CN111477001A - Traffic signal acquisition and management system based on 5G and MEC - Google Patents
Traffic signal acquisition and management system based on 5G and MEC Download PDFInfo
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- CN111477001A CN111477001A CN202010143134.4A CN202010143134A CN111477001A CN 111477001 A CN111477001 A CN 111477001A CN 202010143134 A CN202010143134 A CN 202010143134A CN 111477001 A CN111477001 A CN 111477001A
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses a traffic signal acquisition and management system based on 5G and MEC, wherein roadside equipment, a signal collector, a serial server and a 5G communication module are sequentially in signal connection, two ends of an MEC platform are respectively in network connection with the 5G communication module and a central cloud platform, the signal collector converts a traffic level signal of the roadside equipment into signal data, converts the signal data through the serial server, and then sends the signal data to the MEC platform through the 5G communication module, the MEC platform analyzes and processes the traffic signal, sends the processed result to a vehicle-mounted unit or an intelligent client and sends the processed result to the central cloud platform, and the central cloud platform further analyzes, calculates and stores the traffic signal data. The traffic signal acquisition system directly acquires the traffic signal of the road side equipment, sends the traffic signal to the MEC platform for nearby analysis and processing through the 5G network, and then sends the traffic signal to the vehicle or the client and the central cloud platform, and has the characteristics of simple structure, low cost, reliable signal acquisition, low delay and high timeliness.
Description
Technical Field
The invention belongs to the technical field of traffic control equipment, and particularly relates to a traffic signal acquisition and management system based on 5G and MEC, which is simple in structure, low in cost, reliable in signal acquisition, low in delay and high in timeliness.
Background
In the aspect of intelligent traffic, a cooperative anti-collision system with L level automatic driving and vehicle formation are applied, the vehicle-to-vehicle delay requirement is 5-10 ms, and the reliability is greater than 99.999%.
As shown in fig. 1, the conventional traffic signal acquisition and management is characterized in that a heavy terminal is deployed in combination with a central cloud platform. According to the method, roadside equipment such as a traffic signal machine and the like needs to be transformed into a high-performance traffic server, then the collected traffic high-low voltage level signals such as traffic signal lamps and the like are directly analyzed, calculated and processed through the traffic server, and converted into traffic signal information which can be directly used by an application layer and pushed to a vehicle-mounted OBU (on-board unit) equipped on a vehicle. Meanwhile, the traffic server transmits the acquired data to the central cloud platform through the wired optical fiber network, and the central cloud platform realizes applications such as traffic big data analysis and traffic planning. According to the deployment mode, existing Road Side equipment such as a traffic signal machine needs to be transformed into a traffic server, maintenance difficulty is high, transformation cost is high, RSU (Road Side Unit) and OBU (on Board Unit) equipment need to be added, hardware cost is high, and transformation is complex.
Disclosure of Invention
The invention aims to provide a traffic signal acquisition and management system based on 5G and MEC, which has the advantages of simple structure, low cost, reliable signal acquisition, low delay and high timeliness.
The purpose of the invention is realized as follows: the invention comprises roadside equipment, a signal collector, a serial port server, a 5G communication module, an MEC platform and a central cloud platform, wherein the input end of the signal collector is connected with the traffic signal output end of the roadside equipment in parallel, the output end of the signal collector is in signal connection with the input end of the serial port server, the output end of the serial port server is in signal connection with the signal input end of the 5G communication module, the 5G communication module is in network connection with the MEC platform through a 5G network, the MEC platform is in network connection with the central cloud platform through a network, the signal collector is used for converting traffic level signals output by the roadside equipment into digital signals and sequentially converging the digital signals to form signal data, the serial port server is used for converting the signal data output by the signal collector into signals capable of being received by the 5G communication module, and the 5G communication module is used for sending the traffic signals to the MEC platform through the, the MEC platform is used for analyzing and processing traffic signals, sending the processed results to the vehicle-mounted unit or the intelligent client and transmitting the processed results to the central cloud platform, and the central cloud platform is used for further analyzing, calculating and storing traffic signal data.
The invention has the beneficial effects that:
1. the signal collector is arranged at or near the roadside equipment end, the traffic signal is collected through the parallel connection of the input end of the signal collector and the traffic signal output end of the roadside equipment, particularly, the input end of the signal collector is directly and physically connected with the traffic signal output end of the traffic signal machine, the traffic signal output end circuit of the original roadside equipment is not affected, and the safety and the reliability of signal collection are high.
