KR101725130B1 - Smart traffic light control apparatus and method for preventing traffic accident - Google Patents
Smart traffic light control apparatus and method for preventing traffic accident Download PDFInfo
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- KR101725130B1 KR101725130B1 KR1020150046241A KR20150046241A KR101725130B1 KR 101725130 B1 KR101725130 B1 KR 101725130B1 KR 1020150046241 A KR1020150046241 A KR 1020150046241A KR 20150046241 A KR20150046241 A KR 20150046241A KR 101725130 B1 KR101725130 B1 KR 101725130B1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Abstract
Discloses an intelligent traffic light control apparatus and method for preventing vehicle collision. The present invention relates to an image processing apparatus, an image input unit, an image input unit, an image input unit, and an image processing unit. The image input unit receives an image obtained from at least one camera, A vehicle progress analysis unit for calculating the entry position, time and speed, and obtaining the vehicle information; and a control unit for receiving the vehicle information, estimating the time until the vehicle entering the intersection using the previously stored intersection information and the vehicle information departs the intersection And an intersection signal control unit for controlling the signal switching point of the traffic light corresponding to the waiting road according to the estimated time.
Description
The present invention relates to a traffic light control apparatus and method, and more particularly, to an intelligent traffic light control apparatus and method for preventing a vehicle collision by adjusting a signal switching time according to the state of a vehicle at an intersection.
Accidents occurring at intersections during a car-to-vehicle collision are frequent enough to account for approximately half of all traffic accidents. Especially, although the number of total traffic accidents is gradually decreasing, the number of traffic accidents at intersections is increasing. In addition, unlike ordinary car crashes, there is a high possibility that collisions between vehicles with different traveling directions, that is, side and frontal crashes, lead to major accidents or personal accidents at intersections.
Most of the intersection accidents occur during the signal change of traffic lights. Conventional intersection traffic lights are set so that the signal is converted at a designated time regardless of the state of the vehicle entering the intersection, so that a vehicle that is late entering the intersection often fails to deviate from the intersection even after the signal of the intersection is switched. However, vehicles that are waiting for signals in other directions of the intersection frequently enter the intersection immediately without signaling the surrounding vehicle condition when the signal is switched. Therefore, a collision occurs between a vehicle that can not leave the intersection and a vehicle that is newly entering the intersection.
In order to prevent an intersection accident occurring in the above-mentioned signal switching process, most intersection signal lamp control devices currently switch traffic lights from a green signal as a progress signal to a red signal as a stop signal, or between a red signal and a green signal The yellow signal section of the warning signal is additionally set. The yellow signal period allows the driver of the vehicle entering the intersection to recognize in advance that the signal will be switched soon, thereby preventing the vehicle other than the vehicle that has already entered the intersection from further entering the intersection immediately before signal switching.
In addition, some intersection traffic light control devices have all the red signal sections in which all the traffic lights of the intersection are displayed in red for a predetermined time during the traffic light signal change, Thereby preventing a vehicle-to-vehicle collision in an intersection from occurring.
However, the above-mentioned conventional traffic lights are set so that the signal is switched at a designated time regardless of the state of the vehicle entering or exiting the intersection. That is, not only the green and red signal sections but also the yellow signal sections and the entire red signal sections are maintained for the designated time and switched to other signals. In the early days when the yellow signal section and the entire red signal section are applied to the intersection, the accident rate is reduced. However, the driver who is accustomed to the signal change order of the traffic lights may mislead the user as the predicted departure or enter the intersection in the yellow signal section There is a limit to the prevention of accidents and awareness of the driver. In fact, it has been analyzed that the intersection where the yellow signal period and the entire red signal period are applied is similar to or higher than that before the yellow signal period and the entire red signal period are applied according to the passage of time. Also, since the yellow section and the entire red signal section are constantly added irrespective of the traffic situation, the signal waiting time of the vehicle is increased, which increases traffic congestion.
Therefore, in order to provide drivers' safety and smooth traffic flow, various researches on methods for preventing collision between vehicles have been actively conducted.
One of the proposed methods for preventing collision between various vehicles is the IDS (Intersection Detection Support System). In the IDS, the wireless sensor installed around the road detects the vehicle and transmits the message to the IDS server. The IDS server calculates the distance between the vehicles from the received message and controls the vehicle by transmitting a control message to each vehicle entering the intersection , Thereby preventing a vehicle collision. However, in order to implement the IDS, a plurality of wireless sensors for sensing a vehicle and a centralized communication module for transmitting a message generated by a plurality of wireless sensors to the IDS server, a receiving module Module and so on. There is a problem in that it is difficult to obtain a practical accident prevention effect unless all the vehicles entering the intersection are equipped with the receiving module.
