JP2003217086A - Pedestrian sensitive signal control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent meaningless traffic congestion by safe crossing of the traffic weak and proper signal switching by detecting the number of persons waiting for a signal, individual information and a tendency of crossing persons by measuring the size, a shape and a positional change with the lapse of time of a detecting object on the periphery of a cross-walk without being influenced by an environmental state of the weather. <P>SOLUTION: Reflecting time of a laser beam 11 is measured by projecting the laser beam on a detecting range 10 for covering the cross-walk 1, its surrounding roadways 2A and 2B, and a signal waiting area 9 while scanning the laser beam 11 by a laser sensor 12, and the number of pedestrians is detected by measuring the size, the shape, and the positional change with every scanning of the detecting object P in the detecting range 10 from the measured value to execute control for switching crossing signals 5 and 6 to blue by shortening blue time of a roadway signal 4 to a preset cycle when the number of pedestrians of the signal waiting area 9 exceeds the preset number of persons. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to measure the size, shape, and change in position of a detection target on and around a pedestrian crossing without being affected by environmental conditions such as weather. With this feature, it is possible to detect individual information and trends of the number of people waiting for a signal and people crossing, and by appropriately switching signals, it is possible to realize safe crossing of vulnerable people and alleviation of meaningless traffic congestion. The present invention relates to a pedestrian sensitive signal control method.

[0002]

2. Description of the Related Art Switching signals between a traffic signal for pedestrians (hereinafter referred to as a pedestrian signal) provided on a conventional pedestrian crossing and a signal for a vehicle (hereinafter referred to as a lane signal) provided on a road are It is controlled by a predetermined setting cycle selected from a plurality of pattern setting cycles that are provided in advance so that the time interval may correspond to the season.

Roadway signals and crossing signals are green signals (hereinafter referred to as blue) and red signals (hereinafter referred to as red) depending on a set cycle.
The warning is advised when the roadway signal is switched from blue to red by yellow, and the cautionary advice when the crossing signal is switched from blue to red is performed by blinking blue.

[0004] In addition, guidance for people with wheelchairs, the elderly, people with disabilities, children and other traffic vulnerable people is generally provided by installing an acoustic signal, and acoustically. A squealing method or a different type of squeezing method is adopted so that a person can know a crossable direction.

However, since the conventional general crossing signal is switched at a specified time interval based on the above-mentioned setting cycle, even if the traffic volume on the road is relatively small, a large number of signals are waiting in the signal waiting area. The pedestrian may be overwhelmed, which may give the pedestrian a feeling of frustration, and there is a danger that some people may try to cross the pedestrian unnecessarily.

On the other hand, people with wheelchairs, the elderly, people with disabilities, and children with weak traffic sometimes run out of time when crossing a pedestrian crossing and are urged to finish early. It was happening.

Further, even when there are no pedestrians trying to cross a pedestrian crossing or when a pedestrian crosses over immediately due to a pedestrian crossing blue, the driver of the vehicle is uselessly waited by the red traffic light. In addition, there are problems that the driver feels irritated and that unnecessary waiting time causes traffic congestion.

As a method for solving these problems, an ultrasonic type pedestrian detector for detecting the number of people crossing the pedestrian crossing, the number of people and the moving speed in the vicinity of the pedestrian crossing, and infrared sensing. Equipped with a vessel or CCD camera to roughly detect the number of people crossing the pedestrian crossing and the moving speed when crossing the pedestrian crossing, and referring to these detection signals, the timing of switching the traffic lights of the pedestrian crossing There have been proposed various methods for adjusting.

[0009]

The method using the above-mentioned conventional ultrasonic type pedestrian detector, infrared detector, CCD camera, etc. is designed to capture a pedestrian crossing in a two-dimensional plane. Therefore, it is possible to detect the presence or absence of people crossing the pedestrian crossing and the approximate number of people and moving speed, but it is not possible to accurately detect the number of people, and whether the detection target is an adult healthy person,
There is a problem in that it is not possible to accurately determine whether the child, the person in a wheelchair, or the person with a disability, etc., and therefore, it is not possible to perform detailed signal control for the vulnerable person.

