CN112562365A - Specific vehicle priority traffic control system based on high-precision positioning terminal - Google Patents

Specific vehicle priority traffic control system based on high-precision positioning terminal Download PDF

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CN112562365A
CN112562365A CN202011312341.4A CN202011312341A CN112562365A CN 112562365 A CN112562365 A CN 112562365A CN 202011312341 A CN202011312341 A CN 202011312341A CN 112562365 A CN112562365 A CN 112562365A
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vehicle
priority
traffic
special
information
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林燕丹
孙小冬
陈文芳
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Fudan University
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Fudan University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • 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
    • 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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Abstract

The invention belongs to the technical field of traffic vehicle control, and particularly relates to a specific vehicle priority traffic control system based on a high-precision positioning terminal. The system comprises a vehicle detector, a background control center and an intelligent signal machine, wherein the vehicle detector comprises a radio frequency positioning module which is arranged near the front of each traffic intelligent signal lamp; when the system runs, when the vehicle detector detects that special vehicles needing to be preferentially passed exist, the signal is transmitted to the control center of the background through the wireless communication module, the position, the speed and other information of the special vehicles are obtained through background calculation, and the corresponding intelligent signal lamps are controlled to rapidly switch states, so that the preferential passing of the special vehicles is ensured. The system can rapidly and accurately identify the identity of special vehicles (such as buses, ambulances and the like) in urban traffic, gives the right of way with priority, ensures the smooth passing of the special vehicles and furthest ensures the passing efficiency of the special vehicles.

Description

Specific vehicle priority traffic control system based on high-precision positioning terminal
Technical Field
The invention belongs to the technical field of traffic vehicle control, and particularly relates to a traffic vehicle control system.
Background
At present, the traffic pressure of urban roads is higher, and traffic jam still puzzles the prominent problem of urban traffic. But special vehicles such as buses, ambulances, fire trucks and the like) are often jammed at intersections or time is delayed in emergency, so that the gold time of emergency is delayed. With the rapid development of the car networking technology and the rapid promotion of the popularity of the high-precision positioning terminal equipment. The method has the advantages that the attributes of specific vehicles (urban public or special vehicles, such as buses, ambulances, fire fighting vehicles and the like) in urban traffic are rapidly and accurately identified, and a control system of traffic lights is combined, so that green lights can be effectively opened for the special vehicles in advance, higher priority is given to the special vehicles, and the road traffic efficiency is guaranteed to the greatest extent.
Disclosure of Invention
The invention aims to provide a traffic control system suitable for preferential passage of a specific vehicle, so that the vehicle needs to be released preferentially, the vehicle is planned and processed in advance, and a higher priority right of way is given, thereby realizing the purpose of preferential passage of the specific vehicle in an urban road.
When a specific vehicle runs to a related road, the traffic signal lamp control system can judge the current traffic state according to the information uploaded by the vehicle-mounted equipment and the roadside radio frequency positioning equipment, and automatically realize the adjustment of the state of the traffic signal machine through an algorithm by combining the priority traffic strategy of a corresponding system platform, so that the traffic states of the road where the specific vehicle is located and the related road are adjusted, and the special vehicle can quickly and safely pass through a crossing.
The traffic signal lamp control system for preferential traffic of specific vehicles provided by the invention is based on the principle of combining radio frequency positioning equipment vehicle detection and identification, signal processing and traffic light control to realize the function of preferential selection of traffic signals
The architecture of the traffic signal lamp control system suitable for preferential passage of a specific vehicle, which is provided by the invention, is shown in figure 1 and comprises the following components: vehicle detector, backstage control center, intelligent semaphore, wherein:
the vehicle detector comprises a radio frequency positioning module: the special vehicles which need to be preferentially selected to pass are arranged with the radio frequency label identification device in advance near the traffic signal lamps (50-100 m in front of the traffic signal lamps and adjusted according to the actual road conditions), when the special vehicles pass through the vehicle detector based on the radio frequency positioning module, the detector can quickly identify the special vehicles and transmit information back to the background control center in real time through the wireless transmission equipment; the control center judges whether the control strategy of the traffic signal lamp needs to be adjusted (such as the extension of a green light or the early start of the green light) and the strategy adjustment time of the traffic signal lamp according to the position, the running speed and the priority level of the current special vehicle, so that the special vehicle can smoothly and quickly pass through the traffic intersection without waiting when meeting the precondition, and the traffic signal lamp can quickly pass through the intersection.
