CN117012019A - A vehicle-road cooperative pedestrian crossing active safety warning system - Google Patents
A vehicle-road cooperative pedestrian crossing active safety warning system Download PDFInfo
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- CN117012019A CN117012019A CN202210453074.5A CN202210453074A CN117012019A CN 117012019 A CN117012019 A CN 117012019A CN 202210453074 A CN202210453074 A CN 202210453074A CN 117012019 A CN117012019 A CN 117012019A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to two or more of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to two or more of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- 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
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Abstract
本发明公开了一种车路协同式的行人过街主动安全预警系统，可适用于信控交叉口和路段过街通道两种场景，以解决行人与车辆因路权不明确而导致的交通冲突。该系统包括检测、控制、预警、无线通信，四个模块。检测模块由调频连续波毫米波雷达和高清摄像机组成，实现车辆与行人检测功能；控制模块包括两组微控制单元，分别控制预警情况判断和智能斑马线LED灯组变换颜色启亮；预警模块包括装有LED灯的智能斑马线和语音提示桩，可分别从视、听两个角度进行预警；无线通信模块以固化于内部的IoT单元为核心实现区域内信息交换。本发明可对行人和车辆双向预警，对减少人‑车冲突具有现实意义。The invention discloses a vehicle-road cooperative pedestrian crossing active safety warning system, which can be applied to two scenarios: signal-controlled intersections and road section crossing passages, to solve traffic conflicts between pedestrians and vehicles caused by unclear right of way. The system includes four modules: detection, control, early warning, and wireless communication. The detection module is composed of frequency modulated continuous wave millimeter wave radar and a high-definition camera to realize vehicle and pedestrian detection functions; the control module includes two sets of micro-control units, which respectively control the judgment of early warning conditions and the color change of the intelligent zebra crossing LED light group; the early warning module includes Intelligent zebra crossings and voice prompts with LED lights can provide early warning from visual and auditory perspectives respectively; the wireless communication module uses the IoT unit solidified inside as the core to realize information exchange within the area. The invention can provide two-way early warning for pedestrians and vehicles, and has practical significance for reducing pedestrian-vehicle conflicts.
Description
Technical Field
The invention belongs to the field of traffic management and safety control engineering, and relates to a pedestrian crossing active safety early warning system with a cooperative vehicle-road.
Background
According to statistics, the number of casualties of pedestrians in traffic accidents exceeds 20%, and the number of casualties of pedestrians in the process of crossing roads exceeds 50%, so that the pedestrians on road sections are easy to generate accidents, and the accidents are frequent during the signal transition of intersections. Related researches show that if pedestrians start to cross the street at the end of the green light, the situation that the pedestrians do not pass through completely and the vehicles are already right of way and start to start often occurs, and the pedestrians cross the street to collide with the vehicles, so that traffic accidents are caused.
Aiming at the pedestrian safety problem, foreign Jin and the like designs a pedestrian crosswalk safety system comprising a luminous sign, a light-emitting diode (LED) crosswalk lamp, a text display device and a voice device. When overspeed vehicles approach to the pedestrian, the system transmits visual and audible warning information to both the vehicles and the pedestrian. Sowmiya et al in order to reduce pedestrian's emergence traffic accident in zebra crossing department and dead condition, design an intelligent compartment including compartment module, sensor module, traffic light module, power module, effectively promoted the security performance of pedestrian and vehicle. Liu Yichen and the like detect the motion conditions of pedestrians and vehicles, control signals according to the detection conditions, and add physical isolation and voice prompt devices to improve the safety of pedestrians crossing streets. Chen Ze and the like are faster than the characteristics of the vehicle aiming at pedestrian reaction, and a two-way warning is established for the vehicle and the pedestrian by displaying zebra stripes with different lamp colors according to different vehicle speeds and different signal control schemes. Yang Yan and the like, a safety device which takes a singlechip as a core and can carry out photoelectric and acoustic dual prompt is designed for the collision phenomenon of pedestrians crossing a street and vehicles so as to ensure traffic safety.
