CN106504566B - A kind of traffic website identifying system and method - Google Patents
A kind of traffic website identifying system and method Download PDFInfo
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- CN106504566B CN106504566B CN201611051128.6A CN201611051128A CN106504566B CN 106504566 B CN106504566 B CN 106504566B CN 201611051128 A CN201611051128 A CN 201611051128A CN 106504566 B CN106504566 B CN 106504566B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
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Abstract
The invention discloses a kind of traffic website identifying system and method, which includes the car-mounted terminal being mounted on bus tool, further includes the management server positioned at backstage.The car-mounted terminal, current point information is reported when meeting and imposing a condition, and the point information includes location information, video recognition information, car-mounted terminal mark；The management server receives the point information that car-mounted terminal reports, and analyzes the website that bus tool is stopped on the way, and site information is issued to car-mounted terminal.The website that bus tool is stopped on the way can be recognized accurately in system and method for the invention, realize automatic broadcasting.
Description
Technical field
The invention belongs to technical field of intelligent traffic management more particularly to a kind of traffic website identifying systems and method.
Background technique
Public transport is the important channel of urban transportation trip, and bus is not only the vehicles, even more modern civilization
The scenery of one of flowing in city.With the development of modern technologies, bus is also gradually being developed.Coin bus
Occur so that a bus only needs a driver, the no longer post of setting ticket seller.Future automatic Pilot technology by
Step is mature, it is also possible to unpiloted public transport occurs.
For there was only driver, even without the unpiloted bus of driver, in order to exempt the fiber crops of crew member
It is tired, so that passenger is conveniently apparent from arrived station name and real-time time, bus is generally provided with a series of electricity
Sub-device, wherein being the most generally exactly station reporting instrument, electron indication street nameplate, self-service ticketing device, front and back video monitoring system etc..
Bus stop reporting device has very important status in public transport cause, because it will directly influence bus
Service quality can facilitate passenger to understand arrival information in time, improve the efficiency and accuracy of transport.But current with regard to bus
From the point of view of reporting station system, it is difficult to meet the requirement of numerous passengers.Be primarily due to it is that present bus generally uses or it is artificial by
Key reporting station system, by Bus driver, by manual type, the arrive at a station electronics of button of triggering is called out the stops mode manually.Current manual presses
Although the shortcomings that key mode of calling out the stops is realized is it will be apparent that cheap, operation is relatively complicated, and it is hidden to there is stealthy safety
Suffer from, because driver will in motion operate to call out the stops station reporting instrument every time, and vehicle is when out of the station
Surface conditions are all very complicated, therefore bring some potential safety problems to the vehicle and pedestrian in traveling.It calls out the stops simultaneously not accurate enough,
Because driver can forget key often or press the wrong button when operating reporting station system during traveling, calling out the stops sometimes in adjustment is
It can continuously call out the stops when system, can make troubles in this way to the passenger for being unfamiliar with route.Make rapid progress additionally, due to urban construction, ground
Iron, repairing the roads etc., construction is very common, and the route of such bus can often change, and pre-set station can often change,
So original reporting station system is not available.
Summary of the invention
The invention proposes a kind of traffic website identifying system and methods, for solving the artificial reporting station system institute of the prior art
Existing variety of problems is based on statistical information automatic identification website, can accurately and timely identify the website that bus tool is stopped.
To achieve the goals above, technical solution of the present invention is as follows:
A kind of traffic website identifying system, including the car-mounted terminal being mounted on bus tool, the traffic station recognition
System further includes the management server positioned at backstage, in which:
The car-mounted terminal, for reporting current point information when meeting and imposing a condition, the point information includes
Location information, video recognition information, car-mounted terminal mark；
The management server, the point information reported for receiving car-mounted terminal, analyzes bus tool and stops on the way
Website, and site information is issued to car-mounted terminal.
Further, the car-mounted terminal includes positioning device, photographic device and control device, in which:
The positioning device, for obtaining the location information and velocity information of bus tool；
The photographic device carries out intellectual analysis knowledge for shooting the video image in present viewing field, and to video image
Video recognition information is not exported afterwards；
The control device judges whether full for receiving the location information and velocity information that the positioning device is sent
The foot setting condition obtains the video recognition information of the photographic device output, Xiang Guanli when meeting setting condition
Server reports point information.
