WO2020076280A1 - Système de feux de circulation virtuels embarqué autonome - Google Patents

Système de feux de circulation virtuels embarqué autonome Download PDF

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Publication number
WO2020076280A1
WO2020076280A1 PCT/US2018/000380 US2018000380W WO2020076280A1 WO 2020076280 A1 WO2020076280 A1 WO 2020076280A1 US 2018000380 W US2018000380 W US 2018000380W WO 2020076280 A1 WO2020076280 A1 WO 2020076280A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
traffic
intersection
segment
road
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Application number
PCT/US2018/000380
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English (en)
Inventor
Mohamed Roshdy ELSHEEMY
Original Assignee
Elsheemy Mohamed Roshdy
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 Elsheemy Mohamed Roshdy filed Critical Elsheemy Mohamed Roshdy
Priority to PCT/US2018/000380 priority Critical patent/WO2020076280A1/fr
Publication of WO2020076280A1 publication Critical patent/WO2020076280A1/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
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • 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
    • G08G1/096725—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 generates 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
    • G08G1/095—Traffic lights

Definitions

  • the present invention relates generally to traffic control systems and more particularly to autonomous in-vehicle virtual traffic light systems and autonomous in-vehicle virtual road signs systems .
  • Traffic signal hardware consists of several primary components: the signal heads, sensors to detect vehicular traffic, and the signal controller. Having up-to-date equipment is important to sound traffic signal operations.
  • the signal controller should be upgraded, at a cost of approximately $10,000 each, at a minimum of every 10 years.
  • Routine traffic signal timing updates cost $3,000 or less per intersection. Signal timing plans should be updated every three to five years, or more frequently depending on growth and changes in traffic patterns.
  • Total cost is roughly $500 million per year
  • a modem traffic signal can cost $80,000 to $100,000 to install, depending on the complexity of the location and the characteristics of the traffic in the area.
  • a red light camera (short for red light running camera) is a type of traffic enforcement camera that captures an image of a vehicle which has entered an intersection in spite of the traffic signal indicating red (during the red phase).
  • the photo is evidence that assists authorities in their enforcement of traffic laws.
  • the camera is triggered when a vehicle enters the intersection (passes the stop-bar) after the traffic signal has turned red.
  • a law enforcement official will review the photographic evidence and determine whether a violation occurred.
  • a citation is then usually mailed to the owner of the vehicle found to be in violation of the law.
  • Automated red light camera systems range from $67,000 to $80,000 per intersection.
  • Automated red light camera systems consist of fixed costs (the costs of the equipment and installation) and variable costs (the cost associated with the back office ticket processes).
  • System costs include the cost of the camera (approximately $50,000), in- pavement inductive loop detectors ($5K per leg), and costs associated with camera housings, poles, flash slaves, and wiring ($5,000 to $8,000).
  • the City of San Francisco, Calif spent $80,000 per intersection which included installation of loops, wires, poles, and cameras, and the City of Jackson, Mich spent $67,000 (1998 prices) per intersection for a system that included one wet film camera, housing, loop, pole, and installation.
  • the variable costs are unique to each jurisdiction’s ticketing process and procedures, as well as agreement between the jurisdiction and contractor processing the violations.
  • Traffic signal preemption also called traffic signal prioritization
  • traffic signal prioritization is a type of system that allows the normal operation of traffic light to be preempted. The most common use of these systems is to manipulate traffic signals in the path of an emergency vehicle, halting conflicting traffic and allowing the emergency vehicle right-of-way, to help reduce response times and enhance traffic safety.
  • Signal preemption can also be used by light- rail and bus rapid transit systems to allow public transportation priority access through intersections, or by railroad systems at crossings to prevent collisions.
  • Traffic preemption devices are implemented in a variety of ways. They can be installed on road vehicles, integrated with train transportation network management systems, or operated by remote control from a fixed location, such as a fire station, or by a 9-1-1 dispatcher at an emergency call center.
  • Traffic lights must be equipped to receive an activation signal to be controlled by any system intended for use in that area.
  • a traffic signal not equipped to receive a traffic preemption signal will not recognize an activation, and will continue to operate in its normal cycle.
  • Vehicular devices can be switched on or off as needed, but in the case of emergency vehicles they are frequently integrated with the vehicle's emergency warning lights. When activated, the traffic preemption device will cause properly equipped traffic lights in the path of the vehicle to cycle immediately, to grant right-of-way in the desired direction, after allowing for normal programmed time delays for signal changes and pedestrian crosswalks to clear.
  • Traffic signal preemption systems integrated with train transportation networks typically extend their control of traffic from the typical cross- arms and warning lights to one or more nearby traffic intersections, to prevent excessive road traffic from approaching the crossing, while also obtaining the right-of-way for road traffic that may be in the way to quickly clear the crossing.
  • Fixed-location systems can vary widely, but a typical implementation is for a single traffic signal in front of or near a fire station to stop traffic and allow emergency vehicles to exit the station unimpeded. Alternatively, an entire corridor of traffic signals along a street may be operated from a fixed location, such as to allow fire apparatus to quickly respond through a crowded downtown area, or to allow an ambulance faster access when transporting a critical patient to a hospital in an area with dense traffic.
  • Traffic signal preemption systems sometimes include a method for communicating to the operator of the vehicle that requested the preemption (as well as other drivers) that a traffic signal is under control of a preemption device, by means of a notifier.
  • This device is almost always an additional light located near the traffic signals. It may be a single light bulb visible to all, which flashes or stays on, or there may be a light aimed towards each direction from which traffic approaches the intersection.
  • notifier lights at a controllable intersection they will either flash or stay on depending on the local configuration, to communicate to all drivers from which direction a preempting signal is being received. This informs regular drivers which direction may need to be cleared, and informs activating vehicle drivers if they have control of the light (especially important when more than one activating vehicle approaches the same intersection).
  • a typical installation would provide a flashing notifier to indicate that an activating vehicle is approaching from ahead or behind, while a solid notifier would indicate the emergency vehicle is approaching laterally.
  • notification methods in use which may include one or more colored lights in varying configurations.
  • sign area for payment is normally based on the largest width x the largest height.
