EP2211321A1 - Procédé et dispositif de commande d'au moins une installation de feux lumineux d'un passage-piéton - Google Patents

Procédé et dispositif de commande d'au moins une installation de feux lumineux d'un passage-piéton Download PDF

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Publication number
EP2211321A1
EP2211321A1 EP10151548A EP10151548A EP2211321A1 EP 2211321 A1 EP2211321 A1 EP 2211321A1 EP 10151548 A EP10151548 A EP 10151548A EP 10151548 A EP10151548 A EP 10151548A EP 2211321 A1 EP2211321 A1 EP 2211321A1
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EP
European Patent Office
Prior art keywords
pedestrian crossing
pedestrian
image
camera
detected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP10151548A
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German (de)
English (en)
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EP2211321B1 (fr
Inventor
Matthias Hoffmeier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hella GmbH and Co KGaA
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Hella KGaA Huek and Co
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Application filed by Hella KGaA Huek and Co filed Critical Hella KGaA Huek and Co
Priority to EP12158275A priority Critical patent/EP2466566A1/fr
Publication of EP2211321A1 publication Critical patent/EP2211321A1/fr
Application granted granted Critical
Publication of EP2211321B1 publication Critical patent/EP2211321B1/fr
Revoked legal-status Critical Current
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles

Definitions

  • the invention relates to a method and a device for controlling at least one traffic light system.
  • a release signal is generated for releasing the lane section of the pedestrian crossing for vehicles by the traffic light system or for deactivating a warning signal generated by the traffic light system.
  • traffic lights as warning lights, such as yellow flashing lights, as well as Konlicht Hilanlagen known, which are also referred to as traffic lights.
  • traffic lights are used to protect the pedestrian crossing the road via a pedestrian crossing.
  • variable traffic light traffic systems are used to control road traffic, with a traffic light system for road users ordering a certain behavior in that controlled light signals are emitted by light signal elements of the alternating light signaling system.
  • controlled light signals are emitted by light signal elements of the alternating light signaling system.
  • These different light signals according to shape and / or color each have a different meaning and are emitted by the light signal elements against the direction of travel of the traffic to be controlled.
  • Traffic light elements for controlling the vehicle traffic have the colors red with the meaning "no license”, green with the meaning "the traffic is released” and yellow with the meaning "waiting for the next signal”.
  • Alternating light traffic signs are switched with fixed switching signal sequences or depending on request signals.
  • alternating light traffic signs are known in which pedestrians with the help of a request button can request a release of a pedestrian crossing for pedestrians by the Komlicht Hilstrom.
  • induction loops and infrared sensors are known which detect vehicles in an area in front of a traffic light traffic light system and generate a request signal for releasing the vehicle traffic in the direction of travel of the detected vehicle.
  • a request signal-dependent control of the alternating light signaling systems is also referred to as traffic-dependent control of the alternating light signal system.
  • the control of the light signals of the alternating light signal system takes place with the aid of a signal time schedule. In this the lengths of the individual switching phases of the light signals of a Komlicht Weinstrom are given. The switching times defined in the signal schedule can be changed or canceled by request signals.
  • a vehicle-mounted device for detecting an approach to a pedestrian crossing is known. This device generates a signal indicative of the approach.
  • a pedestrian detection apparatus and method in which a laser radar is used to detect a pedestrian by detecting the position of a reflection object and imaging it in a two-dimensional coordinate system.
  • the device is arranged in a vehicle.
  • the object of the invention is to specify a method and a device by means of which a control of at least one traffic light system on a pedestrian crossing is simply possible depending on at least one object detected in a region of a road section marked as a pedestrian crossing.
  • the roadway in the area of the pedestrian crossing can be released again for vehicle traffic or alternatively a warning signal can be switched off, pointed out with the help of possible pedestrians on the pedestrian crossing.
  • the road section designated as a pedestrian crossing is blocked by the traffic light system for vehicles at least when an object classified as a pedestrian is detected in an area adjacent to the pedestrian crossing area of the footpath.