The background control center: the set of traffic signal control system core device comprises the following functional modules:
(1) collecting road real-time data and special vehicle real-time data: the intelligent signal machine carries out signal interaction with each intelligent signal machine in real time, and the states of each special vehicle in the driving process and the states of traffic lights of the routes where the special vehicles drive are known and used as the precondition for making decisions for a traffic signal control system;
(2) support priority traffic vehicle information creation and priority vehicle service creation: creating priority traffic vehicle information, wherein the priority traffic vehicle information comprises adding and recording special vehicle information meeting requirements by a system platform, and the special vehicle information comprises vehicle license plates and the like; and establishing a priority vehicle service, including registering priority passing license plate information, passing intersections, service time and the like.
(3) And (3) optimizing the performance of the computing system, calculating a system performance index function according to the acquired traffic state information, signal state information and special vehicle information and a special vehicle priority algorithm, predicting and calculating special vehicle delay, intersection saturation and the like according to an adopted signal implementation strategy, determining the weight of each performance index, calculating the comprehensive performance index of the system, and providing a basis for adjusting the signal control state of the intersection or the road network.
(4) And (3) managing the prior passing vehicle information: the vehicle priority traffic condition is managed according to the priority traffic service created by the system platform, all priority traffic vehicle data lists are recorded, special vehicles are identified through the vehicle side equipment and the road side equipment, the vehicle number, the priority strategy, the position information, the driving direction, the priority traffic intersection and the priority traffic time are analyzed, and the vehicles with the priority traffic service can be monitored.
(5) And (3) management of priority traffic parameters: analyzing the current intersection traffic state and the influence degree of traffic flow in different directions of the intersection on the priority traffic decision according to the information reported by the road side equipment, configuring different traffic parameter information in a system background, filling in strategy selection, setting a priority traffic distance parameter, setting green light extension, and sensing the state of a signal lamp.
(6) And (3) managing a priority traffic policy: the system background can add different priority traffic policies, such as: the green light is prolonged, the green light starts early, the jump phase and other priority passing strategies are adopted, various priority passing schemes are provided, and strategy selection is provided for realizing the priority passing of the vehicles. After the system receives the priority request, the system evaluates the traffic running states of the intersection or the road network, such as the current queuing length of the intersection or the road network, the number of arriving vehicles during the priority implementation period, the number of driving-away vehicles in the time range and the like, according to the vehicle information provided by the system.
(7) History priority service playback: the vehicle-side or in-vehicle equipment records the traffic data of all vehicles passing preferentially, and can inquire the playback information of the vehicles passing preferentially.
(8) Priority traffic service record: the service data of all vehicles passing preferentially is recorded, the success or failure of the service state of the vehicles is recorded, the details of the service failure can be checked, and the passing service records can be inquired according to the intersection and the license plate number.
(9) And (4) decision output: and (4) according to the decision made by the obtained various data, guiding and controlling the intelligent annunciator to make signal change (such as green light extension, green light early start, jump phase and the like).
The intelligent annunciator is used as an actuating mechanism of a traffic signal control system, performs data interaction with a vehicle detector, judges whether priority requirements of priority passing are met or not, sends the priority passing requests to a background control center when the priority requirements are met, and enables special vehicles meeting the priority levels to pass through a traffic intersection smoothly and quickly.
In the present invention, the radio frequency positioning module includes: the system comprises a controller, a transceiver and a field storage computing unit; the controller is respectively connected with the transceiver and the field storage computing unit;
the invention also comprises a wireless communication module, wherein the wireless communication module is connected with the remote control terminal; the remote control terminal can control the traffic light color switching of the intelligent signal machine by sending a remote control command.
When the system is in operation, the vehicle detector detects passing vehicles according to the fixed frequency, when special vehicles needing to be preferentially passed are detected, the wireless communication module transmits signals to the background control center, the signals are received by the background control center and then are subjected to background calculation to obtain information such as the position and the speed of the special vehicles, corresponding intelligent signal lamps are controlled to carry out state fast switching, and the preferential passing of the special vehicles is ensured.
