CN103903432A - Equipment for determining road link congestion state and method - Google Patents
Equipment for determining road link congestion state and method Download PDFInfo
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- CN103903432A CN103903432A CN201210576059.6A CN201210576059A CN103903432A CN 103903432 A CN103903432 A CN 103903432A CN 201210576059 A CN201210576059 A CN 201210576059A CN 103903432 A CN103903432 A CN 103903432A
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Abstract
The invention provides equipment for determining a road link congestion state. The equipment comprises a communication device, a data analysis device and a traffic information calculation device, wherein the communication device acquires floating vehicle trajectory data in the road link from each floating vehicle in the road link; the data analysis device calculates light waiting times in the road link of each floating vehicle according to the acquired floating vehicle trajectory data; and the traffic information calculation device determines a congestion type of each floating vehicle according to the light waiting times in the road link of each floating vehicle, the road link length and the driving state before light waiting, and determines the congestion state of the road link according to distribution of floating vehicles of various congestion types in the road link.
Description
Technical field
The present invention relates to traffic information collection and issue field, more specifically, relate to a kind ofly for determining equipment and the method for road chain congestion, gps data that can be based on vehicle, calculates congestion in road degree real-time and accurately.
Background technology
Floating Car generally refer to vehicle-mounted GPS positioning system has been installed and travel on urban road such as the vehicle such as bus and taxi.Floating car technology is a kind of by the gps data of the Floating Car of travelling on collection road, calculates the technology of congestion in road degree.
At present, there are a lot of patents and document to relate to correlation technique, for example Japanese patent application JP05-168872 and Chinese patent application CN200610112606.X.But current floating car technology is all average velocity or the average hourage that first calculates road, then divides congestion in road degree according to the grade of the size of speed and road.For example, on general urban road jam level be divided into block up, jogging, unimpeded Three Estate, average velocity is less than 15 kilometers/hour for blocking up; Average velocity be more than or equal to 15 kilometers/hour and be less than 30 kilometers/hour for jogging; Average velocity is more than or equal to 30 kilometers/hour for unimpeded etc.Certainly, the division of jam level can also be thinner, has more grade.
This method of dividing jam level according to average velocity, really can be than the jam level that is easier to define road, only need just compare and can reach a conclusion by the average velocity calculating and interval threshold value, but average velocity tends to cover the truth on road surface, especially in the section that has signal lamp.Illustrate, if car is with very unimpeded the travelling on 300 meters of long roads of speed of 40 kilometers/hour, but while approaching crossing, run into red light, at crossing parking waiting 30 seconds, its average velocity on road is just reduced to about 19 kilometers/hour so, if calculate the jam level of this road with the average velocity of this car, the jam level of this road is just divided into slowly so, but actual conditions are a kind of very unimpeded road conditions.If now driver receive floating vehicle system issue this congestion in road degree of traffic information display be jogging, driver is bound to feel that this transport information is wrong so, that is to say that driver's artificial impression and the calculating of system have deviation.
From above analysis, can find out, the calculating itself of the artificial impression of driver and system does not all have mistake, the reason that occurs deviation is that system is inadaptable for calculating the model of jam level and driver's subjective feeling, existing computation model is mechanical numerical evaluation, does not consider that driver is distinguishing for the gentle impression of sailing on road of going slowly of the impression that is parked in the red lights such as crossing.Present computing method are for being relatively suitable for without traffic lights section, as highway etc., but not too applicable for there being the section of traffic lights.Because changing, the traffic lights at crossing have contingency for single driver, so driver can be owing to having run into red light at crossing, just think that traffic blocks up, generally only have a queue length of getting on the bus when road very long, when the low running speed of vehicle on road, driver just can think that traffic is to block up.
One of primary commercial user of transport information is depot at present, depot in automatic navigator for user provides Real-time Traffic Information (congestion in road class information), in order to guarantee the quality of transport information, the Real-time Traffic Information that depot can regularly issue floating vehicle system carries out drive test on the spot.Because the client that depot faces is common driver, so depot is in the time of the quality of assessment transport information, also often artificially to experience as a major criterion of evaluating, if the transport information that artificial impression is issued from floating vehicle system is different, the quality of the transport information that floating vehicle system is issued also can be under suspicion.
