CN112309151A - Traffic light state reminding method and device, vehicle machine and vehicle - Google Patents
Traffic light state reminding method and device, vehicle machine and vehicle Download PDFInfo
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- CN112309151A CN112309151A CN201910707686.0A CN201910707686A CN112309151A CN 112309151 A CN112309151 A CN 112309151A CN 201910707686 A CN201910707686 A CN 201910707686A CN 112309151 A CN112309151 A CN 112309151A
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- 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
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
The invention provides a traffic light state reminding method, a traffic light state reminding device, a vehicle machine and a vehicle, wherein the method comprises the following steps: when the starting of the vehicle is detected, the current position of the vehicle and the current advancing direction of the vehicle are sent to the TSP end in real time; when the vehicle parks on the traveling route, a traffic light state request is sent to the TSP end through the vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and when the TSP end judges that the traffic light state is a green light state, green light reminding information is sent to the vehicle machine; when the vehicle machine receives the green light reminding information, whether the vehicle is in a parking state or not is judged, and if yes, a preset driving reminding operation is executed. The invention can remind the user that the red light is changed into the green light at the intersection, thereby avoiding the influence on the rear vehicle and the delay of the precious time of the user caused by the delay of starting the user by indulging in a mobile phone or other things, improving the user experience and ensuring the safety of the user.
Description
Technical Field
The invention relates to the field of vehicle intelligent control, in particular to a traffic light state reminding method and device, a vehicle machine and a vehicle.
Background
At present, many people often go to browse the mobile phone or do other things when driving at a red light such as a road junction, sometimes, the people cannot notice that the people do not start in time when the red light is changed into a green light, not only can the vehicles at the rear complain, but also the road rage with bad spleen qi can be added with the fist feet, and the people can possibly miss the passing time for passing at the same time, so that the people need to effectively monitor the state of the traffic light when waiting for the traffic light, and when the red light is switched into the green light, the users who do not notice the switching of the traffic light can be timely reminded.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a traffic light state reminding method, a traffic light state reminding device, a vehicle machine, and a vehicle, which are used to solve the problem that the state of a traffic light in front of the vehicle cannot be effectively monitored in the prior art, so as to timely and effectively remind a driving user according to the state of the traffic light.
In order to achieve the above objects and other related objects, the present invention provides a traffic light status reminding method, applied to a vehicle, the method comprising: when the starting of the vehicle is detected, the current position of the vehicle and the current traveling direction of the vehicle are sent to a TSP end in real time; when the vehicle parks on a traveling route, sending a traffic light state request to the TSP end through a vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and sending green light reminding information to the vehicle machine when the TSP end judges that the traffic light state is a green light state; when the vehicle machine receives the green light reminding information, judging whether the vehicle is in a parking state, if so, executing a preset driving reminding operation; if not, no processing is carried out.
In an embodiment of the present invention, the vehicle communicates with the TSP end through a TBOX.
In an embodiment of the present invention, the preset driving reminding operation at least includes one or more of the following operations: the method comprises the steps of playing preset reminding voice through a vehicle microphone, displaying preset reminding characters through a vehicle display screen, and executing vibration in a preset mode through a vibration unit arranged on a vehicle.
In an embodiment of the present invention, the TSP obtains, according to the received traffic light state request, a traffic light state of a traffic light closest to the current position of the vehicle and in the current traveling direction of the vehicle at a preset time period.
In an embodiment of the invention, the vehicle-mounted device is electrically connected to a vehicle engine control unit, and is configured to determine whether an engine of the vehicle is in a working state from the vehicle engine control unit, and further determine whether the vehicle is in a parking state.
In a specific embodiment of the present invention, in the process of executing the driving reminding operation, when the vehicle-mounted device determines that the vehicle is not in a parking state, the driving reminding operation is stopped.
In a specific embodiment of the present invention, the car machine is further configured to communicate with an electronic device of a user, and when the car machine receives the green light reminding information and determines that the vehicle is in a parking state, the car machine sends a preset reminding information to the electronic device, so that the electronic device executes corresponding text display or voice play according to the reminding information.