In the invention, the radio frequency positioning module positions a special vehicle, and the specific flow is as follows:
() The radio frequency signal between the radio frequency positioning module and the special vehicle realizes the non-contact information transmission through space coupling;
(2) the radio frequency positioning module is in wireless communication with the special vehicles, and the received signal strength is obtained through a collision recognition algorithm of a plurality of special vehicles, namely: an RSSI value;
(3) acquiring the coordinate value of the radio frequency positioning module, transmitting the acquired coordinate value and the RSSI value to a background control center, and obtaining the position information of the special vehicle by the background control center through a positioning algorithm according to the received data information;
in the invention, the positioning algorithm is specifically as follows:
determining the relationship between the received signal strength and the signal transmission distance as follows:
RSSI＝-(A+10n log10D)-EAF；
wherein, RSSI is received signal strength, D is distance between nodes, and n is signal propagation factor; EAF is an environmental factor;
the reader-writer is arranged at three positions: p1(x1, y1), p2(x2, y2) and p1(x3, y3), and the coordinates of the special vehicle to be positioned are calculated by the following formula:
Figure DEST_PATH_IMAGE001
and obtaining the coordinate position of the special vehicle as follows:
Figure 689587DEST_PATH_IMAGE002
when the system is in operation, the vehicle detector detects passing vehicles according to the fixed frequency, when special vehicles needing to be preferentially passed are detected, the wireless communication module transmits signals to the background control center, the signals are received by the background control center and then are subjected to background calculation to obtain information such as the position and the speed of the special vehicles, corresponding intelligent signal lamps are controlled to carry out state fast switching, and the preferential passing of the special vehicles is ensured.
Drawings
FIG. 1 is a system architecture diagram of the present invention.
Fig. 2 is a plan view of a priority traffic control scheme for special vehicles.
FIG. 3 is a representative example flow diagram.
Detailed Description
The system of the present invention will be further described with reference to specific examples.
The system background administrator configures a priority traffic rule of the special vehicle priority traffic control system in advance according to the following precondition:
priority traffic rules (configured according to rule weights, such as ambulance first, fire second, police third, and other vehicles set as normal vehicles);
various congestion rule management (according to congestion conditions, a priority traffic rule is dynamically configured, if the congestion condition is extreme, the priority traffic rule of a specific vehicle is set to be invalid, and the specific vehicle can preferentially pass under the general congestion and non-congestion states);
managing the scheduled route of the special vehicle (predicting the route which the special vehicle may pass through in advance according to the current position of the special vehicle obtained by the positioning terminal, and setting the crossing traffic light in green state in advance to avoid congestion if necessary)
(1) And when the background administrator configures the system, the ambulance is set to the highest passing priority. If an ambulance passes through a route with a high-precision positioning terminal, the radio frequency positioning module is in wireless communication with the special vehicles, and the received signal strength is obtained through a collision recognition algorithm of the special vehicles, namely: an RSSI value;
(2) the positioning module uploads the information (position, type, speed and the like) of the special vehicle to a background system in a wireless transmission mode and sends a priority passing request;
(3) the background system identifies the position, type, speed and other information (signal state evaluation) of the vehicle, and determines the vehicle as a vehicle to pass preferentially according to the passing rule set in the step (1);
(4) the background system carries out big data analysis according to each positioning terminal arranged on two sides of a road, and predicts the congestion condition (traffic state evaluation) of the expected passing road of the ambulance;
(5) the background system evaluates the situation that the ambulance forecasts the congestion of the passing road as general congestion, and the ambulance meets the priority passing rule according to the configuration rule;
(6) the background system issues an instruction to the traffic lights, and the traffic vehicles passing through the intersection in front of the special vehicle are set to be green in advance;
(7) the special vehicle smoothly passes through the front intersection;
(8) detecting the special vehicle again by a high-precision positioning terminal buried in front of the traffic intersection next time, and circularly executing the instruction;
(9) when the special vehicle reaches the designated position, the instruction is executed;
(10) the traffic control system circularly detects the next special vehicle passing through the road and circularly executes the instructions.