In the section that has signal lamp, the at present this congestion in road grade of issuing as basis take average velocity and the artificial impression of user have inconsistent problem.In order to address this problem, a kind of computing method of blocking up for signal lamp section need to be proposed, so that congestion in road degree information to be provided more accurately.
We think in signal lamp section have two kinds of parameters to be relatively suitable for describing the artificial impression of driver to the degree of blocking up, and a kind of is more common queue length, and another kind is the number of times such as lamp such as grade that will propose in the present invention.Queue length refers to when signal lamp is red light, and the vehicle on road waits for that green light is current, starts the distance to last stationary vehicle from crossing first car.Refer to that Deng lamp number of times Floating Car is during a crossing is passed through in queuing, the number of times of the traffic lights conversion at crossing.
Can utilize queue length to express congestion in road degree, a kind of relatively more conventional method of calculating queue length is to utilize video detection technology to measure the vehicle queue length at crossing.In addition, Chinese patent application CN200910092506.9 has also mentioned the method for calculating vehicle queue length based on floating car data in (being entitled as " method of extracting vehicle queue length based on floating car data ").The queue length calculating can be scaled jam level.Described in this patented claim, method is relatively applicable to floating car data and uploads the shorter occasion in interval, for example, in 5 seconds.But the interval of uploading of floating car data is generally 30～120 seconds, will the floating car data based on such calculate accurately queue length not too easy, can only be generally to utilize a large amount of historical data calculated off-line of accumulation to go out queue length, and accuracy is not high, is not suitable for calculating in real time traffic jam level.
Summary of the invention
In order to address this problem, the present invention is proposed.The object of the invention is to propose a kind of for determining equipment and the method for road chain congestion, gps data that can be based on vehicle, calculates congestion in road degree real-time and accurately.
To achieve these goals, according to the present invention, propose a kind of equipment for definite road chain congestion, having comprised: communicator, the each Floating Car from the chain of road is obtained the Floating Car track data on the chain of described road; Data analysis set-up, according to the Floating Car track data obtaining, calculates the grade lamp number of times of each Floating Car on the chain of described road; And traffic information calculation device, according to each Floating Car on the chain of described road wait lamp number of times, road chain length and etc. the travel conditions of lamp before starting, determine the congestion type that each Floating Car is affiliated, and the distribution according to the Floating Car of each congestion type on the chain of described road, determines the congestion of described road chain.
Preferably, described equipment also comprises: traffic information issuing device, and for issue the congestion of the described road chain of being determined by described traffic information calculation device to user terminal.
Preferably, described congestion type comprises: unimpeded class, the class of walking or drive slowly and the class of blocking up.
Preferably, described Floating Car track data comprises: the data that one or more GPS of described Floating Car process on the chain of described road are ordered.
Preferably, if the distance between adjacent two GPS points is less than first threshold interval greater than Second Threshold, described data analysis set-up determines that described Floating Car at the first-class lamp of described road chain once, if and the instantaneous velocity that adjacent two GPS are ordered is all less than the 3rd threshold value but distance between adjacent two GPS points is greater than first threshold and interval greater than Second Threshold, described data analysis set-up determines that described Floating Car is on twice, the first-class lamp of described road chain.
Preferably, described lamp such as grade starts the high low degree that front travel conditions is the average overall travel speed of the Floating Car before lamp such as grade starts.
In addition, according to the present invention, also propose a kind of method for definite road chain congestion, having comprised: the each Floating Car from the chain of road is obtained the Floating Car track data on the chain of described road; According to the Floating Car track data obtaining, calculate the grade lamp number of times of each Floating Car on the chain of described road; And according to each Floating Car on the chain of described road etc. lamp number of times, road chain length and etc. the travel conditions of lamp before starting, determine the congestion type that each Floating Car is affiliated, and the distribution according to the Floating Car of each congestion type on the chain of described road, determines the congestion of described road chain.
Accompanying drawing explanation
By reference to following combination accompanying drawing, to adopted detailed description of the preferred embodiment, it is more apparent that above-mentioned purpose of the present invention, advantage and feature will become, wherein:
Fig. 1 shows according to the block scheme of the system for definite road chain congestion of the embodiment of the present invention.
Fig. 2 is the figure that schematically shows the flow chart of data processing in central apparatus.
Fig. 3 is the figure that exemplarily shows the Floating Car track on the chain of road.
Fig. 4 is the figure that exemplarily shows the preservation form of Floating Car track data.
