TW202025102A - Intelligent and adaptive traffic control system - Google Patents

Abstract

Various embodiments include methods and interactive traffic control devices implementing such methods to receive refined location and state information associated with individual vehicles and determine first customized dynamic traffic control instructions for a first one or more of the individual vehicles and second customized dynamic traffic control instructions for a second one or more of the individual vehicles different from the first one or more of the individual vehicles. The first customized dynamic traffic control instructions may be transmitted to the first one or more of the individual vehicles, and the second customized dynamic traffic control instructions may be transmitted to the second one or more of the individual vehicles.

Description

Smart and self-adjusting traffic control system

The content of this case is about a smart and self-adjusting traffic control system.

Traffic signs are usually static signs (for example, stop signs), timing signals (for example, traffic lights that cycle through hard-coded lighting sequences), and reactive signals (for example, those that use sensors to respond to detected vehicles) Traffic signal lights, such as the magnetic stripe integrated in the sidewalk). In many cases, modern signs and signals can lead to sub-optimal traffic patterns, which can force vehicles to slow down or stop unnecessarily when there is no cross traffic or unintentionally crossing areas with heavy or congested traffic (for example, for traffic signs /traffic light).

Vehicle communication systems and standards are under development to support smart highways, autonomous and semi-autonomous vehicles, and to improve the overall efficiency and safety of road transportation systems. Some vehicles include vehicle-to-infrastructure (V2X) and/or vehicle-to-vehicle (ie, V2V) communication systems and functions that provide vehicles with broadcast road transportation systems and vehicle information that other vehicles can receive and process Ability to improve traffic conditions.

Various aspects include methods and systems and devices configured to perform such methods for interactively controlling traffic. Each aspect may include, for example, receiving accurate position and status information associated with individual vehicles on the road through interactive traffic control equipment, and determining the first one or more of the individual vehicles. Customized dynamic traffic control instructions and second customized dynamic traffic control instructions for a second one or more of the individual vehicles, the second one or more of the individual vehicles being different from the individuals The first one or more of the vehicles. The first customized dynamic traffic control commands may include navigation information different from the second customized dynamic traffic control commands. Moreover, the determined first customized dynamic traffic control instruction and the determined second customized dynamic traffic control instruction may be based on the received precise location and status information. Each aspect also includes: transmitting the first customized dynamic traffic control commands to the first one or more of the individual vehicles via the interactive traffic control device; and via the interactive traffic control device , Transmitting the second customized dynamic traffic control commands to the second one or more of the individual vehicles.

In some aspects, the interactive traffic control device can receive dynamic traffic control information from the traffic management server, and determine the first customized dynamic traffic control commands and the second customized dynamic traffic control commands. Based on the received dynamic traffic control information. In some aspects, the first customized dynamic traffic control commands and the second customized dynamic traffic control commands may be simultaneously transmitted to the first one or more of the individual vehicles and the second one. Or more.

In some aspects, the first customized dynamic traffic control instructions may indicate a first navigation route on the road, and the second customized dynamic traffic control instructions indicate a different route on the road from the first navigation route The second navigation route. In some aspects, the first customized dynamic traffic control instructions may include alternative routes that are not included in the second customized dynamic traffic control instructions.

In some aspects, transmitting the first customized dynamic traffic control commands may include: generating a visual display on the interactive traffic control device, the visual display being configured to display the first one or the other of the individual vehicles More passengers can be seen. In some aspects, transmitting the first customized dynamic traffic control commands may use the interaction between the interactive traffic control device and the mobile communication device in at least one of the first one or more of the individual vehicles Wireless communication link between. In some aspects, transmitting the first customized dynamic traffic control commands can be used between the interactive traffic control device and the on-board computing device of at least one of the first one or more of the individual vehicles Wireless communication link. In some aspects, at least one of the first one or more of the individual vehicles may be an autonomous vehicle.

In some aspects, the interactive traffic control device may receive from at least one of the first one or more of the individual vehicles an approval for the reception of the transmitted first customized dynamic traffic control instruction. In some aspects, the interactive traffic control device may receive an instruction from at least one of the first one or more of the individual vehicles, the instruction being the first one or more of the individual vehicles The at least one of the persons will follow the transmitted first customized dynamic traffic control instruction.

Another aspect includes an interactive traffic control device that includes a processor configured with processor-executable instructions to perform operations of any of the methods outlined above. Another aspect includes a non-transitory processor-readable storage medium on which processor-executable software instructions are stored. The processor-executable software instructions are configured to cause the processor of the interactive traffic control device to execute the above The operation of any method outlined. Another aspect includes a processing device that is used in an interactive traffic control device and is configured to perform the operations of any of the methods outlined above.

Various embodiments will be described in detail with reference to the accompanying drawings. Throughout the drawings, the same reference symbols will be used as much as possible to represent the same or similar parts. References to specific examples and implementations are for illustrative purposes and are not intended to limit the scope of the claims.

Various embodiments include systems that enable the vehicle to report various types of information about the vehicle to the self-adjusting traffic management system. In particular, the vehicle can report the precise location and status information of the vehicle to the self-adjusting traffic management system via the network. Such precise location and status information can include far more content than vehicle location, speed, and direction of travel. For example, precise location and status information can include information about vehicle movement and orientation and destination, fuel/power level, emergency status, restrictions, functions, equipment issues, owner/operator travel preferences, and/or owner/operator Identify the precise details of the information. The self-adjusting traffic management system can in turn collect and analyze autonomous vehicle information and similar information from many other vehicles as part of traffic planning and management. The self-adjusting traffic management system can then communicate with autonomous vehicles and other vehicles, for example via the use of interactive traffic control devices, and their vehicles can use such instructions (eg, follow self-adjusting traffic signs) for navigation. Therefore, various embodiments can achieve improved traffic flow management, reduce vehicle waiting time, reduce emergency response time, and reduce traffic delays, which also reduces pollution.

Some contemporary highway systems include traffic lights and other signs, which change their display or cycle based on the time of day, congestion, or at a preset cycle. Using the information collected from road sensors, the traffic control system can try to implement limited congestion control measures. For example, lane opening/closing signs or dynamic road geometry elements (ie, movable road barriers) can be activated to limit or expand the number of lanes available on the road in a specific direction. Such a conventional system cannot consider information beyond the position, speed and/or direction of the vehicle. In addition, in addition to physically controlling access to the road or lanes in the road, the conventional system does not reward vehicle owners for cooperating with vehicle traffic management.

Various embodiments utilize the sensors and processing capabilities of modern motor vehicles (e.g., autonomous and semi-autonomous vehicles), the available high-speed communications (e.g., 5G cellular networks), and rapid decision-making through computerized systems that can be maintained by traffic authorities Ability to support traffic flow management. Modern vehicles can be equipped with vehicle systems, such as sensor systems (for example, cameras, radars, laser radars, GPS receivers, etc.) and determine and refine their location (for example, to support vehicle navigation) and status (for example, to support safety systems) ) Autonomous/semi-autonomous navigation and control system. Autonomous vehicles can also be equipped with vehicle-to-everything communication systems (for example, V2X and/or V2V), which can be used to transmit their precise location and status information. Therefore, V2X communication can allow vehicles to transmit accurate location and status information to self-adjusting traffic management systems. Notified by precise location and status information received from numerous vehicles, and using information collected by fixed and/or movable road sensors and other self-adjusting traffic management infrastructure, the self-adjusting traffic management system can take action to manage Traffic flow and improve safety. In addition, V2X communication can allow self-adjusting traffic management systems to send information to vehicles (for example, instructions, consultations, updates). V2V communication can also allow autonomous vehicles that are approaching or are approaching each other to avoid collisions or other hazards, and to share information intended to be distributed by self-adjusting traffic management systems.

Various embodiments include self-adjusting traffic management systems equipped with interactive traffic control devices that can be scheduled such that (i) vehicles do not stop unnecessarily when there is no cross traffic, (ii) Dynamically divert vehicles to lighter traffic areas, and (iii) distribute traffic over a larger area to increase throughput on a large scale. Such interactive traffic control equipment can predict when the vehicle will arrive, and can also use information about the destination of the vehicle, potentially ensuring that a protected turn is available when the vehicle arrives. A self-adjusting traffic management system can use this interactive traffic control device to purposefully establish a classification of vehicles traveling in dense formations, which can allow cross traffic to be staggered between separate batches of vehicles at traffic intersections. Although traffic is generally a zero-sum game that favors one vehicle and may hinder another vehicle, there are situations where hindering one or more vehicles and favoring one or more other vehicles can benefit the system as a whole. For example, classifying sets of vehicles can create gaps between the groups, thereby providing openings for cross traffic to pass through.

In various embodiments, the self-adjusting traffic management system may use interactive traffic control devices to control or influence vehicle traffic. In the case of autonomous or semi-autonomous vehicles, the self-adjusting traffic management system can exert direct control using interactive traffic control equipment that transmits traffic commands to their vehicles. Alternatively, an autonomous or semi-autonomous vehicle can respond to and/or respond to commands from an interactive traffic control device as programmed by the vehicle owner or operator. In the case of a non-autonomous or semi-autonomous vehicle that is not configured to autonomously respond to a self-adjusting traffic management system, communication with the vehicle operator can be via interactive traffic control devices located on or near the road or be pushed to On-board display in the vehicle. The interactive traffic control device may be configured to encourage driver cooperation via incentive rewards, which may be financial and/or in the form of credits for future favorable traffic management benefits.

As used herein, the terms "component", "system", "unit", etc. include computer-related entities, such as but not limited to hardware, firmware, a combination of hardware and software, software or software in execution, the above Each item is configured to perform a specific operation or function. For example, the component may be, but is not limited to, a process executed on a processor, a processor, an object, an executable file, an execution thread, a program, and/or a computer. By way of example, both the application program running on the communication device and the communication device can be referred to as components. One or more elements may reside in a process and/or execution thread, and the elements may be located on one processor or core and/or distributed between two or more processors or cores. In addition, these components can be executed from various non-transitory computer-readable media on which various commands and/or data structures are stored. Components can communicate through the following methods: local and/or remote processes, function or program dialing, electronic signals, data packets, memory read/write, and other known computer, processor and/or process-related communications method.

Various embodiments may be implemented in various self-adjusting traffic management systems configured to provide customized dynamic traffic control instructions to individual vehicles. An exemplary self-adjusting traffic management system 100 is illustrated in FIG. 1. 1, the self-adjusting traffic management system 100 may include a self-adjusting traffic management server 110, which is configured to determine and generate information about traveling on the road managed by the self-adjusting traffic management server 110 Dynamic traffic control commands for individual vehicles. Additionally or alternatively, the self-adjusting traffic management system 100 may include one or more interactive traffic control devices 200 configured to determine and generate dynamic traffic control commands for individual vehicles traveling on adjacent roads or intersections .

The self-adjusting traffic management server 110 may be configured to communicate with one or more autonomous vehicles and/or wireless communication devices 190 (for example, carried on board or installed in a non-autonomous or semi-autonomous vehicle 90; hereinafter referred to as "non-/semi-autonomous Autonomous vehicles") communication. The wireless communication device 190 may be a mobile computing device (eg, a mobile phone) configured to be easily removed from the non-/semi-autonomous vehicle 90, or may be an installed electronic component of the non/semi-autonomous vehicle 90. The autonomous vehicle 80 and/or the wireless communication device 190 may transmit accurate location and status information related to the corresponding vehicle to the self-adjusting traffic management server 110. In response to receiving accurate location and status information, the self-adjusting traffic management server 110 may transmit dynamic traffic control commands to the autonomous vehicle 80 and/or the wireless communication device 190.

The interactive traffic control device 200 may be configured to communicate with the autonomous vehicle 80 and/or the wireless communication device 190 more directly. In this way, the autonomous vehicle 80 and/or the wireless communication device 190 can directly transmit accurate location and status information to one or more of the interactive traffic control devices 200. In addition, the interactive traffic control device 200 can learn from various elements of the traffic management infrastructure (for example, self-adjusting traffic management server 110, road sensor 60, conventional traffic signal transmission device 70, and other interactive traffic control devices 200) Receive accurate location and status information, traffic data or dynamic traffic control information. In addition, the interactive traffic control device 200 may determine or partially determine the dynamic traffic control instruction, and transmit it to the autonomous vehicle 80 and/or the wireless communication device 190.

Accurate location and status information can include detailed information associated with the autonomous vehicle and the vehicle owner and/or operator, such as vehicle specifications (eg, size, weight, color, etc.), position, speed, acceleration, direction of travel, posture , Orientation, destination, fuel/power level, emergency (for example, whether the autonomous vehicle is an emergency vehicle or a private individual in an emergency), restrictions (for example, heavy/wide load, turning restrictions, high occupancy vehicles (HOV) ) Authorization, etc.), functions of autonomous vehicles (for example, all-wheel drive, four-wheel drive, snow tires, chains), equipment issues (for example, low tire pressure, weak brakes, etc.), owner/operator travel preferences ( For example, preferred lanes, roads, routes and/or destinations, preference to avoid tolls or roads, preference for the fastest route, etc.) and/or owner/operator identification information.

