CN102737517A - Bus priority control system capable of carrying out priority signal prompt and method thereof - Google Patents
Bus priority control system capable of carrying out priority signal prompt and method thereof Download PDFInfo
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Abstract
The invention discloses a control system which provides a priority signal for a public transport vehicle. The system is characterized in that: a plurality of video detection units arranged on a road which has a certain distance with an intersection detect license number information of a driving vehicle; a data processing unit compares the license number information of the driving vehicle with stored public transport vehicle license number information; when license number information matches, according to a vehicle driving direction, a priority signal is sent to a signal lamp control unit so as to provide a green light signal which makes the vehicle pass through with the priority for the public transport vehicle; simultaneously, a priority signal processing unit arranged in an intersection signal machine processes the priority signal as a video signal or a voice signal and sends to a priority signal prompt unit on the public transport vehicle so as to prompt a driver. The invention also discloses a control method which uses the system to provide the priority signal for the public transport vehicle. In the prior art, a control system structure is complex; the driver is in a passive state and can not know whether the priority signal is obtained in time. By using the system and the method of the invention, the above problems can be solved.
Description
Technical field
The present invention relates to intelligent transportation control field, be specifically related to a kind of bus signals priority control system and the method that can carry out the priority signal prompting.
Background technology
City bus is the important component part of green traffic, low-carbon (LC) life, and along with socioeconomic fast development, urban population is more and more intensive, and the problem of blocking up of urban road becomes increasingly conspicuous, and this also becomes the key factor that influences people's living standard.In order to alleviate traffic congestion, satisfy people's trip requirements, public transit vehicle is implemented signal priority control, at home and abroad generally used.
Existing Chinese patent document CN 1431634 A disclose a kind of public transit vehicle dynamic management system; Collect display device in each website by the public transit vehicle information real-time; Said public transit vehicle information real-time is collected display device and is comprised infrared remote receiver and infrared transmitter; And the outer casing frontispiece of infrared electric vehicle license plate also is provided with infrared transmitter and infrared remote receiver; Therefore collect display device and send a car infrared electric vehicle license plate alternate acknowledge infrared information through the public transit vehicle information real-time, collect public transit vehicle license number, fleet, to information transmission such as times leaving from station to dispatching center and wired, wireless network.And the vehicle operating information that will arrive at a station that obtains from the dispatching center etc. is demonstrated at display, and management system is implemented priority principle to bus and be provided with dedicated bus lanes to supply bus to go.Guaranteed bus safe operation on schedule, the passenger reduces waiting time according to display message according to qualifications by bus.Though technique scheme can be implemented priority principle to public transit vehicle, there is following problem:
1, in the technique scheme; When the public transit vehicle driver drives to the crossing, can not judge whether management system has implemented priority principle to oneself, though if current demand signal is a green light signals; But will become red light, the driver does not know that management system can be for oneself not continuing to keep green light at once; If current demand signal is a red light phase, the driver can not confirm whether traffic signal controlling machine can be changed to green light with signal lamp; Therefore under above two kinds of situation, when the driver drove to the crossing, just being not sure of oneself was slow down to wait for or quicken and pass through, and is in comparatively passive state.
2, the car plate of technique scheme requirement public transit vehicle installation is an infrared electric vehicle license plate, is not common car plate; Will adopt technique scheme in addition is that public transit vehicle provides priority signal the public transit vehicle information real-time to be set at each crossing website to collect that display device could realize and infrared electric vehicle license plate alternate acknowledge infrared information, improved the complicacy of total system.
Existing Chinese patent document CN 101334934 A disclose a kind of vehicle mounted traffic displaying apparatus; This device is for being arranged on the traffic signals indicating device of the indication of one in car junction ahead signal; Said indicating device comprises, a display panel, the signal receiving device that is connected with display panel.The loudspeaker that also have a sounding on the said display panel.During use, this device is accepted the data of the traffic lights of junction ahead, and on display panel, shows, if junction ahead is a red light, shows on the display panel that then junction ahead is a red light, and shows counting down of red light, if instead be that green light also is like this.Adopt the vehicle mounted traffic displaying apparatus in the technique scheme; Though can show the state of junction ahead signal lamp; But for the driver; When vehicle arrives the crossing, no matter see that the demonstration of the signal lamp of junction ahead sees that still the signal lamp state in the own car shows, under following two kinds of situation, still can not and confirm whether oneself should quicken to pass through the crossing excess time according to the color of current demand signal lamp:
1, the current red light that is shown as of belisha beacon; But the countdown demonstration is about to become green light, and the driver can not judge that can signal lamp become green light when vehicle arrives the crossing according to own current situation; Whether need Reduced Speed Now, stop when arriving the crossing then and wait for if promptly being not sure of oneself;
2, the current green light that is shown as of belisha beacon; But the countdown demonstration is about to become amber light; The driver can not judge according to own current situation; Whether signal lamp can become red light when vehicle arrives the crossing, and promptly the driver can not judge oneself whether can quicken rapidly through the crossing, to avoid unnecessary wait.
