CN110517514A - A kind of management-control method of vehicle flowrate, device and equipment - Google Patents
A kind of management-control method of vehicle flowrate, device and equipment Download PDFInfo
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- CN110517514A CN110517514A CN201910785584.0A CN201910785584A CN110517514A CN 110517514 A CN110517514 A CN 110517514A CN 201910785584 A CN201910785584 A CN 201910785584A CN 110517514 A CN110517514 A CN 110517514A
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- 238000012545 processing Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 20
- 230000015654 memory Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
The embodiment of the invention discloses a kind of management-control method of vehicle flowrate, device and equipment, which includes: the information of vehicle flowrate for obtaining target road section；Judge whether target road section occurs traffic congestion according to information of vehicle flowrate；If traffic congestion occurs for target road section, then congestion information is sent to the roadside unit for the relevant road segments for leading to target road section, so that roadside unit is broadcasted according to congestion information, when the vehicle on board unit enters broadcasting area, congestion information is received by board unit and the driver of vehicle is prompted, or congestion information is sent to when vehicle is in automatic Pilot state by board unit the vehicle-mounted control terminal of vehicle, target road section is avoided so that vehicle-mounted control terminal controls vehicle according to congestion information.The present invention can send congestion information to the vehicle that will drive into congested link, so that vehicle avoids congested link, traffic congestion degree is effectively relieved, promotes vehicle driving experience when traffic congestion occurs for section.
Description
Technical field
The present embodiments relate to traffic control fields, and in particular to a kind of management-control method of vehicle flowrate, device and equipment.
Background technique
With the development of urbanization, the Vehicle's quantity in many cities is higher and higher, traffic congestion phenomenon often occurs.
Currently, it can not also control effectively on a highway to vehicle flowrate, after usually driver reaches congested link,
It just finds road ahead congestion, can not may closely replace route at this time, driving experience is poor.
Summary of the invention
The management-control method, device and equipment for being designed to provide a kind of vehicle flowrate of the embodiment of the present invention, it is existing to alleviate
There is the vehicle congestion degree of highway.
To achieve the above object, the embodiment of the present invention mainly provides the following technical solutions:
In a first aspect, the embodiment of the invention provides a kind of management-control methods of vehicle flowrate, comprising: obtain the vehicle of target road section
Flow information；Judge whether the target road section occurs traffic congestion according to the information of vehicle flowrate；If the target road section
Traffic congestion occurs, then congestion information is sent to the roadside unit led to toward the relevant road segments of the target road section, so as to the road
Side unit is broadcasted according to the congestion information, when the vehicle on board unit enters broadcasting area, by described vehicle-mounted
Unit receives the congestion information and prompts the driver of the vehicle, or is in automatic Pilot state in the vehicle
When the vehicle controlled according to the congestion information by the on board unit avoid the target road section.
Further, after traffic congestion occurs for the target road section, further includes: receive what first object vehicle provided
First traveling route planning information；Judge whether the planning path of the first traveling route planning information passes through the target road
Section；If it is, generating the second driving path planning information according to the first traveling route planning information, wherein described the
Two driving path planning informations are identical as the first traveling destination of route planning information, and second driving path is advised
The planning path of information is drawn without the target road section；The second driving path planning is provided to the first object vehicle
Information.
Further, after traffic congestion occurs for the target road section, further includes: receive what the second target vehicle provided
Vehicle position information and traveling endpoint information；Judge the mesh generated according to the vehicle position information and the traveling endpoint information
Whether mark path passes through the target road section；Path planning is travelled without the third of the target road section if it is, generating
Information；The third, which is provided, to second target vehicle travels route planning information.
Further, the information of vehicle flowrate is obtained by millimetre-wave radar.
Second aspect, the embodiment of the present invention also provide a kind of control device of vehicle flowrate, comprising: and vehicle flowrate obtains module,
For obtaining the information of vehicle flowrate of target road section；Processing module is controlled, for judging the target according to the information of vehicle flowrate
Whether section occurs traffic congestion；If traffic congestion occurs for the target road section, congestion information is generated；Communication module is used
In sending the congestion information to the roadside unit for the relevant road segments for leading to the target road section, so as to the roadside unit according to
The congestion information is broadcasted, and when the vehicle on board unit enters broadcasting area, receives institute by the on board unit
It states congestion information and the driver of the vehicle is prompted, or when the vehicle is in automatic Pilot state by the vehicle
Carrier unit controls the vehicle according to the congestion information and avoids the target road section.
