EP3905218B1 - Procédé et système pour fournir des messages map et spat pour un ensemble nouvellement établi d'au moins un feu de circulation - Google Patents
Procédé et système pour fournir des messages map et spat pour un ensemble nouvellement établi d'au moins un feu de circulation Download PDFInfo
- Publication number
- EP3905218B1 EP3905218B1 EP20171678.4A EP20171678A EP3905218B1 EP 3905218 B1 EP3905218 B1 EP 3905218B1 EP 20171678 A EP20171678 A EP 20171678A EP 3905218 B1 EP3905218 B1 EP 3905218B1
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- European Patent Office
- Prior art keywords
- traffic light
- map
- spat
- message
- traffic
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- 238000000034 method Methods 0.000 title claims description 26
- 238000012545 processing Methods 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 21
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 14
- 230000011664 signaling Effects 0.000 description 14
- 238000010276 construction Methods 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000018199 S phase Effects 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
- G08G1/0955—Traffic lights transportable
Definitions
- the invention relates to a method and a system for providing MAP and SPaT messages for a newly established set of at least one traffic light.
- the invention further relates to a traffic light and a backend server.
- the positions of the traffic lights and their optical signaling devices are recorded in the digital maps the vehicles are using when driving autonomously.
- only permanently established traffic lights are incorporated into the maps.
- EP 3 147 882 A1 describes a method for an intelligent transportation system, the method comprising the steps of: reading a vehicle's geolocation and determining a direction of its movement; determining the closest traffic light based on the vehicles position and direction of movement; determining a distance between the vehicle and the closest traffic light; determining the closest traffic light's phase and its remaining time; determining a number of vehicles in the group of vehicles between the vehicle and the closest traffic light; and based on the aforementioned data, calculating an optimum vehicle speed and transmitting the result of this calculation to the vehicle.
- the invention is based on the technical problem of providing MAP and SPaT messages for a newly established set of at least one traffic light.
- the technical problem is solved by a method having the features of claim 1, a system having the features of claim 7, a traffic light having the features of claim 8, and a backend server having the features of claim 9.
- Advantageous embodiments of the invention emerge from the dependent claims.
- a method for providing MAP and SPaT messages for a newly established set of at least one traffic light, wherein a position of each of the at least one traffic light within the set is determined by a global positioning system, wherein the determined positions are assigned to corresponding traffic lanes of at least one street in a digital street map by a processing device, wherein a MAP message is generated based on the digital street map, wherein the generated MAP message comprises the assignments, wherein at least one SPaT message is generated based on a traffic light phase plan of the at least one traffic light or at least one SPaT message is generated based on the information of the current phase of the at least one traffic light, and wherein the generated MAP and SPaT messages are broadcasted by the set of the at least one traffic light.
- a system for providing MAP and SPaT messages for a newly established set of at least one traffic light comprising a set of at least one traffic light, a processing device, at least one global positioning system, configured to determine a position for each of the at least one traffic light within the set, wherein the at least one traffic light within the set is configured to generate a SPaT message based on a traffic light phase plan of the at least one traffic light or to generate a SPaT message based on the information of the current phase of the at least one traffic light, and wherein the processing device is configured to assign the determined positions to corresponding traffic lanes of at least one street in a digital street map, and to generate a MAP message based on the digital street map, wherein the generated MAP message comprises the assignments, and wherein the at least one traffic light within the set is configured to broadcast the generated MAP and SPaT messages.
- a traffic light for a system for providing MAP and SPaT messages for a newly established set of at least one traffic light comprising a global positioning system, configured to determine a position of the traffic light after establishment at a site of operation, at least one communication device, configured to communicate at least with other traffic lights within the set of traffic lights and/or with a backend server, and configured to communicate via a V2X interface, and a control device, configured to control the traffic light according to a traffic light phase plan, wherein the control device is further configured to generate a SPaT message based on the traffic light phase plan or to generate a SPaT message based on the information of the current phase of the at least one traffic light, to transmit the determined position to the backend server and to receive a MAP message from the backend server via the at least one communication device, and to broadcast the received MAP message and the generated SPaT message via the at least one communication device.