Further, the control device receives the location information of the positioning device transmission and velocity information, judgement are
It is no to meet the setting condition, it performs the following operations:
The location information and velocity information for the bus tool that receiving positioner is sent；
When the speed of current bus tool is less than the threshold speed of setting, judge to meet setting condition.
Further, the point information that the management server is reported in reception car-mounted terminal, analyzes bus tool edge
When the website that way is stopped, perform the following operations:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, judge that the location information is corresponding
Whether the point information content near position in setting range is more than preset threshold value, if being more than, it is determined that the location information
Corresponding position is the website that bus tool is stopped on the way.
Further, the management server carries out primary filtration according to video recognition information and location information, executes such as
Lower operation:
Judge video recognition information in point information whether include traffic lights status information, filtering includes traffic lights
The point information of status information；
And/or according to the location information in point information judge current location whether in the setting range of known sites,
If it is, filtering the point information.
The present invention goes back while proposing a kind of traffic website recognition methods, the station that bus tool is stopped on the way for identification
Point is equipped with car-mounted terminal on the bus tool, and the car-mounted terminal is also corresponding with the management server that backstage is arranged in, institute
Traffic website recognition methods is stated to include the following steps:
The car-mounted terminal reports current point information when meeting and imposing a condition, and the point information includes position letter
Breath, video recognition information, car-mounted terminal mark；
The management server receives the point information that car-mounted terminal reports, and analyzes the station that bus tool is stopped on the way
Point, and site information is issued to car-mounted terminal.
Further, the car-mounted terminal reports current point information when meeting and imposing a condition, comprising:
Obtain the location information and velocity information of bus tool；
The video image in present viewing field is shot, and exports video identification letter after carrying out intellectual analysis identification to video image
Breath；
According to the location information and velocity information of the bus tool of acquisition, judge whether to meet the setting condition, full
When foot imposes a condition, the video recognition information is obtained, reports point information to management server.
Further, the car-mounted terminal judges whether according to the location information and velocity information of the bus tool of acquisition
Meet the setting condition, comprising:
Receive the location information and velocity information of the bus tool obtained；
When the speed of current bus tool is less than the threshold speed of setting, judge to meet setting condition.
Further, the management server receives the point information that car-mounted terminal reports, and analyzes bus tool on the way
The website of stop, comprising:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, judge that the location information is corresponding
Whether the point information content near position in setting range is more than preset threshold value, if being more than, it is determined that the location information
Corresponding position is the website that bus tool is stopped on the way.
It is further, described that primary filtration is carried out according to video recognition information and location information, comprising:
Judge video recognition information in point information whether include traffic lights status information, filtering includes traffic lights
The point information of status information；
And/or according to the location information in point information judge current location whether in the setting range of known sites,
If it is, filtering the point information.
A kind of traffic website identifying system and method proposed by the present invention, report point information by car-mounted terminal, management
Server analysis point information judges automatically out the stop website on the way of bus tool.The system and method for Ben Fanming can be accurate
It identifies the website that bus tool is stopped on the way, realizes automatic broadcasting.
Detailed description of the invention
Fig. 1 is traffic website identifying system networking structure figure of the present invention；
Fig. 2 is traffic website identification process figure of the present invention.
Specific embodiment
Technical solution of the present invention is described in further details with reference to the accompanying drawings and examples, following embodiment is not constituted
Limitation of the invention.
A kind of traffic website identifying system of the technical program, public transport include bus, railway, steamer etc., this reality
It applies in example and is illustrated by taking bus as an example, be equally applicable to other public transports (bus tool).As shown in Figure 1,
Car-mounted terminal is installed, car-mounted terminal arrives the management server on backstage by network connection, and wherein network is usually on bus
Cordless communication network, such as 3G/4G, or internet etc. is connected by WIFI, the present invention is without limitation.
Wherein:
Car-mounted terminal, for reporting current point information when meeting and imposing a condition, the point information includes position
Information, video recognition information, car-mounted terminal mark；
Management server, the point information reported for receiving car-mounted terminal, analyzes the station that bus tool is stopped on the way
Point, and site information is issued to car-mounted terminal.
