CN106935046A - By the speed bootstrap technique and system at traffic lights crossing - Google Patents
By the speed bootstrap technique and system at traffic lights crossing Download PDFInfo
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- CN106935046A CN106935046A CN201511028657.XA CN201511028657A CN106935046A CN 106935046 A CN106935046 A CN 106935046A CN 201511028657 A CN201511028657 A CN 201511028657A CN 106935046 A CN106935046 A CN 106935046A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
Abstract
The present invention provides through the speed bootstrap technique and system at traffic lights crossing, including：When the traffic lights information of junction ahead is detected, the distance between the stop line of current location and junction ahead is obtained.The arrival time for reaching stop line is calculated according to current driving speed and distance.Judge the type of Current traffic signal condition, including：Allowance is current, no through traffic.If permitting current, then judge its remaining time whether more than arrival time.If so, then prompting keeps current driving speed；If it is not, then calculating the acceleration time needed for reaching stop line, determine whether the acceleration time whether more than remaining time.If so, then prompting is without accelerating；If it is not, then prompting is given it the gun.If no through traffic, then judge its remaining time whether more than arrival time.If so, then prompting is without accelerating；If it is not, then prompting keeps current driving speed.The present invention contributes to vehicle with suitable speed by crossing, saves user time, ensures current safety.
Description
Technical field
The present invention relates to communication navigation technical field, more particularly to by the speed bootstrap technique at traffic lights crossing
And system.
Background technology
At present, driver can only rely on road conditions at that time and conventional experience judge whether can be by the red green of crossing
Lamp.Most careful drivers can be selected in the slow down at the segment distance of crossing one, so that according to traffic lights letter at that time
Number make a response, however, this way can cause the congestion of traffic to a certain extent.Some are in a hurry or like making a desperate move
Driver can rush signal lamp being opened the throttle close at crossing, however, this way extremely easily causes traffic accident.
Existing airmanship can provide driving path for driver, inform that driver front is more and there is crossing at a distance,
But cannot for driver provide whether can by the crossing, or, can be by the navigation scheme at the crossing with which kind of speed.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide the car by traffic lights crossing
Fast bootstrap technique and system, can be by junction ahead for solving the problems, such as cannot to judge whether in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of speed by traffic lights crossing and draws
Guiding method, including：When the traffic lights information of junction ahead is detected, acquisition current location is stopped with the junction ahead
The only distance between line；Wherein, the traffic lights information includes：Current traffic signal condition and its remaining time；According to work as
Preceding speed of operation and the distance calculate the arrival time for reaching the stop line；Judge the class of the Current traffic signal condition
Type, the type includes：Permit current, and no through traffic；If the type is current to permit, whether its remaining time is judged
More than the arrival time；If so, then prompting keeps the current driving speed；If it is not, then calculate reaching the stop line institute
The acceleration time for needing；Judge the acceleration time whether more than the remaining time；If so, then prompting is without accelerating；If it is not, then
Prompting is given it the gun；If the type is for no through traffic, judge its remaining time whether more than the arrival time；If so,
Then prompting is without accelerating；If it is not, then prompting keeps the current driving speed.
Optionally, before the prompting is given it the gun, the velocity amplitude given it the gun according to kinematics formula is calculated.
Optionally, according to the current location judge the velocity amplitude whether more than residing for section speed limit；If it is not, then
Prompting is given it the gun with the speed not less than the velocity amplitude and no more than described speed limit；If so, then prompting is without accelerating.
Optionally, when the traffic lights information of junction ahead is detected, the current location and the stopping are detected
Whether there is obstacle vehicle between line, if nothing, obtain the distance between the stop line of current location and the junction ahead；If so,
The information of vehicles of the obstacle vehicle is then obtained, is compared with the information of vehicles for prestoring according to this.If comparison result is consistent, it is switched to
Anti-collision alert status；If comparison result is inconsistent, the distance between the stop line of current location and the junction ahead is obtained.
Optionally, the traffic lights information is that the traffic lights pass through the forms of broadcasting in the range of predeterminable range
Send.
Optionally, the traffic lights information is transmitted by V2X or DSRC.
