CN103050017B - Interstation green wave control method of high-density intersections of arterial buses - Google Patents
Interstation green wave control method of high-density intersections of arterial buses Download PDFInfo
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- CN103050017B CN103050017B CN201310012892.2A CN201310012892A CN103050017B CN 103050017 B CN103050017 B CN 103050017B CN 201310012892 A CN201310012892 A CN 201310012892A CN 103050017 B CN103050017 B CN 103050017B
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Abstract
The invention discloses an interstation green wave control method of high-density intersections of arterial buses. The method solves the problem that bus vehicles need to repeatedly stop for waiting red lamps when the gaps of the intersections in an urban trunk road are close is solved through the cooperative control of bus green waves among bus stations. The method comprises the following steps of determining the signal lamp group division and marking the number, presetting bus two-way green waves in a signal lamp group, judging passing request of bus vehicles, dividing bus green wave motorcades, and determining the bus vehicle speed induction and the early starting duration of the signal lamp group. The method has the advantages that the design is simple and convenient, the calculation is easy, after the bus vehicles are provided with interstation green wave control, the operation speed is greatly accelerated, the bus stop delay is reduced, and meanwhile, the pollutant discharging and the energy consumption are also greatly reduced.
Description
Technical field
The invention belongs to traffic administration and control field, relate to Urban transit planning and intersection signal control technology, green ripple control method between the station for a kind of main line public transport high density crossing.
Background technology
Because resident trip needs, when urban trunk planning, some areas road network density is larger, has caused crossing, section, a lot of city spacing nearer, and average headway reaches 100 meters, even nearer.This part continuous crossing is called high density crossing.Mostly control between the signal lamp of at present a lot of high density crossing is that off line is discrete, does not realize interlock and controls, and wants frequent acceleration and deceleration and wait for red light when this has just caused vehicle by crossing, incurs loss through delay greatly and increases.
Urban public transport, as the organic component of Modern City Traffic system, is occupied very important status in Traffic Systems.But public transit vehicle, in the time intersecting by high density, usually occurs the situation of stop continuously, has caused urban public transport service level greatly to reduce, the traffic capacity weakens, and has also caused unnecessary energy resource consumption and environmental pollution.Therefore, become inevitable for the urban mass-transit system of high density crossing proposes a kind of practicable signal controlling new departure.
For promoting public transport by the service level of high density crossing, the superiority of performance public transit system maximum, the present invention has broken that the green ripple control technology control of traditional public transport crossing is too much, the wide narrower deficiency of green wave band, has proposed green ripple control technology between the station of a kind of main line public transport high density crossing.This technology take bus station as node, crossing is divided into groups to control, by coordinating signal between the group of high density crossing, the travelling speed of induction public transit vehicle, greatly improve the percent of pass of bus in crossing, reduce public transit vehicle and incured loss through delay working time, improved the efficiency of operation of urban mass-transit system.
Summary of the invention
Technical matters to be solved by this invention is: green ripple control technology between the station of a kind of main line public transport high density crossing is provided, the frequent acceleration and deceleration of public transit vehicle that solution high density urban intersection causes and the problem of waiting for red light, reducing public transit vehicle incurs loss through delay working time, improve the efficiency of operation of urban mass-transit system, reduced energy consumption and environmental pollution.
Technical scheme of the present invention is: green ripple control method between the station of a kind of main line public transport high density crossing, comprises the following steps:
1) determine the division of signal lamp group according to the setting position of bus station and crossing, all Intersections on a main line between adjacent bus station are divided into a signal lamp group, measure the distance between bus station, Intersections;
2) each Intersections is controlled by control center, in conjunction with each Intersections original signal timing scheme, and unified signal lamp group internal signal cycle, and the public transport two-way green wave of signalization lamp group inside;
3) public transit vehicle traveling-position detects in control center, receives public transit vehicle by the request of crossing, divides Lv Bo public transport fleet according to request situation;
4) be close to the downstream signal lamp receiving step 3 of bus stop) in the public transit vehicle traveling-position, request and the fleet's division information that obtain, early open by public transport green light signals, for public transport fleet provides current green ripple;
5) control center's receiving step 3), 4) in the bus that obtains and the real-time information of signal lamp, through calculating, feed back to public transit vehicle suggestion travel speed information, the green ripple of induction public transport fleet is by signal lamp group.