In order to achieve the above objects and other related objects, the present invention further provides a traffic light status reminding device, applied to a vehicle, the device comprising: the system comprises an information sending module, a data processing module and a data processing module, wherein the information sending module is used for sending the current position of a vehicle and the current advancing direction of the vehicle to a TSP end in real time when the vehicle is detected to be started; a traffic light state request module, configured to send a traffic light state request to the TSP end through a vehicle machine when the vehicle parks on a travel route, so that the TSP end obtains a traffic light state of a traffic light closest to the current position of the vehicle and in the current travel direction of the vehicle according to the received traffic light state request, and sends a green light warning message to the vehicle machine when the TSP end determines that the traffic light state is a green light state; the judgment execution module is used for judging whether the vehicle is in a parking state or not when the vehicle machine receives the green light reminding information, and if so, executing a preset driving reminding operation; if not, no processing is carried out.
In order to achieve the above and other related objects, the present invention further provides a vehicle machine, including a processor and a memory; the memory is used for storing computer programs, and the processor is used for executing the computer programs stored in the memory, so that the vehicle-mounted device executes the traffic light state reminding method.
To achieve the above and other related objects, the present invention further provides a vehicle including the vehicle machine as described above.
As described above, the present invention provides a traffic light state reminding method, apparatus, vehicle machine and vehicle, wherein the method includes: when the starting of the vehicle is detected, the current position of the vehicle and the current traveling direction of the vehicle are sent to a TSP end in real time; when the vehicle parks on a traveling route, sending a traffic light state request to the TSP end through a vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and sending green light reminding information to the vehicle machine when the TSP end judges that the traffic light state is a green light state; when the vehicle machine receives the green light reminding information, judging whether the vehicle is in a parking state, if so, executing a preset driving reminding operation; if not, no processing is carried out. The invention can remind the user that the red light is changed into the green light at the intersection, thereby avoiding the influence on the rear vehicle and the delay of the precious time of the user caused by the delay of starting the user by indulging in a mobile phone or other things, improving the user experience and further ensuring the safety of the user.
Drawings
Fig. 1 is a flowchart illustrating a traffic light status reminding method according to an embodiment of the present invention.
Fig. 2 is a schematic display diagram of a car display screen according to an embodiment of the invention.
Fig. 3 is a schematic display diagram of a car display screen according to an embodiment of the invention.
Fig. 4 is a schematic composition diagram of a traffic light status reminding device according to an embodiment of the invention.
Fig. 5 is a schematic composition diagram of a vehicle machine according to an embodiment of the invention.
Description of the element reference numerals
1 traffic light state reminding device
11 information sending module
12 traffic light state request module
13 judging execution module
2 vehicle machine
21 processor
22 memory
S11-S15
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Please refer to fig. 1, which is a flowchart illustrating a traffic light status reminding method according to an embodiment of the present invention. The traffic light state reminding method is applied to a vehicle machine, and comprises the following steps:
s11: when the starting of the vehicle is detected, the current position of the vehicle and the current traveling direction of the vehicle are sent to a TSP end in real time;
s12: when the vehicle parks on a traveling route, sending a traffic light state request to the TSP end through a vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and sending green light reminding information to the vehicle machine when the TSP end judges that the traffic light state is a green light state;
s13: when the vehicle machine receives the green light reminding information, judging whether the vehicle is in a parking state, if so, executing a step S14; if not, go to step S15;
s14: executing preset driving reminding operation
S15: without any treatment
In an embodiment of the present invention, the car machine communicates with the TSP (Telematics Service Provider) end through a TBOX (Telematics BOX).
In an embodiment of the present invention, the preset driving reminding operation at least includes one or more of the following operations: the method comprises the steps of playing preset reminding voice through a vehicle microphone, displaying preset reminding characters through a vehicle display screen, and executing vibration in a preset mode through a vibration unit arranged on a vehicle.
In some embodiments, referring to fig. 2, a display diagram of a display screen of a vehicle display device according to an embodiment of the present invention is shown. In the figure, the preset reminding words displayed by the car-mounted display screen are that the front intersection is changed into a green light and can pass through, and the car-mounted display screen can also be a touch display screen for example, and the touch display screen receives the input of a user based on touch sensation and/or tactile contact. The touch screen forms a touch sensitive surface that accepts user input. The touch screen and touch screen controller (along with any associated modules and/or sets of instructions in memory) detect contact on the touch screen (and any movement or breaking of the touch) and transform the detected contact into an interaction with a multimedia sample file (such as a picture file or video file) object displayed on the touch screen.
In one exemplary embodiment, the point of contact between the touch screen and the user corresponds to one or more fingers of the user. The touch screen may use LCD (liquid crystal display) technology or LPD (light emitting polymer display) technology, but in other embodiments other display technologies may be used.