  • An autonomous system that do not depend on vehicle to vehicle communications nor vehicle to road detection sensors , which may cause accidents or jams wherein a very good chance of wrongly interpreting the sensors signals an autonomous system that do not depend on vehicle to wireless communication network or intersection to vehicle communication , an autonomous system that can be extremely efficient in areas covered with or without cellular network service, an autonomous system that can be integrated with the automatic brakes of the vehicle to prevent running red lights and to detect the primary signs of driving while impaired or driving while distracted, thus to reduce; accident rates, death rates, injuries rates and damage rates at intersections and along road ways .
  • autonomous vehicles rely on video cameras to detect traffic lights, read road signs and keep track of other vehicles, while also looking out for pedestrians and other obstacles.
  • the autonomous in-vehicle traffic light system and the autonomous road sign images integrate with the automatic braking of the vehicle along with virtual preemption system can make a unique system suitable for the autonomous vehicles to benefit from the present invention in many scenarios such as during blackouts or at dysfunctional conventional intersection or wherein no actual road signs or blocked road signs or wherein no cellular network signals
  • the main objective of the present system is to terminate and replace the existing conventional systems.
  • a city like New York may have its conventional systems replaced by the present system in a matter of a few weeks with enough data to cover road signs, traffic Cases for street intersections and emergency vehicle preemption system.
  • the road signs of the present invention are a collection of the actual road signs images stored in a database. But the line of sight and the clarity of images displayed on a screen facing the driver give the present system more advantage over the conventional systems especially in dark or crowded roads or during snow-storms, fog-storms, heavy rain, and sand-storms.
  • In-vehicle apparatus unit
  • the in-vehicle apparatus unit comprising a long range radio frequency transceiver module, preferably (one to two mile) range, and a short range radio frequency transceiver module, preferably (0.2 mile range), along with a cellular-network circuit board, antenna, a thermal module and at least one Global positioning system‘ GPS‘ receiver module or any other types of geolocation positioning systems such as GLONASS , BDS , GNSS ..etc. receiver module to enable the vehicle to determine its position coordinates, speed, course and date/time at real time status .
  • GPS‘ GPS’ receiver module or any other types of geolocation positioning systems such as GLONASS , BDS , GNSS ..etc. receiver module to enable the vehicle to determine its position coordinates, speed, course and date/time at real time status .
  • the circuit board is considered the brain component of the unit, it runs the entire system of the unit, the circuit board consist of a few computer chips. There are both digital-to-analog and analog-to-digital conversion computer chips within the circuit board. They convert audio signals going out from analog to digital, and then they convert the audio signals from digital back into analog to be used in the present system and other systems of ELSHEEMY .
  • the flash memory and ROM components of the in-vehicle apparatus unit circuit board serve as a storage location for the unit, they store computer program code for programs of the present system and other systems of ELSHEEMY . They also store database comprising position coordinates of track points along center line of roads and at center points of intersections for determining geographic sections and leg segments of intersections , a plurality of predefined traffic Cases, threshold delay times, green and turning times for the predefined traffic Cases, and position coordinates of track points along center line of roads for determining road sign images.
  • a predefined traffic Case basically is a double digit code to identify a traffic Case which holds the values of green and arrow turning times for just one segment per each road of an intersection, where a vehicle is traveling on a segment of a predefined intersection , the vehicle extracts a traffic Case from the database (the in-vehicle apparatus is configured to extract the ID of a traffic Case from the database ) , the segment and the heading of the vehicle prompts a section of a programming code associated with a type of a traffic Case to display traffic signal phases autonomously .
  • This section of the programming code belongs to just one segment of an intersection, while other sections belong to the other remaining segments and these sections are configured to coordinate the traffic signal phases for the whole intersection .
  • the whole programming code for all legs of an intersection is called a Case Model
  • the predefined traffic Cases holds the time values for green and arrow signals or the red and arrow signals for just one leg segment per each road of the intersection
  • each Case ID is associated with a relevant Case Model to generate the in-vehicle virtual traffic signals autonomously
  • the Case Model is acting as in-vehicle virtual traffic controller to replace the actual traffic controllers .
  • the memory also stores the entire operating system for the present system and the systems of ELSHEEMY .
  • the microprocessor is in charge of dealing with all the tasks that are to be performed by the unit. It also focuses on the unit's control signals (to and from the base station) and command options for the present system and other systems of ELSHEEMY . It helps to interconnect all of the visual display (LCD) main functions.
  • LCD visual display
  • a visual display such as a touch screen or other types of displays coupled to said in-vehicle apparatus unit to display traffic signal phases associated with a predefined Case and to display road sign images associated with a road.
  • the liquid crystal display as a visual display and connected to the in-vehicle apparatus unit through a Universal Serial Bus (USB) cable and comprises a number of ( Light Emitting Diodes or the like ) LED indicators, microphone, speaker, a camera and a number of buttons.
  • USB Universal Serial Bus
  • the in-vehicle unit is configured in a manner to disturb the vehicle“engine control unit” when the in-vehicle unit is being removed or tampered with.
  • the in-vehicle apparatus unit is integrated with the engine control unit to be more difficult to be removed.
  • the in-vehicle unit and the visual display are referred herein as V10 unit .
  • the V10 unit comprises at least one processor being coupled to said database and said memory.
  • FIG. 1 Is a block diagram of the in-vehicle apparatus unit 10 connected to the LCD unit 40 , unit 10 and unit 40 are referred herein as unit VI 0.
  • FIG. 2 Illustrates the preferred location and the position of the vehicle LCD 40 unit inside the vehicle as a preferred embodiment of the present invention.
  • FIGs. 3-6 Illustrates examples of the vehicle LCD unit 40 (showing the traffic signal phases and images of road signs displayed on the LCD screen).
  • FIG. 7 Illustrates an example of a horizontal LED strip.
  • FIG. 8 Illustrates an example of a vertical LED strip.
  • FIG. 9 Illustrates a timeline of a simple fixed traffic light cycle showing the threshold delay period before the beginning of the first cycle .
  • FIG. 10 Illustrates an example of numbering the intersections on a horizontal street section coded C joins a vertical street section coded D joins a horizontal street section coded K.
  • FIG. 11 Illustrates an example of numbering the intersections on a horizontal street coded A.
  • FIG. 12 Illustrates an example of numbering the intersections on a vertical street coded B.
  • FIG. 13 Illustrates an example of numbering the intersections on a horizontal street coded F intersects with a vertical street coded E.
  • FIG. 14 Illustrates an example of numbering the intersections on a horizontal street coded G intersects with a vertical street coded H.
  • FIG. 15 Illustrates an example of SQL table Section_Location to locate a specific geographical section.
  • FIG. 16 Illustrates an example of SQL table to link between position coordinates on a leg- segment between two consecutive intersections on the same street and ( segment identification) segment ID.
  • FIG. 17 Illustrates an example of SQL table to link between ( intersection identification ) intersection ID for regular intersections (4-leg or 3 -leg) and traffic ( Cases identification ) Case IDs and the intersection coordinates.
  • FIG. 18 Illustrates an example of SQL table to link the traffic Cases for regular intersections and their respective times .
  • FIG. 19 Illustrates an example of SQL table to link between intersection ID for Multi-leg (6- legs ) intersection and the leg order and traffic Case IDs and the intersection coordinates.
  • FIG. 20 Illustrates an example of SQL table to link the traffic Cases for Multi- leg (6-legs) intersection and their respective times.
  • FIG. 21 Illustrates an example of the drop points at the center of the intersections and few drop points to represent the curvature of the segments between intersections.
  • FIG. 22 Illustrates an example of a Case Model at an intersection.
  • FIG. 23 Illustrates an example of SQL table to link between position coordinates of a vehicle on a road segment between two track points on the same street and a road sign image ID.
  • FIG. 24 Illustrates an example of a vehicle’s behavior on a road segment between
  • the in-vehicle apparatus unit 10 is coupled to the LCD unit 40 , both units 10 and 40 are referred herein as unit V10 , the unit V10 is comprising many components for the present system and other systems of ELSHEEMY .
  • the unit V10 is installed in each new and used vehicle, and is powered by the vehicle's electric system 32.
  • in-vehicle unit 10 includes a RF transceiver 12, analog/digital signal processor 14, application processor 16, logic chips 18, memory chips 20, a USB port 22, a short range transceiver 24, a long range transceiver 26, and a GPS receiver module 28, in-vehicle unit 10 is connected to the engine control unit (ECU) 30 in a manner to disturb the vehicle (ECU) when the vehicle unit V 10 is being removed or tampered with.
  • ECU engine control unit
  • the unit VI 0 is designed to connect to the cellular network and to communicate with the police vehicle unit ( used in other systems of ELSHEEMY ) as well.
  • the microprocessor 16 is in charge of dealing with most of the tasks that are to be performed by the unit VI 0. It also focuses on the unit's control signals (to and from the base station) and the control commands functions. It helps to interconnect all of the LCD unit 40 main functions.
  • the memory 20 includes the flash memory and ROM components of the unit circuit board serve as a storage location for the unit. They store database comprising position coordinates of track points along center line of roads and at center points of intersections for determining geographic sections and leg segments of intersections , a plurality of predefined traffic Cases, threshold delay times, green and turning times for the predefined traffic Cases, and position coordinates of track points along center line of roads for determining road sign images, a predefined traffic Case basically is a double digit code to identify a traffic Case which holds the values of green and arrow turning times for just one segment per each road of an intersection, where a vehicle is traveling on a segment of a predefined intersection , the in-vehicle apparatus extracts a traffic Case from the database , the segment and the heading of the vehicle prompts a section of a programming code associated with a type of a traffic Case to display traffic signal phases autonomously .
  • This section of the programming code belongs to just one segment of an intersection, while other sections belong to the other remaining segments and these sections are configured to coordinate the traffic signal phases for the whole intersection .
  • the whole programming code for all legs of an intersection is called a Case Model.
  • the unit 10 uses a long range radio frequency transceiver module 26, preferably (one to two mile) range, and a short range radio frequency transceiver module 24, preferably (0.2 mile range), a thermal module 34, and a GPS receiver module 28 to determine the location
  • the LCD screen displays the traffic signals in a form of geometric shapes such as squares or distinctive image icons , also the screen displays the road sign images such as speed limit , lane and intersection sign images and all other road sign images .
  • the LCD also comprises a microphone, speaker, one or more cameras and a number of buttons for the present system and other systems of ELSHEEMY .
  • This unit may also comprise a bluetooth/WIFI module.
  • this indication could be via in-vehicle audible messages directed to the vehicle driver for cases such as motorcycles to enhance the safety of the driver while keeping his eyes on the road.
  • this indication could be via in-vehicle computer codes directed to the vehicle computer system for cases such as autonomous vehicles “driverless cars”.
  • the in-vehicle whole traffic light phases for all legs of an intersection are referred herein as a Case.
  • the visual indication of an upcoming intersection programmed with a Case is shown as a geometric shape such as a big red or big yellow square or an image icon when the LCD screen is used to display the traffic light signals when the vehicle proximate to this intersection during yellow or red light phase, wherein the red light phase is shown as the big red square/icon, and the yellow light phase is shown as the big yellow square/icon, in addition to, an audible alert used for notification when the vehicle proximate to the intersection during yellow/red light phase, to increase the driver’s awareness when his vehicle proximate to the intersection during yellow or red light phase.
  • the LCD unit may also comprise an LED intersection indicator to indicate the location of an intersection programmed with a traffic Case when the vehicle proximate to this intersection as previously mentioned.
  • the vehicle may include the LCD unit and/or a separate LED strip comprising LED indicators to indicate the in-vehicle traffic signals.
  • the strip could be in a horizontal or a vertical orientation, and the LCD unit or the LED strip unit may comprise a bluetooth or WIFI module.
  • the in-vehicle apparatus unit may contain the LCD or the LED strip in the same housing. The LCD or the LED strip along with the vehicle unit is referred herein as VI 0 unit.
  • the vehicle LCD unit 40 or the LED strip 68 in FIGs 6 and 7 can be installed at any suitable location inside the vehicle to provide a comfortable line of sight with the driver
  • FIG. 2 is an example of the LCD 40 installed facing the driver without blocking his line of sight with the road, the LCD 40 or the LED strip 68 installed on top edge of the dash board as the most preferred location based on the field experiments.
  • the vehicle LCD unit 40 comprises a green light shape 120 , yellow light shape 122 , red light shape 124 , big red light shape 134 , big yellow light shape (not shown) , green light shape for left turn arrow 126 , yellow light shape for left turn arrow 127 , green light shape for right turn arrow 130 , yellow light shape for right turn arrow 132 , stop sign image 136 , yellow bar shape 138 , road signs images 111 , distance window 112 to show the distance between the vehicle and the upcoming intersection , course window 114 to show the heading of the traveling vehicle, remaining time window 116 to show the remaining time in seconds for the current signal phase and speed window 118 to show the speed of the vehicle.
  • the LED strip 68 comprises a green LED indicator 61, a yellow LED indicator 62, a red LED indicator 63, a green right arrow LED indicator 64, and a green left arrow LED indicator 65, the LED indicators illuminate the respective autonomous in-vehicle traffic light phases, also the intersection indicator 66 to illuminate only during red or yellow light phase when the vehicle is less than 350 meters away from the intersection.
  • the autonomous in-vehicle traffic light system is an in-vehicle virtual system that mimics the conventional street traffic signals.
  • the system relies on a database of Latitude/Longitude of track points along the center line of roads and at the center of intersections, and a very small database of predefined Cases that fit all possible variation of traffic from the busiest traffic to the lowest traffic at street intersections during the different hours of the day, the Case stored inside the database as a couple digits for identification and few digits holds the values of green and turning arrow times relevant to just two leg segments of a two-road intersection , or holds the values of green and turning arrow times relevant to just three leg segments of a three-road intersection, to be used inside a Case Model’s programming code associated with an intersection.
  • a Case Model’s programming code is referred herein as an in-vehicle virtual traffic controller, and is disclosed with great details in the following paragraphs .
  • the autonomous in-vehicle virtual traffic light system neither depends on vehicle to vehicle communication nor intersection to vehicle communication nor vehicle to network
  • a typical two-road intersection generally has four legs, each intersection leg is represented by a leg segment.
  • Traffic lights are used to control safety and regulate traffic at intersections, by alternating the right of way accorded to the traveling vehicles.
  • Triangulation uses the intersections’ coordinates or the coordinates of two track points between them the vehicle is traveling and the vehicle’s coordinates to verify the position of the vehicle inside a segment, as shown in FIG. 24 when a perpendicular distance 97 from the vehicle’s location to the center line 95 of the segment exceeds half of the Calculation segment’s width“a selected value”, it means that the vehicle 96 is outside the segment.
  • the vehicle unit V10 can be loaded with database of track points, a small database of predefined Cases and a small database of images of actual road signs, enough to cover an entire country, state or quite few countries of interest.
  • the owners of the vehicles may obtain the database in CD-ROM format and load them onto the V10 unit or they may use microSD memory cards that are preloaded with the database that can easily be added, or obtain the database by other means.
  • the green light allows traffic to proceed
  • the yellow light indicates prepare to stop short of the intersection
  • the red light prohibits any traffic from proceeding.
  • Flashing red could be treated as a stop sign and also can signal the road is closed. Flashing yellow could be treated as caution, crossing or road hazard ahead. Flashing green will vary among jurisdiction; it can give permission to go straight as well as make a left turn in front of opposing traffic“which is held by a steady red light”, can indicate the end of a green cycle before the light changes to a solid yellow, or“as in some countries indicates the intersection is a pedestrian crosswalk”.
  • Traffic signal timing is used to determine which approach has the right- of way at an intersection, and how much green time the traffic light shall provide at an intersection approach, how long the yellow interval, how long the red light and how long green turning light, should be, and how long the pedestrian“walk” signal should be.
  • the GPS receiver module 28 of FIG.1 or any other in-vehicle positioning receivers in the vehicle unit VI 0 enables the vehicle unit to determine its coordinates, speed, course and date/ time at real-time status, by matching and comparing the GPS coordinates of the vehicle to the Latitude/Longitude data of track points in the database, the unit V 10 can determine the exact leg segment.
  • the segment could be a section of a road between two consecutive road intersections, or it could be an intersection leg of a length lies between 0.1 mile and 0.5 mile depending on the speed limit of the road.
  • each leg segment is identified by its road- name and a serial number or identified by a code.
  • the database uses special codes similar to the zip codes to identify different cities or geographic sections.
  • the road names could be coded to eliminate any chance of having a repeated name for different roads inside the same geographic section.
  • the big red 134 or big yellow light shape (not shown) only appears on the screen when the vehicle is less than 350 meters away from a predefined intersection to indicate the location of this intersection during a yellow or red signal phase
  • the big red represents the red light signal when the vehicle is less than 350 meters away from the intersection
  • the big yellow represents the yellow light signal when the vehicle is less than 350 meters away from the intersection
  • an audio alert starts beeping to indicate the location of this intersection .
  • distinctive colored marks painted on the pavement of the intersection or a distinctive actual road sign at the intersection can indicate a predefined intersection to enhance the awareness of drivers approaching this intersections, the 350 and 200 meters were confirmed by the field experiments.
  • Traffic volume is an important basis for determining what improvements, if any, are required on a highway or street facility.
  • Traffic volumes may be expressed in terms of average daily traffic or design hourly volumes. These volumes may be used to calculate the service flow rate, which is typically used for evaluations of geometric design alternatives.
  • Traffic Volume Trends is a monthly report based on hourly traffic count data reported by the States. These data are collected at approximately 4,000 continuous traffic counting locations nationwide and are used to estimate the percent change in traffic for the current month compared with the same month in the previous year. Estimates are re-adjusted annually to match the vehicle miles of travel from the Highway Performance Monitoring System and are continually updated with additional data.
  • the present invention uses the traffic volume data which are collected via different means of counting traffic volume in each direction of the road and convert them into volume size code, for instance, H represents high volume, M represents medium volume, L represents low volume, and XL represents extremely low volume, B represents both directions , N represents northbound direction, S represents southbound direction , E represents eastbound direction and W represents westbound direction.
  • the code 1HS will refer to a vertical road section with high traffic volume southbound and lesser traffic volume northbound
  • the code 1F1N will refer to a vertical road section with high traffic volume northbound and lesser traffic volume southbound.
  • the code 2ME will refer to a horizontal road section with medium traffic volume eastbound and lesser traffic volume westbound
  • the code 2LB will refer to a horizontal road section with low traffic volume in both directions.
  • the present invention uses a database processing software (the processing software is not installed in vehicles , it is only used for building the database which will be in-vehicle database), this software is being coupled to a GPS digital map (a processing map) to generate the center points coordinates of the intersections and the track points coordinates and to assign a predefined Case to each predefined intersection on the processing map based on the traffic volume size code of each leg of the intersection, in this map roads are coded by the volume size codes to indicate the size of traffic in each leg segment of intersections.
  • any road in this map is coded by different volume size codes for busy traffic hours period , medium traffic hours period and low traffic hours period to represent the change of traffic volumes during the hours of the day to mimic the actual traffic light performance.
  • predefined intersections refer to road intersections equipped with traffic signals and other equipment or the intended signaled intersections,“the main objective of the present invention is to replace the equipment at these intersections by the autonomous in-vehicle virtual traffic light system”.
  • SQL Structured Query Language
  • SQL Structured Query Language
  • a table is made up of rows and columns. Each row represents one piece of data, and each column can be thought of as representing a
  • the columns may include information such as Latitude, Longitude, and Street names or Segment IDs as shown in FIG. 16.
  • the column headers and the type of data for each column we include the column headers and the type of data for each column.
  • the latitude and longitude coordinates are in decimal degrees for database and programming use.
  • Typical consumer-grade GPS units e.g. Garmin GPS Map 76C
  • Garmin GPS Map 76C will deliver 1-3 m accuracy. For that grade of GPS, reporting 5 decimal places will preserve a precision of 1.1 m accuracy.
  • the Latitude and the Longitude values will be used as:
  • FIG. 15 shows SQL table.
  • a city or a region is divided into a number of geographic sections each section is about 8-20 by 8-20 miles, and identified by its LatA and LonA .
  • one or more table could represent one or more city or geographic section.
  • the table Section Location comprises three columns, the 1 st column for LatA, 2nd column for LonA and the last column for location ID. For example, the position Latitude 41.07629,
  • 44308 is the actual zip code for downtown the city of Akron, Ohio , US , where the Latitude 41.07629, Longitude -81.52229 of this position belong.
  • a street can take a single or more alphabet letter (or other type of coding) to define it or to define a section of a street as shown in FIGs. 10-14.
  • a street or a section of street has to be defined as horizontal or vertical, for instance, code 2 for horizontal orientation , code 1 for vertical orientation .
  • a geographic section can be an area of 8-20 miles by 8-20 miles for example, as shown in FIG. 15.
  • Ascending eastbound for numbering the intersections on a horizontal road makes the in-vehicle software to calculate and predict the following consecutive intersections from the database after determining a first intersection on that road.
  • ascending northbound for numbering the intersections on a vertical road makes the in- vehicle software to calculate and predict the following consecutive intersections from the database after determining a first intersection on that road too, to be used extensively in the virtual preemption system. Note: ascending or descending numbering of the intersections could be done in many ways as soon as the in-vehicle software can predict the upcoming intersections the vehicle is approaching based on the vehicle’s heading and the orientation of the segment.
  • intersection When two streets intersect, the intersection must have a different code for
  • Intersection F01 belongs to street F and intersection E03 belongs to street E, intersection F01 and E03 has the same latitude/longitude and the same traffic Case and the same threshold delay time “which is disclosed with great details in the following paragraphs”, basically, intersection F01 and E03 are the same intersection .
  • Intersection C01 belongs to street C and intersection D01 belongs to street D.
  • Intersection C01 and D01 has the same latitude/ longitude.
  • intersection is defined by its street code and its number“the intersection code is the intersection identification” as shown in FIG. 11 , the street code is A and the intersections are A0l,A02,A03,A04 and A05. For FIG. 12, the street code is B and the intersections are B09, B10 and B 11.
  • each predefined intersection is marked and coded and each leg segment is coded by at least one volume size code and an orientation code which is either vertical or horizontal
  • the center points of predefined intersections and track drop points are marked to extract the latitude/ longitude coordinates associated with these intersections and associated with these track points from the map
  • the processing software is arranging the leg segment identification based on the segment orientation code and the two intersections codes of this segment
  • the processing software also arranging the intersection identification , the latitude/ longitude coordinates of their centers, the selected predefined Cases, and the threshold delay times for the predefined Cases .
  • a predefined Case stored in the database as green and turning arrow times for just one segment for each road orientation“as the most preferred embodiment”. Note: the two-road intersection only has one vertical orientation and one horizontal orientation, the three-road intersection has three road orientations.
  • the red time is calculated and determined by the in-vehicle software based on the Case’s times and the Case Model’s programming code associated with this Case , the yellow time is a selected value such as 6 or 7 seconds .
  • the in-vehicle software can calculate the green times.
  • Traveling between two consecutive intersections on a same street can determine the in-vehicle Cases at the upcoming intersections consecutively, also can determine the coordinates of these intersections.
  • the joined streets are considered a same street for the emergency vehicle virtual preemption system.
  • intersections consecutively on the new street also can determine the coordinates of these intersections.
  • a first table to locate the geographic section 79 based on the Latitude/ Longitude of the traveling vehicle as shown in FIG. 15.
  • a second table to locate the segment identification and then the in-vehicle software extracts the intersection identifications from the segment identification , wherein the vehicle is traveling between these two intersections based on the Latitude/Longitude of the traveling vehicle as shown in FIG.16
  • a third table to determine the in-vehicle traffic Case IDs , the threshold delay time for the Cases for the upcoming intersections and their Latitude/ Longitude based on , the intersection ID , the heading of the vehicle and the segment orientation as shown in FIG. 17.
  • a fourth table to provide the time phases for a Case as shown in FIG. 18.
  • a traffic signal is typically controlled by a controller inside a cabinet mounted on a concrete pad. Some electro-mechanical controllers are still in use.
  • modem traffic controllers are solid state.
  • the cabinet typically contains a power panel, to distribute electrical power in the cabinet; a detector interface panel, to connect to loop detectors and other detectors; detector amplifiers; the controller itself; a conflict monitor unit; flash transfer relays; a police panel, to allow the police to disable the signal; and other
  • Traffic controllers use the concept of phases, which are directions of movement grouped together. For instance, a simple crossroads may have four vehicle movement phases: North, East, West and South. There may be additional phases for pedestrian movements as well.
