CN116386310A - Intelligent road pedestrian crossing control method and system - Google Patents

Abstract

The invention discloses a method and a system for controlling pedestrian crossing of an intelligent road, which belong to the technical field of intelligent road traffic, an infrared thermal imager starts detection to detect whether pedestrians pass through a pedestrian crossing area, and if not, the method is ended; if pedestrians pass through the pedestrian crossing area, pedestrian crossing safety risk analysis is performed; if pedestrian crossing safety analysis is performed, and a collision risk exists, starting an anti-collision pile control facility, and lifting up an anti-collision pile to remove the collision risk; detecting whether the person does not pass through or not by the infrared thermal imager, and if so, carrying out risk collision analysis; and detecting no pedestrians by the infrared thermal imager, and falling down the anti-collision piles. The intelligent traffic pedestrian crossing safety control method based on the traffic efficiency is capable of achieving intelligent traffic pedestrian crossing safety requirements on the premise of ensuring traffic efficiency, and a more reliable and safer control method is provided.

Description

Intelligent road pedestrian crossing control method and system

Technical Field

The invention belongs to the technical field of intelligent road traffic, and particularly relates to a method and a system for controlling intelligent road pedestrian crossing.

Background

With the application of new technology, smart city construction is continuously advanced, smart traffic is an important component of smart cities, and road smart traffic safety plays a greater role in guaranteeing life safety of people.

Road traffic participant vehicles and pedestrians, where pedestrians are at dangerous parties. The pedestrian crossing of present design mainly is pedestrian zebra stripes, pedestrian zebra stripes and traffic lights control combination, volunteer guide or other warning system that crosses the street, and this kind of mode can not ensure the absolute safety of crossing the street pedestrian, and intelligent traffic construction is lagged, along with the development of intelligent traffic, should adopt safer and more reliable's technical means to ensure the safety of crossing the street.

Disclosure of Invention

Aiming at the defects or improvement demands of the prior art, the invention provides a method and a system for controlling the intelligent road pedestrian crossing, which can realize the safety requirement of intelligent traffic pedestrians crossing on the premise of ensuring the passing efficiency and provide a more reliable and safer control method.

In order to achieve the above object, according to one aspect of the present invention, there is provided an intelligent road pedestrian crossing control method comprising:

for any target lane, if a pedestrian passes through a pedestrian crossing area, acquiring a first speed of a target vehicle at a stop line of the target lane;

after the preset time, if the target vehicle is detected at a preset distance before stopping the line, acquiring a second speed of the target vehicle;

inquiring a pedestrian crossing risk analysis knowledge base according to the magnitude relation between the first speed and the second speed and the magnitude of the first speed, and reasoning to obtain the pedestrian crossing risk of the target lane;

a risk countermeasure is determined based on the pedestrian crossing risk of the target lane.

In some alternative embodiments, the pedestrian crossing risk analysis knowledge base is determined as follows:

analyzing according to collision risk corresponding to the vehicle speed to obtain the magnitude relation between different first speeds and second speeds and a risk analysis table under the different first speeds;

expressing a risk analysis table by using a rule method, generating a fact library and a rule library, wherein the fact library is divided and created according to the size relation between different first speeds and second speeds, the different first speeds, the rule library is a rule established by combining facts in the created fact library, and the precondition facts in the rule library are matched with the size relation between different first speeds and second speeds and the facts with different first speeds.

In some alternative embodiments, the inferentially obtaining the pedestrian crossing risk of the target lane comprises:

matching the magnitude relation between the current first speed and the second speed and the facts in the first speed magnitude and the fact library one by one to generate facts;

matching rule preconditions in a rule base with the generated size relation between the current first speed and the second speed and the first speed size facts;

extracting the front of each rule, verifying whether the premises are in a pedestrian crossing risk analysis knowledge base, if so, successfully matching, otherwise, taking down one rule for matching;

and outputting the conclusion of the rule successfully matched to obtain the pedestrian crossing risk of the target lane.

