WO2019030182A2 - Système d'avertissement de trafic - Google Patents

Système d'avertissement de trafic Download PDF

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Publication number
WO2019030182A2
WO2019030182A2 PCT/EP2018/071297 EP2018071297W WO2019030182A2 WO 2019030182 A2 WO2019030182 A2 WO 2019030182A2 EP 2018071297 W EP2018071297 W EP 2018071297W WO 2019030182 A2 WO2019030182 A2 WO 2019030182A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
emergency vehicle
emergency
public
approach
Prior art date
Application number
PCT/EP2018/071297
Other languages
English (en)
Other versions
WO2019030182A3 (fr
Inventor
Jonathan Laker
Original Assignee
Fastlane Traffic Warning Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fastlane Traffic Warning Systems Ltd filed Critical Fastlane Traffic Warning Systems Ltd
Publication of WO2019030182A2 publication Critical patent/WO2019030182A2/fr
Publication of WO2019030182A3 publication Critical patent/WO2019030182A3/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • driver training does not include what action to take if an emergency vehicle is approaching from behind and many people stay as they were, expecting the emergency vehicle to drive around them.
  • the UK Connected Intelligent Transport Environment (CITE) project for connected and autonomous driving in the UK envisages cars that can communicate with one another and with emergency vehicles. Companies involved in this project include Jaguar Land Rover, Visteon, Siemens and Vodafone.
  • This new prototype technology obtains information from the vehicle main control unit and transmits any warning conditions including for example heavy braking to other vehicles fitted in close proximity with the new technology and the surrounding vehicles can respond accordingly or warning information can be displayed on a screen in the vehicle.
  • the new prototype vehicles can communicate with each other but are unable to communicate with the 1 .1 billion existing cars in the world.
  • the new technology can also work with emergency vehicles fitted with the new technology to advise the driver an emergency vehicle is approaching but the system is only designed to operate over short distances
  • This system was demonstrated on 22/03/18 (BBC television) by Jaguar Land Rover showing a vehicle with an additional screen located on the dash which warned "Emergency Vehicle 90m Back” and shows the driver a map with a red cross in the circle to represent the ambulance and a blue dot to represent the drivers vehicle.
  • the system then warns "Emergency Vehicle 45m Back” and updates the map. All the driver is informed is that an "Emergency Vehicle is 90m Back", then 45 meters back a few second later offering the driver little time to safely react, take action and move out of the way of the emergency vehicle
  • the present invention is related to an improved emergency vehicle warning system in which road users can receive information on an existing smart mobile phones with increased warning times in minutes not seconds allowing the driver sufficient time to react safely.
  • the system of the present invention reduces false warnings by utilising the emergency vehicle's destination and route in addition to other data transmitted.
  • the present invention provides a system that alerts a vehicle travelling in the path of an approaching emergency vehicle, providing approximate time to emergency vehicle passing the driver.
  • the system can additionally provide the information for the driver to move into a certain lane(s) allowing the emergency vehicle to pass at high speed to its desired location.
  • a method comprising the steps of: receiving emergency vehicle data comprising emergency vehicle position and emergency vehicle route and destination; determining the position of the public vehicle; determining the distance between the emergency vehicle position and the position of the public vehicle; and in the event the distance is less than a first predetermined threshold; determining whether the public vehicle is in the path of the emergency vehicle; and in the event the public vehicle is in the path of the emergency vehicle; determining the expected time of the closest point of approach; in the event the time of the closest point of approach is less than a second predetermined threshold; issuing a warning comprising an indication of the time of closest point of approach.
  • a method comprising the steps of: transmitting emergency vehicle data comprising: emergency vehicle position; and emergency vehicle route and destination. Devices arranged in operation to perform such method steps are also provided.
  • Figure 1 is a diagram of a UK dual carriage way showing an ambulance approaching traffic in the right hand (overtaking) lane;
  • Figure 2 is a diagram of a UK dual carriage way showing an ambulance approaching traffic in the right hand (overtaking) lane with the system in operation;
  • Figure 3 is a diagram of a UK dual carriage way showing an ambulance 3 passing safely in the right hand (overtaking) as the cars have been notified of an approaching ambulance and have moved into the left hand lane;
  • Figure 4 is a diagram of a UK dual carriage way showing an ambulance passing safely in the middle of stationary traffic as one or more vehicles were warned that an ambulance was approaching and have moved into to the outer extremities;
  • Figure 5 is an example of two screenshots when a warning is received.
  • the warning can be one or more slides or an animated video and the graphic, design and language be adjusted to suit application and country;
  • Figure 6 is an example of a screenshot when an emergency vehicle has passed.
  • the warning can be one or more slides or an animated video and the graphic, design and language be adjusted to suit application and country;
  • Figure 7 shows a flow diagram for a process operating on an emergency vehicle transmitting device
  • Figure 8 shows a flow diagram for a process operating on a public vehicle receiving device
  • Figure 9 is an example visual indication to a driver of a public vehicle, showing which lane a driver should aim for and which lane the emergency vehicle is aiming for.
  • Figure 1 shows an ambulance 3 approaching cars 4, 5 and 6 from the right hand side on the lower carriage 1 .
  • the ambulance 3 is fitted with flashing coloured lights, flashing headlights and sirens, people are often completely unaware of the ambulance's 3 presence until it is behind them, as shown.