In particular, the method of detecting using an infrared sensor or a CCD camera has a problem that the detection accuracy is significantly lowered or becomes undetectable depending on environmental conditions such as nighttime, rain, and snow. It was

The present invention has been made to solve the problems of the conventional device. The size, shape, and temporal characteristics of the detection target around the pedestrian crossing are not affected by environmental conditions such as weather. By measuring the change in position and
It is possible to detect individual information and trends of the number of people waiting for a signal and people crossing, to safely cross traffic weak people and to prevent meaningless traffic congestion by switching signals appropriately. It is an object to provide a signal control method.

[0012]

The invention according to claim 1 is
The laser sensor scans and projects the laser light onto the detection area that covers the pedestrian crossing, the roadway around it, and the signal waiting area, and measures the reflection time of the laser light. The number of pedestrians is detected by measuring the size and shape of the pedestrian and the change in position for each scan, and when the number of pedestrians in the signal waiting area exceeds the set number of people, the green time of the roadway signal for the set cycle The present invention relates to a method for controlling a pedestrian response signal, characterized in that control for switching the crossing signal to blue is performed by shortening.

According to a second aspect of the present invention, the laser light is projected onto the detection range covering the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area while scanning the laser light, and the reflection time of the laser light is measured. The number of pedestrians is detected by measuring the size and shape of the detection target in the detection range and the change in position for each scan from the measured values, and the set cycle is determined according to the number of pedestrians in the signal waiting area. The present invention relates to a pedestrian response signal control method, characterized in that control is performed to increase or decrease the blue time width of a crossing signal stepwise or continuously.

The invention according to claim 3 is the method for controlling a pedestrian-sensitive signal according to claim 1 or 2, wherein when a pedestrian is present at the pedestrian crossing and its periphery at the end of the crossing signal in blue, the pedestrian signal The present invention relates to a pedestrian response signal control method, characterized in that control for extending the green time is performed.

The invention according to claim 4 is the method for controlling a pedestrian response signal according to claim 1 or 2, wherein when a pedestrian is present at the pedestrian crossing and its periphery at the end of the crossing signal in blue, the pedestrian signal is generated. The method for controlling a pedestrian response signal is characterized by performing control for extending the blue blinking time.

The invention according to claim 5 is the method for controlling a pedestrian sensitive signal according to claim 1 or 2, wherein when a pedestrian is present at the pedestrian crossing and its periphery at the end of the crossing signal in blue, the pedestrian signal is detected. The method for controlling a pedestrian sensitive signal is characterized in that the control is performed to extend the blue time of the crossing signal and further extend the blinking time of the crossing signal in blue.

The invention according to claim 6 is the pedestrian response signal control method according to any one of claims 3 to 5, characterized in that control is performed to define the maximum width of the extension time. The present invention relates to a sensitive signal control method.

According to the present invention, it operates as follows.

According to the first aspect of the present invention, the laser detector scans and projects the laser light onto the detection range covering the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area, and measures the reflection time. The number of pedestrians is detected by measuring the size and shape of the detection target in the detection range from the measured value and the change in position for each scan, and when the number of pedestrians in the signal waiting area exceeds the set number of people, the setting is made. Since the green time of the roadway signal is shortened for the cycle and the crossing signal is switched to the green signal, it is possible to prevent a certain number of pedestrians from overflowing in the signal waiting area of the pedestrian crossing and to give pedestrians a feeling of frustration. Or, it can prevent the problem of trying to cross unreasonably.

According to the second aspect of the present invention, the laser detector scans the laser light onto the detection range covering the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area, and projects the laser light to measure the reflection time. The number of pedestrians is detected by measuring the size and shape of the detection target in the detection range from the measurement value and the change in position for each scan, and the number of pedestrians is set for the set cycle according to the number of pedestrians in the signal waiting area. Since the control to increase / decrease the blue time width stepwise or continuously is performed, it is possible to switch the signals rationally, the driver of the car is not kept waiting unnecessarily, and the driver is not irritated. It is possible to prevent the occurrence of traffic congestion due to unnecessary waiting time.