Summary of the invention
Technical matters to be solved by this invention is a prior art public traffic in priority control system complex structure; And the driver can not know oneself whether to obtain priority signal all the time, thus can not according to current belisha beacon state confirm oneself whether can be preferentially through the crossing and then provide a kind of and have simple and can in time point out the driver whether to obtain the public traffic in priority control system and the method that can carry out the priority signal prompting of priority signal.
For solving the problems of the technologies described above; The present invention provides a kind of public traffic in priority control system that can carry out the priority signal prompting; Comprise the priority signal Tip element: be arranged on the public transit vehicle; Have well-determined id information, to the driver provide junction ahead signal lamp light color status information and excess time information;
Video detecting unit: be arranged on the highway section of crossing certain distance, have the number information with the clearance phase association, be used to detect the number-plate number information of driving vehicle;
Data processing unit: be arranged at inside, command and control center, comprise data reception module: be used to receive the driving vehicle number-plate number information that said video detecting unit detects;
Data memory module: be used to store number-plate number information, the priority signal Tip element of public transit vehicle id information, video detecting unit number information and with the related clearance phase information of video detecting unit numbering;
The instruction output module: output signal light steering order control belisha beacon is that public transit vehicle provides priority signal;
Said data processing unit also comprises the comparison judge module: be used for the driving vehicle number-plate number information of data reception module reception and the public transit vehicle number-plate number information of said data memory module storage are compared; During number-plate number information matches; Confirm the id information of said priority signal Tip element; Search the video detecting unit numbering that detects public transit vehicle number-plate number information, confirm the clearance phase information;
System also comprises the priority signal processing unit: be arranged in the intersection annunciator, be sent to the priority signal Tip element of corresponding id information after priority signal is handled;
Said priority signal processing unit and said priority signal Tip element are realized the signal transmission through wireless communication unit.
Said priority signal Tip element comprises the visual prompts module; Said priority signal processing unit comprises video processing module, and said video processing module is treated to video information that said visual prompts module can play with priority signal and is sent to said visual prompts module and plays.
Said priority signal processing unit comprises image processing module, and said priority signal Tip element adopts image projection module, is sent to said image projection module after said image processing module is handled priority signal and is projected on the windshield.
Said priority signal Tip element also comprises the audio prompt module, and said priority signal processing unit comprises audio processing modules, and said audio processing modules is treated to voice signal with priority signal and is sent to said audio prompt module broadcast.
Said video detecting unit comprises:
Video capture device: the image information that is used to gather driving vehicle;
Picture recognition module: be used for converting the image information of said driving vehicle into number-plate number information.
Said video capture device is a camera, and it is arranged at towards direction to the car on the track of a side at the crossing that vehicle is about to sail into.
The distance that the distance at said video detecting unit and center, crossing is gone with this highway section speed limit in the green time in minimum greater than said vehicle.
A kind of public traffic in priority control method that can carry out the priority signal prompting may further comprise the steps:
A, the video detecting unit that the highway section of certain distance is provided with apart from the crossing detect the number-plate number information of driving vehicle;
B, data processing unit are stored to said data memory module with the number-plate number information of public transit vehicle, id information, the video detecting unit number information of priority signal Tip element and the signal lamp phase information that is associated with the video detecting unit numbering;
C, data reception module receive the driving vehicle number-plate number information that said video detecting unit detects;
D, comparison judge module compare detected driving vehicle number-plate number information and said public transit vehicle number-plate number information, judge whether detected driving vehicle information and public transit vehicle number-plate number information mate; The coupling back is confirmed the id information of priority signal Tip element and is detected the number information of the video detecting unit of public transit vehicle number-plate number information, confirms the clearance phase place, is that public transit vehicle provides priority signal through instruction output module control belisha beacon;
E, priority signal processing unit receive the priority signal steering order of said instruction output module output, priority signal is handled the back be prompted to the driver through the priority signal Tip element that wireless communication unit is sent to corresponding id information.
The number-plate number information of the described driving vehicle of step a is that the driving vehicle image information according to the video capture device collection is converted to through picture recognition module.
The Tip element of priority signal described in the step e comprises the visual prompts module; Said priority signal processing unit comprises video processing module;
Said video processing module is sent to said visual prompts module with said priority signal processing vision signal through wireless communication unit and plays.
The Tip element of priority signal described in the step e comprises image processing module; Said priority signal Tip element comprises image projection module;
Being sent to said image projection module through wireless communication unit after said image processing module is handled priority signal is projected on the windshield of public transit vehicle.
The processing unit of priority signal described in the step e also comprises audio processing modules; Said priority signal Tip element also comprises the audio prompt module;
Said audio processing modules is treated to sound signal with priority signal and is sent to said audio prompt module through wireless communication unit and plays.
Beneficial effect of the present invention has:
1, application setting of the present invention detects the number-plate number information of driving vehicles in a plurality of video detecting unit on the certain distance road of crossing, and the intersection generally is provided with video detecting unit, can directly utilize; Data processing unit compares the number-plate number information of driving vehicle and the public transit vehicle number-plate number information of storage, when number-plate number information matches, sends preferential control signal to said signal lamp control module.This process need not to add infrared equipment, does not also need all public transit vehicles all to install infrared electric vehicle license plate, and system is simple, and accuracy is high.
Priority signal Tip element among the present invention; When public transit vehicle obtains priority signal; Can be prompted to the driver through the mode of video, voice; Make the driver learn and oneself the crossing can preferentially be passed through, can make a response immediately that confirming oneself continues to go still should wait for by ramp to stop through the crossing.
Description of drawings
Fig. 1 is the position that is provided with of a certain crossing video detecting unit;
Fig. 2 is the formation block diagram of one embodiment of the present invention;
Fig. 3 is the formation block diagram of another embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is set forth in detail.
Embodiment 1
The public traffic in priority control system that can carry out the priority signal prompting in the present embodiment; As shown in Figure 2; Comprise the priority signal Tip element: be arranged on the public transit vehicle, have well-determined id information, to the driver provide junction ahead signal lamp light color status information and excess time information;
Video detecting unit: be arranged on the highway section of crossing certain distance, have the number information with the clearance phase association, be used to detect the number-plate number information of driving vehicle; As shown in Figure 1,4 video detecting unit at each crossing corresponding respectively the signal lamp phase place at this crossing, video detecting unit place, said according to different video detecting unit number information, control the signal lamp at this crossing, for public transit vehicle provides priority signal.
Data processing unit: be arranged at inside, command and control center, comprise
Data reception module: be used to receive the driving vehicle number-plate number information that said video detecting unit detects;
Data memory module: be used to store number-plate number information, the priority signal Tip element of public transit vehicle id information, video detecting unit number information and with the related clearance phase information of video detecting unit numbering;
The instruction output module: output signal light steering order control belisha beacon is that public transit vehicle provides priority signal;
Said data processing unit also comprises:
Compare judge module: be used for the driving vehicle number-plate number information of data reception module and the public transit vehicle number-plate number information of said data memory module storage are compared; During number-plate number information matches; Confirm the id information of said priority signal Tip element; Search the video detecting unit numbering that detects public transit vehicle number-plate number information, confirm the clearance phase information;
System also comprises the priority signal processing unit: be arranged in the intersection annunciator, be sent to the priority signal Tip element of corresponding id information after priority signal is handled;
Said priority signal processing unit and said priority signal Tip element are realized the signal transmission through wireless communication unit.
Said priority signal Tip element comprises the visual prompts module; Said priority signal processing unit comprises video processing module, and said video processing module is treated to video information that said visual prompts module can play with priority signal and is sent to said visual prompts module and plays.
Said priority signal processing unit comprises image processing module, and said priority signal Tip element adopts image projection module, is sent to said image projection module after said image processing module is handled priority signal and is projected on the windshield.
Said priority signal Tip element also comprises the audio prompt module, and said priority signal processing unit comprises audio processing modules, and said audio processing modules is treated to voice signal with priority signal and is sent to said audio prompt module broadcast.
Said video detecting unit comprises:
Video capture device: the image information that is used to gather driving vehicle;
Picture recognition module: be used for converting the image information of said driving vehicle into number-plate number information.
In the present embodiment, said video capture device is a camera, and it is arranged at towards direction to the car on the track of a side at the crossing that vehicle is about to sail into.
The distance that the distance at said video detecting unit and center, crossing is gone with this highway section speed limit in the green time in minimum greater than said vehicle.As shown in Figure 1, it is arranged at towards direction to the car on the track of a side at the crossing that vehicle is about to sail into, the distance that the distance at said video detecting unit and center, crossing is gone with this highway section speed limit in the green time in minimum greater than said vehicle.Promptly when public transit vehicle drives to the crossing; Signal lamp on the other direction has just become green light; And the vehicle on the other direction has begun to pass through; At this moment can not be immediately for public transit vehicle provide the green light right of way signal, could be after will waiting signal lamp on the other direction to become red light at least for public transit vehicle provide priority signal, the required time of this process is the minimum green time.
A kind of public traffic in priority control method that can carry out the priority signal prompting may further comprise the steps:
A, the video detecting unit that the highway section of certain distance is provided with apart from the crossing detect the number-plate number information of driving vehicle;
B, data processing unit are stored to said data memory module with the number-plate number information of public transit vehicle, id information, the video detecting unit number information of priority signal Tip element and the signal lamp phase information that is associated with the video detecting unit numbering;
C, data reception module receive the driving vehicle number-plate number information that said video detecting unit detects;
D, comparison judge module compare detected driving vehicle number-plate number information and said public transit vehicle number-plate number information, judge whether detected driving vehicle information and public transit vehicle number-plate number information mate; The coupling back is confirmed the id information of priority signal Tip element and is detected the number information of the video detecting unit of public transit vehicle number-plate number information, confirms the clearance phase place, is that public transit vehicle provides priority signal through instruction output module control belisha beacon;
E, priority signal processing unit receive the priority signal steering order of said instruction output module output, priority signal is handled the back be prompted to the driver through the priority signal Tip element that wireless communication unit is sent to corresponding id information.
The number-plate number information of the described driving vehicle of step a is that the driving vehicle image information according to the video capture device collection is converted to through picture recognition module.
The Tip element of priority signal described in the step e comprises the visual prompts module; Said priority signal processing unit comprises video processing module;
Said video processing module is sent to said visual prompts module with said priority signal processing vision signal through wireless communication unit and plays.
The processing unit of priority signal described in the step e also comprises audio processing modules; Said priority signal Tip element also comprises the audio prompt module;
Said audio processing modules is treated to sound signal with priority signal and is sent to said audio prompt module through wireless communication unit and plays.
Provide the control system course of work of priority signal following for public transit vehicle in the present embodiment; 1-N (1-N is a natural number) number video acquisition unit gathered the image information of travels down vehicle; This image information has the number-plate number information of this vehicle, and picture recognition module is the license plate number of driving vehicle with above-mentioned image transitions.
Data reception module in the data processing unit reads the license plate number information of this vehicle.The comparison judge module compares the number-plate number information of the public transit vehicle that the license plate number information and the said data memory module of driving vehicle are stored, and judges whether the public transit vehicle number-plate number of the driving vehicle number-plate number and data memory module matees; Confirm because the id information of priority signal Tip element is unique; The id information of the priority signal Tip element that therefore is provided with on each bus is well-determined; The id information of the priority signal Tip element of therefore promptly having confirmed after the number-plate number coupling to be provided with on the vehicle; Whether inquiry is the number-plate number that n (n=1) number video detecting unit reads; If the number-plate number that the n video detecting unit reads, promptly detect the signal lamp phase place corresponding with the number information of the video detecting unit of the driving vehicle of said public transit vehicle number-plate number coupling and video detecting unit after, instruct output module to the signal lamp sending controling instruction; For public transit vehicle provides priority signal, be sent to after simultaneously the priority signal processing unit is handled priority signal priority signal Tip element that should id information is pointed out.If not the number-plate number that the n video detecting unit reads; Then continue inquiry (n+1) number video detecting unit; And the like, up to the number information and the corresponding signal lamp phase place of video detecting unit of the video detecting unit that detects the driving vehicle that matees with the said public transit vehicle number-plate number.
