CN109191874A - Intersection-traffic control method and system - Google Patents
Intersection-traffic control method and system Download PDFInfo
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- CN109191874A CN109191874A CN201811330218.8A CN201811330218A CN109191874A CN 109191874 A CN109191874 A CN 109191874A CN 201811330218 A CN201811330218 A CN 201811330218A CN 109191874 A CN109191874 A CN 109191874A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
- G08G1/091—Traffic information broadcasting
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Abstract
A kind of intersection-traffic control method and system, including the positioning label being arranged on vehicle, signal lamp control system and at least three locating base station.The present invention can get high-precision vehicle location signal by positioning label and locating base station, which is combined to the intersection information prestored, and manager can effectively be helped to carry out the optimization of intersection signal timing.Especially, signal timing dial variation of the invention breaks through the constraint of Traditional Thinking, the specific current demand in each direction can be directed to, carry out the adaptive real-time optimization of dynamic traffic signals, optimization is really refine to each vehicle, farthest guarantee the unimpeded, orderly of traffic, eliminates the hysteresis effect that heritage should control.
Description
Technical field
The present invention relates to car networking field more particularly to a kind of intersection-traffic control method and systems.
Background technique
With the development of economy, car ownership increases sharply, and the road crowding phenomenon in city is on the rise.Especially upper
It comes off duty peak period, congestion is more serious.The target of this patent mainly solves current motor vehicle in road driving and road
Mouth waits in line the unreasonable problem of the traffic encountered when signal lamp.
Intersection signal lamp generallys use the traffic light control mode of set time at present.Vehicle and Signalized control
The channel not interacted between end, the driving mode of vehicle is completely by driver's rule of thumb control.This unilateral control
Mode has been unable to meet the demand of current road traffic.
Although have it is some research and propose time-division transfer mode, asked to alleviate road traffic congestion to a certain extent
Topic.But traffic condition complicated and changeable is faced, in practical application, this rule of thumb preset control mode.Reality is to alleviation
The effect that traffic congestion is played is limited.
Therefore, it is badly in need of a kind of control technology of crossing traffic at present, signal can be solved according to crossing traffic situation in time
The problem of lamp setting unreasonable, crossing congestion.
Summary of the invention
In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a kind of intersection control method and it is
System.It is different from traditional Vehicle Detection method, the present invention is based on car networking technologies, can be in complicated traffic environment to vehicle
Various information are collected, and can also efficiently be controlled according to the information of collection crossing traffic.
Firstly, proposing a kind of intersection-traffic control method for the efficiently current purpose for realizing intersection vehicle, walking
Suddenly include: the first step, obtain the location data of vehicle, according to the location data, compare the driveway partition information at the crossing,
Determine the passage direction of vehicle and the vehicle fleet size in each direction of passing through；Second step, the vehicle on the current direction
When quantity is 0, the signal lamp that the passage direction is arranged updates signal condition according to minimum green time；Otherwise, each passage is calculated
The down time of first car on direction, and when stopping according to the down time of first car sequence prior-release from long to short
Between longest current direction；Third step follows the steps below control to the vehicle that signal lamp on current direction is green light: meter
Whether calculate the vehicle can be with preset maximum speed by the crossing, if can be to send speed-raising signal to the vehicle；
Otherwise, reduce-speed sign is sent to the vehicle；Control is followed the steps below to the vehicle that current directional signal light is red light:
Can the vehicle be calculated during first green light after current red light by the crossing, if can be with, to described
Vehicle sends the signal for keeping driving status；Otherwise, reduce-speed sign is sent to the vehicle；4th step tracks the vehicle, sentences
Whether the break vehicle and the signal lamp runs according to above-mentioned control, if so, jumping to the first step；Otherwise, report is sent
Alert signal.