Claims (6)

1.一种基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，包括：车辆检测器，后台控制中心，交通智能信号机，其中：车辆检测器包含有射频定位模块：布置在各交通智能信号灯前方50m-100m处，需要优选通行的特种车辆预先在车上布置有射频标签识别装置；当特种车辆通过布置了车辆检测器的时候，该检测器能够快速的识别特种车辆，并通过无线传输设备将信息实时传回后台控制中心；1. A specific vehicle priority traffic control system based on a high-precision positioning terminal is characterized in that, comprising: a vehicle detector, a background control center, and a traffic intelligent signal machine, wherein: the vehicle detector includes a radio frequency positioning module; 50m-100m in front of each traffic intelligent signal light, the special vehicles that need to pass preferentially are equipped with radio frequency tag identification devices in advance; when the special vehicles pass through the vehicle detector, the detector can quickly identify the special vehicles, and Send information back to the background control center in real time through wireless transmission equipment; 所述后台控制中心：作为该套交通信号控制系统核心装置，包含如下功能模块：The background control center: as the core device of the traffic signal control system, it includes the following functional modules: （1）收集道路实时数据及特种车辆实时数据：并实时与各智能信号机做信号交互，了解各特种车辆在行驶过程中的状态，以及特种车行驶经过路线的交通信号灯状态，作为为交通信号控制系统做决策的前提条件；(1) Collect real-time road data and real-time data of special vehicles: and interact with each intelligent signal machine in real time to understand the status of each special vehicle in the process of driving, as well as the status of the traffic lights on the route that the special vehicle travels through, as a traffic signal The preconditions for the control system to make decisions; （2）支持优先通行车辆信息创建和优先车辆服务创建：优先通行车辆信息创建，包括系统平台对满足要求的特种车辆信息进行添加、记录，特种车辆信息包括车辆牌照等；优先车辆服务创建，包括登记优先通行车牌信息、通行路口、服务时间；(2) Support the creation of priority vehicle information and the creation of priority vehicle services: the creation of priority vehicle information, including the system platform adding and recording the information of special vehicles that meet the requirements, special vehicle information including vehicle license plates, etc.; the creation of priority vehicle services, including Register priority license plate information, intersections and service hours; （3）计算系统性能优化，根据获取的交通状态信息、信号状态信息、特种车辆信息，根据特种车优先算法，负责系统性能指标函数计算，根据所采用的信号实施策略，预测并计算特种车延误、交叉口饱和度等，确定各性能指标的权重，计算系统综合性能指标，为交叉口或路网信号控制状态的调整提供依据；(3) Calculation system performance optimization, according to the obtained traffic status information, signal status information, special vehicle information, according to the special vehicle priority algorithm, responsible for the calculation of the system performance index function, according to the adopted signal implementation strategy, predict and calculate the delay of special vehicles , intersection saturation, etc., determine the weight of each performance index, calculate the comprehensive performance index of the system, and provide a basis for the adjustment of the intersection or road network signal control state; （4）优先通行车辆信息管理：根据系统平台创建的优先通行服务对车辆优先通行车况进行管理，记录所有优先通行车辆数据列表，通过车侧设备和路侧设备识别特种车辆并分析车辆号码、优先策略、位置信息、行驶方向，优先通行路口，优先通行时间，可以对优先通行服务车辆进行监控；(4) Priority vehicle information management: According to the priority access service created by the system platform, the vehicle priority access condition is managed, the data list of all priority access vehicles is recorded, and the vehicle side equipment and roadside equipment are used to identify special vehicles and analyze the vehicle number, priority Strategy, location information, driving direction, priority crossing, priority time, can monitor priority service vehicles; （5）优先通行参数管理：根据路侧设备上报信息分析当前路口车流状态、路口不同方向的车流量对于优先通行决策的影响度，在系统后台配置不同的通行参数信息，填写策略选择，优先通行距离参数设置，绿灯延长设置，感应时信号灯状态；(5) Priority traffic parameter management: According to the information reported by the roadside equipment, analyze the current traffic flow status at the intersection and the influence of the traffic flow in different directions at the intersection on the priority traffic decision, configure different traffic parameter information in the system background, fill in the strategy selection, and give priority to traffic Distance parameter setting, green light extension setting, signal light status when sensing; （6）优先通行策略管理：系统后台可以添加不同的优先通行策略，如：绿灯延长，绿灯早起，跳跃相位等优先通行策略，提供多种优先通行方案，为车辆优先通行的实现提供策略选择；系统接收到优先请求后，根据系统提供的车辆信息，对交叉口或路网的当前排队长度、实施优先期间到达的车辆数、这一时间范围内驶离的车辆数等交叉口或路网交通运行状态进行评估；(6) Priority traffic strategy management: Different priority traffic strategies can be added in the background of the system, such as: extended green light, early green light, skip phase and other priority traffic strategies, providing a variety of priority traffic schemes to provide strategic choices for the realization of vehicle priority traffic; After the system receives the priority request, according to the vehicle information provided by the system, the current queue length at the intersection or road network, the number of vehicles arriving during the implementation of the priority period, the number of vehicles leaving within this time range, etc. Operational status to be evaluated; （7）历史优先服务回放：通过车侧或者车内设备记录所有优先通行车辆的通行数据，可以查询车辆优先通行回放信息；(7) History priority service playback: Record the traffic data of all priority vehicles through the vehicle side or in-vehicle equipment, and you can query the vehicle priority access playback information; （8）优先通行服务记录：记录所有优先通行车辆的服务数据，记录车辆服务状态成功或者失败，可以查看服务失败详情，根据路口和车牌号查询通行服务记录；(8) Priority access service record: record the service data of all priority access vehicles, record the success or failure of the vehicle service status, you can view the service failure details, and query the access service records according to the intersection and license plate number; （9）决策输出：根据获得的各种数据做出的决策，指导及控制智能信号机做出信号变更，包括绿灯延长、绿灯早起，或跳跃相位；(9) Decision output: based on the decisions made based on the various data obtained, guide and control the intelligent signal machine to make signal changes, including extending the green light, getting up early for the green light, or skipping the phase; 所述智能信号机，作为交通信号控制系统的执行机构，在与车辆检测器做数据交互的同时，判定是否满足优先通行的优先级需求，满足优先级需求的，将优先通行请求发往后台控制中心，以便满足优先等级的特种车辆能够顺利快速的通过交通路口。