The roadside equipment(RSU) dynamically obtains the information of intersection map and traffic light

and periodically broadcasts information to on-board unit(OBU). OBU reports the vehicle’s position to RSU in real time through high-precision positioning

and RSU judges the driving lane of the vehicle according to the vehicle’s position and map information. The control logic judgment unit obtains the speed

position

lane and intersection traffic flow information of priority vehicles from RSU. Then

the conditions for triggering the control signal are satisfied. Through the wired network

the command is sent to the signal control system to adjust the traffic light timing information and guide the vehicle to pass the intersection quickly. Finally

the priority of vehicles at the intersection is realized.