JP6093169B2 - Traffic control system - Google Patents

Description

  The present invention relates to a traffic control system, and more particularly to a traffic control system having a function of detecting a bicycle using a camera and controlling a traffic signal.

  Due to the widespread use of bicycle roads and the growing awareness of “bicycles are not roadways, but roadways”, a new bicycle control method for traffic signal controllers is required. In such a situation, a sensor for detecting a bicycle is needed. Particularly recently, the government has announced measures to encourage thorough cycling of bicycles, and measures such as improving the traffic environment for bicycles through the maintenance of ordinary bicycle lanes (so-called bicycle lanes) and bicycle paths are planned. ing.

  Under such circumstances, various technologies for distinguishing vehicles, bicycles, people (pedestrians) and the like in a traffic environment have been proposed. For example, there is a technique for distinguishing a vehicle, a bicycle, a person (pedestrian), and the like from a reflection detection pattern of an in-vehicle radar (see, for example, Patent Document 1). Specifically, the technique disclosed in Patent Document 1 generates a composite detection pattern that clearly shows the outline of a target object by connecting the detection patterns of reflection of the target object by a plurality of frames of laser radar. Above, pattern recognition is performed from features such as the relative position, relative speed, and motion vector of the target object. As another technique, there is a technique for comparing a detection pattern of a target object with a feature pattern for each distance (see, for example, Patent Document 2).

JP 2011-191227 A JP 2011-186484 A

  However, among image sensors, there are sensors that detect automobiles, motorcycles, and pedestrians as a whole and individually, but a sensor and a method for detecting only a bicycle have been demanded. In particular, because the distinction between motorcycles and bicycles is becoming more important, and from the viewpoint of improving the bicycle traffic environment on the bicycle path, the above-mentioned technology is not always sufficient, and another technology is required. It had been.

  This invention is made | formed in view of the above situations, Comprising: It is providing the technique which solves the said subject.

The present invention is a traffic control system for controlling traffic of vehicles and bicycles having a vehicle traffic zone in which a general vehicle travels and a bicycle-specific traffic zone in which the bicycle travels in parallel with the vehicle traffic zone, A camera installed toward the bicycle-only traffic zone; an image processing unit that detects whether a bicycle is present in the bicycle-only traffic zone based on an image captured by the camera; and the vehicle traffic zone. A vehicle signal lamp that controls traffic of a traveling vehicle, a bicycle signal lamp that controls traffic of a bicycle traveling in the bicycle-only traffic zone, and the image processing unit determines that a bicycle exists, and the bicycle exists. When the bicycle signal lamp that controls the traveling of the bicycle-only traffic zone is red, the red of the bicycle signal lamp that controls the traveling of the bicycle-only traffic zone where the bicycle is present. The vehicle for controlling the vehicle in the vehicle traffic zone that is arranged in parallel with the bicycle traffic zone where the bicycle is present and travels in the same direction as the bicycle traffic zone where the bicycle is present. And a signal lamp control unit that is performed at a timing earlier than the switching from the red signal to the blue signal of the signal lamp.
The image processing unit may determine that the bicycle is a bicycle from the image captured by the camera when there is no two-wheeled vehicle license plate.
In addition, when the signal lamp controller performs switching from the red signal to the blue signal of the bicycle signal lamp at an earlier timing than the switching from the red signal to the blue signal of the vehicle signal lamp, the signal lamp device of the bicycle Then, the bicycle signal lamp and the vehicle signal lamp may be controlled to have the same green signal by switching the vehicle signal lamp to a green signal.

  As mentioned above, according to this invention, the technique which improves the safety | security of the bicycle which drive | works a bicycle exclusive lane can be provided.

It is the figure which showed typically the traffic state in the intersection where the traffic control system based on embodiment is applied. It is a block diagram which shows schematic structure of the traffic control system based on embodiment. It is a flowchart which shows the process of the traffic control at the time of the detection of the bicycle of the bicycle exclusive use zone based on embodiment, and existence. It is the figure which showed typically the traffic state in the roadway to which the traffic control system based on the modification of embodiment is applied.