  • This can also be a blocking of the road for vehicles in the area of the pedestrian crossing depending on detected pedestrians who want to cross the road at the pedestrian crossing with high probability.
  • a request signal for blocking the road section of the pedestrian crossing for vehicles can then be generated by the traffic light system. This can be determined in particular whether a pedestrian approaches the pedestrian crossing or will pass the footpath on the pedestrian crossing. As a result, the area of the pedestrian crossing for vehicles can only be blocked if it is to be assumed from the sequence of movement of the detected pedestrian that the latter actually wants to cross the roadway. As a result, an unnecessary restriction of vehicle traffic due to a precautionary blockage can be avoided by the mere detection of a pedestrian on the footpath in an area adjacent to the pedestrian crossing.
  • the method according to the invention and in the device according to the invention determine the position of at least the object detected as a pedestrian with the aid of at least one stereo camera of the camera system.
  • the determined position in particular based on the position of the pedestrian in a world coordinate system, it can be determined whether or not the pedestrian is in the area of the pedestrian crossing.
  • At least one camera of the camera system it is advantageous with the aid of at least one camera of the camera system to capture an image sequence with a plurality of successively recorded images of a detection range of the camera and to generate images corresponding image data, which are further processed by a processing unit of the camera system by at least the image of an object is detected in the image and the object is classified and by tracking (so-called tracking) of the object takes place in the successively recorded images, wherein preferably the position of the object in a world coordinate system at the recording times of at least two consecutively recorded images is determined.
  • At least one image of at least one first object which is located in the region of the road segment marked as a pedestrian crossing
  • at least one second camera of the camera system at least one image of at least one second object is detected, which is located in the region of another roadway section that is different from the pedestrian crossing.
  • the detected objects are classified in each case.
  • a request signal for releasing the lane section of the pedestrian crossing for vehicles is generated when the at least one second object is classified as a vehicle approaching the footpath.
  • the help of the request signal to the traffic signal system can be initiated depending on the release signal to release the lane section of the pedestrian crossing for vehicles this release.
  • the camera system may comprise at least two cameras, preferably at least two stereo cameras, which are arranged at a distance from one another and whose detection area comprises at least one area of the pedestrian crossing. These cameras are preferably arranged on opposite sides of the road. The detection areas of these cameras overlap at least partially in the area of the traffic lane section marked as a pedestrian crossing, so that an image of a roadway in itself the overlapping area object is detected by each of the cameras. Each camera takes a picture with a picture of the object. In this case, it is advantageous to determine the position of the object on the basis of the images captured by each of the two cameras, wherein a position determined with the aid of the image of the object detected by the camera is verified with the aid of the image of the object detected by the other camera and / or corrected.
  • the traffic light system may, in particular, comprise a changing light signaling system, ie a traffic light system, or a warning light, preferably a flashing warning light.
  • a protection of the pedestrian crossing the roadway is achieved by preventing vehicles from passing through the traffic lights of the traffic light system to drive the area of the pedestrian crossing, or by the driver of these vehicles receive a warning before crossing the pedestrian by the warning light.
  • Another aspect of the invention relates to a device having the features of the independent device claim.
  • This device can be developed in the same way as is disclosed for the method according to the invention, in particular by the features specified in the dependent claims or by corresponding device features.
  • FIG. 1 is a traffic situation 10 on a roadway 12 and on the roadway 12 adjacent footpaths 14, 16 shown.
  • An area 18 of the road 12 is marked as a pedestrian crossing.
  • a light signal exchange system ie a traffic light system, provided for the protection of pedestrians when crossing the lane 12 on the pedestrian crossing 18.
  • a pedestrian on the footpaths 14, 16 is designated by the reference numerals 32, 34.
  • the traffic light system comprises two traffic light masts 20, 22, which are arranged on opposite sides of the pedestrian crossing 18 in the direction of travel of the traffic lanes before the pedestrian crossing 18 on the footpaths 14, 16.