The self-adjusting traffic management server 110 may include one or more computing systems configured to provide real-time self-adjusting traffic planning and management for one or more roads, intersections, websites, or areas. For example, the self-adjusting traffic management server 110 may include one or more separate databases 115, a sign/signal management server 120 and/or a vehicle control (VC) server 130, firewalls, and other network infrastructures. The database 115 can maintain information about roads, intersections, traffic management infrastructure elements, and other elements of the traffic management network. The sign/signal management server 120 may provide processing and control of interactive traffic control equipment and other signal transmission elements of the traffic management infrastructure. The vehicle control server 130 may provide processing and management of autonomous and semi-autonomous vehicle signal transmission. The self-adjusting traffic management server 110 may be connected to various elements of the traffic management infrastructure via a wired or wireless connection, a network 105 configured using a virtual private network, and/or a direct connection in a private private network. The traffic management infrastructure managed by the self-adjusting traffic management server 110 may include a road sensor 60, a conventional traffic signal transmission device 70, and interactive traffic connected to the self-adjusting traffic management server 110 via one or more routers 50. Control equipment 200. In addition, the self-adjusting traffic management server 110 can be connected to a non-/semi-autonomous vehicle 90 with an in-vehicle wireless communication device 190 via a wired and wireless connection, using a wireless communication link 183, and/or using a wireless communication link 182 (for example, Signal) is connected to an autonomous vehicle 80 (ie, an autonomous or semi-autonomous vehicle). In addition, the self-adjusting traffic management server 110 can be connected to additional traffic management infrastructure, such as movable road guardrails, traffic cones, mechanically changeable direction signs, etc., via wired and wireless connections.

The road sensor 60 may include a camera, a motion sensor, a magnetic or pressure-enabled proximity sensor, and other traffic measurement and detection equipment, which may be distributed on or near the managed road. The road sensor 60 can be used to observe and/or detect traffic speed, traffic volume, location, identification tags/marks, and other information related to traffic management. In addition, using the wireless communication link 161, the road sensor 60 can be configured to use the wireless communication link 161 to receive accurate position and status information from the non/semi-autonomous vehicle 90 with the on-board wireless communication device 190, and/or The wireless communication link 361 is used to receive precise location and status information from the autonomous vehicle 80 operating on or near the managed road. In this way, the road sensor 60 can not only provide information about the congested area to the self-adjusting traffic management server 110, but also provide information about where the vehicle is going, so the system can anticipate congestion and transmit traffic instructions for use. To potentially avoid such congestion.

The conventional traffic signal transmission device 70 may include stop lights and other signal transmission devices, such as signals for turning, pedestrians and cyclists. If necessary, the state and timing of the conventional traffic signal transmission device 70 can be changed and controlled by the self-adjusting traffic management server. The autonomous vehicle 80 and/or other vehicles 90 can respond/react to the conventional traffic signal transmission device 70 in the usual manner. Moreover, the conventional traffic signal transmission device 70 can be enhanced and equipped with a transceiver for receiving accurate position and status information from a non-/semi-autonomous vehicle 90 with an in-vehicle wireless communication device 190 using the wireless communication link 171, and/ Or use the wireless communication link 371 to receive accurate position and status information from the autonomous vehicle 80.

The interactive traffic control device 200 may include many of the same features and functions as the road sensor 60 and the conventional traffic signal transmission device 70. Therefore, the interactive traffic control device 200 can be configured to use the wireless communication link 181 to receive accurate position and status information from the non/semi-autonomous vehicle 90 with the on-board wireless communication device 190, and/or to use the wireless communication link 381 to receive The autonomous vehicle 80 receives accurate position and status information.

Additionally or alternatively, the interactive traffic control device 200 may be configured to perform many of the same features and/or functions described above with respect to the self-adjusting traffic management server 110. In particular, the interactive traffic control device 200 may be configured to receive precise location and status information associated with individual vehicles on the road. In addition, the interactive traffic control device 200 may include one or more computing systems configured to determine, generate dynamic traffic control commands, and transmit them to vehicles on adjacent roads and/or intersections. For example, the interactive traffic control device 200 can maintain information about adjacent roads and/or intersections. The interactive traffic control device 200 may be connected to various elements of the traffic management infrastructure (for example, the self-adjusting traffic management server 110, the road sensor 60, and the conventional traffic signal transmission device 70) via wired or wireless connections. In addition, the interactive traffic control device 200 can use the wireless communication link 181 to communicate with the non-/semi-autonomous vehicle 90 (for example, via the in-vehicle wireless communication device 190), and/or use the wireless communication link 381 to communicate with the autonomous vehicle 80 (also That is, autonomous or semi-autonomous vehicles) communicate.

According to various embodiments, the self-adjusting traffic management server 110 may determine customized dynamic traffic control instructions for individual vehicles traveling on roads controlled by the self-adjusting traffic management system 100. Additionally or alternatively, the interactive traffic control device 200 may determine customized dynamic traffic control instructions for individual vehicles traveling on roads or intersections adjacent to the interactive traffic control device 200. Taking into account current road conditions and precise location and status information specific to individual vehicles, customized dynamic traffic control commands can be tailored specifically for their individual vehicles. In this way, dynamic traffic control commands can be customized for each vehicle or group of vehicles. In other words, the first customized dynamic traffic control instruction can be determined for the first one or more of the individual vehicles, and can be for the second one of the individual vehicles that is different from the first one or more of the individual vehicles One or more decides the second customized dynamic traffic control instruction. The first customized dynamic traffic control instruction may include navigation information different from the second customized dynamic traffic control instruction. Once determined by the self-adjusting traffic management server 110 or the interactive traffic control device 200, the customized dynamic traffic control command can be transmitted to the individual vehicle by one or more of the interactive traffic control devices 200 adjacent to each vehicle.

The interactive traffic control device 200 may present a display that mimics a conventional traffic signal transmission device (for example, 70). In addition, the interactive traffic control device 200 can transmit (ie, transmit) customized dynamic traffic control instructions to the autonomous vehicle 80 or the wireless communication device 190, such as the wireless communication device 190 in the non-/semi-autonomous vehicle 90. The interactive traffic control device 200 can update the self-adjusting traffic management server 110 with status information indicating which customized dynamic traffic control commands are currently being displayed or transmitted by the interactive traffic control device 200 in other ways. Optionally, the interactive traffic control device 200 may provide the self-adjusting traffic management server 110 with historical and currently planned future state schedules.

In order to transmit instructions, the interactive traffic control device 200 may be configured to generate a display on a physical roadside sign, which visually conveys information to the vehicle and its operator, pedestrians or other people who can observe the display. Alternatively or additionally, the interactive traffic control device 200 may act as a beacon, which transmits instructions to the autonomous vehicle 80 for display generation therein, or to the wireless communication device 190 for display generation (also That is, message transmission in the car). As a further alternative, in various embodiments, the interactive traffic control device 200 may act as a beacon that transmits non-visual instructions to the autonomous vehicle 80, for example, as an autonomous or semi-autonomous vehicle should follow or follow a programmed set of rules The form of an order to take action.

The in-vehicle information can be transmitted to the vehicle operator via display or audio messages generated by in-vehicle electronic equipment (for example, dashboard navigation/backup camera display) or via mobile communication devices (for example, mobile phones). In-vehicle messaging can be on the display, using images, symbols and/or text, or via audible instructions. For example, a customized dynamic traffic control command can indicate that the vehicle stays with the group by displaying the representation of the group (that is, batching), which shows the operator himself relative to other groups of vehicles Vehicles. Alternatively, text or audible messages can provide guidance, for example by instructing the operator to follow a particular car (for example, the car immediately ahead). In-vehicle message transmission allows two different vehicles traveling side by side to receive (and display) the same or different messages at the same time. The instructions may depend on circumstances, which may require groups of vehicles to receive the same instructions and/or one or more individual vehicles to receive different instructions. For example, one vehicle may receive an instruction indicating a speed limit of 65 mph, while another vehicle may receive an instruction indicating a speed limit of 55 mph. Similarly, one vehicle can receive one or more instructions equivalent to a stop sign, and another vehicle can receive one or more instructions equivalent to a give way sign or no sign (eg, a blank display).

The interactive traffic control device 200 can transmit instructions that are commonly seen on traditional static traffic control signs using words, symbols or combinations. For example, traditional static traffic control signs usually include control signs (for example, "stop", "give way", "no entry", "no left turn", "no right turn", "no U-turn", etc.), warning signs ( For example, "combined traffic", "pedestrian crossing", "deer crossing", "advisory speed" or "no passage") and temporary traffic control signs (e.g., "detour", "workers ahead", "advance "Shoulder Closed Ahead", "Slow ahead", etc.). Therefore, the interactive traffic control device 200 can transmit dynamic traffic control commands that are the same or similar to the type of information normally displayed on traditional static traffic control signs, but when it is safe to do so (for example, when it will not affect other vehicles or When pedestrians cause danger), the transmitted instructions can also be closed or changed as a traffic management tool. In addition, the interactive traffic control device 200 may transmit customized text or graphic instructions (for example, "stay in your lane" or "turn left at the next intersection") to give guidance to one or more specific vehicles. The interactive traffic control device 200 can be changed to transmit different information at different times, and it can also transmit different information to different vehicles, or even simultaneously or close in time.

FIG. 2 is a schematic block diagram of an exemplary interactive traffic control device 200 suitable for implementing various embodiments. Referring to FIGS. 1 to 2, the interactive traffic control device 200 may be used to implement operations of various embodiments.

The interactive traffic control device 200 shown in FIG. 2 may include a device control unit 202. The control unit may include, for example, a digital signal processor (DSP) 210, an autonomous vehicle (AV) network interface 212, a graphics processor 214, an application processor 216, one or more of one or more connected to the processor The auxiliary processor 218 (for example, the vector auxiliary processor), the memory 220, the customized circuit system 222, and the system resources 224, all interact through the interconnection/bus module 226. The graphics processor 214 may also be coupled to a display 230, which may be configured to generate messages, such as customized dynamic traffic control commands.

Each processor 210, 214, 216, 218 may include one or more cores, and each processor/core may perform operations independently of other processors/cores. One or more of the processors may be configured with processor-executable instructions to perform the methods of the various embodiments (for example, the methods 1500, 1600, 1700, 1800, 1900, 2000 described herein with reference to FIGS. 16-20, respectively) , 2300 and 2500) operations. The processors 210, 214, 216, 218 can be any programmable microprocessor, microcomputer, or one or more multi-processor chips, which can be configured by software instructions (application programs) to perform various functions, Includes the functions of the various embodiments described above. In some devices, multiple processors may be provided, such as a processor dedicated to wireless communication functions and a processor dedicated to executing other application programs. Generally, the software application can be stored in internal memory before it is accessed and loaded into one or more of the processors 210, 214, 216, 218. The processors 210, 214, 216, and 218 may include internal memory sufficient to store application software instructions. In many devices, internal memory can be volatile or non-volatile memory (for example, flash memory) or a mixture of the two. For the purpose of this description, a general reference to memory refers to the memory accessible by the processors 210, 214, 216, 218, including internal memory inserted into the device or removable memory and the processor The memory in 210, 214, 216, 218.

The interactive traffic control device 200 may include one or more components for realizing one-way or two-way wireless communication, especially wireless communication with a vehicle. For example, the interactive traffic control device 200 may have one or more radio signal transceivers 208 (for example, Bluetooth®, Zigbee) coupled to each other and/or to one or more of the processors 210, 214, 216, 218 ®, Wi-Fi, HF, VHF, RF radio, etc.) and antenna 209 for sending and receiving wireless transmissions. The radio signal transceiver 208 and the antenna 209 can be used with the above circuit system to implement various wireless transmission protocol stacks and interfaces. The interactive traffic control device 200 may also include a cellular network component 228, which may include a wireless modem chip and/or other components that enable communication via cellular networks, such as 5G, LTE, 4G, 3G, and/or Or the Global System for Mobile Communications (GSM) protocol network. The cellular network element 228 may also be coupled to one or more of the processors 210, 214, 216, and 218.

The interactive traffic control device 200 may also include one or more speakers for outputting audio signals such as alarms or transmitting instructions to people next to it. The interactive traffic control device 200 may include a power source coupled to the processors 210, 214, 216, 218. In addition, the interactive traffic control device 200 may include additional sensors, such as a motion sensor and/or a motion sensor coupled to one or more of the processors 210, 214, 216, and 218 to provide sensor input. Or multiple image sensors.

Various embodiments use precise location and status information specific to individual vehicles. Accurate location and status information can be used to determine dynamic traffic control commands, which can be transmitted to individual vehicles to provide interactive traffic control.

FIG. 3 illustrates examples of subsystems, computing elements, computing devices, or units of the dynamic traffic control system 300, which can be used in an interactive traffic control device (for example, 200). 1 to 3, in some embodiments, various computing elements, computing devices, or units in the dynamic traffic control system 300 can be implemented in a system of interconnected computing devices (ie, subsystems). Connected computing devices send data and commands to each other (for example, as shown by the arrow in Figure 3). In other embodiments, various computing elements, computing devices, or units in the dynamic traffic control system 300 may be implemented in a single computing device, such as separate threads, processes, algorithms or computing elements. Therefore, each subsystem/computing element shown in FIG. 3 is also generally referred to as a “layer” in the computing “stack” that constitutes the dynamic traffic control system 300 herein. However, the use of the terms layer and stack in describing various embodiments is not intended to imply or require the implementation of corresponding functions within a single control system computing device, but this situation is a potential implementation example. Rather, the use of the term "layer" is intended to cover subsystems with independent processors, computing elements (eg, threads, algorithms, subroutines, etc.) executed in one or more computing devices, as well as subsystems and Calculate the combination of elements.

