CN111145566B - Intelligent traffic light system and control method - Google Patents
Intelligent traffic light system and control method Download PDFInfo
- Publication number
- CN111145566B CN111145566B CN201911320667.9A CN201911320667A CN111145566B CN 111145566 B CN111145566 B CN 111145566B CN 201911320667 A CN201911320667 A CN 201911320667A CN 111145566 B CN111145566 B CN 111145566B
- Authority
- CN
- China
- Prior art keywords
- traffic light
- radar
- control module
- road
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
Abstract
The invention discloses an intelligent traffic light system, which comprises a radio frequency transceiver module, a signal preprocessing module, an MCU (microprogrammed control unit) main control module and a traffic signal light control module; the radio frequency transceiving module is used for detecting vehicles at the intersection, specifically, transmitting radio frequency signals, receiving echo signals, and generating intermediate frequency signals after passing through the frequency mixer; the signal preprocessing module is used for preprocessing the intermediate frequency signals, converting the intermediate frequency signals into digital signals and sending the digital signals to the MCU main control module, the receiving antenna receives echo signals, the echo signals are subjected to signal preprocessing by the signal preprocessing module and then sent to the MCU main control module to solve distance, speed and angle information of a target and judge congestion conditions on a lane in the direction, and then the duration and switching sequence of traffic lights are automatically adjusted according to the congestion conditions.
Description
Technical Field
The invention belongs to the technical field of radar near-field detection, and particularly relates to an intelligent traffic light system and a control method.
Technical Field
With the development of economy, the rhythm of the society is faster and faster, people are also less and less willing to spend time on boring waiting, wherein the waiting of traffic lights is particularly prominent. However, in real life, it is often the case that a vehicle in a certain lane runs out, but since the traffic lights are switched according to a fixed time, the vehicle and the pedestrian in the opposite lane still need to wait for a period of time to pass through the intersection, and time is wasted. Therefore, the traffic signal lamp capable of intelligently adjusting the switching frequency and the holding time of the traffic lights according to the traffic jam condition is significant.
At present, almost all traffic lights in the country adopt a scheme of fixing switching time, the functions of intelligently adjusting switching frequency and keeping time length are not available, and the time lengths of two direction lane signal lights can be preset for partial traffic lights in developed regions to be different, but the time length is preset and fixed and cannot be automatically adjusted according to actual conditions.
Disclosure of Invention
The invention aims to provide an intelligent traffic light system and a control method.
The technical solution for realizing the purpose of the invention is as follows: an intelligent traffic light system comprises a radio frequency transceiving module, a signal preprocessing module, an MCU (microprogrammed control unit) main control module and a traffic light control module;
the radio frequency transceiving module is used for detecting vehicles at the intersection, specifically, transmitting radio frequency signals, receiving echo signals, and generating intermediate frequency signals after passing through the frequency mixer;
the signal preprocessing module is used for preprocessing the intermediate frequency signal, converting the intermediate frequency signal into a digital signal and sending the digital signal to the MCU main control module;
the MCU main control module is used for processing the received digital signals, resolving distance, speed and angle information of vehicles on the road surface, further judging the vehicle congestion degree of the road, and sending a control instruction to the traffic signal lamp control module according to the congestion degree;
and the traffic signal lamp control module is used for controlling the traffic signal lamp according to the instruction of the MCU main control module.
An intelligent traffic light control method comprises the following steps:
preliminarily judging the road congestion condition, and controlling the radar elevation according to the preliminary judgment result;
and judging the angle of the radar elevation angle, judging congestion if the angle reaches a set threshold value, and controlling the signal lamp.
Compared with the prior art, the invention has the following remarkable advantages: 1) the traffic light control method can intelligently control the signal light according to the congestion degree of the road, greatly reduces the congestion of the road, improves the driving experience of drivers and improves the comfort degree of the city; 2) the intelligent traffic light system has a simple structure, is convenient to implement and can be popularized in a large scale; 3) the system can adjust the switching frequency and the duration of the traffic lights in real time according to the actual condition of the road, effectively reduce the waiting time of vehicles at the crossroad, relieve traffic pressure to a certain extent and reduce the possibility of traffic jam.