  • each light signal unit 24 to 30 has at least two Lichtabstrahl Schemee their Light emission can be activated or deactivated by a drive signal.
  • Light elements with two Lichtabstrahl Schemeen have a Lichtabstrahl Scheme the color red and a Lichtabstrahl Scheme the color green.
  • the pedestrian crossing 18 is marked by markings in the form of a zebra crossing on the roadway 12.
  • the marks are in FIG. 1 indicated by the dashed lines 38, 40.
  • stop lines 42, 44 are applied as a road marking on the roadway 12, at which at a red light signal of the light signal units 24, 26 have to hold vehicle 36 until a release of the roadway 12 in the area of the pedestrian crossing 18 by a green light signal of the light signal units 24, 26 is generated.
  • the line of sight of the stereo cameras 46, 48 are in FIG. 1 schematically shown by the solid lines 46a, 46b, and 48a, 48b.
  • the detection areas of the stereo camera 46, 48 overlap in the area of the pedestrian crossing 18, so that the objects located in this overlapping area are detected with the aid of both the first stereo camera 46 and the second stereo camera 48.
  • the detection ranges of the stereo cameras 46, 48 may not overlap. Furthermore, it is alternatively or additionally possible to monitor with the help of the stereo camera 46, 48 or with the help of other cameras adjacent to the pedestrian crossing 18 areas of the footpaths 14, 16, by using the images taken by these cameras with pictures of the pedestrian crossing 18 adjacent areas of the footpaths 14, 18 detected and the images of relevant objects in these images are detected and classified. Will be at least classifies one of these objects as a pedestrian, a request signal to release the pedestrian crossing for pedestrians 32, 34 by the Komlicht Strong Industriessstrom 24 to 30 done.
  • the cameras 46, 48 consecutively take pictures or pairs of images.
  • each of the cameras 46, 48 captures images at a frequency in the range of 3 to 30 frames per second, preferably in the range of 15 to 30 frames per second, and processes them to detect images of objects in those images as well as to classify the images objects.
  • a request signal is transmitted to a control unit 50 of the alternating light traffic facility, which then switches the light-signaling elements 24, 26 to red, so that a red light signal is output, and thus vehicles 36 must stop at the stop lines 42, 44 and the pedestrian crossing 18 may not ride.
  • the light-signal elements 28, 30 are switched to green, so that a green light signal is output and thus the pedestrian crossing 18 for the pedestrians 32, 34 is released.
  • the cameras 46, 48 or further cameras can detect at least one area of the roadway 12 against the direction of travel of the respective traffic lane at least from the respective stop line 42, 44 in order to detect waiting or approaching the pedestrian crossing 18 vehicles 36 and in a detection of such vehicles 36 to generate a request signal to the control unit 50 of the alternating light signaling system, which then the pedestrian crossing 18 for pedestrians 32, 34 blocks by the light-emitting elements 28, 30 are switched to red.
  • the Konlichtichtstrom after a fixed switching protocol with fixed switching intervals or in addition or alternatively Request is automatically controlled, for example by means of infrared or induction loops in the lane or pedestrian request buttons, or whether the request is made by means of the camera 46, 48, with the aid of the cameras 46, 48 after pedestrians 32 pedestrian crossing 18 is blocked; 34 monitored by a red light signal of the light-emitting elements 28, 30, whether the area of the pedestrian crossing 18 is vacated or whether in the area of the pedestrian crossing 18 on the lane 12 are still pedestrians.
  • the traffic light system is controlled so that a release signal for releasing the road in the area of the pedestrian crossing 18 for vehicles 36 takes place only when no pedestrian is in the area of the pedestrian crossing 18, ie only when the pedestrian crossing 18 is vacated.
  • the traffic safety especially when handicapped persons cross the pedestrian crossing 18, be increased because a release of the roadway 12 in the area of the pedestrian crossing 18 for the vehicles 36 takes place only if these people leave the area of the pedestrian crossing 18 and the pedestrian crossing Have vacated 18.
  • the stereo cameras 46, 48 can be implemented as a color-cast camera or as a black-and-white stereo camera.
  • grayscale images are generated, the processing of which is possible with less effort than the processing of color images.
  • image capture sensors for black-and-white cameras are currently known, which have a brightness resolution of up to 4096 gray levels per pixel, so that a good distinguishability of objects and background is possible.
  • black and white cameras can achieve higher brightness resolution and higher image resolution than comparable color cameras.
  • the control unit 50 of the alternating light signaling system is in the present embodiment additionally a processing unit for Processing the image data of the captured using the cameras 46, 48 images provided.