In various embodiments, the dynamic traffic control system 300 may include a sensor perception layer 302, a precise vehicle position and state analysis layer 304, and a dynamic traffic control instruction analysis layer 306. Data from road sensors 60 and other self-adjusting traffic management infrastructure can be used. More generally, the dynamic traffic control system 300 may include a vehicle position and road condition confirmation layer 308, a customized dynamic traffic control command generator layer 310, and a communication manager layer 312. The layers 302-312 are merely examples of some of the layers in the dynamic traffic control system 300 according to various embodiments, but may include other layers, such as additional layers for other, additional, or more specific data analysis. In addition, some of the layers 302-312 may be excluded from the dynamic traffic control system 300. Each of the layers 302-312 can exchange data, calculation results, and commands, as shown by the arrows in FIG. 3. In addition, the dynamic traffic control system 300 can receive and process data from the following items: navigation system (for example, GPS receiver, IMU, etc.), vehicle network (for example, controller area network (CAN) bus) and memory The database in the body (for example, digital map data). The dynamic traffic control system 300 can output customized dynamic traffic control instructions to the autonomous vehicle 80, the wireless communication device 190, the self-adjusting traffic management server 110, and other interactive traffic control devices 200.

The sensor perception layer 302 can receive data from the road sensor 60 and other self-adjusting traffic management infrastructures, and process the data to identify and determine specific interactive traffic control with the dynamic traffic control system 300 at a road or intersection The location of vehicles and objects within the vicinity of the device. The sensor perception layer 302 may include the use of neural network processing and artificial intelligence methods to identify objects and vehicles, and transfer such information to the vehicle location and road condition confirmation layer 308.

The vehicle precise position and state analysis layer 304 can receive data from the autonomous vehicle 80 or the wireless communication device 190 (for example, non/semi-autonomous vehicles (for example, 90) among them), and process the data to identify and determine interactive traffic Control the location of vehicles and objects near the device.

The dynamic traffic control command analysis layer 306 may receive data from the self-adjusting traffic management server 110 and/or other interactive traffic control devices 200, including dynamic traffic control commands intended for individual vehicles. The dynamic traffic control instruction analysis layer 306 can process the data to determine whether the dynamic traffic control instruction or data from other interactive traffic control equipment 200 meets the local parameters. The local parameters may include the unique rules, constraints, and/or other considerations of roads or intersections adjacent to the interactive traffic control device that executes the dynamic traffic control system 300. In addition, the local parameters may include aspects or restrictions on how a specific interactive traffic control device (for example, 200) can transmit (ie, transmit) instructions to the vehicle. For example, the display of the interactive traffic control device may be limited to simple text messaging or size constraints, or the communication from the interactive traffic control device may be limited to certain bandwidth or protocols.

The vehicle position and road condition confirmation layer 308 can use data from the sensor perception layer 302, the vehicle precise position and state analysis layer 304, the high definition (HD) map database 150, and other interactive traffic control devices 200. The vehicle position and road condition confirmation layer 308 can access the data in the HD map database 150, as well as any output received from the sensor perception layer 302, the vehicle precise position and status analysis layer 304, and other interactive traffic control devices 200, And the data is processed to further determine the location of the "host vehicle" (that is, the autonomous vehicle 80 or the vehicle associated with the wireless communication device 190 that provides accurate location and status information) on the map. In this way, more accurate relative vehicle positions can be determined, such as the position of the vehicle in the traffic lane, the position of the vehicle in the street map, and so on. The HD map database 150 may be stored in a memory (for example, the memory 466). For example, the vehicle location and road condition confirmation layer 308 can convert the location information from the sensor perception layer 302, the vehicle precise location and status analysis layer 304, and other interactive traffic control equipment 200 to be included in the HD map database 150 The location within the surface map of the road. Therefore, the vehicle position and road condition confirmation layer 308 can determine the best guessed position of the vehicle on the road based on the arbitration between the received vehicle data and the HD map data. For example, although the precise location and status information of the vehicle can place the host vehicle near the middle of a two-lane road in the HD map, the vehicle location and road condition confirmation layer 308 can determine from the direction of travel that the host vehicle is most likely The route is aligned in the same direction of travel. The vehicle location and road condition confirmation layer 308 can pass the map-based location information to the customized dynamic traffic control command generator layer 310.

The customized dynamic traffic control command generator layer 310 can use information from the vehicle position and road condition confirmation layer 308 and the dynamic traffic control command analysis layer 306 to generate customized dynamic traffic control commands for the host vehicle. For example, the customized dynamic traffic control instruction generator layer 310 can plan a route to a specific destination for the host vehicle to follow. The customized dynamic traffic control instruction generator layer 310 can use dynamic traffic control instructions received from one or more other interactive traffic control devices 200 and/or self-adjusting traffic management servers 110 to identify which host vehicle is being instructed to follow. Specific route.

The customized dynamic traffic control command generator layer 310 can access, maintain, or be provided with the registration of owner/driver information, which is related to the host vehicle in the precise location and status information of the vehicle. The transmitted owner/driver identification information matches.

The customized dynamic traffic control command generator layer 310 of the dynamic traffic control system 300 can use the precise location and status information of the host vehicle and the location and status information of other vehicles and objects output from the vehicle location and road condition confirmation layer 308 to predict Future behavior of other vehicles and/or objects. In this way, the customized dynamic traffic control command generator layer 310 can use this information to predict the future relative position of other vehicles in the vicinity of the host vehicle based on the host vehicle's location and speed and other vehicle locations and speeds. Such predictions can take into account information from HD maps and route planning to anticipate changes in relative vehicle positions on the road. The customized dynamic traffic control command generator layer 310 can output the behavior and position prediction of other vehicles and objects to the motion planning and control layer 314.

In addition, the object behavior and position prediction from the customized dynamic traffic control command generator layer 310 can be used to plan and determine customized dynamic traffic control commands to guide the route or movement of the host vehicle. For example, based on the route planning information, the precise location in the road information, and the relative position and movement of other vehicles, the customized dynamic traffic control command generator layer 310 can determine that the host vehicle needs to change lanes and accelerate, for example, to keep or reach the other vehicles. Minimum distance and/or preparation to turn or drive out. As a result, the customized dynamic traffic control command generator layer 310 can calculate or otherwise determine the required vehicle motion changes to transmit the customized dynamic traffic control commands together with various parameters that may be necessary to achieve such motion changes. The main vehicle.

The communication manager layer 312 can transmit customized dynamic traffic control commands to the host vehicle (that is, to the autonomous vehicle 80 or to the non-/semi-autonomous vehicle via the wireless communication device 190) and self-adjust the traffic management server 110 and/ Or other interactive traffic control equipment 200.

In various embodiments, the dynamic traffic control system 300 may include a safety inspection or supervision function that executes various commands, plans, or other decisions that may affect the safety of vehicles and occupants at various levels. Such security inspection or supervision functions can be implemented in a dedicated layer (not shown), or distributed among various layers, and included as part of the function. In some embodiments, various safety parameters can be stored in memory, and the safety check or supervision function can associate the determined value (for example, the relative separation between vehicles on the road, the distance from the center line of the road, etc.) with the corresponding The safety parameters are compared, and if the safety parameters are violated or will be violated, a warning or command is issued (for example, as part of a customized dynamic traffic control instruction).

Some safety parameters stored in the memory can be static (that is, unchanged over time), such as the maximum vehicle speed. Other security parameters stored in the memory can be dynamic, because the parameters are determined or updated continuously or periodically based on accurate location and status information and/or environmental conditions. Non-limiting examples of safety parameters include maximum safe speed, maximum braking pressure, maximum acceleration, and safe wheel angle limits, all of which can be based on road and weather conditions.

Various embodiments may be implemented to be configured to determine precise location and status information and to share such information with a self-adjusting traffic management system (for example, by sending the information to one or more interactive traffic control devices and/or this A system of servers) working with various vehicles. An exemplary autonomous vehicle 80 is illustrated in FIGS. 4A and 4B. 4A and 4B, the autonomous vehicle 80 may include a plurality of sensors 402-438 arranged in or on the autonomous vehicle, and these sensors 402-438 are used for autonomous and semi-autonomous navigation and related to autonomous Various purposes of sensor data of objects and people in the vehicle 80 or on the autonomous vehicle 80. The sensors 402-438 may include one or more of a variety of sensors capable of detecting various information useful for navigation and collision avoidance. Each of the sensors 402-438 may be in wired or wireless communication with the control unit 440 and with each other. In particular, the sensor may include one or more cameras 422, 436 or other optical sensors or photoelectric sensors. The sensors may also include other types of object detection and ranging sensors, such as radar 432, laser radar 438, IR sensor, and ultrasonic sensor. Sensors can also include tire pressure sensors 414, 420, humidity sensors, temperature sensors, satellite geolocation sensors 408, accelerometers, vibration sensors, gyroscopes, gravimeters, shock sensors 430, force gauge, strain gauge, strain sensor, fluid sensor, chemical sensor, gas content analyzer, pH sensor, radiation sensor, Geiger counter, neutron detection Sensors, biomaterial sensors, microphones 424, 434, occupancy sensors 412, 416, 418, 426, 428, proximity sensors, and other sensors.

FIG. 5 illustrates an exemplary control unit 440 of an autonomous vehicle 80 suitable for implementing various embodiments in a vehicle. 1 to 5, the control unit 440 may include various circuits and devices for controlling the operation of the autonomous vehicle (eg, 80). The control unit 440 may be coupled to and configured to control the driving control element 454, the navigation element 456, and one or more vehicle sensors 458 of the autonomous vehicle.

The control unit 440 may include a processor 464 configured with processor-executable instructions for controlling maneuvering, navigation, and other operations of the autonomous vehicle, including operations of various embodiments. The processor 464 may be coupled to the memory 466. The control unit 440 may include an input module 468, an output module 470, and a radio module 472.

The radio module 472 may be configured for wireless communication. The radio module 472 can exchange signals 182 with the network transceiver 180 (for example, command signals for controlling manipulation, signals from navigation facilities, etc.), and can provide the signals 182 to the processor 464 and/or the navigation element 456. The radio module 472 can use the signal to transmit accurate location and status information and/or receive dynamic traffic instructions. In some embodiments, the radio module 472 may enable the autonomous vehicle to communicate with the wireless communication device 190 via the wireless communication link 192. The wireless communication link 192 may be a two-way or one-way communication link used in a similar manner to the signal 182, and may use one or more communication protocols.

The input module 468 can receive sensor data from one or more vehicle sensors 458 and electronic signals from other components, including a drive control component 454 and a navigation component 456. The output module 470 may be used to communicate with or enable various components of the autonomous vehicle, including a drive control component 454, a navigation component 456, and a sensor 458.

The control unit 440 may be coupled to the driving control element 454 to control physical elements of the autonomous vehicle related to the manipulation and navigation of the autonomous vehicle, such as engine, motor, throttle, steering element, flight control element, braking or deceleration element, etc. The drive control element 454 may also include elements that control other equipment of the autonomous vehicle, including environmental control (for example, air conditioning and heating), external and/or internal lighting, internal and/or external information displays (which may include display screens or other devices). On devices that display information) and other similar devices.

The control unit 440 can be coupled to the navigation element 456 and can receive data from the navigation element 456 and can be configured to use such data to determine the current position and orientation of the autonomous vehicle and the appropriate heading towards the destination. In various embodiments, the navigation element 456 may include or be coupled to a global navigation satellite system (GNSS) receiver system (eg, one or more global positioning system (GPS) receivers) to enable autonomous vehicles to use GNSS signals to Determine its current location. Alternatively or additionally, the navigation element 456 may include a radio navigation receiver for receiving navigation information from radio nodes such as Wi-Fi access points, cellular network sites, radio stations, remote computing devices, other vehicles, etc. Signs or other signals (for example, instructions from interactive traffic control devices). Through the control of the drive control element 454, the processor 464 can control the autonomous vehicle for navigation and maneuvering. The processor 464 and/or the navigation element 456 may be configured to use a wireless connection 182 (using a cellular or other data network transceiver 180) and a server (for example, the Internet) on the network 105 (for example, the Internet) The self-adjusting traffic management server 110) communicates to receive commands for controlling maneuvers, receive information useful in navigation, provide real-time position reports, and evaluate other data.

The control unit 440 may be coupled to one or more vehicle sensors 458. The sensor 458 may include the sensors 402-438 as described, and may be configured to provide various data to the processor 464.

Although the control unit 440 is described as including separate components, in some embodiments, some or all of the components (for example, the processor 464, memory 466, input module 468, output module 470, and radio module 472) may It is integrated in a single device or module (for example, a system-on-chip (SOC) processing device). Such an SOC processing device may be configured for use in a vehicle, and configured (for example, in the case of processor-executable instructions executed in the processor 464) to perform operations of various embodiments when installed in an autonomous vehicle .

In some embodiments, the control unit 440 and the network transceiver 480 may communicate in one or more functions similar to the following (or included in the following functions): Cellular IoT (CIoT) base station (C- BS), NodeB, evolved NodeB (eNodeB), radio access network (RAN) access node, radio network controller (RNC), base station (BS), macro cell, macro node, home eNB ( HeNB), a femto cell, a femto node, a pico node, or some other suitable entity based on the radio technology used to establish a network-to-device link between the network transceiver 480 and the control unit 440. The network transceiver 180 can communicate with the corresponding router. In fact, the router can be connected to the network 105 (eg, core network, Internet, etc.). Using the connection to the network transceiver 180, the control unit 440 can exchange data with the network 105 and devices connected to the network 105, such as the self-adjusting traffic management server 110 or any other communication device connected to the network 105.

The autonomous vehicle control unit 440 may be configured with processor-executable instructions to use information received from various sensors (especially cameras 422, 436) to execute various embodiments. In some embodiments, the control unit 440 may use the distance and relative position (for example, relative azimuth) that can be obtained from the radar 432 and/or the laser radar 438 sensor to supplement the processing of the camera image. The control unit 440 may also be configured to control the steering, braking, and speed of the autonomous vehicle when the information about other vehicles determined using various embodiments is operated in an autonomous or semi-autonomous mode.