In the inventions according to claims 3 to 5, when the pedestrian is present at the pedestrian crossing and its surroundings at the end of the blue crossing signal, the green time of the crossing signal is extended or the blue color of the crossing signal is changed. Since the blinking time is extended or both are combined, a pedestrian can cross the pedestrian crossing without hesitation, and thus a vulnerable traffic person can safely cross.

In the invention according to claim 6, since the maximum width of the extension time is defined, traffic congestion can be prevented.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 shows an example of an embodiment of the present invention. FIG. 2 shows an intersection where two lanes 2A and 2B cross each other, and a pedestrian is present at the intersection. There are four pedestrian crossings 1 for crossing 2A and 2B.

Posts 3 are provided at approximately four corners of the intersection, and the road signals 4 of three lights (red, blue, and yellow) are attached to the posts 3 so as to be located in the upper front of the traveling vehicle. Further, crossing signals 5 and 6 are attached to the post 3 so as to be located at the front and rear upper portions of the pedestrian crossing 1 so as to face each other. In the figure, 7 is a white line on the roadway and 8 is a stop line.

In FIG. 2, the vehicle in the A direction is stopped and the vehicle in the B direction is in a traveling state. Therefore, the pedestrian crosses the pedestrian crossing 1 in the B direction, and both ends of the pedestrian crossing 1 in the A direction are crossed. A pedestrian is waiting for a signal in the signal waiting area 9.

Each of the posts 3 has a detection range 1 that covers the pedestrian crossing 1 and roads around the pedestrian crossing 1 and the signal waiting areas 9 at both ends of the pedestrian crossing 1 with a required width L.
A scan type laser sensor 12 which projects a pulsed laser light 11 to 0 and detects a reflected laser light which is reflected is installed. The detection range 10 of the laser sensor 12 is designed to detect the periphery of the pedestrian crossing 1 with a width L that is about 3 to 4 meters. The laser detector 12 is preferably installed at a position overlooking the pedestrian crossing 1, and therefore the post 3 for installing the signal 4 is provided.
Besides, a new post or the like for installing the laser sensor 12 may be provided.

The scan type laser sensor 12 has a structure as shown in FIG. That is, the laser detector 12 includes a scanning device 16 that causes the motor 13 to scan the three-sided mirror 15 in the X direction about the scan axis 14.
And a swing device 19 for rotating (swinging) the scanning device 16 in the Y direction about a swing shaft 18 by a motor 17.

Laser light source 20 provided in the laser detector 12
The pulsed laser light 11 from the above is output to the three-sided mirror 15 via a laser projection device 22 having a mirror 21 and the like, and the pulsed laser light 11 output to the three-sided mirror 15 is the crosswalk. 1 and its surroundings, and a detection range 10 covering the signal waiting area 9 are scanned. Further, the reflected laser light 23 projected and reflected on the detection range 10 returns to the three-sided mirror 15,
Further, the reflected laser light 23 is transmitted through the lens 24 to the light receiving element 2
5, the measurement signal 26 (electrical signal) from the light receiving element 25 is input to the pedestrian detection device 27.

In the pedestrian detection device 27, the measurement signal 26 from the light receiving element 25 is input to detect the detection range 1
0 is scanned and the reflection time of the reflected laser light 23 reflected from each point is measured.

When the pedestrian crossing 1 does not have a detection target such as a person, when scanning is performed once in the X direction as shown in FIG. 3, the reflected laser light 23 reflected from the surface of the pedestrian crossing 1 is emitted. The reflection time is a substantially constant value, and subsequently, when the scanning device 16 is swung by the swing device 19 at a slight angle and then similarly scanned, the reflection laser light 23 reflected from the surface of the pedestrian crossing 1 is reflected. The time is a substantially constant value, and the measurement value detected by scanning the detection range 10 by scanning and swinging in this way has a planar shape as shown in FIG. 4 when shown in the drawing.