In some optional embodiments, the analyzing according to the risk of collision corresponding to the vehicle speed, to obtain magnitude relations between different first speeds and second speeds, and a risk analysis table under the magnitude of the first speeds, includes:

if the second speed is greater than or equal to the first speed, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed and the first speed is smaller than a first preset speed value, the target vehicle speed is low, and the risk of collision is low;

if the second speed is smaller than the first speed and the first speed is larger than or equal to a second preset speed value, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed, and the first speed is larger than or equal to a first preset speed value and smaller than a second preset speed value, the target vehicle speed is moderate, if S < = V0 x T0/2, the collision risk is low, if S > V0 x T0/2, the collision risk is high, wherein S is the distance from the stop line to the zebra crossing, V0 is the first speed, and T0 is the time when the vehicle braking speed is reduced from V0 to 0.

In some alternative embodiments, the risk countermeasure is determined based on the pedestrian crossing risk of the target lane, including:

if the pedestrian crossing risk of the target lane is high in risk of collision, an electric lifting type anti-collision pile arranged in front of the target lane is started, so that the anti-collision pile is lifted to remove the risk of collision, and the anti-collision pile is controlled to fall when no failed personnel exist.

According to another aspect of the present invention, there is provided an intelligent road pedestrian crossing control system including: a set of ground induction coils 1 provided for each lane at the stop line for detecting the vehicle at the stop line;

a group of ground induction coils 2 arranged at each lane at a preset distance in front of a stop line for detecting a vehicle at the preset distance in front of the stop line;

the method comprises the steps that a monitoring rod piece is arranged at a first preset distance before a stop line, the cantilever height of the rod piece is preset, each lane on the rod piece is provided with a set of speed measuring equipment, the speed measuring equipment is used for acquiring a first speed of a target vehicle at the stop line of a target lane, and after preset time, if the target vehicle is detected at the preset distance before the stop line, a second speed of the target vehicle is acquired;

the infrared thermal imager is arranged on the monitoring rod piece and is used for detecting whether a person passes through the crosswalk area;

the control center is used for inquiring the pedestrian crossing risk analysis knowledge base according to the size relation between the first speed and the second speed and the size of the first speed, reasoning to obtain the pedestrian crossing risk of the target lane, and carrying out risk coping through the electric lifting anti-collision piles arranged in front of each lane based on the pedestrian crossing risk of the target lane.

In some alternative embodiments, the pedestrian crossing risk analysis knowledge base is determined as follows:

analyzing according to collision risk corresponding to the vehicle speed to obtain the magnitude relation between different first speeds and second speeds and a risk analysis table under the different first speeds;

expressing a risk analysis table by using a rule method, generating a fact library and a rule library, wherein the fact library is divided and created according to the size relation between different first speeds and second speeds, the different first speeds, the rule library is a rule established by combining facts in the created fact library, and the precondition facts in the rule library are matched with the size relation between different first speeds and second speeds and the facts with different first speeds.

In some alternative embodiments, the inferentially obtaining the pedestrian crossing risk of the target lane comprises:

matching the magnitude relation between the current first speed and the second speed and the facts in the first speed magnitude and the fact library one by one to generate facts;

matching rule preconditions in a rule base with the generated size relation between the current first speed and the second speed and the first speed size facts;

extracting the front of each rule, verifying whether the premises are in a pedestrian crossing risk analysis knowledge base, if so, successfully matching, otherwise, taking down one rule for matching;

and outputting the conclusion of the rule successfully matched to obtain the pedestrian crossing risk of the target lane.

In some optional embodiments, the analyzing according to the risk of collision corresponding to the vehicle speed, to obtain magnitude relations between different first speeds and second speeds, and a risk analysis table under the magnitude of the first speeds, includes:

if the second speed is greater than or equal to the first speed, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed and the first speed is smaller than a first preset speed value, the target vehicle speed is low, and the risk of collision is low;

if the second speed is smaller than the first speed and the first speed is larger than or equal to a second preset speed value, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed, and the first speed is larger than or equal to a first preset speed value and smaller than a second preset speed value, the target vehicle speed is moderate, if S < = V0 x T0/2, the collision risk is low, if S > V0 x T0/2, the collision risk is high, wherein S is the distance from the stop line to the zebra crossing, V0 is the first speed, and T0 is the time when the vehicle braking speed is reduced from V0 to 0.