Optionally, intersection-traffic control method as described above, wherein in the first step, the positioning data of vehicles is by i
Locating base station is obtained by following steps, i >=3: step a1 receives the broadcast data packet of positioning label；The positioning label is set
It is placed on the vehicle, the broadcast data packet includes the message of the vehicle for identification；Step a2, with wherein 1 institute
Stating locating base station is master base station Mm, i >=m >=1 is to calculate separately the broadcast data from base station with locating base station described in remaining
It wraps to the M of each locating base station1~MiPropagation delay be respectively τd1~τdi；Step a3, according to the propagation delay τd1~
τdiThe broadcast data packet is calculated to master base station MmWith respectively from base station MiBetween propagation distance difference Δ dmi=(τdm-τdi) * c,
In, c indicates the speed that the broadcast data packet is propagated, τdmIndicate the broadcast data packet to master base station MmPropagation delay, τdi
Indicate the broadcast data packet extremely from base station MiPropagation delay；Step a4, according to each propagation distance difference Δ dm1~Δ dmi
Simultaneous Equations solve equation group, obtain the coordinate when broadcast data packet is propagated, i.e., the positioning number of the described vehicle
According to.
Optionally, intersection-traffic control method as described above further includes according on each current direction wherein in second step
Vehicle queue length determines the step of prior-release sequence: being the passage direction of red light to signal lamp, obtains the passage direction
Upper vehicle fleet size, judges whether the vehicle fleet size on the passage direction reaches preset threshold value, if reaching the preset threshold value,
Then prior-release passage direction；Otherwise, when stopping according to the sequence prior-release of the down time of first car from long to short
Between longest current direction.
Optionally, intersection-traffic control method as described above, wherein in second step, first car on each current direction
Down time is calculated by following steps and obtained: step 201, calculating the acquisition clearance direction green light bright time is t0；Step 202,
It calculates in same signal lamp cycle, the arrival time of first car is respectively t1, t2, t3 ... tn before remaining all directions stop line；
Step 203, the down time of each current direction first car is respectively Δ t1=t1-t0, Δ t2=t2-t0..., Δ tn=
tn-t0。
Optionally, intersection-traffic control method as described above, wherein in the third step, sent to the vehicle
Speed-raising signal includes: the signal for making the vehicle pass through the crossing with preset maximum speed；Subtract to what the vehicle was sent
Fast signal includes: the signal for making the vehicle parking.
Optionally, intersection-traffic control method as described above, wherein on the passage direction of the prior-release, signal lamp
It is arranged to following steps to jump: step 1, obtaining the queue length on the passage direction that crossing current preference is let pass
Meanwhile according to each crossing be averaged maximum queue length setting threshold valueStep 2, whenWhen, the signal lamp with line direction
Execute maximum green time tmax；Step 3, whenWhen, it is t that the signal lamp in the passage direction, which executes green time,s,
The present invention goes back while providing a kind of crossing traffic control system, comprising: signal lamp control system, it is described for controlling
Signal lamp on each current direction；Further include: positioning label, i locating base station, i >=3；The positioning label, is set to vehicle
On, for the preset period, to each locating base station broadcast data packet, the broadcast data packet to include institute for identification
State the message of vehicle；Each locating base station, for receiving the broadcast data packet of the positioning label, according to the broadcast data
The location data of vehicle, uploads the location data to the signal lamp control system where packet calculates the positioning label；It is described
Signal lamp control system is arranged to perform above-mentioned intersection-traffic control method.
Optionally, crossing traffic control system as described above, wherein the positioning label further includes having acceleration sensing
Device, the acceleration transducer are used to incude the acceleration of the vehicle；The positioning label is broadcasted to each locating base station
The period of data packet shortens with the increase of the acceleration.
Optionally, crossing traffic control system as described above, wherein the positioning label include RF power amplification and
Low frequency induction unit；The locating base station includes low frequency signal transmission unit and UWB communication unit；The low frequency signal hair
Unit is sent to interact with the low frequency induction unit, to carry out zone location to the positioning label；The UWB communication unit and institute
RF power amplification communication is stated, and is connect with the signal lamp control system, the UWB communication unit is used for and the Signalized control
System interaction, and forward to the RF power amplification control signal of the signal lamp control system.
