CN102419908A - System for providing traffic information with turning information in crossroads and thereof method - Google Patents
System for providing traffic information with turning information in crossroads and thereof method Download PDFInfo
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- CN102419908A CN102419908A CN201110222831XA CN201110222831A CN102419908A CN 102419908 A CN102419908 A CN 102419908A CN 201110222831X A CN201110222831X A CN 201110222831XA CN 201110222831 A CN201110222831 A CN 201110222831A CN 102419908 A CN102419908 A CN 102419908A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention discloses a system for providing traffic information with turning information in crossroads and a method thereof. The system includes a vehicle information acquisition unit which is configured to acquire the vehicle information, and a control unit which is configured to use the acquired vehicle information to calculate the whole link speed, the running speed in the crossroad along each turning direction, and the link speed in the crossroad along each turning direction.
Description
Technical field
The present invention relates to a kind of system and method that provides together with the transport information of crossing turning information, and relate more particularly to a kind of technology that provides together with the transport information of crossing turning speed information.
Background technology
In recent years because whole world individual has and the increase of the vehicle fleet size handled, traffic congestion on road or crossing frequently take place.Owing to this reason, congested in traffic condition of road surface, crossing etc. have taken place so that understand in advance better, and under the situation of necessity, have detoured from receiving traffic informations such as traffic information centers in the driver.
Yet in correlation technique, only the velocity information based on the craspedodrome road of crossing provides transport information.Do not have information to explain to turn to the left or to the right the required time, in the real road environment through the required time of crossing etc.
Therefore; In correlation technique; Even do not occur on the craspedodrome road in traffic congestion, but owing to for example construct or the vehicle of parking violation occurs under the situation in the vehicle of left-hand bend or right-hand bend of road; The craspedodrome road provides because transport information is based on, thus not with left-hand bend or right-hand bend road on the relevant transport information of traffic congestion.Therefore, the reliability of transport information is lowered.
Especially, when the transport information of the access ramp that frequent crossing, exit lane or the highway that takes place of traffic jam is provided etc.,, then will be difficult to understand the concrete situation of road if the transport information relevant with the road of keeping straight on only is provided.
In correlation technique, owing to the turning information of each road (such as the crossing etc.) is not provided but the velocity information of each link of craspedodrome roadway element only is provided, so the driver can't obtain the accurate information through the crossing required time.Therefore, the reliability of information is lowered.
Disclosed information only is used to strengthen the understanding to general background of the present invention in this background technology part, and should not be counted as this information has been formed admitting of prior art well known by persons skilled in the art or any type of hint.
Summary of the invention
The invention provides a kind of technology that the transport information with high reliability that has wherein reflected crossing turning information is provided.
According to an aspect of the present invention, a kind of system that transport information with crossing turning information is provided is provided.This system comprises the information of vehicles collector unit that is configured to collect information of vehicles, and the control module of link-speeds (link speed) of each turn direction of travel speed and crossing that is configured to use each turn direction of collected information of vehicles calculated population link-speeds, crossing.
Control module can be configured to calculate the travel speed of each turn direction of crossing through the positional information of using vehicle is asked summation (sum up) for the link-speeds before the entering crossing of each direction of motion calculating with through the link-speeds after the crossing.
Control module can also be configured to use location information and calculate entering crossing link-speeds before.Promptly; Control module can also calculate the link-speeds of each turn direction through calculating link-speeds, right-hand bend vehicle link-speeds and through vehicles the link-speeds get into crossing before get into crossing before of left-hand bend vehicle before getting into the crossing.
Control module can also be configured to give weight to craspedodrome link, left-hand bend link and right-hand bend link; Confirm and assign any one link as a reference in craspedodrome link, left-hand bend link and the right-hand bend link; Use the speed of the positional information calculation reference link of information of vehicles, and be the speed calculation of residue link the velocity ratio with reference link.
System can also comprise the transport information bootstrap module; It is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the transport information, and provides transport information after the reflection to each vehicle.
System can also comprise the road bootstrap module; It is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the route searching information, and provides route searching information after the reflection to each vehicle.