In summary, when expert scholars at home and abroad solve the problem of pedestrian crossing safety at road sections and intersections, although related achievements and technologies are applied to traffic management and control of pedestrian crossing, in the aspect of active safety of pedestrian crossing, the redundancy and perfection of the scheme can be greatly improved, and meanwhile, the systematic degree of the scheme can be further improved; in addition, the related research and results do not comprehensively consider the characteristics of people, vehicles and roads, and the scheme systemization degree can be further improved. Therefore, the invention carries out multidimensional cooperative coupling on the running characteristic of the vehicle, the pedestrian crossing characteristic and the road characteristic, and designs a pedestrian crossing active safety early warning system with cooperative vehicle and road in a bidirectional early warning mode of the pedestrians and the vehicles from the aspect of active safety.
Disclosure of Invention
The invention aims to provide a vehicle-road cooperative pedestrian crossing active safety early warning system which is used for solving the problem that pedestrians and vehicles collide due to undefined road rights at two scenes of a signal control intersection and a road section crossing channel to cause traffic accidents. Mainly aims at solving the problems that the prior art does not solve the conflict of pedestrian crossing, the characteristics of people, vehicles and roads are not fully considered, the active safety is not fully considered, and the like. The system is realized by systematically classifying the collision between people and vehicles and bidirectionally early warning pedestrians and vehicles.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a main control-auxiliary control distributed structure is adopted, and the system is arranged at the end of the zebra crossing so as to cover the whole pedestrian crossing area; by adopting a modularized design scheme, the system comprises a detection module, a control module, an early warning module and a wireless communication module. The system composition is shown in figure 1.
The detection module comprises a vehicle detection part and a pedestrian detection part, wherein the vehicle detection part comprises a millimeter wave radar and a high-definition camera, and the pedestrian detection part comprises a millimeter wave radar.
Preferably, the millimeter wave radar in the detection module adopts a frequency modulation continuous wave millimeter wave radar, is arranged at a stand column at the end of the zebra stripes, can adjust the installation height and angle, and the radar detection range comprises a zebra stripe region and a lane region in 10m in front of the zebra stripes. The frequency modulation continuous wave millimeter wave radar is responsible for two parts of functions: (1) detecting whether a vehicle stops before the zebra stripes; (2) detecting the current position and speed of the pedestrian.
Optionally, the high-definition camera in the detection module adopts an HIKVISION-C5HC high-definition camera to collect the vehicle speed information. The collected speed information can be transmitted to the control module in a wireless mode, and the C5HC high-definition camera is arranged on an electronic police cantilever at a crossing and a road section street crossing channel.
Preferably, the vehicle speed acquisition method selects a differential image method, a video detection area is preset in front of an intersection entrance, a group of virtual coils Loop1 and Loop2 are defined in the video detection area, and the average speed of a vehicle passing through the two virtual coils Loop1 and Loop2 is obtained by carrying out image differential analysis on a shot video.
The control module is connected with the detection module and comprises 3 groups of micro-control units, and after the position and speed information of the vehicle and the pedestrian transmitted by the detection module is read, early warning condition judgment, voice prompt pile sounding and intelligent zebra line LED lamp group color conversion starting are respectively controlled. The system workflow is shown in fig. 2. The system has different early warning judgment strategies at the positions of the zebra crossings of the intersections and the pedestrian crossing channels of the road sections due to application scene differences. The judgment strategy is specifically as follows:
scene (1): the system is arranged at the intersection zebra crossing. The system starts to work when the remaining time of the green light is 10 s. When detecting that a pedestrian is about to enter the zebra stripes, but can not finish crossing in the residual passing time, the voice prompt stake is used for early warning through sound, and when the pedestrian does not look at the voice early warning, the intelligent zebra stripes are started.