Step 1)-5) be specially:
Step 1):
11) whole piece main line is from the initial bus station that the green ripple of public transport is set for starting, and the termination bus station that the green ripple of public transport is set is end, and division signals lamp group, is numbered respectively signal lamp group and bus station, is D in the signal lamp group # of i position
i, i bus station is numbered S
i, the direction that definition main line increases along numbering is forward, the direction reducing along numbering is reverse;
12) to arbitrary signal lamp group D
i, the distance between inner adjacent two signal lamps of measuring-signal lamp group;
13), for positive and negative both direction, measure respectively arbitrary bus station S
iand the distance L between its downstream intersection
positive i, L
anti-i;
Step 2):
21) to arbitrary signal lamp group D
iindependently carry out signal timing dial, the signal period of all crossings in the group of picked up signal lamp group, wherein the signal timing dial cycle of j crossing of forward is C
ij, signal lamp group D
ikey signal cycle C
i0for the longest signal period in organizing, i.e. C
i0=maxC
ij;
22) bus speed v is set, according to distance and step 21 between inner adjacent two signal lamps of the signal lamp group that obtains in step 12)) in key signal cycle C
i0, crossing original signal timing scheme in signal lamp group group is adjusted, wide to obtain maximum two-way public transport green wave band; Tracer signal lamp group D respectively
iforward and first reverse signal lamp, at each cycle C
i0in, green wave band initial time T
i just rises, T
i is counter to be risenstop moment T with green wave band
i is just whole, T
i instead eventually, and meet 0<T
i just rises<T
i is just whole<C
i0and 0<T
i is counter to be risen<T
i instead eventually<C
i0;
Step 3):
31) control center utilizes public transport GPS positioning system, obtains in real time the positional information of all public transit vehicles;
32) public transit vehicle is stopped in bus station, in the moment that completes on-board and off-board, vehicle ground zero, to travel direction downstream signal lamp group D
isend continuously by the request of crossing in signal lamp group;
33) processing of request: for the request of the public transit vehicle along forward travel, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 just, t
i2 just] time, control center just processes the request of passing through receiving, otherwise request is disregarded; Same, for the public transit vehicle request along backward going, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 is anti-, t
i2 is anti-] time, system is just processed the request of passing through receiving, otherwise request is disregarded; Wherein t
i1 just, t
i2 just, t
i1 is anti-, t
i2 is anti-determined by following formula:
34) determine Lv Bo public transport fleet: by step 33) middle forward [t
i1 just, t
i2 just] section or reverse [t
i1 is anti-, t
i2 is anti-] section first bus that sends request of receiving is as a public transport fleet car, last that receive sent the bus of request as bus tail of the queue car, comprises two cars and is a public transport fleet at all vehicles in interior interval;
Step 4):
41) send by the moment t of crossing request according to a Lv Bo public transport fleet car
1, the public transport green light signals that calculating signal lamp group need to provide early opens duration Δ T
justand Δ T
instead, set the minimum speed v that bus travels
min, ensure that a Lv Bo public transport fleet car can pass through continuous crossing, downstream, Δ T by green ripple in the time that minimum speed is travelled
justand Δ T
insteadcomputing formula as follows:
42) forward, oppositely coordination, determine signal lamp group D
imorning open duration Δ T: for signal lamp group D
i, when forward with while oppositely only having a direction to need signal early to open, according to opening duration the morning of this orientation determination to signal lamp group D
iall signal lamp bus travel direction green lights early open; When forward with while oppositely needing early to open simultaneously, select maximal value that both direction early opens duration as signal lamp group D
iopen duration the morning of all signal lamps, i.e. Δ T=max{ Δ T
just, Δ T
instead;
Step 5):
According to k the moment t that bus sends request in Lv Bo public transport fleet
k, feed back to public transit vehicle suggestion travel speed information, 0<t
k<C
i0, C
i0for the signal period of downstream intersection, suggestion travel speed V
kcomputing formula is as follows:
When Lv Bo public transport fleet is during along forward travel:
When Lv Bo public transport fleet is during along backward going:
Compared with prior art, the present invention has the following advantages:
1. improve the operational efficiency of public transport main line.The present invention is based on high density crossing, green ripple cooperative control method between bus station has been proposed, can ensure that the green ripple of most of public transit vehicle, by crossing, has greatly reduced public transit vehicle and repeatedly stopped the delay bringing in high density crossing, public transit vehicle average running speed obviously improves.