According to a further aspect in the invention, a kind of method that transport information with crossing turning information is provided is provided.This method comprises the processing that receives information of vehicles from or more automobile wireless ground; The processing of the link-speeds of the information of vehicles calculated population link-speeds that use receives, the travel speed of each turn direction and each turn direction, and the overall link-speeds that will calculate, the travel speed of turn direction and the link-speeds of turn direction are reflected to the processing in transport information or the route searching information.
Computing can comprise through the positional information of using information of vehicles is asked summation for the link-speeds before the entering crossing of each direction of motion calculating with through the link-speeds after the crossing, calculate the travel speed of each turn direction.
Computing can comprise that the positional information of using vehicle calculates the link-speeds that gets into before the crossing.Computing can also comprise through the link-speeds of calculating left-hand bend vehicle before getting into the crossing, the right-hand bend vehicle calculates each turn direction at link-speeds before the entering crossing and the link-speeds of through vehicles before the entering crossing link-speeds.
Said method can also comprise the transport information or the route searching information processing of sending the link-speeds of the travel speed that wherein reflected the overall link-speeds that calculates, each turn direction and each turn direction to each automobile wireless ground.
Advantageously; The invention provides the transport information of turning information with crossing; The transport information of each turn direction that the crossing that provides vehicle to turn left or turned right etc. is located makes it possible to realize the reliability of the raising of the transport information that crossing etc. is located.
In system according to the transport information that the turning information with crossing is provided of the present invention, at length check the crossing in the congested area of given travel direction to improve driver's convenience.
Further feature that system and method for the present invention had and advantage are according to combining accompanying drawing in this article and being used for together explaining that the of the present invention following detailed description of some principle of the present invention will be significantly or will set forth in more detail at accompanying drawing and following detailed description.
Description of drawings
Fig. 1 is the block diagram that illustrates according to the configuration of the example system of the transport information that the turning information with crossing is provided of the present invention.
Fig. 2 is the view that illustrates according to the configuration of the illustrative methods of the transport information that the turning information with crossing is provided of the present invention.
Fig. 3 is the view of illustrative methods of travel speed that each turn direction of calculating of the present invention crossing is shown.
Fig. 4 is the view of illustrative methods of link-speeds that each turn direction of calculating of the present invention crossing is shown.
The Reference numeral of each element in the accompanying drawing
100: vehicle termination
The 110:GPS unit
120: the road guidance unit
130: wireless communication unit
140: control module
200: vehicle information center
210: control module
220: the information of vehicles collector unit
230: the transport information bootstrap module
240: the road bootstrap module
Embodiment
Now will be in detail with reference to various embodiment of the present invention, the example is shown in the drawings and be described below.Although will combine exemplary embodiment to describe the present invention, it should be understood that this explanation is not to be intended to limit the invention to those exemplary embodiments.On the contrary, the present invention is intended to not only contain these exemplary embodiments, and contains various alternative forms, remodeling, equivalents and other embodiment that can be included in the spirit and scope of the present invention that accompanying claims limits.
Attention is understood that; The term that uses among this paper " vehicle " or " vehicle " or other similar terms comprise general motor vehicles (such as the passenger vehicle that comprises SUV (SUV), motorbus, truck, various commerial vehicles), the water carrier that comprises various ships and ship, aircraft etc., and comprise PHEV, electric motor car, plug-in hybrid electric vehicle, hydrogen-powered vehicle and other alternate fuel car (fuel of for example from the resource except that oil, obtaining).Described in this paper, PHEV is the vehicle with two or more power sources, and for example existing petrol power has electrodynamic vehicle again.
Hereinafter, will describe in detail according to the system and method that the transport information with crossing turning information is provided of the present invention with reference to figures 1 through 4.
Fig. 1 illustrates the block diagram of configuration of system that has the transport information of crossing turning information according to providing of exemplary embodiment of the present invention.The system together with the transport information of crossing turning information that provides according to exemplary embodiment of the present invention comprises vehicle termination 100 and vehicle information center 200.