Scene (2): the system is arranged at the road section pedestrian crossing passage. The system works uninterruptedly, and when detecting that the collision exists between pedestrians and vehicles on the zebra stripes, the intelligent zebra stripes change color early warning and the voice prompt piles synchronously send out voice warning.
When the pedestrian is on the zebra stripes, the intelligent zebra stripes can be divided into 3 situations according to the vehicle state before the next vehicle lane zebra stripes in front under two scenes: (1) the front lane is stopped without a vehicle at present, but the vehicle which does not exceed the safe speed is driven, and then the yellow warning of the zebra stripes in front of the next front lane is controlled; (2) when no vehicle stops at present in the front lane and a vehicle with a speed exceeding the safe speed arrives, controlling the red warning of the zebra stripes in front of the next front lane; (3) and when the vehicle stops in the front lane, the zebra stripes of the lane where the pedestrian is located and the front of the next lane are controlled to flash and early warn.
The safe vehicle speed in the control module can be reversely calculated according to the following formula.
Wherein: s is a vehicle safety braking distance considering the characteristics of a person and a vehicle; beta is the weight; t is t 0 Braking the reaction time for the driver; t is t 1 The time for which the vehicle brake shoe is in contact with the brake drum; t is t 2 Time to maximum braking deceleration; v 0 Is the initial running speed; g is gravity acceleration;is the moisture coefficient; phi is a roughness coefficient; θ is road longitudinal gradient; v p The speed of the pedestrian movement; n is the number of lanes; l (L) c Is a single lane width; t is t r Is pedestrian reaction time; delta is a conversion coefficient of the rotating mass; k is a characteristic parameter of a pedestrian; a, a 0 、b 0 The length and the height of the target car body are respectively; a, a * 、b * The length and the height of the body of the reference vehicle are respectively. The first two items in the above formula are road and vehicle characteristic items, and the last 3 items are pedestrian characteristic items.
The early warning module is connected with the control module, and early warning is made according to the control of the micro control unit, and the early warning module comprises an intelligent zebra crossing and a voice prompt pile.
Preferably, the intelligent zebra stripes comprise LED lamp sets, control circuits, lead frames and high polymer Polycarbonate (PC) shells. The intelligent zebra stripes are shown in figure 3.
Preferably, the LED lamp group selects ND16 series LED highlighting indicator lamps.
Preferably, the wireless communication module is connected to the control module to synchronize control information, including built-in IoT units, within an area.
The invention relates to a vehicle-road cooperative pedestrian crossing active safety early warning system, which comprises the following working procedures: the millimeter wave radar detects that pedestrians are about to cross a street or are crossing a street, the video detects the speed of a vehicle, judges whether the speed of the vehicle exceeds the safe speed, and controls the yellow start-up, the red start-up and the red flashing early warning of the zebra stripes according to the positions of the pedestrians and the positions and the speeds of the vehicle, and the voice prompt pile carries out voice early warning on the pedestrians.
The invention can detect the positions and the speeds of pedestrians and vehicles in real time, judge the conflict between the pedestrians and the vehicles according to the conditions, and run different early warning schemes according to different conditions. Through voice prompt stake to pedestrian early warning, through the bright red of opening of intelligent zebra crossing, red scintillation, open bright yellow, carry out two-way early warning to pedestrian and vehicle, can effectively reduce the conflict of pedestrian and vehicle, avoid the traffic accident.
Drawings
The invention will be further described with reference to the drawings and embodiments.
FIG. 1 is a schematic diagram of the system components of the present invention;
FIG. 2 is a schematic diagram of the system workflow of the present invention;
FIG. 3 is a schematic diagram of a smart zebra stripes of the present invention;
FIG. 4 is a schematic diagram of an intelligent zebra stripes LED lamp set in the present invention;
reference numerals illustrate: 1. millimeter wave radar; 2. a pedestrian waiting area; 3. voice prompt piles; 4. a virtual coil 1; 5. a virtual coil 2; 6. a video detection zone; 7. a high definition camera; 8. an intelligent zebra crossing; 9. a control circuit board; 10. I/O control lines; 11. an LED lamp; 12. a high molecular Polycarbonate (PC) housing; 13. and a lead frame.