WAVE (Wireless Access in Vehicular Environments) is also one of the proposed vehicle collision avoidance methods. WAVE exchanges information on position and speed of vehicles, predicts the possibility of collision with the opposite vehicle on a two-lane road that can turn left, and warns the driver of the vehicle collision through the HMI (Human Machine Interface) . However, WAVE does not provide a solution for the intersection of n lanes other than the two lanes, and it generates the warning by calculating the deceleration of the vehicle, the speed at the left turn and the road width, There is a limit to the difficulty.
And the vehicle collision avoidance method such as IDS and WAVE described above is a method for preventing collision by controlling a vehicle other than a traffic light through wireless communication between the server and the vehicle or vehicles. However, there is a limitation in that wireless communication with the vehicle can be efficiently performed only when a wireless communication module is provided in each vehicle. In addition, There is a problem that the time for occurrence is short and the effect of preventing an accident is not high.
It is an object of the present invention to provide an intelligent traffic light control apparatus that analyzes a vehicle state of an intersection using an image obtained through a camera disposed at an intersection and adjusts a signal switching time according to the analyzed vehicle state have.
Another object of the present invention is to provide an intelligent traffic light control method for achieving the above object.
According to an aspect of the present invention, there is provided an intelligent traffic light control apparatus including an image input unit arranged at an intersection and receiving an image obtained from at least one camera that photographs a predetermined region; A vehicle progress analyzer for analyzing the image in a predetermined manner to determine whether or not the vehicle enters the intersection and the direction of the intersection, calculate an entry position, time and speed of the vehicle, and obtain vehicle information; And calculating a predicted time until the vehicle entering the intersection leaves the intersection by using the previously stored intersection information and the vehicle information, An intersection signal controller for controlling a viewpoint; .
Wherein the intersection signal controller identifies an intersection entry point and a departure point of the vehicle using the intersection information and the vehicle information and obtains a trajectory distance that the vehicle travels from the entry point to the departure point, The estimated time is calculated by using the speed of the vehicle and the entry time at the entry point.
The intersection signal controller determines whether the estimated time for each of the vehicles entering the intersection exceeds a predetermined time for switching the signal lamp corresponding to the waiting road from the stop signal to the progress signal, And delays the stop signal of the signal lamp corresponding to the waiting road when the time exceeds the predetermined time.
Wherein the intersection signal control unit obtains a delay time by calculating a time difference between the expected time and the scheduled time, delays the stop signal of the signal lamp corresponding to the waiting road for a time corresponding to the delay time, Signal.
According to an aspect of the present invention, there is provided an intelligent traffic light control system comprising: at least one camera disposed at an intersection to photograph a designated area; A plurality of traffic lights arranged at the intersection and displaying a progress signal and a stop signal with respect to a designated road on the intersection; And acquiring vehicle information including an entry position, a time and a speed of a vehicle entering the intersection by analyzing the image in a predefined manner by receiving the image obtained from the camera, and storing the stored intersection information and the vehicle information Calculates a predicted time until a vehicle entering the intersection leaves the intersection and controls a signal switching point of a traffic light corresponding to the corresponding waiting road according to the estimated time; .
According to another aspect of the present invention, there is provided a method for controlling a traffic light of a traffic light control apparatus including an image input unit, a vehicle progress analysis unit, and an intersection signal control unit, wherein the image input unit is disposed at an intersection Receiving an image obtained from at least one camera that photographs a predetermined region; Analyzing the image in a manner specified by the vehicle progress analysis adder to determine whether or not the vehicle enters the intersection and the direction of the intersection, calculating an entry position, time, and speed of the vehicle to obtain vehicle information; Calculating an expected time until the vehicle entering the intersection leaves the intersection using the intersection information stored in advance by the intersection signal controller and the vehicle information; The intersection signal control section judges whether the expected time for the vehicle exceeds a predetermined scheduled time for switching the signal lamp corresponding to the waiting road from the stop signal to the proceeding signal; And delaying the stop signal of the traffic light corresponding to the waiting road for the exceeding time if the expected time exceeds the predetermined time; .