- a backend server for a system for providing MAP and SPaT messages for a newly established set of at least one traffic light comprising a processing device, and a communication device, configured to communicate with at least one traffic light within a set of traffic lights, wherein the processing device is configured to receive a position of the at least one traffic light via the communication device and to assign the determined position(s) to corresponding traffic lanes of at least one street in a digital street map, and to generate a MAP message based on the digital street map, wherein the generated MAP message comprises the assignments, and to transmit the generated MAP message via the communication device to the at least one traffic light for broadcasting.
- the method and the system allow to generate SPaT and MAP messages for newly established traffic lights.
- traffic lights established at construction sites i.e. only temporarily established traffic lights, can be furnished with SPaT and MAP messages.
- valuable information that can be broadcasted to vehicles able to process SPaT and MAP messages can be provided also for these temporarily established traffic lights.
- the current status can be directly extracted from the distributed SPaT and MAP messages. This offers an additional channel of information to evaluate the plausibility of sensor data captured by the sensors of the autonomous vehicle.
- a global positioning system e.g. GPS, GLONASS, Beidou etc.
- confidence data regarding the confidence of the determined position can be used to check the plausibility of the position. In case such a check fails, for example, an error message can be generated prompting personnel to verify the position of the traffic light(s).
- the determined positions are then assigned to corresponding traffic lanes of at least one street in a digital street map by using a processing device.
- the processing device assigns the determined positions to inflow and outflow lanes of the site at which the set of traffic lights has been established.
- the assigning comprises a map matching, and if applicable a correction of the determined positions and/or plausibilization of the determined positions with the infrastructure in the digital map.
- a MAP message is created, which comprises the assignments, i.e. the assignments to traffic lanes of inflowing and outflowing traffic.
- the MAP message comprises a definition of at least one stop line for each of the traffic lights within the set and corresponding outflow lanes. In principle, it is also possible that more than one MAP message is created.
- traffic light phase plans which describe the sequence and duration of the optical signaling for each of the optical signaling devices of each of the traffic lights within the set, a SPaT message is generated for each traffic light within the set.
- the SPaT message(s) can also be generated based on the information of the current phase of the at least one traffic light within the set.
- a SPaT message is created in each of the at least one traffic light within the set.
- the SPaT message is in particular generated according to the actual optical signaling performed by the respective traffic light.
- the MAP and SPaT messages are linked to each other.
- the traffic light phase plan(s) and/or the generated SPaT message(s) can, for example, be transmitted to the processing device by each of the traffic lights within the set, and the processing device establishes the link, in particular by linking the generated MAP message and the generated SPaT messages using the SignalGrouplD which indicates the traffic lane that is corresponding to a certain optical signaling device of a traffic light.
- the generated MAP and SPaT messages are then broadcasted by the set of the at least one traffic light, such that they can be received by vehicles approaching the set of the at least one traffic light.
- SPaT and MAP messages can be provided in a flexible way for arbitrary configurations of traffic lights. Hence, even temporarily established traffic lights, in particular at construction sites, can be furnished with custom-made MAP and SPaT messages. This is in particular valuable for autonomously driving vehicles.
- a MAP message comprises topological information regarding, for example, the traffic lanes, the pedestrian crossings and which optical signaling devices of the traffic light controls these traffic lanes and pedestrian crossings.
- a SPaT (Signal Phase and Timing) message comprises, in particular, traffic control information, e.g. the signal phases of the traffic lights and timing of the the traffic lights.
- a set of traffic lights comprises at least one traffic light.
- the set can also comprise a plurality of traffic lights.
- a traffic light comprises optical signaling devices (e.g. "red”, “yellow”, “green”).
- a status and a duration of the status of the optical signaling devices of the traffic lights within the set are controlled according to traffic light phase plans.