Touch screens and touch screen controllers may detect contact and movement or breaking thereof using any of a number of touch sensitive technologies, including but not limited to capacitive, resistive, infrared, and surface acoustic wave technologies, as well as other proximity sensor arrays, or other technologies for determining one or more points of contact with a touch screen.
The touch screen displays visual output from the portable device, while the touch sensitive panel does not provide visual output. The touch screen may have a resolution of greater than 100 dpi. In one exemplary embodiment, the touch screen may have a resolution of approximately 168 dpi. The user may contact the touch screen using any suitable object or accessory, such as a stylus, finger, or the like.
The application icons displayed on the touch display screen are, for example, icons corresponding to the following applications: a mapping application, a rendering application, a word processing application, a website creation application, a disc editing application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, a fitness support application, a photo management application, a digital camera application, a digital video camera application, a web browsing application, a digital music player application, and/or a digital video player application.
The user can also touch the reminding characters on the touch display screen to finish the reminding. And when the reminding is finished, an inquiry interface as shown in fig. 3 can be provided, and fig. 3 is a display schematic diagram of the vehicle-mounted display screen in a specific embodiment of the invention. In the query interface shown in fig. 3, the user may be queried as to whether or not to perform the prompt display later, and if so, the operation of displaying the prompt text is not executed later when the vehicle-on-board device green light prompt information is used and the vehicle is determined to be in the parking state.
In an embodiment of the present invention, the TSP obtains, according to the received traffic light state request, a traffic light state of a traffic light closest to the current position of the vehicle and in the current traveling direction of the vehicle at a preset time period. The predetermined time period is, for example, 1 second.
In an embodiment of the invention, the vehicle-mounted device is electrically connected to a vehicle engine control unit, and is configured to determine whether an engine of the vehicle is in a working state from the vehicle engine control unit, and further determine whether the vehicle is in a parking state.
In a specific embodiment of the present invention, in the process of executing the driving reminding operation, when the vehicle-mounted device determines that the vehicle is not in a parking state, the driving reminding operation is stopped.
In a specific embodiment of the present invention, the car machine is further configured to communicate with an electronic device of a user, and when the car machine receives the green light reminding information and determines that the vehicle is in a parking state, the car machine sends a preset reminding information to the electronic device, so that the electronic device executes corresponding text display or voice play according to the reminding information.
In some embodiments, the traffic light status reminding method further comprises the following steps:
1. the vehicle is started, and the TBOX transmits the current vehicle position and the vehicle advancing direction to the TSP;
2. when the vehicle meets a red light and the vehicle owner parks, the TBOX automatically requests the TSP end whether the red light in front of the current driving changes into a green light or not;
3. after receiving the request, the TSP immediately requests the traffic light with a communication module in front of the vehicle for the current traffic light state;
4. the traffic light with the communication module returns the current traffic light state to the TSP end;
5. when the TSP end monitors that the traffic light is changed into green light, the TSP sends the information to the TBOX end;
6. the TBOX end receives the signal and then transmits the signal to the vehicle end;
7. the method comprises the steps that a vehicle end detects whether a current vehicle is in a parking state or a driving state;
8. if the vehicle is still in a stop state, the vehicle machine broadcasts a reminding word such as the front intersection becomes a green light and can pass through a loudspeaker;
9. and if the vehicle is in a starting state, the vehicle machine does not broadcast.
The traffic light state reminding method can remind the user that the red light is changed into the green light at the intersection, thereby avoiding starting delay influence on rear vehicles and delay of precious time of the user due to the fact that the user is indulged in a mobile phone or other things, improving user experience and further ensuring the safety of the user.
Fig. 4 is a schematic view showing a traffic light status reminding device according to an embodiment of the invention. Traffic lights state reminding device 1 is applied to the car machine, device 1 includes: the device comprises an information sending module 11, a traffic light state requesting module 12 and a judgment executing module 13.
The information sending module 11 is configured to send the current position of the vehicle and the current traveling direction of the vehicle to a TSP end in real time when detecting that the vehicle is started;
the traffic light state request module 12 is configured to send a traffic light state request to the TSP end through a vehicle machine when the vehicle parks on a travel route, so that the TSP end obtains a traffic light state of a traffic light closest to the current position of the vehicle and in the current travel direction of the vehicle according to the received traffic light state request, and sends a green light reminding message to the vehicle machine when the TSP end determines that the traffic light state is a green light state;
the judgment execution module 13 is configured to judge whether the vehicle is in a parking state when the vehicle-mounted device receives the green light reminding information, and if so, execute a preset driving reminding operation; if not, no processing is carried out.