6A-11B illustrate the interactive traffic control device 200 in various display states. 1 to 11B, the interactive traffic control device 200 can convey various types of information and can be changed as guided by a self-adjusting traffic management system.

6A and 6B illustrate examples of the interactive traffic control device 200 in two different display states 611, 612, which are suitable for implementing various embodiments. In FIG. 6A, the interactive traffic control device 200 displays a first display state 611, which looks like a traditional static parking sign. In FIG. 6B, the interactive traffic control device 200 has changed the display from the first state to the second display state 612, which looks like a traditional static yield signal. Alternatively, the interactive traffic control device 200 may change from either of the two different display states 611, 612 to a blank display, a text warning message (for example, "Beware, Amber Alert!" or "Fasten your seat belt, this It is the law") or other display.

7A and 7B illustrate another example of the interactive traffic control device 200 in two different display states 711, 712, which is suitable for implementing various embodiments. In FIG. 7A, the interactive traffic control device 200 displays a first display state 711, which looks like a traditional static "just go straight" sign. In FIG. 7B, the interactive traffic control device 200 has changed the display from the first state to the second display state 712, which looks like a traditional static "right turn only" sign. Alternatively, the interactive traffic control device 200 can be changed from any one of the two different display states 711, 712 to a blank display, a text warning message, or other display.

8A and 8B illustrate another example of the interactive traffic control device 200 in two different display states 811, 812, which is suitable for implementing various embodiments. In FIG. 8A, the interactive traffic control device 200 displays a first display state 811, which looks like a traditional static "No Left Turn" sign. In FIG. 8B, the interactive traffic control device 200 has changed the display from the first state to the second display state 812, which appears to be blank. Alternatively, the interactive traffic control device 200 may change from any one of the two different display states 811, 812 to a text warning message or other display.

9A and 9B illustrate another example of the interactive traffic control device 200 in two different display states 911, 912, which are suitable for implementing various embodiments. In FIG. 9A, the interactive traffic control device 200 displays a first display state 911, which looks like a traditional static speed limit sign with a speed limit of 45 miles per hour. In FIG. 9B, the interactive traffic control device 200 has changed the display from the first state to the second display state 912, which looks like another traditional static speed limit sign with a speed limit of 25 miles per hour. Alternatively, the interactive traffic control device 200 may change from any one of the two different display states 911, 912 to a text warning message or other display.

10A-10C illustrate another example of the interactive traffic control device 200 in three different display states 1011, 1012, 1013 suitable for implementing various embodiments. In FIG. 10A, the interactive traffic control device 200 displays a first display state 1011. The first display state 1011 looks like a crosswalk countdown signal, and the current display countdown has 19 seconds left. In FIG. 10B, the interactive traffic control device 200 has changed the display from the first state to the second display state 1012. The second display state 1012 advises pedestrians to "walk" and includes another display of the remaining 10 seconds. Countdown. In FIG. 10C, the interactive traffic control device 200 has changed the display to the third display state 1013, which advises pedestrians to "no crossing". When the self-adjusting traffic management system is allowing vehicle traffic to cross the intersection for an undecided amount of time, you can use the "No Crossing" display. Alternatively, the interactive traffic control device 200 can be changed from any one of three different display states 1011, 1012, 1013 to a text warning message or other display.

Figures 11 and 11B illustrate a part of a road with three lanes, each lane has an interactive traffic control device 200, the signs of which are suitable for implementing various embodiments. In FIG. 11A, all three interactive traffic control devices 200 display a first display state 1111, which looks like a traditional static speed limit sign with a speed limit of 45 miles per hour. In FIG. 11B, the interactive traffic control device 200 on lane 1 and lane 2 has not changed, and still displays the first state (ie, 45 mph). In contrast, the interactive traffic control device 200 on lane 3 has changed the display to the second display state 1112, which indicates "lane closed (lane change)" and includes an arrow aimed to the right, which indicates traffic flow Should merge to the right. Self-adjusting traffic management systems can use this type of "lane closed" display to make the lane available for emergency vehicles or to clear the turning lane for specific vehicles (ie, "protective turns"). For example, a vehicle that receives favorable treatment from a self-adjusting traffic management system may have a left lane reserved for left turns, or provide a "fast lane" away from other traffic. Alternatively, the interactive traffic control device 200 can be changed from any one of two different display states 1111, 1112 to a text warning message or other display.

FIG. 12 illustrates a traffic environment 1200 that includes an interactive traffic control device 200 under the control of a self-adjusting traffic management system 100 suitable for implementing various embodiments. Referring to Figures 1 to 12, the traffic environment represents an exemplary urban intersection of Main Street (the intersection has three northbound lanes (that is, toward the top of the page in the orientation shown), and three southbound lanes (that is, , Toward the bottom of the page in the orientation shown) and shoulders on each side of the street) and a street named Broadway, which has 3 eastbound lanes (that is, toward the right side of the page in the orientation shown) , 3 westbound roads (ie, towards the left of the page in the orientation shown), and shoulders on each side of the street. Along both sides of Main Street and Broadway, there are many road sensors 60. A conventional traffic signal transmission device 70 is hung in the center of the intersection. In addition, the interactive traffic control device 200 is located at various points on each lane of the street and on each of the four street corners. Many autonomous vehicles and/or non-autonomous vehicles (including cars 90, SUV 91, truck 92, bus 93 and other non-traditional vehicles 94 (for example, unmanned delivery or painted vehicles)) are also shown in the traffic environment 1200 Travel in or near city intersections.

The traffic environment 1200 is used for illustrative purposes to explain how a self-adjusting traffic management system (for example, using the self-adjusting traffic management server 110) can manipulate vehicle traffic. In particular, the interactive traffic control device 200 and other traffic infrastructure components can be used by the self-adjusting traffic management system to manipulate the vehicles 90-93 and 80 operating in and around the intersection of Main Street and Broadway. For example, the self-adjusting traffic management system may receive the position and speed information of the vehicles 90-93 and 80 from one or more of the sensor 60 and/or the interactive traffic control device 200 acting as a sensor. In addition, the self-adjusting traffic management system can receive accurate location and status information directly from the autonomous vehicle 80 or indirectly from the vehicles 90-93 via V2X wireless communication, for example.

The self-adjusting traffic management system can use the received precise location and status information and other road sensor data to develop traffic management plans and vehicle-specific route instructions and dynamic road sign displays for manipulating and controlling vehicle traffic. The precise location and status information from a specific vehicle (for example, vehicle X) can not only indicate that vehicle X is traveling north on the leftmost northbound lane on Main Street, but can also include information indicating that vehicle X needs to turn left on Broadway Destination information. Under normal conditions, if the traffic signal transmission device 70 is red or if the upcoming traffic or cross traffic obstructs the turn, the vehicle X may be forced to stop at the intersection. However, various embodiments enable the self-adjusting traffic management system to control the interactive traffic control device 200 and other traffic management infrastructure to ensure that vehicles (such as vehicle X) are avoided when they do not need to do so (for example, no other vehicles are at the intersection. In or near the intersection) are required to stop at the intersection, which can improve the efficiency of their vehicles. Although keeping the turning lane idle may slow down one or more other vehicles, in some cases this technique can present a net benefit to regional traffic flow, especially when the delay to other vehicles is nominal. In this way, the traffic management network can provide improved traffic flow.

For example, a self-adjusting traffic management system can develop traffic management plans and vehicle-specific route instructions and dynamic road sign displays to help vehicle X avoid having to travel by changing one or more of the traffic signal transmission devices 70 at intersections Stop at the intersection. In particular, if the timing is appropriate and the self-adjusting traffic management system also determines that no other vehicles or pedestrians may otherwise prevent vehicle X from making a safe turn, the northbound traffic light can turn green, and the traffic lights in every other direction The traffic lights can turn red. The presence of another vehicle or pedestrian can be determined based on the input received by the self-adjusting traffic management system from the sensor 60 or one or more interactive traffic control devices 200 acting as sensors and according to the V2X communication of other vehicles. Therefore, once the customized dynamic traffic control instruction for the vehicle X is determined, one or more of the interactive traffic control devices 200 may transmit the customized dynamic traffic control instruction to the vehicle X (for example, see FIG. 14A). When vehicle X reaches Broadway, the light will turn green and the turn can be made without stopping or decelerating more than required for a free turn. For comparison, different customized dynamic traffic control commands can be determined for vehicle Y and transmitted to vehicle Y (for example, Figure 14B).

As another example, a self-adjusting traffic management system can develop traffic management plans and vehicle-specific route instructions and dynamic road sign displays to help vehicle X avoid having to stop at an intersection by establishing a protected turn for vehicle X. The traveling of vehicle X can be improved. As used herein, the expression "protected turn" refers to the condition that vehicle and pedestrian traffic is kept outside of the part of the road required for a particular vehicle to turn, such as at an intersection. Ensuring that there is a protected turn may require managing one or more vehicle and/or pedestrian traffic conditions. The first condition for establishing a protected turn may be that the turning lane required for the turn is clear. The second condition may be that the lane or part of the road to be turned into is clear (that is, there is no cross traffic in the target lane). In order to ensure that the first two conditions are met, the self-adjusting traffic management system can display the interactive traffic control device 200 on the leftmost northbound lane on Main Street near Broadway and the leftmost westbound lane on Broadway near Main Street. "Lane closed (change lane)" and includes an arrow aimed to the right (for example, the second display state 1112 in FIG. 11B). The third condition is that the oncoming traffic should not force a protected turn vehicle to stop or slow down. To ensure that this third condition is met, the self-adjusting traffic management system can slow down the upcoming traffic, for example by extending the red light time of the upcoming traffic at an earlier intersection (for example, an intersection north of Broadway) . Or, in order to ensure that the third condition is met, the self-adjusting traffic management system can use the interactive traffic control device 200 to slow down the upcoming traffic to reduce the speed limit on the southbound lane on Main Street (for example, Figure 11 and Figure The change from the first display state 1111 to the second display state 1112 in 11B).

As another example, a self-adjusting traffic management system can use interactive traffic control equipment 200 and other traffic management infrastructures to classify vehicles to develop traffic management plans and vehicle-specific route instructions and dynamic road signs to show that vehicles X Build a protected turn. Various embodiments may encourage two or more vehicles to travel as close groups to actively change the schedule of traffic lights or other traffic controls for managing traffic flow. Active traffic management can try to maintain the vehicles in a group and manage the group collectively, rather than managing individual vehicles in the group. By classifying the vehicles, the system can create gaps between their groups, which gaps can be used to allow cross traffic to traverse at intersections without slowing down the group or the cross traffic. For example, the self-adjusting traffic management system may issue a command to the autonomous vehicle 80 to stay in a group, such as group A southbound on Main Street, south of Broadway. In addition, self-adjusting traffic management systems can use traffic controls, such as delayed traffic lights or changed speed limits, to keep non-autonomous vehicles in a group, such as group B and southbound on Main Street north of Broadway Go on Main Street and approach Group C northbound by vehicle X. Before the vehicles arrive at the intersection of Main Street and Broadway, the classification of such vehicles such as Group A, Group B and Group C may have been well realized. By separating Group A from Group B, the self-adjusting traffic management system can create a gap for vehicle X to cross the southbound lane and make a turn.

Coordinating the travel routes of multiple vehicles can provide synergistic effects that can benefit all involved vehicles. For example, issuing vehicle-specific route instructions and/or generating a dynamic road sign display (which recommends that the first vehicle stay out of the left lane) can speed up the travel of the first vehicle by preventing other vehicles from turning in the lane. The second vehicle vacates the left lane (ie, provides a "protected left turn"). In addition, issuing a specific route instruction for the first vehicle to move from the right lane to the vehicle traveling in the left lane can change the time when the first vehicle interferes with the turn of the second vehicle in the oncoming direction, so it will only be compared with The small approach causes inconvenience to the first vehicle, while potentially allowing the second vehicle to turn unobstructed on the path of the second vehicle (due to the adjusted timing).

As another example, during peak hours, before a large entertainment event or in response to congestion (for example, due to an accident), a particular road or lane may experience heavy traffic. In this case, the self-adjusting traffic management system can develop traffic management plans and vehicle-specific route instructions and dynamic road signs to change the route of some vehicles or encourage them to change routes, which makes their vehicles move faster. Fast and ease the otherwise congested road or lane for other traffic. Similarly, changing the route of some of the intersection traffic flow to the intersection in question (changing to a route that may be slightly inconvenient) may also help the otherwise congested turning lane. Additionally or alternatively, during rush hours or in response to congestion, the self-adjusting traffic management system can activate movable road barriers, mobile traffic cones, etc. to increase/decrease the number of traffic lanes in the direction of reducing congestion.

As another example, promoters, property managers, or other parties can notify the self-adjusting traffic management system in advance that major events or other congestion-causing scenarios may occur, so that the self-adjusting traffic management system can predict congestion and generate vehicle-specific route instructions And dynamic road signs are displayed to change the traffic route accordingly. For example, concert venue managers often hire police or other traffic control personnel to help resolve congestion outside the venue. Conversely, the site manager can make notifications be sent to a self-adjusting traffic management system, which can instead develop traffic management plans and vehicle-specific route instructions and dynamic road sign displays to make changes that would otherwise fall into event-related The route of the vehicle in the traffic. In addition, if the secondary routes used for the route change are substantially different, the vehicle-specific route instructions can provide the operator or the vehicle with the choice of their preferred route. As another example, if the suspension bridge is scheduled to rise at a certain time, the self-adjusting traffic management system can develop traffic management plans and vehicle-specific route instructions and dynamic road signs to change the traffic that might otherwise be delayed due to suspension of the suspension bridge. The route of the vehicle (for example, changing the route of traffic at the exit in front of the bridge).