In order to achieve the above objects and other related objects, the present invention provides a kind of speed by traffic lights crossing and draws
Guiding systems, including：Acquisition module and processing module.Acquisition module, for when the traffic lights information for detecting junction ahead
When, obtain the distance between the stop line of current location and the junction ahead；Wherein, the traffic lights information includes：When
Preceding traffic signal state and its remaining time.Processing module, is used for：Calculate and reach institute according to current driving speed and the distance
State the arrival time of stop line；Judge the type of the Current traffic signal condition, the type includes：Permit current, and prohibit
Only pass through；If the type is current to permit, judge its remaining time whether more than the arrival time；If so, then pointing out
Keep the current driving speed；If it is not, then calculating the acceleration time needed for reaching the stop line；Judge the acceleration time
Whether the remaining time is more than；If so, then prompting is without accelerating；If it is not, then prompting is given it the gun；If the type is to forbid
It is current, then judge its remaining time whether more than the arrival time；If so, then prompting is without accelerating；If it is not, then prompting keeps
The current driving speed.
Optionally, the processing module is additionally operable to：Before the prompting is given it the gun, institute is calculated according to kinematics formula
State the velocity amplitude for giving it the gun.
Optionally, the processing module is additionally operable to：Judged the velocity amplitude whether more than residing for according to the current location
The speed limit in section；If it is not, then pointing out to be given it the gun with the speed not less than the velocity amplitude and no more than described speed limit；If
It is that then prompting is without accelerating.
Optionally, the processing module is additionally operable to：When the traffic lights information of junction ahead is detected, detection is described
Whether have obstacle vehicle between current location and the stop line, if nothing, by the acquisition module obtain current location with
Distance between the stop line of the junction ahead；If so, the vehicle for then obtaining the obstacle vehicle by the acquisition module is believed
Breath, compares with the information of vehicles for prestoring.If comparison result is consistent, anti-collision alert status are switched to；If comparison result is inconsistent,
The distance between the stop line of current location and the junction ahead is then obtained by the acquisition module.
Optionally, the traffic lights information is that the traffic lights pass through the forms of broadcasting in the range of predeterminable range
Send.
Optionally, the traffic lights information is transmitted by V2X or DSRC.
In order to achieve the above objects and other related objects, the present invention provides a kind of car-mounted terminal, including any described logical
Cross the speed guiding system at traffic lights crossing.
In order to achieve the above objects and other related objects, the present invention provides kind of a traffic lights, including：Communication unit, uses
In traffic lights information is sent by the forms of broadcasting in the range of predeterminable range, the traffic lights information includes：Currently
Traffic signal state and its remaining time.
As described above, the speed bootstrap technique and system by traffic lights crossing of the invention, can be driver
There is provided driving junction ahead traffic signal light condition, there is provided whether can by the crossing, or, can be by this with which kind of speed
The navigation scheme at crossing.The present invention can effectively alleviate the congestion of traffic while Consumer's Experience is lifted, and reduce the hair of accident
It is raw.
Brief description of the drawings
Fig. 1 is shown as the speed bootstrap technique flow chart by traffic lights crossing of one embodiment of the invention.
Fig. 2 is shown as the speed bootstrap technique flow chart by traffic lights crossing of one embodiment of the present invention.
The speed by traffic lights crossing that Fig. 3 is shown as one embodiment of the invention guides system module figure.
Fig. 4 is shown as the car-mounted terminal structural representation of one embodiment of the invention.
Fig. 5 is shown as the traffic lights structural representation of one embodiment of the invention.