For example working as current square signal lamp is green light phase; And become lamp after two seconds; This moment, public transit vehicle went to the crossing, and for public transit vehicle provides priority signal, then said video processing module is with junction ahead signal lamp light color state and after handling excess time after judging for said data processing unit; Said visual prompts module can show the light color of current demand signal lamp; Simultaneously can point out the driver to obtain priority signal with written form can give it the gun, through the crossing, for example can play: " acquisition priority signal "; And the audio prompt module for example can be play also through voice signal prompting driver: " preferential passing through ".The signal lamp light color state at this that it should be noted that is shown as green light, and it is constant to stop at for two seconds the excess time of signal lamp, passes through the crossing up to public transit vehicle.
Embodiment 2
The difference of present embodiment and embodiment 1 is; As shown in Figure 3; Said priority signal processing unit comprises image processing module; Said priority signal Tip element adopts image projection module, is sent to said image projection module after said image processing module is handled priority signal and is projected on the windshield.Cooperate said audio prompt module to carry out voice suggestion simultaneously, whether the prompting driver obtains priority signal, determines oneself should quicken through the crossing wait of still should stopping.
Though the present invention has carried out detailed elaboration through embodiment to it; But; Any form that does not exceed the claim protection domain that those skilled in the art should be understood that on this basis to be made and the variation of details all belong to invention which is intended to be protected.
Claims (12)
1. the public traffic in priority control system that can carry out the priority signal prompting comprises
The priority signal Tip element: be arranged on the public transit vehicle, have well-determined id information, to the driver provide junction ahead signal lamp light color status information and excess time information;
Video detecting unit: be arranged on the highway section of crossing certain distance, have the number information with the clearance phase association, be used to detect the number-plate number information of driving vehicle;
Data processing unit: be arranged at inside, command and control center, comprise
Data reception module: be used to receive the driving vehicle number-plate number information that said video detecting unit detects;
Data memory module: be used to store number-plate number information, the priority signal Tip element of public transit vehicle id information, video detecting unit number information and with the related clearance phase information of video detecting unit numbering;
The instruction output module: output signal light steering order control belisha beacon is that public transit vehicle provides priority signal;
It is characterized in that:
Said data processing unit also comprises the comparison judge module: be used for the driving vehicle number-plate number information of data reception module reception and the public transit vehicle number-plate number information of said data memory module storage are compared; During number-plate number information matches; Confirm the id information of said priority signal Tip element; Search the video detecting unit numbering that detects public transit vehicle number-plate number information, confirm the clearance phase information;
System also comprises the priority signal processing unit: be arranged in the intersection annunciator, be sent to the priority signal Tip element of corresponding id information after priority signal is handled;
Said priority signal processing unit and said priority signal Tip element are realized the signal transmission through wireless communication unit.
2. the public traffic in priority control system that can carry out the priority signal prompting according to claim 1 is characterized in that:
Said priority signal Tip element comprises the visual prompts module; Said priority signal processing unit comprises video processing module, and said video processing module is treated to video information that said visual prompts module can play with priority signal and is sent to said visual prompts module and plays.
3. the public traffic in priority control system that can carry out the priority signal prompting according to claim 1 is characterized in that:
Said priority signal processing unit comprises image processing module, and said priority signal Tip element adopts image projection module, is sent to said image projection module after said image processing module is handled priority signal and is projected on the windshield.
4. according to the arbitrary described public traffic in priority control system that can carry out the priority signal prompting of claim 1-3, it is characterized in that:
Said priority signal Tip element also comprises the audio prompt module, and said priority signal processing unit comprises audio processing modules, and said audio processing modules is treated to voice signal with priority signal and is sent to said audio prompt module broadcast.
5. according to the arbitrary described public traffic in priority control system that can carry out the priority signal prompting of claim 1-4, it is characterized in that:
Said video detecting unit comprises:
Video capture device: the image information that is used to gather driving vehicle;
Picture recognition module: be used for converting the image information of said driving vehicle into number-plate number information.