The positional information that relevant vehicle is collected with the time interval of rule in GPS unit 110, and road guidance unit 120 is reflected to the transport information that provide from vehicle information center 200 transport information and based on the transport information after the reflection and carries out the road guiding.Wireless communication unit 130 carries out radio communication with vehicle information center 200.Control module 140 controls and uses the velocity information of the positional information calculation vehicle of collection to each element 110,120 and 130.At this moment, the instance of the velocity information of the for example clear use location of the present invention information calculations vehicle, but the present invention also can pass through the speed that independent velograph (not shown) or variator (transmission, not shown) calculate vehicle.When vehicle termination 100 provided positional information to vehicle information center 200, vehicle information center 200 can use the positional information of vehicle to calculate the speed of vehicle and the speed of the vehicle that use is calculated.Alternatively, vehicle termination 100 can directly provide its velocity information to vehicle information center 200.
Control module 210 uses information of vehicles to calculate the overall link-speeds of crossing, the travel speed of each turn direction and the link-speeds of each turn direction.At this moment, the overall link-speeds of crossing be illustrated in that predefined weight value that use is the basis with the speed in straight line highway section is confirmed to turn left or the situation of the speed in right-hand bend highway section under link-speeds.
With reference to figure 3; In order to calculate the travel speed of each turn direction; The average velocity of the particular link (link B) before the entering crossing that 210 pairs of uses of control module information of vehicles relevant with specific vehicle calculates for each direction of motion and ask summation through each the average velocity in other link (link E, C and G) afterwards of crossing, thus the travel speed of each turn direction (highway section B-E, B-C and B-G) calculated.At this moment, the travel speed of each turn direction representes to turn left that vehicle passes through the average velocity of two links of vicinity and the average velocity that the right-hand bend vehicle passes through contiguous two links through average velocity, the through vehicles of contiguous two links.It should be noted, represent the main road that specific road section maybe can be gone through link.Average velocity is represented the mean value through the minimum speed and the maximal rate of the vehicle of each link.The right-hand bend travel speed is represented through the minimum speed of the vehicle of a highway section (from link B to link G) and the mean value of maximal rate; The left-hand bend travel speed representes through the minimum speed of the vehicle of a highway section (from link B to link C) and the mean value of maximal rate, and the craspedodrome travel speed is represented the minimum speed of the vehicle through a highway section (from link B to link C) and the mean value of maximal rate.
On the other hand, with reference to figure 4, in order to calculate the link-speeds of each turn direction, control module 210 use information of vehicles calculate the speed that is being close to the link (link B) that gets into position before, crossing.Promptly; Control module 210 calculates the summation of speed of the link (link B) of speed that left-hand bend vehicles (getting into those vehicles of link E) get into the links (link B) before the crossings, speed that right-hand bend vehicle (getting into those vehicles of link G) gets into the link (link B) before the crossing and through vehicles (getting into those vehicles of link C), thereby calculates the link-speeds of each turn direction.
The link-speeds of each turn direction is represented the average velocity when through a link.The link-speeds of each turn direction is represented for the average velocity when through respective link for the right-hand bend vehicle of respective link; For the average velocity when through respective link for the left-hand bend vehicle of respective link, thereby and for straight-line travelling average velocity when through respective link for the vehicle of respective link.At this moment, average velocity representes that a plurality of vehicles are through the minimum speed of the speed of respective link and the mean value of maximal rate.For example, the right-hand bend link-speeds is calculated as when minimum speed and the mean value of maximal rate of right-hand bend vehicle when the respective link.
Information of vehicles collector unit 220 is collected information of vehicles (positional information, velocity information etc.) from vehicle.Transport information bootstrap module 230 be reflected to the travel speed of the link-speeds of the overall link-speeds of crossing, each turn direction, each turn direction in the transport information and reflection is provided after transport information to vehicle.At this moment, transport information bootstrap module 230 mainly provides the transport information of each link, and therefore preferably be reflected to the link-speeds of each turn direction in the transport information and the reflection of each turn direction is provided after transport information.For example, transport information bootstrap module 230 each turn direction is provided link-speeds to vehicle termination 100.When being crossing channel traffic information, vehicle termination 100 provides the transport information of each turn direction of crossing, wherein after showing the crossing map, shows the speed with corresponding each turn direction in crossing.