  • the car 4 cannot simply move into the left lane to allow the ambulance 3 to pass safely due to lorries 7, 8 in the left lane.
  • the car 4 is travelling around 70 mph and cannot accelerate to get out of the way as there are cars 5, 6 in front.
  • the cars 5, 6 are probably unaware of the ambulance 3 and continue at the same speed of 70 mph.
  • the car 4 With the lorries 7, 8 travelling around 56 mph, the car 4, unable to accelerate has to wait until it has passed the lorries 7, 8 and maybe cars 5, 6 if they have become aware and have subsequently moved into the left hand lane in front of the lorries 7, 8 before moving into the left hand lane to allow the ambulance 3 to pass.
  • the differential speed between the cars 4, 5, 6 and the Lorries 7, 8 is around 14 mph. Therefore the time taken for the car 4 to be able to move into the left lane is variable on the differential speed between both lanes and the subsequent random actions of the cars 5 and 6 in front.
  • the present invention utilises the existing global positioning satellite system, mobile communication network and existing mapping systems, for example Google Maps for Android based systems and I maps for Apple based systems, although other systems can be utilised.
  • An emergency vehicle is fitted with an emergency vehicle device according to the present invention containing a global positioning receiver that continually monitors the signals from the three or more satellites.
  • the device processes these signals by trilateration (measuring the time difference between three or more satellite signals) and calculates the emergency vehicle's position in longitude and latitude.
  • the device samples this information at regular intervals, for example 15Hz and this information is defined as the emergency vehicle positional data
  • the emergency vehicle crew can input destination data directly via a human computer interface, for example LCD touch screen / keyboard / voice recognition system and the system has the ability to calculate the route.
  • a human computer interface for example LCD touch screen / keyboard / voice recognition system
  • Many emergency services around the world have a central control unit fitted in the vehicle which is in real time communication with the main control systems, these units can receive the information on a task and fastest route to the destination.
  • the new warning system can access this destination and route information from the central control system via Bluetooth, WiFi, direct connection or any other suitable means.
  • the new warning system could receive this information directly from the main control system via SMS, other form of packet data or any other suitable means.
  • the system also holds pre-programmed fixed data on the emergency vehicle, including type of emergency service, vehicle type, and unique identification call sign.
  • the device When the emergency vehicle device has been activated, the device transmits emergency vehicle data comprising emergency vehicle positional data, route data including destination data and fixed data at regular intervals, for example every 10 seconds.
  • This information is processed using predetermined parameters on a mapping system such as Google Maps / 1 maps system and is then transmitted to a predetermined radius around the emergency vehicle for example 5 miles.
  • the software on the receiving device remains in sleep mode in the background whilst the phone / vehicle is powered.
  • the software continually scans for an emergency vehicle transmission.
  • the receiving device continues in sleep mode. If an emergency vehicle transmission is received then the receiving device is woken and the main software is activated.
  • the receiving device is powered from the vehicle there may be no need to use sleep mode technology and this can be optional depending on the application.
  • FIG. 2 is an illustrative example of operation of the system according to the invention.
  • the ambulance 3 approaches cars 4, 5, 6 and Lorries 7, 8 at a distance D, for example 4 miles.
  • the ambulance is fitted with an emergency vehicle device according to the invention.
  • cars 4, 6 and lorry 7 referred to herein as 'public vehicles'
  • 'public vehicles' have a receiving device according to the present invention either on a smart phone, tablet, mobile satellite navigation system or integrated system built into the vehicle, then on receipt of emergency vehicle data the devices will initialise (if in sleep mode), store the emergency vehicle data and then obtain its own position speed and direction i.e. public vehicle data comprising the current location, speed and direction of the vehicle carrying the receiving device.
  • the receiving device ie phone / vehicle / other software
  • the software on the receiving device determines the distance between the two vehicles, the approximate time between them and the expected time of the closest point of approach (CPA) which is an estimated time in which the distance between the emergency vehicle and the public vehicle will reach its minimum value
  • CPA closest point of approach
  • the software on the receiving device updates these calculations at regular intervals until a set of trigger parameters have been met, for example when the emergency vehicle is ⁇ Within a predetermined distance (or within a predetermined time at the present relative speeds of the emergency vehicle and the public vehicle)
  • a receiving device calculates expected time to CPA between emergency vehicle and the public vehicle carrying the receiving device and warn the driver, for example, "Ambulance approaching, please move into the left lane, approximately four minutes"
  • An increasing volume "pre warning” noise can be used as to not startle the driver when the main warning is broadcast. Additional verbal warnings can be given at set time intervals, 30 seconds for example. These parameters can be changed to suit different roads, countries and national speed limits.
  • the receiving device constantly monitors the emergency vehicles position relative to the vehicles position and updates in real time, adjusting for differentials in traffic flow between the emergency vehicle and the driver's vehicle providing a very high level of accuracy of the emergency vehicle's passing prediction.