6. the public traffic in priority control system that can carry out the priority signal prompting according to claim 5 is characterized in that:
Said video capture device is a camera, and it is arranged at towards direction to the car on the track of a side at the crossing that vehicle is about to sail into.
7. according to the arbitrary described public traffic in priority control system that can carry out the priority signal prompting of claim 1-6, it is characterized in that:
The distance that the distance at said video detecting unit and center, crossing is gone with this highway section speed limit in the green time in minimum greater than said vehicle.
8. the public traffic in priority control method that can carry out priority signal prompting based on claim 1-7 is characterized in that:
May further comprise the steps:
A, the video detecting unit that the highway section of certain distance is provided with apart from the crossing detect the number-plate number information of driving vehicle;
B, data processing unit are stored to said data memory module with the number-plate number information of public transit vehicle, id information, the video detecting unit number information of priority signal Tip element and the signal lamp phase information that is associated with the video detecting unit numbering;
C, data reception module receive the driving vehicle number-plate number information that said video detecting unit detects;
D, comparison judge module compare detected driving vehicle number-plate number information and said public transit vehicle number-plate number information, judge whether detected driving vehicle information and public transit vehicle number-plate number information mate; The coupling back is confirmed the id information of priority signal Tip element and is detected the number information of the video detecting unit of public transit vehicle number-plate number information, confirms the clearance phase place, is that public transit vehicle provides priority signal through instruction output module control belisha beacon;
E, priority signal processing unit receive the priority signal steering order of said instruction output module output, priority signal is handled the back be prompted to the driver through the priority signal Tip element that wireless communication unit is sent to corresponding id information.
9. the public traffic in priority control method that can carry out the priority signal prompting according to claim 8 is characterized in that:
The number-plate number information of the described driving vehicle of step a is that the driving vehicle image information according to the video capture device collection is converted to through picture recognition module.
10. it is characterized in that according to Claim 8 or the 9 described public traffic in priority control methods that can carry out priority signal prompting:
The Tip element of priority signal described in the step e comprises the visual prompts module; Said priority signal processing unit comprises video processing module;
Said video processing module is sent to said visual prompts module with said priority signal processing vision signal through wireless communication unit and plays.
11. according to Claim 8 or the 9 described public traffic in priority control methods that can carry out priority signal prompting, it is characterized in that:
The Tip element of priority signal described in the step e comprises image processing module; Said priority signal Tip element comprises image projection module;
Being sent to said image projection module through wireless communication unit after said image processing module is handled priority signal is projected on the windshield of public transit vehicle.
12., it is characterized in that according to claim 10 or the 11 described public traffic in priority control methods that can carry out the priority signal prompting:
The processing unit of priority signal described in the step e also comprises audio processing modules; Said priority signal Tip element also comprises the audio prompt module;
Said audio processing modules is treated to sound signal with priority signal and is sent to said audio prompt module through wireless communication unit and plays.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110090927.5A CN102737517B (en) | 2011-04-12 | 2011-04-12 | Bus priority control system capable of carrying out priority signal prompt and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110090927.5A CN102737517B (en) | 2011-04-12 | 2011-04-12 | Bus priority control system capable of carrying out priority signal prompt and method thereof |
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| CN102737517B CN102737517B (en) | 2014-08-27 |
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| CN107564305A (en) * | 2017-09-11 | 2018-01-09 | 安徽实运信息科技有限责任公司 | A kind of bus signal priority control system with information exchange |
| CN112581778A (en) * | 2020-12-02 | 2021-03-30 | 张鹏 | Traffic signal intelligent guiding system based on bus priority mechanism |
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| CN106781564A (en) * | 2016-12-28 | 2017-05-31 | 安徽科力信息产业有限责任公司 | Bus signal priority control method based on video detector |
| CN107564305A (en) * | 2017-09-11 | 2018-01-09 | 安徽实运信息科技有限责任公司 | A kind of bus signal priority control system with information exchange |
| CN112581778A (en) * | 2020-12-02 | 2021-03-30 | 张鹏 | Traffic signal intelligent guiding system based on bus priority mechanism |
| CN112581778B (en) * | 2020-12-02 | 2023-03-14 | 张鹏 | Traffic signal intelligent guiding system based on bus priority mechanism |
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| CN102737517B (en) | 2014-08-27 |
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