A large number of vehicle operators on the road will tend to obey traffic signs and signals or equivalent official in-vehicle messages. However, many operators or vehicle owners can choose to ignore or ignore the interactive traffic control device 200 or information related to in-vehicle traffic control. Therefore, according to various embodiments, the self-adjusting traffic management system may use incentives to encourage or passively control the behavior of the operator. For example, instructions can be transmitted to the vehicle, and the vehicle operator or vehicle autonomous system can choose to obey the instructions in exchange for rewards or points.

In various embodiments, the vehicle operator may earn points for following traffic management instructions (eg, following recommended traffic routes). According to various embodiments, once the points are earned, the points can be later used at the discretion of the vehicle operator to receive a preference or favorable vehicle treatment. Contrary to the treatment normally given to most vehicles managed by the traffic management network, favorable vehicle treatment may include giving vehicles priority or better traveling efficiency.

Various embodiments provide more than one way to earn points. For example, if a vehicle generally stays in a specific lane as instructed by an interactive traffic control device (for example, it can keep a turning lane clear), the vehicle can earn points that can be used later. In addition, if a non-autonomous vehicle travels at a lower speed indicated by a smart and self-adjusting traffic sign, the operator of the non-autonomous vehicle can earn points. Similarly, if a vehicle stops completely at a stop sign, does not completely stop at a give way sign, or otherwise follows instructions indicated by intelligent and self-adjusting traffic signs, the operator of the vehicle can earn points.

Various embodiments include more than one way of using earned points. For example, after obtaining at least one point, the operator of the vehicle can choose to use the points to receive more favorable treatment in dynamic signs, speed limits, and/or priority routes, which can reduce travel time. For example, the operator may choose to use the points because the operator is late for an appointment or simply wants to reach the destination faster. The operator can use one or more points to request that his vehicle encounters only green lights or mostly green lights along a given route. Alternatively, the operator can use one or more points to receive traffic information, such as instructions on which traffic lane is moving the fastest or at what speed to keep to avoid stopping due to traffic lights. As a further alternative, the operator can use one or more points to legally enter a high occupancy vehicle (HOV) lane that the vehicle does not have the right to use (ie, increased road traffic). As another example, the system may guide vehicles using points to a caravan or group of other vehicles with similar routes or partial routes, so that the vehicles using points can reach their destination faster.

For the purpose of the point system, when the system observes that such vehicles comply with traffic management instructions, vehicles that do not have a communication connection with the self-adjusting traffic management system (for example, non-autonomous vehicles without wireless communication equipment) can receive points. The self-adjusting traffic management system can observe such vehicle behavior via a camera or other sensor (eg, 60) that can recognize the vehicle via its license plate or other tags, for example.

In a further embodiment, the self-adjusting traffic management system may charge a demerit (eg, subtract one or more points) from an operator of a vehicle that does not follow the traffic instructions provided by the self-adjusting traffic management system. The deduction may involve fees (ie, such as fines) charged to the vehicle owner/operator account. In this way, various embodiments can monetize the traffic management system by charging vehicle owners or operators when they provide traffic information, more favorable treatment, or when the vehicles are not cooperating.

In another embodiment, the self-adjusting traffic management system can generate vehicle-specific route instructions and dynamic road sign displays that deny the operator and/or vehicle entry based on parameters. For example, one or more trucks containing potentially hazardous materials may be prohibited from entering (ie, staying away from) certain roads or locations (for example, schools, small roads or neighborhood roads or other vulnerable places). As another example, large vehicles may be prohibited from entering areas with sharp turns or corners, such as city streets.

Figure 13 illustrates a communication flow of a self-adjusting traffic management system for deciding and transmitting customized dynamic traffic control instructions according to various embodiments. 1 to 13, the interactive traffic control device 200 can self-adjust the traffic management server 110 and various traffic management infrastructure components (for example, the road sensor 60 and the conventional traffic signal configured to collect and transmit information). The delivery device 70) and the vehicles on the road managed by the traffic management system (for example, the autonomous vehicle 80 or the non-/semi-autonomous vehicle 90 via the wireless communication device 190) receive communication and communicate with it.

The interactive traffic control device 200 can receive vehicle communications 1310 and 1315 from the wireless communication device 190 in the autonomous vehicle 80 or the non-autonomous/semi-autonomous vehicle 90. Vehicle communications 1310, 1315 may include precise location and status information associated with individual vehicles (eg, 80, 90) on the road. In addition, traffic management infrastructure components (e.g., 60, 70) can collect data 1312, 1317 from the autonomous vehicle 80 or wireless communication device 190. The data 1312, 1317 can include sensor data (e.g., provide vehicle identity, travel direction , Speed, current position, etc.) and/or precise position and status information. Data can be collected through the use of one-way or two-way wireless communication or single-sided sensor measurement. The traffic management infrastructure components 60 and 70 may in turn transmit the collected traffic data 1320 to the self-adjusting traffic management server 110. The collected traffic data 1320 may include sensor data received from the autonomous vehicle 80 or the wireless communication device 190 and/or precise location and status information.

In various embodiments, some traffic management infrastructure elements 60, 70 that are in close proximity to a specific interactive traffic control device 200 (for example, within a designated area or distance from the interactive traffic control device 200) may use the collected local languages The chemical data 1322 is transmitted to the associated interactive traffic control device 200. The collected localized data 1322 may similarly include sensor data and/or precise location and status information received from the autonomous vehicle 80 or the wireless communication device 190. Alternatively or additionally, the self-adjusting traffic management server 110 may transmit dynamic traffic control information 1330 to the interactive traffic control device 200. The dynamic traffic control information 1330 may include sensor data received from the autonomous vehicle 80 or the wireless communication device 190 and/or precise location and status information.

In response to receiving at least one of vehicle communications 1310, 1315, collected localized data 1322, and dynamic traffic control information 1330, the interactive traffic control device 200 can determine a customized dynamic traffic control command for individual vehicles on the road 1335. The determined customized dynamic traffic control instruction 1335 may include navigation information modified for one or more specific vehicles on a road or intersection adjacent to the interactive traffic control device 200. The navigation information can be any information provided to the vehicle related to the route or movement of the vehicle on the road. For example, navigation information may include instructions similar to those traditionally conveyed by control signs, warning signs, and temporary traffic control signs. In addition, the navigation information can send customized text or graphic commands (for example, "stay in your lane", "turn left at the next intersection", "follow the car in front of you, etc.) to direct one or more specific The vehicle provides guidance.

In addition, the interactive traffic control device 200 may determine different customized dynamic traffic control commands for the first one or more vehicles compared with the second one or more vehicles. Also, although different instructions are provided, the first and second one or more vehicles may travel in close proximity to each other (eg, within a few hundred yards or within a visible range) on the same road or at the same intersection. For example, after the interactive traffic control device 200 determines that the traffic jam ahead would otherwise significantly slow down the first one or more vehicles, the first one or more vehicles may be instructed to make an upcoming left turn. In contrast, after the interactive traffic control device 200 decides that the new route provided to the first one or more vehicles will not be suitable for the second one or more vehicles, the second one or more vehicles may be instructed not to turn and stay in In the lane."

Once determined, the interactive traffic control device 200 can transmit customized dynamic traffic control commands 1340, 1342 to one or more specific individual vehicles via the wireless communication device 190, for example, directly to the autonomous vehicle 80 or non-autonomous Vehicle (for example, 90). The customized dynamic traffic control instructions 1340, 1342 may include a first customized dynamic traffic control instruction 1340 for a first one or more of the individual vehicles and a first customized dynamic traffic control instruction 1340 for an individual different from the first one or more of the individual vehicles. A second customized dynamic traffic control instruction 1342 of a second one or more of the vehicles. The first and second customized dynamic traffic control commands 1340, 1342 may be simultaneously transmitted to one or more of the first and second in the individual vehicle. Alternatively, the first and second customized dynamic traffic control instructions 1340, 1342 may be transmitted to one or more of the first and second individual vehicles at different times.

In various embodiments, the autonomous vehicle 80 or the wireless communication device 190 may transmit the response 1350, 1352 to the interactive traffic control device 200, which may be the approval of the customized dynamic traffic control instruction, the acceptance thereof (that is, the instruction The intention of the vehicle or vehicle operator to follow the customized dynamic traffic control instruction), its rejection, or some other response. In addition, the interactive traffic control device 200 can transmit an update 1360 to the self-adjusting traffic management server 110. The update 1360 has status information indicating what kind of customization the interactive traffic control device 200 is currently displaying or otherwise transmitting Dynamic traffic control instructions. Optionally, the interactive traffic control device 200 may provide the self-adjusting traffic management server 110 with historical and currently planned future state schedules.

14A and 14B illustrate first and second vehicle displays 1401, 1411, which illustrate first and second customized dynamic traffic control instructions 1405, 1415. The first and second vehicle displays 1401, 1411 may be part of the graphical user interface of two separate wireless communication devices (for example, 190) located in different vehicles. The first customized dynamic traffic control instruction 1405 is illustrated as being displayed on the first vehicle display 1401. If the self-adjusting traffic management server 110 and/or the local interactive traffic control device 200 determines that more than one first vehicle should receive the first customized dynamic traffic control instruction 1405, the first customized dynamic traffic control instruction 1405 may also be It is displayed in one or more other vehicles (ie, the first set of vehicles). Similarly, the second customized dynamic traffic control instruction 1415 is illustrated as being displayed on the second vehicle display 1411. If the self-adjusting traffic management server 110 and/or the local interactive traffic control device 200 determines that more than one second vehicle should receive the second customized dynamic traffic control instruction 1415, the second customized dynamic traffic control instruction 1415 may also be used Displayed in one or more other vehicles (ie, the second set of vehicles). The first and second customized dynamic traffic control commands 1405, 1415 may have been transmitted from the approaching interactive traffic control device 200 of the first and second vehicle assemblies.

The first vehicle display 1401 is illustrated as including first customized dynamic traffic control instructions 1405 that indicate that the vehicle makes a left turn within 225 feet. In addition, the first customized dynamic traffic control instruction 1405 may warn its viewers that the displayed navigation instruction will "save [its] 3 minutes" and be part of the "new route to your destination". In addition, the first customized dynamic traffic control instruction 1405 may include alternative alternative routes that the vehicle occupant can "accept" or "reject", but it is not presented as part of the second customized dynamic traffic control instruction 1415. The second vehicle display 1411 may include a second customized dynamic traffic control instruction 1415, which indicates that the vehicle should "no turn" and "stay in the lane".

Figure 15 is a process flow diagram illustrating a method 1500 of receiving customized dynamic traffic control instructions that can be implemented in accordance with various embodiments. 1 to 15, the method 1500 may be executed by a processor, such as a processor of a control unit (for example, 440 in FIG. 4) in an autonomous vehicle (for example, 80) (for example, 464).

In block 1502, the vehicle's dynamic traffic control system (for example, 300) can determine precise location and status information. For example, the vehicle position and road condition confirmation layer (for example, 308) may receive the sensor perception layer (for example, 302), the vehicle precise position and state analysis layer (for example, 304), and the HD map database (for example, 105) And other interactive traffic control equipment (for example, 200) generated data and output, and use some or all of this input to determine or refine the position of the autonomous vehicle relative to the road, other vehicles on the road, and other objects near the autonomous vehicle And status.

In block 1504, the control unit of the autonomous vehicle may transmit the determined precise position and status information to the self-adjusting traffic management server. For example, the control unit can use a radio module (for example, 472 in FIG. 4) via a network transceiver (for example, 180), wireless communication equipment (for example, 190), sensors (for example, 60), and enhanced learning Knowing traffic signal transmission equipment (for example, 70) and/or interactive traffic control equipment (for example, 200) transmit accurate location and status information to the self-adjusting traffic management server (for example, 110).

In block 1506, the control unit may receive dynamic traffic control instructions. The control unit can also use the radio module to receive dynamic traffic control commands from the self-adjusting traffic management server via network transceivers, wireless communication equipment, sensors, enhanced conventional traffic signal transmission equipment and/or interactive traffic control equipment .

In block 1508, the control unit may identify a specific route to follow based on the received dynamic traffic control instruction. For example, a customized dynamic traffic control command generator (for example, 310) can use the received dynamic traffic control command and/or other input (for example, input from an operator or scheduler) to plan the vehicle to the destination to follow Specific route.

In block 1510, the control unit may decide to update the precise location and status information. For example, based on the route identified in block 1508, the vehicle position and road condition confirmation layer (for example, 308) in the dynamic traffic control system (for example, 300) can determine and update the autonomous vehicle on the road, other vehicles on the road, and the autonomous vehicle Accurate location and status information of other nearby objects.

In block 1512, the control unit may transmit the updated accurate location and status information to the self-adjusting traffic management server. Similar to block 1504, the control unit can use the radio module to update the precise position and location of the network transceiver, wireless communication equipment, sensors, enhanced conventional traffic signal transmission equipment and/or interactive traffic control equipment. The status information is transmitted to the self-adjusting traffic management server. In various embodiments, after or simultaneously with the transmission of the updated precise location and status information, in block 1502, the control unit may continue or again determine the precise location and status information.

Figure 16 is a process flow diagram illustrating a method 1600 of managing a self-adjusting traffic management system that can be implemented according to various embodiments. 1 to 16, the method 1600 may be executed by a processor in a server, such as a self-adjusting traffic management server (for example, 110), a sign/signal management server (for example, 120), and/or a vehicle control server (For example, 130).