  • a stage is a group of phases which ran at the same time.
  • a simple crossroads may have two stages: North and South, and West and East. It is important that phases in a stage do not conflict with each other.
  • a Case Model is a block of a programming code which is part of the in-vehicle software , a Case Model runs an entire intersection in all directions with a manner similar to the actual traffic controller , wherein all Stages“groups of phases” of an intersection do not conflict with each other when they run at the same time .
  • each leg segment is represented by a respective stage inside a Case Model based on the segment orientation and the heading of the vehicle, since the leg segment could be a vertical segment and the vehicle’s heading could be either northbound or southbound, or the leg segment could be a horizontal segment and the vehicle’s heading could be either eastbound or westbound.
  • the Case Model is acting as a mathematic relationship to coordinate all the stages of an intersection, and each segment orientation and direction of movement approaching the intersection activates its respective part of the Case Model’s programming code, therefore the Case Model is a virtual traffic controller.
  • Another objective in designing the Case Models and the Cases’ times of the present invention is to mimic the dynamic control of traffic at an intersection (actuated control system in which the fixed time light cycle mimics the average time of the actuated traffic light cycle for each leg segment for each direction at intersections based on the traffic volume history of the roads). Coordinated control Attempts are often made to place traffic signals on a coordinated system so that drivers encounter a green wave, a long string of green lights (the technical term is progression).
  • Traffic lights must be instructed when to change stage and they are usually coordinated so that the stage changes occur in some relationship to other nearby intersections or to the press of a pedestrian button or to the action of a timer or a number of other inputs.
  • the purpose of the“threshold delay time” for the Cases of the present invention is to create Coordinated control to allow progression so that the stage changes occur in some relationship to other nearby intersections which are assigned a number of Cases by manipulating the beginning time of each Case at nearby intersections.
  • the present invention created at least 10 Case Models to cover every possible scenario of road intersections from Stop Sign and Caution to heavy traffic, a number of predefined Cases run on each Case Model. Around 60 predefined Cases run on these few Case Models can cover almost all intersection scenarios.
  • the Case holds the values of green and arrow turning times for just one segment per each orientation.
  • the predefined Cases database is accessed by the processing software to assign the proper Case to the target intersection.
  • the Case Model basically represent the traffic size in each segment of the intersection, for instance as the following:
  • FIG. 22 shows an example of a Case of a Case Model 3 type runs on Case Model 3 at an intersection, providing different values for green and arrow times, the processing software can create at least 6 different Cases run on this Model, manipulating the green and the arrow times are calculated based on the traffic volumes during the hours of the day to represent busy traffic, medium traffic and low traffic, these 6 Cases of a Case Model 3 type hold the manipulated times as preset values.
  • the times values include;
  • Green signal time selected for segment 1 of vertical orientation • Green signal time selected for segment 1 of vertical orientation .
  • traffic size in segment 1 is bigger than traffic size in segment 2 which is also of vertical orientation .
  • traffic size in segment 3 is bigger than traffic size in segment 4 which is also of horizontal orientation.
  • FIG. 18 shows an example for different times values for a number of Cases run on the Case Models 3,4,5 and 6 , for instance Case 30 of Case Model 3 type has times values equal to 90 80 20 20.
  • the first 2 digits 90 are the green time in seconds for segment 1.
  • the next 2 digits 20 are the left turning time in seconds for segment 3.
  • the intersection of FIG. 22 has four leg segments, (segment 1) 42 is a vertical segment and its traffic volume 50 approaching the intersection is higher than the traffic volume 51 in (segment 2) 44 which is also a vertical segment.
  • the group of phases in segment 1 start the traffic phases (its respective part of the Case Model 3 assigned to the four legs) with green signal ( straight ) and left turn green signal arrow for a period of time equal to the left turning time ( assigned to segment 1 by the Case), while (the group of phases in segment 2) start the traffic phases with red signal for a period of time equal to the left turning time of segment 1 plus 2 seconds for red clearance .
  • both of segment 1 and segment 2 have green signal ( straight ) for the remaining time of the whole green signal time of segment 1 assigned by the Case, then followed by
  • both of segments 3 and 4 start their phases by synchronized red signal equal to (the whole green signal time of segment 1 assigned by the Case plus 7 seconds of yellow time plus 2 seconds for red signal clearance , then followed by green signal ( straight ) and left turn green signal arrow for a period of time equal to the left turning time ( assigned to segment 3 by the Case) for segment 3. While followed by red signal for a period of time equal to the left turning time of segment 3 plus 2 seconds for red clearance for segment 4.
  • course the GPS receiver module’s course in degrees.
  • LAT1 the left turning time assigned for segment 1 (the last 5 seconds of it for yellow turning arrow )
  • LAT3 the left turning time assigned for segment 3 (the last 5 seconds of it for yellow turning arrow )
  • the other three Case Models (4,5,6 ) similar to the previous Case Mode 3 cover alternative scenarios when the traffic size in segment 2 is bigger than the traffic size in segment 1 and the traffic size in segment 3 is bigger than the traffic size in segment 4, also when the traffic size in segment 2 is bigger than the traffic size in segment 1 and the traffic size in segment 4 is bigger than the traffic size in segment 3, also when the traffic size in segment 1 is bigger than the traffic size in segment 2 and the traffic size in segment 4 is bigger than the traffic size in segment 3.
  • FIGs 19 and 20 show an example of multi-leg Case Model (Case Model 7) for multi-leg intersection, in this Case Model each leg is coded to activate specific part of the multi-leg Case Model (the left turning signal activates during the red light phase of same segment).
  • the street BRI intersects with both LAN and WOD streets
  • the street LAN intersects with both BRI and WOD streets
  • the intersections BRIl9,LANl5 and WOD22 are the same intersection with the same coordinates and assigned the same Case.
  • the two leg segments on BRI street are vertical
  • the two leg segments on LAN street are horizontal
  • the two leg segments on WOD street are horizontal too.