Fig. 5 shows the process flow diagram that is calculated the lamp number of times such as Floating Car by data analysis set-up according to the embodiment of the present invention.
Fig. 6 is the figure that schematically shows the result of calculation example that wait lamp number of times of Floating Car on the chain of road.
Fig. 7 shows the process flow diagram by traffic information calculation device calculating transport information according to the embodiment of the present invention.
Embodiment
The preferred embodiments of the present invention are described below with reference to the accompanying drawings.In the accompanying drawings, identical element is by the reference symbol by identical or numeral.In addition, in following description of the present invention, by the specific descriptions of omitting known function and configuration, to avoid making theme of the present invention unclear.
Fig. 1 shows according to the block scheme of the system for definite road chain congestion of the embodiment of the present invention.As shown in Figure 1, system according to the present invention comprises central apparatus 1 and user terminal 2.
Gps signal receiving trap 800 in user terminal 2 is from satellite reception GPS (GPS) signal.Vehicle computing device 850 calculates the information such as the current location, travel speed, travel direction of Floating Car according to the gps signal receiving, and uploads to by vehicular communication unit 700 in the information-storing device 100 of central apparatus 1.On-vehicle information display device 900 in user terminal 2 or driver's portable set 950 (as smart mobile phone etc.) can be for showing the Real-time Traffic Information that be issued by the traffic information issuing device 500 of central apparatus 1, this Real-time Traffic Information comprises information such as congestion in road degree.
In conjunction with Fig. 2, the flow chart of data processing in central apparatus 1 is described below.
As shown in Figure 2, after the floating car data 110 and map datum 120 of storing in map matching means 200 obtaining information memory storages 100, can utilize the positional information (longitude, latitude) that floating car data 110 comprises that Floating Car is matched on map,, (road chain is the representation of real road on map to road chain under each GPS point that first definite Floating Car is uploaded, the road network of map is made up of the node of a rule road chain, road interchain), and particular location on the chain of GeGPSDian road.The gps data that each Floating Car is uploaded is sorted out with vehicle ID, just can obtain the track data 130 of each Floating Car.Fig. 3 illustratively shows the Floating Car track on the chain of road.As shown in Figure 3, this Floating Car track comprises: GPS point 1,2,3,4 and 5.GPS point 1 is on road chain 500730, and GPS point 2,3 is on road chain 500731, and GPS point 4 is on road chain 500732, and GPS point 5 is on road chain 500833.Fig. 4 illustratively shows the preservation form of track data.As shown in Figure 4, Floating Car track data 130 comprise the car number of Floating Car, with Floating Car corresponding time, longitude, dimension, instantaneous velocity, coupling road chain and the distance to road chain terminal of each GPS point of process.
Data analysis set-up 300 obtains after Floating Car track data 130, just can calculate the grade lamp number of times of a certain Floating Car on the chain of a certain road.Concrete calculation flow chart as shown in Figure 5, will be described in detail after a while.
Traffic information calculation device 400 obtains the number of times such as lamp such as grade of Floating Car on each road chain, the length that waits lamp number of times, road chain according to Floating Car on the chain of road, etc. the travel conditions of lamp before starting, the single Floating Car on the chain of a certain road is divided into unimpeded class vehicle, jogging class vehicle, the class of blocking up vehicle.Determining after the type (unimpeded class, the class of walking or drive slowly, the class of blocking up) of single Floating Car, traffic information calculation device 400 calculates a certain road chain number of various types of Floating Car in a certain amount of time, then the distribution on the chain of described road (for example accounting) situation according to all kinds of Floating Car, determines the congestion (for example jam level) of this road chain.The detailed process that transport information is calculated as shown in Figure 7, will be described in detail after a while.
Then, traffic information issuing device 500 obtains after real-time road chain jam level information 140, by center communication 600, to user terminal 2 distributing traffic informations (road chain jam level information), the on-vehicle information display device 900 of user terminal 2 or driver's portable set 950 etc. can show this transport information.
In conjunction with Fig. 5, the flow process of being calculated the lamp number of times such as Floating Car by data analysis set-up 300 is described below.