In some optional embodiments, the risk of pedestrian crossing based on the target lane is risk-treated by an electric lifting anti-collision pile arranged in front of each lane, including:

if the pedestrian crossing risk of the target lane is high in risk of collision, an electric lifting type anti-collision pile arranged in front of the target lane is started, so that the anti-collision pile is lifted to remove the risk of collision, and the anti-collision pile is controlled to fall when no failed personnel exist.

In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:

through the technical scheme, the intelligent traffic pedestrian crossing safety requirement is realized on the premise of ensuring the passing efficiency, and a more reliable and safer control method is provided. Has certain popularization and application value in the application field.

Drawings

FIG. 1 is a schematic flow chart of a pedestrian crossing control program provided by an embodiment of the invention;

FIG. 2 is a schematic diagram of a pedestrian crossing safety analysis flow provided by an embodiment of the invention;

FIG. 3 is a schematic diagram of an expert system of a pedestrian crossing risk analysis system provided by an embodiment of the invention;

fig. 4 is a schematic plan view of an intelligent pedestrian crossing system according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In the examples of the present invention, "first," "second," etc. are used to distinguish between different objects, and are not used to describe a particular order or sequence.

Example 1

Fig. 1 is a schematic flow chart of a pedestrian crossing control program provided by an embodiment of the present invention, and the method shown in fig. 1 includes the following steps: taking the a target lane as an example:

a, a pedestrian crossing control program flow of lane A:

the first step: the infrared thermal imager starts detection, whether pedestrians pass through a pedestrian crosswalk area or not is detected, and if no pedestrians pass through the pedestrian crosswalk area, the process jumps to a sixth step;

and a second step of: if pedestrians pass through the pedestrian crossing area, pedestrian crossing safety risk analysis is performed;

and a third step of: if pedestrian crossing safety analysis is performed, and a collision risk exists (namely FXa=TRUE), starting an anti-collision pile control facility, and lifting an anti-collision pile to remove the collision risk;

fourth step: the infrared thermal imaging instrument detects whether the person does not pass or not, if so, the third step is returned;

fifth step: the infrared thermal imager detects no pedestrians, and the anti-collision pile falls down (fxa=false);

sixth step: and (3) ending, and returning to the first step.

The lanes B to F are consistent according to the lane A control flow, so that intelligent pedestrian crossing control of the lanes A to F is realized.

In the embodiment of the present invention, as shown in fig. 2, the analysis of pedestrian crossing safety risk in the second step may be implemented by taking the target lane a as an example:

the A lane pedestrian crossing safety analysis program flow comprises the following steps:

the first step: the geomagnetic coil 1 at the stop line detects the target vehicle A, triggers the vehicle speed detection equipment to detect the first speed Va of the target vehicle A, enables V0 = Va, and jumps to the fourth step if the target vehicle A is not detected;

and a second step of: if the geomagnetic coil 2 detects the target vehicle a within a preset time (such as 5s in the embodiment of the invention) at a preset distance (such as 1m in the embodiment of the invention) before stopping the line, triggering a vehicle speed detection device to detect a second speed Va of the target vehicle a, so that v1=va; if the target vehicle A is not detected within the preset time, namely within 5 seconds, V1 = 0, and jumping to a third step;

and a third step of: performing pedestrian crossing safety analysis;

fourth step: and (3) ending, and returning to the first step.

The B-F lane pedestrian crossing safety analysis program realizes the safety analysis of the A-F lanes according to the control flow of the A lane.

In the embodiment of the invention, pedestrian crossing safety analysis can be obtained by reasoning through a pedestrian crossing risk analysis system expert system:

the expert system principle of the pedestrian crossing risk analysis system is shown in fig. 3, X represents that the input of the expert system man-machine interface comprises a first vehicle speed V0 at the stop line of the lane A (the lanes B-F), a second vehicle speed V1 at the position 1m in front of the stop line and the management input to the knowledge base; y represents expert system output, here, a pedestrian risk determination FXa for this lane (lanes B to F are FXb to FXf); the man-machine interface of the pedestrian crossing risk analysis system refers to a computer of the pedestrian crossing risk analysis system; knowledge management is to increase, delete, change and other knowledge maintenance of knowledge base; the knowledge base is a collection of decision knowledge and experience knowledge of a pedestrian crossing risk analysis decision expert; the inference engine is a set of programs, which processes the knowledge base aiming at different speeds and speed changes and feeds the inference result back to the man-machine interface of the pedestrian risk analysis system.

In an embodiment of the invention, a pedestrian crossing risk analysis knowledge base can be created by the following ways:

(1) Knowledge collection

Expert knowledge of risk values of pedestrian crossing risk analysis corresponds to risk analysis of collision people from usual vehicle speed, and risk analysis tables under different conditions are listed as shown in table 1.

TABLE 1 pedestrian crossing risk analysis table

(2) Knowledge representation

The risk analysis table is expressed using rules whose standard program architecture is "IF-THEN" (IF-THEN), i.e., evaluate a condition, and take action IF the condition is true. And generating a fact base and a rule base after expressing expert knowledge according to rule method knowledge in table 1.

1) Generating a fact repository

The facts are divided and created according to the first vehicle speed V0 at the stop line and the second vehicle speed V1 at 1m before the stop line, the facts are refined when the control demand increases, and the facts are coarsened when the control demand decreases. The facts are now divided according to the information in table 1, and a fact library is established as shown in table 2, containing facts of "fact 1",...

TABLE 2 fact library

Sequence number	Facts	Sequence number	Facts
				Facts 1	V0<10km/h	Facts A	V1<V0
Facts 2	10km/h<＝V0<60km/h	Facts B	V1＝V0
				Facts 3	V0>＝60km/h	Facts C	V1>V0

2) Generating rule base

The facts in the created fact repository are combined to create a rule base, which contains facts of "rule 1A",... Wherein, rule "rule 2A" expresses "if V0 is 10km/h < = V0<60km/h AND v1=v0; then lane a pedestrian risk fxa=true (high risk) "expert knowledge. (taking lane A as an example)

TABLE 3 rule base

Sequence number	Rules of
		Rule 1A	IF fact 1AND fact a; THEN fxa=false
Rule 1B	IF fact 1AND fact B; THEN fxa=true
		Rule 1C	IF fact 1AND fact C; THEN fxa=true
Rule 2A	IF fact 2AND fact A; THEN fxa=true/FALSE
		Rule 2B	IF fact 2AND fact B; THEN fxa=true
Rule 2C	IF fact 2AND fact C; THEN fxa=true
		Rule 3A	IF fact 3AND fact a; THEN fxa=true
Rule 3B	IF fact 3AND fact B; THEN fxa=true
		Rule 3C	IF fact 3AND fact C; THEN fxa=true

(3) Pedestrian crossing risk knowledge reasoning

The pedestrian crossing risk expert system carries out knowledge reasoning through the inference engine to obtain pedestrian crossing risk values of all lanes.

1) Inference method

The expert system inference engine for pedestrian crossing risk value adopts forward direction inference method, which aims at the known conditions of V0, V1, T0 and the like input by the user to process the facts and rules in the knowledge base of the system. The reasoning principle is as follows:

if fact M is true and a rule "TF M THEN" exists, THEN N is true.

Thus, IF the known condition entered by the user satisfies facts 1AND facts A in the fact repository, AND the rule repository has rules "IF facts 1AND facts A; THEN fxa=true "present; the lane pedestrian risk value fxa=true may be obtained.

The working process of the inference engine is as follows (taking lane a as an example):

1) The known conditions entered by the user are matched with facts in the fact repository piece by piece and facts are generated.

2) Matching the rule preconditions in the rule base with the generated facts of V0 and V1; extracting the < preconditions > of each rule, verifying whether the preconditions are in a library, and if so, successfully matching; otherwise, the rule is removed for matching.

3) And outputting the < conclusion > of the rule successfully matched to obtain the pedestrian crossing risk value FXa of the lane.

And deducing pedestrian crossing risk values (FXa-FXf) in all lanes according to the steps.

As shown in fig. 4, the set of control system provided by the embodiment of the invention is arranged at a pedestrian crossing in a road, and a stop line is arranged at a distance s in front of a zebra crossing:

(1) Detecting a vehicle: a group of ground induction coils 1 are arranged on each lane at the stop line, vehicles at the stop line are detected, a group of ground induction coils 2 are arranged on each lane at the position 1m in front of the stop line, and vehicles at the position 1m in front of the stop line are detected.

(2) Detecting the vehicle speed: a monitoring rod is arranged at a first preset distance (15-20 m in the embodiment of the invention) in front of the stop line, the cantilever height of the rod is a preset height (6.5 m in the embodiment of the invention), and a set of speed measuring equipment is mounted on each lane of the rod.

(3) Detecting a person: an infrared thermal imager is arranged on the monitoring rod piece to detect whether a person passes through the zebra stripes.

(4) An electric lifting type anti-collision pile is arranged in front of each lane.

(5) The control center performs centralized control and intelligent analysis to realize intelligent control of the pedestrian crossing.

Whether the pedestrian zebra stripes are occupied or not is detected, and whether the lifting type anti-collision piles are started or not is intelligently analyzed by the control center through measuring the change of the vehicle speed, so that the pedestrian passing safety is ensured.

A pedestrian crossing risk analysis system mainly comprises the following analysis methods: based on analysis of vehicle speed and speed variation:

(1) The vehicle speed is too high, and the risk is high;

(2) The vehicle speed is low, and the risk is low;

(3) The vehicle speed is moderate, if the vehicle accelerates to the street crossing, the risk is high. If the speed of the zebra crossing is reduced, judging whether the speed is reduced to 0 before the zebra crossing, and predicting the risk, if the speed of the zebra crossing cannot be reduced to 0 for a certain time, the risk of collision with pedestrians is high; if the speed can be reduced to 0 for a certain time, the risk of collision with pedestrians is avoided, and the risk is low. The method comprises the following steps:

s < = V0T 0/2, risk low;

s > V0T 0/2, the risk is high.

Wherein S is the distance from the stop line to the pedestrian zebra crossing, V0 is the speed of the vehicle passing the stop line, and T0 is the time for the vehicle braking speed to decrease from V0 to 0 according to experience.

It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of the operations of the steps/components may be combined into new steps/components, as needed for implementation, to achieve the object of the present invention.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. An intelligent road pedestrian crossing control method is characterized by comprising the following steps:

for any target lane, if a pedestrian passes through a pedestrian crossing area, acquiring a first speed of a target vehicle at a stop line of the target lane;

after the preset time, if the target vehicle is detected at a preset distance before stopping the line, acquiring a second speed of the target vehicle;

inquiring a pedestrian crossing risk analysis knowledge base according to the magnitude relation between the first speed and the second speed and the magnitude of the first speed, and reasoning to obtain the pedestrian crossing risk of the target lane;

a risk countermeasure is determined based on the pedestrian crossing risk of the target lane.

2. The method of claim 1, wherein the pedestrian crossing risk analysis knowledge base is determined as follows:

analyzing according to collision risk corresponding to the vehicle speed to obtain the magnitude relation between different first speeds and second speeds and a risk analysis table under the different first speeds;

expressing a risk analysis table by using a rule method, generating a fact library and a rule library, wherein the fact library is divided and created according to the size relation between different first speeds and second speeds, the different first speeds, the rule library is a rule established by combining facts in the created fact library, and the precondition facts in the rule library are matched with the size relation between different first speeds and second speeds and the facts with different first speeds.

3. The method of claim 2, wherein said inferentially obtaining a pedestrian crossing risk for the target lane comprises:

matching the magnitude relation between the current first speed and the second speed and the facts in the first speed magnitude and the fact library one by one to generate facts;

matching rule preconditions in a rule base with the generated size relation between the current first speed and the second speed and the first speed size facts;

extracting the front of each rule, verifying whether the premises are in a pedestrian crossing risk analysis knowledge base, if so, successfully matching, otherwise, taking down one rule for matching;

and outputting the conclusion of the rule successfully matched to obtain the pedestrian crossing risk of the target lane.

4. A method according to claim 3, wherein the analyzing according to the risk of collision corresponding to the vehicle speed to obtain the magnitude relation between the first speed and the second speed, and the risk analysis table under the magnitude of the first speed includes:

if the second speed is greater than or equal to the first speed, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed and the first speed is smaller than a first preset speed value, the target vehicle speed is low, and the risk of collision is low;

if the second speed is smaller than the first speed and the first speed is larger than or equal to a second preset speed value, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed, and the first speed is larger than or equal to a first preset speed value and smaller than a second preset speed value, the target vehicle speed is moderate, if S < = V0 x T0/2, the collision risk is low, if S > V0 x T0/2, the collision risk is high, wherein S is the distance from the stop line to the zebra crossing, V0 is the first speed, and T0 is the time when the vehicle braking speed is reduced from V0 to 0.

5. The method according to any one of claims 1 to 4, wherein the determining risk countermeasure based on the pedestrian crossing risk of the target lane includes:

if the pedestrian crossing risk of the target lane is high in risk of collision, an electric lifting type anti-collision pile arranged in front of the target lane is started, so that the anti-collision pile is lifted to remove the risk of collision, and the anti-collision pile is controlled to fall when no failed personnel exist.

6. An intelligent road pedestrian crossing control system, characterized by comprising: a set of ground induction coils 1 provided for each lane at the stop line for detecting the vehicle at the stop line;

a group of ground induction coils 2 arranged at each lane at a preset distance in front of a stop line for detecting a vehicle at the preset distance in front of the stop line;

the method comprises the steps that a monitoring rod piece is arranged at a first preset distance before a stop line, the cantilever height of the rod piece is preset, each lane on the rod piece is provided with a set of speed measuring equipment, the speed measuring equipment is used for acquiring a first speed of a target vehicle at the stop line of a target lane, and after preset time, if the target vehicle is detected at the preset distance before the stop line, a second speed of the target vehicle is acquired;

the infrared thermal imager is arranged on the monitoring rod piece and is used for detecting whether a person passes through the crosswalk area;

the control center is used for inquiring the pedestrian crossing risk analysis knowledge base according to the size relation between the first speed and the second speed and the size of the first speed, reasoning to obtain the pedestrian crossing risk of the target lane, and carrying out risk coping through the electric lifting anti-collision piles arranged in front of each lane based on the pedestrian crossing risk of the target lane.

7. The system of claim 6, wherein the pedestrian crossing risk analysis knowledge base is determined as follows:

analyzing according to collision risk corresponding to the vehicle speed to obtain the magnitude relation between different first speeds and second speeds and a risk analysis table under the different first speeds;

expressing a risk analysis table by using a rule method, generating a fact library and a rule library, wherein the fact library is divided and created according to the size relation between different first speeds and second speeds, the different first speeds, the rule library is a rule established by combining facts in the created fact library, and the precondition facts in the rule library are matched with the size relation between different first speeds and second speeds and the facts with different first speeds.

8. The system of claim 7, wherein said inferentially obtaining a pedestrian crossing risk for a target lane comprises:

matching the magnitude relation between the current first speed and the second speed and the facts in the first speed magnitude and the fact library one by one to generate facts;

matching rule preconditions in a rule base with the generated size relation between the current first speed and the second speed and the first speed size facts;

extracting the front of each rule, verifying whether the premises are in a pedestrian crossing risk analysis knowledge base, if so, successfully matching, otherwise, taking down one rule for matching;

and outputting the conclusion of the rule successfully matched to obtain the pedestrian crossing risk of the target lane.

9. The system of claim 8, wherein the analyzing according to the collision risk corresponding to the vehicle speed to obtain the magnitude relation between the first speed and the second speed, and the risk analysis table under the magnitude of the first speed includes:

if the second speed is greater than or equal to the first speed, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed and the first speed is smaller than a first preset speed value, the target vehicle speed is low, and the risk of collision is low;

if the second speed is smaller than the first speed and the first speed is larger than or equal to a second preset speed value, the target vehicle speed is too high, and the risk of collision is high;

if the second speed is smaller than the first speed, and the first speed is larger than or equal to a first preset speed value and smaller than a second preset speed value, the target vehicle speed is moderate, if S < = V0 x T0/2, the collision risk is low, if S > V0 x T0/2, the collision risk is high, wherein S is the distance from the stop line to the zebra crossing, V0 is the first speed, and T0 is the time when the vehicle braking speed is reduced from V0 to 0.

10. The system according to any one of claims 6 to 9, wherein the target lane-based risk of pedestrian crossing is risk-addressed by an electric lift bumper provided in front of each lane, comprising:

if the pedestrian crossing risk of the target lane is high in risk of collision, an electric lifting type anti-collision pile arranged in front of the target lane is started, so that the anti-collision pile is lifted to remove the risk of collision, and the anti-collision pile is controlled to fall when no failed personnel exist.

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