CN106920407A - A kind of intersection signal timing control information transmission method - Google Patents
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Abstract
The present invention proposes a kind of intersection signal timing control information transmission method, and signal lamp state information and timing information are published to the information can be caused to cover scope specified by signal lamp state information collecting device and signal lamp state information delivery apparatus for the method.After motor vehicle enters the scope, the car-mounted terminal on motor vehicle receives signal lamp state information and timing information, and is supplied to driver in real time.Vehicle mounted terminal machine Motor Car Institute crossing numbering, lead the way numbering, motor vehicle speed and the signal lamp state information and timing information that receive, formation speed adjust instruction is sent to driver.The present invention not only solves signal lamp not visible problem in inclement weather, is also used as advisory opinion by for driver provides speed adjust instruction, improves intersection vehicles traffic efficiency, reduces the probability of traffic jam and traffic accidents.
Description
The technical field is as follows:
the invention relates to the field of road traffic information transmission, in particular to an intersection signal timing control information transmission method.
Background art:
with the development of economy in China, urban traffic demands are increasingly heavy, a sharp contradiction is formed between the urban traffic demands and a current relatively backward traffic system and a traffic structure, and problems of urban traffic jam and associated environmental pollution, safety and the like have brought about wide social care. In the travel peak period of going to and from work, long-time and normal traffic jam also brings great inconvenience to life and work of people on a plurality of important intersection nodes. In order to avoid traffic safety accidents caused by disorder of traffic order due to intersection congestion and aggravate traffic congestion, a plurality of vehicle-mounted systems capable of proposing behaviors of drivers appear in the market in recent years, and the invention is a system for distributing voice prompt for motor vehicle drivers by combining intersection signal timing control information.
In order to enable motor vehicles to smoothly run on urban roads, drivers must know the specific conditions of the urban roads to a certain extent, and besides road surface marks and indication sign information, intersection signal lamp state information is also indispensable. However, drivers often cannot see or cannot see the signal lamps clearly due to the shielding of the front large-sized vehicle or the interference of severe weather such as heavy rain and heavy fog, which causes certain trouble to the drivers of the motor vehicles and is also easy to cause traffic jam or traffic safety accidents.
The invention content is as follows:
the technical problem is as follows: the invention aims to provide a technical scheme for directly transmitting the state information of a signal lamp at an intersection to a motor vehicle driver through a vehicle-mounted system so as to solve the problem that the signal lamp is invisible due to weather reasons such as shielding of a large vehicle or rain, fog and the like.
The technical scheme is as follows: in order to solve the technical problem, the invention provides an intersection signal timing control information transmission method, which comprises the following steps:
(1) constructing an intersection signal timing control information transmission system, which comprises a signal lamp state information acquisition device, a signal lamp state information release device, a motor vehicle detection device and a vehicle-mounted terminal;
the signal lamp state information acquisition device acquires the signal machine connection with each signal lamp, acquires the state information and the timing information of each signal lamp, and respectively and synchronously sends the acquired state information and the timing information to the signal lamp state information release devices arranged on the corresponding signal lamps;
the signal lamp state information issuing device issues the received signal lamp state information and the received timing information in the communication range of the signal lamp state information issuing device;
the vehicle-mounted terminal collects the speed of the motor vehicle in real time; receiving the signal lamp state information and the timing information issued by the corresponding signal lamp state information issuing device when entering the intersection;
the motor vehicle detection device is arranged at the approach entrance of each motor vehicle at each intersection, and sends approach and vehicle information to the motor vehicle when the motor vehicle detection device detects that the motor vehicle passes through the position of the motor vehicle; the approach and vehicle information comprises a crossing number where the corresponding machine is located, a motor vehicle approach number, a distance between a motor vehicle detection device and a downstream stop line and time for detecting the motor vehicle;
(2) when the vehicle-mounted terminal receives the approach and vehicle information sent by the motor vehicle detection device, the vehicle-mounted terminal predicts the time t when the motor vehicle reaches the stop line of the intersection in real time according to the collected speed and the information of the approach and the vehicle*；
(3) The vehicle-mounted terminal predicts the time t*The number of the intersection where the motor vehicle is located, the number of the motor vehicle approach, and the received signal lamp state information and timing information are used for judging that the motor vehicle is at the moment t*Approach to the motor vehicleAnd when the downstream intersection stops at the lane, generating speed adjusting instructions according to the state information of the signal lamps corresponding to the approach lane where the motor vehicle is located and displaying the speed adjusting instructions to the driver for reference.