Detailed description of the preferred embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
If the system is arranged at the intersection zebra crossing, the system starts to work when the pedestrian green light remains for 10 seconds. When detecting that a pedestrian is about to enter the zebra stripes, but can not finish crossing in the residual passing time, the voice prompt stake is used for early warning through sound, and when the pedestrian does not look at the voice early warning, the intelligent zebra stripes are started. If the system is arranged at the road section pedestrian crossing channel, the system works uninterruptedly, and when the collision between the pedestrian on the zebra crossing and the vehicle is detected, the intelligent zebra crossing changes the color early warning and the voice prompt stake synchronously sends out the voice warning. The system workflow is shown in fig. 2.
When the pedestrian is on the zebra stripes, the intelligent zebra stripes can be divided into 3 situations according to the vehicle state before the next vehicle lane zebra stripes in front under two scenes: (1) the front lane is stopped without a vehicle at present, but the vehicle which does not exceed the safe speed is driven, and then the yellow warning of the zebra stripes in front of the next front lane is controlled; (2) when no vehicle stops at present in the front lane and a vehicle with a speed exceeding the safe speed arrives, controlling the red warning of the zebra stripes in front of the next front lane; (3) and when the vehicle stops in the front lane, the zebra stripes of the lane where the pedestrian is located and the front of the next lane are controlled to flash and early warn.
Specifically, the frequency modulation continuous wave millimeter wave radar (1) in the detection module is arranged at the upright post at the end of the zebra crossing, and the installation height and angle can be adjusted to cover the whole range to be detected, so as to realize whether the vehicle stops before the zebra crossing is detected and detect the position and speed of pedestrians.
Specifically, a HIKVISION-C5HC high-definition camera (7) in the detection module is arranged on an electronic police suspension rod at a crossing and a road section street crossing channel. When the differential image method is adopted to obtain the vehicle speed information, a video detection area (6) needs to be defined in advance, two virtual coils (4 and 5) are set, the virtual coils are defined at the position 45m away from the zebra stripes, and the safe vehicle speed is 30km/h.
The control module comprises two micro control units, and the singlechip is used as a core for functional design. And controlling early warning condition judgment and the intelligent zebra stripes LED lamp group to change colors to start up.
The intelligent zebra stripes are arranged at the positions of the traditional zebra stripes to replace the traditional zebra stripes. The national standard indicates that the basic length of the zebra stripes is 3-5m, each width is 45-60cm, and the interval is 60cm. Assuming that the length and width of each zebra crossing are both minimized, it can be determined that the ideal zebra crossing is 300cm long and 45cm wide.
Specifically, intelligent zebra stripes LED banks arranges: the diameter of the intelligent zebra stripes LED lamp group is 3cm, 69 LED lamps can be installed on one zebra stripe, and the total number of the LED lamps is 3 columns and 23 rows. The spacing between columns is 9cm, the spacing between rows is 10cm, and the first row and the last row are each 5.5cm from the inner wall of the device. The intelligent zebra stripes LED lamp group is arranged as shown in figure 4.
Intelligent zebra stripes are installed: the intelligent zebra stripes are internally provided with the LED lamp groups in an embedded manner according to the arrangement, and a control circuit board is arranged below the lead frame and connected with the control module to realize the function of changing the lamp colors. The intelligent zebra stripes are required to have good waterproof and durable performances in the application process, so that a high polymer Polycarbonate (PC) shell is arranged on the surface of the intelligent zebra stripes, and a thicker waterproof transparent adhesive layer is sealed. The intelligent zebra stripes can be guaranteed to have good durability and temperature resistance on the premise of good light transmittance, and meanwhile, the surfaces of the intelligent zebra stripes are diffuse reflection surfaces, so that the intelligent zebra stripes also have good anti-dazzle performance. In addition, in order to prevent the surface from being too smooth and causing unsafe accidents of pedestrians and vehicles due to skidding, anti-skidding deceleration patterns can be manufactured on the surface of the shell, and the anti-skidding coefficient is improved. The intelligent zebra stripes are shown in figure 3.