Component label instructions
1 guides system by the speed at traffic lights crossing
11 acquisition modules
12 processing modules
2 car-mounted terminals
21 first communication units
22 processing units
3 traffic lights
31 second communication units
S1~S12, step
S101~S103
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages of the invention and effect easily.The present invention can also be by specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates basic structure of the invention in a schematic way
Think, component count, shape and size when only display is with relevant component in the present invention rather than according to actual implementation in schema then
Draw, it is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
Fig. 1 is referred to, the present invention provides a kind of speed bootstrap technique by traffic lights crossing, including following step
Suddenly：
Step S1：The traffic lights information of junction ahead is detected, if detecting, current location and the front is obtained
Between the stop line at crossing apart from D0.It should be noted that in order to energy-conserving and environment-protective can also preset a distance threshold, for example, working as
Vehicle reaches the traffic lights information for starting to detect the crossing during apart from 1 kilometer of junction ahead, the position such as 0.5 kilometer.Wherein,
Junction ahead, current location, the position of stop line determine to be realized by GPS navigation.It is both provided with when in corresponding position
During sensing equipment, it is also possible to realized by the related data for gathering each sensing equipment.Preferably, the current location is with vehicle
Headstock is defined, for accurately obtaining the distance that vehicle reaches stop line.The traffic lights information at least includes：It is current to hand over
Messenger state and its remaining time T0, can be obtained from background server by network, can also be by V2X (Vehicle
To X, the wireless messages switching technology of " car is to external world ") or DSRC (Dedicated Short Range
Communications, DSRC technology) etc. directly obtained from traffic lights, the traffic lights are required to
In the range of certain distance traffic lights information is sent in forms such as unicast, broadcast or multicasts.In addition, stopping line position letter
Breath, in addition media information etc. can also be included in traffic lights information with Current traffic signal condition and its it is remaining when
Between be sent to reception vehicle in the lump.
Step S2：Obtain current driving vehicle velocity V0, according to described apart from D0With the current driving vehicle velocity V0Ratio calculation
Reach the arrival time T of the stop line1=D0/V0。
Step S3：Judge the type of the Current traffic signal condition, the type includes：Permit current, and forbid leading to
OK.Wherein, in order to be observant of traffic rules, safety coefficient is improved, permitting passing through is set to whole green light phases, and no through traffic
It is set to whole red light phases.If additionally, in order to fully improve by the percent of pass of junction ahead, permitting passing through is set to include
Whole green light phases and part amber light state, such as 1/2 amber light state or 1/3 amber light state.If judged result is defined
Perhaps pass through, then perform step S4；If judged result is for no through traffic, step S10 is performed.
Step S4：Judge the remaining time T of the current state of allowance0Whether the arrival time T is more than1=D0/V0.If so,
Then perform step S5；If it is not, then performing step S6.
Step S5：Prompting keeps the current driving speed, that is to say, that can smoothly lead to completely according to current speed
Junction ahead is crossed, without accelerating.
Step S6：Calculate the acceleration time T needed for reaching the stop line2, that is to say, that can not according to current speed
Junction ahead is passed through, it is necessary to accelerate.Wherein, acceleration time T2Value such as formula (1) shown in：
Wherein, a is acceleration constant value, can take from vehicle and accelerate to the current driving from starting under normal circumstances
The acceleration magnitude of speed, i.e.,
Step S7：Judge the acceleration time T2Maximum whether be more than the remaining time T0, if so, then performing step
Rapid S8；If it is not, then performing step S9.The purpose of the step is to judge the value according to usual acceleration a, is within remaining time
No being promoted to speed can be by the velocity amplitude of junction ahead.
Step S8：Prompting is without accelerating.That is, according to the value of usual acceleration a, in remaining time T0It is interior cannot be by
Speed is promoted to be able to cannot can be continued to be travelled with current speed by the velocity amplitude of junction ahead by the crossing,
Can also slow down, vehicle will stop at the stop line because of traffic lights no through traffic state.
Step S9：Prompting is given it the gun.That is, according to the value of usual acceleration a, can be in remaining time T0It is interior logical
Lifting speed is crossed to come by junction ahead.
In one embodiment, before prompting is given it the gun, given it the gun according to kinematics formula (2)~(5) calculate
Velocity amplitude V：
V=V0+aT2 (2)
D2=V (T0-T2) (4)
D0=D1+D2 (5)
Wherein, D1It is the distance given it the gun, D2It is the distance at the uniform velocity travelled with the speed after lifting, can by above-mentioned formula
Calculating the velocity amplitude V that suggestion gives it the gun is：
It can be seen that, the velocity amplitude for having formula (6) to draw is the minimum velocity amplitude that gives it the gun, and is added more than the velocity amplitude with any
Speed traveling can be by junction ahead.In order to avoid driving over the speed limit, in one embodiment, institute is obtained according to the current location
Locate the speed limit in section, and judge whether the velocity amplitude is more than the speed limit in residing section.If it is not, then pointing out with not less than institute
The speed for stating velocity amplitude and no more than described speed limit is given it the gun；If so, then prompting is without accelerating.