Drawings
FIG. 1 is a block diagram of an intelligent traffic light system of the present invention.
Fig. 2 is a schematic diagram of a radar installation position and an initial detection range.
Fig. 3 is a diagram illustrating the detection range at an elevation angle of 58 °.
Fig. 4 is a schematic diagram of point cloud information of a radar detection lane.
Fig. 5 is a schematic view of linkage of multi-intersection traffic signal lamps.
Detailed Description
With reference to fig. 1, the intelligent traffic light system of the present invention includes a radio frequency transceiver module, a signal preprocessing module, an MCU main control module, and a traffic light control module;
the radio frequency transceiving module is used for detecting vehicles at the intersection, specifically, transmitting radio frequency signals, receiving echo signals, and generating intermediate frequency signals after passing through the frequency mixer;
the signal preprocessing module is used for preprocessing the intermediate frequency signal, converting the intermediate frequency signal into a digital signal and sending the digital signal to the MCU main control module;
the MCU main control module is used for processing the received digital signals, resolving distance, speed and angle information of vehicles on the road surface, further judging the vehicle congestion degree of the road, and sending a control instruction to the traffic signal lamp control module according to the congestion degree;
and the traffic signal lamp control module is used for controlling the traffic signal lamp according to the instruction of the MCU main control module.
The radio frequency transceiver module adopts a 77GHz millimeter wave radar which is arranged on the back of the traffic signal lamp, and the elevation angle of the radar is mechanically adjustable.
The system also comprises an elevation control module which works under the control of the MCU main control module and is used for controlling the elevation of the 77GHz millimeter wave radar.
The initial placement angle of the radar is 30 deg. from the vertical.
The principle that the MCU master control module judges the vehicle congestion degree of the road is as follows:
1) the number of the signal frequencies is consistent with the number of vehicles on the road, and if the number of the signal frequencies exceeds a congestion threshold value, the road congestion is judged;
2) the speed of the vehicle moving is related to the congestion degree, and the speed is lower than a set threshold value, so that the vehicle is judged to be congested.
And after judging that the current road is congested, the MCU master control module sends a control instruction to the elevation control module for elevating the radar elevation.
An intelligent traffic light control method comprises the following steps:
preliminarily judging the road congestion condition, and controlling the radar elevation according to the preliminary judgment result; the specific judgment principle is as follows:
1) the number of the signal frequencies is consistent with the number of vehicles on the road, and if the number of the signal frequencies exceeds a congestion threshold value, the road congestion is judged;
2) the speed of the vehicle moving is related to the congestion degree, and the speed is lower than a set threshold value, so that the vehicle is judged to be congested.
And judging the angle of the radar elevation angle, judging congestion if the angle reaches a set threshold value, and controlling the signal lamp.
Wherein, according to the radar elevation of preliminary judgement result control, specifically do: and when the road judgment result is the congestion state, raising the radar elevation.
The control of the signal lamp specifically comprises the following steps: and changing the traffic signal lamp of the radar monitoring road into a green lamp.
The threshold value can be set on site according to actual conditions.
As described in more detail below:
a high-efficiency intelligent traffic light system detects road conditions by adopting a 77GHZ millimeter wave radar, when no vehicle exists on the road, only a ground reflection echo signal is reflected, the radar detects the ground, the ground can be considered as flat (stones on the ground are omitted), then according to the principle of a Linear Frequency Modulation Continuous Wave (LFMCW) radar, the radar echo signal only comprises a single frequency component, and the target distance detected by the radar is a fixed value; and when there is the vehicle on the road, an echo signal can be reflected on ground, an echo signal also can be reflected to the vehicle, the echo signal that the radar was received will contain a plurality of frequency components, corresponding intermediate frequency signal also has a plurality of frequency components, and the radar can detect a plurality of targets on ground and vehicle. Therefore, the number of vehicles on the road can be judged according to the number of the targets detected by the radar, and the information of the road condition can be obtained according to the number of the vehicles.