First, the lamp number of times that waits of Floating Car is initialized as to 0, calculate according to Floating Car track data the number that the GPS of same Floating Car on the chain of same road ordered again, if GPS point number is 1, and the instantaneous velocity that GPS is ordered is less than 5 kilometers/hour, the number of times such as lamp such as grade calculating on the chain of Floating Car Gai road is 1; If GPS point number is 1, and the instantaneous velocity that GPS is ordered is more than or equal to 5 kilometers/hour, calculate on the chain of Floating Car Gai road to wait lamp number of times be 0.If GPS point number is 0, the number of times such as lamp such as grade calculating on the chain of Floating Car Gai road is 0 (not shown).
If GPS point number is greater than 1, traversal is calculated the GPS point of same Floating Car on the chain of same road, calculates the distance between the adjacent 2 GPS points of same Floating Car.If the distance between 2 GPS points is less than 50 meters, and the point-to-point transmission mistiming be greater than 15 seconds, calculating waits lamp number of times to add 1 time; If the distance between 2 GPS points is less than 50 meters, and the point-to-point transmission mistiming be less than or equal to 15 seconds, calculating waits lamp number of times to add 0 time.If distance is more than or equal to 50 meters between 2 GPS points, and the point-to-point transmission mistiming be less than or equal to 15 seconds, calculating waits lamp number of times to add 0 time; If the distance between 2 GPS points is more than or equal to 50 meters, and between two GPS point the mistiming be greater than 15 seconds, further calculate the instantaneous velocity that two GPS are ordered.The instantaneous velocity that two GPS are ordered is all less than 5 kilometers/hour, waits lamp number of times to add 2 times; The instantaneous velocity that two GPS are ordered is all greater than 5 kilometers/hour, waits lamp number of times to add 0 time, and lamp number of times adds 1 time when other situation etc.If waiting appearance first in lamp number of times computation process to wait the non-vanishing situation of lamp number of times, calculate the average velocity on the chain of Floating Car Deng Dengqian road.
When having traveled through after all GPS points of same Floating Car on the chain of same road, just can obtain this Floating Car on the chain of road wait lamp number of times and etc. the average velocity size before lamp.Fig. 6 illustratively shows the result of calculation that waits lamp number of times of Floating Car on the chain of road.
Here, according to the present invention, as mentioned above, can, according to Floating Car track data, calculate real-time and accurately the lamp number of times such as Floating Car, accordingly, can further calculate real-time and accurately congestion in road degree.
In connection with Fig. 7, the flow process of being calculated transport information by traffic information calculation device 400 is described below.
As shown in Figure 7, first obtain the data that wait lamp number of times of each Floating Car on the chain of a certain road, and obtain each Floating Car at the average overall travel speed waiting before lamp stops.Obtaining after these two data, if the length of road chain is more than or equal to 500 meters, calculate the congestion type (unimpeded class, the class of walking or drive slowly, the class of blocking up) under Floating Car according to the sorting technique of following table 1, if the length of road chain is less than 500 meters, calculate the congestion type (unimpeded class, the class of walking or drive slowly, the class of blocking up) under Floating Car according to the sorting technique of following table 2.
Particularly, for long section (length is more than or equal to 500 meters, specific standards capable of regulating), the criterion of unimpeded class vehicle can be:
1) the lamp number of times 0 time such as;
2) fast running before the lamp number of times 1 time or 2 times such as, and the first inferior lamp.
The criterion of jogging class vehicle can be:
3) the lamp number of times 1 time or 2 times such as, and drive at moderate speed before the first inferior lamp.
The criterion of the class of blocking up vehicle can be:
4) the lamp number of times 1 time or 2 times such as, and travel at a slow speed before the first inferior lamp;
5) etc. lamp number of times is more than or equal to 3 times.
For non-long section (length is less than 500 meters, specific standards capable of regulating), the criterion of unimpeded class vehicle can be:
1) the lamp number of times 0 time such as;
2) before the lamp number of times 1 time such as, and the first inferior lamp fast or drive at moderate speed.
The criterion of jogging class vehicle can be:
3) the lamp number of times 1 time such as, and travel at a slow speed before the first inferior lamp;
4) fast running before the lamp number of times 2 times such as, and the first inferior lamp.
The criterion of the class of blocking up vehicle can be:
5) middling speed or travel at a slow speed before the lamp number of times 2 times such as, and the first inferior lamp;
6) etc. lamp number of times is more than or equal to 3 times
Utilize table 1 and table 2 that this two kinds of vehicle classification standards are shown respectively below.