Further, the control processing module is specifically used for after traffic congestion occurs for the target road section, passes through
The communication module receives the first traveling route planning information that first object vehicle provides；The control processing module is also used to
Judge whether the planning path of the first traveling route planning information passes through the target road section；If it is, the control
Processing module generates the second driving path planning information according to the first traveling route planning information, wherein second row
It is identical as the first traveling destination of route planning information to sail route planning information, and second driving path planning letter
The planning path of breath is without the target road section；The communication module is also used to provide described the to the first object vehicle
Two driving path planning informations.
Further, the control processing module is specifically used for after traffic congestion occurs for the target road section, passes through
The communication module receives the vehicle position information that the second target vehicle provides and traveling endpoint information；The control processing module
It is also used to judge whether the destination path generated according to the vehicle position information and the traveling endpoint information passes through the mesh
Mark section；If it is, the control processing module generates and travels route planning information without the third of the target road section,
And then the third is provided to second target vehicle by the communication module and travels route planning information.
Further, it includes millimetre-wave radar that the vehicle flowrate, which obtains module, by described in millimetre-wave radar acquisition
Information of vehicle flowrate.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, comprising: at least one processor and at least one
Memory；The memory is for storing one or more program instructions；The processor, for running one or more programs
Instruction, to execute the management-control method of vehicle flowrate as described in relation to the first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, include one or more programs
Instruction, one or more of program instructions are used to execute the management-control method of vehicle flowrate as described in relation to the first aspect.
The technical solution of the embodiment of the present invention at least has the advantages that
Management-control method, device and the equipment of vehicle flowrate provided in an embodiment of the present invention are right when traffic congestion occurs for section
The vehicle that congested link will be driven into sends congestion information and traffic congestion degree is effectively relieved so that vehicle avoids congested link,
Promote vehicle driving experience.
Detailed description of the invention
Fig. 1 is the flow chart of the management-control method of the vehicle flowrate of the embodiment of the present invention；
Fig. 2 is the structural block diagram of the control device of the vehicle flowrate of the embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
In being described below, for illustration and not for limitation, propose such as specific system structure, interface, technology it
The detail of class, to understand thoroughly the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, omit to well-known system, circuit and
The detailed description of method, in case unnecessary details interferes description of the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance.
Fig. 1 is the flow chart of the management-control method of the vehicle flowrate of the embodiment of the present invention.As shown in Figure 1, the embodiment of the present invention
The management-control method of vehicle flowrate, comprising:
S1: the information of vehicle flowrate of target road section is obtained.
In one embodiment of the invention, millimetre-wave radar is set in the designated position of target road section, passes through millimeter wave
Radar obtains the radar scanning data in target road section, and then the vehicle flowrate of target road section can be obtained according to radar scanning data
Information.
In addition, high-precision video can also be respectively set in the starting point and terminal of target road section in those skilled in the art
Monitoring device.The information of vehicle flowrate of target road section is obtained by video image identification and statistical analysis.
S2: judge whether target road section occurs traffic congestion according to information of vehicle flowrate.
Specifically, the vehicle flowrate data that vehicle flowrate acquisition device (such as millimetre-wave radar) will acquire are sent to control trackside
The central control system of unit (Road Side Unit, RSU).Central control system is set according to the road conditions of target road section
Vehicle flowrate threshold value is compared according to the vehicle flowrate of target road section and vehicle flowrate threshold value, so as to whether judge target road section
Traffic congestion occurs.
S3: it if traffic congestion occurs for target road section, is sent to the roadside unit for the relevant road segments for leading to target road section
Congestion information, so that roadside unit is broadcasted according to congestion information, when on board unit (On Board Unit, OBU)
When vehicle enters broadcasting area, congestion information is received by OBU and the driver of vehicle is prompted, or be in automatic in vehicle
Vehicle is controlled according to congestion information by board unit when driving condition and avoids target road section.
Specifically, when traffic congestion occurs for target road section, central control system generates congestion information, and congestion information can be with
It is that " traffic congestion occurs for section X, and traffic is asked to avoid section X ".
Then congestion information is sent to the RSU towards the relevant road segments of target road section by central control system.Wherein, related
Section for example may include the adjacent segments of target road section.When target road section congestion is serious or the adjacent segments of target road section
When length is shorter, towards some sections in the adjacent segments of target road section, i.e., and target road section relevant road segments can also include
The section being indirectly connected.
The RSU of relevant road segments is broadcasted according to congestion information, and when being equipped with the vehicle of OBU and entering broadcasting area, OBU can
To receive congestion information.
In an example of the invention, OBU has cue module, such as audio prompt module or visual prompts module,
Driver can be prompted by cue module, so that driver avoids above-mentioned target road section.