Road bootstrap module 240 uses the transport information of the travel speed of the link-speeds that wherein reflected overall link-speeds, each turn direction and each turn direction to come the routing information of executive path search and guiding search to give vehicle.At this moment, road bootstrap module 240 path of navigation data, and reflect preferably that therefore the travel speed of each turn direction is so that show the travel speed of particular path.For example; 240 transmissions of blocking the way pass guide module comprise when the path data of the travel speed information of each turn direction is given vehicle termination 100; Vehicle termination 100 shows the average overall travel speed of each turn direction on the map of crossing when the path of crossing is passed through in guiding, and allow the user can check the feasibility in path at a glance.
Hereinafter, will describe the method that the transport information with crossing turning information is provided according to an exemplary embodiment of the present invention in detail with reference to figure 2.
At first, vehicle termination 100 is collected information of vehicles (S101) and is wirelessly sent collected information of vehicles and give vehicle information center 200 (S102).At this moment, vehicle termination 100 obtains current location information with the time interval of rule through GPS.When having obtained N bar positional information or when the schedule time passes, vehicle termination 100 sends collected positional information to vehicle information center 200.
The control module 210 of vehicle information center 200 uses information of vehicles to carry out map match (S103).At this moment, map match shows the position of vehicle based on the positional information of vehicle on map, and removes any unusual value.
Then, the control module 210 of vehicle information center 200 uses information of vehicles to calculate overall link-speeds, the travel speed of each turn direction and the link-speeds (S104) of each turn direction of crossing.Hereinafter, reference table 1 to 3 and Fig. 3 and 4 are respectively described in detail the method for link information of travel speed, each turn direction of the overall link-speeds that calculates crossing, each turn direction.
At first, the method for calculating the overall link-speeds of crossing comprises: calculate left-hand bend travel speed and right-hand bend travel speed through after calculating the craspedodrome travel speed, multiplying each other with the given fixed weight that puts on the craspedodrome travel speed.
[table 1]
Promptly; Like table 1 and shown in Figure 3; Suppose that the weight of craspedodrome travel speed, the weight of left-hand bend travel speed and the weight of right-hand bend speed for example are set to " 1 ", " 0.5 " and " 0.7 " respectively; When the craspedodrome travel speed was 60Km/s, the left-hand bend travel speed becomes 30Km/s and right-hand bend speed becomes 42Km/s.Here, the average velocity minimum speed representing to measure from one section vehicle through the respective quadrature prong and the mean value of maximal rate.
At this moment, link is represented the distance between the node on the road.In Fig. 3; Highway section between node 311 and the node 312 is called as link B; Highway section between node 313 and the node 312 is called as link G, and the highway section between node 313 and the node 312 is called as link C, and the highway section between node 314 and the node 312 is called as link E.
In addition, link-speeds is represented the speed when through a link.The craspedodrome link-speeds is illustrated in through the speed before link C after the link B, the speed before the left-hand bend link-speeds is represented from link B to link E, and right-hand bend speed is represented from link B to link G speed before.
Secondly, the method for the travel speed of each turn direction of calculating crossing comprises: use the actual vehicle speed information in each highway section rather than weight to calculate the speed in each turning highway section.
[table 2]
Here, travel speed is represented the speed in adjacent two connected highway sections of link.As shown in table 2, the left-hand bend travel speed is represented the speed in the highway section from link B to link E, and the craspedodrome travel speed is represented the speed in the highway section from link B to link C, and the right-hand bend travel speed is represented the speed in the highway section from link B to link G.
At this moment, turn direction comprises a plurality of directions (such as the left-hand bend and the right-hand bend that take place in three-way intersection, simple intersection or five tunnel crossings).In addition, each travel speed is measured the minimum speed and the maximal rate of the vehicle of the respective stretch through crossing, and calculate average velocity based on measured minimum speed and maximal rate.
The 3rd, link method of velocity is calculated in each turning of crossing comprised: the speed of calculating a link.That is, said method comprises the anticipated orientation of passing through is classified to come computing velocity.
[table 3]
With shown in Figure 4, as the link-speeds of each turning, the speed of a link is that the link-speeds of each turn direction is calculated like table 3.
For example, the minimum speed that minimum speed when in link B, turning left and maximal rate are measured and measured and the mean value of maximal rate are calculated, thereby calculate the average velocity when in link B, turning left.When the link-speeds of each turn direction uses such method to calculate; The average velocity that in link B, turns left is for example 62Km/s, and the average velocity of in link B, keeping straight on is for example 52Km/s for 55Km/s for example and the average velocity of in link B, turning right.
