CN105469613A - Pedestrian twice crossing signal control scheme configuration method - Google Patents
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Abstract
The invention provides a pedestrian twice crossing signal control scheme configuration method comprising the following steps that step one, an intersection and an optimization time period requiring pedestrian twice crossing optimization are selected; step two, pedestrian crossing flow and motor vehicle flow of the intersection in the optimization time period are measured, the size of the pedestrian crossing flow and the motor vehicle flow is compared, the size of the pedestrian crossing flow of each direction is compared, and release groups with priority of the intersection are determined; step three, a pedestrian island is arranged at the intersection, and segmented signal lamps are arranged on the pedestrian island; and step four, delay time of pedestrian crossing is calculated according to the channelization mode of the intersection, the pedestrian crossing flow direction and phase combination of the intersection, and the phase combination is determined according to delay time.
Description
Technical Field
The invention relates to the field of signal lamp scheme configuration of urban road traffic intersections, in particular to a pedestrian secondary street crossing signal control scheme configuration method for reducing the signal of street crossing delay aiming at the pedestrian street crossing delay of the road at the intersection in the field.
Background
The ordinary one-time street crossing mode requires pedestrians to cross the street in one phase, and when the pedestrian crosswalk is long in width, old and weak people can hardly pass through the street at one time. At a traditional multi-phase signal intersection, a pedestrian has only one street crossing phase in one period.
As shown in fig. 1, only two straight-going phases under the traditional signal phase can be used for pedestrians to cross the street, and in this organization mode, at an intersection with a large scale, the shortest green time required for the pedestrians to cross the street is long, and in order to meet the requirement of the pedestrians on the street safely, the shortest green time has to be increased; at a large intersection with multiple phases, the signal period is large, and great pedestrian street crossing delay is caused.
The secondary street crossing is a pedestrian crossing mode which is characterized in that a pedestrian safety island is arranged on a pedestrian crossing, and the pedestrian crossing is divided so that pedestrians can cross the street in two phases. Not only the constraint of the shortest green light time is reduced, but also the safety of pedestrian crossing is ensured. The arrangement mode of signal phases at the intersection is reasonably arranged, so that the section can be effectively utilized, the times of pedestrians crossing the street in one period are increased, and the delay of pedestrians crossing the street for the second time is greatly reduced.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a method for configuring a pedestrian secondary crossing traffic control plan that can be applied to pedestrian crossing traffic and vehicle traffic in various situations.
The invention provides a pedestrian secondary street-crossing signal control scheme configuration method, which comprises the following steps: the method comprises the steps of firstly, selecting an intersection needing secondary pedestrian crossing optimization and an optimization time interval, secondly, measuring pedestrian crossing flow and motor vehicle flow at the intersection in the optimization time interval, comparing the pedestrian crossing flow and the motor vehicle flow, comparing the pedestrian crossing flow in each direction, and determining a release group preferred by the intersection, thirdly, arranging a pedestrian safety island at the intersection, arranging a sectional signal lamp on the pedestrian safety island, fourthly, calculating delay time of pedestrian crossing according to a canalization mode of the intersection, the pedestrian crossing flow direction and a phase combination of the intersection, and determining the phase combination according to the delay time.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: wherein, the phase combination comprises: straight left part, single-port clearance, pedestrian short passage phase and full red phase.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: wherein the left-right division into a straight line and the left turn are performed in two phases.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: wherein, single mouth is put and is gone on straight going and left turn simultaneously for only a lane in same phase place.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: the pedestrian short-passing method is characterized in that the pedestrian phase and the motor vehicle phase are nested by utilizing the imbalance of the flow of the motor vehicles.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: wherein, the full red phase is when the signal phase place is alternated with the left turn to the straight line, leaves the street time for the pedestrian alone.
The pedestrian secondary street-crossing signal control scheme configuration method provided by the invention also has the following characteristics: wherein, by the formulaA delay time is calculated, where dn represents the average delay and di represents the individual delay.
Action and Effect of the invention
According to the configuration method of the pedestrian secondary street crossing signal control scheme, the pedestrian street crossing flow and the motor vehicle flow are measured at the intersection needing the optimization of the pedestrian secondary street crossing, the prior release group is determined, the pedestrian safety island is arranged at the intersection, the segmented signal lamp is arranged on the pedestrian safety island, the delay time of the pedestrian crossing is calculated, and therefore the optimal pedestrian release scheme and the phase combination are determined. Therefore, the pedestrian secondary crossing signal control scheme configuration method realizes signal lamp phase combination under different conditions, and can effectively improve the crossing efficiency of pedestrians.