In block 1602, the server may receive precise location and status information from one or more vehicles. For example, the autonomous vehicle or wireless communication device 190 may transmit accurate location and status information to the self-adjusting traffic management server 110.

In block 1604, the server may receive traffic data from the road sensor. For example, a road sensor 60, an enhanced conventional traffic signal transmission device 70, and/or an interactive traffic control device 200 acting as a sensor can transmit traffic data to the server.

In block 1606, the server may receive status information from the interactive traffic control device. The interactive traffic control device can update the self-adjusting traffic management server with status information (current, previous, and/or future) that indicates the intelligent and self-adjusting traffic signs are currently being displayed or sent by other means.

In block 1608, the server may determine an updated traffic management plan that includes dynamic traffic control instructions. Based on the precise location and status information received in block 1602, the traffic data received in block 1604, and the status information received from the interactive traffic control device in block 1606, the server can determine and update Or traffic management planning for multiple vehicles.

In block 1610, the server may transmit the update of the dynamic traffic control instruction to one or more interactive traffic control devices. In various embodiments, after or simultaneously with the transmission of the update of the dynamic traffic control command, in block 1602, the self-adjusting traffic management server may continue or again receive the precise location and status information.

FIG. 17 is a process flow diagram illustrating a method 1700 of generating and transmitting vehicle-specific updates for interactive traffic control devices to transmit dynamic traffic control instructions that can be implemented according to various embodiments. 1-17, the method 1700 may be executed by the processor of a server, such as a self-adjusting traffic management server (for example, 110), a sign/signal management server (for example, 120), and/or vehicle control Server (for example, 130). Method 1700 provides examples of vehicle-specific decisions that can be made in block 1608 of method 1600. The server can make decisions about numerous specific vehicles, which can be done in parallel, in tandem, or a combination thereof.

In block 1702, the server may identify or select the vehicle to be managed. The vehicles on the road managed by the server can be observed, and their behavior can be analyzed for traffic management and planning. All vehicles on the road managed by the server can be individually selected for the server to perform detailed traffic management analysis. Alternatively, a subset of vehicle traffic can be selected for detailed traffic management analysis by the server. For example, vehicles for which accurate location and status information are received can be selected for detailed analysis, while other vehicles, even though they are considered part of traffic analysis and management, can only be analyzed or processed in a general manner.

In block 1704, the server may determine the next intelligence that the selected vehicle will approach and adjust the traffic sign itself. The server can use the HD map information available from the database (for example, 115) and the precise location and status information specific to the selected vehicle to determine that the selected vehicle will next approach the interaction controlled by the server Of the type of traffic control equipment.

In block 1706, the server may use the precise location and status information (if available) of the selected vehicle to determine the vehicle route update. The server can also use HD map information and precise location and status information specific to the selected vehicle to determine any updates to the vehicle route that may be required or suggested for the selected vehicle.

In block 1708, the server may generate a traffic management plan related to the selected vehicle. Based on the next smart and self-adjusting traffic sign determined in block 1704 and the vehicle route update determined in block 1706, the server may generate a vehicle-specific update to the traffic management plan.

In decision block 1710, the server may determine whether a change to the dynamic traffic control command is required based on the decision in block 1708. In response to determining that a change to the dynamic traffic control command is required (ie, decision block 1710 = “Yes”), the server may update the dynamic traffic control command related to the selected vehicle in block 1712.

In response to the decision in block 1712 that no change to the dynamic traffic control command is required (ie, decision block 1710 = "No"), or after the dynamic traffic control command is updated, the server can decide in decision block 1714 whether to manage another One vehicle.

In response to determining that another vehicle needs to be managed (ie, decision block 1714="Yes"), the server may again identify or select the vehicle to be managed in block 1702. In response to determining that no other vehicles need to be managed (ie, decision block 1714 = "No"), in block 1610 of the method 1600, the server may transmit updates of dynamic traffic control commands to the interactive traffic control device.

Figure 18 is a process flow diagram illustrating a method 1800 of providing interactive traffic control that can be implemented in accordance with various embodiments. 1 to 18, the method 1800 may be executed by a processor (for example, 210, 214, 216, and 218) in an interactive traffic control device (for example, 200).

In block 1802, the interactive traffic control device may receive precise location and status information associated with one or more individual vehicles on the road. Can receive accurate location and status information from one or more vehicles. For example, the wireless communication device 190 in an autonomous vehicle or a non/semi-autonomous vehicle can transmit accurate location and status information to an interactive traffic control device. Alternatively or additionally, the interactive traffic control device can be used from various elements of the traffic management infrastructure (for example, self-adjusting traffic management server 110, road sensor 60, conventional traffic signal transmission device 70, and other interactive traffic control The device 200) receives accurate location and status information. Moreover, the vehicles on the road may be various types of vehicles, including autonomous, semi-autonomous or non-autonomous vehicles.

In block 1804, the interactive traffic control device may determine a customized dynamic traffic control command based on the precise location and status information received in block 1802. In particular, the interactive traffic control device can determine the first and second customized dynamic traffic control commands. The first customized dynamic traffic control command may be determined for the first one or more of the individual vehicles, and may be for the second one or more of the individual vehicles that is different from the first one or more of the individual vehicles. The person decides the second customized dynamic traffic control instruction. The first customized dynamic traffic control instruction may include navigation information different from the navigation information included in the second customized dynamic traffic control instruction. For example, the first customized dynamic traffic control instruction may indicate a first navigation route on the road, and the second customized dynamic traffic control instruction indicates a second navigation route on the road that is different from the first navigation route. In addition, one of the first or second customized dynamic traffic control instructions may include an alternative route that is not included in the other of the first or second customized dynamic traffic control instructions.

In block 1806, the interactive traffic control device may transmit customized dynamic traffic control commands to individual vehicles. Therefore, the interactive traffic control device can transmit the first customized dynamic traffic control instruction to the first one or more of the individual vehicles, and transmit the second customized dynamic traffic control instruction to the second one of the individual vehicles. Or more. The first and second customized dynamic traffic control commands may be simultaneously transmitted to one or more of the first and second in the individual vehicle.

The transmission of customized dynamic traffic control commands by the interactive traffic control device may include generating a visual display on the interactive traffic control device, the visual display being configured to be visible to the occupants of the first one or more of the individual vehicles. The interactive traffic control device may use a wireless communication link between the interactive traffic control device and the on-board computing device of at least one of the first one or more of the individual vehicles to transmit customized dynamic traffic control commands. The interactive traffic control device may receive an approval of reception from at least one of the first one or more of the individual vehicles. Alternatively or additionally, the interactive traffic control device may receive an indication from at least one vehicle that the vehicle will follow the transmitted first customized dynamic traffic control instruction.

In various embodiments, after or simultaneously with the transmission of the customized dynamic traffic control command, in block 1802, the interactive traffic control device may continue or again receive accurate location and status information.

Figure 19 is a process flow diagram illustrating a method 1900 of providing interactive traffic control that can be implemented according to various embodiments. 1 to 19, the method 1900 may be executed by a processor (for example, 210, 214, 216, and 218) in an interactive traffic control device (for example, 200). Method 1900 provides examples of vehicle-specific decisions that can be made in block 1806 of method 1800. Interactive traffic control devices can make decisions about many specific vehicles, and these decisions can be made in parallel, in series, or a combination.

In block 1902, the interactive traffic control device may identify or select the first one or more vehicles to be managed. The vehicles on the road monitored by the interactive traffic control equipment can be observed, and their behavior can be analyzed for traffic management and planning. All vehicles on the road managed by the interactive traffic control device can be individually selected by the interactive traffic control device for detailed traffic management analysis. Alternatively, the interactive traffic control device can select a subset of vehicle traffic for detailed traffic management analysis. For example, vehicles for which accurate location and status information are received can be selected for detailed analysis, while other vehicles, even though they are considered part of traffic analysis and management, can only be analyzed or processed in a general way.

In block 1904, the interactive traffic control device may use the precise location and status information (if available) of the selected vehicle to determine vehicle route updates. The interactive traffic control device can also use HD map information and precise location and status information specific to the selected vehicle to determine any updates to the vehicle route that may be required or suggested for the selected vehicle.

In block 1906, the interactive traffic control device may generate customized dynamic traffic control commands related to the selected vehicle.

In the decision block 1908, the interactive traffic control device may determine whether a change to the customized dynamic traffic control instruction is required based on the decision in the block 1908. In response to determining that a change to the dynamic traffic control command is needed (ie, decision block 1908 = "Yes"), in block 1910, the interactive traffic control device may update the dynamic traffic control command related to the selected vehicle.

In response to the decision that the dynamic traffic control command does not need to be changed (ie, decision block 1908 = "No"), or after the dynamic traffic control command is updated in block 1910, the interactive traffic control device can decide another vehicle in decision block 1912 Whether it needs to be managed.

In response to determining that another vehicle needs to be managed (ie, decision block 1912 = "Yes"), in block 1902, the interactive traffic control device may again identify or select one or more vehicles to be managed. In response to the decision that no other vehicles need to be managed (ie, decision block 1912 = "No"), the interactive traffic control device may transmit updates of customized dynamic traffic control commands in block 1808 of the method 1800.

FIG. 20 is a process flow diagram illustrating a method 2000 of providing interactive traffic control that can be implemented according to various embodiments. 1 to 20, the method 2000 may be executed by a processor (for example, 210, 214, 216, and 218) in an interactive traffic control device (for example, 200). In the method 2000, the processor may provide interactive traffic control by performing the operations of blocks 1802, 1804, and 1806 of the method 1800 described above.

After receiving precise location and status information from one or more vehicles in block 1802, the interactive traffic control device may receive traffic data, dynamic traffic control commands, and/or supplementary traffic information in block 2002. For example, road sensors, enhanced conventional traffic signal transmission equipment, self-adjusting traffic management servers, and/or other interactive traffic control devices acting as sensors or intermediaries can transmit traffic data to the receiving interactive traffic control equipment. Dynamic traffic control commands can be received from a self-adjusting traffic management server and/or another interactive traffic control device (for example, an adjacent interactive traffic control device). The dynamic traffic control commands may include one or more dynamic traffic control inputs that increase, decrease or change the rules used by the interactive traffic control device to generate customized dynamic traffic control commands. Supplementary traffic information may include non-regulated information or information that is not directly related to vehicle navigation. For example, supplementary transportation information can include alternative route options (for example, scenic spots, free travel, shorter, faster, etc.), advertisements, and information about local attractions (for example, fueling, dining, shopping, entertainment, healthcare, government, Religious sites or scenic spots). A local attraction may be any place that attracts tourists by offering interesting things. In addition, the supplementary traffic information may even include information about family members, friends, and/or companion travelers in other vehicles.

In block 1804, the interactive traffic control device may determine customization based on the precise location and status information received in block 1802 and the traffic data, dynamic traffic control commands and/or supplementary traffic information received in block 2002 Dynamic traffic control instructions.

In block 1806, the customized dynamic traffic control may transmit instructions to the individual vehicle, and in block 1802 continue to receive accurate location and status information.

21A and 21B illustrate first and second vehicle displays 2101, 2111, which illustrate first and second customized dynamic traffic control instructions 2105, 2115. The nearby interactive traffic control device (for example, 200) may have determined and generated the first and second customized dynamic traffic control commands 2105, 2115 based on the precise location and status information received from the first and second vehicles. The first customized dynamic traffic control instruction 2105 shown in FIG. 21A can be transmitted to a set limited number of individual vehicles to select the route of the vehicle along an alternative route not provided to other vehicles, as shown in FIG. 21B The second customized dynamic traffic control instruction shown in 2115 is shown.

The first and second vehicle displays 2101, 2111 may be presented as graphical user interfaces of wireless communication devices (for example, 190) located in different vehicles. The first customized dynamic traffic control instruction 2105 is shown in FIG. 21A as being displayed on the first vehicle display 2101, but if the self-adjusting traffic management server 110 and/or the local interactive traffic control device 200 determines more than one The first vehicle should receive the first customized dynamic traffic control instructions 2105, and the first customized dynamic traffic control instructions 2105 may also be displayed in one or more other vehicles (ie, the first vehicle set). Similarly, the second customized dynamic traffic control command 2115 is shown on the second vehicle display 2111 in FIG. 21B, but if the self-adjusting traffic management server 110 and/or the local interactive traffic control device 200 decide More than one second vehicle should receive second customized dynamic traffic control instructions 2115, and these second customized dynamic traffic control instructions 2115 may also be displayed on one or more other vehicles (ie, second vehicle set) in. At least the interactive traffic control device 200 that the first vehicle set is approaching may have transmitted the first and second customized dynamic traffic control instructions 2105, 2115.

In various embodiments, the first customized dynamic traffic control instruction 2105 illustrated in FIG. 21A may include a conditional dynamic traffic control instruction that provides route options to a determined limited number of vehicles. For example, the first customized dynamic traffic control instruction 2105 may appear as an option for the vehicle, which indicates "turn left within 1/2 mile". In addition, the first customized dynamic traffic control instruction 2105 can let the viewer notice additional information, for example, the displayed navigation instruction will "save [viewer] 3 minutes" and be part of the "new route to your destination" . The first customized dynamic traffic control instruction 2105 is presented as an alternative route that the vehicle occupants can "accept" or "reject", but it is not displayed as the second customized dynamic traffic control instruction 2115 shown in FIG. 21B in other vehicles Part of the presentation. In contrast, the second vehicle display 2111 in such other vehicles may include a second customized dynamic traffic control instruction 2115, which indicates that the vehicle should perform "No turning!" and "Stay in lane."