The intelligent signal, as the executive body of the traffic signal control system, determines whether the priority requirement of priority access is met while interacting with the vehicle detector, and if the priority requirement is satisfied, the priority access request is sent to the background control Center, so that special vehicles that meet the priority level can pass through the traffic intersection smoothly and quickly. 2.根据权利要求1所述的基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，所述射频定位模块包括：控制器、收发器和现场存储计算单元；所述控制器分别连接收发器和现场存储计算单元。2. The high-precision positioning terminal-based specific vehicle priority traffic control system according to claim 1, wherein the radio frequency positioning module comprises: a controller, a transceiver and an on-site storage and calculation unit; the controller respectively Connect the transceiver and the field storage computing unit. 3.根据权利要求2所述的基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，还包括无线通信模块，该无线通信模块和远程控制终端相连；所述远程控制终端能够通过发送远程控制命令控制智能信号机的红绿灯颜色切换。3. The high-precision positioning terminal-based specific vehicle priority traffic control system according to claim 2, further comprising a wireless communication module, the wireless communication module is connected to a remote control terminal; the remote control terminal can pass Send a remote control command to control the color switching of the traffic lights of the smart signal. 4.根据权利要求3所述的基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，系统运行时，车辆检测器按照固定频率检测通过的车辆，当检测有需要优选通行的特种车辆时，通过无线通信模块将信号传输给后台的控制中心，该信号被后台的控制中心接收后，经过后台计算，得到特种车辆的位置、速度等信息，并控制相应的智能信号灯进行状态快速切换，确保特种车辆的优选通行。4. The high-precision positioning terminal-based specific vehicle priority traffic control system according to claim 3, characterized in that, when the system is running, the vehicle detector detects passing vehicles according to a fixed frequency, and when detecting a special vehicle that needs to be preferentially passed When the vehicle is in the vehicle, the signal is transmitted to the control center in the background through the wireless communication module. After the signal is received by the control center in the background, the information such as the position and speed of the special vehicle is obtained through the background calculation, and the corresponding intelligent signal lamp is controlled to quickly switch the state. , to ensure the optimal passage of special vehicles. 5.根据权利要求3所述的基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，所述射频定位模块对特种车辆进行定位，具体流程为：5. The high-precision positioning terminal-based specific vehicle priority traffic control system according to claim 3, wherein the radio frequency positioning module locates the special vehicle, and the specific process is: （1）射频定位模块与特种车辆之间的射频信号通过无线传输模块实现空间耦合，进行无接触信息传递；(1) The radio frequency signal between the radio frequency positioning module and the special vehicle is spatially coupled through the wireless transmission module for contactless information transmission; （2）射频定位模块与特种车辆无线通信，通过多特种车辆识别碰撞算法获得接收信号强度，即：RSSI值；(2) The radio frequency positioning module communicates with special vehicles wirelessly, and obtains the received signal strength through the multi-special vehicle identification collision algorithm, that is, the RSSI value; （3）获取射频定位模块自己的坐标值，将获取到的坐标值和RSSI值传递至后台控制中心，后台控制中心根据接收到数据信息，经过定位算法，得到特种车辆的位置信息。(3) Obtain the coordinate value of the radio frequency positioning module, and transmit the obtained coordinate value and RSSI value to the background control center. The background control center obtains the position information of the special vehicle through the positioning algorithm according to the received data information. 6.根据权利要求5所述的基于高精度定位终端的特定车辆优先通行交通控制系统，其特征在于，所述定位算法，具体如下：6. The high-precision positioning terminal-based specific vehicle priority traffic control system according to claim 5, wherein the positioning algorithm is specifically as follows: （1）确定接受信号强度和信号传输距离关系为：(1) Determine the relationship between the received signal strength and the signal transmission distance as: RSSI＝-(A+10n log10D)-EAF；RSSI=-(A+10n log10D)-EAF; 其中，RSSI是接收信号强度，D是周发节点之间的距离，n 是信号传播因子；EAF是环境因子；Among them, RSSI is the received signal strength, D is the distance between periodic nodes, n is the signal propagation factor; EAF is the environmental factor; （2）设读写器三个位置为：p1(x1，y1)、p2(x2，y2)、p1(x3，y3)，利用如下公式计算出待定位特种车辆坐标：(2) Set the three positions of the reader as: p1 (x1, y1), p2 (x2, y2), p1 (x3, y3), and use the following formula to calculate the coordinates of the special vehicle to be located:
Figure 950462DEST_PATH_IMAGE001
Figure 950462DEST_PATH_IMAGE001
 得出特种车辆的坐标位置为：The coordinate position of the special vehicle is obtained as:
Figure 507345DEST_PATH_IMAGE002
。
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.