The present embodiment car-mounted terminal includes positioning device, control device and photographic device, and wherein positioning device can be entirely
Ball position system GPS or BEI-DOU position system or other wireless location systems, the available bus place of the positioning device
Location information and the current time, the velocity information of bus can be calculated according to position and time, so by fixed
Position device can be obtained the location information of bus and the velocity information of bus.Wherein photographic device is web camera
The combination of IPC (IP Camera) or other video cameras and image processing equipment, can carry out the shooting of video image simultaneously
Carry out intellectual analysis.In the present embodiment, IPC is placed on the inside headstock of bus, and the external visual field is the front of Bus driver.
The information of control device receiving positioner and photographic device reports information to the management server on backstage after being handled, and
The information for receiving management server feedback establishes platform list, controls connected broadcasting system and carries out automatic platform casting.
GPS positioning device can periodically obtain the current geographical location GPS of bus in bus driving process
Information and temporal information, and can further judge current speed.And the video image in IPC shooting present viewing field,
And intellectual analysis identification is carried out to video image, export video recognition information.Such as in present viewing field, when having traffic light,
The state (red green/yellow) that can identify Current traffic indicator light, as video recognition information.It is stifled again or in present viewing field
Che Shi, can identify the degree of front link congestion (road ahead how many vehicle within sweep of the eye is identified, as congestion
Parameter of measurement), as video recognition information.
And control module receives the location information and velocity information that the positioning device is sent, and judges whether to set described in satisfaction
Fixed condition obtains the video image in the photographic device shooting present viewing field and carries out intelligence point when meeting setting condition
The video recognition information exported after analysis identification, reports point information to management server.The point information reported includes position letter
Breath, temporal information, video recognition information, car-mounted terminal mark.The wherein geographical location that location information, that is, GPS positioning device obtains
Information；Temporal information is the current time；Video recognition information is the shape for the traffic light that web camera IPC is identified
State, degree of congestion in road etc.；Car-mounted terminal is identified as the unique identification of the bus at place, such as the route ID+ of bus
ID or the route ID+ license plate of bus of IPC etc..
It should be noted that GPS positioning device, control device and web camera IPC in above-mentioned car-mounted terminal can be with
It is equipment independently, is also possible to the web camera IPC with GPS positioning device, the place inside control device, that is, IPC
Manage device.For latter situation, which is exactly web camera IPC, is repeated no more below.And for velocity information,
It can directly be obtained, can also be calculated by control device according to location information and time, the present embodiment by positioning device
Preferably by positioning device output speed information.
Detailed description car-mounted terminal reports the process of point information when meeting and imposing a condition by the following examples:
The control device of car-mounted terminal obtains the location information and velocity information of bus tool by positioning device, such as logical
Cross location information and velocity information that GPS positioning device obtains state's vehicle.
It imposes a condition at this point, the control module of car-mounted terminal judges whether to meet according to velocity information, the present embodiment setting
Condition be speed be less than setting threshold speed, when the speed of bus be reduced to certain threshold value V (such as 3km/ hours) with
Under, then record the GPS location and velocity information at that time of the point.
Control module can read the video image in photographic device shooting present viewing field at this time and carry out intellectual analysis knowledge
The video recognition information not exported generates site information and reports.The site information of generation includes location information, video identification letter
Breath, car-mounted terminal mark.
A kind of embodiment of the invention, be reduced to certain threshold value V (such as 3km/ hours) in the speed of bus hereinafter,
When IPC is recognized in present viewing field, there is traffic light, the state (red green/yellow) of current traffic lights will recognise that.It needs
It is noted that IPC can shoot always video image in bus driving process, and intelligent recognition is carried out, it can also be
When bus decelerates to certain threshold value, then start to carry out intelligent recognition.When the speed of bus be reduced to certain threshold value V with
When lower, it is believed that bus preparation is pulled in, or because red light or traffic congestion parking, current point is possible website, is needed
Point information is reported, so that the management server on backstage carries out statistics identification.