On the other hand, when a detection target P (pedestrian) such as a person, a wheelchair, or a bicycle exists on the pedestrian crossing 1 as shown in FIG. 3, the pulsed laser light 11 projected on the pedestrian P is reflected from each point. The time is changed so that the size, shape, and position of the pedestrian P are reduced to three-dimensional x, as shown in FIG.
The point 28 is displayed in y and z. Further, when the scanning is repeated, the measurement values of the size, shape, and position of the pedestrian P change with the passage of time, which causes
The individual information of the pedestrian P can be known in more detail, and the moving speed of the pedestrian P can also be measured.

Further, as shown in FIG. 5, a detection value 29 weighted to the pedestrian P can be obtained from the three-dimensional data of the point 28 shown in FIG. 4, and the size, shape and scanning of the detection value 29 are obtained. The number of pedestrians P in the detection range 10 can be detected from the change in the position for each.

Therefore, the number of persons waiting for a signal in the signal waiting area 9 can be detected in the case of waiting for a signal from the change with time of the size, shape and position based on the detected value 29.
If you are crossing, wheelchair users, people with disabilities,
It is possible to identify and detect vulnerable people such as children. In addition to this, the presence of obstacles such as bicycles and falling objects can also be measured.

As described above, it is possible to detect the number of people waiting for a signal, the person in a wheelchair that is crossing, the person with a lameness, the child or the like, and as shown in FIG. The detection signal 30 is input to the signal correction device 31. The signal correction device 31 outputs the correction signal 34 to the signal switch 33 based on the preset setting condition 32, and the road signal 4 which is switch-controlled at the set time by the setting cycle 35.
And the crossing signals 5 and 6 are corrected.

As the above-mentioned setting conditions, whether the number of people waiting for signals in the signal waiting area 9 is equal to or larger than a set value, and where the number of people waiting for signals in the signal waiting area 9 is within the set width set stepwise, Also, whether the pedestrian P is on the pedestrian crossing 1 when the crossing signals 5 and 6 are in the final stage of blue can be determined.

Further, the signal switch 33 of FIG.
The transmission device 36 is configured to notify a crossing person of a crossing caution by voice, characters, or the like.

As described above, by detecting the pedestrian P in the detection range 10 using the laser sensor 12, the pedestrian P can be detected with high accuracy without being influenced by environmental conditions such as weather. Therefore, based on the detection signal 30 from the pedestrian detection device 27, the correction signal 34 obtained by the set value of the signal correction device 31 is output to the signal switch 3
By outputting to 3 and correcting the switching between the roadway signal 4 and the crossing signals 5 and 6, traffic weak people can safely cross, and it is possible to prevent meaningless traffic congestion by appropriate signal switching. it can.

A method of controlling a pedestrian sensitive signal according to the present invention, which is carried out in the above-described mode, will be described.

As shown in FIG. 1, the roadway signal 4 and the crossing signals 5 and 6 are selected so as to correspond to changes in the vehicle traffic volume and the number of pedestrians depending on the time, day of the week, season, etc. at the intersection of FIG. The setting cycle 35 is input to the signal switch 33, and switching control is performed by the setting cycle 35.

That is, as shown in FIGS. 6 (a) and 6 (b), when the crossing signals 5 and 6 are red, the roadway signal 4 is blue and the roadway signal 4 is the set green time. After the passage of S1, it turns yellow and switches to red, and at the same time, the crossing signals 5 and 6 switch to blue. Next, after the set green time H1 has passed, the blue of the crossing signals 5 and 6 becomes blinking of blue and switches to red, and at the same time, the operation of switching the roadway signal 4 to blue is repeated.