Beneficial effect
It is different from traditional Vehicle Detection method, the present invention is based on car networking technologies, can be in complicated traffic environment
The various information of vehicle are collected, and crossing traffic can also efficiently be controlled according to the information of collection.
In particular, the present invention establishes a kind of high-precision positioner based on car networking and the control of the crossing based on the device
System.Locating base station used in this system can be realized the high accuracy positioning of vehicle, and positioning accuracy error is within 0-10cm.Letter
Ship's light control system can automatically combine positioning result with intersection traffic situation, reduce artificial statistics bring and miss
Difference, and comprehensive regulation can be carried out according to crossing traffic situation in real time, improve the traffic efficiency of intersection.
Crossing traffic control system provided by the present invention can be by integrated UWB communication unit, with Ethernet, ultra wide band
Mode realize with signal lamp control system and with positioning label interaction, to obtain the vehicle characteristics of target vehicle, row
Status information is sailed, realizes the quick and precisely matching of vehicle and road information.In this way, being provided with for the adjustment of speed, vehicle lane-changing
The data of power are supported.The present invention can also further ensure that traffic signal timing is modified and to vehicle by the tracking to vehicle in real time
Control signal accuracy.Sufficient foundation is provided for the optimization of intersection timing, significantly improves the traffic capacity of intersection.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, and with it is of the invention
Embodiment together, is used to explain the present invention, and is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of intersection-traffic control method according to the present invention；
Fig. 2 is the block diagram of crossing traffic control system according to the present invention；
Fig. 3 is the schematic illustration of locating base station of the present invention positioning；
Fig. 4 is current directional signal light when being green light to the control schematic diagram of vehicle；
Fig. 5 is current directional signal light when being red light to the control schematic diagram of vehicle；
Fig. 6 is the schematic diagram that crossing priority passing sequence is adjusted in the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 2 is the block diagram of crossing traffic control system according to the present invention, including signal lamp control system, is arranged in vehicle
On positioning label, can correspond in Fig. 2 shown in the small frame of white and at least three locating base station.
Therein to be set to base station, hardware mainly includes following sections:
Base station bottom plate: each functional module is in communication with each other, the bridge joint substrate mutually controlled；
Power unit: the 3.3-12V that entire base station system needs is provided.Input can be direct current 12-48V, be also possible to
POE supply input；
UWB core board module: three parts are realized comprising processor, Ethernet control, UWB ultra wide band, as entire system
The logic control of system, ethernet communication are realized, ultra wide band positions and UWB communication unit；
WIFI routes plate: providing the realization of wireless communication connection；
Low frequency signal transmission unit, including low frequency induction transmission board: providing the function of low frequency induction transmitting base station；
Imput output circuit: external input/output function is provided；
Operating system in the locating base station is controlled according to following process:
Step 1: electrification reset；
The calling of Step 2:bootloader starting and kernel program；
Step 3: system initialization, including memory management module, ticking clock, parameter list, Ethernet, SPI, UWB mould
Block, hardware random number generation module, real-time clock module, low frequency induction sending module, SD card module etc.；
Step 4: being arranged according to parameter list, regularly sends and receive base station calibration data；
Step 5: the tag location broadcast bag data received is handled in real time；
Step 6: it uploads in real time and sends calibration data, receives calibration data, tag location broadcast bag data；
Step 7: real-time processing server sends order, including reception, processing and response；
Step 8: other logic modules in whole-process control system operation, including SD card module, low frequency induction are sent
Module etc..
In above system, each positioning label being arranged on vehicle may include following hardware:
Power unit: 3.3V and 5V that circuit board needs are provided, the control and protection of battery charging is provided；
CPU part: the control of the logical AND function of whole system is provided；
The part UWB: all controls that ultra wide band is positioned at super broad band radio communication are provided；
Acceleration sensing: power managed and positioning logic Added Management are provided；
Low frequency induction part: zone location function is provided；
RF power amplification: improving UWB RF signal power, increases communication distance.