  Next, modes for carrying out the present invention (hereinafter, simply referred to as “embodiments”) will be specifically described with reference to the drawings.

  FIG. 1 is a diagram schematically illustrating a traffic state at an intersection to which the traffic control system 10 according to the present embodiment is applied. Here, the illustration focuses on a roadway 80 and a vehicle (bicycle 91 and automobile 92) that travel from left to right in the drawing.

  The roadway 80 includes a bicycle-only road zone 82 where a bicycle 91 travels together with a general vehicle road zone 81 where an automobile 92 or the like travels. At this intersection, a bicycle signal light device 72 for controlling the traffic of the bicycle 91 is provided together with a vehicle signal light device 71 for controlling the traffic of the automobile 92.

  In this traffic control system 10, it is detected that the bicycle 91 is stopped at a red traffic light in the bicycle-only traffic zone 82 using the camera unit 51 (image sensor) and the image sensor control unit 20 installed on the roadside. Only when this is done, advance control of the green light of the bicycle 91 is performed. As a result, in the bicycle 91 and the vehicle (automobile 92 or motorcycle) having different speed bands, it is possible to ensure safety such as prevention of the left turn by the vehicle and smooth traffic.

  FIG. 2 is a block diagram showing a schematic configuration of the traffic control system 10 of the present embodiment. The traffic control system 10 performs general vehicle traffic control and realizes a bicycle traffic control function characteristic of the present embodiment.

Specifically, the traffic control system 10 includes a traffic signal controller 70, a vehicle signal lamp 71 and a bicycle dedicated signal lamp 72 controlled by the traffic signal controller 70. The vehicle signal lamp 71 is controlled to be turned on for a vehicle such as an automobile 92 traveling in the vehicle lane 81. The bicycle-specific signal lamp 72 is controlled to be lit for the bicycle 91 traveling in the bicycle-only lane 82.

  Further, the traffic control system 10 includes an image sensor control unit 20, a camera unit 51, a speaker 53, and a display board 54, and performs control related to the bicycle 91 in the bicycle-only lane 82. Detailed control and processing will be described later.

  The camera unit 51 is an image detector and has a general configuration including an image sensor such as a CCD element or a CMOS element, and captures an image of a bicycle-only pass band 82. In the situation of FIG. 1, the camera unit 51 is installed facing the direction of the intersection, and is adjusted so as to center on the area immediately before the intersection, particularly the area on the near side from the position of the stop line. . Therefore, the camera unit 51 images the rear of the bicycle 91 present at the intersection.

  As will be described later with reference to FIG. 4, the speaker 53 and the display board 54 are arranged on the roadside belt and provide warnings and the like related to the bicycle-only road belt 82.

  The image sensor control unit 20 includes an image processing unit 21, a detection signal output unit 22, a power supply unit 23, a notification output unit 24, and a terminal unit 25.

  The image processing unit 21 acquires an image captured by the camera unit 51, and determines whether or not the bicycle 91 is present in the bicycle-only lane 82. In the situation of FIG. 1, in particular, the presence of the bicycle 91 stopped at a red light is detected.

  Here, a method for detecting the bicycle 91 will be described. When the image processing unit 21 acquires an image captured by the camera unit 51, for example, a known image recognition method such as SVM (Support Vector Machine) is used, and a four-wheeled vehicle and a two-wheeled vehicle (bicycle 91 or motorcycle). To distinguish. In the technique using SVM, image data of various bicycles 91, motorcycles, and automobiles are referred to and learned as teacher data, and two-wheeled vehicles (bicycles 91 and motorcycles) are obtained by pattern matching and regression analysis techniques. Determine.

  Subsequently, the image processing unit 21 distinguishes the determined two-wheeled vehicle from the bicycle 91 and the motorcycle based on the presence or absence of the license plate. Specifically, the image processing unit 21 determines that the vehicle is a motorcycle when there is a license plate, and determines that the vehicle is a bicycle 91 when there is no license plate. The license plate recognition technique can be realized by a known technique.

  When the image processing unit 21 detects the bicycle 91, the detection signal output unit 22 notifies the traffic signal controller 70 to that effect. Receiving the notification, the traffic signal controller 70 performs first-out control in which the bicycle dedicated signal lamp 72 is switched to the green signal before the vehicle signal lamp 71 is switched to the green signal.