In an embodiment of the present invention, the car machine communicates with the TSP (Telematics Service Provider) end through a TBOX (Telematics BOX).
In an embodiment of the present invention, the preset driving reminding operation at least includes one or more of the following operations: the method comprises the steps of playing preset reminding voice through a vehicle microphone, displaying preset reminding characters through a vehicle display screen, and executing vibration in a preset mode through a vibration unit arranged on a vehicle.
In some embodiments, referring to fig. 2, a display diagram of a display screen of a vehicle display device according to an embodiment of the present invention is shown. In the figure, the preset reminding words displayed by the car-mounted display screen are that the front intersection is changed into a green light and can pass through, and the car-mounted display screen can also be a touch display screen for example, and the touch display screen receives the input of a user based on touch sensation and/or tactile contact. The touch screen forms a touch sensitive surface that accepts user input. The touch screen and touch screen controller (along with any associated modules and/or sets of instructions in memory) detect contact on the touch screen (and any movement or breaking of the touch) and transform the detected contact into an interaction with a multimedia sample file (such as a picture file or video file) object displayed on the touch screen.
In one exemplary embodiment, the point of contact between the touch screen and the user corresponds to one or more fingers of the user. The touch screen may use LCD (liquid crystal display) technology or LPD (light emitting polymer display) technology, but in other embodiments other display technologies may be used.
Touch screens and touch screen controllers may detect contact and movement or breaking thereof using any of a number of touch sensitive technologies, including but not limited to capacitive, resistive, infrared, and surface acoustic wave technologies, as well as other proximity sensor arrays, or other technologies for determining one or more points of contact with a touch screen.
The touch screen displays visual output from the portable device, while the touch sensitive panel does not provide visual output. The touch screen may have a resolution of greater than 100 dpi. In one exemplary embodiment, the touch screen may have a resolution of approximately 168 dpi. The user may contact the touch screen using any suitable object or accessory, such as a stylus, finger, or the like.
The application icons displayed on the touch display screen are, for example, icons corresponding to the following applications: a mapping application, a rendering application, a word processing application, a website creation application, a disc editing application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, a fitness support application, a photo management application, a digital camera application, a digital video camera application, a web browsing application, a digital music player application, and/or a digital video player application.
The user can also touch the reminding characters on the touch display screen to finish the reminding. And when the reminding is finished, an inquiry interface as shown in fig. 3 can be provided to inquire the user whether reminding display is needed later, if yes, the operation of displaying the reminding characters is not executed later when the vehicle-mounted device green light reminding information is used and the vehicle is judged to be in a parking state.
In an embodiment of the present invention, the TSP obtains, according to the received traffic light state request, a traffic light state of a traffic light closest to the current position of the vehicle and in the current traveling direction of the vehicle at a preset time period. The predetermined time period is, for example, 1 second.
In an embodiment of the invention, the vehicle-mounted device is electrically connected to a vehicle engine control unit, and is configured to determine whether an engine of the vehicle is in a working state from the vehicle engine control unit, and further determine whether the vehicle is in a parking state.
In a specific embodiment of the present invention, in the process of executing the driving reminding operation, when the vehicle-mounted device determines that the vehicle is not in a parking state, the driving reminding operation is stopped.
In a specific embodiment of the present invention, the car machine is further configured to communicate with an electronic device of a user, and when the car machine receives the green light reminding information and determines that the vehicle is in a parking state, the car machine sends a preset reminding information to the electronic device, so that the electronic device executes corresponding text display or voice play according to the reminding information.
Referring to fig. 5, a schematic composition diagram of a vehicle machine according to an embodiment of the invention is shown.
The car machine 2 comprises a processor 21 and a memory 22; the memory 22 is configured to store a computer program, and the processor 21 is configured to execute the computer program stored in the memory 22, so that the car machine 2 executes the traffic light state reminding method.
The memory 22 may comprise high speed random access memory and may also comprise non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid state storage devices. In certain embodiments, the memory 22 may also include memory 22 remote from the one or more processors 21, such as network-attached memory accessed via RF circuitry or external ports and a communication network, which may be the Internet, one or more intranets, Local Area Networks (LANs), wide area networks (WLANs), Storage Area Networks (SANs), and the like, or suitable combinations thereof. The memory controller may control access to the memory 22 by other components of the device, such as the CPU and peripheral interfaces.