  • the display of the receiving device is not simply a countdown timer once triggered, rather it displays the next value once a next countdown set point has been reached, for example if the expected time to CPA has reduced by more than thirty seconds from the previous expected time to CPA.
  • Lorry 7 may have received the information but this is just for acknowledgement although this may allow him slow down generating a gap where one of the other vehicles can use whilst the ambulance 3 passed.
  • Figure 3 illustrates that all vehicles have moved over to the left lane allowing the ambulance 3 to pass at speed, safely to its destination.
  • Figure 4 illustrates an example where there has been an incident and the vehicles in front of the emergency vehicle are stopped.
  • Receiving devices according to the invention have alerted some of the stationary vehicles to move to the outer edges and this this action may trigger "herd behaviour" so that other vehicles on the carriageway without the system move to the outer extremes allowing the emergency vehicle 3 to pass through the centre of the stationary traffic, safely and unhindered to its destination.
  • Figure 5 shows two possible alternating screenshots on a receiving device comprising a smart phone when a traffic warning is received.
  • Information on the type of emergency service 31 , 32 is given.
  • the lane(s) the driver is required to move into 33 the lane the emergency vehicle is requiring 35 and any lanes not to use 36.
  • These lanes and indicators can be coloured for easily recognition for example lane(s) the driver is required to move into 33 could be green, the lane the emergency vehicle requires 35 could be blue and any lanes not to use 36 could be red.
  • the design and colours of the warnings can be different from shown and adjusted to suit a particular application.
  • the warning can be audible or visual or both, which allows the driver to continue without having to take any action or touch the phone, and continue to drive safely.
  • Most modern cars have Bluetooth phone connections, so the incoming message can be relayed over the vehicle's sound system and screens.
  • Figure 6 shows a possible screenshot for when the emergency vehicle has passed and thanking the driver for their co-operation and continue on their way.
  • the devices of the present invention can utilise physical road information obtained from mapping and other databases obtaining information on the amount of lanes, availability of a hard shoulder and any roadworks or lane closures. Using this information the system can primarily keep the emergency vehicle in the fast lane instructing vehicles in front to move into the other available lanes and this can be done by displaying and image on the phone screen or audible instruction. Utilizing the destination and route data, the system can calculate that although a vehicle is in front of the emergency vehicle and within range, no warning will be given as the emergency vehicle would have exited the road / carriageway before passing the vehicle, therefore not generating a false warning to the driver.
  • the system determines that the emergency vehicle requires to exit a road / carriageway the system instructs the vehicles in front of the emergency vehicle to move out of the inner lane and into the other available lane(s) at a predetermined distance from the exit, for example half a mile allowing the emergency vehicle to transfer to the inner lane and onto the exit slipway without any delay and this can be by displaying an image on the phone screen or audible instruction.
  • the phone be running a satellite navigation application such as google maps then the public vehicle's destination information can be included to further improve the accuracy of the system as the public vehicle may have turned off before the emergency vehicle would have passed.
  • a driver receives a warning and subsequently traffic conditions change, for example the public vehicle speed increases or the emergency vehicle is slowed down, the system recalculates that the emergency vehicle may have exited before passing the vehicle, the driver is provided with updated information stating the situation has changed due to traffic conditions and please continue the journey as normal.
  • the system can accurately calculate and differentiate if a vehicle is in the path of an emergency during its chosen route and not provide false warnings to vehicles:
  • Identification data contained in the information received can be used to prevent double triggering, or in the circumstances where more than one emergency vehicle is approaching provide the information "Police car approaching, Please move into the left lane” "Approximately three minutes", Ambulance approaching, Please move into the left lane” "Approximately four minutes”. This allows the public vehicle to safely find a position on the left hand lane and discourages the public vehicle from moving straight back into the right land lane as soon as the first emergency vehicle has passed and then having to move back again for the second emergency vehicle.
  • the receiving device can detect that the public vehicle has moved from the outer lane to the inner lane and when the receiving device has detected that both emergency vehicles have passed the public vehicle and no further emergency vehicles are approaching the receiving device can confirm to the driver for example using an audible message such as "Emergency vehicles have passed safely Thank you for your assistance"
  • the accuracy of GPS / network mapping allows the receiving device to identify which lane the public vehicle is currently in. It is therefore able to differentiate if a public vehicle is in stationary traffic or the public vehicle is parked at a motorway services / petrol station and may only provide warning to the vehicle that is stopped on the motorway to take appropriate action.
  • the system can be modified for a number of different modes of operation:
  • the receiving device has received a wake up transmission from an emergency vehicle, if the receiving device detects the public vehicle is stationary, after a set period of time (for example 60 seconds), it provides the driver with a request such as "if you are in congestion, can the vehicles at the front of the congestion start moving forward (up to 10 meters for example) and subsequently outwards or to one side". Because most of the drivers will receive the message they will be prepared to move and will be able to react quickly.