Therefore, the intelligent traffic light control apparatus and method of the present invention can calculate a time when a vehicle entering an intersection leaves an intersection and delay a signal change of a traffic light by a calculated delay time, thereby preventing a vehicle collision in an intersection. And does not communicate with the vehicle, so that the vehicle does not require any additional components. In addition, since the camera and the traffic light control device, which are conventionally disposed at the intersection, can be used, the increase in cost can be minimized. In addition, it can be easily applied to intersections of various conditions, and traffic congestion can be reduced.
1 is a block diagram showing a structure of a traffic light control system according to an embodiment of the present invention.
Fig. 2 shows an example of a model of an intersection for explaining a method of calculating the delay time on the intersection of the intersection signal control unit of Fig. 1. Fig.
3 is a view for explaining a process in which a vehicle collision occurs at an existing intersection.
FIG. 4 is a diagram for explaining a process for preventing a vehicle collision by controlling signal switching of a traffic light by the traffic light control apparatus of the present invention.
5 shows a traffic light control method according to an embodiment of the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.
1 is a block diagram showing a structure of a traffic light control system according to an embodiment of the present invention.
In Fig. 1, the
The camera transmits the photographed image to the traffic
The camera of the
The traffic
The
That is, the traffic
The traffic
The
As described above, the traffic
However, the
In addition, an identifier for each of the cameras that transmit images may be designated in the
The vehicle
Here, the vehicle
Here, the
The intersection signal control unit 25 transmits the identifier of the camera corresponding to the signal indicating the present progress signal from the camera to the
Fig. 2 shows an example of a model of an intersection for explaining a method of calculating the delay time on the intersection of the intersection signal control unit of Fig. 1. Fig.
In FIG. 2, an intersection where four roads A, B, C, and D intersect is shown as an example, and symbols for information included in intersection information and vehicle information can be defined as follows.
N: Number of round trip lanes
d: Car width
s: width of crosswalk
K: Number of lanes allowed to turn left (1 ≤ K ≤ N / 2)
X k : the entry point at which the vehicle of the k-th left turn enters into the intersection
Y k : the exit point where the vehicle of the k-th left turn is out of the intersection
r k is the length of the radius of the circular trajectory to which the vehicle from the k-th left-
Lk : a trajectory distance that travels until the vehicle of the k-th left-turn lane enters the entry point ( Xk ) and leaves the departure point ( Yk )
e k : Time required to completely pass the deviation point (Y k ) to the k-th left turn lane
v k : vehicle speed to the kth left turn lap
(Where the range of k is 1 ≤ k ≤ K).
T: the set time until the signal lamp of the waiting road is switched to the stop signal,
T red : The delay time for delaying the transition of the traffic light on the waiting road after the set time to the progress signal
In the present invention, the road on which the vehicle is proceeding at the intersection is referred to as a progress road, the road on which the left turn is on the progress road is referred to as a left turn road, and the road on which the vehicle is proceeding is referred to as a straight road. The road on which the vehicle is stopped by the red signal is called the waiting road.
Hereinafter, for convenience of explanation, a description will be given of a method of controlling a traffic light based on a vehicle in which a traffic light control device enters an intersection from a left turn road, but the present invention can be similarly applied to a straight road.
Referring to FIG. 2, the operation of the intersection signal controller 25 for calculating the delay time will be described. First, the intersection signal controller 25 transmits a selection signal for selecting the camera corresponding to the signal indicated by the current progress signal to the image input unit 21 ). The intersection signal control unit 25 operates as a control unit for controlling the
In addition, the intersection signal controller 25 may be configured to transmit a selection signal to the
The intersection signal control unit 25 receives the vehicle information from the vehicle
Assuming that the vehicle information is the vehicle
Then, when the length (r k ) of the circular trajectory radius is calculated, the trajectory distance L k is calculated according to Equation (2).
When the trajectory distance L k of the vehicle turning left in the intersection is calculated, the required time e k is calculated using Equation 3 using the calculated trajectory distance L k and the vehicle speed v k as the left turn lane Can be calculated.
On the other hand, when the signal lamp of the left turn road is the left turn signal, the vehicles make a left turn. At this time, the signal light of the waiting road becomes the stop signal, and the progress of the vehicle is restricted. Then, the left turn signal of the left turn road is converted to the stop signal, while the signal of the waiting road is converted into the proceed signal from the stop signal, and the entering of the waiting vehicle is made at the intersection. However, when the vehicle on the left road enters the intersection while the vehicle left on the road does not depart from the intersection, the possibility of a vehicle collision increases.
Here, let S D, n-1 be the time at which the signal light in the direction of the waiting road is changed from the most recent advance signal (straight ahead or leftward) to the stop signal, and the time changed from the stop signal to the progress signal most recently in the signal light in the left- S L, n-1 , when the probability of collision is high, S D, n-1 = S L, n-1 .