In another example of the invention, OBU has the private communication mould that can be communicated with vehicle-mounted control terminal
Block, such as the bluetooth module of Bluetooth communication can be carried out with vehicle-mounted control terminal.When vehicle is in automatic Pilot state, OBU
Congestion information is sent to vehicle-mounted control terminal.The position of congested link in the available congestion information of vehicle-mounted control terminal, when
When the planning path of vehicle passes through above-mentioned target road section, the planning road for avoiding above-mentioned target road section is can be generated in vehicle-mounted control terminal
Diameter and according to this planning path control vehicle driving, and vehicle is avoided to enter congested link, so as to promote driving experience, and can be with
Avoid being promoted the congestion level of target road section.
In another example of the invention, OBU and vehicle control syetem are unified, i.e., OBU can control vehicle.Work as vehicle
When in automatic Pilot state, OBU obtains the position of congested link in congestion information, when the planning path of vehicle passes through above-mentioned mesh
When marking section, the planning path for avoiding above-mentioned target road section and according to this planning path control vehicle driving is can be generated in OBU, is avoided
Vehicle enters congested link, so as to promote driving experience, and can be to avoid the congestion level for promoting target road section.
In an embodiment of the invention, after traffic congestion occurs for target road section, further includes:
S4-A-1: the first traveling route planning information that first object vehicle provides is received.
Illustratively, first object vehicle is in automatic Pilot state and first object vehicle has OBU, will by OBU
First traveling route planning information is sent to RSU, is uploaded to central control system by RSU.
S4-A-2: judge whether the planning path of the first traveling route planning information passes through target road section.
S4-A-3: if so, central control system then generates the second driving path according to the first traveling route planning information
Planning information.Wherein, the second driving path planning information is identical as the first traveling destination of route planning information, and the second row
The planning path of route planning information is sailed without target road section, i.e. central control system provides another not by congestion road
Section, but lead to the new planning path of identical destination.
S4-A-4: central control system provides the second driving path planning letter to the OBU of first object vehicle by RSU
Breath, so that the second driving path planning information is sent to the vehicle-mounted control terminal of the first mesh vehicle by OBU, by vehicle-mounted control terminal
Automatic Pilot is carried out according to the second driving path planning information.
In an embodiment of the invention, after traffic congestion occurs for target road section, further includes:
S4-B-1: the vehicle position information and traveling endpoint information that the second target vehicle provides are received.
Illustratively, the second target vehicle is in automatic Pilot state and the second target vehicle has OBU, will by OBU
Vehicle position information and traveling endpoint information are sent to RSU, are uploaded to central control system by RSU.
S4-B-2: central control system judges that the destination path generated according to vehicle position information and traveling endpoint information is
It is no to pass through target road section.
S4-B-3: route planning information is travelled without the third of target road section if it is, generating.
S4-B-4: central control system provides third to the OBU of the second target vehicle by RSU and travels path planning letter
Breath, so that third is travelled the vehicle-mounted control terminal that route planning information is sent to the second target vehicle by OBU, by vehicle-mounted control end
End travels route planning information according to third and carries out automatic Pilot.
The management-control method of vehicle flowrate provided in an embodiment of the present invention is gathered around when traffic congestion occurs for section to that will drive into
The vehicle in stifled section sends congestion information, so that vehicle avoids congested link, traffic congestion degree is effectively relieved, and promotes vehicle and drives
Sail experience.
Fig. 2 is the structural block diagram of the control device of the vehicle flowrate of the embodiment of the present invention.In one embodiment of the invention,
The control device of vehicle flowrate includes: that vehicle flowrate obtains module 100, control processing module 200 and communication module 300.
Wherein, vehicle flowrate obtains the information of vehicle flowrate that module 100 is used to obtain target road section.Processing module 200 is controlled to use
In judging whether target road section occurs traffic congestion according to information of vehicle flowrate, if traffic congestion occurs for target road section, generate
Congestion information.Communication module 300 is used to send congestion information to the roadside unit for the relevant road segments for leading to target road section, with shortcut
Side unit is broadcasted according to congestion information, when the vehicle on board unit enters broadcasting area, is received by board unit
Congestion information simultaneously prompts the driver of vehicle, or when vehicle is in automatic Pilot state by board unit according to congestion
Information control vehicle avoids target road section.
In implementing at one of the invention, control processing module 200 be specifically used for target road section occur traffic congestion it
Afterwards, the first traveling route planning information that first object vehicle provides is received by communication module 300.Control processing module 200
It is also used to judge whether the planning path of the first traveling route planning information passes through target road section；If it is, control processing mould
Block 200 generates the second driving path planning information according to the first traveling route planning information.Wherein, the second driving path planning letter
It is identical that breath with first travels the destination of route planning information, and the planning path of the second driving path planning information is without looking over so as to check
Mark section.Communication module 300 is also used to provide the second driving path planning information to first object vehicle.
In implementing at one of the invention, control processing module 200 be specifically used for target road section occur traffic congestion it
Afterwards, the vehicle position information and traveling endpoint information that the second target vehicle provides are received by communication module 300；Control processing mould
Block 200 is also used to judge whether the destination path generated according to vehicle position information and traveling endpoint information passes through target road section；
If it is, control processing module 200, which is generated, travels route planning information without the third of target road section, and then pass through communication
Module 300 provides third to the second target vehicle and travels route planning information.
In implementing at of the invention one, it includes millimetre-wave radar that vehicle flowrate, which obtains module, is obtained by millimetre-wave radar
Information of vehicle flowrate.
It should be noted that the specific embodiment of the control device of the vehicle flowrate of the embodiment of the present invention and the present invention are implemented
The specific embodiment of the management-control method of the vehicle flowrate of example is similar, referring specifically to the description of the management-control method part of vehicle flowrate, is
Reduction redundancy, does not repeat them here.
The embodiment of the present invention discloses a kind of electronic equipment, comprising: at least one processor and at least one processor；It deposits
Reservoir is for storing one or more program instructions；Processor, for running one or more program instructions, to execute as above
The management-control method for the vehicle flowrate stated.
Disclosed embodiment of this invention provides a kind of computer readable storage medium, deposits in computer readable storage medium
Computer program instructions are contained, when computer program instructions are run on computers, so that computer executes above-mentioned wagon flow
The management-control method of amount.
In embodiments of the present invention, processor can be a kind of IC chip, the processing capacity with signal.Processing
Device can be general processor, digital signal processor (Digital Signal Processor, abbreviation DSP), dedicated integrated
Circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.
It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General procedure
Device can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with disclosed in the embodiment of the present invention
Method the step of can be embodied directly in hardware decoding processor and execute completion, or with hardware in decoding processor and soft
Part block combiner executes completion.Software module can be located at random access memory, and flash memory, read-only memory may be programmed read-only storage
In the storage medium of this fields such as device or electrically erasable programmable memory, register maturation.Processor reads storage medium
In information, in conjunction with its hardware complete the above method the step of.
Storage medium can be memory, such as can be volatile memory or nonvolatile memory, or may include
Both volatile and non-volatile memories.
Wherein, nonvolatile memory can be read-only memory (Read-Only Memory, ROM), may be programmed it is read-only
Memory (Programmable ROM, PROM), Erasable Programmable Read Only Memory EPROM (Erasable PROM, EPROM), electricity
Erasable Programmable Read Only Memory EPROM (Electrically EPROM, EEPROM) or flash memory.
Volatile memory can be random access memory (Random Access Memory, RAM), be used as outside
Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, abbreviation SDRAM), double data speed synchronous dynamic RAM (Double Data
Rate SDRAM, abbreviation DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, referred to as
ESDRAM), synchronization links dynamic random access memory (Synchronous Link DRAM, abbreviation SLDRAM) and directly in
Deposit bus random access memory (Direct Rambus RAM, abbreviation DRRAM).
The storage medium of description of the embodiment of the present invention is intended to include but is not limited to depositing for these and any other suitable type
Reservoir.
Those skilled in the art are it will be appreciated that in said one or multiple examples, function described in the invention
It can be realized with hardware with combination of software.When application software, corresponding function can be stored in computer-readable medium
In or as on computer-readable medium one or more instructions or code transmitted.Computer-readable medium includes meter
Calculation machine storage medium and communication media, wherein communication media includes convenient for transmitting computer journey from a place to another place
Any medium of sequence.Storage medium can be any usable medium that general or specialized computer can access.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all any modification, equivalent substitution, improvement and etc. on the basis of technical solution of the present invention, done should all
Including within protection scope of the present invention.
Claims (10)
1. a kind of management-control method of vehicle flowrate characterized by comprising
Obtain the information of vehicle flowrate of target road section；
Judge whether the target road section occurs traffic congestion according to the information of vehicle flowrate；
If traffic congestion occurs for the target road section, sent to the roadside unit for the relevant road segments for leading to the target road section
Congestion information, so that the roadside unit is broadcasted according to the congestion information, when the vehicle on board unit enters extensively
When broadcasting range, the congestion information is received by the on board unit and the driver of the vehicle is prompted, or described
The vehicle is controlled according to the congestion information by the on board unit when vehicle is in automatic Pilot state and avoids the target
Section.