The wireless communication module takes an IoT unit solidified inside as a core to realize information exchange in an area.
In summary, the present invention provides a vehicle-road cooperative pedestrian crossing active safety pre-warning system, which includes: the detection module is used for detecting the positions and speeds of vehicles and pedestrians; the control module is connected with the pedestrian detection module and comprises two groups of micro-control units for respectively controlling early warning condition judgment and color conversion and starting of the intelligent zebra line LED lamp group; the early warning module comprises an intelligent zebra crossing provided with an LED lamp and a voice prompt pile, and can respectively perform early warning from two angles of sight and hearing; the wireless communication module takes the IoT unit solidified inside as a core to realize information exchange in the area.
The vehicle-road cooperative pedestrian crossing active safety early warning system can double warn vehicles and pedestrians, and has high safety coefficient; the intersection and the road section street-crossing channel can be covered completely; traffic conflict and potential safety hazard caused by too high driving speed and undefined road rights of people and vehicles can be effectively reduced. Therefore, the invention has higher engineering value and practical significance.
Claims (12)
1. A pedestrian crossing active safety early warning system with cooperative vehicle and road is characterized in that: the system is arranged at the end of the zebra stripes by adopting a main control-auxiliary control distributed structure, and the whole pedestrian crossing area is covered; the system comprises a detection module, a control module, an early warning module and a wireless communication module.
2. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 1, characterized in that: the detection module comprises a vehicle detection part and a pedestrian detection part, wherein the vehicle detection part comprises a millimeter wave radar and a high-definition camera, and the pedestrian detection part comprises a millimeter wave radar.
3. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 2, characterized in that: millimeter wave radar in the detection module adopts frequency modulation continuous wave millimeter wave radar, installs in zebra stripes extreme stand department, height and the angle of adjustable installation, and radar detection range includes the lane region in zebra stripes regional and the place ahead 10 m. The frequency modulation continuous wave millimeter wave radar is responsible for two parts of functions: (1) detecting whether a vehicle stops before the zebra stripes; (2) detecting the current position and speed of the pedestrian.
4. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 2, characterized in that: and the high-definition camera in the detection module adopts a HIKVISION-C5HC high-definition camera to collect vehicle speed information. The collected speed information can be transmitted to the control module in a wireless mode, and the C5HC high-definition camera is arranged on an electronic police cantilever at a crossing and a road section street crossing channel.
Specifically, a differential image method is selected in the vehicle speed acquisition method, a video detection area is preset in front of an intersection entrance, a group of virtual coils Loop1 and Loop2 are defined in the video detection area, and the average speed of a vehicle passing through the two virtual coils Loop1 and Loop2 is obtained by carrying out image differential analysis on a shot video.
5. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 1, characterized in that: the control module is connected with the detection module and comprises 3 groups of micro-control units, and after the position and speed information of the vehicle and the pedestrian transmitted by the detection module is read, early warning condition judgment, voice prompt pile sounding and intelligent zebra line LED lamp group color conversion starting are respectively controlled.
6. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 5, characterized in that: and the early warning condition judgment in the control module has application scene differences at the positions of the zebra crossings of intersections and the pedestrian crossing channels of road sections, and has different early warning judgment strategies. The judgment strategy is specifically as follows:
scene (1): the system is arranged at the intersection zebra crossing. The system starts to work when the remaining time of the green light is 10 s. When detecting that a pedestrian is about to enter the zebra stripes, but can not finish crossing in the residual passing time, the voice prompt stake is used for early warning through sound, and when the pedestrian does not look at the voice early warning, the intelligent zebra stripes are started.