Step S10：Judge its remaining time T0' whether it is more than the arrival time T1=D0/V0.If so, then performing step
S11；If it is not, then performing step S12.
Step S11：Prompting cannot will be at stop line because of traffic lights by junction ahead, vehicle without accelerating, i.e.,
State that no through traffic and stop.
Step S12：Prompting keeps the current driving speed, i.e., can pass through front completely according to current speed
Crossing, without accelerating.
It should be noted that " prompting " mode in each step all can be by voice broadcast, self-defined warning above
Sound, interface display directly control the accomplished in many ways such as car speed.
Refer to Fig. 2, in one embodiment, for avoid occur rear-end collision, in step S101, when detect front road
During the traffic lights information of mouth, first detect whether there is obstacle vehicle between the current location and the stop line, obstacle car
Include with itself between may occur various dangerous situations nearby vehicle, dangerous situation is such as：Stop move ahead or and itself
May collide, rear-end collision etc..If accessible vehicles, step S1 is performed, and complete subsequent step.If there is obstacle car
, then perform step S102, you can to obtain the information of vehicles of the obstacle vehicle by the inter-vehicle communication such as V2V equipment, according to this
Compared with the information of vehicles for prestoring.Wherein, information of vehicles can include：One or more of speed and the distance of itself etc., it is right
Answer, the information of vehicles for prestoring be preferably the vehicle speed intervals of self-defined storage, one or more apart from interval etc..Now, when
The speed of obstacle vehicle in the range of the vehicle speed intervals of self-defined storage, and/or with the distance of itself self-defined storage away from
In interval range, then it is assumed that comparison result is consistent, step S103 is performed：Driver is reminded to note into anti-collision alert status
Safety, for example, can point out to slow down, brake；Conversely, explanation obstacle vehicle does not exist security threat to itself, then step is performed
Rapid S1, and complete subsequent step.
Refer to Fig. 3, with method be example principles similarly, the present invention provides through the speed at traffic lights crossing
Guiding system 1, including：Acquisition module 11 and processing module 12.Because the technical characteristic in preceding method embodiment can also be applied
In system embodiment, thus it is no longer repeated.
Acquisition module 11 be used for when the traffic lights information of junction ahead is detected, obtain current location with it is described before
Distance between the stop line at square crossing.Wherein, the traffic lights information includes：When Current traffic signal condition and its residue
Between.Preferably, the traffic lights information is that the traffic lights are sent in the range of predeterminable range by the forms of broadcasting
's.Another preferred, the traffic lights information is transmitted by V2X or DSRC.
Processing module 12 calculates the arrival time for reaching the stop line according to current driving speed and the distance.Judge
The type of the Current traffic signal condition, the type includes：Permit current, and no through traffic.
If the type is current to permit, judge its remaining time whether more than the arrival time.If so, then pointing out
Keep the current driving speed；If it is not, then calculating the acceleration time needed for reaching the stop line, and determine whether described
Whether the acceleration time is more than the remaining time.If so, then prompting is without accelerating；If it is not, then prompting is given it the gun.
If the type is for no through traffic, judge its remaining time whether more than the arrival time.If so, then pointing out
Without accelerating；If it is not, then prompting keeps the current driving speed.
In one embodiment, processing module 12 is additionally operable to：Before the prompting is given it the gun, according to kinematics formula meter
The velocity amplitude given it the gun described in calculating.
In one embodiment, processing module 12 is additionally operable to：Judge whether the velocity amplitude is more than according to the current location
The speed limit in residing section.If it is not, then pointing out to accelerate row with the speed not less than the velocity amplitude and no more than described speed limit
Sail；If so, then prompting is without accelerating.