When the link-speeds of the travel speed of the overall link-speeds that calculates crossing, each turn direction and each turn direction; Control module 210 provides velocity information to road bootstrap module 240 and transport information bootstrap module 230 (S105), thereby the velocity information that allows to be calculated is reflected in the transport information and route searching information that offers each vehicle.
Although Fig. 3 and 4 illustrated the instance of simple intersection, the present invention also can be applied to the transport information that various crossings (such as three-way intersection or simple intersection) are located.In addition, except the transport information of crossing, the present invention can also be applied to the access ramp (access ramp) of highway or the transport information that exit lane (outer road) is located.
As stated, the present invention each turn direction can be provided travel speed or link-speeds so that the more accurate transport information that has wherein reflected traffic turning information to be provided.In addition, the present invention can provide travel speed or the link-speeds of overall link-speeds together with each turn direction so that the transport information of various crossings to be provided.The information of vehicles that the present invention can use each bar to collect calculates transport information and makes error range be minimized with generation to have high-quality traffic information data.
Starting from illustration and illustrative purposes provides the above stated specification of certain exemplary embodiments of the present invention.These explanations are not to be intended to exhaustively or to limit the invention to disclosed precise forms, and according to above-mentioned instruction many remodeling and modification to be arranged obviously be possible.Selecting and describing exemplary embodiment is in order to explain some principle of the present invention and practical application thereof, thereby makes others skilled in the art can construct and utilize various exemplary embodiment of the present invention and various alternative form and remodeling.Scope of the present invention should be limited the accompanying claims and the equivalent form of value thereof.
Claims (16)
1. system that the transport information with crossing turning information is provided, said system comprises:
The information of vehicles collector unit, it is configured to collect information of vehicles; With
Control module, it is configured to use the link-speeds of each turn direction of travel speed and crossing of each turn direction of collected information of vehicles calculated population link-speeds, crossing.
2. the system of claim 1; Wherein said control module calculates the travel speed of each turn direction through the positional information of using said information of vehicles is asked summation for the link-speeds before the said crossing of entering of each direction of motion calculating with through the link-speeds after the said crossing.
3. the system of claim 1, wherein said control module use the positional information of said information of vehicles to calculate to get into the link-speeds before the said crossing,
Wherein said control module calculates the link-speeds of each turn direction through calculating link-speeds, the link-speeds and the link-speeds of through vehicles before getting into said crossing of right-hand bend vehicle before getting into said crossing of left-hand bend vehicle before getting into said crossing.
4. system as claimed in claim 2, wherein said control module uses the positional information of said information of vehicles to calculate the said crossing of entering link-speeds before,
Wherein said control module calculates the link-speeds of each turn direction through calculating link-speeds, the link-speeds and the link-speeds of through vehicles before getting into said crossing of right-hand bend vehicle before getting into said crossing of left-hand bend vehicle before getting into said crossing.
5. the system of claim 1; Wherein said control module is given weight to craspedodrome link, left-hand bend link and right-hand bend link; Confirm any one link as a reference in craspedodrome link, left-hand bend link and the right-hand bend link; Use the speed of the said reference link of positional information calculation of said information of vehicles, and be the speed calculation of residue link the velocity ratio with said reference link.
6. system as claimed in claim 2; Wherein said control module each link in craspedodrome link, left-hand bend link and right-hand bend link is given fixing weight; Confirm any one link as a reference in craspedodrome link, left-hand bend link and the right-hand bend link; Use the speed of the said reference link of positional information calculation of said information of vehicles, and be the speed calculation of residue link the velocity ratio with said reference link.
7. the system of claim 1; Also comprise the transport information bootstrap module; Said transport information bootstrap module is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the transport information, and provides transport information after the reflection to each vehicle.
8. system as claimed in claim 2; Also comprise the transport information bootstrap module; Said transport information bootstrap module is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the transport information, and provides transport information after the reflection to each vehicle.
9. the system of claim 1; Also comprise the road bootstrap module; Said road bootstrap module is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the route searching information, and provides route searching information after the reflection to each vehicle.