Then, the estimated time at which the traffic light in the direction of the waiting road is switched from the stop signal to the progress signal
The time interval [S D, n-1 ,
And the delay time (T red, i ) for delaying the stop signal of the waiting road for the safety of the i-th vehicle passing through the intersection can be calculated by Equation (6) using Equations (4) and (5).
Since the equation (6) represents the delay time for the i th vehicle passing through the intersection, the actual delay time to be applied at the intersection is the maximum delay time having the largest value among the calculated delay times for all vehicles passing through the intersection T red, max ).
If the switching time for switching the stop signal of the actual waiting road to the traveling signal is S D, n , the switching time (S D, n ) is calculated by Equation (7).
In Equation (7),? (?? 0) can be set empirically as a correction delay time that further reflects for safety within an intersection.
Table 1 shows an algorithm for obtaining the switching time (S D, n ) using the delay time (T red, i ) of Equation (6).
FIG. 3 is a view for explaining a process in which a vehicle collision occurs at an existing intersection, and FIG. 4 is a view for explaining a process of preventing a vehicle collision by controlling signal switching of a traffic light by the traffic light control apparatus of the present invention .
In FIGS. 3 and 4, a signal lamp including a signal period before a transition from a progress signal to a stop signal will be described as an example.
Referring first to FIG. 3, in the lower stage, a left turn signal is a progress signal (green), and a standby road signal is a stop signal (red). Thus, the vehicle on the left-turning road enters and passes through the intersection, and the vehicle on the waiting road waits in a stationary state. And the stop signal of the waiting road is maintained for the set time T. [ The left turn road is switched to the caution signal (yellow) before the set time T. However, as shown in FIG. 3, there may also be a vehicle entering the intersection in the attention signal period.
The vehicle entering the intersection leaves the intersection after the estimated time (e n, k, i ) calculated by equation (5). In the existing traffic light control system,
4, the traffic light control apparatus of the present invention determines whether or not the signal lamp of the left turn road is in a predetermined time
5 shows a traffic light control method according to an embodiment of the present invention.
Referring to FIG. 1, the traffic light control method of FIG. 5 will be described. First, the
The intersection signal controller 25 may transmit the identifier of the camera corresponding to the road indicated by the
The vehicle
The intersection signal control unit 25 receives and analyzes the vehicle information from the vehicle
Thereafter, when the intersection signal controller 25 determines that there is a possibility of a vehicle collision,
As a result, the vehicle to the atmospheric lane is prevented from entering the intersection until all the vehicles in the intersection have left the intersection, thereby preventing the vehicle-to-vehicle collision in the intersection from occurring.
In the above description, the delay time is set based on the estimated time until the left-turn vehicle leaves the intersection at the intersection. However, this is because calculating the time required for the left-turn vehicle in the intersection calculates the time required for the straight- As described above, the present invention can also prevent the accident by delaying the signal switching time in a similar manner to the straight-ahead vehicle that has entered the intersection.
It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them.
In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can be included.
Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.
It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
Claims (12)
A vehicle progress analyzer for analyzing the image in a predetermined manner to determine whether or not the vehicle enters the intersection and the direction of the intersection, calculate an entry position, time and speed of the vehicle, and obtain vehicle information; And
Calculating a predicted time until the vehicle entering the intersection leaves the intersection by using the previously stored intersection information and the vehicle information and calculating a predicted time from when the signal switching point of the traffic light corresponding to the waiting road of the intersection An intersection signal controller for controlling the intersection signal; Lt; / RTI >
The intersection signal control unit
Wherein the controller determines the intersection entry point and the departure point of the vehicle by using the intersection information and the vehicle information and obtains a trajectory distance that the vehicle travels from the entry point to the departure point, And calculates the expected time using the entry time at the entry point.
Is a time from when the traffic light corresponding to the progress road where the vehicle enters the intersection is switched to the progress signal until the vehicle passes through the entry point.
Judges whether the expected time for each of the vehicles entering the intersection exceeds a predetermined time for switching the signal lamp corresponding to the waiting road from the stop signal to the proceeding signal, The control unit delays the stop signal of the signal lamp corresponding to the waiting road.
Calculating a time difference between the estimated time and the scheduled time to obtain a delay time, delaying the stop signal of the signal lamp corresponding to the waiting road for a time corresponding to the delay time, Characterized in that the traffic light control device
Wherein the signal lamp is a time interval from a time point at which the signal lamp corresponding to the progress road is switched to the progress signal to a time point at which the signal lamp corresponding to the waiting road is switched to the progress signal from the stop signal.