Although such conditional dynamic traffic control commands are provided to a limited set of vehicles, they may not be accepted by the operators of each vehicle to which their commands are transmitted. For example, some operators of some vehicles may reject the offer. The vehicle in which the operator accepts the conditional dynamic traffic control instruction can transmit the acceptance of the alternative route provided to the interactive traffic control device.

In some embodiments, less than all vehicles with conditional dynamic traffic control instructions may be allowed to accept the offer. For example, the displayed proposal may state that only the first three (3) vehicles that accept the proposal will be allowed to use alternative route authorizations. In this way, only a subset of the determined limited number of vehicles (that is, less than all vehicles presented with the proposal) of the conditioned dynamic traffic control instructions are allowed to travel along the alternative route. This can help ensure that alternative routes and detours do not become overcrowded or cause traffic jams. The authorized vehicles that are allowed to follow the alternative route can be selected based on the order in which the vehicle responds to the conditional dynamic traffic control command display or whether the vehicle responds within the set validity period (for example, within 10 seconds of presenting the proposal) . Alternatively, there may be multiple criteria for selecting authorized vehicles to be allowed to use conditions of dynamic traffic control instructions. For example, the proposed vehicles to accept the conditions may not only have to be the first vehicles to respond, but may also need to be located in a specific location or area. Therefore, once the allowed number of vehicles has been allowed to enter the alternative route, the interactive traffic control device can transmit a proposal termination message so that the proposal disappears from the vehicle display. In addition, the interactive traffic control device may transmit a rejection of acceptance based on conditions determined in response to receiving the acceptance of the provided alternative route alternative, while the proposal is still available for other qualified vehicles. In addition, along with the rejection or in-place of the rejection, the interactive traffic control device can transmit different alternative route alternatives based on conditions determined in response to receiving acceptance of the provided alternative route alternatives.

FIG. 22 illustrates an in-vehicle display 2201 and a dynamic roadside display 2211, which illustrate the first and second customized dynamic traffic control instructions 2205, 2215, respectively. The nearby interactive traffic control device (for example, 200) may have determined and generated the first and second customized dynamic traffic control commands 2205, 2215 based on the precise location and status information received. The first customized dynamic traffic control instruction 2205 may have been transmitted to a set limited number of individual vehicles, and alternative route alternatives not provided in the second customized dynamic traffic control instruction 2215 may be provided. The nearby interactive traffic control device 200 can also transmit the second customized dynamic traffic control command 2215 via the active display screen. Therefore, in the example shown in FIG. 22, the transmission of the second customized dynamic traffic control instruction 2215 uses the visual display of the interactive traffic control device 200 that is configured to be viewed by the vehicle occupants.

Figure 23 is a process flow diagram illustrating a method 2300 of providing interactive traffic control that can be implemented according to various embodiments. 1 to 23, the method 2300 may be executed by a processor (for example, 210, 214, 216, and 218) in an interactive traffic control device (for example, 200). In method 2300, the processor may provide interactive traffic control by performing the operations of blocks 1802 and 1806 of the aforementioned methods 1800 and 2000.

In block 2304, the interactive traffic control device may determine the first customized dynamic traffic control command based on the precise vehicle position and status information received in block 1802. In addition, the determined first customized dynamic traffic control instruction can provide alternative route alternatives to a limited number of individual vehicles set up.

After or simultaneously with the transmission of customized dynamic traffic control commands in block 1806, in block 1802, the interactive traffic control device can continue or again receive accurate location and status information.

24A and 24B illustrate first and second vehicle displays 2401, 2411, which illustrate first and second customized dynamic traffic control instructions 2405, 2415, respectively. After ensuring that the determined customized dynamic traffic control command does not conflict with the significant elements identified (that is, determined) from the precise location and status information, nearby interactive traffic control equipment (for example, 200) can already be based on The precise location and status information received by the vehicle determines and generates the first and second customized dynamic traffic control commands 2405, 2415.

The salient elements that can usually be determined from accurate vehicle location and status information may include the current location, direction of travel, and/or destination of the vehicle. This element can be considered significant because any traffic control instructions prepared for the vehicle should preferably take this information into consideration. For example, various embodiments may try to avoid presenting traffic control instructions that are not related to the current location, direction of travel, or destination of the vehicle. In addition, precise location and status information can indicate vehicle/user preferences or other settings, such as whether the user is actively looking for route alternatives or local attractions. Vehicle/user preferences can include such things as whether the user does not want to be presented with advertisements (ie, "do not disturb") or whether the user has route preferences (e.g., scenic/non-scenic routes, free pass, shorter, shorter Wait soon) and the like. This preference can be considered as a significant element that may conflict with certain dynamic traffic control commands. For example, if the user preference indicates that the user does not want to see the advertisement, the customized dynamic traffic control command should not present the advertisement to the user. Similarly, if the user preference indicates that the user prefers not to travel on the toll road, the customized dynamic traffic control command should not guide the host vehicle to use the toll road. In addition, user preferences may indicate that the occupants of the host vehicle want to stay within a quarter of a mile of another vehicle (eg, a car of a family member, friend, and/or companion traveler). In this way, customized dynamic traffic control commands can be generated to keep two vehicles close in order to avoid conflict.

Occasionally, a vehicle occupant may want to park for various reasons instead of driving directly to the destination (ie, actively seek to park or detour). For example, occupants may be interested in parking at local attractions for fueling, eating, shopping, entertainment, health care, government or religious services, or some scenic spots. Therefore, precise location and status information can indicate such preferences. In this way, customized dynamic traffic control instructions can be generated to steer the host vehicle to the closest stop or detour that is a suitable match, and may not need to significantly deviate from the current route to its original destination.

Referring again to FIGS. 24A and 24B, consider the following scenario: two vehicles (for example, the first vehicle with the first vehicle display 2401 shown in FIG. 24A and the second vehicle with the second vehicle display 2411 shown in FIG. 24B) Go to the same destination and drive next to each other. In this scenario, the occupants of the first vehicle may have entered user preferences, which indicate that they wish to stop and refuel as soon as possible. In contrast, the second vehicle may not need to refuel, and neither vehicle has entered a preference to stay close to each other. According to various embodiments, the interactive traffic control device may have received precise location and status information of the first vehicle, which indicates a desire to stop and refuel. In addition, the interactive traffic control device may have received the precise location and status information of the second vehicle, which indicates that there is no desire to park. The desire to stop and refuel and the desire not to stop can be considered as significant elements in precise location and status information. In addition, based on the precise location and status information, the interactive traffic control device can determine the first and second customized dynamic traffic control commands for the first vehicle and the second vehicle, respectively, based on the precise location and status information. Before transmitting any dynamic traffic control commands, the interactive traffic control equipment can ensure that the customized dynamic traffic control commands do not conflict with the distinguished elements from the precise location and status information. Therefore, the interactive traffic control device transmits significantly different customized dynamic traffic control instructions 2405, 2415 to each vehicle. The first customized dynamic traffic control instruction 2405 recommends that the first vehicle exit within half a mile to refuel, and The second customized dynamic traffic control instruction 2415 instructs the second vehicle to continue traveling along its route to the destination (ie, "forward another 13 miles").

FIG. 25 is a process flow diagram illustrating a method 2500 of providing interactive traffic control that can be implemented according to various embodiments. 1 to 25, the method 2500 may be executed by a processor (for example, 210, 214, 216, and 218) in an interactive traffic control device (for example, 200). In method 2500, the processor may provide interactive traffic control by performing operations of blocks 1802, 1804, and 1806 of methods 1800 and 2000 described above.

After receiving precise location and status information from one or more vehicles in block 1802, the interactive traffic control device may determine at least one significant element in the precise location and status information in block 2502. For example, the at least one salient element may include the current route of the first vehicle exported from the received precise location and status information.

In block 1804, the interactive traffic control device may determine the customized dynamics based on the precise location and status information received in block 1802 and additional information such as traffic data, dynamic traffic control commands, and/or supplementary traffic information. Traffic control instructions.

In decision block 2504, the processor may determine whether the customized dynamic traffic control command conflicts with the determined at least one significant element decided in block 2502.

In response to determining that the customized dynamic traffic control command conflicts with the determined at least one significant element (ie, decision block 2504 = "Yes"), the interactive traffic control device can determine an alternative customized dynamic traffic control command in block 1804 .

In response to determining that the customized dynamic traffic control command does not conflict with the determined at least one significant element (ie, decision block 2504 = "No"), the interactive traffic control device can transmit customized dynamic traffic control to the vehicle in block 1806 instruction.

In various embodiments, after or simultaneously with the transmission of customized dynamic traffic control commands in block 1806, in block 1802, the interactive traffic control device may continue or again receive accurate location and status information from the vehicle.

The foregoing method descriptions and process flow diagrams are provided as illustrative examples only, and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As those skilled in the art will understand, the order of the steps in the foregoing embodiments can be performed in any order. Words such as "hereafter", "following" and "next" are not intended to limit the order of the steps; these words are only used to guide the reader through the description of the method. In addition, any reference to a request element in the singular form using the words "a", "an" or "the", for example, should not be interpreted as limiting the element to the singular form.

The various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, various illustrative elements, blocks, modules, circuits, and steps have been described in general terms in the above. Whether such functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the overall system. Those who are familiar with the technology can implement the described functions in different ways for each specific application, but such implementation decisions should not be interpreted as causing a departure from the scope of the claim.

The hardware used to implement various illustrative logics, logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein can be general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), Field programmable gate array (FPGA) or other programmable logic devices, individual gates or transistor logic, individual hardware components, or any combination thereof designed to perform the functions described herein are implemented or executed. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Alternatively, some steps or methods may be performed by a circuit system specific to a given function.

In one or more embodiments, the described functions may be implemented by hardware, software, firmware, or any combination thereof. If implemented in software, the function can be stored as one or more instructions or codes on a non-transitory computer-readable medium or a non-transitory processor-readable medium. The steps of the method or algorithm disclosed herein can be embodied in a processor-executable software module, and the processor-executable software module can be resident on a non-transitory computer-readable or processor-readable storage medium. The non-transitory computer-readable or processor-readable storage medium may be any storage medium that can be accessed by a computer or a processor. By way of example and not limitation, such non-transitory computer-readable or processor-readable media may include RAM, ROM, EEPROM, EEPROM, flash memory, CD-ROM or other optical disk storage devices, magnetic disks Storage device or other magnetic storage device, or any other medium that can be used to store desired program codes in the form of commands or data structures and that can be accessed by a computer. The magnetic discs and optical discs used in this article include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVD), floppy discs and Blu-ray discs. Disks usually copy data magnetically, while optical discs copy data optically data. The above combination is also included in the category of non-transitory computer readable and processor readable media. In addition, the operation of the method or algorithm can be resident as one or any combination or collection of codes and/or instructions on non-transitory processor-readable media and/or computer-readable media. The codes and/or instructions One or any combination or collection of can be included in the computer program product.

The foregoing description of the disclosed embodiments is provided to enable anyone familiar with the art to make or use the claim. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in this document can be applied to other embodiments without departing from the scope of the claims. Therefore, the content of this case is not intended to be limited to the embodiments shown in this article, but to conform to the widest scope consistent with the appended claims and the principles and novel features disclosed in this article.

50: Router 60: Road Sensor 70: Conventional traffic signal transmission equipment 80: autonomous vehicles 90: car 91: SUV 92: Truck 93: Bus 94: Other non-traditional vehicles 100: Self-adjusting traffic management system 105: Network 110: Self-adjusting traffic management server 115: database 120: Sign/Signal Management Server 130: Vehicle Control Server 150: HD map database 161: wireless communication link 171: wireless communication link 180: network transceiver 181: wireless communication link 182: wireless communication link 183: wireless communication link 190: Vehicle-mounted wireless communication equipment 192: wireless communication link 200: Interactive traffic control equipment 202: Equipment Control Unit 208: Radio signal transceiver 209: Antenna 210: Digital Signal Processor (DSP) 212: Autonomous Vehicle (AV) Network Interface 214: Graphics processor 216: Application Processor 218: auxiliary processor 220: memory 222: Custom circuit system 224: System Resources 226: Interconnect/Bus Module 228: Cellular Network Components 230: display 300: Dynamic Traffic Control System 302: Sensor perception layer 304: Vehicle accurate location and status analysis layer 306: Dynamic traffic control command analysis layer 308: Vehicle location and road condition confirmation layer 310: Customized dynamic traffic control command generator layer 312: Communication Manager layer 361: wireless communication link 371: wireless communication link 381: wireless communication link 402: Sensor 408: Satellite Geolocation Sensor 412: Occupancy Sensor 414: Tire pressure sensor 416: Occupancy Sensor 418: Occupancy Sensor 420: Tire pressure sensor 422: Camera 424: Microphone 426: Occupancy Sensor 428: Occupancy Sensor 430: Impact Sensor 432: Radar 434: Microphone 436: Camera 438: Laser Radar 440: control unit 454: drive control element 456: Navigation Elements 458: Vehicle Sensor 464: processor 466: memory 468: Input Module 470: output module 472: Radio Module 611: First display state 612: Second display state 711: First display state 712: second display state 811: First display state 812: Second display state 911: first display state 912: Second display state 1011: First display state 1012: Second display state 1013: Third display state 1111: First display state 1112: Second display state 1200: Traffic environment 1310: Vehicle Communication 1312: data 1315: Vehicle Communication 1317: data 1320: Collected traffic data 1322: Localized data collected 1330: Dynamic traffic control information 1335: Customized dynamic traffic control instructions 1340: The first customized dynamic traffic control instruction 1342: Second customized dynamic traffic control instruction 1350: response 1352: response 1360: update 1401: The first vehicle display 1405: The first customized dynamic traffic control instruction 1411: Second vehicle display 1415: Second customized dynamic traffic control instruction 1500: method 1502: block 1504: block 1506: block 1508: Block 1510: Block 1512: Block 1600: method 1602: Block 1604: Block 1606: Block 1608: Block 1610: block 1700: method 1702: Block 1704: Block 1706: Block 1708: Block 1710: decision block 1712: block 1714: decision block 1800: method 1802: block 1804: Block 1806: Block 1900: method 1902: Block 1904: Cube 1906: Cube 1908: decision box 1910: Block 1912: decision block 2000: method 2002: Cube 2101: The first vehicle display 2105: The first customized dynamic traffic control instruction 2111: Second vehicle display 2115: Second customized dynamic traffic control instruction 2201: In-car display 2205: The first customized dynamic traffic control instruction 2211: Dynamic roadside display 2215: Second customized dynamic traffic control instruction 2300: method 2304: Block 2401: The first vehicle display 2405: The first customized dynamic traffic control instruction 2411: second vehicle display 2415: Second customized dynamic traffic control command 2500: method 2502: block 2504: decision block

The accompanying drawings, which are incorporated herein and constitute a part of this specification, illustrate exemplary embodiments of the claim, and are used to explain the features of this document together with the general description and detailed description provided.