  • the pollutant emissions of the vehicles 36 can be reduced by a speedy activation and waiting times can be avoided or reduced.
  • infrared lighting devices may be provided, the stereo cameras 46, 48 being designed for recording the pedestrian crossing 18 illuminated by infrared light.
  • FIG. 2 are the waveform 100 of the light-emitting elements 24, 26, the waveform 101 of the light-emitting elements 28, 30 and the waveform 102 of the detection result of the cameras 46, 48 each shown as a time course.
  • the signal course 100 is also referred to as a lane-tracking signal
  • the signal course 101 as a pedestrian signal
  • the signal course 102 is also referred to as the visual interval course of the cameras 46, 48.
  • the time segments of the waveforms 100, 101 are subdivided into a plurality of time intervals identified by the numerals 15, 16, 17 and 18, wherein in each of the time intervals 15 the light-signaling element 24, 26 activates the yellow light, in the time interval 16 activates the red light, in the time interval 17 activates the red and yellow light simultaneously and activates the green light in the time interval 18.
  • the time intervals of the signal course 102 are designated by the numerals 20, 21 and 22, wherein in the time interval 20 the cameras 46, 48 are switched off or the consideration of the camera signals is deactivated, the cameras 46, 48 detect no pedestrians in the time interval 21 and in the time interval 22 at least one camera 46, 48 detects at least one pedestrian.
  • Result from this operating phases 200, 201 of the alternating light signaling system wherein in the operating phase 200 each a fixed switching interval for controlling the Konlicht Strong Industriessstrom without consideration of release and / or request signals of the camera 46, 48 is used and in the time interval 201, the control of the alternating light system starting from the by Camera 46, 48 detected objects takes place.
  • the lane signal 100 is switched from green to yellow and then to red. After the lane signal 100 has been switched to red, the pedestrian signal is switched from red to green. Only when the cameras 46, 48 no pedestrians 32, 34 detect more in the area of the pedestrian crossing 18, the pedestrian signal is switched back to red and then switched the lane signals to red-yellow and subsequently to green. Only after the cameras 46, 48 detect another pedestrian 32, 34, which presumably intends to cross the lane in the area of the pedestrian crossing 18, is the lane signal 100 switched to yellow and subsequently to red. After the lane signal is switched to red, the pedestrian signal 101 is switched to green again.
  • the lane signal 100 remains switched to red until the cameras 46, 48 detect that no pedestrian 32, 34 is located in the area of the pedestrian crossing 18 on the lane 12. Only then is the lane signal 100 again switched to red-yellow and then to green. Instead of the red yellow signal, only a yellow signal can be output.
  • step S10 a flowchart for controlling the change-sign system and the camera system with the cameras 46, 48 is shown.
  • step S10 the process is started.
  • step S 12 it is checked whether the camera system with the cameras 46, 48 is activated and ready for use. If this is not the case, then in step S 14 a light signal protocol with fixed switching times of the alternating light signaling system is activated and the sequence in Step S 16 ends. If it is determined in step S 12 that the camera system with the cameras 46, 48 can be used to control the alternating light signaling system, it is then checked in step S 18 whether a pedestrian 34, 36 in the area of the pedestrian crossing 18 or on the pedestrian crossing 18 adjacent areas of the footpaths 14, 16 has been detected.
  • step S20 the area of the lane 12 of the pedestrian crossing 18 for vehicles 36 is subsequently blocked in step S20 by the light signal units 24, 26 first activating a yellow light and subsequently a red light.
  • the camera system outputs to the control unit 50 of the alternating light signaling system, the signal "vehicles halt" from.
  • the pedestrian crossing 18 is subsequently released in step S22 with the aid of the pedestrian crossfader 32, 34 by activating the green light of the light-signaling element 28, 30. Subsequently, the process in step S 16 is completed.
  • step S 18 If, however, it is determined in step S 18 that no pedestrian 32, 34 has been detected in the area of the pedestrian crossing 18 and the adjacent areas of the footpaths 14, 16, the pedestrian crossing 18 for pedestrians 32, 34 is blocked in step S24 by alternating light signaling system by the light-signal elements 28, 30 are switched to red, or remain switched to red and the light-signal elements 24, 26 are switched from red to yellow and then to green or remain switched to green. As a result, the pedestrian crossing 18 is released for driving over the vehicles 36 and vehicles 36 no longer have to stop at the stop lines 42, 44. Subsequently, the process in step S 16 is completed.
  • step S10 is started again.