  • the first leg on BRI street takes order 1
  • 2nd leg on LAN street takes order 2
  • 3rd leg on WOD street takes order 3
  • 4th leg on BRI street takes order 4
  • 5th leg on LAN street takes order 5
  • the last leg on WOD street takes order 6.
  • each leg triggers its respective part of the Case Model’s code based on its order and based on a Case ID associated with each time period.
  • the two segments of BRI street take the segment orientation code 1 for northbound and southbound heading.
  • the two segments of LAN street take the segment orientation code 2 for eastbound and westbound heading.
  • each leg segment triggers its respective part of the Case Model’s code based on its orientation code and the heading of the vehicle.
  • FIG. 20 shows an example of few Cases of Case Model 7 type run on Case Model 7, Case 70 has times 60 50 45 20 20 20.
  • Green signal time in segment 1 is 60 seconds
  • green signal time in segment 3 is 50 seconds
  • green signal time in segment 5 is 45 seconds.
  • segments 1 and 2 have same stage ( they rim same phases at the same time), segments 3 and 4 have same stage and segments 5 and 6 have same stage.
  • intersections BRO20 of coordinates 86 and BR021 of coordinates 82 have no one-straight line to connect between the two intersections, therefore the point Ptl of coordinates 84 is dropped to represent the curvature of the vertical segment 1BRO2021.
  • the segment 1BRO2021 is repeated twice, once between point 82 and point 84, the 2nd time between point 84 and point 86.
  • intersections HIG10 of coordinates 94 and HIG11 of coordinates 88 have no one- straight line to connect between the two intersections, therefore the point Pt2 of coordinates 92 and Pt3 of coordinates 90 are dropped to represent the curvature of the vertical segment
  • FIG. 17 shows the relation between intersection IDs of horizontal and vertical segments of same intersection and the assigned Cases.
  • the intersection WILD for horizontal segment 2WIL1314 and intersection HIGH for vertical segment 1HIG1011 have same coordinates and assigned Cases 10 10 02. It is very obvious that WIL13 and HIG11 are the same intersection.
  • Case 10 For a simple intersection without left turning signal.
  • high traffic hours and medium traffic hours are assigned the same Case.
  • yellow interval light signal such as 6 seconds plus 2 or 3 seconds of all way red signal clearance, as a smooth transition from one Case to another at a same intersection when the Case of heavy or medium or low traffic hours period flips to a different Case of a different traffic hours period, wherein, when a signal phase in a segment of this intersection has green signal in the Case before flipping to a new Case in which the same segment has red phase signal.
  • a database of track points similar to the database used for the leg segments is used to display road sign images for designated directions as shown in FIG. 23. Also, there are road sign images such as school zone signs 111 and the flashing yellow bar 138 as in FIG. 5 for designated days and time (the school sign along with the flashing yellow bar 138 appear only during certain hours inside the school days) along with audio beeping alert.
  • the present road sign images system provide a method to display variable speed limits and alerting road sign images for designated seasons, days and hours based on weather condition history and traffic history of the roads.
  • FIG. 21 and FIG. 23 show a horizontal section of Wilbeth RD between the point of coordinates 80 and the point of coordinates 82 and the road sign image ID 2 10 11 12 13 between them for both eastbound and westbound headings .
  • the first digit 2 means the road sign images for horizontal section of road
  • the next two digits 10 means a road sign image number 10“SPEED LIMIT 30” for example
  • next two digits 11 means road sign image number 11“HIDDEN DRIVE” for example.
  • The“SPEED LIMIT 30” and“HIDDEN DRIVE” road sign images appear on the LCD 40 when heading eastbound
  • road sign images number 12 and 13 appear on the LCD 40 when heading westbound.
  • the road sign image ID 1 14 15 16 17 between the point of coordinates 82 and the point of coordinates 84 of a vertical section of Brown St the first digit 1 means the road sign images for vertical section of road the next two digits 14 and next two digits 15 means road sign images number 14 and 15 appear on the LCD 40 when heading northbound, and road sign images number 16 and 17 appear on the LCD 40 when heading southbound.
  • the road sign images database holds multiple hundreds images to cover all known road signs standardized by federal regulations, most notably in the Manual on Uniform Traffic Control Devices (MUTCD) and its companion volume the Standard Highway Signs (SHS). Also the Vienna Convention on Road Signs and Signals standards.
  • MUTCD Manual on Uniform Traffic Control Devices
  • SHS Standard Highway Signs
  • stop sign image in the present invention is treated as part of the traffic Case Models since the stop sign could represent part of flashing yellow/ flashing red Case assigned for (high or medium or low ) / extremely-low traffic hours at an intersection which may be assigned different Cases during busy traffic hours.
  • the deviation angle 99 between the vehicle’s longitudinal axis 98 and the center line of the leg segment 95 accurately verify the exact leg segment the vehicle 96 is traveling on since this deviation angle 99 is close to zero degrees when the vehicle’s axis 98 is almost parallel to the center line 95 of the leg segment, therefore, the closer to zero degrees the deviation angle 99 is the more likely to override other segments which have bigger angles.
  • the LCD 40 displays a road sign image 111“WRONG WAY” for example as shown in F1G. 6 along with the audio alert beeping to alert the driver to correct his heading.
  • the database tables shown in FIG. 16 are designed to initiate the segment search to determine intersection IDs of two intersections the vehicle traveling between them based on the vehicle latitude/longitude, after that the vehicle can predict the upcoming intersection IDs based on the direction of traveling.
  • the vehicle knows the status of the traffic Case at each upcoming intersection ahead of time even before the vehicle reaches these intersections, and in case of a green signal phase for proceeding followed by a red light phase in the next approaching intersection the green LED indicator 61 may start blinking to warn the driver of the upcoming stop at the next intersection especially if the intersections are located in close proximity. Therefore, even there is a weak or no GPS signal for short time caused by tall buildings blocking the GPS satellite signals, the functionality of the system is not affected.
  • the vehicle can calculate the Safe Distance and the Stopping Distance ahead of time to be prepared for Running Red Lights avoidance.
  • Some actuated traffic lights are designed to keep heavy traffic traveling with green lights until they detect vehicles that arrive at a cross street and change accordingly.
  • the traffic light system is signaled that there is someone waiting to proceed.
  • the lights for the cross traffic will then begin to change after a safe time period before the light turns green for you.