Further, speed factors can be considered when the road condition information is judged, and if the vehicles have higher speed, even if a plurality of vehicles are detected on the road, the road can be judged to be not congested; when the vehicle speed is low or the vehicle stops, the congestion situation is very likely to occur.
Furthermore, the initial placement angle of the radar is 30 degrees from the vertical direction, the included angle is downward, the view field of the radar is limited due to the restriction of the detection pitch angle of the radar, and when the radar detects a certain number of targets (vehicles) in the current view field, the elevation angle of the radar is properly raised through a mechanical mode, so that the radar can detect the far road condition, and more comprehensive road condition information can be obtained.
Furthermore, the intelligent traffic light system provided by the invention can realize linkage of a plurality of intersections, and can change the traffic light state of a nearby traffic light intersection when a lane of a certain intersection is particularly congested, so as to realize vehicle shunting.
The road congestion condition can be judged by adopting the following method:
when no vehicle exists on the road, the detected target distances should be the same or have small difference, and the intermediate frequency signal should present a single frequency value;
when vehicles exist on the road, the detected targets should present different distances, the intermediate frequency signal comprises a plurality of frequency values, and the more frequency values, the more vehicles are contained, and the more the road is congested;
judging the degree of road congestion, and judging by combining speed information, wherein if the target detected in the radar vision range is moving and the moving speed is higher, the lane is smooth and no traffic jam occurs; if the detected moving speed of the target is very small, even 0, the traffic lane has a high probability of being jammed, and at the moment, the state of the traffic light should be switched to shunt the vehicles in the traffic lane.
If the number of vehicles in the current radar detection range reaches a certain value, the fact that the vehicles are full in the current radar field of view can be judged, and at the moment, the elevation detection angle should be increased (the elevation angle is increased in a mechanical mode), and the condition of a far road surface is detected;
the radar elevation angle is adjustable mechanically, the radar is installed on the elevation angle control module, the main body of the elevation angle control module is a steering engine, and when the fact that the number of vehicles in the current field of view of the radar reaches a certain value is detected, the MCU controls the duty ratio of the output PWM waves to adjust the angle of the steering engine, and therefore the purpose of adjusting the radar elevation angle is achieved.
When the radar elevation is raised to a certain degree, the traffic signal lamp is proved to have a plurality of vehicles within a certain distance range, the possibility of traffic jam exists at the moment, the traffic signal lamp in the direction can be changed into a green lamp in an attempt, vehicles can be timely evacuated, and the traffic jam condition is avoided.
The time and sequence of traffic lights are automatically adjusted according to the congestion condition, which should include the following situations:
if the lanes in the east-west direction are relatively congested and the lanes in the north-south direction have fewer vehicles, the green light time of the lanes in the east-west direction can be prolonged or the traffic light states of the two lanes can be switched (when the lanes in the east-west direction are red lights);
when the number of vehicles in lanes in the east-west direction and the south-north direction is less, the frequency of switching the traffic lights can be properly increased so as to ensure that the vehicles which come from time to time do not wait too long;
when lanes in the east-west direction and lanes in the south-north direction are congested, the switching frequency and duration of traffic lights are intelligently adjusted according to the congestion degree of each direction, and meanwhile, traffic lights at peripheral intersections can be linked to realize shunting of vehicles and avoid deterioration of traffic jam conditions.
The present invention will be described in further detail with reference to examples.
