre rapidly;

3, the cloud computing center is through comprehensive computing (detailed description principle), and the instruction of will driving a vehicle is sent back to client fast;

4, client becomes literal, voice and picture cues with digitized instruction transformation, realizes intelligent navigation;

Perhaps 4.1, client connects automated driving system and directly carries out vehicle drive;

Vehicle client of the present invention is except ability and real-time communication is carried out at the cloud computing center and the exchanges data, can also carry out point-to-point communication with contiguous vehicle, to take precautions against and to avoid the generation of traffic hazards such as colliding.

As stated, client of the present invention bearing data acquisition simultaneously and upload in real time, data are downloaded and instruction is expressed function.Therefore each client of the present invention still is a mobile traffic sensor simultaneously.

Intelligent transportation of the present invention service centre also is a kind of cloud computing center, is used to accomplish road network state analysis and wagon flow performance analysis, and to the specific concrete vehicles optimization computing of traffic route is provided.

The arithmetic capability of client of the present invention is mainly used in self is reached the driving to the equipment that physical connection is arranged self, and it self can have the GIS data resource, also can possess calculation functions such as route optimization; Be used for obtaining the real-time congestion information of the required dynamic map of the place ahead road conditions, traffic route in real time and the road speed information of each major trunk roads is all deposited intelligent transportation service centre---the cloud computing center.Client (car-mounted terminal) needn't be downloaded cartographic information, only need obtain the vehicles navigation instruction relevant with the destination.Avoided existing between server end and the car-mounted terminal problem such as the map version is inconsistent.It is objectively also solving the cartographic information that uses on the car-mounted terminal and the problem of actual network of highways information inconsistency.

The know-why of invention is: bidirectional data exchange is carried out through wireless network in car-mounted terminal and cloud computing center.Car-mounted terminal discontinuity is sent driving states information (geographic position, direction of traffic, the speed of a motor vehicle, timestamp) and is given the cloud computing center.The unimpeded congestion status (interval road speed and vehicle flowrate) of each highway section at day part refined into above-mentioned mass data in the cloud computing center.Simulation trial is carried out to the navigation process in real time in the cloud computing center after receiving navigation request, provide the optimization route.Its technical essential be to use the driving states information of each transit point that swarm intelligence algorithm (like clustering algorithm, genetic algorithm, chaos optimization algorithm) and MapReduce pattern gather all vehicles in real time divide geographical section change into each highway section in the road network at the average speed of different time sections and average vehicle through quantity (vehicle flowrate).Cloud computing system then according to these two parameter simulation computings and provide each the navigation process expectation running time.

The present invention is on system architecture: car-mounted terminal is responsible for data acquisition, wireless telecommunications and navigation instruction and is resolved (converting voice messaging and graphical cues to).And overwhelming majority calculating is accomplished at the cloud computing center with the mode of parallel thread.

The wagon flow of all road interval and refreshing in real time of arbitrary period speed information during the cloud computing center is responsible in the original information data storehouse to the foundation of the road network information between urban inner and the city and renewal, to road network, and to the response of navigation request and the foundation of corresponding navigation process.Different with search engine to the disposable response of Search Results, to the behind of navigation request response, be foundation, adjustment, tracking, end institute to each navigation process corresponding a navigation task life cycle.

The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.

Claims (12)