At this point, control module active reporting public transport platform a piece of news, the content of message includes: including location information, view
Frequency identification information and car-mounted terminal mark, wherein location information be GPS positioning device obtain bus positional information (such as:
Longitude and latitude), video recognition information is the state (red green/yellow) of current traffic lights, car-mounted terminal mark be bus routes with
The ID of IPC.Further can also include current time information Time (date Hour Minute Second).
Another kind embodiment of the invention, be reduced to certain threshold value V (such as 3km/ hours) in the speed of bus hereinafter,
When IPC, which is recognized, does not have traffic light in present viewing field, it may be possible to which congestion or other situation temporary parkings also report a little
Position information.
At this point, control module active reporting public transport platform a piece of news, the content of message includes: including location information, view
Frequency identification information and car-mounted terminal mark, wherein location information be GPS positioning device obtain bus positional information (such as:
Longitude and latitude), video recognition information is sky, and car-mounted terminal mark is bus routes and the ID of IPC.It further can also include working as
Preceding temporal information Time (date Hour Minute Second).
Another embodiment of the invention, the speed of bus be reduced to certain threshold value V (such as 3km/ hours) with
Under, when IPC, which is recognized, does not have traffic light in present viewing field, it may be possible to congestion or other situation temporary parkings, it can be from working as
The degree of front link congestion is identified in preceding video image, also reports point information.
At this point, control module active reporting public transport platform a piece of news, the content of message includes: including location information, view
Frequency identification information and car-mounted terminal mark, wherein location information be GPS positioning device obtain bus positional information (such as:
Longitude and latitude), video recognition information is the degree of front link congestion, and car-mounted terminal mark is bus routes and the ID of IPC.Into
One step can also include current time information Time (date Hour Minute Second).
It should be noted that above-described embodiment only lists several Parking situations on road, do not include it is all can
The Parking situation of energy, such as parking etc. before zebra stripes, are not listed one by one here.Car-mounted terminal of the invention is set meeting
When condition, point information is all reported, so that the management server on backstage is analyzed according to point information, finds out the station of stop
Point.Imposing a condition in above-described embodiment is that speed is less than the threshold speed set, which can also be bus door open
Information is determined as that bus may be stopped that is, when bus door open, then sends point information.
The present embodiment management server is for statistical analysis after receiving the point information that car-mounted terminal reports, analysis
The website stopped on the way out, and site information is issued to car-mounted terminal.For a public bus network, run on the route
Bus have more, run more times within each bus one day, it is assumed that have m, one day races n of each bus is plowed, then on the route
The quantity for the point information that car-mounted terminal reports can be bigger, can be for statistical analysis, finds out website on the way.With certain route
For, it is assumed that bus has 10 on the route, each bus is opened 10 times daily, if the practical station stopped of every bus
Point is 10, then the point information sum that one day route reports is 1000 (10*10*10).Actually every bus encounters
Traffic lights and traffic congestion number it is different, the quantity of the point information reported is different, is an a variable, therefore actually the route reports
Point information sum be greater than 1000.
In the overall process of bus traveling, there are possible points, may exist comprising bus stop, the bus of bus
Crossing waits traffic lights, road traffic congestion or is lined up, other abnormal anchor points, needs to carry out primary filtration.
Traffic lights situation is waited at crossing for bus, at this time in point information, including the current position letter of bus
The status information of breath and traffic lights, management server may determine that, which is that bus at crossing waits traffic lights,
Not actual stop website, to exclude the point information.
In road traffic congestion or it is lined up situation for bus, management server is to know the ground of the fixed station on the route
Position is managed, these websites are known sites, then can carry out preliminary screening according to the point information reported.Because of public bus network
The distance between upper fixed station is general all in a zone of reasonableness, such as every 1000 meters of websites, therefore can basis
Location information in point information judges current location whether in the setting range of known sites, if current in point information
The GPS location of bus is in the setting range of known sites, such as 50~1000 at a distance from known bus station position
In rice, then it may determine that this point may be that bus traffic congestion is lined up, bus station do not reached, to exclude point letter
Breath.
The method that the present embodiment is not limited to above-mentioned primary filtration, can also be according to the front link in video recognition information
The degree of congestion is filtered, and the big point information filtering of the degree of the front link congestion in video recognition information fallen.