Further, the vehicle-mounted terminal in the step (2) predicts the time t when the motor vehicle reaches the stop line of the intersection in real time according to the collected vehicle speed, approach and vehicle information*The method comprises the following steps:
defining that the motor vehicle k runs on the jth lane of the ith intersection, and then the moment when the motor vehicle k predicted by the vehicle-mounted terminal of the motor vehicle k reaches the stop line of the intersection is as follows:
wherein,indicating the time t predicted by the vehicle-mounted terminal of the motor vehicle k when the vehicle reaches the stop line of the intersection0Representing the moment at which the vehicle detection device detects the vehicle k, dijIndicating the distance between a motor vehicle detection device installed at the jth approach entrance of the ith intersection and a downstream stop line, vkRepresenting the speed acquired by the on-board terminals of motor vehicle k.
Further, the vehicle-mounted terminal in the step (3) determines the time t*The step of generating the speed adjusting instruction corresponding to the signal lamp state information comprises the following steps:
judging the corresponding signal lamp at the moment t*Whether it is a green light; if the judgment result is that the vehicle is a green light, the vehicle-mounted terminal sends an instruction that the front of the motor vehicle is not obstructed and the motor vehicle keeps running at the current speed to the driver; if the judgment result is not that the lamp is green, the vehicle-mounted terminal compares the current speed per hour v of the motor vehicle with the ideal speed per hour v 'of the motor vehicle, and v' is 0.8vmax(ii) a If v is more than v', the vehicle-mounted terminal sends a motor vehicle deceleration finger to the driverOrder; if v is less than or equal to v ', the vehicle-mounted terminal calculates the time t' when the motor vehicle reaches the intersection stop line in the state limited by the condition 1:
condition 1: the motor vehicle is accelerated uniformly at the acceleration a under the current speed, and the motor vehicle keeps running at a constant speed after the speed reaches v';
when the vehicle-mounted terminal judges t', whether a corresponding signal lamp is a green lamp or not, and if the signal lamp is the green lamp, the vehicle-mounted terminal sends a driving instruction according to the state of the condition 1 to a driver; and if the corresponding signal lamp is not green at t', the vehicle-mounted terminal sends the motor vehicle deceleration information to the driver.
Further, the method for calculating the time t' when the motor vehicle reaches the stop line of the intersection in the state limited by the condition 1 by the vehicle-mounted terminal in the step (3) comprises the following steps:
if the motor vehicle can accelerate to the ideal speed v ' before reaching the stop line at the downstream intersection of the approach j and drive at the constant speed v ' to reach the stop line, t ' ═ t0+((v′)2-v2)/2av′+dijV,/v; if the motor vehicle has already reached the stop line at the downstream intersection of approach j without accelerating to the ideal speed v', t ═ t0+[(v2+2adij)0.5-v]/a。
Further, when the signal lamp state information issuing device is installed, the following steps are also executed:
adjusting the signal emission angle and the emission power of the signal lamp state information issuing device to ensure that the information issuing coverage length of the emission angle and the emission power is L, wherein L is 3 × vmax，vmaxThe maximum speed limit of the road section at the intersection is obtained.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. the intersection signal timing control information transmission system can directly transmit the signal lamp state information of the intersection to a motor vehicle driver through the vehicle-mounted terminal, and provides more direct and definite signal lamp state information for the motor vehicle driver under the condition that the signal lamp state cannot be accurately distinguished due to blurred vision caused by the fact that a large vehicle covers the signal lamp or heavy weather such as heavy rain and heavy fog;
2. the vehicle-mounted terminal can generate a speed adjusting instruction according to the signal lamp state information, the timing information and the vehicle speed and send the speed adjusting instruction to the driver, advice is made on driving behaviors, queuing waiting time increased due to misjudgment of the driver is reduced, smoothness of vehicles at the intersection is improved, and traffic accidents caused by blocked sight are avoided.