Example 1
The invention provides an intelligent traffic light system, wherein a 77Ghz frequency modulation continuous wave radar is arranged on the back of a traffic light to detect the road condition of a lane, the radar is supposed to be arranged at a height of 10 meters and at an elevation angle of 20 degrees, the installation direction is 30 degrees from the vertical direction, the direction is downward, the lane is a bidirectional four-lane, the field of view of the radar is 5.77 meters to 11.92 meters under the traffic light, as shown in figure 2, the vehicle length is 2.5 meters to 3.5 meters, at the moment, about 8 vehicles can be arranged in the field of view of the radar, and when the radar detects 5 to 6 targets (vehicles) in the range, the elevation angle of the radar is raised to detect the road condition at a distance.
When the elevation angle of the radar reaches 58 degrees, the detection distance of the radar is close to 50 meters, as shown in fig. 3, it is indicated that there are many vehicles within the range of 50 meters of the traffic light, that is, the traffic jam length reaches or is close to 50 meters, and at this time, the traffic signal light of the lane in the direction can be changed into green light to let the vehicles in the direction pass.
In the embodiment 1, the number of vehicles in the detection visual field of the radar is judged to judge whether the elevation angle needs to be raised or not and the degree of congestion of the road.
Example 2
As shown in fig. 4, the point represents a point cloud signal detected by a radar, a target (vehicle) can be considered at a position where a large amount of point clouds are gathered, when the point cloud gathering position occupies a position where the radar has a view field of about 2/3, it is considered that there are more vehicles in the view field, the elevation angle of the radar needs to be raised, when the radar elevation angle is raised to a certain angle, it is considered that a traffic jam occurs on the road, the state of a traffic signal lamp should be adjusted at this time, and if the traffic jam is serious, the multiple intersection signal lamps need to be linked to realize the shunting of the vehicle. The angle can be set according to the field situation.
Example 3
As shown in fig. 5, when the radar at the intersection B detects that the road i is heavily congested, the radar informs the intersection E of the situation, and the traffic signal lamp at the intersection E can make the straight signal lamp of the road ii turn red, and simultaneously, the duration of the left-turn green lamp and the right-turn green lamp of the intersection ii is properly increased, so that the straight vehicles on the road ii can be shunted to the intersection D and the intersection F. And the driver can be informed of the occurrence of congestion on the road in front of the driver through an LCD screen at the intersection E, and the driver can detour from the left and right side lanes.
Claims (7)
1. An intelligent traffic light control method of an intelligent traffic light system, comprising the steps of:
preliminarily judging the road congestion condition, and controlling the radar elevation according to the preliminary judgment result; the specific judgment principle is as follows:
1) the number of the signal frequencies is consistent with the number of vehicles on the road, and if the number of the signal frequencies exceeds a congestion threshold value, the road congestion is judged;
2) the speed of the vehicle moving is related to the congestion degree, the speed is lower than a set threshold value, and the vehicle is judged to be congested;
controlling the elevation angle of the radar according to the preliminary judgment result, which specifically comprises the following steps:
when the road judgment result is in a congestion state, raising the radar elevation;
judging the angle of the radar elevation, judging congestion if the angle reaches a set threshold value, and controlling a signal lamp;
the intelligent traffic light system comprises a radio frequency transceiving module, a signal preprocessing module, an MCU (microprogrammed control unit) main control module and a traffic light control module;
the radio frequency transceiving module is used for detecting vehicles at the intersection, specifically, transmitting radio frequency signals, receiving echo signals, and generating intermediate frequency signals after passing through the frequency mixer;
the signal preprocessing module is used for preprocessing the intermediate frequency signal, converting the intermediate frequency signal into a digital signal and sending the digital signal to the MCU main control module;
the MCU main control module is used for processing the received digital signals, resolving distance, speed and angle information of vehicles on the road surface, further judging the vehicle congestion degree of the road, and sending a control instruction to the traffic signal lamp control module according to the congestion degree;
and the traffic signal lamp control module is used for controlling the traffic signal lamp according to the instruction of the MCU main control module.