- a global positioning system is in particular one of the following: a Global Positioning System (GPS), GLONASS and/or Beidou. Further the global positioning system can use augmentation techniques, for example in the form of Differential Global Positioning System.
- GPS Global Positioning System
- GLONASS Global Positioning System
- Beidou Beidou
- augmentation techniques for example in the form of Differential Global Positioning System.
- Part of the processing device can be provided separately or jointly with other devices as a combination of hardware and software, e.g. as program code that is executed on a microcontroller or microprocessor.
- determining the positions is executed in each case by global positioning systems of each of the at least one traffic light, wherein the determined positions are each transmitted from the traffic lights to the processing device by a respective communication link.
- each traffic light is equipped with its own global positioning system and a communication device.
- Each traffic light within the set can then be established at its respective site and the position for each traffic light can be determined with the respective global positioning system.
- the positions determined by each of the global positioning systems are then transmitted to the processing device and the method is carried out in the way described above.
- the processing device is part of a backend server, wherein the processing device also generates the MAP message.
- the backend server can be a server of a traffic infrastructure system or it can be part of the set of traffic lights.
- the backend server can be part of a particular traffic light within the set.
- the measures are executed automatically after the set of the at least one traffic light is established at a site of operation. This way MAP and SPaT messages can be generated automatically without much effort or manual assistance.
- the method is started after a start or reset command is given to the set of traffic lights such that the set of the at least one traffic light is triggered to execute the measures of the method.
- an approval of the MAP and SPaT messages is requested before the MAP and SPaT messages are broadcasted.
- this approval can be a manual approval, for example by an operational engineer or road worker that sets up the traffic lights at a newly established construction site. This way the information provided in the MAP and SPaT messages can be verified and confirmed after being generated.
- a Decentralized Environmental Notification Message (DEMN) is broadcasted in case one or more of the measures cannot be executed properly. This way a fallback level of operation can be provided.
- DEMN Decentralized Environmental Notification Message
- a plausibility of the SPaT message is evaluated in consideration of passage and clearing times required at a site of operation.
- additional security can be provided when broadcasting and using the SPaT messages.
- the passage and clearing times are checked against the timing information of the phases within the SPaT message. If they do not conform with each other, the SPaT message can be adapted to conform with the passage and clearing times.
- further information regarding the positions and a distance between the traffic lights, which can in particular be derived from the determined positions can be taken into account when evaluating the plausibility. It is also possible, that an approval of the MAP and/or SPaT messages is provided based on the outcome of the plausibility evaluation.
- the individual embodiments of the system, the traffic light, and the backend server in each case correspond to the embodiments of the method.
- the advantages of the system, the traffic light, and the backend server are in each case the same as for the embodiments of the method.
- the method can be executed fully automatically, semi-automatically or manually.
- Manually executing the measures comprises in particular determining the positions of the traffic lights within the set by using, as an example not falling within the scope of the claims, a handheld global positioning system.
- the measures of assigning the street lanes, generating the MAP message(s) and/or linking of MAP and SPaT messages can be performed on a portable processing device, for example on a laptop computer.
- An up-to-date digital street map is downloaded on the laptop computer and the measures are then performed on the laptop computer.
- the generated MAP message(s) is/are then transmitted to the traffic lights.
- the traffic lights can then broadcast the respective MAP message(s) and the corresponding SPaT messages, in particular via the V2X interface.
- FIG. 1 an embodiment of the system 1 for providing MAP and SPaT messages 15, 16 for a newly established set 2 of traffic lights 3 is shown.
- the system 1 comprises a set 2 of two traffic lights 3 and a backend server 4 with a processing device 5 and a memory 6.
- the processing device 5 can access data stored in the memory 6 and can process the data within the memory 6.
- the traffic lights 3 and the backend server 4 can be remotely connected, for example, by an internet connection. Also, in a particular embodiment, the backend server 4 can be part of one of the traffic lights 3.