In the state where the signals are switched by the setting cycle 35 as described above, in the first method of the present invention, the signal correction device is based on the detection signal 30 detected by the pedestrian detection device 27. Reference numeral 31 detects whether the number of pedestrians P waiting for a signal in the signal waiting area 9 is equal to or larger than a set value. When it is detected that the number of people waiting for a signal has reached the set value, the signal correction device 31 outputs a correction signal 34a to the signal switching device 33, which immediately causes the road to move as shown in FIGS. 7 (a) and 7 (b). Turn traffic light 4 to yellow and then to red,
At the same time, the crossing signals 5 and 6 are switched to blue. In this way, by shortening the set green time S1 of the roadway signal 4 to S2, it is possible to prevent a certain number or more of pedestrians P from overflowing in the signal waiting area 9 of the pedestrian crossing 1, and to give the pedestrian P a feeling of frustration. Or prevent the problem of trying to cross the road unreasonably.

Regarding the second method of the present invention, FIGS.
Will be described. Note that FIG. 8 shows a state in which the crossing signals 5 and 6 are switched by the setting cycle 35 as in FIG. 6B, and is shown as a comparative example.

On the basis of the detection signal 30 detected by the pedestrian detection device 27 of FIG. 1, the signal correction device 31 sets the step width in which the number of pedestrians P waiting for a signal in the signal waiting area 9 is set stepwise. Where it is. As the setting of the stepwise setting width, the number of people in the signal waiting area is set to, for example, 0 person (1 ward), 1 to 5 persons (2 ward), 6 to 1
Set it in stages, such as 4 people (3 wards), 15 people or more (4 wards), etc. Then, based on the number of people waiting for a signal detected by the pedestrian detection device 27, for example, in the case of 1 ward in which there are no people waiting for a signal, the crossing signal 5,
6 is continued, and when the number of people in the second zone is the smallest, for example, by the correction signal 34b, the blue setting time H1 of the crossing signals 5 and 6 is shortened to the time H2 as shown in FIG. Fix it. Also, the number of people waiting for the signal is 2 wards or 3
In the case of a section, for example, the correction signal 34c is used to correct the green time H3 of the crossing signals 5 and 6 according to the set width (section) of the number of people.

As described above, when no pedestrian P waiting for a signal is detected, the roadway signal 4 is continuously made a green signal,
Further, when there are pedestrians P in the signal waiting area 9, the green time of the crossing signals 5 and 6 is set stepwise according to the number of people waiting for the signal, so that rational switching of signals becomes possible, It is possible to prevent the driver of an automobile from waiting unnecessarily, to prevent the driver from feeling irritated, and to prevent traffic congestion due to unnecessary waiting time. In the above description, the signal control of the crossing signals 5 and 6 is performed by selecting the preset stepwise time width according to the number of people waiting for a signal. It is also possible to control 5, 6 almost continuously in a short time width such as 0.1 seconds.

Furthermore, FIG. 10 shows a third method of the present invention performed in connection with the first method and the second method.
FIG. 11 will be described.

Since the scanning type laser sensor 12 scans the periphery of the pedestrian crossing 1, the pedestrian detecting device 27 is used.
Then, it is possible to detect individual information and trends of the pedestrian P who is crossing. Therefore, the blue setting time H1 of the crossing signals 5 and 6
When a pedestrian P is detected on the pedestrian crossing 1 at the end of, the signal correction device 31 outputs the correction signal 34d to the signal switching device 3
3, and the set green time H1 is extended by the time H4 as shown in FIG. As a result, the actual green time of the crossing signals 5 and 6 becomes H1 + H5.

Further, as described above, when the pedestrian P is detected on the pedestrian crossing 1 at the end of the blue set time H1 of the crossing signals 5 and 6, instead of extending the green time by the correction signal 34d. As shown in FIG. 11, the blinking time of blue after the blue setting time H1 may be extended by the time H5 by the correction signal 34d.

As described above, when there is a pedestrian P who does not finish over the blue set time H1 of the crossing signals 5 and 6, the pedestrian P is extended by extending the blue time or the blue blinking time. It is possible to cross the pedestrian crossing 1 and end, thus making it possible for people with weak traffic to cross safely. Further, it may be carried out in combination so as to further extend the blinking time of blue after extending the above-mentioned blue time.