Drawings
FIG. 1 is a schematic phase diagram of an exemplary four-phase signalized intersection in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for configuring a pedestrian secondary crossing signal control scheme in an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an idle road for pedestrian secondary street crossing in an embodiment of the present invention;
FIG. 4 is a schematic plan view of a pedestrian short-passage phase in an embodiment of the invention;
FIG. 5 is an explanatory diagram of a four-phase signal control intersection phase for pedestrian crossing right and left in an embodiment of the invention;
FIG. 6 is an explanatory diagram of a phase of a pedestrian crossing single-entrance passing signal control intersection in an embodiment of the invention;
FIG. 7 is a phase illustration of a four-phase signal controlled intersection in an embodiment of the present invention (case one) with unbalanced pedestrian crossing requirements;
FIG. 8 is a phase illustration of a four-phase signal controlled intersection in an embodiment of the present invention with unbalanced pedestrian crossing requirements (case two); and
fig. 9 is an explanatory diagram of phases of pedestrian crossing T-junctions in the embodiment of the invention.
Detailed Description
The following describes in detail the configuration method of the pedestrian secondary street crossing signal control scheme according to the present invention with reference to the accompanying drawings and embodiments.
Examples
Fig. 2 is a flowchart of a pedestrian secondary crossing traffic control scheme configuration method in an embodiment of the present invention.
As shown in fig. 2, the method for configuring the pedestrian secondary crossing signal control scheme includes the following steps:
and step S1, selecting the intersection and the optimization time period which need to carry out the secondary pedestrian crossing optimization.
And step S2, measuring the pedestrian street-crossing flow and the motor vehicle flow at the intersection in the optimization time period, comparing the pedestrian street-crossing flow with the motor vehicle flow, comparing the pedestrian street-crossing flow in each direction, and determining the prior passing group at the intersection.
And step S3, setting a pedestrian safety island at the intersection, and setting a segmented signal lamp on the pedestrian safety island.
And step S4, calculating the delay time of the pedestrian crossing the street according to the channelized mode of the intersection, the pedestrian crossing flow direction and the phase combination of the intersection, and determining the phase combination according to the delay time.
And step S5, calculating the passing time of the pedestrian passing through the intersection, calculating the delay time of the motor vehicle flow and the pedestrian crossing flow when the all red phase is set, and embedding the all red phase when the delay time is increased or decreased.
The delay evaluation method comprises the following steps: under the normal street crossing condition, the pedestrian has only one street crossing phase in one phase, and the remaining three phases are all in the waiting state, so that the delay map is continuous all the time. The speed at which the pedestrian arrives is set as a function, where t is time, the calculation of the delay is:wherein a and b are the start and stop time of the phase period respectively. According to the formula, if the pedestrians arrive uniformly, namely, f (t) ═ C, the signal delay graph rises linearly in a linear function, and finally, the signal delay graph is triangular. The delay starts again from zero every time a pedestrian at the crossing gets cleared. The distribution of the pedestrian arrival functions cannot be changed, so that delay reduction can only be achieved by increasing the number of times that pedestrians cross the street in a single period. The street crossing phase created by the pedestrian secondary street crossing area and the full red phase is essentially the cutting of the signal delay diagram. And cutting the original delay graph into smaller graphs. Then the delay in the present case is:wherein,c is the interval [ a, b]Point (c) due to the pedestrian reaching function f (t)>0, and therefore its delay function is determined to be an increasing function. It can thus be demonstrated that:
the key point of the secondary crossing of the pedestrian is to shorten the waiting period of the original crossing. If and only if C is the middle point of the interval, the delay can reach the minimum value, but the value of the C point is also fixed due to the limitation of the phase length of the motor vehicle straight-going and left-turning signals.
Calculation formula for delay of pedestrian crossing streetWhere dn represents the average personal delay and di represents the personal delay: di is the total time each pedestrian waits at the intersection while crossing the street in one signal phase period.
Fig. 3 is a schematic cross-sectional view of an idle road for pedestrian secondary street crossing in the embodiment of the invention.
As shown in fig. 3, the principle of the four-phase signalized intersection and the three-phase signalized T-shaped intersection will be described by way of example. And adjusting the signal phase sequence, combining the left-turning phases of the two motor vehicles into a pedestrian crossing phase, and connecting the idle half-section of the front and rear left-turning phases through a pedestrian safety island to enable pedestrians to continuously complete twice crossing by utilizing the left-turning phases of the motor vehicles as much as possible.
Fig. 4 is a schematic plan view of a pedestrian crossing short passage phase in an embodiment of the present invention.
As shown in fig. 4, the short-passing phase is nested with the pedestrian phase by utilizing the imbalance of the vehicle flow. When the motor vehicle flow in the opposite direction is unbalanced, the motor vehicle in the direction with less flow is emptied before the phase is finished, the road half section is idle, the pedestrian short-passing phase can utilize the idle half section to finish the motor vehicle phase in the direction in advance and nest the pedestrian crossing phase, and meanwhile, the crossing phase is formed by combining the half section of the next phase, so that the crossing times in the unit period of the pedestrian are increased.
Fig. 5 is an explanatory diagram of the four-phase signal control intersection phase for pedestrian crossing right-left separation in the embodiment of the invention.
The principle that the pedestrian crosses the street for the second time lies in increasing the number of times that the pedestrian crossed the street in a cycle, and under traditional street crossing mode, the pedestrian only had once chance of crossing the street in a signal period, therefore the delay can constantly be accumulated, when having twice chance of crossing the street in a cycle, the delay map will be cut to reduce overall delay. However, the cutting positions are different, and the effect of reducing the delay is also different, theoretically, when cutting is performed at the midpoint of the delay graph, the delay will be the lowest, but due to the limitation of the signal phase length, the cutting point is not necessarily at the midpoint of the cycle, so that the phase needs to be arranged reasonably, and the cutting point is as close to the midpoint of the cycle as possible.
As shown in fig. 5, the straight left split phase alignment is as follows: let A- - -south-north go straight, B- - -south-north turn left, C- - -east-west go straight, and D- - -east-west turn left. There are 24 cases after permutation and combination, but since the case is the same for each direction here, the total number of phase combinations is 6. Respectively as follows: ABCD, ACBD, ACDB, ADBC, ADCB.
Fig. 6 is an explanatory diagram of a phase of a pedestrian crossing single-entrance passing signal control intersection in the embodiment of the invention.
As shown in fig. 6, in the case of single-port release, the four directions of south, east, west and north are respectively represented by A, B, C, D. Combining different phases according to the different release directions can obtain 24 results, and besides the combinations which are repeated because of the directions, six combinations of ABCD, ABDC, ACBD, ACDB, ADBC and ADCB can be obtained.
When the single-port release is carried out clockwise according to south, east, north and west, each signal phase period has a full-amplitude phase for pedestrians to cross the street and 3 half-amplitude phases for pedestrians to cross the street. Compared with the typical four-phase situation, each period has 2 full-amplitude phases and 8 half-amplitude phases for pedestrians to cross the street. Because each cycle in each direction has different half-amplitude phase positions for pedestrians to cross the street, the delay of pedestrian crossing the street in different directions is the same. When the pedestrian passes through the south, east, north and west, the pedestrian crossing requirement in the clockwise direction can be met.
Fig. 7 is an explanatory diagram of phases of the four-phase signal control intersection in the case of unbalanced pedestrian crossing demand in the embodiment of the invention (case one).
Fig. 8 is an explanatory diagram of phases of the four-phase signal control intersection in the case of unbalanced pedestrian crossing demand in the embodiment of the invention (case two).
As shown in fig. 7 and 8, in some cases, the pedestrian flow in the two-way street crossing is not balanced, so there is a preferential limit to the pedestrian crossing. The signal phase arrangement at the intersection should minimize delays in the direction of maximum pedestrian traffic. Also taking the north section as an example, if the main flow direction of a pedestrian crossing the street is from east to west, the signal phase is arranged as: east-west straight running-south-north straight running-east-west left turning-south-north left turning, at the moment, east-west pedestrians with large flow rate are averagely delayed and reduced, west-east pedestrians with small flow rate are delayed and unchanged, and the integral reduction amplitude is larger than that of other signal setting schemes.
There is also directionality in the delay reduction for the entire intersection. The south section and the north section are in mirror symmetry, and the east-west section and the south-north section have the same condition. Under the situation of phase arrangement, the delay of pedestrians walking counterclockwise at the whole intersection is reduced; under the condition of two-phase arrangement, the delay of the pedestrians walking clockwise at the intersection is reduced.
In a specific design process, the secondary pedestrian crossing device can be arranged according to specific requirements. If the pedestrian flow of the four sections is large and directional, the pedestrians can be arranged on the four sections for secondary street crossing; if the pedestrian crossing has no directivity or has a large pedestrian flow of a single section, the pedestrian secondary crossing can be set on a certain section and the section opposite to the certain section.
If necessary, short passing phases should be combined, and if the pedestrian flow is not balanced and the motor vehicle flow is not balanced, the short passing phases should be adopted; the full red phase should be used in combination if pedestrian traffic is excessive and vehicle traffic is not saturated.
At a certain section, the pedestrian flow of the bidirectional street crossing is balanced, so that the priority problem does not exist, and the signal phase only needs to ensure that the delay of the pedestrian crossing at the section is reduced to the minimum. Taking the north section of the intersection as an example, when the straight left split phase setting is adopted, the phase arrangement is as follows: under the conditions of east-west straight running, south-north left turning and east-west left turning, the pedestrian crossing delay from west to east at the north cross section is reduced, and the pedestrian crossing delay from east to west is unchanged. When the phase arrangement becomes: when the pedestrians go straight from east to west, go straight from south to north, turn left from east to west and turn left from south to north, the delay of the pedestrians crossing the street from east to west at the north cross section is reduced, and the delay of the pedestrians crossing the street from west to east is not changed.
Fig. 9 is an explanatory diagram of phases of pedestrian crossing T-junctions in the embodiment of the invention.
As shown in fig. 9, under the condition that the pedestrian is not used for the second crossing, the pedestrian is required to be ensured to cross the street, and then an independent pedestrian crossing phase position must be reserved for the pedestrian. Under the condition of such phase arrangement, the pedestrian crossing street requirement in the west-east direction can be met at the first time.
The four phase arrangement modes comprise a straight left-separating phase, a single-opening passing phase, a pedestrian short passing phase and a full red phase. In general, the straight left-split phase is combined with the pedestrian short-passing phase to reduce the waiting emptying time of the pedestrian at the intersection, but compared with the single-opening passing phase, the straight left-split phase is inferior to the left-turning phase in terms of reducing the pedestrian crossing delay, but because the straight-going phase and the left-turning phase in each direction are independent, the straight left-split phase arrangement has less influence on the motor vehicle, and the restriction on the motor vehicle flow at the intersection is lower; in the case of single-mouth release, the phase time of each direction straight-going and left-turning is the same, so the application range of the single-mouth release is smaller, but the effect on reducing the pedestrian crossing delay is very obvious because the left-turning phase provides more half-width and full-width sections.
Comparison of four phases:
when the left-right split line is released, the specific setting mode is that the signal period length is 120S, wherein the left-turn signal 20S is the left-right signal 40S. The pedestrians in each direction arrive in a uniform distribution, the arrival speed is 1 person/S, the walking speed of the pedestrians is 1m/S under the normal condition, and the highest walking speed is 1.5 m/S. The road width is two-way six lanes, and the road total width is 16 m.
Secondly, when single-port release phase arrangement is adopted, the specific setting mode is as follows: the length of the whole signal period is 120S, and the release time of each single port is 30S. The arrival of the pedestrians in each direction is uniformly distributed, the arrival rate is 1 person/S, and the walking speed of the pedestrians is 1.5m/S under the normal condition. The road width is two-way six lanes, and the road total width is 16 m.
According to the fact that the delay of pedestrian crossing at a traditional typical primary crossing intersection is calculated to be 31.64S, the delay is used as an evaluation base value, secondary crossing phase optimization configuration is conducted on the intersection, and the two situations of pedestrian flow balance and imbalance are discussed.
1) Pedestrian traffic balance situation
Under the condition of single-mouth release, the average delay of the pedestrians crossing the street is reduced by 22.2 percent.
At a conventional four-phase intersection. The best mode is ACBD, where the single-section one-way delay is reduced to 37.5% and the average delay is reduced to 19.7%, when a straight left split phase alignment is used.
When the nested phase in the short-passing phase is adopted, the optimal scheme is ABCD, the delay reduction of the ABCD is 37.5 percent, and the average delay reduction is 19.7 percent.
When the all-red phase in the short traffic phase is adopted, the optimal scheme is ACBED, wherein E is the all-red phase of the motor vehicle, the pedestrian crossing delay at the optimal section is reduced by 43.7%, and the average delay of the whole intersection is reduced by 19.4%.
2) Pedestrian traffic imbalance
And under the condition of unbalanced pedestrian flow, comparing and analyzing the effect of the secondary street crossing of the pedestrians on the single section on the delay reduction. Under the condition that other conditions are not changed, the flow ratio of the pedestrians in two directions at the cross section is assumed to be 4:1 (north cross section).
Under the phase arrangement mode of straight left separation, the delay reduction of the north section in a single direction is still 37.5 percent, but the average delay of the whole north section is reduced to 30 percent, and the delay of people ascending at the whole intersection is reduced to 30 percent
When the phases are nested in the short-passing phase, the delay reduction at a single section is the same as the situation of straight-left separation, but the number of nested phases at one intersection can be determined according to the actual situation. If only one nest is used, the delay reduction is only 7.5%.
And fourthly, when the all-red phase in the short passing phase is adopted, the pedestrian crossing delay of the single cross section of the north cross section is reduced to 62.5%, and the pedestrian secondary crossing delay of the whole intersection is reduced to 30.1%.
According to the calculation result, the intersection with the right and left divided phase arrangement suitable for the balanced pedestrian flow of each section of the intersection can be obtained; the short traffic phase is suitable for the intersection with large pedestrian flow of the single cross section, when the total pedestrian flow of the intersection is large and has obvious directivity, the full red phase is adopted, and if the pedestrian flow of the single cross section in the single direction is obvious, the nested phase is adopted, so that the influence on the motor vehicle is reduced.
Effects and effects of the embodiments
According to the configuration method of the pedestrian secondary street crossing signal control scheme, the pedestrian street crossing flow and the motor vehicle flow are measured at the intersection needing the optimization of the pedestrian secondary street crossing, the prior release group is determined, the pedestrian safety island is arranged at the intersection, the segmented signal lamp is arranged on the pedestrian safety island, the delay time of the pedestrian crossing is calculated, and therefore the optimal pedestrian release scheme and the phase combination are determined. Therefore, the pedestrian secondary crossing signal control scheme configuration method realizes signal lamp phase combination under different conditions, and can effectively improve the crossing efficiency of pedestrians.
The configuration method of the pedestrian secondary street crossing signal control scheme in the embodiment has the full red phase, so that the pedestrians are ensured to pass through the half-section of the road when the phases are alternated, and the pedestrian secondary street crossing is realized by combining the half-section of the next phase.
The configuration method of the pedestrian secondary street-crossing signal control scheme in the embodiment has the left separation and single-port release setting, so that various different pedestrian street-crossing flow and motor vehicle flow conditions can be met.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (7)
1. A pedestrian secondary street crossing signal control scheme configuration method is characterized by comprising the following steps:
step one, selecting an intersection and an optimization time period which need to carry out secondary pedestrian crossing optimization;
step two, measuring pedestrian street-crossing flow and motor vehicle flow in each direction of the intersection in the optimization time period, comparing the pedestrian street-crossing flow with the motor vehicle flow, comparing the pedestrian street-crossing flow in each direction, and determining a prior passing group of the intersection;
step three, arranging a pedestrian safety island at the intersection, and arranging a segmented signal lamp on the pedestrian safety island; and
and step four, calculating the delay time of the pedestrian crossing the street according to the canalization mode of the intersection, the pedestrian crossing flow direction and the phase combination of the intersection, and selecting the phase combination according to the delay time.
2. The pedestrian secondary street-crossing message control scheme configuration method according to claim 1, characterized in that:
wherein the phase combination comprises: straight left part, single-port clearance, pedestrian short passage phase and full red phase.
3. The pedestrian secondary street-crossing message control scheme configuration method according to claim 2, characterized in that:
wherein the left-right split is performed in two phases for straight and left turn.
4. The pedestrian secondary street-crossing message control scheme configuration method according to claim 2, characterized in that:
the single-port amplifier can simultaneously carry out straight running and left turning on only one lane in the same phase.
5. The pedestrian secondary street-crossing message control scheme configuration method according to claim 2, characterized in that:
the pedestrian short-passing is characterized in that the pedestrian phase and the motor vehicle phase are nested by utilizing the imbalance of the flow of the motor vehicles.
6. The pedestrian secondary street-crossing message control scheme configuration method according to claim 2, characterized in that:
the full red phase is used for independently reserving street crossing time for pedestrians when the straight-going and left-turning signal phases are alternated.