- Each traffic light 3 comprises a global positioning system 7, configured to determine a position of the respective traffic light 3 by receiving positioning signals from a navigation satellite system 8. Further, the traffic lights 3 each comprise a (vehicle-to-x) V2X transmitter 9, configured to broadcast MAP and SPaT messages to vehicles in the environment of the traffic lights 3, and a communication device 10, which is configured to communicate with the other traffic light 3 within the set 2, for example to avoid opposing "green" signals, and to communicate with the backend server 4.
- the communication device 10 can use, among others, for example, WiFi, mobile communication (3G, 4G, 5G,...) etc.
- the traffic lights 3 also comprise a control device 11, configured to control the traffic light 3, in particular to control optical signaling devices 12 of the traffic lights 3.
- the system 1 is configured to execute the method described in this disclosure.
- the measures of the method are executed automatically after the set 2 of traffic lights 3 is established at a site of operation, for example at a construction site.
- the measures can also be executed manually.
- the traffic lights 3 do not comprise a proper global positioning system 7, but, for example, a handheld positioning system is used to determine the positions of the traffic lights 3 one by one.
- a position 13 of each of the traffic lights 3 is determined by the respective global positioning systems 7.
- the determined positions 13 are transmitted by the communication devices 10 to the backend server 4.
- the backend server 4 receives the determined positions 13.
- the determined positions 13 are assigned to corresponding traffic lanes of at least one street in a digital street map 14 by the processing device 5.
- the determined positions 13 are assigned to inflow and outflow lanes within the digital street map.
- the positions 13 can be shifted to conform with the street infrastructure that is recorded in the digital street map 14.
- a MAP message 15 is generated by the processing device 5 based on the positions 13 in the digital street map 14 and the assignments.
- the generated MAP message 15 comprises the respective assignments.
- the MAP message 15 is generated in accordance with standard SAE J2735 2016-03.
- SPaT messages 16 are generated by the control devices 11 of each of the traffic lights 3 based on the traffic light phase plan 20 of the respective traffic light 3 or the SPaT messages 16 are generated based on the information of the current phase of the respective traffic light 3.
- the SPaT messages 16 are generated in accordance with standard SAE J2735 2016-03.
- the processing device 5 links the generated MAP message 15 and the SPaT messages 16 to each other by the SignalGrouplD which indicates the traffic lane that is corresponding to a certain optical signaling device 12 of a traffic light 3.
- the traffic light phase plan(s) 20 can be transmitted to the backend server 4.
- the generated MAP message 15 is transmitted to the traffic lights 3.
- the traffic lights 3 receive the MAP message 15 by the communication devices 10.
- the received MAP message 15 and the generated SPaT messages 16 are then broadcasted by each traffic light 3 using the V2X transmitters 9.
- Vehicles equipped to receive and process MAP/SPaT can then use the MAP messages 15 and SPaT messages 16 as additional information when approaching the traffic lights 3 of the set 2.
- an approval of the MAP and SPaT messages 15, 16 is requested before the MAP and SPaT messages 15, 16 are broadcasted.
- a traffic engineer or road worker can approve the MAP and SPaT messages 15, 16 after generation. This allows to manually or automatically control and verify the generated MAP and SPaT messages 15, 16.
- a Decentralized Environmental Notification Message 17 (DEMN) is broadcasted in case one or more of the measures cannot be executed properly.
- a plausibility of the SPaT message 16 is evaluated in consideration of passage and clearing times required at a site of operation.
- further information can be provided and/or transmitted to the control devices 11, for example topology data of the site of operation of the set 2 of traffic lights 3. If the plausibility evaluation of the SPaT message results in detection of conflicting timing information, the timing information in the SPaT message can be adapted to conform with the passage and clearing times.
- the plausibility can be evaluated by the processing device 4 if the generated SPaT messages 16 and the further information are transmitted to the processing device 5.
- the traffic lights 3 and/or the processing device 5 determines the passage and clearing times based on the determined positions 13 of the traffic lights 3, which allow to determine, for example the distance between the traffic lights 3.