2. According to the invention, the application layer of the traffic signal data is calculated and processed and deployed on the MEC platform, the roadside equipment only needs to be added with a plurality of simple signal collectors, a serial server and a 5G communication module, and the roadside equipment such as the existing signal machines and the like does not need to be modified and replaced like the traditional deployment mode, so that the overall modification cost is lower, and compared with the traditional V2X scheme, the hardware cost can be saved by about 50%.
3. According to the traffic signal data processing method, the application layer computing processing of the traffic signal data is deployed on the MEC platform for processing nearby, and by using the local shunting function of the traffic signal data, all uploaded source data can be transmitted to the central cloud for processing without traversing the Internet like a traditional central cloud platform deployed on the Internet, so that the end-to-end time delay of the data can be greatly reduced, and the traffic signal data processing method is particularly suitable for scenes with high requirements on time delay, such as automatic driving.
4. The hardware transformation of the invention only needs simple wiring operation, does not need to lay lines, is simple and easy to implement, has lower specialty and short transformation time.
5. The invention can provide capacity openness and integrate a third party through the MEC platform, thereby breaking through the traditional closed traffic signal network, opening traffic information to the public, realizing information sharing, leading a driver or an automatic driving vehicle to sense in advance, reducing speed in advance, reducing the exhaust emission of automobile, saving energy and protecting environment.
6. The invention directly collects the traffic control signals from the road side equipment, and has high accuracy; and 5G transmission is matched with edge calculation, so that the end-to-end time delay can be controlled within 20ms, and real-time reliability is realized.
7. According to the invention, the MEC platform is combined with the central cloud platform, so that the cooperative complementation of the MEC and the cloud computing is realized, the cloud computing of the central cloud platform is used for grasping the whole and focusing on the analysis of non-real-time and long-period data, the MEC platform can be concentrated on the local part and focusing on the analysis of real-time and short-period data, the real-time intelligent processing and execution of local services can be better supported, and the problem that the timeliness that the high delay of the traditional single central cloud platform mode cannot meet the vehicle-road cooperation is solved.
Drawings
FIG. 1 is a schematic diagram of a conventional traffic signal acquisition and management architecture;
FIG. 2 is a schematic view of a topology of a traffic signal acquisition and management system according to the present invention;
FIG. 3 is a schematic diagram of the structure of FIG. 2;
in the figure: the system comprises 1-roadside equipment, 101-a main controller, 102-a wiring board, 2-a signal collector, 201-an I/O input module, 202-a photoelectric isolation module, 203-an MCU module, 204-an I/O output module, 205-an internal watchdog module, 206-an external watchdog module, 207-an EEPROM module, 208-a power conversion module, 3-a serial server, 4-5G communication modules, 5-an MEC platform, 6-a central cloud platform, 7-a memory unit, 8-a traffic signal lamp, 9-5G base stations, 10-a vehicle/mobile phone, 11-a network and 12-a traffic server.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not intended to limit the invention in any way, and any variations or modifications which are based on the teachings of the invention are intended to be within the scope of the invention.
As shown in fig. 2 and 3, the invention includes a roadside device 1, a signal collector 2, a serial server 3, a 5G communication module 4, an MEC (mobile edge computing) platform 5, and a central cloud platform 6, wherein an input end of the signal collector is connected in parallel with a traffic signal output end of the roadside device, an output end of the signal collector 2 is connected in signal with an input end of the serial server 3, an output end of the serial server 3 is connected in signal with a signal input end of the 5G communication module 4, the 5G communication module 4 is connected in network with the MEC platform 5 through a 5G network, the MEC platform 5 is connected in network with the central roadside cloud platform 6 through a network, the signal collector 2 is used for converting traffic level signals output by the roadside device 1 into digital signals and sequentially converging the digital signals to form signal data, the serial server 3 is used for converting signal data output by the signal collector 2 into signals capable of being received by the 5G communication module 4, the 5G communication module 4 is used for sending the traffic signals to the MEC platform 5 through a 5G network, the MEC platform 5 is used for analyzing and processing the traffic signals, sending the processed results to a vehicle-mounted unit or an intelligent client and transmitting the processed results to the central cloud platform 6, and the central cloud platform 6 is used for further analyzing, calculating and storing the traffic signal data.