Description of the drawings:
FIG. 1 is a block flow diagram of the present invention;
FIG. 2 is a block flow diagram illustrating the generation of a vehicle speed adjustment command in accordance with the present invention;
fig. 3 is a schematic plan view of an intersection in the embodiment.
The specific implementation method comprises the following steps:
fig. 1 to 2 show a flow chart of the present invention, which includes the following steps:
step one, respectively installing signal lamp state information release devices of each intersection at each intersection on a signal lamp for controlling traffic flow of each intersection, and controlling the information release coverage length of each signal lamp state information release device to be L by adjusting the signal emission angle and the emission power of each signal lamp state information release device, wherein L is 3 × vmax，vmaxThe maximum speed limit of the intersection road section is 3 (seconds), and the average reaction time of the driver is 3 seconds. Setting motor vehicle detection device at the entrance of each motor vehicle approach at each intersection, directly installing the motor vehicle detection device on the road surface contacting with the motor vehicle, and defining dijThe distance between the motor vehicle detection device of the jth approach of the ith intersection and the downstream stop line.
Connecting the signal lamp state information acquisition device with an intersection annunciator, acquiring signal lamp state information and timing information of an intersection in real time, and synchronously transmitting the signal lamp state information and the timing information acquired in real time to the corresponding signal lamp state information issuing device;
step three, when the signal lamp state information issuing device receives the signal lamp state information and the timing information, the signal lamp state information issuing device issues the state information and the timing information of the corresponding signal lamp synchronously in the coverage range to the signal lamp state information issuing device;
step four, the vehicle-mounted terminal is arranged near a dashboard of the motor vehicle and connected with a CAN bus of the motor vehicle, the speed per hour v of the motor vehicle is collected in real time, when the motor vehicle drives into the information issuing coverage range of any intersection i, the signal lamp state information and the timing information issued by the signal lamp state information issuing device at the intersection i are automatically received, and the signal lamp state information of the intersection i is displayed for a motor vehicle driver in real time;
step five, when the motor vehicle detection device at the entrance of the jth approach at the intersection i detects that a motor vehicle passes through the position of the jth approach, the approach and vehicle information including the intersection number i, the approach number j, and the distance d between the motor vehicle detection device and a downstream stop line are sent to the motor vehicleijAnd the moment t at which the motor vehicle is detected0；
Step six, when the vehicle-mounted terminal of the motor vehicle receives the information of the approach and the vehicle sent by the motor vehicle detection device, the vehicle-mounted terminal sends the information of the approach and the vehicle according to the dijTime t at which a motor vehicle is detected0And the real-time collected motor vehicle speed per hour v, the real-time forecast of the time t when the motor vehicle reaches the stop line of the intersection*. Defining that the motor vehicle k runs on the jth lane of the ith intersection, and then the moment when the motor vehicle k predicted by the vehicle-mounted terminal of the motor vehicle k reaches the stop line of the intersection is as follows:
wherein,indicating the time t predicted by the vehicle-mounted terminal of the motor vehicle k when the vehicle reaches the stop line of the intersection0Representing the moment at which the vehicle detection device detects the vehicle k, dijIndicating the distance between a motor vehicle detection device installed at the jth approach entrance of the ith intersection and a downstream stop line, vkRepresenting the speed acquired by the on-board terminals of motor vehicle k.
Step seven, the vehicle-mounted terminal of the motor vehicle predicts the time t when the motor vehicle reaches the stop line of the intersection in real time*The entry number and the approach number information of the motor vehicle and the signal lamp timing information, and the motor vehicle is judged to be at the moment t*And when the stop line of the downstream intersection of the approach of the motor vehicle is reached, the state information of the signal lamp corresponding to the approach of the motor vehicle generates a speed adjusting instruction according to the judged state of the signal lamp and displays the speed adjusting instruction to the driver, and the driver can adjust the vehicle speed by referring to the speed adjusting instruction.