Figure 1 is a schematic system diagram illustrating elements of a self-adjusting traffic management system suitable for implementing various embodiments.

Figure 2 is a schematic block diagram of exemplary smart and self-adjusting traffic signs suitable for implementing various embodiments.

Figure 3 is a schematic block diagram illustrating elements of an exemplary dynamic traffic control system according to various embodiments.

4A and 4B are schematic diagrams illustrating a vehicle suitable for implementing various embodiments.

FIG. 5 is a schematic block diagram illustrating elements of an exemplary control unit used in a vehicle according to various embodiments.

6A and 6B are graphical representations of displays on an interactive traffic control device according to various embodiments, which are changed from a stop sign to a yield sign.

Figures 7A and 7B are graphical representations of displays on an interactive traffic control device according to various embodiments, which change from a straight-go only sign to a right-turn only sign.

Figures 8A and 8B are graphical representations of displays on an interactive traffic control device according to various embodiments, which change from no left turn sign to a blank sign.

9A and 9B are graphical representations of displays on the interactive traffic control device according to various embodiments, which have changed from a speed limit sign of 45 miles per hour (mph) to a speed limit sign of 25 mph.

Figures 10A-10C are graphical representations of displays on an interactive traffic control device according to various embodiments, which are changed from two forms of crosswalk countdown signals to no-crossing signs.

11A and 11B are graphical representations of the display on the interactive traffic control device on the road according to various embodiments, in which one of the signs is changed from a 45 mph speed limit sign to a lane closure (change lane) sign with arrows .

Figure 12 is a graphical representation of a traffic environment including interactive traffic control equipment suitable for implementing various embodiments.

Figure 13 is a communication flowchart according to various embodiments.

14A and 14B are graphical representations of displays 501, 511 illustrating customized dynamic traffic control instructions on an in-vehicle computing device according to various embodiments.

Figure 15 is a process flow diagram of an exemplary method of deciding and transmitting updates to accurate location and status information according to various embodiments.

Figure 16 is a process flow diagram of an exemplary method of managing a self-adjusting traffic management system according to various embodiments.

FIG. 17 is a process flow diagram of an exemplary method of determining and transmitting vehicle-specific updates for interactive traffic control equipment to transmit dynamic traffic control instructions according to various embodiments.

Figure 18 is a process flow diagram of an exemplary method of determining and transmitting customized dynamic traffic control instructions in accordance with various embodiments.

Figure 19 is a process flow diagram of an exemplary method of deciding and transmitting updates to dynamic traffic control instructions according to various embodiments.

20 is a process flow diagram of an exemplary method of deciding and transmitting customized dynamic traffic control instructions according to various embodiments.

21A and 21B are graphical representations of displays on in-vehicle computing devices illustrating customized dynamic traffic control instructions according to various embodiments.

22 is a graphical representation of a first display on an in-vehicle computing device and a second display on a roadside display of an interactive traffic control device illustrating customized dynamic traffic control instructions according to various embodiments.

Figure 23 is a process flow diagram of an exemplary method of deciding and transmitting customized dynamic traffic control instructions including alternative route alternatives according to some embodiments.

Figures 24A and 24B are graphical representations of displays on an in-vehicle computing device illustrating customized dynamic traffic control instructions according to some embodiments.

25 is a process flow diagram of an exemplary method of deciding and transmitting customized dynamic traffic control instructions for a set limited number of vehicles in accordance with various embodiments.

Domestic hosting information (please note in the order of hosting organization, date and number) no

Foreign hosting information (please note in the order of hosting country, institution, date and number) no

60: Road Sensor

80: autonomous vehicles

110: Self-adjusting traffic management server

150: HD map database

190: Vehicle-mounted wireless communication equipment

200: Interactive traffic control equipment

300: Dynamic Traffic Control System

302: Sensor perception layer

304: Vehicle accurate location and status analysis layer

306: Dynamic traffic control command analysis layer

308: Vehicle location and road condition confirmation layer

310: Customized dynamic traffic control command generator layer

312: Communication Manager layer

Claims (30)

A method for providing interactive traffic control to vehicles includes the following steps: Receive accurate position and status information associated with individual vehicles on a road through an interactive traffic control device; Through the interactive traffic control device, a first customized dynamic traffic control command for a first one or more of the individual vehicles and a second one or more of the individual vehicles are determined A second customized dynamic traffic control instruction, the second one or more of the individual vehicles is different from the first one or more of the individual vehicles, wherein the first customized dynamic traffic control The instruction includes navigation information different from the second customized dynamic traffic control instructions, wherein the determined first customized dynamic traffic control instruction and the determined second customized dynamic traffic control instruction are based on the received Of the precise location and status information; Transmit the first customized dynamic traffic control commands to the first one or more of the individual vehicles via the interactive traffic control device; and The second customized dynamic traffic control commands are transmitted to the second one or more of the individual vehicles via the interactive traffic control device. The method according to claim 1 also includes the following steps: receiving dynamic traffic control information from a traffic management server via the interactive traffic control device, wherein the determined first customized dynamic traffic control instructions and the determined The second customized dynamic traffic control commands are also based on the received dynamic traffic control information. According to the method of claim 1, wherein the first customized dynamic traffic control instructions and the second customized dynamic traffic control instructions are simultaneously transmitted to the first one or more of the individual vehicles and the second Two or more. The method according to claim 1, wherein the first customized dynamic traffic control instructions indicate a first navigation route on the road, and the second customized dynamic traffic control instructions indicate the road and the first navigation route A different one second navigation route. The method according to claim 1, wherein the first customized dynamic traffic control instructions include: an alternative route that is not included in the second customized dynamic traffic control instructions. The method according to claim 1, wherein the step of transmitting the first customized dynamic traffic control commands includes the following steps: generating a visual display on the interactive traffic control device, the visual display being configured to be displayed on the individual vehicles Is visible to the occupants of the first one or more. The method according to claim 1, wherein transmitting the first customized dynamic traffic control commands uses an action in the interactive traffic control device and at least one of the first one or more of the individual vehicles A wireless communication link between communication devices. The method according to claim 1, wherein transmitting the first customized dynamic traffic control instructions uses an on-board computing of the interactive traffic control device and at least one of the first one or more of the individual vehicles A wireless communication link between devices. The method according to claim 1, wherein at least one of the first one or more of the individual vehicles is an autonomous vehicle. According to the method of claim 1, it also includes the following steps: Through the interactive traffic control device, an approval for the reception of the transmitted first customized dynamic traffic control instructions is received from at least one of the first one or more of the individual vehicles. According to the method of claim 1, it also includes the following steps: Through the interactive traffic control device, an instruction is received from at least one of the first one or more of the individual vehicles, and the instruction is the first one or more of the individual vehicles The at least one of will follow the transmitted first customized dynamic traffic control instructions. An interactive traffic control device, including: A transceiver; and A processor coupled to the transceiver and configured with processor-executable instructions for: Receive accurate location and status information associated with individual vehicles on a road; Determine a first customized dynamic traffic control instruction for a first one or more of the individual vehicles and a second customized dynamic traffic control instruction for a second one or more of the individual vehicles , The second one or more of the individual vehicles is different from the first one or more of the individual vehicles, wherein the first customized dynamic traffic control commands include the same as the second fixed To control navigation information with different dynamic traffic control commands, wherein the first customized dynamic traffic control commands determined and the second customized dynamic traffic control commands determined are based on the received precise position and status information of; Transmitting the first customized dynamic traffic control commands to the first one or more of the individual vehicles; and The second customized dynamic traffic control commands are transmitted to the second one or more of the individual vehicles. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for: Receive dynamic traffic control information from a traffic management server, wherein the determined first customized dynamic traffic control commands and the determined second customized dynamic traffic control commands are also based on the received dynamic traffic control information . The interactive traffic control device according to claim 12, wherein the processor is also configured with processor executable instructions for: the first customized dynamic traffic control instructions and the second customized dynamic traffic control instructions Simultaneous transmission to the first one or more and the second one or more of the individual vehicles. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor executable instructions for: determining the first customized dynamic traffic control instructions to indicate a first navigation route on the road , And determine the second customized dynamic traffic control instruction to indicate a second navigation route on the road that is different from the first navigation route. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for: including the first fixed instructions that are not included in the second customized dynamic traffic control instructions An alternative route for dynamic traffic control commands. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for performing operations: transmitting the first predetermined commands by generating a visual display on the interactive traffic control device To control dynamic traffic control instructions, the visual display is configured to be visible to the occupants of the first one or more of the individual vehicles. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor executable instructions for: using the interactive traffic control device with the first one or more of the individual vehicles A wireless communication link between a mobile communication device in at least one of them transmits the first customized dynamic traffic control commands. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor executable instructions for: using the interactive traffic control device with the first one or more of the individual vehicles A wireless communication link between at least one of the on-board computing devices transmits the first customized dynamic traffic control commands. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for: transmitting the first customized dynamic traffic control instructions to an autonomous vehicle. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for: receiving a pair from at least one of the first one or more of the individual vehicles An approval of the reception of the transmitted first customized dynamic traffic control commands. The interactive traffic control device according to claim 12, wherein the processor is also configured with processor-executable instructions for: receiving an instruction, the instruction being the first one or more of the individual vehicles The at least one of will follow the transmitted first customized dynamic traffic control instructions. A non-transitory processor-readable storage medium on which processor-executable instructions are stored. The processor-executable instructions are configured to make a processor of an interactive traffic control device perform operations. The operations include : Receive accurate location and status information associated with individual vehicles on a road; Determine a first customized dynamic traffic control instruction for a first one or more of the individual vehicles and a second customized dynamic traffic control instruction for a second one or more of the individual vehicles , The second one or more of the individual vehicles is different from the first one or more of the individual vehicles, wherein the first customized dynamic traffic control commands include the same as the second fixed To control navigation information with different dynamic traffic control commands, wherein the first customized dynamic traffic control commands determined and the second customized dynamic traffic control commands determined are based on the received precise position and status information of; Transmitting the first customized dynamic traffic control commands to the first one or more of the individual vehicles; and The second customized dynamic traffic control commands are transmitted to the second one or more of the individual vehicles. According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations, and the operations also include : Receive dynamic traffic control information from a traffic management server, wherein the determined first customized dynamic traffic control commands and the determined second customized dynamic traffic control commands are also based on the received dynamic traffic control information . According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations such that the first The customized dynamic traffic control instructions and the second customized dynamic traffic control instructions are simultaneously transmitted to the first one or more and the second one or more of the individual vehicles. According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations such that the first The customized dynamic traffic control instruction indicates a first navigation route on the road, and the second customized dynamic traffic control instruction indicates a second navigation route on the road that is different from the first navigation route. According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations such that the first The customized dynamic traffic control instructions include an alternative route that is not included in the second customized dynamic traffic control instructions. According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations so as to transmit the second A customized dynamic traffic control command includes generating a visual display on the interactive traffic control device, the visual display being configured to be visible to the occupants of the first one or more of the individual vehicles. According to the non-transitory processor-readable storage medium of claim 23, the stored processor-executable instructions are also configured to cause the processor of the interactive traffic control device to perform operations so as to transmit the second A customized dynamic traffic control instruction uses at least one of the following: A wireless communication link between the interactive traffic control device and a mobile communication device in at least one of the first one or more of the individual vehicles; or A wireless communication link between the interactive traffic control device and an on-board computing device of at least one of the first one or more of the individual vehicles. An interactive traffic control device, including: A component for receiving accurate location and status information associated with individual vehicles on a road; Used to determine a first customized dynamic traffic control command for a first one or more of the individual vehicles and a second customized dynamic traffic control for a second one or more of the individual vehicles A component of control instructions, the second one or more of the individual vehicles is different from the first one or more of the individual vehicles, wherein the first customized dynamic traffic control instructions include the same Different navigation information such as second customized dynamic traffic control commands, wherein the first customized dynamic traffic control commands determined and the second customized dynamic traffic control commands determined are based on the received precise location And status information; and Means for transmitting the first customized dynamic traffic control commands to the first one or more of the individual vehicles; and A means for transmitting the second customized dynamic traffic control commands to the second one or more of the individual vehicles.

Images