2. improve the public transport punctuality rate that arrives at a station.By signal lamp group internal preset between bus station, green to involve between signal lamp group green ripple collaborative in the present invention, reduce the number of times of the unpredictable stop of public transit vehicle, travelling speed is protected, for the service level of public transit vehicle reaching on the time website, raising bus is laid a good foundation.
3. improved the signal lamp percent of pass of part public vehicles.Be provided with after the green ripple of main line public transport according to the inventive method, the signal lamp between two bus stations forms the interlock of green ripple, and public vehicles only need be waited for the signal lamp of first crossing, after just can pass through by green ripple.
4. reduce energy consumption.Through the green ripple control of the inventive method, reduce public transit vehicle and the part public vehicles stop number of times in crossing, reduce the energy resource consumption that vehicle brings because of acceleration and deceleration, parking, startup etc.
5. reduce exhaust emissions.Under green ripple control between the station of main line public transport high density crossing, working time, the speed change frequency of public transit vehicle and public vehicles obviously reduce, and vehicle, steadily by crossing, has reduced intensity and the duration of exhaust emissions, has improved the air quality of crossing.
6. ensure traffic safety.Urban traffic accident majority is to be caused by the instability of wagon flow, realizes between the station of main line public transport high density crossing after green ripple control, and no matter be public vehicles or public transit vehicle, acceleration and deceleration frequency reduces, speed deviation diminishes, and traffic conflict obviously reduces, and the security of crossing is guaranteed.
Brief description of the drawings
Fig. 1 is the basic flow sheet of the inventive method.
Fig. 2 is the division of signal lamp group, numbering and the physical dimension of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Be illustrated in figure 1 green ripple control method process flow diagram between the station of a kind of main line public transport high density of the present invention crossing:
1) determine that according to the setting position of bus station and crossing signal lamp group divides and number, measure the distance between the structures such as bus stop, crossing.
11) determining of signal lamp group.Article one, on main line, all Intersections between adjacent bus station are set to a signal lamp group.Whole piece main line is from arranging the initial bus station of the green ripple of public transport, and finish the termination bus station that the green ripple of public transport is set, and signal lamp group and bus station are numbered respectively.Be D in the signal lamp group # of i position
i, i bus station is numbered S
i.The direction that definition main line increases along numbering is positive dirction, and the direction that main line reduces along numbering is in the other direction;
12) to arbitrary signal lamp group D
i, measure the distance between inner adjacent two signal lamps of lamp group;
13), for positive and negative both direction, measure respectively arbitrary bus station S
iand the distance L between its downstream intersection
positive i, L
anti-i.
2) in conjunction with each crossing original signal timing scheme, unified signal lamp group internal signal cycle, and the public transport two-way green wave of preset signals lamp group inside.
21) to arbitrary signal lamp group D
i, independently carry out signal timing dial, the signal period of all crossings in acquisition group, wherein the signal timing dial cycle of j crossing of forward is C
ij.Signal lamp group D
ikey signal cycle C
i0for the longest signal period in organizing, i.e. C
i0=maxC
ij;
22) bus system speed v=12m/s is set, according to distance and step 21 between inner adjacent two signal lamps of the signal lamp group that obtains in step 12)) in key signal cycle C
i0, adopt the algebraic method of the 188th page of Wu Bing, Li Ye " traffic administration and control (the 4th edition) " of writing to adjust crossing normal signal timing scheme in signal lamp group, wide to obtain the two-way public transport green wave band of maximum.Tracer signal lamp group D respectively
iforward and first reverse signal lamp, at each cycle C
i0in, green wave band initial time T
i just rises, T
i is counter to be risenstop moment T with green wave band
i is just whole, T
i instead eventually, and meet 0<T
i just rises<T
i is just whole<C
i0and 0<T
i is counter to be risen<T
i instead eventually<C
i0.