  • a set period of time for example 60 seconds
  • the system may have an additional feature in which an emergency vehicle can program a rolling road block at a fixed distance ahead (for example 4.0 miles) or at a fixed location.
  • the emergency vehicle sends out data detailing where they want the speed reduction.
  • the public vehicle detects the wake up notice detailing the location where the speed reduction is required, it will compare its own position with the location. If the vehicle is between 3.5 to 4.0 miles of the location for example, then the driver will be instructed to slow down from 70 miles per hour to 50 miles an hour etc, safely slowing the traffic down in a controlled manner.
  • the emergency vehicle may send out information for drivers to merge at a set distance or at a fixed location. This information can be received and processed as before by the receiving device to instruct drivers in a sector (say 200 meters) to merge when certain parameters are met.
  • STEALTH MODE is a feature for the police service, where the warning range is reduced, for example to 25%, (or a predetermined value) allowing the officer to get within a set distance of the target vehicle quickly without warning the target vehicle of their presence. The system can then be switched off and the police officer can make his final approach and tactical stop.
  • FIG. 7 is a basic flow diagram for the process operating on the emergency vehicle device according to the present invention.
  • the vehicle is started and at step 71 the system and satellite navigation is powered up. If the destination data has not been received from an external source at step 72 then the data may be manually input at step 73.
  • the emergency vehicle (EMV) position in terms of latitude / longitude co-ordinates is determined by receiving satellite positional data at step 75 (this step may be repeated a number (X) of times).
  • Step 76 the emergency vehicle's position road direction and speed, route and ETA are calculated in a conventional manner with reference to an electronic map such as may be found in a conventional satellite navigation system.
  • the emergency vehicle device is set to transmit to a desired radius.
  • the Emergency vehicle transmits emergency vehicle data comprising emergency vehicle positional data, route data and destination data and fixed data at regular intervals.
  • the emergency vehicle data also comprises the service type, vehicle type and a call sign.
  • Figure 8 shows a basic flow diagram for the process operating on a receiving device according to the present invention, which may be a smart phone, integrated vehicle system, external satellite navigation system, or a DAB (Digital Audio Broadcasting radio) amongst others.
  • a receiving device may be a smart phone, integrated vehicle system, external satellite navigation system, or a DAB (Digital Audio Broadcasting radio) amongst others.
  • Step 80 the process is started on the device, and at step 81 the device is initialised in low power mode.
  • Step 82 checks to see whether any emergency vehicle data has been received, and is repeated until such data is received.
  • the emergency vehicles data comprising the route, destination, service type and vehicle type is stored.
  • Step 84 is an optional step whereby the emergency vehicle data may be sampled and stored up to a predetermined number (X) times.
  • the public vehicle (PV) position in terms of latitude/longitude co-ordinates is determined by receiving satellite positional data at step 86 (this step may be repeated a number (X) of times).
  • the emergency vehicle's position road direction and speed, route and ETA are calculated in a conventional manner with reference to an electronic map such as may be found in a conventional satellite navigation system.
  • the public vehicle's position road direction and speed are calculated in a conventional manner with reference to an electronic map such as may be found in a conventional satellite navigation system.
  • the device calculates whether the public vehicle is in the path of the emergency vehicle using the received emergency vehicle data and the calculated public vehicle data.
  • step 90 if the public vehicle is in the path of the emergency vehicle, then at step 91 the closest point of approach and the time to the closest point of approach is calculated.
  • step 92 it is checked to see if the time to CPA is below a threshold and if so then at step 93 and audible or visual warning is given.
  • the visual warning may include a visual indication of the lane into which the driver should move as illustrated in Figure 9.
  • Lane 100 may be coloured red, for example, lanes 101 may be coloured green for example and lane 102 may be coloured blue for example, where red indicates the lane should not be entered, green indicates the lanes that the public vehicle should use and blue indicates the lane to be used by the emergency vehicle.
  • the road/lane image can be retrieved from stored data in a satellite navigation system or can be taken in real-time from an on-board camera and digitally processed to overlay the colours.
  • Step 94 re-samples received emergency vehicle data and re-calculates the closest point of approach and the expected time to closest point of approach.
  • the warning is reissued if the time to closest point of approach has reduced by more than 30s.
  • Alternative ways of determining whether the emergency vehicle has passed are detection that the distance between the vehicles is increasing or that the time to CPA is increasing. Once it is determined that the emergency vehicle has passed the driver is informed and the device returns to listening mode and awaits further emergency vehicle data at step 85.
  • Devices according to the present invention can run on many hardware platforms other than bespoke equipment that have the ability to run software, offer a human interface, connect to the mobile communication network and receive GPS information. These include Smart phones, Mobile phones, tablets, laptops
  • Software implementing a method according to the present invention could also be integrated into the existing "on board systems" that are connected to the emergency services central control infrastructure and could also be integrated directly with in built car satellite navigation and phone systems as well as external satellite navigation systems.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Alarm Systems (AREA)