Further, the correction for extending the green time, the correction for extending the blue blinking time, and the modification for combining them are defined in advance with the maximum width of the extension time, and are not extended beyond the specified time. Can be

Furthermore, as another method of the present invention, when the congestion status of the vehicle is available and the congestion of the vehicle exceeds the set value, the green time of the roadway signal 4 according to the first method is set. Without shortening, setting the green time of the crossing signal according to the number of people waiting for the signal in the signal waiting area 9 which is the second method,
The third method is to extend the green time of the crossing signals 5 and 6 for ending the pedestrian P on the pedestrian crossing 1 and the blue flashing time, thereby shortening the signal waiting time of the vehicle. It is preferable to alleviate the problem of congestion.

It should be noted that the present invention is not limited to the above-mentioned embodiment, various types of laser detectors can be adopted, and the present invention can be applied to pedestrian crossings provided on roads other than intersections. It goes without saying that other various changes can be made without departing from the scope of the present invention.

[0053]

According to the first aspect of the invention, the laser detector projects the laser light while scanning the laser light onto the detection range covering the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area, and the reflection time of the laser light is projected. The number of pedestrians was measured by measuring the size and shape of the detection target in the detection range and the change in position for each scan from the measured values, and the number of pedestrians in the signal waiting area exceeded the set number. At the time, the green time of the roadway signal was shortened with respect to the set cycle, and control was performed to switch the crossing signal to the green signal, so it is possible to prevent a certain number of pedestrians from overflowing in the signal waiting area of the pedestrian crossing. It has the effect of giving pedestrians a feeling of frustration and preventing the problem of trying to cross unreasonably.

According to the second aspect of the present invention, the laser detector scans the laser light onto the detection range covering the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area, and the reflection time is measured. The number of pedestrians is detected by measuring the size and shape of the detection target in the detection range and the change in position for each scan from the measured values, and the number of pedestrians in the signal waiting area is crossed with respect to the set cycle. Since the control to increase or decrease the blue time width of the signal stepwise or continuously is performed, it is possible to switch the signal reasonably, and the driver of the car will not be uselessly waited,
It is possible to prevent the driver from feeling irritated and prevent traffic congestion due to unnecessary waiting time.

According to the inventions of claims 3 to 5, when a pedestrian is present at the pedestrian crossing and its surroundings at the end of the blue crossing signal, the green time of the crossing signal is extended or the green time of the crossing signal is increased. Since the blue blinking time is extended or both of them are combined, the pedestrian can cross the pedestrian crossing without hesitation, and thus, there is an effect that the traffic vulnerable people can safely cross.

According to the invention of claim 6, since the maximum width of the extension time is defined, there is an effect that traffic congestion can be prevented.

[Brief description of drawings]

FIG. 1 is a block diagram showing an example of the form of an apparatus for carrying out the present invention.

FIG. 2 is a plan view showing an example of an intersection to which the present invention is applied.

FIG. 3 is a perspective view showing a state in which a pulse laser beam is scanned in a detection range according to the present invention.

FIG. 4 is a perspective view showing a state in which a pedestrian is three-dimensionally measured at points according to the reflection time of the pulsed laser light of FIG.

5 is a perspective view showing a state in which a detection value with which a pedestrian can be identified is obtained by weighting the three-dimensionally measured points.

6 (a) and 6 (b) are time charts showing a state in which a roadway signal and a crossing signal are switched by a set cycle.

7 (a) and 7 (b) are time charts showing a method of performing control for shortening a green light of a roadway signal when the number of people waiting for a signal exceeds a set number of people in the present invention.

FIG. 8 is a time chart of a comparative example showing a state in which the crossing signal is switched by the setting cycle as in FIG. 6 (b).

FIG. 9 is a time chart showing a method of performing control for increasing or decreasing the green time of a crossing signal according to the number of people waiting for a signal in the present invention.

