CN112885098A - Distributed intelligent traffic control system - Google Patents
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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
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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
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/095—Traffic lights
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Abstract
The invention discloses a distributed intelligent traffic control system, which belongs to the technical field of traffic control, wherein each intersection is provided with an independent control system, and the system comprises a control box, a traffic light in front of a stop line of the intersection and one or two groups of vehicle identification devices behind the stop line, wherein the control box is connected with the traffic light in front of the stop line of the intersection and the one or two groups of vehicle identification devices behind the stop line, and the control box is mutually connected with the control boxes of all the intersections adjacent to the intersection. The invention sets independent traffic control system at the crossing to count and predict the traffic flow of the crossing in each direction, the traffic control system of the crossing and the adjacent crossing are connected with each other and obtain the vehicle prediction data of other crossing towards the crossing, then the optimization process is carried out and the processing action is carried out.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to a distributed intelligent traffic control system.
Background
The traditional traffic control system is that the traffic lights are arranged at the intersection, the turn-on time of the traffic lights is fixedly set, and the control mode effectively controls the traffic condition of the intersection under the conditions that the quantity of the early social vehicles is very small and the traffic flow on the road is very small.
With the increase of social vehicles, vehicles on the inner roads of cities are increased obviously, particularly, the traffic flow on main roads of the cities is increased obviously, at the moment, the traditional traffic control system at the intersections of the main roads can cause the overstock of the vehicles on the main roads of the cities and unsmooth passing, so that the artificial congestion of the main roads caused by the traffic control system is caused.
The mode is changed subsequently, the traffic control systems of most main intersections and all main road intersections in the whole city are controlled in a centralized mode, a city centralized control center is formed, and intersection traffic is controlled. The system is an existing intelligent traffic control system, and basically comprises a central control system, a lamp signal controller, a camera, a remote sensor and a communication network. The remote sensors and cameras detect the traffic/pedestrian number and return the data to the central control system by means of wireless or optical fiber wired transmission. The central system sends out the command to switch the lamp number to each traffic light controller. For example, if a large amount of traffic is detected in a certain direction, the system will send a green light. When the central system stops swinging, the traffic light can be automatically switched to the traditional independent working mode.
In this mode, the central control system carries the core functions of the intelligent traffic control system: and (5) processing and analyzing data. As the number of traffic control systems increases, the load of the central control system increases, the stability decreases, and the central control system needs to be replaced if necessary to improve the performance. And the disaster tolerance of the central control system is not good, once the central control system stops swinging, the traffic control systems in the whole area can not operate intelligently.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a distributed intelligent traffic control system, where an independent traffic control system is disposed at a local intersection, and statistics and predictions are performed on traffic flows in all directions of the local intersection, and the traffic control systems at the local intersection and adjacent intersections are connected to each other and obtain vehicle prediction data of other intersections facing the local intersection, and then perform optimization processing, and perform processing actions (controlling a traffic light at the local intersection to be turned on and off, and directing vehicles at the local intersection to pass in order).
In order to achieve the purpose, the invention adopts the following technical scheme:
a distributed intelligent traffic control system is provided with an independent control system at each intersection and comprises a control box, a traffic light in front of a stop line of the intersection and one or two groups of vehicle identification devices behind the stop line, wherein the control box is connected with the traffic light in front of the stop line of the intersection and the one or two groups of vehicle identification devices behind the stop line, and the control box is mutually connected with the control boxes of all the intersections adjacent to the intersection.
Further, the group of vehicle identification devices refers to vehicle identification devices arranged on the same bar frame and/or the same position.
Furthermore, when the vehicle identification devices are arranged in two groups, the two groups of vehicle identification devices are arranged in a road section between two adjacent intersections, and the two groups of vehicle identification devices are spaced at a certain distance.
Furthermore, the vehicle recognition device is one or a plurality of combinations of a camera, a license plate recognition device and an ETC recognition device, and is used for recognizing, measuring speed, shooting or photographing vehicles on each lane behind the stop line and counting in unit time period.
Furthermore, the control box is connected with the traffic light and the vehicle identification device in a wired or wireless mode.
Furthermore, the control boxes of all the intersections adjacent to the intersection are connected in a wired or wireless mode.
Furthermore, when the control boxes are connected in a wireless mode, the wireless communication mode is at least one of ZigBee and WIFI.
Furthermore, a micro-control host is arranged in the control box, and a microprocessor, a memory, a hard disk and a communication interface are arranged on the micro-control host.
In fact, the fact that the control box is interconnected with the control boxes of other directional control systems is that the micro-control hosts in the control boxes are interconnected.
Furthermore, the microprocessor is a Jetson series high-performance microprocessor, and is a high-performance artificial intelligence chip produced by the Invita company.
Furthermore, the micro-control host runs an intelligent traffic control system developed based on a linux open operating system and a Jetson open platform.
An operation mode of a distributed intelligent traffic control system comprises the following steps:
step 1: the method comprises the steps that real-time traffic flow information of each direction of the intersection is obtained, a vehicle recognition device behind a stop line transmits the obtained information to a micro control host in a control box, and the micro control host analyzes, recognizes and summarizes the information to obtain the real-time traffic flow information of each direction of the intersection;
step 2: and establishing historical traffic flow information data, and establishing the historical traffic flow information data of each direction of the intersection after a period of time of collection and statistics.
And step 3: and predicting traffic information of each direction of the intersection at a certain period of time in the future, and predicting the traffic information at the certain period of time in the future by the micro-control host according to a built-in model of software by combining historical traffic information data.
And 4, step 4: making a decision, comparing the real-time traffic flow information with the previously predicted traffic flow information, superposing the congestion traffic flow information threshold value in each direction of the intersection and the traffic flow information and decision data which are transmitted by the microprocessing host of the adjacent intersection control box and are towards the intersection, making corresponding real-time and predicted decisions according to an event processing mode preset by software, forming the processing result into data, and feeding back the data to the microprocessing host in the control box of the adjacent intersection together with the traffic flow data in the corresponding direction of the intersection.
And 5: the micro-processing host in the intersection control box converts real-time decisions made by the intersection into control signals to control the opening and closing of the traffic lights in the corresponding direction of the intersection, and simultaneously performs continuous optimization processing on real-time and predicted decision data and traffic flow data fed back by the micro-processing host in the control box of the adjacent intersection in combination, so as to generate new real-time and predicted decisions.
Further, in the step 4, when the microprocessor in the intersection control box is completely disconnected from the microprocessor in the adjacent intersection control box, the traffic lights in all directions of the intersection are autonomously determined to be operated according to the real-time traffic information in the direction and the historical traffic information.
Further, in the step 4, as long as the microprocessor in the intersection control box is connected to the microprocessor in any one of the adjacent intersections, the microprocessor in the intersection control box can obtain the traffic data and decision information of the intersection, which are transmitted to the microprocessor in the intersection control box by the microprocessor in the other adjacent intersection control box, in the direction of the intersection, and transmit the traffic data and decision information of each direction of the intersection to the microprocessor in the adjacent intersection control box, and then transmit the traffic data and decision information to the microprocessor in the other adjacent intersection control box, so that the microprocessor in each intersection control box can receive the traffic information and decision information of all the intersections adjacent to the intersection facing the intersection in real time.
The invention discloses a distributed intelligent traffic control system, which is provided with an independent control system at an intersection and comprises a control box, wherein a microprocessing host is arranged in the control box, a Jetson series high-performance microprocessor is arranged in the microprocessing host, and the microprocessing host is a high-performance artificial intelligent chip produced by the Invidant company.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the distributed intelligent traffic control system, the control box of the traffic control system at the intersection is only responsible for processing and analyzing traffic flow data in each direction of the intersection, and real-time and prediction decisions of the intersection are made by combining data transmitted by the microprocessing host in the control box at the adjacent intersection, so that the requirements on the performance of hardware in the microprocessing host are reduced.
2. According to the distributed intelligent traffic control system, a processor of a micro-control host of a control box of the traffic control system at the intersection adopts a Jetson series high-performance microprocessor, and the system has self-learning capability, so that the self-intelligent control is realized in the direction.
3. According to the distributed intelligent traffic control system, the micro-control host of the control box of the traffic control system at the intersection is arranged at the intersection, so that the time for sending data to the central processing unit and then returning the data is saved due to the reduction of the physical distance, and the response speed of the system is improved.
4. According to the distributed intelligent traffic control system, the communication mode between adjacent intersection control boxes can adopt a mode similar to Zigbee to transmit information one by one, so that the integral use is not influenced when a certain microprocessor node in the network fails.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an internal information flow diagram of the independent control system of the present invention.
Fig. 3 is a schematic diagram of the interconnection of the control boxes of the crossing and the adjacent crossing.
In the figure: 1-traffic light, 2-vehicle identification device and 3-control box.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, fig. 2 and fig. 3, a distributed intelligent traffic control system, which is an intersection of a main road, specifically an intersection of an east-west road and a north-south road, an independent control system is arranged at the intersection and comprises a control box 3, traffic lights 1 in front of a stop line of the intersection and two groups of vehicle identification devices 2 behind the stop line are arranged in 4 directions of the intersection (namely the east direction and the west direction of an east road and the south direction and the north direction of a south road), the control box is arranged beside the upright post of the bar frame where one traffic light is positioned at the intersection, the control box 3 is connected with the traffic light 1 and the vehicle identification device 2 in a wired mode, the control box 3 is wirelessly connected with the control boxes of all the intersections adjacent to the intersection in a ZigBee mode.
The vehicle recognition device 2 is a camera, and recognizes, measures the speed, makes a video recording or photographs the vehicle of each lane behind the stop line.
The control box 3 is internally provided with a micro-control host, the micro-control host is provided with a microprocessor, a memory, a hard disk and a communication interface, the micro-control host is mainly a Jetson TX2 module containing a high-performance microprocessor in Jetson series, and the Jetson TX2 is a 7.5-watt single-module super computer and can provide a real AI calculation function for the terminal. The computer is based on NVIDIA Pascal (graphics processing Unit) GPU architecture, carries 8GB memory, and has the memory bandwidth of 59.7 GB/s. The Jetson TX2 is provided with various standard hardware interfaces, can be easily integrated with products of different types and shapes, and the micro-control host runs an intelligent traffic control system developed based on a linux open operating system and a Jetson open platform.
As shown in fig. 2, an operation method of the distributed intelligent traffic control system includes the following steps:
step 1: the method comprises the steps that real-time traffic flow information of each direction of the intersection is obtained, a vehicle recognition device behind a stop line transmits the obtained information to a micro control host in a control box, and the micro control host analyzes, recognizes and summarizes the information to obtain the real-time traffic flow information of each direction of the intersection;
step 2: and establishing historical traffic flow information data, and establishing the historical traffic flow information data of each direction of the intersection after a period of time of collection and statistics.
And step 3: and predicting traffic information of each direction of the intersection at a certain period of time in the future, and predicting the traffic information at the certain period of time in the future by the micro-control host according to a built-in model of software by combining historical traffic information data.
And 4, step 4: making a decision, comparing the real-time traffic flow information with the previously predicted traffic flow information, superposing the congestion traffic flow information threshold value in each direction of the intersection and the traffic flow information and decision data which are transmitted by the microprocessing host of the adjacent intersection control box and are towards the intersection, making corresponding real-time and predicted decisions according to an event processing mode preset by software, forming the processing result into data, and feeding back the data to the microprocessing host in the control box of the adjacent intersection together with the traffic flow data in the corresponding direction of the intersection.
And 5: the micro-processing host in the intersection control box converts real-time decisions made by the intersection into control signals to control the opening and closing of the traffic lights in the corresponding direction of the intersection, and simultaneously performs continuous optimization processing on real-time and predicted decision data and traffic flow data fed back by the micro-processing host in the control box of the adjacent intersection in combination, so as to generate new real-time and predicted decisions.
In the step 4, when the microprocessor in the intersection control box is completely disconnected with the microprocessor in the adjacent intersection control box, the traffic lights in all directions of the intersection are independently decided to operate according to the real-time traffic information in the direction and the historical traffic information.
In the step 4, as long as the microprocessor in the intersection control box is connected with the microprocessor in any one of the adjacent intersections, the microprocessor in the intersection control box can obtain the traffic data and decision information of the intersection, which are transmitted to the microprocessor in the intersection control box by the microprocessors in the other adjacent intersections, in the direction of the intersection, and transmit the traffic data and decision information of each direction of the intersection to the microprocessor in the adjacent intersection control box, and then transmit the traffic data and decision information to the microprocessors in the other adjacent intersections, so that the microprocessor in each intersection control box can receive the traffic information and decision information of all the intersections adjacent to the intersection in the direction of the intersection in real time.
Because the intersection is an intersection of two main roads, the traffic flow of the two roads in daytime is generally large, and the intersection generally mainly uses alternate traffic, but if the micro-processing hosts of the control boxes of the east-west two adjacent intersections transmit messages to the intersection with large traffic flow (i.e. the traffic flow in the east-west direction of the intersection is large), and the micro-processing hosts of the control boxes of the north-south two adjacent intersections transmit messages to the intersection with small traffic flow (i.e. the traffic flow in the north-south direction of the intersection is small), the micro-processing hosts of the control boxes of the intersection control boxes control the green lights in the east-west direction of the intersection to be released for a long time, so as to avoid congestion in the east-west direction.
And if the vehicles are continuously arranged in the east-west direction and the south-north direction, the green light time in the east-west direction and the south-north direction is short, and the vehicles in each direction can rapidly pass.
Example two:
a distributed intelligent traffic control system is characterized in that the intersection is a crossroad with main roads and branch roads crossed, specifically an east-west trunk road and a south-north branch road intersection, wherein a north side of the south-north branch road on the east-west trunk road is a residential area, a south side of the east-west trunk road is provided with a school, the traffic flow of the main roads is large in daily life, but the traffic flow of the branch roads is large in the working days, the working hours and the school hours.
The crossing is provided with an independent control system which comprises a control box, 4 directions of the crossing (namely east and west directions of east and west roads and south and north directions of south and north roads) are arranged on a traffic light 1 in front of a stop line of the crossing and a group of vehicle identification devices 2 behind the stop line, the control box is arranged on a stand column of a bar frame where one traffic light of the crossing is positioned, the control box 3 is connected with the traffic light 1 and the vehicle identification devices 2 in a wired mode, and the control box 3 is connected with a control box 3 of a control system of an adjacent crossing of the crossing in a fiber-optic wired mode.
The vehicle recognition device 2 is a camera, and recognizes, measures the speed, makes a video recording or photographs the vehicle of each lane behind the stop line.
The control box is internally provided with a micro-control host 3, the micro-control host is provided with a microprocessor, a memory, a hard disk and a communication interface, the micro-control host mainly comprises a Jetson Nano module containing a high-performance microprocessor in Jetson series, and the Jetson Nano adopts a four-core 64-bit ARM CPU and a 128-core integrated NVIDIA GPU, so that the calculation performance of 472GFLOPS can be provided. It also includes 4GB LPDDR4 memory, in a high efficiency, low power consumption package, with 5W/10W power mode and 5V DC input. The area occupied by the Jetson Nano development suite is only 80x100mm, the Jetson Nano development suite is provided with four high-speed USB 3.0 ports, an MIPI CSI-2 camera connector, an HDMI 2.0 and a DisplayPort 1.3, a gigabit Ethernet, an M.2Key-E module, a MicroSD card slot and a 40-pin GPIO connector, the Jetson Nano development suite can be easily integrated with products of different types and shapes, and the micro control host runs an intelligent traffic control system developed based on a linux open operating system and a Jetson open platform.
The operation mode of the distributed intelligent traffic control system is the same as that of the first embodiment.
In the actual operation process, historical data and learning are established after the road junction is installed and operated for a period of time, and the traffic control condition of the road junction is as follows:
0:00-4:00 at night, 9:30-11:00 at day, and 14-16: in the time period of 00, almost no vehicles exist on the branch road (namely, no vehicles in the direction of the intersection pass through the data transmitted by the microprocessor hosts in the control boxes of the adjacent intersections of the detected vehicles and the branch road), so that the main road is mainly provided with green lights, when the vehicle identification device on the branch road detects that the vehicles exist or the microprocessor hosts in the control boxes of the adjacent intersections of the branch road transmit the data to the vehicles in the direction of the intersection, if the vehicles on the main road are not more, the direction of the coming vehicles of the branch road displays the green lights, but the actual green light emission time is very short, generally within 10 seconds, the branch vehicles can pass through in time, meanwhile, the pressure of the vehicles on the main road cannot be accumulated, and when the flow of the vehicles on the main road is large (the microprocessor hosts of the control boxes of the adjacent intersections of the road transmit data to the vehicles at the intersection), the branch vehicles can wait for a long time, when the traffic flow of the main road is reduced and then the green light is released, or the general waiting time is not more than 10 minutes, the control box of the intersection actively turns off the green light of the main road and turns on the green light in the branch direction, so that the waiting time of the vehicles in the branch direction is prevented from being overlong.
The branch road traffic flow is large at the moment mainly in the time period of students going to and getting out of school at 7:30-9:00 and 16:30-18:00, and meanwhile, because the branch road contains limited vehicles, congestion is easily caused, the branch road is taken as the owner at the moment, and the trunk road is considered at the same time, alternate traffic is realized, when the branch road vehicles are large, the branch road green light is taken as the owner, and when the branch road vehicles are reduced, the trunk road green light is taken as the owner.
Outside the above-mentioned time quantum, give first place to the trunk road and let out, compromise the branch road simultaneously, at this moment, when the vehicle overstock of branch road reaches a certain quantity, just can green light let out to trunk road's quick pass has been guaranteed.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A distributed intelligent traffic control system is characterized in that: an independent control system is arranged at each intersection and comprises a control box (3), a traffic light (1) in front of a stop line of the intersection and one or two groups of vehicle identification devices (2) behind the stop line, the control box (3) is connected with the traffic light (1) in front of the stop line of the intersection and the one or two groups of vehicle identification devices (2) behind the stop line, and the control box (3) is mutually connected with the control boxes (3) of all intersections adjacent to the intersection.
2. The distributed intelligent traffic control system of claim 1, wherein: the vehicle recognition device (2) is one or a combination of a camera, a license plate recognition device and an ETC recognition device.
3. The distributed intelligent traffic control system of claim 1, wherein: the control box (3) is connected with the traffic light (1) and the vehicle identification device (2) in a wired or wireless mode.
4. The distributed intelligent traffic control system of claim 1, wherein: the control boxes (3) of all the intersections adjacent to the intersection are connected in a wired or wireless mode.
5. The distributed intelligent traffic control system of claim 4, wherein: when the control boxes (3) are connected in a wireless mode, the wireless communication mode is at least one of ZigBee and WIFI.
6. The distributed intelligent traffic control system of claim 1, wherein: a micro-control host is arranged in the control box (3), and a microprocessor, a memory, a hard disk and a communication interface are arranged on the micro-control host.
7. The distributed intelligent traffic control system of claim 6, wherein: the microprocessor is a Jetson series high-performance microprocessor and is a high-performance artificial intelligence chip produced by the English Viviada company.
8. A method of operating a distributed intelligent traffic control system according to any of claims 1-7, characterized by the steps of:
step 1: the method comprises the steps that real-time traffic flow information of each direction of the intersection is obtained, a vehicle recognition device behind a stop line transmits the obtained information to a micro control host in a control box, and the micro control host analyzes, recognizes and summarizes the information to obtain the real-time traffic flow information of each direction of the intersection;
step 2: and establishing historical traffic flow information data, and establishing the historical traffic flow information data of each direction of the intersection after a period of time of collection and statistics.
And step 3: and predicting traffic information of each direction of the intersection at a certain period of time in the future, and predicting the traffic information at the certain period of time in the future by the micro-control host according to a built-in model of software by combining historical traffic information data.
And 4, step 4: making a decision, comparing the real-time traffic flow information with the previously predicted traffic flow information, superposing the congestion traffic flow information threshold value in each direction of the intersection and the traffic flow information and decision data which are transmitted by the microprocessing host of the adjacent intersection control box and are towards the intersection, making corresponding real-time and predicted decisions according to an event processing mode preset by software, forming the processing result into data, and feeding back the data to the microprocessing host in the control box of the adjacent intersection together with the traffic flow data in the corresponding direction of the intersection.
And 5: the micro-processing host in the intersection control box converts real-time decisions made by the intersection into control signals to control the opening and closing of the traffic lights in the corresponding direction of the intersection, and simultaneously performs continuous optimization processing on real-time and predicted decision data and traffic flow data fed back by the micro-processing host in the control box of the adjacent intersection in combination, so as to generate new real-time and predicted decisions.
9. The operation of the distributed intelligent traffic control system according to claim 8, wherein: in the step 4, when the microprocessor in the intersection control box is completely disconnected with the microprocessor in the adjacent intersection control box, the traffic lights in all directions of the intersection are independently decided to operate according to the real-time traffic information in the direction and the historical traffic information.
10. The operation of the distributed intelligent traffic control system according to claim 8, wherein: in the step 4, as long as the microprocessor in the intersection control box is connected with the microprocessor in any one of the adjacent intersections, the microprocessor in the intersection control box can obtain the traffic data and decision information of the intersection, which are transmitted to the microprocessor in the intersection control box by the microprocessors in the other adjacent intersections, in the direction of the intersection, and transmit the traffic data and decision information of each direction of the intersection to the microprocessor in the adjacent intersection control box, and then transmit the traffic data and decision information to the microprocessors in the other adjacent intersections, so that the microprocessor in each intersection control box can receive the traffic information and decision information of all the intersections adjacent to the intersection in the direction of the intersection in real time.
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| CN114973709A (en) * | 2022-05-31 | 2022-08-30 | 重庆长安汽车股份有限公司 | Intelligent control system and control method for urban traffic lights |
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| CN111613072A (en) * | 2020-05-08 | 2020-09-01 | 上海数道信息科技有限公司 | Intelligent signal lamp timing optimization method, device, equipment, system and medium |
| CN112233434A (en) * | 2020-10-10 | 2021-01-15 | 扬州大学 | Urban intersection traffic signal coordination control system and method based on intelligent agent |
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| CN114280609A (en) * | 2021-12-28 | 2022-04-05 | 上海恒岳智能交通科技有限公司 | 77GHz millimeter wave signal detection processing method and system |
| CN114280609B (en) * | 2021-12-28 | 2023-10-13 | 上海恒岳智能交通科技有限公司 | 77GHz millimeter wave signal detection processing method and system |
| CN114973709A (en) * | 2022-05-31 | 2022-08-30 | 重庆长安汽车股份有限公司 | Intelligent control system and control method for urban traffic lights |
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