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CN113299029A (en) * 2021-05-14 2021-08-24 大旗时代（天津）科技有限公司 Wisdom fire control remote monitering system
CN113325791A (en) * 2021-06-08 2021-08-31 杭州富阳力佳电机有限公司 Door opening machine control method and device and electronic equipment
CN113643534A (en) * 2021-07-29 2021-11-12 北京万集科技股份有限公司 Traffic control method and equipment
CN113781805A (en) * 2021-09-10 2021-12-10 淮阴工学院 A traffic light control system and control method for priority passing of special vehicles
CN114566059A (en) * 2022-01-14 2022-05-31 浙江中控信息产业股份有限公司 One-key navigation special vehicle collaborative priority system
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CN115798231A (en) * 2022-10-17 2023-03-14 浪潮思科网络科技有限公司 Traffic signal lamp control method, equipment and medium
CN116639169A (en) * 2023-07-27 2023-08-25 北京全路通信信号研究设计院集团有限公司 Intersection priority control method and intersection priority application level setting method
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CN113299029A (en) * 2021-05-14 2021-08-24 大旗时代（天津）科技有限公司 Wisdom fire control remote monitering system
CN113299029B (en) * 2021-05-14 2022-11-15 大旗时代（天津）科技有限公司 Wisdom fire control remote monitering system
CN113256998A (en) * 2021-05-18 2021-08-13 哈尔滨翼成科技有限公司 Special vehicle and working state identification method and equipment thereof
CN113325791A (en) * 2021-06-08 2021-08-31 杭州富阳力佳电机有限公司 Door opening machine control method and device and electronic equipment
CN113643534A (en) * 2021-07-29 2021-11-12 北京万集科技股份有限公司 Traffic control method and equipment
CN113781805A (en) * 2021-09-10 2021-12-10 淮阴工学院 A traffic light control system and control method for priority passing of special vehicles
CN114566059A (en) * 2022-01-14 2022-05-31 浙江中控信息产业股份有限公司 One-key navigation special vehicle collaborative priority system
CN114613126B (en) * 2022-01-28 2023-03-17 浙江中控信息产业股份有限公司 Special vehicle signal priority method based on dynamic green wave
CN114613126A (en) * 2022-01-28 2022-06-10 浙江中控信息产业股份有限公司 Special vehicle signal priority method based on dynamic green wave
CN114582114A (en) * 2022-02-18 2022-06-03 广州华生信息科技有限公司 Fire-fighting vehicle priority passing system based on Internet of things, control method, computer-readable storage medium and terminal
CN115798231A (en) * 2022-10-17 2023-03-14 浪潮思科网络科技有限公司 Traffic signal lamp control method, equipment and medium
CN116645823A (en) * 2023-05-25 2023-08-25 山东新一代信息产业技术研究院有限公司 Intelligent traffic signal light management system and management method
CN116639169A (en) * 2023-07-27 2023-08-25 北京全路通信信号研究设计院集团有限公司 Intersection priority control method and intersection priority application level setting method
CN116639169B (en) * 2023-07-27 2023-10-17 北京全路通信信号研究设计院集团有限公司 Intersection priority control method and intersection priority application level setting method
CN117789494A (en) * 2024-02-26 2024-03-29 长春师范大学 A data interaction method and system based on Internet of Vehicles

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