  • the database tables shown in FIGs. 16 and 19 are designed to initiate the leg segment search to determine intersection IDs of two intersections the vehicle traveling between them based on the vehicle latitude/longitude, after that the vehicle can predict and extract the upcoming intersection ID from the segment ID based on the direction of movement.
  • the vehicle can determine the upcoming intersection coordinates, the intersection ID, the segment orientation, the traffic Case at the upcoming intersection, the vehicle’s coordinates, and the heading, and the current date/time.
  • the concept of actuated traffic signals designed to keep heavy traffic traveling with green signal until they detect a vehicle arrives at a cross street and change accordingly is adopted by the present system , especially since the vehicle unit V 10 comprises a long range transceiver module .
  • All vehicles traveling on the heavy traffic street use these data to flip the green signal to few seconds of yellow signal ( 6 seconds for example ) before flipping to red signal for 15 seconds to give access to all vehicles on the low traffic street to have 9 seconds of green signal plus 6 seconds of yellow signal, the 6 seconds plus the 15 seconds are referred herein as (the temporary cycle, this cycle contains 2 or 3 seconds of all way red clearance too ), the vehicles on the heavy traffic street are periodically transmitting the same received data during the temporary cycle (until these vehicles exit this intersection) to other vehicles approaching this intersection to allow them to determine the remaining time of the temporary cycle .
  • bikes, motorcycles or pedestrians can apply the same method to trigger the green signal when sending the radio signal.
  • the same concept is used to provide turning signal for vehicles traveling on a heavy traffic street approaching an intersection assigned continuous green traffic Case, when a vehicle traveling on the heavy traffic street activates the turning request, it transmits a radio signal , this signal is carrying the intersection ID, the segment orientation of the heavy traffic street (the segment it moves on), the time stamp when the vehicle activates the turning request, the heading of the vehicle and a code T ( to represent turning for example).
  • All vehicles traveling on the heavy traffic street approaching this intersection use these data to check if they are in the opposite heading to flip to the temporary cycle to give access to vehicles traveling on the heavy traffic street with heading matching the heading of the vehicle that requested the turning access, the vehicles on the heavy traffic street with the opposite heading is periodically transmitting the same received data during the temporary cycle (until these vehicles exit this intersection) to other vehicles approaching this intersection to allow them to determine the remaining time of the temporary cycle.
  • the present system provides a new method to allow a vehicle to determine the right of way order at all-way stop intersection , specially since the vehicle unit V10 comprises a long range transceiver module .
  • this signal is carrying the intersection ID, the segment orientation of the segment it moves on , the heading of the vehicle, a time stamp and a code O ( to represent the order of arriving at this intersection ).
  • Each vehicle approaching this intersection compares the time stamps of all vehicles including itself to determine the right of way order .
  • the vehicle with the earliest arriving time displays blinking green traffic signal on its own LCD screen 40 to indicate the right of way while other vehicles display a stop sign image on their LCD screens .
  • the system gives the northbound heading priority before eastbound, and the eastbound priority before southbound, and the southbound priority before westbound for example. After the vehicle exits the intersection, it stops transmitting the radio signal.
  • vehicles traveling on a same segment in a same heading can be grouped together, in this case the vehicle with the earliest arriving time along with other vehicles on its same segment and its same heading display blinking green signal on their LCD screens while other vehicles display a stop sign image on their LCD screens.
  • traffic circle is a type of intersection that directs both turning and through traffic onto a one-way circular roadway .
  • the vehicle with the earliest arriving time along with other vehicles on its same segment and its same heading display a blinking green traffic signal on their LCD screens while other vehicles display a stop sign image on their LCD screens.
  • this signal is carrying the intersection ID, the segment orientation of the segment it moves on, the heading of the vehicle, a time stamp and a code O ( to represent the order of arriving at this intersection ).
  • Each vehicle approaching this intersection compares the time stamps and the number of vehicles in each segment, thus, the segment with the highest number of vehicles will get the right of way and display blinking green traffic signal on their LCD screens while other vehicles display a stop sign image on their LCD screens.
  • the vehicle may not need to slow down or to fully stop when it arrives before other vehicles or when no other vehicles approaching the all-way stop intersection or the traffic circle.
  • autonomous vehicles may integrate the above all- way stop method for traffic circles and all-way stop intersections, wherein the vehicle can determine the right of way order automatically.
  • autonomous vehicles may integrate the above method for triggering green traffic signal and turning traffic signal on a heavy traffic road.
  • this indication could be via in-vehicle audible messages directed to the vehicle driver for cases such as motorcycles to enhance the safety of the driver while keeping his eyes on the road. Also, in other embodiments of
  • this indication will be via in-vehicle computer codes directed to the vehicle computer system for cases such as autonomous vehicles.
  • autonomous vehicles can benefit from the present autonomous in-vehicle traffic light system ;
  • driverless vehicles can benefit from the virtual preemption system for both emergency vehicles and ordinary vehicles wherein this system is extremely efficient and accurate compared to other systems, for instance“ Waymo company was able to compile a library of sights and sounds from its autonomous test vehicle to be able to recognize what ambulances and other emergency vehicles look and sound like in real life situations , Waymo is already using the data it collected to teach its self-driving system how to detect where sirens are coming from.

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Abstract

L'invention concerne un système de feux de circulation virtuels embarqué autonome, qui imite les systèmes de feux de circulation classiques et ne dépend ni d'une communication véhicule à véhicule ni d'une communication véhicule à intersection ni d'une communication de capteurs routiers ni d'une communication véhicule à réseau sans fil. Le système selon l'invention ne dépend pas de serveurs externes ni de stations de diffusion pour transmettre des informations de circulation à des véhicules classiques ou à des véhicules sans conducteur. Un contrôleur de circulation virtuel est placé sur des véhicules embarqués pour fournir des informations de circulation comprenant des signaux de feux de circulation et des images de panneaux routiers, de façon autonome.
PCT/US2018/000380 2018-10-09 2018-10-09 Système de feux de circulation virtuels embarqué autonome WO2020076280A1 (fr)

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CN117789494A (zh) * 2024-02-26 2024-03-29 长春师范大学 一种基于车联网的数据交互方法及系统

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