For with point information remaining after above-mentioned screening, then may be there are bus station occur temporary changes
Situation, then management server retains them temporarily such point information, further progress analysis.
It is easily understood that if a certain position be newly increase or temporary site, every bus all must be at this
Position is stopped, then should at least have 10*10 point information in the position.Therefore when the point in a certain position nearby setting range
Position information content is more than certain threshold value (such as the point information content near a certain position in 50 meters is more than 90 records), then may be used
To determine that this position is exactly the newly-increased or temporary stop point of bus completely.
After website has been determined, management server obtains the identification place name near it according to the GPS information of this website,
It is sent to each bus of this route, after bus obtains site information, interior vehicle-mounted terminal equipment is issued, passes through voice
Equipment can automatically report the bus stop later.Management server periodically updates the record of statistics, and is synchronized to each bus.This
Sample the case where frequently adjustment for bus station, can accurately and timely automatically report the bus stop.
According to foregoing description, the analytic process of the present embodiment management server is as follows:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, judge that the location information is corresponding
Whether the point information content near position in setting range is more than preset threshold value, if being more than, it is determined that the location information
Corresponding position is the website that bus tool is stopped on the way.
Since traffic congestion occurs at random, the point information that bus is reported in traffic congestion concentrates on certain with the number of position
Amount does not exceed set threshold value generally, therefore method through this embodiment can be recognized accurately bus and stop on the way
Website.It is also desirable to explanation, the method that the present embodiment is not limited to above-mentioned analysis, such as point can also be believed
Breath is arranged according to position, and since a point calculation is compared in the position of the point information reported when traffic congestion, crossing etc. are stopped, point information is got over
Intensive position may more be identified as the website that bus is stopped on the way.
As shown in Fig. 2, a kind of traffic website recognition methods, the website that bus tool is stopped on the way for identification, public transport work
Car-mounted terminal is installed, car-mounted terminal is also corresponding with the management server that backstage is arranged on tool.The present embodiment traffic website is known
Other method includes the following steps:
Car-mounted terminal reports current point information when meeting and imposing a condition, the point information include location information,
Video recognition information, car-mounted terminal mark；
Management server receives the point information that car-mounted terminal reports, and analyzes the website that bus tool is stopped on the way, and
Site information is issued to car-mounted terminal.
According to the description of above-mentioned traffic website identifying system, it is preferable that the present embodiment car-mounted terminal is meeting setting
Current point information is reported when condition, comprising:
Obtain the location information and velocity information of bus tool；
The video image in present viewing field is shot, and exports video identification letter after carrying out intellectual analysis identification to video image
Breath；
According to the location information and velocity information of the bus tool of acquisition, judge whether to meet the setting condition, full
When foot imposes a condition, the video recognition information is obtained, reports point information to management server.
Wherein, car-mounted terminal judges whether described in satisfaction according to the location information and velocity information of the bus tool of acquisition
It imposes a condition, comprising:
Receive the location information and velocity information of the bus tool obtained；
When the speed of current bus tool is less than the threshold speed of setting, judge to meet setting condition.
Preferably, also, the present embodiment management server receives the point information that car-mounted terminal reports, and analyzes public transport work
Have the website stopped on the way, comprising:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, judge that the location information is corresponding
Whether the point information content near position in setting range is more than preset threshold value, if being more than, it is determined that the location information
Corresponding position is the website that bus tool is stopped on the way.
Wherein, primary filtration is carried out according to video recognition information and location information, comprising:
Judge video recognition information in point information whether include traffic lights status information, filtering includes traffic lights
The point information of status information；
And/or according to the location information in point information judge current location whether in the setting range of known sites,
If it is, filtering the point information.
The above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited, without departing substantially from essence of the invention
In the case where mind and its essence, those skilled in the art make various corresponding changes and change in accordance with the present invention
Shape, but these corresponding changes and modifications all should fall within the scope of protection of the appended claims of the present invention.