  • a loop may be in progress be provided, which maintains the signal state of the light-emitting elements 24 to 30, as long as pedestrians in the area of the pedestrian crossing 18 and / or in the region of the adjacent areas of the footpaths 14, 16 are detected.
  • the pedestrian crossing 18 may be provided as a transition region of a roadway 12 at a location without crossing the roadway 12 with a further roadway in the vicinity of the pedestrian crossing 18 or at a road intersection of at least two intersecting roadways 12.
  • an image sequence is generated with a plurality of consecutively recorded images, or a plurality of successively recorded image pairs.
  • Such a picture sequence is also called a video sequence.
  • a detected object 32, 34, 36 can then be tracked over a plurality of successively recorded images or over a plurality of successively recorded image pairs. For tracking the object 32, 34, 36 so-called tracking methods are used.
  • a traffic signal system preferably a alternating light signal system
  • a traffic signal system can be simply controlled in accordance with the amount of road users.
  • alternating light signal system and a warning light signal system for example, with flashing light signals are provided, which are each directed against the direction of the pedestrian crossing 18 approaching vehicles 36. These are then activated only when pedestrians 32, 34 are in the area of the pedestrian crossing 18 or these pedestrians 32, 34 are detected with the aid of the cameras 46, 48.
  • the area of the lane 12 of the pedestrian crossing 18 for vehicles 36 is only released when there is no pedestrian 32, 34 on the lane 12 in the area of the pedestrian crossing 18, ie only when the pedestrian crossing 18 has been vacated.
  • the pedestrian crossing 18 are only released by the light-signaling elements 28, 30 of the pedestrian traffic lights when pedestrians 32, 34 want to actually cross the pedestrian crossing 18 and not according to a fixed predetermined signal sequence.
  • pedestrians 32, 34 who want to cross the lane 12 on the pedestrian crossing 18 can be reliably distinguished from the pedestrians 32, 34, who move along the lane 12 at the roadside or on the footpaths 14, 16. Further, by providing a plurality of cameras 46, 48 whose detection ranges overlap, redundancy in the object detection can be achieved. In particular, when the position of an object 32, 34 is determined, this position can be determined with the aid of both cameras 46, 48 and the determined positions are compared with one another. As a result, either a corrected position can be determined or a determined position of the object 32, 34 can be verified from the acquired images of the coverage area of the respective other camera 46, 48.
  • the release of the roadway 12 in the area of the pedestrian crossing 18 for the vehicle 32 only takes place when pedestrians 32, 34 are no longer detected in the area of the pedestrian crossing 18 with the aid of the camera system.
  • the switching of the light-signaling elements 28, 30 of the pedestrian traffic lights to enable or disable the pedestrian crossing 18 for pedestrians 32, 34 can after a predetermined period of time or in dependence on the determined number of pedestrians 32, 34 detected on the areas of the footpaths 14, 16 adjoining the pedestrian crossing 18.
  • the subsequent release of the area of the roadway 12 in the area of the pedestrian crossing 18 for vehicles 36 takes place only when no pedestrian 32, 34 has been detected in the area of the pedestrian crossing 18 on the roadway 12.
  • abnormal traffic situations such as the simultaneous presence of pedestrians 32, 34 and vehicles 36 in the area of the pedestrian crossing 18, or even collisions between pedestrians 32, 34 and vehicles 36 can be detected.
  • video sequences are stored which at least show the occurrence and the abnormal state itself.
  • a virtual image with an arrangement of the detected objects 32, 34, 36 in the area of the pedestrian crossing 18 can be generated, for example as a top view.
  • a virtual movement sequence can be generated by the detected objects 32, 34, 36 and used for traffic planning. In this case, depending on the virtual movements of the objects 32, 34, 36 driving and / or holding phases or release and / or holding phases can be defined.
  • accidents can also be detected and virtual motion sequences used for reconstruction. For this purpose, in particular a time-limited storage and evaluation of the image material by a processing unit of the camera system can take place.
  • the release of the pedestrian crossing can only take place when it is determined with the aid of the camera system, a vehicle stopped or stopped counter to the direction of travel in front of the pedestrian crossing is stopped or stopped.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
EP10151548A 2009-01-23 2010-01-25 Procédé et dispositif de commande d'au moins une installation de feux lumineux d'un passage-piéton Revoked EP2211321B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12158275A EP2466566A1 (fr) 2009-01-23 2010-01-25 Procédé et dispositif de commande d'au moins une installation de signaux lumineux d'un passage-piéton