Table 1: the standard of the upper vehicle classification in long section (being more than or equal to 500 meters)
G=is unimpeded, Y=jogging, and R=blocks up
Table 2: the standard of the upper vehicle classification in non-long section (being less than 500 meters)
G=is unimpeded, Y=jogging, and R=blocks up
In the type (unimpeded class, the class of walking or drive slowly, the class of blocking up) of having determined single Floating Car according to aforementioned sorting technique afterwards, next will calculate a certain road chain number of various types of Floating Car in a certain amount of time, then according to the accounting of all kinds of Floating Car, determine the jam level of this link.
Particularly, as shown in Figure 7, if unimpeded class Floating Car accounting is greater than 50%, judge that road chain is unimpeded; If jogging class Floating Car accounting is greater than 50%, judge road chain jogging; If blocked up, class Floating Car accounting is greater than 50%, judges that road chain blocks up; If be greater than 50% without any a class Floating Car accounting, and unimpeded class accounting is greater than the class accounting of blocking up, and judges road chain jogging; If be greater than 50% without any a class Floating Car accounting, and the class accounting of blocking up is more than or equal to unimpeded class accounting, judges that road chain blocks up.
It is to be noted, the object data of described method processing of the present invention remains the gps data that in floating vehicle system, Floating Car is uploaded, upload interval and be roughly 30～120 seconds, but computing method are different from traditional floating vehicle system, no longer divide road jam level by the average velocity that calculates road, neither divide road jam level by calculating queue length, but wait lamp number of times by what calculate Floating Car, and utilize as mentioned above calculate etc. the lamp number of times jam level of dividing road.Thus, solved in the prior art owing to utilizing a large amount of historical data calculated off-line of accumulation to go out queue length and do not caused the accuracy of final definite congestion in road grade high and be not suitable for calculating in real time the problem of congestion in road grade.
The degree of blocking up in a certain amount of time of a certain road is to be determined by the situation by all Floating Car on this road in this period, so first must calculate the grade lamp number of times of single Floating Car on signal lamp road.In the gps data that Floating Car is uploaded, substantially all comprise positional information and velocity information.Can calculate the residing road of Floating Car by positional information, the computing method of this part have had a lot of known technology, are not emphasis of the present invention.The present invention supposes that Floating Car position has all matched on correct road, the lamp number of times such as calculates on this basis according to the velocity information of Floating Car.Can not be simply whether equal 0 according to the instantaneous velocity of single GPS and judge whether vehicle the lamp such as has stopped.Because the acquisition interval of Floating Car gps data is generally more than 30 seconds, the lamp even if vehicle stops etc., but in the moment that gathers gps data, vehicle may not be stop but in acceleration or deceleration process, speed is non-vanishing.
In signal lamp section, due to the Floating Car lamp such as will stop, so the data of the GPS that Floating Car is uploaded in this section multiple points often, according to this characteristic, the present invention adopts the floating car data of multiple spot to analyze vehicle and whether waits lamp, and etc. the number of times of lamp.Illustrate, if car adjacent two GPS points on a section from very close to (< 50m,), and time interval between 2 long (such as > 15 seconds), just think this car at the first-class lamp in this section once, the number of times such as lamp may be different from the switching times of traffic lights, because in blocking up very much, traffic lights have switched twice, and the displacement of possible Floating Car does not also exceed 50 meters.If car adjacent two GPS spot speed on a section are all less than 5km/h, but apart from the time interval between > 50m and 2 long (such as > 15 seconds), just think that this car is on twice, the first-class lamp in this section, in the middle of this car, experience is accelerated and the process of reduction of speed, and behavior is more special.(treating) lamp such as produced in starting point and final position.
To sum up, according to the present invention, calculate the jam level of the road that has signal lamp by the lamp number of times that waits that calculates Floating Car, can provide real-time and accurately traffic-information service for user, the user of traffic-information service is experienced better.
Although below show the present invention in conjunction with the preferred embodiments of the present invention, one skilled in the art will appreciate that without departing from the spirit and scope of the present invention, can carry out various modifications, replacement and change to the present invention.Therefore, the present invention should not limited by above-described embodiment, and should be limited by claims and equivalent thereof.