The vehicle-mounted terminal mentioned in the seventh step judges the time t*The step of generating the speed adjusting instruction corresponding to the signal lamp state information comprises the following steps:
judging the corresponding signal lamp at the moment t*Whether it is a green light; if the judgment result is that the vehicle is a green light, the vehicle-mounted terminal sends an instruction that the front of the motor vehicle is not obstructed and the motor vehicle keeps running at the current speed to the driver; if the judgment result is not that the lamp is green, the vehicle-mounted terminal compares the current speed per hour v of the motor vehicle with the ideal speed per hour v 'of the motor vehicle, and v' is 0.8vmax(ii) a If v is larger than v', the vehicle-mounted terminal displays a motor vehicle deceleration instruction to the driver to remind the driver to decelerate; if v is less than or equal to v ', the vehicle-mounted terminal calculates the time t' when the motor vehicle reaches the intersection stop line in the state limited by the condition 1:
condition 1: the motor vehicle is accelerated uniformly at the acceleration a under the current speed, and the motor vehicle keeps running at a constant speed after the speed reaches v';
when the vehicle-mounted terminal judges t', whether a corresponding signal lamp is a green lamp or not, and if the signal lamp is the green lamp, the vehicle-mounted terminal displays a driving instruction according to the state of the condition 1 to a driver; and if the corresponding signal lamp is not green at t', the vehicle-mounted terminal displays a motor vehicle deceleration instruction to the driver to remind the driver of decelerating to run.
The method for calculating the time t' when the motor vehicle reaches the stop line of the intersection in the state limited by the condition 1 by the vehicle-mounted terminal comprises the following steps: if the motor vehicle can accelerate to the ideal speed v ' before reaching the stop line at the downstream intersection of the approach j and drive at the constant speed v ' to reach the stop line, t ' ═ t0+((v′)2-v2)/2av′+dijV,/v; if the motor vehicle has already reached the stop line at the downstream intersection of approach j without accelerating to the ideal speed v', t ═ t0+[(v2+2adij)0.5-v]/a。
The utility and advantages of the present invention will be described below using the crossroad shown in fig. 3 as an example.
The intersection signal timing control information transmission method comprises the following steps:
(1) collecting traffic flow data and road data of an intersection: the maximum speed limit of the intersection road section is as follows: v. ofmaxThe acceleration of the motor vehicle is 2m/s, the average reaction time of a driver is 3 seconds, and the distance d between a motor vehicle detection device arranged on the jth approach of the ith intersection and a downstream stop line is 60km/hij40 m; the numbering scheme is shown in table 1:
TABLE 1
(2) The layout device comprises: according to the traffic flow data and road data collected in the step (1), arranging a signal lamp state information publishing device, a signal lamp state collecting device, a motor vehicle detecting device and a vehicle-mounted terminal;
(2-1) position of signal lamp state information emitting device: respectively installing the signal lamp state information release devices of each intersection on signal lamps for controlling traffic flow of each intersection, and controlling the information release coverage length of each intersection to be 50 meters by adjusting the signal emission angle and the emission power of the signal lamp state information release devices;
(2-2) vehicle detection device: arranging motor vehicle detection devices at the entrance of each motor vehicle approach at each intersection, wherein dijThe distance between the motor vehicle detection device of the jth approach of the ith intersection and the downstream stop line is the length of the jth approach section of the ith intersection;
(2-3) signal lamp state acquisition device position: connecting the intersection signal lamp state acquisition device with an intersection signal machine;
(2-4) vehicle-mounted terminal position: the vehicle-mounted terminal is arranged near a dashboard of the motor vehicle and is connected with a CAN bus of the motor vehicle.
(3) Synchronous acquisition, transmission and issue an intersection signal timing scheme, wherein the cycle duration C of the intersection signal timing scheme is 140 (seconds), and the specific timing scheme is shown in table 2.
TABLE 2
(4) And the motor vehicle A automatically receives the state information of the signal lamp of the inlet 2 within the information issuing range of the inlet 2 and displays the state information for the motor vehicle driver in real time.
(5) When the vehicle detection device at the entrance of the 3 rd approach of the 2 nd entrance detects that the motor vehicle A passes through the position of the motor vehicle A, the approach and vehicle information including the entrance number 2, the approach number 3, the distance d between the vehicle detection device and the downstream stop line is sent to the motor vehicle A2340m, andand the moment t at which the motor vehicle is detected0＝8:00:10。
(6) The current speed per hour v of the motor vehicle A acquired by the vehicle-mounted terminal in real time is 30km/h, and the time when the vehicle-mounted terminal predicts that the motor vehicle A reaches the stop line of the intersection is 8:00: 15.