3) detect public transit vehicle traveling-position, receive public transit vehicle by the request of crossing, divide Lv Bo public transport fleet according to request situation.
31) control center utilizes public transport GPS positioning system, obtains in real time the positional information of all public transit vehicles;
32) public transit vehicle is stopped in bus station, in completing on-board and off-board, vehicle ground zero, to travel direction downstream signal lamp group D
isend by the request of continuous crossing;
33) processing of request.For the public transit vehicle request along forward travel, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 just, t
i2 just] time, control center just processes the request of passing through receiving, otherwise request is disregarded.Same, for the public transit vehicle request along backward going, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 is anti-, t
i2 is anti-] time, control center just processes the request of passing through receiving, otherwise request is disregarded.Wherein t
i1 just, t
i2 just, t
i1 is anti-, t
i2 is anti-determined by following formula:
34) determine Lv Bo public transport fleet: by step 33) middle forward [t
i1 just, t
i2 just] section or reverse [t
i1 is anti-, t
i2 is anti-] section first bus that sends request of receiving is as a public transport fleet car, last that receive sent the bus of request as bus tail of the queue car, comprises two cars and is a public transport fleet at all vehicles in interior interval.
4) be close to the downstream signal lamp receiving step 3 of bus stop) in the public transit vehicle traveling-position, request and the fleet's division information that obtain, early open by public transport green light signals, for public transport fleet provides current green ripple.
41) the moment t sending request according to a Lv Bo public transport fleet car
1, the public transport green light signals that calculating signal lamp group need to provide early opens duration Δ T
justand Δ T
instead.Set the minimum speed v that bus travels
min=6m/s.Ensure that a Lv Bo public transport fleet car can pass through continuous crossing, downstream by green ripple in the time that minimum speed is travelled.Δ T
justand Δ T
insteadcomputing formula as follows:
42) forward, oppositely coordination, determine signal lamp group D
imorning open duration Δ T.For same signal lamp group D
i, when forward with while oppositely only having a direction to need signal early to open, according to opening duration the morning of this orientation determination to signal lamp group D
iall signal lamp bus travel direction green lights early open; When forward with while oppositely needing early to open simultaneously, select maximal value that both direction early opens duration as signal lamp group D
iopen duration the morning of all signal lamps, i.e. Δ T=max{ Δ T
just, Δ T
instead.
5) control center's receiving step 3), 4) in the bus that obtains and the real-time information of signal lamp, through calculating, feed back to public transit vehicle suggestion travel speed information, the green ripple of induction public transport fleet is by signal lamp group.
According to k the moment t that bus sends request in Lv Bo public transport fleet
k(0<t
k<C
i0, C
i0for the signal period of downstream intersection), feed back to public transit vehicle suggestion travel speed information.The travel speed V of suggestion
kcomputing formula is as follows:
When Lv Bo public transport fleet is during along forward travel,
When Lv Bo public transport fleet is during along backward going,
Enumerate an embodiment below, this embodiment is for one, Nanjing main line public transportation road section.
1) determine that according to the setting position of bus station and crossing signal lamp group divides and number, measure the distance between the structures such as bus stop, crossing.Investigator has chosen the green ripple of main line section has been set, and has determined that the signal lamp group of whole piece main line is divided, field survey distance between inner adjacent two signal lamps of lamp group and the distance between two-way bus station and its downstream intersection, as shown in Figure 2.
2) in conjunction with each crossing original signal timing scheme, unified signal lamp group internal signal cycle, and the public transport two-way green wave of preset signals lamp group inside.In example, to signal lamp group D
1, D
2, D
3, independently carry out signal timing dial, the signal period of all crossings in acquisition group, according to step 21) method, determine in group that the key signal cycle is as shown in table 1.
Each signal lamp group key signal cycle of table 1
Bus system speed v=12m/s is set, adopt the algebraic method of the 188th page of Wu Bing, Li Ye " traffic administration and control (the 4th edition) " of writing to adjust crossing normal signal timing scheme in signal lamp group, wide to obtain the two-way public transport green wave band of maximum.Tracer signal lamp group forward and first reverse signal lamp, in the green wave band the beginning and the end moment in each key signal cycle, as listed in table 2, each the beginning and the end moment all meets step 22) in inequality condition.