7. The pedestrian secondary street-crossing message control scheme configuration method according to claim 1, characterized in that:
wherein, by the formulaCalculating the delay time, wherein dn represents the average delay of people and di represents the delay of people.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105844923A (en) * | 2016-06-08 | 2016-08-10 | 北方工业大学 | Induction type pedestrian street-crossing signal control method and system |
| CN105869392A (en) * | 2016-05-09 | 2016-08-17 | 华南理工大学 | Traffic control method facilitating signalized intersection skew-crossing of pedestrians |
| CN108257393A (en) * | 2018-01-03 | 2018-07-06 | 上海市城市建设设计研究总院（集团）有限公司 | Pedestrian section street crossing control method based on ground public transport priority pass |
| CN111477017A (en) * | 2019-12-26 | 2020-07-31 | 李成利 | Technology for promoting safe passing of people and vehicles at urban main road intersection |
| CN111785052A (en) * | 2020-07-08 | 2020-10-16 | 宁波保税区立诚信息技术有限公司 | Traffic signal lamp control method for road traffic flow in valley period |
| CN112820121A (en) * | 2020-12-31 | 2021-05-18 | 北京市振隆科技股份有限公司 | Control system and control method for increasing half-width pedestrian crossing at road intersection |
| CN113096415A (en) * | 2021-03-10 | 2021-07-09 | 东南大学 | Signal coordination optimization control method for secondary pedestrian crossing intersection |
| CN113362623A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Continuous flow intersection left-turn non-motor vehicle traffic organization system and signal control method |
| CN113421440A (en) * | 2021-05-18 | 2021-09-21 | 东南大学 | Dynamic traffic signal control method for secondary crossing intersection of pedestrian |
| CN113793502A (en) * | 2021-09-15 | 2021-12-14 | 国网电动汽车服务(天津)有限公司 | Pedestrian crossing prediction method under no-signal-lamp control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105869392A (en) * | 2016-05-09 | 2016-08-17 | 华南理工大学 | Traffic control method facilitating signalized intersection skew-crossing of pedestrians |
| CN105844923A (en) * | 2016-06-08 | 2016-08-10 | 北方工业大学 | Induction type pedestrian street-crossing signal control method and system |
| CN108257393B (en) * | 2018-01-03 | 2021-06-18 | 上海市城市建设设计研究总院（集团）有限公司 | Pedestrian road section street crossing control method based on ground public traffic prior passage |
| CN108257393A (en) * | 2018-01-03 | 2018-07-06 | 上海市城市建设设计研究总院（集团）有限公司 | Pedestrian section street crossing control method based on ground public transport priority pass |
| CN111477017A (en) * | 2019-12-26 | 2020-07-31 | 李成利 | Technology for promoting safe passing of people and vehicles at urban main road intersection |
| CN111785052A (en) * | 2020-07-08 | 2020-10-16 | 宁波保税区立诚信息技术有限公司 | Traffic signal lamp control method for road traffic flow in valley period |
| CN112820121A (en) * | 2020-12-31 | 2021-05-18 | 北京市振隆科技股份有限公司 | Control system and control method for increasing half-width pedestrian crossing at road intersection |
| CN113096415A (en) * | 2021-03-10 | 2021-07-09 | 东南大学 | Signal coordination optimization control method for secondary pedestrian crossing intersection |
| CN113421440A (en) * | 2021-05-18 | 2021-09-21 | 东南大学 | Dynamic traffic signal control method for secondary crossing intersection of pedestrian |
| CN113362623A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Continuous flow intersection left-turn non-motor vehicle traffic organization system and signal control method |
| CN113362623B (en) * | 2021-06-04 | 2022-03-01 | 哈尔滨工业大学 | Continuous flow intersection left-turn non-motor vehicle traffic organization system and signal control method |
| CN113793502A (en) * | 2021-09-15 | 2021-12-14 | 国网电动汽车服务(天津)有限公司 | Pedestrian crossing prediction method under no-signal-lamp control |
| CN116416794A (en) * | 2023-03-27 | 2023-07-11 | 东南大学 | Method for judging secondary pedestrian crossing setting condition at crosswalk without signal control |
| CN116416794B (en) * | 2023-03-27 | 2024-03-26 | 东南大学 | Method for judging secondary pedestrian crossing setting condition at crosswalk without signal control |
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