Claims (6)
1. a kind of traffic website identifying system, including the car-mounted terminal being mounted on bus tool, which is characterized in that the traffic
Station recognition system further includes the management server positioned at backstage, in which:
The car-mounted terminal when for being less than the threshold speed of setting in bus tool speed, judging to meet setting condition, report
Current point information, the point information include location information, video recognition information, car-mounted terminal mark；
The management server, the point information reported for receiving car-mounted terminal, analyzes the station that bus tool is stopped on the way
Point, and site information is issued to car-mounted terminal；
Wherein, the point information that the management server is reported in reception car-mounted terminal, analyzes what bus tool was stopped on the way
When website, perform the following operations:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, the corresponding position of the location information is judged
Whether the point information content in neighbouring setting range is more than preset threshold value, if being more than, it is determined that the location information is corresponding
Position be the website stopped on the way of bus tool.
2. traffic website identifying system according to claim 1, which is characterized in that the car-mounted terminal includes positioning dress
It sets, photographic device and control device, in which:
The positioning device, for obtaining the location information and velocity information of bus tool；
The photographic device, for shooting the video image in present viewing field, and after carrying out intellectual analysis identification to video image
Export video recognition information；
The control device judges whether to meet institute for receiving the location information and velocity information that the positioning device is sent
Setting condition is stated, when meeting setting condition, the video recognition information of the photographic device output is obtained, to management service
Device reports point information.
3. traffic website identifying system according to claim 1, which is characterized in that the management server is known according to video
Other information and location information carry out primary filtration, perform the following operations:
Judge the video recognition information in point information whether include traffic lights status information, filtering include traffic lights state
The point information of information；
And/or according to the location information in point information judge current location whether in the setting range of known sites, if
It is then to filter the point information.
4. a kind of traffic website recognition methods, the website that bus tool is stopped on the way for identification is installed on the bus tool
There is car-mounted terminal, which is characterized in that the car-mounted terminal is also corresponding with the management server that backstage is arranged in, the traffic website
Recognition methods includes the following steps:
The car-mounted terminal judges to meet setting condition, report current when bus tool speed is less than the threshold speed of setting
Point information, the point information include location information, video recognition information, car-mounted terminal mark；
The management server receives the point information that car-mounted terminal reports, and analyzes the website that bus tool is stopped on the way, and
Site information is issued to car-mounted terminal；
Wherein, the management server receives the point information that car-mounted terminal reports, and analyzes the station that bus tool is stopped on the way
Point, comprising:
To the point information that car-mounted terminal reports, primary filtration is carried out according to video recognition information and location information；
For each location information in the remaining point information Jing Guo primary filtration, the corresponding position of the location information is judged
Whether the point information content in neighbouring setting range is more than preset threshold value, if being more than, it is determined that the location information is corresponding
Position be the website stopped on the way of bus tool.
5. traffic website recognition methods according to claim 4, which is characterized in that the car-mounted terminal is meeting setting item
Current point information is reported when part, comprising:
Obtain the location information and velocity information of bus tool；
The video image in present viewing field is shot, and exports video recognition information after carrying out intellectual analysis identification to video image；
According to the location information and velocity information of the bus tool of acquisition, judges whether to meet the setting condition, be set in satisfaction
When fixed condition, the video recognition information is obtained, reports point information to management server.
6. traffic website recognition methods according to claim 4, which is characterized in that described according to video recognition information and position
Confidence breath carries out primary filtration, comprising:
Judge the video recognition information in point information whether include traffic lights status information, filtering include traffic lights state
The point information of information；
And/or according to the location information in point information judge current location whether in the setting range of known sites, if
It is then to filter the point information.
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| CN201611051128.6A CN106504566B (en) | 2016-11-25 | 2016-11-25 | A kind of traffic website identifying system and method |
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| CN109987121B (en) * | 2017-12-29 | 2021-06-18 | 海能达通信股份有限公司 | Train station change scheduling device and method |
| CN109767638B (en) * | 2018-12-17 | 2021-08-10 | 北京百度网讯科技有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN110570679A (en) * | 2019-04-18 | 2019-12-13 | 武汉小码联城科技有限公司 | Bus inquiry system and bus inquiry method |
| CN113012422B (en) * | 2019-12-20 | 2023-03-21 | 百度在线网络技术（北京）有限公司 | Bus positioning method, device, equipment and storage medium |
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