The each signal lamp group of table 2 forward and reverse first signal lamp green wave band the beginning and the end moment
3) detect public transit vehicle traveling-position, receive public transit vehicle by the request of crossing, divide Lv Bo public transport fleet according to request situation.Suppose to have 4 buses along forward travel, arrive successively bus station S
2, public transit vehicle is stopped in bus station, in the moment that completes on-board and off-board, vehicle ground zero, respectively to travel direction downstream signal lamp group D
2send by the request of continuous crossing.The request moment is respectively: 5s, 13s, 27s, 59s.By step 2) obtain C
20=120s, T
2 are just rising=18s, T
2 is eventually positive=48s, and step (A) has measured L
positive 2=40m, according to step 33) in computing formula, calculate picked up signal lamp group D
2request treatment region between [2.7s, 44.7s].So, front 3 buses are carried out by request, the disregarding by request of the 4th bus.Front 3 buses form a public transport fleet.
4) be close to the downstream signal lamp receiving step 3 of bus stop) in the public transit vehicle traveling-position, request and the fleet's division information that obtain, early open by public transport green light signals, for public transport fleet provides current green ripple.The moment 5s sending request according to a Lv Bo public transport fleet car, by step 41) computing formula, the public transport green light signals that calculating signal lamp group need to provide early opens duration Δ T
just=6.3s.Putative signal lamp group D
2in this cycle, also there is the reverse request of passing through, same, obtain reverse public transport green light signals and early open duration Δ T
instead=3.8s.So, according to step 42) forward, the reverse method coordinated, the final duration Δ T=max{ Δ T that early opens
just, Δ T
instead}=6.3s.
5) control center's receiving step 3), 4) in the bus that obtains and the real-time information of signal lamp, through calculating, feed back to public transit vehicle suggestion travel speed information, the green ripple of induction public transport fleet is by signal lamp group.The request moment of the public transport fleet receiving in step 3) is respectively: 5s, 13s, 27s.Computing formula while travelling along positive dirction according to the Lv Bo public transport fleet in step 5) obtains, and the suggestion travel speed of three cars is respectively V
1=6m/s, V
2=12m/s, V
3=12m/s.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some changes and retouching to embodiment, these changes and retouching also should be considered as protection scope of the present invention.
Claims (1)
1. a green ripple control method between the station of main line public transport high density crossing, is characterized in that comprising the following steps:
1) determine the division of signal lamp group according to the setting position of bus station and crossing, article one, on main line, all Intersections between adjacent bus station are divided into a signal lamp group, measure the distance between bus station, Intersections, be specially:
11) whole piece main line is from the initial bus station that the green ripple of public transport is set for starting, and the termination bus station that the green ripple of public transport is set is end, and division signals lamp group, is numbered respectively signal lamp group and bus station, is D in the signal lamp group # of i position
i, i bus station is numbered S
i, the direction that definition main line increases along numbering is forward, the direction reducing along numbering is reverse;
12) to arbitrary signal lamp group D
i, the distance between inner adjacent two signal lamps of measuring-signal lamp group;
13), for positive and negative both direction, measure respectively arbitrary bus station S
iand the distance L between its downstream intersection
positive i, L
anti-i;
2) each Intersections is controlled by control center, in conjunction with each Intersections original signal timing scheme, unified signal lamp group internal signal cycle, and the public transport two-way green wave of signalization lamp group inside, is specially:
21) to arbitrary signal lamp group D
iindependently carry out signal timing dial, the signal period of all crossings in the group of picked up signal lamp group, wherein the signal timing dial cycle of j crossing of forward is C
ij, signal lamp group D
ikey signal cycle C
i0for the longest signal period in organizing, i.e. C
i0=maxC
ij;
22) bus speed v is set, according to step 12) in distance and step 21 between inner adjacent two signal lamps of signal lamp group that obtain) in key signal cycle C
i0, crossing original signal timing scheme in signal lamp group group is adjusted, wide to obtain maximum two-way public transport green wave band; Tracer signal lamp group D respectively