10. system as claimed in claim 2; Also comprise the road bootstrap module; Said road bootstrap module is configured to the overall link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that calculate are reflected in the route searching information, and provides route searching information after the reflection to each vehicle.
11. the method that the transport information with crossing turning information is provided, said method comprises:
Receive information of vehicles from automobile wireless ground;
Use the information of vehicles calculated population link-speeds, the travel speed of each turn direction and the link-speeds of each turn direction that receive; With
The overall link-speeds, the travel speed of turn direction and the link-speeds of turn direction that calculate are reflected in transport information or the route searching information.
12. method as claimed in claim 11; Wherein said computing comprises asking summation through the positional information of using said information of vehicles for the link-speeds before the entering crossing of each direction of motion calculating with through the link-speeds after the said crossing, calculates the travel speed of each turn direction.
13. method as claimed in claim 11, wherein said computing comprise that the positional information of using said information of vehicles calculates the link-speeds that gets into before the said crossing,
Wherein said computing comprises through the link-speeds of calculating left-hand bend vehicle before getting into said crossing, the right-hand bend vehicle calculates each turn direction at link-speeds before the said crossing of entering and the link-speeds of through vehicles before the said crossing of entering link-speeds.
14. method as claimed in claim 12, wherein said calculating comprise that the positional information of using said information of vehicles calculates the link-speeds that gets into before the said crossing,
Wherein said calculating comprises through the link-speeds of calculating left-hand bend vehicle before getting into said crossing, the right-hand bend vehicle calculates each turn direction at link-speeds before the said crossing of entering and the link-speeds of through vehicles before the said crossing of entering link-speeds.
15. method as claimed in claim 11 also comprises the transport information or the route searching information of sending the link-speeds of the travel speed that wherein reflected the overall link-speeds that calculates, each turn direction and each turn direction to each automobile wireless ground.
16. method as claimed in claim 12 also comprises the transport information or the route searching information of sending the link-speeds of the travel speed that wherein reflected the overall link-speeds that calculates, each turn direction and each turn direction to each automobile wireless ground.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR20100062807 | 2010-06-30 | ||
| KR10-2010-0062807 | 2010-06-30 | ||
| KR1020110045033A KR101154638B1 (en) | 2010-06-30 | 2011-05-13 | System for providing traffic information with turning information in crossroads and thereof method |
| KR10-2011-0045033 | 2011-05-13 |
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| CN102419908A true CN102419908A (en) | 2012-04-18 |
| CN102419908B CN102419908B (en) | 2016-02-10 |
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| CN201110222831.XA Active CN102419908B (en) | 2010-06-30 | 2011-06-30 | The system and method for the transport information with crossing turning information is provided |
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| KR (1) | KR101154638B1 (en) |
| CN (1) | CN102419908B (en) |
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| CN103337187A (en) * | 2013-06-25 | 2013-10-02 | 中国计量学院 | Method and system for instantly promoting traffic state of crossing based on coordinates |
| CN103514748A (en) * | 2012-06-21 | 2014-01-15 | 株式会社万都 | Apparatus of guiding safe driving at intersections and method of guiding safe driving using the same |
| CN104916152A (en) * | 2015-05-19 | 2015-09-16 | 苏州大学 | Cooperative vehicle infrastructure system-based intersection vehicle right turning guidance system and guidance method thereof |
| CN108257416A (en) * | 2016-12-28 | 2018-07-06 | 华为技术有限公司 | The methods, devices and systems of path planning |
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| KR102197199B1 (en) * | 2014-11-28 | 2020-12-31 | 현대엠엔소프트 주식회사 | Method for creating tpeg information by calculating rotational speed at intersection |
| KR101656845B1 (en) | 2016-07-19 | 2016-09-12 | 주식회사 부길전기 | Traffic signal indicator for round-about |
| KR102668821B1 (en) * | 2021-11-01 | 2024-05-27 | 명지대학교 산학협력단 | Turn-based optimal path search method and system |
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| CN108257416B (en) * | 2016-12-28 | 2021-03-23 | 华为技术有限公司 | Method, device and system for path planning |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101154638B1 (en) | 2012-06-08 |
| KR20120002416A (en) | 2012-01-05 |
| CN102419908B (en) | 2016-02-10 |
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