The software of above-mentioned positioning label operates as follows:
Step 1: electrification reset；
The calling of Step 2:bootloader starting and kernel program；
Step 3: interrupt vector table offset setting；
Step 4: system initialization, including it is ticking clock, house dog, parameter list, SPI, low frequency induction receiving module, fixed
When device, acceleration transducer, UWB module, electric power detection module, power managed module etc.；
Step 5: regularly sending for broadcast data is carried out according to the setting of parameter list；
Step 6: the various orders received, including command analysis, processing and response are handled；
Step 7: power managed is carried out according to the state of the setting of parameter list and acceleration transducer.
Above-mentioned system obtains the location data of vehicle, according to institute by the interaction between positioning label and locating base station
Location data is stated, the driveway partition information at the crossing is compareed, determines the passage direction and each direction of passing through of vehicle
Vehicle fleet size.Then crossing traffic is controlled in real time according to mode shown in FIG. 1 by the signal lamp control system in system
System:
The direction of prior-release is determined according to the vehicle fleet size on current direction, down time first and controls signal lamp
State: when the vehicle fleet size on the current direction is 0, the signal lamp in the passage direction is set according to minimum green time more
New signal state；Otherwise, calculate the down time of first car on each current direction, and according to the down time of first car by
It grows to short sequence prior-release down time longest current direction；
Then, the case where vehicle passes through crossing is calculated, sends corresponding control signal to vehicle.It is right for example, referring to Fig. 4
Signal lamp is that the vehicle of green light follows the steps below control on current direction: calculate the vehicle whether can with it is preset most
Big speed is by the crossing, if can be to send speed-raising signal to the vehicle, control vehicle accelerates to section speed limit Vmax
Pass through as early as possible；Otherwise, reduce-speed sign is sent to the vehicle.Referring to Fig. 5, the vehicle that current directional signal light is red light can be pressed
Controlled according to following steps: can calculate the vehicle pass through the road during first green light after current red light
Mouthful, if can be to send the signal for keeping driving status to the vehicle；Otherwise, reduce-speed sign, control are sent to the vehicle
Vehicle deceleration makes it pass through intersection during second green light after the red light terminates to Vi；
The lasting tracking vehicle, judges whether the vehicle and the signal lamp run according to above-mentioned control, if
It is then to jump to the first step；Otherwise, alarm signal is sent.So until changing speed control strategy or integrative design intersection
The demand etc. of real-time adaptive variation strategy is completed, and stops the tracking to the vehicle for completing control strategy at this time.
In an implementation mode, the positioning to vehicle can be carried out by mode shown in Fig. 3:
Step 1: 3 locating base stations A, B, C are installed in localization region, 1 positioning label W is installed on vehicle.
Step 2: it after positioning device electrifying startup, establishes and communicates with shovel material control system server.It was positioned every 1 second
Current breath data can be reached the server by UDP transmission mode automatically by base station.
Step 3: for server according to the data received, selection base station A is master base station, other 2 base stations be from base station,
It is respectively τ that estimation outgoing label, which is transmitted a signal to up to two B and C base sites propagation delays,d1, τd2, then label and the two base sites
Between range difference Δ d12=(τd1-τd2)*c。
Step 4: it is respectively τ that estimation outgoing label, which is transmitted a signal to up to two B and C base sites propagation delays,d1, τd3, then mark
Range difference Δ d between label and the two base sites13=(τd1-τd3)*c。
Step 5: according to two equations of Step3 and Step4, the position of vehicle W is calculated, that is, realizes the positioning of vehicle.
Spacing since in intersection, vehicle class is various, and between vehicle is closer, conventional truck positioning and message tube
The work of reason system will expend a large amount of manpower and time, and be easy to appear mistake.And positioning method of the present invention
The high-precision positioner based on car networking can be established, positioning accuracy reaches 0-10cm.