(7) The vehicle-mounted terminal of the motor vehicle predicts the time when the motor vehicle A reaches the stop line of the intersection in real time, namely 8:00:15, the entrance number 2 and the approach number 3 where the motor vehicle A is located, and signal lamp timing information, and judges that the current speed v of the motor vehicle A is 30km/h, and when the motor vehicle A reaches the stop line of the downstream intersection of the approach 3 where the motor vehicle A is located at 8:00:15, the signal lamp of the approach 3 is a red lamp.
(8) Because the ideal speed v' of motor vehicle a is 0.8vmaxAnd when the current speed v of the motor vehicle A is 30km/h and v 'is greater than v, the vehicle-mounted terminal predicts that the motor vehicle A is accelerated to the ideal speed v' of 48km/h at the acceleration a of 2m/s, and the time of reaching a stop line at a downstream intersection of the approach 3 is 8:00: 17.
The vehicle-mounted terminal prediction process comprises the following steps:
time t required for the motor vehicle A to accelerate from the current speed per hour v to the ideal speed per hour v1(v' -v)/a) 5 seconds, the distance s traveled during acceleration1＝0.5*at1 225 m, s1＜d23The motor vehicle a can accelerate to the desired speed v 'before reaching the stop line at the intersection downstream of the approach 3 and travel at a constant speed v' to reach the stop line. The motor vehicle a is accelerated to the ideal speed per hour v' of 48km/h with the acceleration a of 2m/s and the time t of arriving at the stop line of the intersection downstream of the approach 3k’＝t0+(v’2-v2)/2av’+d23/v＝8:00:17。
(9) The vehicle-mounted intersection signal timing control information receiving device of the motor vehicle predicts the time 8:00:17 when the motor vehicle A accelerates to the ideal speed v 'to reach the stop line of the intersection, the intersection number 2 and the approach number 3 where the motor vehicle A is located and signal lamp timing information in real time, judges that the motor vehicle A accelerates to the ideal speed v' of 48 kilometers per hour at the acceleration a of 2 meters per hour and at the time 8:00:17 to reach the stop line of the downstream intersection of the approach 3, the signal lamp of the approach 3 is red light through a motor vehicle speed auxiliary induction method, and the vehicle-mounted intersection signal timing control information receiving device issues voice prompt to indicate that the motor vehicle A needs to decelerate and stop for waiting.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (5)
1. An intersection signal timing control information transmission method is characterized by comprising the following steps:
(1) constructing an intersection signal timing control information transmission system, which comprises a signal lamp state information acquisition device, a signal lamp state information release device, a motor vehicle detection device and a vehicle-mounted terminal;
the signal lamp state information acquisition device acquires the signal machine connection with each signal lamp, acquires the state information and the timing information of each signal lamp, and respectively and synchronously sends the acquired state information and the timing information to the signal lamp state information release devices arranged on the corresponding signal lamps;
the signal lamp state information issuing device issues the received signal lamp state information and the received timing information in the communication range of the signal lamp state information issuing device;
the vehicle-mounted terminal collects the speed of the motor vehicle in real time; receiving the signal lamp state information and the timing information issued by the corresponding signal lamp state information issuing device when entering the intersection;
the motor vehicle detection device is arranged at the approach entrance of each motor vehicle at each intersection, and sends approach and vehicle information to the motor vehicle when the motor vehicle detection device detects that the motor vehicle passes through the position of the motor vehicle; the approach and vehicle information comprises a crossing number where the corresponding machine is located, a motor vehicle approach number, a distance between a motor vehicle detection device and a downstream stop line and time for detecting the motor vehicle;
(2) when the vehicle-mounted terminal receives the approach and vehicle information sent by the motor vehicle detection device, the vehicle-mounted terminal predicts the time t when the motor vehicle reaches the stop line of the intersection in real time according to the collected speed and the information of the approach and the vehicle*；
(3) The vehicle-mounted terminal predicts the time t*The number of the intersection where the motor vehicle is located, the number of the motor vehicle approach, and the received signal lamp state information and timing information are used for judging that the motor vehicle is at the moment t*And when the stop line of the downstream intersection of the approach of the motor vehicle is reached, the state information of the signal lamp corresponding to the approach of the motor vehicle generates a speed adjusting instruction according to the judged state of the signal lamp and displays the speed adjusting instruction to a driver for reference.