iforward and first reverse signal lamp, at each cycle C
i0in, green wave band initial time T
i just rises, T
i is counter to be risenstop moment T with green wave band
i is just whole, T
i instead eventually, and meet 0<T
i just rises<T
i is just whole<C
i0and 0<T
i is counter to be risen<T
i instead eventually<C
i0;
3) public transit vehicle traveling-position detects in control center, receives public transit vehicle by the request of crossing, divides Lv Bo public transport fleet according to request situation, is specially:
31) control center utilizes public transport GPS positioning system, obtains in real time the positional information of all public transit vehicles;
32) public transit vehicle is stopped in bus station, in the moment that completes on-board and off-board, vehicle ground zero, to travel direction downstream signal lamp group D
isend continuously by the request of crossing in signal lamp group;
33) processing of request: for the request of the public transit vehicle along forward travel, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 just, t
i2 just] time, control center just processes the request of passing through receiving, otherwise request is disregarded; Same, for the public transit vehicle request along backward going, only have as downstream signal lamp group D
ifirst signal lamp in interval [t
i1 is anti-, t
i2 is anti-] time, system is just processed the request of passing through receiving, otherwise request is disregarded; Wherein t
i1 just, t
i2 just, t
i1 is anti-, t
i2 is anti-determined by following formula:
34) determine Lv Bo public transport fleet: by step 33) middle forward [t
i1 just, t
i2 just] section or reverse [t
i1 is anti-, t
i2 is anti-] section first bus that sends request of receiving is as a public transport fleet car, last that receive sent the bus of request as bus tail of the queue car, comprises two cars and is a public transport fleet at all vehicles in interior interval;
4) be close to the downstream signal lamp receiving step 3 of bus stop) in the public transit vehicle traveling-position, request and the fleet's division information that obtain, early open by public transport green light signals, for public transport fleet provides current green ripple, be specially:
41) send by the moment t of crossing request according to a Lv Bo public transport fleet car
1, the public transport green light signals that calculating signal lamp group need to provide early opens duration Δ T
justand Δ T
instead, set the minimum speed v that bus travels
min, ensure that a Lv Bo public transport fleet car can pass through continuous crossing, downstream, Δ T by green ripple in the time that minimum speed is travelled
justand Δ T
insteadcomputing formula as follows:
42) forward, oppositely coordination, determine signal lamp group D
imorning open duration Δ T: for signal lamp group D
i, when forward with while oppositely only having a direction to need signal early to open, according to opening duration the morning of this orientation determination to signal lamp group D
iall signal lamp bus travel direction green lights early open; When forward with while oppositely needing early to open simultaneously, select maximal value that both direction early opens duration as signal lamp group D
iopen duration the morning of all signal lamps, i.e. Δ T=max{ Δ T
just, Δ T
instead;
5) control center's receiving step 3), 4) in the bus that obtains and the real-time information of signal lamp, through calculating, feed back to public transit vehicle suggestion travel speed information, the green ripple of induction public transport fleet, by signal lamp group, is specially:
According to k the moment t that bus sends request in Lv Bo public transport fleet
k, feed back to public transit vehicle suggestion travel speed information, 0<t
k<C
i0, C
i0for the signal period of downstream intersection, suggestion travel speed V
kcomputing formula is as follows:
When Lv Bo public transport fleet is during along forward travel:
When Lv Bo public transport fleet is during along backward going:
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| CN103794064B (en) * | 2014-01-16 | 2015-11-25 | 同济大学 | The implementation method of major trunk roads some crossroads bidirectional green wave band intuitively |
| CN105679052A (en) * | 2016-04-01 | 2016-06-15 | 东南大学 | Multi-mode multilayer ground public transport signal priority coordination control method |
| CN107784827A (en) * | 2017-10-22 | 2018-03-09 | 深圳市微埃智能科技有限公司 | A kind of implementation method of dynamic bus route |
| CN109949587B (en) * | 2019-03-25 | 2021-07-16 | 武汉理工大学 | Method for coordinating, controlling and optimizing signals of bus lanes at adjacent intersections |
| CN112967510A (en) * | 2021-02-26 | 2021-06-15 | 安徽达尔智能控制系统股份有限公司 | Bus intersection traffic control method and system based on green wave coordination |
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