2. The intelligent traffic light control method of intelligent traffic light system of claim 1, wherein the rf transceiver module employs a 77GHz millimeter wave radar, the radar is disposed on the back side of the traffic light, and the elevation angle of the radar is mechanically adjustable.
3. The intelligent traffic light control method for intelligent traffic light systems of claim 2, further comprising an elevation control module operating under the control of the MCU master control module for controlling the elevation of the 77GHz millimeter wave radar.
4. The intelligent traffic light control method of intelligent traffic light system of claim 2, wherein the initial placement angle of the radar is 30 ° from vertical with respect to the probing direction.
5. The intelligent traffic light control method of intelligent traffic light system as claimed in claim 1, wherein the principle that the MCU master control module determines the degree of vehicle congestion on the road is as follows:
1) the number of the signal frequencies is consistent with the number of vehicles on the road, and if the number of the signal frequencies exceeds a congestion threshold value, the road congestion is judged;
2) the speed of the vehicle moving is related to the congestion degree, and the speed is lower than a set threshold value, so that the vehicle is judged to be congested.
6. The intelligent traffic light control method of an intelligent traffic light system as claimed in claim 3, wherein the MCU master control module sends a control command to the elevation control module for elevating the radar elevation after determining the current road congestion.
7. The intelligent traffic light control method of an intelligent traffic light system as claimed in claim 1, wherein the controlling of the signal lights is specifically:
and changing the traffic signal lamp of the radar monitoring road into a green lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320667.9A CN111145566B (en) | 2019-12-19 | 2019-12-19 | Intelligent traffic light system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320667.9A CN111145566B (en) | 2019-12-19 | 2019-12-19 | Intelligent traffic light system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111145566A CN111145566A (en) | 2020-05-12 |
| CN111145566B true CN111145566B (en) | 2022-04-01 |
Family
ID=70518987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911320667.9A Active CN111145566B (en) | 2019-12-19 | 2019-12-19 | Intelligent traffic light system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111145566B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147611A (en) * | 2020-08-18 | 2020-12-29 | 河北省交通规划设计院 | Long-distance traffic radar based on 77GHz millimeter wave radar |
| CN114120647B (en) * | 2021-11-26 | 2023-01-24 | 阿波罗智联(北京)科技有限公司 | Traffic data processing method, traffic data processing device, electronic equipment and medium |
| CN115171407A (en) * | 2022-07-04 | 2022-10-11 | 常州和宜特复合材料科技有限公司 | Low-carbon environment-friendly intelligent signal lamp management system |
| CN117116063B (en) * | 2023-10-23 | 2024-02-13 | 深圳英飞拓科技股份有限公司 | Method for detecting and adjusting traffic jam |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208186A (en) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | Method and device for scanning vehicles in three-dimensional mode through laser |
| CN105319546A (en) * | 2015-04-02 | 2016-02-10 | 沈阳天择智能交通工程有限公司 | Multi-target radar and adopted digital signal processing method thereof |
| CN206893098U (en) * | 2017-04-19 | 2018-01-16 | 合肥工业大学 | A kind of movable type can Self Adaptive Control traffic signal light device |
| CN107895495A (en) * | 2017-12-19 | 2018-04-10 | 安徽省徽腾智能交通科技有限公司 | A kind of wisdom traffic guiding device |
| CN110097766A (en) * | 2019-06-03 | 2019-08-06 | 南昌金科交通科技股份有限公司 | It is a kind of to utilize three-dimensional radar inspection optimization traffic control system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4484892B2 (en) * | 2007-03-14 | 2010-06-16 | 三菱電機株式会社 | Automotive radar equipment |