Scene (2): the system is arranged at the road section pedestrian crossing passage. The system works uninterruptedly, and when detecting that the collision exists between pedestrians and vehicles on the zebra stripes, the intelligent zebra stripes change color early warning and the voice prompt piles synchronously send out voice warning.
When the pedestrian is on the zebra stripes, the intelligent zebra stripes in two scenes are divided into 3 situations according to the vehicle state before the front next lane zebra stripes: (1) the front lane is stopped without a vehicle at present, but the vehicle which does not exceed the safe speed is driven, and then the yellow warning of the zebra stripes in front of the next front lane is controlled; (2) when no vehicle stops at present in the front lane and a vehicle with a speed exceeding the safe speed arrives, controlling the red warning of the zebra stripes in front of the next front lane; (3) and when the vehicle stops in the front lane, the zebra stripes of the lane where the pedestrian is located and the front of the next lane are controlled to flash and early warn.
7. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 6, characterized in that: the safe speed in the control module is obtained by back-pushing according to the following formula.
Wherein: s is a vehicle safety braking distance considering the characteristics of a person and a vehicle; beta is the weight; t is t 0 Braking the reaction time for the driver; t is t 1 The time for which the vehicle brake shoe is in contact with the brake drum; t is t 2 Time to maximum braking deceleration; v 0 Is the initial running speed; g is gravity acceleration;is the moisture coefficient; phi is a roughness coefficient; θ is road longitudinal gradient; v p The speed of the pedestrian movement; n is the number of lanes; l (L) c Is a single lane width; t is t r Is pedestrian reaction time; delta is a conversion coefficient of the rotating mass; k is a characteristic parameter of a pedestrian; a, a 0 、b 0 The length and the height of the target car body are respectively; a, a * 、b * The length and the height of the body of the reference vehicle are respectively. The first two items in the above formula are road and vehicle characteristic items, and the last 3 items are pedestrian characteristic items.
8. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 1, characterized in that: the early warning module is connected with the control module, and early warning is made according to the control of the micro control unit, and the early warning module comprises an intelligent zebra crossing and a voice prompt pile.
9. The vehicle-road cooperative pedestrian crossing active safety precaution system of claim 8, characterized in that: the intelligent zebra stripes comprise an LED lamp set, a control circuit, a lead frame and a high polymer Polycarbonate (PC) shell.
10. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 9, characterized in that: and the LED lamp group is an ND16 series LED highlight indicator lamp.
11. The vehicle-road cooperative pedestrian crossing active safety precaution system according to claim 1, characterized in that: the wireless communication module is connected with the control module and synchronizes control information in an area, including a built-in IoT unit.
12. The vehicle-road cooperative pedestrian crossing active safety early warning system according to claim 1, wherein the working flow is as follows: the millimeter wave radar detects that pedestrians are about to cross a street or are crossing a street, the video detects the speed of a vehicle, judges whether the speed of the vehicle exceeds the safe speed, and controls the yellow start-up, the red start-up and the red flashing early warning of the zebra stripes according to the positions of the pedestrians and the positions and the speeds of the vehicle, and the voice prompt pile carries out voice early warning on the pedestrians.
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| CN202210453074.5A CN117012019A (en) | 2022-04-27 | 2022-04-27 | A vehicle-road cooperative pedestrian crossing active safety warning system |
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| CN202210453074.5A CN117012019A (en) | 2022-04-27 | 2022-04-27 | A vehicle-road cooperative pedestrian crossing active safety warning system |
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Cited By (1)
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| CN118343118A (en) * | 2024-06-17 | 2024-07-16 | 吉林大学 | A vehicle driving control method and system considering pedestrian crossing safety awareness |
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Application publication date: 20231107 |