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009005920A DE102009005920A1 (de) 2009-01-23 2009-01-23 Verfahren und Vorrichtung zum Steuern mindestens einer Lichtzeichenanlage eines Fußgängerüberwegs

Publications (2)

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EP2211321A1 true EP2211321A1 (fr) 2010-07-28
EP2211321B1 EP2211321B1 (fr) 2012-03-07

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EP12158275A Withdrawn EP2466566A1 (fr) 2009-01-23 2010-01-25 Procédé et dispositif de commande d'au moins une installation de signaux lumineux d'un passage-piéton
EP10151548A Revoked EP2211321B1 (fr) 2009-01-23 2010-01-25 Procédé et dispositif de commande d'au moins une installation de feux lumineux d'un passage-piéton

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EP12158275A Withdrawn EP2466566A1 (fr) 2009-01-23 2010-01-25 Procédé et dispositif de commande d'au moins une installation de signaux lumineux d'un passage-piéton

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EP (2) EP2466566A1 (fr)
AT (1) ATE548720T1 (fr)
DE (1) DE102009005920A1 (fr)

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EP2568459A1 (fr) * 2010-12-02 2013-03-13 China Academy of Telecommunications Technology Système et procédé de régulation de la circulation
CN104103177A (zh) * 2014-07-24 2014-10-15 北京易华录信息技术股份有限公司 一种能够自适应调节行人过街信号时间的控制方法及系统
ES2561912A1 (es) * 2014-08-28 2016-03-01 Fundación Centro De Innovación De Infraestructuras Inteligentes Procedimiento para la monitorización y gestión de seguridad en cruces peatonales y dispositivo para su realización
CN105788297A (zh) * 2014-12-23 2016-07-20 上海宝康电子控制工程有限公司 智能交通信号灯系统
CN109410602A (zh) * 2018-12-17 2019-03-01 张嘉驰 交通道口红绿灯智能控制装置
CN112700677A (zh) * 2020-11-30 2021-04-23 诠航科技有限公司 交通信号控制方法和装置、交通控制系统
CN114898582A (zh) * 2022-05-26 2022-08-12 浙江中控信息产业股份有限公司 一种智能交通信号灯

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CN103077617B (zh) * 2012-12-24 2015-11-04 南京航空航天大学 基于计算机视觉的人行横道智能交通灯监管系统及方法
US20150316386A1 (en) 2014-04-30 2015-11-05 Toyota Motor Engineering & Manufacturing North America, Inc. Detailed map format for autonomous driving
US20150316387A1 (en) * 2014-04-30 2015-11-05 Toyota Motor Engineering & Manufacturing North America, Inc. Detailed map format for autonomous driving
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EP2568459A1 (fr) * 2010-12-02 2013-03-13 China Academy of Telecommunications Technology Système et procédé de régulation de la circulation
EP2568459A4 (fr) * 2010-12-02 2013-10-30 China Academy Of Telecomm Tech Système et procédé de régulation de la circulation
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CN104103177A (zh) * 2014-07-24 2014-10-15 北京易华录信息技术股份有限公司 一种能够自适应调节行人过街信号时间的控制方法及系统
CN104103177B (zh) * 2014-07-24 2017-01-25 北京易华录信息技术股份有限公司 一种能够自适应调节行人过街信号时间的控制方法及系统
ES2561912A1 (es) * 2014-08-28 2016-03-01 Fundación Centro De Innovación De Infraestructuras Inteligentes Procedimiento para la monitorización y gestión de seguridad en cruces peatonales y dispositivo para su realización
CN105788297A (zh) * 2014-12-23 2016-07-20 上海宝康电子控制工程有限公司 智能交通信号灯系统
CN109410602A (zh) * 2018-12-17 2019-03-01 张嘉驰 交通道口红绿灯智能控制装置
CN112700677A (zh) * 2020-11-30 2021-04-23 诠航科技有限公司 交通信号控制方法和装置、交通控制系统
CN114898582A (zh) * 2022-05-26 2022-08-12 浙江中控信息产业股份有限公司 一种智能交通信号灯

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DE102009005920A1 (de) 2010-07-29
ATE548720T1 (de) 2012-03-15
EP2211321B1 (fr) 2012-03-07

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