The invention also comprises a memory unit 7 in signal connection with the signal collector 2, wherein the memory unit 7 stores the GPS coordinates corresponding to the road side equipment 1, and the signal collector 2 combines the corresponding GPS coordinates and the digital signals of the road side equipment 1 to form signal data.
The MEC platform 5 is disposed on the 5G operator base station side, the operator core network side, or on a link between the base station and the core network.
The roadside device 1 comprises a signal box, a traffic signal machine, a coil detector and/or a video device, wherein the input end of the signal collector 2 is directly and electrically connected with a wiring terminal on a traffic signal lamp signal output wiring row of the traffic signal machine, or is electrically connected with a mutual inductance coil arranged on a traffic signal lamp signal output line of the traffic signal machine.
The input end of the signal collector 2 is provided with a multi-path switching value input interface and is respectively and electrically connected with the signal output ends of a plurality of paths of traffic signal lamps of a traffic signal machine; the signal collector 2 comprises an I/O input module 201, a photoelectric isolation module 202, an MCU module 203, an I/O output module 204, wherein the signal output end of a traffic signal lamp of the traffic signal machine is electrically connected with the I/O input module 201, the I/O input module 201 is electrically connected with the input port of the MCU module 203 through the photoelectric isolation module 202, the I/O output module 204 is electrically connected with the output port of the MCU module 203, and the signal collector further comprises an internal watchdog module 205 which is in signal connection with the MCU module 203 and an external watchdog module 206.
Coil detector includes parking stall earth magnetism detector, parking stall earth magnetism detector is including the memory of storage earth magnetism position or serial number, the signal output part of parking stall earth magnetism detector passes through wireless or wired mode and signal acquisition unit 2's input signal connection, signal acquisition unit 2 is used for acquireing parking stall earth magnetism detector's earth magnetism state and earth magnetism position or serial number.
The video equipment is arranged near the parking lot, the signal output end of the video equipment is in signal connection with the input end of the signal collector 2, and the signal collector 2 is used for acquiring video data of the video equipment and the serial number of the video equipment or the position information of the parking lot.
The MEC platform 5 or the central cloud platform 6 is used for deploying a vehicle-road cooperative system to perform analysis and calculation of traffic signal data, traffic road side information publishing and system management services.
The MEC platform 5 or the central cloud platform 6 opens the processed traffic data to a TSP (traffic service provider) platform and/or a graph provider platform of the internet of vehicles, or directly pushes the processed traffic data to a vehicle-mounted unit or an intelligent client.
The vehicle-road cooperative system comprises a traffic light information management module, a traffic light state reporting module, a data processing module and a traffic light state maintenance module,
the traffic light information management module is used for converting the received traffic signal data into corresponding relations of intersection information, intersection numbers, intersection traffic light information, traffic light numbers, real-time light states, line sequences reported by annunciators and traffic lights, and then providing WEB UI management/query pages for clients to access;
the traffic light state reporting module is used for reporting the current state, the next state of the traffic light, the switching time and the traffic light number when the traffic light state changes;
the data processing module is used for converting the data acquired by the signal acquisition unit 2 into traffic signal state information;
the traffic light state maintenance module is used for updating and maintaining the latest information of the current state of the traffic light, the next state of the traffic light and the switching time.
The working process of the invention is as follows:
as shown in fig. 2 and 3, taking the traffic signal in the roadside device 1 as an example, the signal collector 2, the serial server 3, the 5G communication module 4 and the memory unit 7 are collectively disposed in a cabinet of the traffic signal, wherein the signal collector 2 is an intelligent switching value collection module (e.g., shenzhe xu is a signal collector such as EMR-DI 16), and provides an AC 90-220V AC switching value I/O input module 201, i.e., a digital value input interface (DI), of multiple channels such as 16 and 32 channels, and the I/O input module 201 is connected to the switching value output interface on the wiring bank 102 of the traffic signal through a cable, so that the signal collector 2 collects high and low level pulse signals of the traffic signal from the interface. After receiving the high and low level pulse signals of the alternating current of the traffic signal lamp, the MCU module 203 of the signal collector 2 gathers and adds the identification code and the like to form signal data according to the sequence of the switching value input interface of the I/O input module 201. For example, the intersection traffic light generally has 3 traffic lights such as red light, yellow light, green light, etc., and therefore, a group of switching value information is generally formed by 3 arbitrarily combined 0 s and 1 s to represent the state of the intersection traffic light. If the signal collector 2 obtains traffic signal light signals of 3 intersections, 9 switching value input interfaces of the I/O input module 201 on the signal collector 2 need to be occupied, the MCU module 203 obtains level signals of 1 or 0 of each input interface, then sequentially assembles the level signals of the 9 input interfaces, and adds an identification code and the like to form a string of traffic light signal data including any combination of 9 switching values of 0 and 1 if necessary. Meanwhile, the preset GPS coordinates of the intersection corresponding to the traffic signal lamp are stored in the memory unit 7, the signal collector 2 reads the GPS coordinates of the intersection in the memory unit 7 and loads the GPS coordinates into traffic signal data, and then the GPS coordinates are output from the RS-485 serial port of the I/O output module 204 of the signal collector 2. In addition, the signal collector 2 is also connected to the video apparatus in the roadside apparatus 1 to acquire a video image, and the parking space geomagnetic detector in the roadside apparatus 1 is connected to acquire the geomagnetic state and the geomagnetic position or number of the parking space geomagnetic detector.