The processor 21 is operatively coupled to a memory 22 and/or a non-volatile storage device. More specifically, the processor 21 may execute instructions stored in the memory 22 and/or the non-volatile storage device to perform operations in the computing device, such as generating and/or transmitting image data to an electronic display. As such, processor 21 may include one or more general purpose microprocessors, one or more application specific processors (ASICs), one or more field programmable logic arrays (FPGAs), or any combination thereof.
In other embodiments, a vehicle is also provided, which includes a vehicle machine 2 as shown in fig. 5.
In summary, the present invention provides a traffic light status reminding method, a traffic light status reminding device, a vehicle machine and a vehicle, wherein the method comprises: when the starting of the vehicle is detected, the current position of the vehicle and the current traveling direction of the vehicle are sent to a TSP end in real time; when the vehicle parks on a traveling route, sending a traffic light state request to the TSP end through a vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and sending green light reminding information to the vehicle machine when the TSP end judges that the traffic light state is a green light state; when the vehicle machine receives the green light reminding information, judging whether the vehicle is in a parking state, if so, executing a preset driving reminding operation; if not, no processing is carried out. The invention can remind the user that the red light is changed into the green light at the intersection, thereby avoiding the influence on the rear vehicle and the delay of the precious time of the user caused by the delay of starting the user by indulging in a mobile phone or other things, improving the user experience and further ensuring the safety of the user. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The traffic light state reminding method is characterized by being applied to a vehicle machine, and comprises the following steps:
when the starting of the vehicle is detected, the current position of the vehicle and the current traveling direction of the vehicle are sent to a TSP end in real time;
when the vehicle parks on a traveling route, sending a traffic light state request to the TSP end through a vehicle machine, so that the TSP end obtains the traffic light state of a traffic light which is closest to the current position of the vehicle and is positioned in the current traveling direction of the vehicle according to the received traffic light state request, and sending green light reminding information to the vehicle machine when the TSP end judges that the traffic light state is a green light state;
when the vehicle machine receives the green light reminding information, judging whether the vehicle is in a parking state, if so, executing a preset driving reminding operation; if not, no processing is carried out.
2. The traffic light state reminding method according to claim 1, wherein the car machine communicates with the TSP end through a TBOX.
3. The traffic light state reminding method according to claim 1, wherein the preset driving reminding operation at least comprises one or more of the following operations: the method comprises the steps of playing preset reminding voice through a vehicle microphone, displaying preset reminding characters through a vehicle display screen, and executing vibration in a preset mode through a vibration unit arranged on a vehicle.
4. The method as claimed in claim 1, wherein the TSP obtains a traffic light state of a traffic light closest to the current location of the vehicle and in the current traveling direction of the vehicle at a preset time period according to the received traffic light state request.
5. The traffic light state reminding method according to claim 1, wherein the vehicle machine is electrically connected with a vehicle engine control unit and used for judging whether an engine of the vehicle is in a working state from the vehicle engine control unit so as to judge whether the vehicle is in a parking state.
6. The traffic light state reminding method according to claim 1, wherein in the process of executing the driving reminding operation, when the vehicle machine judges that the vehicle is not in a parking state, the driving reminding operation is stopped.
7. The traffic light state reminding method according to claim 1, wherein the car machine is further used for communicating with an electronic device of a user, and when the car machine receives the green light reminding information and judges that the car is in a parking state, preset reminding information is sent to the electronic device so that the electronic device can perform corresponding text display or voice playing according to the reminding information.
8. The utility model provides a traffic lights state reminding device which characterized in that is applied to the car machine, the device includes:
the system comprises an information sending module, a data processing module and a data processing module, wherein the information sending module is used for sending the current position of a vehicle and the current advancing direction of the vehicle to a TSP end in real time when the vehicle is detected to be started;
a traffic light state request module, configured to send a traffic light state request to the TSP end through a vehicle machine when the vehicle parks on a travel route, so that the TSP end obtains a traffic light state of a traffic light closest to the current position of the vehicle and in the current travel direction of the vehicle according to the received traffic light state request, and sends a green light warning message to the vehicle machine when the TSP end determines that the traffic light state is a green light state;
the judgment execution module is used for judging whether the vehicle is in a parking state or not when the vehicle machine receives the green light reminding information, and if so, executing a preset driving reminding operation; if not, no processing is carried out.
9. The car machine is characterized by comprising a processor and a memory;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the vehicle-mounted machine to execute the traffic light state reminding method as claimed in any one of claims 1 to 7.
10. A vehicle characterized by comprising the vehicle machine of claim 9.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
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