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Claims (9)
- Procédé de fourniture de messages MAP et SPaT (15, 16) pour un ensemble nouvellement établi (2) d'au moins un feu (3) de circulation,une position (13) du ou de chacun des feux (3) de circulation au sein de l'ensemble (2) étant déterminée par un système (7) de localisation mondiale,les positions (13) déterminées étant affectées à des voies de circulation correspondantes d'au moins une rue dans un plan numérique de rues par un dispositif (5) de traitement,un message MAP (15) étant généré d'après le plan numérique de rues, le message MAP (15) généré comportant les affectations,au moins un message SPaT (16) étant généré d'après un plan (20) de phase de feux de circulation du ou des feux (3) de circulation ou au moins un message SPaT (16) étant généré d'après l'information de la phase actuelle du ou des feux (3) de circulation, etles messages MAP et SPaT (15, 16) générés étant diffusés par l'ensemble (2) du ou des feux (3) de circulation,caractérisé en ce que la détermination des positions (13) est exécutée dans chaque cas par des systèmes (7) de localisation mondiale du ou de chacun des feux (3) de circulation, chacune des positions (13) déterminées étant transmise des feux (3) de circulation au dispositif (5) de traitement par une liaison de communication respective.
- Procédé selon la revendication 1, le dispositif (5) de traitement faisant partie d'un serveur (4) d'arrière-plan, et le dispositif (5) de traitement générant également le message MAP (15).
- Procédé selon l'une quelconque des revendications précédentes, les mesures étant exécutées automatiquement après que l'ensemble (2) du ou des feux (3) de circulation a été établi sur un site d'exploitation.
- Procédé selon l'une quelconque des revendications précédentes, une approbation des messages MAP et SPaT (15, 16) étant demandé avant que les messages MAP et SPaT (15, 16) soient diffusés.
- Procédé selon l'une quelconque des revendications précédentes, un message de notification environnementale décentralisée (DENM) (17) étant diffusé dans le cas où une ou plusieurs des mesures ne peuvent pas être correctement exécutées.
- Procédé selon l'une quelconque des revendications précédentes, une plausibilité du message SPaT (16) étant évaluée compte tenu de temps de passage et de dégagement exigés sur un site d'exploitation.
- Système (1) de fourniture de messages MAP et SPaT (15, 16) pour un ensemble nouvellement établi (2) d'au moins un feu (3) de circulation, comportant :un ensemble (2) d'au moins un feu (3) de circulation,un dispositif (5) de traitement,au moins un système (7) de localisation mondiale, configuré pour déterminer une position (13) du ou de chacun des feux (3) de circulation au sein de l'ensemble (2),le ou les feux (3) de circulation au sein de l'ensemble (2) étant configurés pour générer un message SPaT (16) d'après un plan (20) de phase de feux de circulation du ou des feux (3) de circulation ou pour générer un message SPaT (16) d'après l'information de la phase actuelle du ou des feux (3) de circulation, etle dispositif (5) de traitement étant configuré pour affecter les positions (13) déterminées à des voies de circulation correspondantes d'au moins une rue dans un plan numérique de rues, pour générer un message MAP (15) d'après le plan numérique de rues, le message MAP (15) généré comportant les affectations, etle ou les feux (3) de circulation au sein de l'ensemble (2) étant configurés pour diffuser les messages MAP et SPaT (15, 16) générés,caractérisé en ce que le ou chacun des feux (3) de circulation au sein de l'ensemble (2) comporte un système (7) de localisation mondiale, configuré pour déterminer une position (13) respective du ou des feux (3) de circulation après l'établissement sur un site d'exploitation, et en ce que le ou chacun des feux (5) de circulation au sein de l'ensemble (2) est en outre configurés pour transmettre la position (13) déterminée respective au dispositif (5) de traitement par une liaison de communication respective.
- Feu (3) de circulation pour un système (1) de fourniture de messages MAP et SPaT (15, 16) pour un ensemble nouvellement établi (2) d'au moins un feu (3) de circulation, comportant :un système (7) de localisation mondiale, configuré pour déterminer une position (13) du feu (3) de circulation après l'établissement sur un site d'exploitation,au moins un dispositif (10) de communication, configuré pour communiquer au moins avec d'autres feux (3) de circulation au sein de l'ensemble (2) de feux (3) de circulation et/ou avec un serveur (4) d'arrière-plan, et configuré pour communiquer via une interface V2X, et un dispositif (11) de commande, configuré pour commander le feu (3) de circulation selon un plan (20) de phase de feux de circulation, le dispositif (11) de commande étant en outre configuré pour générer un message SPaT (16) d'après le plan (20) de phase de feux de circulation ou pour générer un message SPaT (16) d'après l'information de la phase actuelle du ou des feux (3) de circulation, pour transmettre la position (13) déterminée au serveur (4) d'arrière-plan et pour recevoir un message MAP (15) en provenance du serveur (4) d'arrière-plan via le ou les dispositifs (10) de communication, et pour diffuser le message MAP (15) reçu et le message SPaT (16) généré via le ou les dispositifs (10) de communication.
- Serveur (4) d'arrière-plan pour un système (1) de fourniture de messages MAP et SPaT (15, 16) pour un ensemble nouvellement établi d'au moins un feu (3) de circulation, comportant :un dispositif (5) de traitement, etun dispositif (10) de communication, configuré pour communiquer avec au moins un feu (3) de circulation au sein d'un ensemble (2) de feux (3) de circulation selon la revendication 8,le dispositif (5) de traitement étant configuré pour recevoir une position (13) du ou des feux (3) de circulation, déterminée par un système respectif (7) de localisation mondiale du ou des feux (3) de circulation, via le dispositif (10) de communication et pour affecter la ou les positions déterminées (13) à des voies de circulation correspondantes d'au moins une rue dans un plan numérique de rues, et pour générer un message MAP (15) d'après le plan numérique de rues, le message MAP (15) généré comportant les affectations, et pour transmettre le message MAP (15) généré via le dispositif (10) de communication au(x) feu(x) (3) de circulation en vue de leur diffusion.
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EP20171678.4A EP3905218B1 (fr) | 2020-04-27 | 2020-04-27 | Procédé et système pour fournir des messages map et spat pour un ensemble nouvellement établi d'au moins un feu de circulation |
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EP20171678.4A EP3905218B1 (fr) | 2020-04-27 | 2020-04-27 | Procédé et système pour fournir des messages map et spat pour un ensemble nouvellement établi d'au moins un feu de circulation |
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EP3905218B1 true EP3905218B1 (fr) | 2023-11-01 |
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Family Cites Families (7)
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US7167105B2 (en) * | 2001-11-16 | 2007-01-23 | Butzer George L | Traffic control device transmitter, receiver, relay and display system |
US7633408B2 (en) * | 2007-02-21 | 2009-12-15 | Albert Voehringer | Portable traffic light |
GB0913501D0 (en) * | 2009-08-03 | 2009-09-16 | Hatton Traffic Man Ltd | Traffic control system |
US9035797B2 (en) * | 2011-03-09 | 2015-05-19 | Maya Varma | Intelligent traffic alerting and control system |
US20120270558A1 (en) * | 2011-04-22 | 2012-10-25 | Bayerische Motoren Werke Aktiengesellschaft | System and Method for Providing Geographically-Relevant Informantin to Mobile Users |
FR3027109B1 (fr) * | 2014-10-08 | 2019-05-31 | Valeo Schalter Und Sensoren Gmbh | Determination d'une vitesse optimale pour un vehicule automobile approchant d'un feu tricolore |
PL414042A1 (pl) * | 2015-09-22 | 2017-03-27 | Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie | Inteligentny system transportowy i sposób wykorzystania inteligentnego systemu transportowego |
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