The serial server 3 (such as protocol converters of Shandong people information technology USR-W610 and the like) is provided with an RS-485/RS-232 port, an Ethernet port and a Wi-Fi port, signal data, video data and the like of a traffic signal lamp are input into the serial server 3 from the I/O output module 204 through the RS-485 serial port, and are output to the 5G communication module 4 (such as a 5G communication module of XFZ01 and the like) from the Ethernet port or the Wi-Fi port through a twisted pair or a Wi-Fi signal after protocol conversion. The 5G communication module 4 provides Ethernet or Wi-Fi access, signal data of a traffic signal lamp is transmitted to a nearby MEC platform 5 through the 5G communication module 4 through a 5G network, a vehicle path cooperative system deployed in the MEC platform 5 calculates and analyzes the traffic signal data, then sends real-time signal data to a peripheral vehicle-mounted unit or a mobile phone client meeting conditions, completes image recognition of video streams, coding and decoding of streaming media videos, access authentication, data access, calculation, pushing and sending, storage and other work at the same time, then transmits processed signal data to the central cloud platform 6, the vehicle path cooperative system deployed by the central cloud platform 6 further analyzes and processes the received data, and then pushes and streams the processed data to a monitoring service center through the network for monitoring and storage. In addition, the vehicle-road cooperative system deployed on the MEC platform 5 or the central cloud platform 6 may open the processed data to the internet of vehicles TSP platform and the map provider platform, and finally push the processed data to the vehicle enterprise APP, the electronic map APP, and the like.
Claims (10)
1. A traffic signal acquisition and management system based on 5G and MEC is characterized by comprising road side equipment (1), a signal collector (2), a serial server (3), a 5G communication module (4), an MEC platform (5) and a central cloud platform (6), wherein the input end of the signal collector (2) is connected with the traffic signal output end of the road side equipment (1) in parallel, the output end of the signal collector (2) is connected with the input end of the serial server (3) in a signal mode, the output end of the serial server (3) is connected with the signal input end of the 5G communication module (4) in a signal mode, the 5G communication module (4) is connected with the MEC platform (5) in a network mode through a 5G network, the MEC platform (5) is connected with the central cloud platform (6) in a network mode through a network, the signal collector (2) is used for converting traffic level signals output by the road side equipment (1) into digital signals and sequentially converging the digital signals to form signal data, the serial server (3) is used for converting signal data output by the signal collector (2) into signals which can be received by the 5G communication module (4), the 5G communication module (4) is used for sending traffic signals to the MEC platform (5) through a 5G network, the MEC platform (5) is used for analyzing and processing the traffic signals, sending processed results to the vehicle-mounted unit or the intelligent client and sending the processed results to the center cloud platform (6), and the center cloud platform (6) is used for further analyzing, calculating and storing the traffic signal data.
2. The traffic signal collection and management system based on 5G and MEC according to claim 1, characterized in that further comprises a memory unit (7) in signal connection with the signal collector (2), the memory unit (7) stores GPS coordinates corresponding to the roadside device (1), and the signal collector (2) combines the corresponding GPS coordinates and the digital signal of the roadside device (1) to form signal data.
3. The traffic signal collection and management system based on 5G and MEC according to claim 2, characterized in that the MEC platform (5) is disposed on the 5G operator base station side, the operator core network side or the link between the base station and the core network.