The satisfy the need control of oral sex messenger of this hair can be showed by mode shown in fig. 6.This real-time adaptive clearance machine
System.Passing vehicle can be wanted to determine current clearance duration and transfer sequence by rather than depending on unduly by be in current crossing
The traffic flow conditions of previous cycle.Meanwhile determining that the mode of clearance sequence is also more flexible according to the quantity of all directions vehicle,
No longer it is fixed and invariable.The difficult point of the configuration and the maintenance that need periodically to do system operating scheme for conventional traffic system, this
Using a variety of real-time adaptive control strategies based on traffic flow distribution safety regulation, can substantially reduce system on human is system
The dependence of correction makes system become more stable, more intelligent, more reliable:
For example, the default operating scheme that traditional crossing is singly put is: North-south-Xi-east, still, when queuing happens variation
When, system can match new clearance scheme in time, so that total vehicle delay is minimum, i.e., scheme updates are as follows: north-Xi-Dong-south is (such as
Shown on the right side of Fig. 6).When a direction is without vehicle queue, then it will use progress in minimum green time (5 seconds or so) excessively, from
And other directions is made to obtain more transit times.
All lanes are numbered, set ψ is taken, judge the down time of first parking vehicle in each lane, and
It is arranged in order.It chooses first car down time longest lane to let pass, if having the queuing in lane during clearance
Reach threshold value, then prior-release reaches the lane of threshold value, the vehicle in emptying intersection.
The advantages of technical solution of the present invention, is mainly reflected in:
This system can be obtained by the cooperation of locating base station and positioning label by high-precision traffic behavior analysis system
Vehicle data information, with this effective optimization for helping manager to carry out intersection signal timing.In particular, signal of the invention is matched
Shi Bianhua breaks through the constraint of Traditional Thinking, can be directed to the specific current demand in each direction, it is adaptive to carry out dynamic traffic signals
Real-time optimization is answered, optimization is really refine to each vehicle, farthest guarantees the unimpeded, orderly of traffic, eliminates biography
The hysteresis effect that togetherness should control.
Those of ordinary skill in the art will appreciate that: the foregoing is only a preferred embodiment of the present invention, and does not have to
In the limitation present invention, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art
For, still can to foregoing embodiments record technical solution modify, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of intersection-traffic control method, which is characterized in that step includes:
The first step obtains the location data of vehicle, according to the location data, compares the driveway partition information at the crossing, really
Determine the passage direction of vehicle and the vehicle fleet size in each direction of passing through；
The signal lamp in the passage direction is arranged according to minimum green light when the vehicle fleet size on the current direction is 0 in second step
Time updates signal condition；Otherwise, the down time of first car on each current direction is calculated, and according to the parking of first car
The sequence prior-release down time longest current direction of time from long to short；
Third step, follow the steps below control to the vehicle that signal lamp on current direction is green light: calculating the vehicle is
It is no to pass through the crossing with preset maximum speed, if can be to send speed-raising signal to the vehicle；Otherwise, to described
Vehicle sends reduce-speed sign；
Control is followed the steps below to the vehicle that current directional signal light is red light:
Calculate the vehicle can during first green light after current red light by the crossing, if can be with, to
The vehicle sends the signal for keeping driving status；Otherwise, reduce-speed sign is sent to the vehicle；
4th step tracks the vehicle, judges whether the vehicle and the signal lamp run according to above-mentioned control, if so,
Then jump to the first step；Otherwise, alarm signal is sent.
2. intersection-traffic control method as described in claim 1, which is characterized in that in the first step, the positioning data of vehicles
It is obtained by i locating base station by following steps, i >=3:
Step a1 receives the broadcast data packet of positioning label；The positioning label is set on the vehicle, the broadcast data
Packet includes the message of the vehicle for identification；
Step a2, using wherein 1 locating base station as master base station Mm, i >=m >=1, with locating base station described in remaining be from base station,
Calculate separately the M of the broadcast data packet to each locating base station1~MiPropagation delay be respectively τd1~τdi；
Step a3, according to the propagation delay τd1~τdiThe broadcast data packet is calculated to master base station MmWith respectively from base station MiBetween
Propagation distance difference Δ dmi=(τdm-τdi) * c, wherein c indicates the speed that the broadcast data packet is propagated, τdmIndicate described wide
Unicast packets are to master base station MmPropagation delay, τdiIndicate the broadcast data packet extremely from base station MiPropagation delay；
Step a4, according to each propagation distance difference Δ dm1~Δ dmiSimultaneous Equations solve equation group, obtain described wide
Coordinate when unicast packets are propagated, i.e., the location data of the described vehicle.