FIG. 10 is a time chart showing a method of performing control for extending the green time when there is a pedestrian at the pedestrian crossing at the end of the blue crossing signal in the present invention.

FIG. 11 is a time chart showing a method of controlling to extend the blinking time of blue when a pedestrian is present at a pedestrian crossing at the end of the blue crossing signal in the present invention.

[Explanation of symbols]

1 crosswalk 2A, 2B driveway 4 roadway signal 5, 6 crossing signal 9 Signal waiting area 10 detection range 11 Laser light (pulse laser light) 12 Laser sensor (scan type laser sensor) 23 Reflected laser light 27 Pedestrian detection device 30 detection signal 31 signal correction device 32 setting conditions 33 signal switch 34 Correction signal 34a Correction signal 34b Correction signal 34c Correction signal 34d correction signal 35 setting cycle P Detection target (pedestrian) S1 setting green time H1 setting green time

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Ken Kobayashi             3-2-16 Toyosu, Koto-ku, Tokyo Ishikawajima             Harima Heavy Industries Tokyo Engineering Co., Ltd.             In the center (72) Inventor Kiyohide Sekimoto             3-15 Toyosu, Koto-ku, Tokyo Ishikawajima             Harima Heavy Industries Tokyo Engineering Co., Ltd.             In the center (72) Inventor Yutaka Hisamitsu             3-15 Toyosu, Koto-ku, Tokyo Ishikawajima             Harima Heavy Industries Tokyo Engineering Co., Ltd.             In the center (72) Inventor Koichiro Nagata             3-15 Toyosu, Koto-ku, Tokyo Ishikawajima             Harima Heavy Industries Tokyo Engineering Co., Ltd.             In the center F term (reference) 5H180 AA21 CC03 JJ02 JJ07 JJ13                 5J084 AA05 AA10 AA13 AB07 AC07                       AD01 BA03 BA50 BB01 BB28                       DA01 DA04 EA04

Claims (6)

[Claims] 1. A laser sensor scans a laser beam onto a detection range covering a pedestrian crossing, a roadway around the pedestrian crossing, and a signal waiting area to measure the reflection time of the laser beam. Detects the number of pedestrians by measuring the size and shape of the detection target in the detection range and the change in position for each scan, and when the number of pedestrians in the signal waiting area exceeds the set number of people, A method for controlling a pedestrian-sensitive signal, which comprises performing control to shorten a green time of a roadway signal and switch a crossing signal to blue. 2. The reflection time of the laser beam is measured by projecting the laser beam while scanning it with a laser sensor onto a detection range that covers the pedestrian crossing, the roadway around the pedestrian crossing, and the signal waiting area, and from the measured value. The number of pedestrians is detected by measuring the size and shape of the detection target in the detection range and the change in position for each scan, and the blue time of the crossing signal for the set cycle according to the number of pedestrians in the signal waiting area A pedestrian response signal control method comprising performing control to increase or decrease the width stepwise or continuously. 3. The pedestrian sensitive signal control method according to claim 1 or 2, wherein when a pedestrian is present at the pedestrian crossing and its vicinity at the end of the crossing signal blue, the green time of the crossing signal is extended. A pedestrian response signal control method characterized by performing control. 4. The pedestrian sensitive signal control method according to claim 1 or 2, wherein when a pedestrian is present at a pedestrian crossing and its surroundings at the end of the pedestrian crossing blue, the blinking time of the pedestrian crossing blue is changed. A pedestrian response signal control method characterized by performing extension control. 5. The pedestrian sensitive signal control method according to claim 1 or 2, wherein the green time of the pedestrian signal is extended when a pedestrian is present at the pedestrian crossing and its periphery at the end of the pedestrian's blue signal. And a method for controlling a pedestrian sensitive signal, further comprising controlling to extend the blinking time of the crossing signal in blue. 6. The pedestrian sensitive signal control method according to claim 3, wherein the pedestrian sensitive signal control method controls the maximum width of the extension time.