4. The traffic signal collection and management system based on 5G and MEC according to claim 2 or 3, characterized in that the roadside device (1) comprises a signal box, a traffic signal machine, a coil detector and/or a video device, and the input end of the signal collector (2) is electrically connected with a terminal on a signal output line bank of a traffic signal machine directly or with a mutual inductance coil arranged on a signal output line of a traffic signal machine.
5. The traffic signal collection and management system based on 5G and MEC according to claim 4, characterized in that the input end of the signal collector (2) is provided with a multi-way switching value input interface and is electrically connected with the signal output ends of the multi-way traffic signal lamps of the traffic signal machine respectively; the signal collector (2) comprises an I/O input module (201), a photoelectric isolation module (202), an MCU module (203) and an I/O output module (204), the signal output end of a traffic signal lamp of the traffic signal machine is electrically connected with the I/O input module (201), the I/O input module (201) is electrically connected with the input port of the MCU module (203) through the photoelectric isolation module (202), the I/O output module (204) is electrically connected with the output port of the MCU module (203), and the signal collector further comprises an internal watchdog module (205) and an external watchdog module (206) which are in signal connection with the MCU module (203).
6. The traffic signal collection and management system according to claim 4, wherein the coil detector comprises a parking space geomagnetic detector, the parking space geomagnetic detector comprises a memory for storing geomagnetic positions or numbers, a signal output end of the parking space geomagnetic detector is in signal connection with an input end of a signal collector (2) in a wireless or wired manner, and the signal collector (2) is used for acquiring geomagnetic states and geomagnetic positions or numbers of the parking space geomagnetic detector.
7. The traffic signal collection and management system based on 5G and MEC as claimed in claim 4, wherein the video device is disposed near the parking lot, the signal output end of the video device is in signal connection with the input end of the signal collector (2), and the signal collector (2) is used for acquiring video data of the video device and the serial number of the video device or the position information of the parking lot.
8. The traffic signal collection and management system based on 5G and MEC according to claim 4, characterized in that the MEC platform (5) or the central cloud platform (6) is deployed with a vehicle-road cooperative system for traffic signal data analysis and calculation, traffic road side information distribution and system management services.
9. The traffic signal collection and management system based on 5G and MEC according to claim 8, characterized in that the MEC platform (5) or the central cloud platform (6) opens the processed traffic data to a TSP (traffic signal processing) platform and/or a graph provider platform of an internet of vehicles (TSP), or directly pushes the processed traffic data to an on-board unit or an intelligent client.
10. The traffic signal collection and management system based on 5G and MEC of claim 8, wherein the vehicle-road coordination system comprises a traffic light information management module, a traffic light status reporting module, a data processing module, and a traffic light status maintenance module,
the traffic light information management module is used for converting the received traffic signal data into corresponding relations of intersection information, intersection numbers, intersection traffic light information, traffic light numbers, real-time light states, line sequences reported by annunciators and traffic lights, and then providing WEB UI management/query pages for clients to access;
the traffic light state reporting module is used for reporting the current state, the next state of the traffic light, the switching time and the traffic light number when the traffic light state changes;
the data processing module is used for converting the data acquired by the signal acquisition unit (2) into traffic signal state information;
the traffic light state maintenance module is used for updating and maintaining the latest information of the current state of the traffic light, the next state of the traffic light and the switching time.
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| CN113079488A (en) * | 2021-04-07 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Information interaction method, device and equipment |
| CN113077632A (en) * | 2021-06-07 | 2021-07-06 | 四川紫荆花开智能网联汽车科技有限公司 | V2X intelligent network connection side system and realizing method |
| CN113506454A (en) * | 2021-05-18 | 2021-10-15 | 江西方兴科技有限公司 | Expressway induction lamp system and method based on audio event detection |
| CN114079885A (en) * | 2020-08-14 | 2022-02-22 | 大唐高鸿智联科技(重庆)有限公司 | Traffic position information transmission control method, device, equipment and terminal |
| CN114170832A (en) * | 2021-11-26 | 2022-03-11 | 软通智慧信息技术有限公司 | Public transport vehicle monitoring method, device, server, system and storage medium |
| CN115100852A (en) * | 2022-06-09 | 2022-09-23 | 智能汽车创新发展平台(上海)有限公司 | High-availability roadside fusion sensing system and method for serving intelligent networked automobile |
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