3. intersection-traffic control method as described in claim 1, which is characterized in that further include according to each in the second step
The step of vehicle queue length determines prior-release sequence on current direction:
It is the passage direction of red light to signal lamp, obtains the upper vehicle fleet size in the passage direction, judge the vehicle on the passage direction
Whether quantity reaches preset threshold value, if reaching the preset threshold value, the prior-release passage direction；Otherwise, according to
The sequence prior-release down time longest current direction of the down time of first car from long to short.
4. intersection-traffic control method as claimed in claim 3, which is characterized in that in the second step, on each current direction
The down time of first car is calculated by following steps and is obtained:
Step 201, it calculates and obtains the clearance direction green light bright time as t0
Step 202, calculate in same signal lamp cycle, before remaining all directions stop line the arrival time of first car be respectively
T1, t2, t3 ... tn；
Step 203, the down time of each current direction first car is respectively Δ t1=t1-t0, Δ t2=t2-t0..., Δ
tn=tn-t0。
5. intersection-traffic control method as described in claim 1, which is characterized in that in the third step, sent out to the vehicle
The speed-raising signal sent includes: the signal for making the vehicle pass through the crossing with preset maximum speed；
The reduce-speed sign sent to the vehicle includes: the signal for making the vehicle parking.
6. the intersection-traffic control method as described in claim 1 to 6, which is characterized in that the passage direction of the prior-release
On, signal lamp is arranged to following steps and jumps:
Step 1, the queue length on the passage direction that crossing current preference is let pass is obtainedMeanwhile it is average most according to each crossing
Threshold value is arranged in big queue length
Step 2, whenWhen, which executes maximum green time tmax；
Step 3, whenWhen, it is t that the signal lamp in the passage direction, which executes green time,s,。
7. a kind of crossing traffic control system, comprising: signal lamp control system, for controlling the signal on each current direction
Lamp；
It is characterized by further comprising: positioning label, i locating base station, i >=3；
The positioning label, is set on vehicle, is used for the preset period to each locating base station broadcast data packet, described
Broadcast data packet includes the message of the vehicle for identification；
Each locating base station, for receiving the broadcast data packet of the positioning label, being calculated according to the broadcast data packet should
The location data of vehicle, uploads the location data to the signal lamp control system where positioning label；
The signal lamp control system is arranged to perform any intersection-traffic control method of claim 1 to 7.
8. crossing traffic control system as claimed in claim 7, which is characterized in that the positioning label further includes having acceleration
Sensor, the acceleration transducer are used to incude the acceleration of the vehicle；
The positioning label shortened with the increase of the acceleration to the period of each locating base station broadcast data packet.
9. crossing traffic control system as claimed in claim 7 or 8, which is characterized in that the positioning label includes radio frequency
Power amplifier and low frequency induction unit；
The locating base station includes low frequency signal transmission unit and UWB communication unit；
The low frequency signal transmission unit is interacted with the low frequency induction unit, to carry out zone location to the positioning label；
The UWB communication unit and the RF power amplification communicate, and connect with the signal lamp control system, the UWB communication
Unit forwards the control of the signal lamp control system to the RF power amplification for interacting with the signal lamp control system
Signal.
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| CN112419752A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Control method and device for intersection traffic signals |
| CN113110169A (en) * | 2021-04-14 | 2021-07-13 | 合肥工业大学 | Vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicle |
| CN113689714A (en) * | 2020-05-19 | 2021-11-23 | 大唐移动通信设备有限公司 | Traffic control method and device and traffic control system |
| CN117789494A (en) * | 2024-02-26 | 2024-03-29 | 长春师范大学 | Data interaction method and system based on Internet of vehicles |
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| CN106710271A (en) * | 2016-12-28 | 2017-05-24 | 深圳市赛格导航科技股份有限公司 | Automobile driving assistance method and device |
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