In one embodiment, processing module 12 is additionally operable to：When the traffic lights information of junction ahead is detected, detection
Whether obstacle vehicle is had between the current location and the stop line.If nothing, current location is obtained by acquisition module 11
With the distance between the stop line of the junction ahead, then subsequent step S1-S12 etc. is continued executing with by processing module 12.If so,
The information of vehicles of the obstacle vehicle is then obtained by acquisition module 11, module for processing 12 is by it and the information of vehicles for prestoring
Compare.If comparison result is consistent, driver is reminded to take care into anti-collision alert status, for example, can point out to slow down, stop
Car etc.；Conversely, processing module 12 continues executing with subsequent step S1-S12 etc..
Fig. 4 is referred to, with above-described embodiment principle similarly, the present invention provides a kind of car-mounted terminal 2, including any institute
The speed by traffic lights crossing stated guides system 1.Wherein, car-mounted terminal 2 includes the first communication unit 21 and therewith
Connected processing unit 22.Communication unit 21 can include GPRS module, WIFI module, preferably V2X modules or DSRC modules.
Processing unit 22 can including MCU, SOC etc. hardware chip.
First communication module 11 is used to obtain the distance between the stop line of current location and the junction ahead.Wherein, institute
Stating traffic lights information includes：Current traffic signal condition and its remaining time.Preferably, the traffic lights information is
What the traffic lights were sent in the range of predeterminable range by the forms of broadcasting.It is another preferred, the traffic lights letter
Breath is transmitted by V2X or DSRC.Processing unit 22 is calculated and reaches the stop line according to current driving speed and the distance
Arrival time.Judge the type of the Current traffic signal condition, the type includes：Permit current, and no through traffic.If institute
Whether it is current to permit to state type, then judge its remaining time more than the arrival time.If so, then prompting keeps described current
Speed of operation；If it is not, then calculating the acceleration time needed for reaching the stop line, and whether determine whether the acceleration time
More than the remaining time.If so, then prompting is without accelerating；If it is not, then prompting is given it the gun.If the type is to forbid leading to
OK, then judge its remaining time whether more than the arrival time.If so, then prompting is without accelerating；If it is not, then prompting keeps institute
State current driving speed.
Fig. 5 is referred to, with above-described embodiment principle similarly, the present invention provides a kind of traffic lights 3, including：The
Two communication units 31.Second communication unit 31 can include GPRS module, WIFI module, preferably V2X modules or DSRC modules.
The traffic lights 3 send traffic lights information in the range of predeterminable range by forms such as unicast, broadcast or multicasts, for
External equipment is received.The traffic lights information at least includes：Current traffic signal condition and its remaining time.
In sum, the present invention contributes to vehicle with suitable speed by crossing, with user time is saved, alleviates and hands over
Logical congestion, it is ensured that many beneficial effects such as traffic safety, overcomes various shortcoming of the prior art and has high industrial utilization
Value.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
The personage for knowing this technology all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should be covered by claim of the invention.
Claims (14)
1. a kind of speed bootstrap technique by traffic lights crossing, it is characterised in that including：
When the traffic lights information of junction ahead is detected, between obtaining the stop line of current location and the junction ahead
Distance；Wherein, the traffic lights information includes：Current traffic signal condition and its remaining time；
The arrival time for reaching the stop line is calculated according to current driving speed and the distance；
Judge the type of the Current traffic signal condition, the type includes：Permit current, and no through traffic；
If the type is current to permit, judge its remaining time whether more than the arrival time；If so, then prompting keeps
The current driving speed；If it is not, then calculating the acceleration time needed for reaching the stop line；
Judge the acceleration time whether more than the remaining time；If so, then prompting is without accelerating；If it is not, then prompting accelerates
Traveling；
If the type is for no through traffic, judge its remaining time whether more than the arrival time；If so, then prompting need not
Accelerate；If it is not, then prompting keeps the current driving speed.
2. the speed bootstrap technique by traffic lights crossing according to claim 1, it is characterised in that also include：
Before the prompting is given it the gun, the velocity amplitude given it the gun according to kinematics formula is calculated.
3. the speed bootstrap technique by traffic lights crossing according to claim 2, it is characterised in that also include：
According to the current location judge the velocity amplitude whether more than residing for section speed limit；
If it is not, then pointing out to be given it the gun with the speed not less than the velocity amplitude and no more than described speed limit；If so, then pointing out
Without accelerating.
4. the speed bootstrap technique by traffic lights crossing according to claim 1, it is characterised in that also include：
When the traffic lights information of junction ahead is detected, detect whether have between the current location and the stop line
Obstacle vehicle；
If nothing, the distance between the stop line of current location and the junction ahead is obtained；
If so, then obtaining the information of vehicles of the obstacle vehicle, compared with the information of vehicles for prestoring according to this；
If comparison result is consistent, anti-collision alert status are switched to；If comparison result is inconsistent, obtain current location with it is described
Distance between the stop line of junction ahead.
5. the speed bootstrap technique by traffic lights crossing according to claim 1, it is characterised in that the traffic
Signal information is that the traffic lights are sent in the range of predeterminable range by the forms of broadcasting.
6. the speed bootstrap technique by traffic lights crossing according to claim 1, it is characterised in that the traffic
Signal information is transmitted by V2X or DSRC.
7. a kind of speed by traffic lights crossing guides system, it is characterised in that including：
Acquisition module, for when the traffic lights information of junction ahead is detected, obtaining current location and the front road
Distance between the stop line of mouth；Wherein, the traffic lights information includes：Current traffic signal condition and its remaining time；
Processing module, is used for：
The arrival time for reaching the stop line is calculated according to current driving speed and the distance；
Judge the type of the Current traffic signal condition, the type includes：Permit current, and no through traffic；
If the type is current to permit, judge its remaining time whether more than the arrival time；If so, then prompting keeps
The current driving speed；If it is not, then calculating the acceleration time needed for reaching the stop line；
Judge the acceleration time whether more than the remaining time；If so, then prompting is without accelerating；If it is not, then prompting accelerates
Traveling；
If the type is for no through traffic, judge its remaining time whether more than the arrival time；If so, then prompting need not
Accelerate；If it is not, then prompting keeps the current driving speed.
8. the speed by traffic lights crossing according to claim 7 guides system, it is characterised in that the treatment
Module is additionally operable to：Before the prompting is given it the gun, the velocity amplitude given it the gun according to kinematics formula is calculated.
9. the speed by traffic lights crossing according to claim 8 guides system, it is characterised in that the treatment
Module is additionally operable to：
According to the current location judge the velocity amplitude whether more than residing for section speed limit；
If it is not, then pointing out to be given it the gun with the speed not less than the velocity amplitude and no more than described speed limit；If so, then pointing out
Without accelerating.
10. the speed by traffic lights crossing according to claim 7 guides system, it is characterised in that the place
Reason module is additionally operable to：
When the traffic lights information of junction ahead is detected, detect whether have between the current location and the stop line
Obstacle vehicle；
If nothing, the distance between the stop line of current location and the junction ahead is obtained by the acquisition module；
If so, then obtaining the information of vehicles of the obstacle vehicle by the acquisition module, compared with the information of vehicles for prestoring；
If comparison result is consistent, anti-collision alert status are switched to；If comparison result is inconsistent, obtained by the acquisition module
Take the distance between the stop line of current location and the junction ahead.
11. speeds by traffic lights crossing according to claim 7 guide system, it is characterised in that the friendship
Ventilating signal lamp information is that the traffic lights are sent in the range of predeterminable range by the forms of broadcasting.
12. speeds by traffic lights crossing according to claim 7 guide system, it is characterised in that the friendship
Ventilating signal lamp information is transmitted by V2X or DSRC.
A kind of 13. car-mounted terminals, it is characterised in that including：As described in any in claim 7-12 by traffic lights
The speed guiding system at crossing.
A kind of 14. traffic lights, it is characterised in that including：Communication unit, in the range of predeterminable range by broadcasting shape
Formula sends traffic lights information, and the traffic lights information includes：Current traffic signal condition and its remaining time.
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