| DE102011079522A1 (en) * | 2011-07-21 | 2013-01-24 | Robert Bosch Gmbh | DETECTION OF DEPRECIATION OF A RADAR SENSOR OF A VEHICLE |
| JP5741310B2 (en) * | 2011-08-10 | 2015-07-01 | 富士通株式会社 | Train length measuring device, train length measuring method, and train length measuring computer program |
| DE102012112754A1 (en) * | 2012-12-20 | 2014-06-26 | Jenoptik Robot Gmbh | Method and arrangement for detecting traffic violations in a traffic light area by tail measurement with a radar device |
| CN103985255B (en) * | 2014-06-10 | 2016-08-24 | 北京易华录信息技术股份有限公司 | Radar tracking technology is utilized precisely to judge the system and method for runway exception parking |
| CN104008648B (en) * | 2014-06-16 | 2016-04-27 | 北京易华录信息技术股份有限公司 | A kind of block up initiation point monitoring system and method based on radar tracking technology |
| KR101816793B1 (en) * | 2016-06-24 | 2018-01-10 | (주)고려진공안전 | smart traffic control system |
| CN109541571B (en) * | 2018-12-29 | 2021-05-07 | 北京智行者科技有限公司 | EPS zero-offset and multi-line laser radar combined calibration method |
-
2019
- 2019-12-19 CN CN201911320667.9A patent/CN111145566B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208186A (en) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | Method and device for scanning vehicles in three-dimensional mode through laser |
| CN105319546A (en) * | 2015-04-02 | 2016-02-10 | 沈阳天择智能交通工程有限公司 | Multi-target radar and adopted digital signal processing method thereof |
| CN206893098U (en) * | 2017-04-19 | 2018-01-16 | 合肥工业大学 | A kind of movable type can Self Adaptive Control traffic signal light device |
| CN107895495A (en) * | 2017-12-19 | 2018-04-10 | 安徽省徽腾智能交通科技有限公司 | A kind of wisdom traffic guiding device |
| CN110097766A (en) * | 2019-06-03 | 2019-08-06 | 南昌金科交通科技股份有限公司 | It is a kind of to utilize three-dimensional radar inspection optimization traffic control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111145566A (en) | 2020-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111145566B (en) | Intelligent traffic light system and control method | |
| CN110264717B (en) | Urban intelligent traffic regulation and control system | |
| CN205943100U (en) | HMI shows system for V2X scene | |
| US9116242B2 (en) | Map aware adaptive automotive radar | |
| EP0677799A2 (en) | Vehicle travel aiding device | |
| JPH06230115A (en) | Vehicular gap detector | |
| CN100481151C (en) | Express highway intelligent safety monitoring pre-warning system and monitoring method thereof | |
| US11287513B2 (en) | Radar device for a motor vehicle and method for controlling the device | |
| TWI705913B (en) | Radar system with vehicle assist function with a field of view greater than 160 degrees | |
| CN112406687A (en) | 'man-vehicle-road' cooperative programmable matrix headlamp system and method | |
| KR20110094550A (en) | Streetlights dimming system | |
| CN104900071A (en) | Traffic light control system | |
| JP6698813B2 (en) | Method and apparatus for determining the detection range of a traffic route | |
| CN202782866U (en) | Intelligent car headlamp system based on radar detection | |
| CN110933824A (en) | Tunnel intelligent illumination energy-saving control system and method based on traffic situation perception | |
| CN112017448A (en) | Traffic detection method, signal lamp control method, device, equipment and storage medium | |
| US20070038361A1 (en) | System and method for improving traffic flow | |
| JP2004199123A (en) | Automatic time adjustment system of signal | |
| CN110146899A (en) | A kind of terminal radar barrier sensory perceptual system | |
| CN110989620B (en) | Vehicle-road cooperative system based on laser radar | |
| CN104361762A (en) | Self-adaptive traffic signal lamp | |
| TWM566171U (en) | Anti-collision and warning function system, and electric vehicle | |
| CN109795400B (en) | Intelligent stepless regulation and control device and method for far and near lamps of vehicle | |
| JP6548029B2 (en) | Automatic driving system | |
| CN210899765U (en) | Green wisdom traffic lighting system based on 5G |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |