918 results about "Traffic system" patented technology

Disclosed in the present invention are a multi-agent vehicle-road-cloud integrated collaborative decision-making and control architecture system and method based on federated reinforcement learning. A multi-agent federated reinforcement learning decision-making and control framework having embedded vehicle dynamics characteristics is used, so as to solve the problem of in-depth integration of an intelligent traffic system and intelligent vehicles, and realize autonomous driving with vehicle-traffic in-depth decision-making and control collaboration; a semantic matrix is generated at a road side to serve as an input for vehicle-side reinforcement learning, so as to construct vehicle-side global and local trajectory planning guided by the road side; an integrated reward function for vehicle-side reinforcement learning is designed on the basis of a driving safety field constructed by the road side, so as to realize comprehensive consideration of vehicle-side safety and comfort; on the basis of road-side federated learning, vehicle-side neural network parameters are uploaded by means of V2I communication, so as to solve the problem of vehicle-road information asymmetry caused by privacy awareness; and for different environmental sample distributions, a local optimal policy for a current environment is selected by means of neural network screening, so as to synthesize a shared model benefiting from different environments, thus realizing a balance between sample efficiency and model robustness.

The invention belongs to the technical field of intelligent traffic systems, and particularly relates to an intersection signal timing dynamic coordination system and method based on real-time traffic prediction.The method comprises the steps of collecting multi-source traffic data, generating a space-time prediction digital twin model, dynamically defining an intersection coordination cluster and executing cluster coordination optimization control. And signal timing and closed loop feedback are carried out. By adopting the technical scheme, the cooperative operation efficiency and the intelligent management level of the urban intersection group can be effectively improved, and the fundamental conversion from local and reactive active cooperative control to global and predictive active cooperative control is realized.

The invention belongs to the technical field of vehicle trajectory prediction, and discloses a multi-scale interactive perception highway vehicle trajectory prediction method, which comprises the following steps: jointly modeling short-term burst features and long-term evolution trends through a convolutional neural network and a bidirectional gating cycle unit, and introducing a time sequence attention mechanism to improve the perception ability for key time slices; in combination with a dynamic graph attention mechanism including physical edge features such as relative position, relative speed and relative acceleration, a vehicle interaction relationship is updated in real time so as to improve spatial modeling precision and interpretability; in the decoding stage, the guide vector and the semantic information of the lane are fused, so that the predicted trajectory conforms to the geometric structure of the road in space and keeps smooth and continuous in time. According to the method, the robustness and adaptability of the model in the sparse adjacent vehicle environment of the expressway can be improved while the prediction precision is ensured, a more stable and reliable trajectory prediction result is provided for an intelligent traffic system, and powerful technical support is provided for traffic safety management and operation scheduling of the expressway.

The invention belongs to the field of artificial intelligence and intelligent traffic systems, particularly relates to a vehicle path planning system based on multi-agent collaboration, and aims to solve the problems of path response lag, insufficient global optimization ability and conflict between individuals and group targets in a dynamic traffic environment. The system adopts a three-level collaborative architecture of a central coordination server, a regional scheduling agent and a vehicle-mounted agent, realizes macroscopic regulation and local resource allocation through a global guidance potential field and an improved auction algorithm, and improves the dynamic adaptive capacity by combining event-driven replanning and a robustness verification mechanism. Different scheduling and multi-time scale coupling operation of heterogeneous vehicles are supported, and the road network passing efficiency and the path reliability are effectively improved.

The invention relates to the technical field of intelligent traffic systems, and discloses an expressway multi-source traffic data grading and classification processing system, which comprises a data acquisition standardization module for acquiring and preprocessing multi-source traffic data; the data source quality evaluation module is used for evaluating the credibility of the data source; the scene emergency degree calculation module is used for calculating the flow anomaly degree, the vehicle speed anomaly degree and the meteorological risk score and identifying an emergency event; the data grading module is used for calculating a comprehensive priority score of the data and obtaining a grading data set by adopting a threshold segmentation method; the data classification module is used for carrying out self-adaptive classification on the data; the data fusion module identifies the same traffic parameter, performs conflict detection and performs fusion processing on conflict data; the result output module is used for obtaining a processing result by adopting a grading and classification output and quality feedback mechanism; according to the invention, intelligent refined processing of the highway multi-source traffic data is realized, and the emergency response speed and the data processing accuracy are improved.

The invention discloses an intelligent traffic control method and system in a low-altitude economic environment, and relates to the technical field of intelligent traffic systems, and the method comprises the steps: collecting low-altitude aircraft and ground traffic spatio-temporal data through a multi-modal sensor network, and generating a multi-source heterogeneous data set; constructing a dynamic traffic situation map through spatio-temporal feature fusion; performing three-dimensional path planning to generate a three-dimensional guiding strategy; detecting conflicts and correcting strategies according to a preset rule base, and outputting an instruction set to distribute real-time traffic flow. The technical problem that in the low-altitude economic environment, a traditional traffic management and control method is difficult to meet the cross-domain cooperation requirement of the low-altitude aircraft and the ground traffic is solved, and the technical effects of three-dimensional cooperative management and control of the low-altitude aircraft and the ground traffic and further guaranteeing safe and efficient operation of the traffic in the low-altitude economic environment are achieved.

A method by which a first device performs maneuver driving in an intelligent transportation system (ITS) according to various embodiments may comprise: receiving a vehicle-to-everything (V2X) message related to a maneuver sharing and coordinating service (MSCS) from a second device; and determining whether to perform cooperative driving with the second device on the basis of the V2X message.

The invention discloses a highway event detection algorithm based on data situation analysis, and belongs to the technical field of intelligent traffic systems. According to the method, a dynamic graph structure is constructed by fusing multi-source data of an ETC portal, a toll station, a traffic detector, weather and the like, spatial-temporal characteristics are extracted by utilizing graph convolution and LSTM, and fuzzy distribution prediction of a traffic state is realized; calculating a node score mutation rate based on a prediction result, screening abnormal nodes in combination with a serious congestion probability, and extracting a connected abnormal sub-graph with a compact structure as a potential event region; a multi-factor event scoring function is designed, sudden change intensity, structural compactness and a state offset direction are fused, a risk level is quantified, and an adaptive boundary learning device is introduced to dynamically discriminate an alarm, so that scene limitation of a fixed threshold value is avoided; the detection accuracy and the alarm flexibility are improved, and the method is suitable for intelligent sensing and early warning of highway traffic events.

The invention provides a 5G communication-based vehicle state sensing and intelligent traffic cooperative scheduling method, and relates to the technical field of intelligent traffic, and the method comprises the steps: receiving high-frequency vehicle state sensing data transmitted by a vehicle-mounted unit in a target road section in real time through a 5G base station cluster; collecting traffic environment sensing data of a target road section through a roadside sensing unit, fusing the high-frequency vehicle state sensing data with the traffic environment sensing data, and constructing a multi-dimensional real-time traffic situation map; performing collaborative analysis based on the multi-dimensional real-time traffic situation map to generate a traffic control instruction set; and issuing to a road side execution unit and a vehicle-mounted unit for cooperative scheduling control of the traffic flow. The technical problems that a traffic system in the prior art often depends on periodic data acquisition and a fixed signal control scheme, traffic control adjustment cannot be carried out in real time according to changing traffic conditions, traffic flow fluctuation or emergencies cannot be rapidly coped with, and then the traffic system is low in efficiency and unstable are solved.

The invention discloses an RFID multi-label information fusion and unmanned vehicle path real-time correction method, system and device based on improved whale optimization, and a storage medium, and belongs to the technical field of the crossing field of the Internet of Things and an intelligent traffic system, and the method comprises the steps: collecting received signal strength indication information and label position information, constructing a label signal propagation model and a positioning probability distribution model; performing fusion processing of multi-label positioning information, adopting a dynamic weighting strategy to adjust signal contribution, obtaining an unmanned vehicle position estimation value, taking the unmanned vehicle position estimation value as state input of path optimization, constructing a path cost function, introducing a whale optimization search mechanism based on dynamic update parameters, performing iterative optimization on a path candidate solution, and obtaining a path optimization result; outputting a path correction result; and a real-time path instruction is issued to the vehicle control module, and the unmanned vehicle is guided to complete path correction and navigation control in a dynamic environment. According to the method, the problems of poor path adaptability, low fusion precision and local optimum in the existing method are solved.

The invention provides an intelligent path planning method and system based on dynamic road condition prediction. The method comprises the steps of firstly obtaining multi-source dynamic data of a target area; then, constructing a weather influence prediction model to predict weather influence parameters in a future time period; secondly, constructing a weather-traffic coupling model, and respectively establishing correlation models of corresponding precipitation, traffic flow density and average vehicle speed according to road types through historical data analysis, so as to estimate the traffic efficiency of each road section under a dynamic weather condition; and finally, generating a plurality of candidate paths according to the passing efficiency, screening out an alternative path set meeting a multi-target optimization condition from the candidate paths, performing simulation evaluation on the alternative path set, and determining an optimal path according to a simulation result. Compared with a traditional static path planning method, the method has the advantages that the responsiveness of a traffic system to meteorological disasters is remarkably improved, and predictable navigation service is provided for intelligent network connection vehicles.

The invention belongs to the technical field of traffic management and control, and particularly relates to a congestion feed-forward intervention method based on traffic flow phase change critical point recognition, which comprises the following steps: collecting and preprocessing multi-source heterogeneous traffic data; carrying out multi-scale traffic flow feature engineering; identifying a traffic flow phase change critical point based on a space-time dynamic graph neural network and critical moderation effect analysis; generating a multi-objective optimization congestion feedforward intervention strategy; and performing intervention, evaluating the effect and performing adaptive learning. According to the technical scheme, accurate prevention and early intervention can be performed before congestion occurs, and the operation efficiency and reliability of an urban traffic system are remarkably improved.

The invention discloses a congestion management system and method based on vehicle-road cooperation and dynamic group path optimization, and relates to the technical field of intelligent traffic systems. The method comprises the following steps: S1, collecting original traffic data through a multi-modal sensor array to carry out space-time alignment, and constructing a microscopic traffic flow data set; s2, bidirectional information interaction is carried out through a vehicle-road cooperative communication network; s3, calculating a multi-modal fusion confidence coefficient parameter based on the data quality index, and generating traffic state information and road section real-time saturation; s4, fusing historical and static road network data, constructing a dynamic digital twinborn model and a road network state feature map, and generating a road network load balancing index; and S5, making a decision by adopting a hierarchical-distributed architecture, and generating a group path induction strategy through multi-objective optimization. The efficient collaborative decision is realized through the graph convolutional network and the attention mechanism, and the road network traffic efficiency is comprehensively improved through stable and reliable multi-objective optimization on the premise of guaranteeing the user fairness.

The invention relates to a multi-type emergency vehicle signal dynamic priority control method based on vehicle-road cloud cooperation, and belongs to the technical field of intelligent traffic control. The method comprises the following steps: acquiring an emergency vehicle state and traffic environment data in real time through cooperation of a vehicle-mounted terminal, roadside equipment and a cloud control platform; the cloud control platform dynamically calculates priority scores based on vehicle types, task emergency degrees, predicted arrival time, real-time traffic influences and path complexity multi-dimensional factors; when multiple vehicles have conflicts, collaborative decision making is carried out based on scores; and finally, an optimized signal control strategy is generated and executed. The system effectively solves the problems that a traditional priority control mode is extensive, and traffic jam and multi-vehicle conflicts are easily caused, achieves the purpose that interference to social traffic is minimized while efficient passing of emergency vehicles is guaranteed, and improves the overall efficiency and safety of an urban traffic system.

The invention relates to three-dimensional traffic navigation, in particular to a three-dimensional traffic navigation system based on space-time grid coding, which comprises a low-altitude path planning module for planning an optimal flight path for an aircraft in a low-altitude airspace based on a four-dimensional space-time grid coding model and adjusting the path in real time in combination with dynamic environmental factors; the airspace conflict detection module is used for carrying out conflict detection on aircrafts in a low-altitude airspace, judging whether conflicts exist or not and finding potential conflicts in time; the path collaborative planning module is used for carrying out collaborative path planning on the multiple aircrafts with conflicts in the low-altitude airspace and solving the problem of conflicts among the multiple aircrafts; the cross-modal traffic coordination module is used for integrating ground and low-altitude traffic systems, realizing seamless connection and efficient coordination of an optimal ground path and an optimal flight path, and providing an integrated three-dimensional traffic navigation scheme; the method can overcome the defects that in the prior art, path planning efficiency is low, airspace conflicts are difficult to accurately detect, and a cross-modal traffic cooperation mechanism is lacked.

The invention relates to the technical field of intelligent traffic systems, in particular to a linear intelligent monitoring system for a bridge fabrication machine, which comprises a multi-source sensing module, a data processing module, a data processing module, a data processing module, a data processing module, a data processing module and a data processing module, and is characterized in that the multi-source sensing module comprises strain sensors, inclinometers, GPS positioning units and machine vision units; the edge computing node is internally provided with a self-adaptive data fusion algorithm and is used for denoising sensor data in real time; the cloud digital twin platform is used for synchronizing the BIM design model and generating a millimeter-level linear deviation early warning signal; the PLC control interface is used for receiving the early warning signal and automatically adjusting parameters of the template system and the walking mechanism; according to the method, environmental noise interference is effectively eliminated through multi-source sensor fusion and a self-adaptive data filtering technology, the monitoring precision is improved to a millimeter level, real-time comparison of construction data and a design model is realized based on a BIM and digital twinning dynamic interaction system, and the timeliness and accuracy of linear control are remarkably improved.

The invention belongs to the field of artificial intelligence and intelligent traffic systems, particularly relates to a path control system combining multi-modal perception and dynamic trajectory prediction, and aims to solve the problems of insufficient perception fusion, low trajectory prediction precision and control response lag in a complex dynamic environment. The system comprises a multi-modal perception fusion unit, a dynamic interaction modeling unit, a space-time coupling prediction unit, a risk field construction unit and an adaptive path generation unit. Multi-source sensor data are fused through confidence coefficient weighting, an interaction weight matrix under an attention mechanism is constructed, a future trajectory is predicted in combination with individual dynamics and a social force model, a four-dimensional space-time risk field is generated, and a minimum risk path is solved based on an improved fast marching algorithm. The system realizes sensing-prediction-control closed-loop cooperation, the end-to-end delay is less than 250 milliseconds, and the driving safety and comfort in a complex traffic scene are improved.

The invention relates to the field of intelligent transportation systems, discloses an intelligent highway maintenance system and method, and aims to solve the fundamental defects that in the prior art, the data acquisition dimension is single, the maintenance decision depends on artificial experience, and prospective prediction is lacked. The method comprises the following steps: acquiring multi-modal dynamic sensing data covering a whole road domain; constructing and updating a four-dimensional space-time digital twinborn model in real time; driving the causal graph neural network model to perform structure health state prediction and diagnosis; generating an active maintenance instruction through a multi-objective optimization engine; and the autonomous maintenance execution unit is dispatched to complete unmanned closed-loop operation. According to the method and the system, fundamental transformation of road maintenance from passive response to active prevention, from artificial experience to intelligent decision making and from discrete operation to closed-loop automation is realized, and the maintenance efficiency, the safety and the health level of the whole life cycle of the road are remarkably improved.

A method of transmitting a signal by a first station (STA) in an intelligent transport system (ITS) according to various embodiments may comprise the steps of: obtaining filter information related to configuration of perceived object information from a second STA; obtaining multiple detected data sets for each object by means of multiple sensors; and transmitting, to the second STA, a vehicle-to-everything (V2X) message including the perceived object information on the basis of the obtained multiple detected data sets and the filter information, wherein the first STA determines, on the basis of the filter information, whether to configure the perceived object information by fusing the obtained multiple detected data sets or configure the perceived object information by using the detected data set of each sensor without fusion.

The invention discloses a multi-index dynamic fusion traffic hidden danger identification and completion method and system, and relates to the technical field of intelligent traffic systems, and the method comprises the steps: obtaining a multi-dimensional traffic data sequence containing missing values in a target monitoring region, the multi-dimensional traffic data sequence comprises a traffic flow index sequence, a driving behavior characteristic sequence and a road environment parameter sequence; and interpolating missing values in the multi-dimensional traffic data sequence based on a spatio-temporal dynamic graph completion network to generate a completed spatio-temporal data tensor. According to the method, the missing data are accurately completed through a space-time dynamic graph completion network, a space graph convolution layer of road network topology, a gating circulation unit of a modeling time sequence rule and a cross-index attention module, multi-index dynamic association is fully fused, and propagation delay and a space-time evolution rule are considered; and deep fusion features are extracted by using a shared feature encoder, hidden danger identification branches are linked, traffic flow, driving behaviors and environmental parameters are dynamically fused, and hidden danger dynamic formation paths are captured.

The invention belongs to the field of intelligent traffic systems, and particularly relates to a congestion scene emergency decision-making method based on dynamic traffic environment modeling, which comprises the following steps: by introducing a congestion potential field concept, fusing multiple factors such as traffic density, speed, cart proportion and the like into a quantifiable risk index, and distinguishing a current congestion index from a future congestion index; the layout problem of the monitoring points is converted into a mathematical optimization problem with the aim of improving the decision effect from experience design; in the decision-making process, not only is passing efficiency considered, but also dimensions such as safety, user experience and resource utilization rate are included; according to the closed-loop intelligent management system integrating traffic flow long-time-sequence evolution prediction, congestion risk assessment based on the physical potential field theory, multi-dimensional comprehensive decision and monitoring point layout collaborative optimization, the opening and closing opportunity of an emergency lane is scientifically and prospectively determined, and the layout of sensing equipment is synchronously optimized; the traffic jam is relieved to the maximum extent, the road passing efficiency and safety are improved, and meanwhile energy consumption is reduced.

The present disclosure is related to Intelligent Transport Systems (ITS), and in particular, to service dissemination basic services (SDBS) and / or collective perception service (CPS) of an ITS Station (ITS-S). Implementations of how the SDBS and / or CPS is arranged within the facilities layer of an ITS-S, different conditions for service dissemination messages (SDMs) and / or collective perception message (CPM) dissemination, and format and coding rules of the SDM / CPS generation are provided.

The invention discloses a multi-mode urban traffic prediction system, belongs to the technical field of traffic, and solves the problems that a tunnel structure is not early warned in time due to hidden damage under the action of multiple coupling, and finally, a river-crossing tunnel bursts water suddenly and is forced to be closed under the triggering of peak traffic flow vibration, so that the tunnel structure cannot be early warned. Therefore, the problem of chain paralysis of the traffic system of the whole city is solved. Comprising a multi-modal data acquisition module, a damage evolution modeling module, a traffic influence analysis module, a collaborative optimization control module and a dynamic plan generation module. According to the method, the sensing capability is constructed by fusing multi-source monitoring data, hidden structure damage is identified and predicted by means of a multi-physics field coupling model, a traffic collaborative optimization strategy is generated based on adaptive dynamic planning, and then whole-process prevention and control from risk to emergency are realized through a dynamic plan and meta-learning. Therefore, the vicious circle of structural damage-traffic jam-rescue blocking is blocked, and regional paralysis is avoided.

The invention relates to the technical field of intelligent traffic systems, and provides a vehicle trajectory prediction method and system, and the method comprises the steps: obtaining an RGB image and three-dimensional point cloud data of a vehicle driving environment; obtaining driving fusion data based on the RGB image of the vehicle driving environment and the three-dimensional point cloud data; based on a graph neural network GNNs algorithm and the driving fusion data, driving multi-modal data is extracted, a graph structure relation is constructed based on the driving multi-modal data, space-time interaction relation coding is carried out, and first driving track prediction is generated; based on a neural network framework of a multi-layer attention mechanism, more accurate prediction of a plurality of driving tracks is generated; performing weighted fusion on the plurality of driving track predictions, and outputting final driving candidate track predictions in combination with respective confidence scores; according to the method, efficient fusion of multi-source information is realized through the neural network, the dynamic space-time interaction relationship between the vehicle and the road environment is constructed, the high adaptive capacity and the pre-judgment capacity of driving track prediction are improved, and the method is suitable for an intelligent traffic system.

The invention relates to a traffic simulation agent system construction method based on a large model, and the method comprises the steps: constructing a simulation tool library, and achieving the precise evaluation and continuous optimization of a simulation result through the fusion of multi-source heterogeneous traffic data, the construction of standardized input, and the establishment of a quantitative evaluation system. A large language model is utilized to understand a natural language instruction of a user, tasks are intelligently disassembled, an execution process is planned, dependence management and parallel scheduling are carried out in combination with a directed acyclic graph, and professional tools are driven to automatically execute. And performing evaluation, problem diagnosis and adaptive re-planning on an execution result through a large language model reflection mechanism to form an understanding-planning-execution-reflection closed loop. According to the method, the problems of how to assist a user to interact with a traffic system by utilizing an agent technology driven by a large language model, reducing the technical threshold of traffic simulation software use and saving time cost and labor cost are solved, the traffic simulation use threshold is reduced, the automation and intelligence level is improved, and efficient and accurate traffic system interaction and optimization are realized.

The invention relates to a multi-source data fusion monitoring system linked with tunnel events and warning illumination, and belongs to the technical field of intelligent traffic systems, and the system comprises a multi-source data sensing and preprocessing module which is used for obtaining original data inside and outside a tunnel, and carrying out the normalization processing of the obtained original data, so as to generate a structured data stream; the dynamic event feature comprehensive evaluation module is used for receiving the structured data stream and performing quantitative evaluation to generate an event severity score and an event influence range radius; the heterogeneous linkage strategy generation module is used for receiving the event severity score and the event influence range radius, and constructing a space-time warning field model to generate normalized warning intensity; and the gradient control instruction execution module is used for receiving the normalized warning intensity, converting the normalized warning intensity into an equipment control instruction, and issuing the equipment control instruction to the terminal controller.

The invention belongs to the technical field of urban traffic planning and intelligent traffic systems, particularly relates to an intersection phase structure optimization method based on a large language model, and aims to improve the intelligent level and operation efficiency of traffic signal control. According to the method, semantic mapping cues of traffic flow and a phase structure are constructed, and a large language model is guided to generate a phase structure scheme adapted to an actual traffic state. Compared with a traditional scheme depending on artificial experience and a fixed structure, the method can automatically generate diversified and data-driven phase structure combinations, and has higher adaptability and generalization ability. In the aspect of technical implementation, the method fuses prompt engineering and guides a large language model to generate an initial phase scheme, and performs evaluation and feedback by using a value network, so that optimization of a phase structure is realized, and the overall operation efficiency of a traffic system is improved.

The invention relates to the technical field of intelligent traffic systems, in particular to a personalized traffic travel route recommendation method based on multi-source data. The method mainly solves the problem that in the prior art, real-time collaborative optimization of a dynamic traffic environment and user personalized requirements is difficult. Real-time information is collected through a multi-source heterogeneous traffic data acquisition module, and a standardized data set is generated through data fusion processing; a dynamic user portrait is constructed in combination with machine learning modeling; adopting a multi-target constraint path to search and calculate personalized candidate routes; dynamically re-planning an optimal route based on the real-time traffic flow; and finally, continuously updating the user portrait through an interactive feedback closed loop. The collaborative optimization of traffic state perception and user preference dynamic matching is realized, and the accuracy and timeliness of route recommendation are remarkably improved.

The invention relates to the technical field of Beidou positioning, in particular to a vehicle Beidou positioning data abnormity repairing method based on deep learning. Comprising the following steps: multi-source pretreatment; generating an abnormal mask; trajectory completion: constructing a deep learning model which is based on an Encoder-Decoder structure, fuses an attention mechanism and introduces assistance of an auto-encoder, and adopts an end-to-end training frame to pass through a multi-objective loss function comprising a mean square error loss item of a position error, a trajectory curvature continuity constraint loss item and a physical rationality constraint loss item; and real-time output and system deployment are fused. According to the method, the space-time association relationship and long-range dependency in the vehicle trajectory data are captured through the deep learning technology, the cooperative processing logic of anomaly detection and trajectory completion is combined, intermittent missing segments and sudden jump points can be accurately identified, the physical rationality of the repaired trajectory is ensured, and the vehicle trajectory repairing efficiency is improved. Therefore, the reliability and the operation precision of a downstream intelligent traffic system are improved.

The invention discloses a mixed traffic flow-oriented automatic driving taxi dynamic scheduling system and a collaborative decision-making method, belongs to the field of intelligent traffic systems, and solves the problem that in the coexistence environment of manual driving vehicles and automatic driving taxies, the automatic driving taxies cannot be automatically scheduled. The technical problem of how to efficiently and cooperatively dispatch vehicles, accurately predict demands, optimize energy management and improve the overall operation efficiency of the system is solved. The system comprises a scheduling server which is connected with a road side sensing unit, a vehicle-mounted control unit and a charging station management platform. The scheduling server comprises a traffic flow analysis module; a demand prediction module; a dynamic scheduling module; and an energy collaboration module. The system is mainly used for realizing real-time, dynamic and intelligent scheduling and energy management of the automatic driving taxis in the mixed traffic flow, improving the operation efficiency, relieving the traffic jam and optimizing the charging resource utilization.