Claims (7)
1. for determining an equipment for road chain congestion, comprising:
Communicator, the each Floating Car from the chain of road is obtained the Floating Car track data on the chain of described road;
Data analysis set-up, according to the Floating Car track data obtaining, calculates the grade lamp number of times of each Floating Car on the chain of described road; And
Traffic information calculation device, according to each Floating Car on the chain of described road wait lamp number of times, road chain length and etc. the travel conditions of lamp before starting, determine the congestion type that each Floating Car is affiliated, and the distribution according to the Floating Car of each congestion type on the chain of described road, determines the congestion of described road chain.
2. equipment according to claim 1, also comprises:
Traffic information issuing device, for issuing the congestion of the described road chain of being determined by described traffic information calculation device to user terminal.
3. equipment according to claim 1, wherein,
Described congestion type comprises: unimpeded class, the class of walking or drive slowly and the class of blocking up.
4. equipment according to claim 1, wherein, described Floating Car track data comprises: the data that one or more GPS of described Floating Car process on the chain of described road are ordered.
5. equipment according to claim 4, wherein, if the distance between adjacent two GPS points is less than first threshold interval greater than Second Threshold, described data analysis set-up determines that described Floating Car at the first-class lamp of described road chain once, if and the instantaneous velocity that adjacent two GPS are ordered is all less than the 3rd threshold value but distance between adjacent two GPS points is greater than first threshold and interval greater than Second Threshold, described data analysis set-up determines that described Floating Car is on twice, the first-class lamp of described road chain.
6. equipment according to claim 1, wherein, the travel conditions before described lamp such as grade starts is the high low degree that waits the average overall travel speed of the Floating Car before lamp starts.
7. for determining a method for road chain congestion, comprising:
Each Floating Car from the chain of road is obtained the Floating Car track data on the chain of described road;
According to the Floating Car track data obtaining, calculate the grade lamp number of times of each Floating Car on the chain of described road; And
According to each Floating Car on the chain of described road wait lamp number of times, road chain length and etc. the travel conditions of lamp before starting, determine the congestion type that each Floating Car is affiliated, and the distribution according to the Floating Car of each congestion type on the chain of described road, determines the congestion of described road chain.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106683399A (en) * | 2015-11-10 | 2017-05-17 | 湖南南车时代电动汽车股份有限公司 | Method of acquiring road condition state of bus |
| CN110782655A (en) * | 2019-02-26 | 2020-02-11 | 北京嘀嘀无限科技发展有限公司 | Method and device for detecting passing low-efficiency reasons |
| CN112017433A (en) * | 2020-08-17 | 2020-12-01 | 长安大学 | System and method for correcting congestion degree display result of electronic map |
| CN113053108A (en) * | 2020-12-23 | 2021-06-29 | 沈阳世纪高通科技有限公司 | Method for identifying jammed queue tail on expressway in real time |
| CN113689698A (en) * | 2021-08-24 | 2021-11-23 | 阿波罗智联(北京)科技有限公司 | Traffic control method, traffic control apparatus, electronic device, storage medium, and program product |
| CN113947908A (en) * | 2021-10-29 | 2022-01-18 | 沈阳世纪高通科技有限公司 | Floating car queuing length calculation toll station and traffic light real-time road condition information technology |
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2012
- 2012-12-26 CN CN201210576059.6A patent/CN103903432A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106683399A (en) * | 2015-11-10 | 2017-05-17 | 湖南南车时代电动汽车股份有限公司 | Method of acquiring road condition state of bus |
| CN110782655A (en) * | 2019-02-26 | 2020-02-11 | 北京嘀嘀无限科技发展有限公司 | Method and device for detecting passing low-efficiency reasons |
| CN112017433A (en) * | 2020-08-17 | 2020-12-01 | 长安大学 | System and method for correcting congestion degree display result of electronic map |
| CN113053108A (en) * | 2020-12-23 | 2021-06-29 | 沈阳世纪高通科技有限公司 | Method for identifying jammed queue tail on expressway in real time |
| CN113689698A (en) * | 2021-08-24 | 2021-11-23 | 阿波罗智联(北京)科技有限公司 | Traffic control method, traffic control apparatus, electronic device, storage medium, and program product |
| CN113947908A (en) * | 2021-10-29 | 2022-01-18 | 沈阳世纪高通科技有限公司 | Floating car queuing length calculation toll station and traffic light real-time road condition information technology |
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Application publication date: 20140702 |