2. the management-control method of vehicle flowrate according to claim 1, which is characterized in that traffic occurs in the target road section and gathers around
After stifled, further includes:
Receive the first traveling route planning information that first object vehicle provides；
Judge whether the planning path of the first traveling route planning information passes through the target road section；
If it is, generating the second driving path planning information according to the first traveling route planning information, wherein described the
Two driving path planning informations are identical as the first traveling destination of route planning information, and second driving path is advised
The planning path of information is drawn without the target road section；
The second driving path planning information is provided to the first object vehicle.
3. the management-control method of vehicle flowrate according to claim 1, which is characterized in that traffic occurs in the target road section and gathers around
After stifled, further includes:
The vehicle position information and traveling endpoint information of the offer of second target vehicle are provided；
Judge whether the destination path generated according to the vehicle position information and the traveling endpoint information passes through the target
Section；
Route planning information is travelled without the third of the target road section if it is, generating；
The third, which is provided, to second target vehicle travels route planning information.
4. the management-control method of vehicle flowrate according to claim 1-3, which is characterized in that obtained by millimetre-wave radar
Take the information of vehicle flowrate.
5. a kind of control device of vehicle flowrate characterized by comprising
Vehicle flowrate obtains module, for obtaining the information of vehicle flowrate of target road section；
Processing module is controlled, for judging whether the target road section occurs traffic congestion according to the information of vehicle flowrate；If
Traffic congestion occurs for the target road section, then generates congestion information；
Communication module, for sending the congestion information to the roadside unit for the relevant road segments for leading to the target road section, so as to
The roadside unit is broadcasted according to the congestion information, when the vehicle on board unit enters broadcasting area, by institute
It states on board unit to receive the congestion information and prompt the driver of the vehicle, or is in the vehicle and drives automatically
The vehicle is controlled by the on board unit when sailing state and avoids the target road section.
6. the control device of vehicle flowrate according to claim 5, which is characterized in that the control processing module is specifically used for
After traffic congestion occurs for the target road section, the first traveling that first object vehicle provides is received by the communication module
Route planning information；It is described control processing module be also used to judge it is described first traveling route planning information planning path whether
By the target road section；If it is, the control processing module generates the according to the first traveling route planning information
Two driving path planning informations, wherein the second driving path planning information and described first travels route planning information
Destination is identical, and the planning path of the second driving path planning information is without the target road section；The communication mould
Block is also used to provide the second driving path planning information to the first object vehicle.
7. the control device of vehicle flowrate according to claim 5, which is characterized in that the control processing module is specifically used for
After traffic congestion occurs for the target road section, the vehicle location that the second target vehicle provides is received by the communication module
Information and traveling endpoint information；The control processing module is also used to judge according to the vehicle position information and the traveling eventually
Whether the destination path that point information generates passes through the target road section；If it is, the control processing module generate without
The third of the target road section travels route planning information, and then is provided by the communication module to second target vehicle
The third travels route planning information.
8. according to the control device of the described in any item vehicle flowrates of claim 5-7, which is characterized in that the vehicle flowrate obtains mould
Block includes millimetre-wave radar, obtains the information of vehicle flowrate by the millimetre-wave radar.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes: at least one processor and at least one storage
Device；
The memory is for storing one or more program instructions；
The processor, for running one or more program instructions, to execute vehicle according to any one of claims 1-4
The management-control method of flow.
10. a kind of computer readable storage medium, which is characterized in that include one or more journeys in the computer storage medium
Sequence instruction, one or more of program instructions are used to execute the control side of vehicle flowrate according to any one of claims 1-4
Method.
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| CN111524371A (en) * | 2020-05-08 | 2020-08-11 | 湖南车路协同智能科技有限公司 | Traffic flow and road section vehicle quantity detection system |
| CN112133096A (en) * | 2020-09-25 | 2020-12-25 | 安徽达尔智能控制系统股份有限公司 | Vehicle control system based on intelligent networking technology |
| CN112258833A (en) * | 2020-09-15 | 2021-01-22 | 深圳市金溢科技股份有限公司 | Variable lane control method, edge calculation apparatus, and system |
| CN112414420A (en) * | 2020-08-13 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Navigation method based on traffic flow and related device |
| CN113566835A (en) * | 2021-06-21 | 2021-10-29 | 南京市德赛西威汽车电子有限公司 | A real-time navigation method and system for vehicle inflow perception based on RSU |
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| CN114495521A (en) * | 2022-01-06 | 2022-05-13 | 云控智行科技有限公司 | Unmanned vehicle dynamic management and control method, device, equipment and medium |
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