1. an intelligent transportation system comprises an intelligent transportation service centre and N portable terminal, and N is the integer more than or equal to 1; It is characterized in that said intelligent transportation service centre comprises distributed server cluster, and GIS-Geographic Information System, original information data storehouse and information of forecasting database; Comprise constantly newly-increased Real-time Road traffic information in the said original information data storehouse; The road condition data that comprises following day part in the said information of forecasting database; Road driving information history and real-time in the said original information data storehouse combines to predict that with the road network information in the GIS-Geographic Information System computing draws the road condition data of the following day part in the said information of forecasting database; Said portable terminal receives the navigation instruction from said intelligent transportation service centre, and gathers the original information data storehouse that road condition data sends to intelligent transportation service centre when driving.
2. intelligent transportation system as claimed in claim 1 is characterized in that, the road network information that said GIS-Geographic Information System comprises all suitably is divided into a plurality of highway sections with starting point to each the bar road in the road network; The navigation instruction that said intelligent transportation service centre sends is the highway section combination after optimizing.
3. intelligent transportation system as claimed in claim 2 is characterized in that, the information in the said information of forecasting database comprises vehicle flowrate and the predicted data of average speed of each highway section in following a period of time.
4. intelligent transportation system as claimed in claim 1 is characterized in that, also comprises M information terminal, and M is the integer greater than 1; Said information terminal is exported the information in the said information of forecasting database.
5. intelligent transportation system as claimed in claim 4 is characterized in that said information terminal is an interactive information terminal, or fixing platform formula information terminal; Said interactive information terminal is end message equipment such as the various PCs that can carry out online query, search operation, smart mobile phone, net book, to inquire about said original information data storehouse and information of forecasting database through alternant way to intelligent transportation service centre; Said platform formula information terminal comprises lasting reception and shows the terminal presentation facility from the information of intelligent transportation service centre.
6. intelligent transportation system as claimed in claim 1 is characterized in that, said portable terminal comprises control module, radio receiving transmitting module, GPS module and human-computer interface module; Comprising CPU, storer, clock and power supply in the said control module, is the combination of hardware and software that is used to control the coordinated operation of said portable terminal; Said GPS module is obtained current location, travel direction and speed data through Navsat, and gives said control module; Said radio receiving transmitting module is accomplished the communication with intelligent transportation service centre, up various data and the information assigned under the control of said control module; Said human-computer interface module be used for demonstration with or voice with or literal output input, realize navigation.
7. intelligent transportation system as claimed in claim 5 is characterized in that, said interactive information terminal comprises control module, radio receiving transmitting module, human-computer interface module and functional software module; Comprising CPU, storer, clock and power supply in the said control module, is the combination of hardware and software that is used to control the coordinated operation of said interactive information terminal; Said radio receiving transmitting module is accomplished the communication with intelligent transportation service centre, up various data and the information assigned under the control of said control module; Said human-computer interface module be used for demonstration with or voice output and literal or language input; Said functional software module is used for being supported in the said raw data base and the search of information of forecasting database of intelligent transportation service centre and downloading needed information.
8. the air navigation aid of an intelligent transportation system is used like the described intelligent transportation system of claim 1 to 7, it is characterized in that, comprises the steps:
The first step after said intelligent transportation service centre accepts and sets up a navigation task, is obtained the current point and the impact point of this navigation task, and in the process that said portable terminal moves, is periodically obtained the current point of variation;
Second step; Said intelligent transportation service centre searches out a plurality of navigation highway section combination from the current point to the impact point in said GIS-Geographic Information System; According to the speed limit in each highway section in the above-mentioned navigation highway section combination in the GIS-Geographic Information System and the length situation of distance, according to the requirement optimization navigation highway section combination of portable terminal;
In the 3rd step, said intelligent transportation service centre sends the navigation highway section of optimizing and makes up to said portable terminal.
9. air navigation aid as claimed in claim 8 is characterized in that, in said second step, said intelligent transportation service centre also optimizes the combination of navigation highway section according to the more excellent highway section of the Information Selection real-time road in the said information of forecasting database.
10. air navigation aid as claimed in claim 9 is characterized in that, in said second step, said intelligent transportation service centre periodically searches for again according to real-time current point and impact point and optimizes new navigation highway section and make up; Perhaps; When said mobile terminal request; Perhaps when said intelligent transportation service centre finds the place ahead road conditions generation great change of navigation highway section combination that said portable terminal adopts, said intelligent transportation service centre searches for again according to real-time current point and impact point and optimizes new navigation highway section and make up.
11. air navigation aid as claimed in claim 10 is characterized in that in said the 3rd step, said intelligent transportation service centre also dynamically reports according to the demand of said portable terminal and arrives needed running time of impact point and mileage.
12. air navigation aid as claimed in claim 11 is characterized in that, also comprises for the 4th step, said portable terminal sends in real time own driving information to said intelligent transportation service centre, comprises the state that stops, walks, speed of going and direction; Also can send the load carried state and the vehicle condition state of the place vehicles.
CN2010102788711A 2010-08-30 2010-08-30 Intelligent traffic system and navigation method thereof CN102385804A (en)

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