Abstract

La présente invention concerne un procédé comprenant les étapes consistant à : recevoir des données de véhicule d'urgence comprenant une position de véhicule d'urgence et un itinéraire et une destination de véhicule d'urgence ; déterminer la position du véhicule de transport public ; déterminer la distance entre la position du véhicule d'urgence et la position du véhicule de transport public ; et dans le cas où la distance est inférieure à un premier seuil prédéfini, déterminer si le véhicule de transport public se trouve sur le trajet du véhicule d'urgence ; et dans le cas où le véhicule de transport public se trouve sur le trajet du véhicule d'urgence, déterminer le moment attendu du point d'approche le plus proche ; dans le cas où le moment du point d'approche le plus proche est inférieur à un second seuil prédéfini, émettre un avertissement comprenant une indication du moment du point d'approche le plus proche. La présente invention concerne également un procédé consistant à : transmettre des données de véhicule d'urgence comprenant : une position de véhicule d'urgence ; et un itinéraire et une destination de véhicule d'urgence.
PCT/EP2018/071297 2017-08-09 2018-08-06 Système d'avertissement de trafic WO2019030182A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1712738.2A GB201712738D0 (en) 2017-08-09 2017-08-09 Advanced traffic warning system
GB1712738.2 2017-08-09

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WO2019030182A2 true WO2019030182A2 (fr) 2019-02-14
WO2019030182A3 WO2019030182A3 (fr) 2019-08-08

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CN112996108A (zh) * 2021-04-14 2021-06-18 广州赛瑞科技股份有限公司 基于目标跟踪的无线通信网络中节点定位方法和系统
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CN117227810A (zh) * 2023-10-18 2023-12-15 中国矿业大学 一种轨道交通应急联动方法及系统

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Publication number Priority date Publication date Assignee Title
US11479264B2 (en) 2020-05-05 2022-10-25 Here Global B.V. Mobile entity interaction countdown and display
CN112996108A (zh) * 2021-04-14 2021-06-18 广州赛瑞科技股份有限公司 基于目标跟踪的无线通信网络中节点定位方法和系统
CN117227810A (zh) * 2023-10-18 2023-12-15 中国矿业大学 一种轨道交通应急联动方法及系统
CN117227810B (zh) * 2023-10-18 2024-04-26 中国矿业大学 一种轨道交通应急联动方法及系统

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GB201712738D0 (en) 2017-09-20

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