2. The intersection signal timing control information transmission method according to claim 1, wherein the vehicle-mounted terminal predicts the time t when the motor vehicle reaches the stop line of the intersection in real time according to the acquired vehicle speed, approach and vehicle information in the step (2)*The method comprises the following steps:
defining that the motor vehicle k runs on the jth lane of the ith intersection, and then the moment when the motor vehicle k predicted by the vehicle-mounted terminal of the motor vehicle k reaches the stop line of the intersection is as follows:
wherein,indicating the time t predicted by the vehicle-mounted terminal of the motor vehicle k when the vehicle reaches the stop line of the intersection0Representing the moment at which the vehicle detection device detects the vehicle k, dijIndicating the distance between a motor vehicle detection device installed at the jth approach entrance of the ith intersection and a downstream stop line, vkRepresenting the speed acquired by the on-board terminals of motor vehicle k.
3. The intersection signal timing control information transmission method according to claim 2,
the vehicle-mounted terminal in the step (3) judges the time t*The step of generating the speed adjusting instruction corresponding to the signal lamp state information comprises the following steps:
judging the corresponding signal lamp at the moment t*Whether it is a green light; if the judgment result is that the vehicle is a green light, the vehicle-mounted terminal sends an instruction that the front of the motor vehicle is not obstructed and the motor vehicle keeps running at the current speed to the driver; if the judgment result is not that the lamp is green, the vehicle-mounted terminal compares the current speed per hour v of the motor vehicle with the ideal speed per hour v 'of the motor vehicle, and v' is 0.8vmax(ii) a If v is more than v', the vehicle-mounted terminal sends a motor vehicle deceleration instruction to the driver; if v is less than or equal to v ', the vehicle-mounted terminal calculates the time t' when the motor vehicle reaches the intersection stop line in the state limited by the condition 1:
condition 1: the motor vehicle is accelerated uniformly at the acceleration a under the current speed, and the motor vehicle keeps running at a constant speed after the speed reaches v';
when the vehicle-mounted terminal judges t', whether a corresponding signal lamp is a green lamp or not, and if the signal lamp is the green lamp, the vehicle-mounted terminal sends a driving instruction according to the state of the condition 1 to a driver; and if the corresponding signal lamp is not green at t', the vehicle-mounted terminal sends the motor vehicle deceleration information to the driver.
4. The intersection signal timing control information transmission method according to claim 3, wherein the method for calculating the time t' when the motor vehicle reaches the stop line of the intersection in the state limited by the condition 1 by the vehicle-mounted terminal in the step (3) comprises the following steps:
if the motor vehicle can accelerate to the ideal speed v 'before reaching the stop line at the downstream intersection of the approach j and drive at the constant speed v' to reach the stop line, thenIf the motor vehicle has already reached the stop line at the downstream intersection of approach j without accelerating to the ideal speed v
5. An intersection signal timing control information transmission method according to claim 3, characterized in that, when the signal lamp state information issuing device is installed, the following steps are further executed:
adjusting the signal emission angle and the emission power of the signal lamp state information issuing device to ensure that the information issuing coverage length of the emission angle and the emission power is L, wherein L is 3 × vmax，vmaxThe maximum speed limit of the road section at the intersection is obtained.
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| CN110176138A (en) * | 2018-09-21 | 2019-08-27 | 华南理工大学 | A kind of active traffic induction method of crossing grade |
| CN110415542A (en) * | 2019-09-05 | 2019-11-05 | 哈尔滨工业大学 | Intersection avoids motor vehicle by misoperation from rushing the safe speed control system and method for amber light |
| CN112216125A (en) * | 2020-09-24 | 2021-01-12 | 武汉飞创智慧科技有限公司 | Signal lamp-based area control method, system, equipment and storage medium |
| CN113781836A (en) * | 2020-11-23 | 2021-12-10 | 株式会社电装 | Driving support device and driving support method |
| CN114743387A (en) * | 2022-05-12 | 2022-07-12 | 苏州天微至胜运动控制技术有限公司 | Intelligent traffic guidance control system and guidance method |
| CN115641733A (en) * | 2022-10-19 | 2023-01-24 | 中国第一汽车股份有限公司 | Vehicle information processing method and device, storage medium and vehicle |
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