An identifier of a camera corresponding to a progress signal of the traffic lights of the intersection or a signal indicated by a caution signal is transmitted as a selection signal to the image input unit,
The image input unit
And selects an image corresponding to the selection signal among the images acquired by the camera, and transmits the selected image to the vehicle progress analysis unit.
A plurality of traffic lights arranged at the intersection and displaying a progress signal and a stop signal with respect to a designated road on the intersection; And
And a control unit that receives the image obtained from the camera and analyzes the image in a predefined manner to obtain vehicle information including an entry position, time and speed of the vehicle entering the intersection, and stores the previously stored intersection information and the vehicle information A traffic light control device for calculating a predicted time until a vehicle entering the intersection leaves the intersection and controlling a signal switching point of a traffic light corresponding to a corresponding waiting road according to the estimated time; Lt; / RTI >
The traffic light control device
Wherein the control unit determines the intersection entry point and the departure point of the vehicle using the intersection information and the vehicle information and obtains a trajectory distance that the vehicle travels from the entry point to the departure point, And when the expected time exceeds the designated time for switching the signal lamp corresponding to the waiting road from the stop signal to the proceeding signal, the waiting time corresponding to the waiting road is calculated Wherein the control unit delays the stop signal of the signal lamp for the exceeding time.
Receiving an image obtained from at least one or more cameras arranged in an intersection and photographing a designated area;
Analyzing the image in a manner specified by the vehicle progress analysis adder to determine whether or not the vehicle enters the intersection and the direction of the intersection, calculating an entry position, time, and speed of the vehicle to obtain vehicle information;
Calculating an expected time until the vehicle entering the intersection leaves the intersection using the intersection information stored in advance by the intersection signal controller and the vehicle information;
The intersection signal control section judges whether the expected time for the vehicle exceeds a predetermined scheduled time for switching the signal lamp corresponding to the waiting road from the stop signal to the proceeding signal; And
Delaying the stop signal of the traffic light corresponding to the waiting road for the exceeding time if the expected time exceeds the predetermined time; Lt; / RTI >
The step of calculating the expected time
Determining an intersection entry point and a departure point of the vehicle using the intersection information and the vehicle information;
Obtaining a trajectory distance that the vehicle travels from the entry point to the departure point using the entry point and the departure point; And
Calculating the expected time using the locus distance, the speed of the vehicle, and the entry point entry time; And the traffic light control method comprising the steps of:
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| CN107545741A (en) * | 2017-09-07 | 2018-01-05 | 郑青昊 | A kind of traffic intersection signal lamp adaptive control system |
| US10909866B2 (en) * | 2018-07-20 | 2021-02-02 | Cybernet Systems Corp. | Autonomous transportation system and methods |
| KR102197251B1 (en) * | 2018-08-29 | 2020-12-31 | 재단법인대구경북과학기술원 | Deep learning based traffic signal control method and device for rlr detection and accident prevention |
| CN109243181A (en) * | 2018-09-21 | 2019-01-18 | 深圳市轱辘汽车维修技术有限公司 | Traffic accident method for early warning, device, terminal device and storage medium |
| CN110634307A (en) * | 2019-08-30 | 2019-12-31 | 安锐 | Traffic control method and device of front-end traffic control equipment |
| CN110706483A (en) * | 2019-08-30 | 2020-01-17 | 安锐 | Low-peak traffic passing control method and device |
| CN112750300B (en) * | 2019-10-29 | 2022-09-27 | 阿波罗智联(北京)科技有限公司 | Method and device for acquiring delay index data of road intersection |
| CN110751840A (en) * | 2019-11-22 | 2020-02-04 | 中冶(北京)交通科技发展有限公司 | Traffic signal lamp |
| KR102214488B1 (en) * | 2020-07-07 | 2021-02-10 | 마스코리아 주식회사 | Entry control system for autonomous vehicles at intersections |
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| KR101114968B1 (en) * | 2010-01-12 | 2012-02-29 | 오영태 | A 3-bridge crossroad's signal control apparatus and the method thereof |
| KR20120065781A (en) * | 2010-12-13 | 2012-06-21 | 한국전자통신연구원 | Apparatus and method for guiding the entry and standby time to the crossroad and computer readable recording medium storing program thereof |
| KR101167580B1 (en) | 2011-09-23 | 2012-07-27 | 이의호 | Traffic signal light |
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