  The power supply unit 23 supplies power to each component of the image sensor control unit 20 and supplies power to the camera unit 51 and the speaker 53.

  The terminal unit 25 is a connection interface with external devices (the traffic signal controller 70, the camera unit 51, the speaker 53, and the display board 54) connected to the image sensor control unit 20.

The control with the above configuration will be described with reference to the flowchart of FIG.
When the bicycle dedicated signal lamp 72 is red, the image processing unit 21 controls the camera unit 51 to obtain an image of the rearward imaging of the vehicle existing in the bicycle dedicated lane 82 (S10). Whether or not a vehicle exists in the bicycle-only lane 82 may be determined based on the imaging result, or may be determined based on the sensing result of another means (such as an ultrasonic detection device) not shown. May be. If it is determined that there is no vehicle, for example, the image acquisition process is continuously performed during a red light period.

  When the vehicle is present, the image processing unit 21 performs shape recognition processing using a technique such as SVM as described above (S12), and determines the presence of a bicycle or a motorcycle (S12). S14).

  When the presence of a bicycle or a motorcycle cannot be confirmed, that is, when the vehicle is a four-wheeled vehicle such as an automobile (S16N), the process of the flow is finished, and the process starts again from step S10.

  When the presence of the bicycle or the motorcycle can be confirmed (Y in S16), the image processing unit 21 determines whether or not the vehicle in the image is provided with a license plate (S18). When it is determined that the license plate is provided (N in S20), the vehicle is not a bicycle but a motorcycle, and thus the processing of the flow is finished, and the processing is started again from step S10.

  When it is determined that the vehicle in the image is not provided with a license plate (Y in S20), the image processing unit 21 notifies the detection signal output unit 22 to that effect, and the detection signal output unit 22 further includes the image processing unit. The notification result from 21, that is, the fact that the bicycle 91 is present in the bicycle-only traffic zone 82 before the intersection is notified to the traffic signal controller 70 (S22). Subsequently, the traffic signal controller 70 executes traffic control when there is a bicycle (S24). Here, the traffic signal controller 70 switches the bicycle signal lamp 72 to the green signal a predetermined time before the vehicle signal lamp 71 when switching the vehicle signal lamp 71 and the bicycle signal lamp 72 to the blue signal.

  As described above, according to this embodiment, it is possible to accurately and accurately detect the bicycle 91 in the bicycle-only lane 82, and it is possible to effectively realize traffic control when the bicycle 91 is present. For example, in the above-described embodiment, when there is a bicycle 91 stopped at a red light, the blue light of the bicycle 91 can be controlled in advance, and as a result, the bicycle 91 and the vehicle (automobile 92) having different speed bands can be controlled. And motorcycles), it is possible to ensure safety and prevent traffic from getting caught by the vehicle and to smooth traffic.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to the combination of each component and processing process, and such modifications are also within the scope of the present invention.

  In the above-described embodiment, the traffic control is performed while paying attention to the bicycle 91 stopped at the red light at the intersection, but the present invention is not limited to this. FIG. 4 is a diagram schematically illustrating a traffic state on a roadway to which the traffic control system 10 according to the present modification is applied. Since the configuration of the traffic control system 10 is the same as the configuration shown in FIG. 2, description of each component is omitted.

  In the present modification, the camera unit 51 is installed not toward the intersection but toward the bicycle-only lane 82 in the normal lane (roadway 80). Then, as a result of performing the above-described image processing based on the image captured by the camera unit 51, the image processing unit 21 has a vehicle such as a motorcycle 93 (a vehicle other than the bicycle 91) in the bicycle-only lane 82. If it is determined that the vehicle is running, a warning is given to the vehicles by the speaker 53 and the display board 54 that the bicycle is in a bicycle-only lane 82 and that the vehicle is not traveling or parked on the road.

  Note that when the emergency vehicle 94 passes nearby, it is an appropriate action for the motorcycle 93 or the like to enter the bicycle-only lane 82. In such a case, the above warning is not performed. Also good. The detection of the emergency vehicle 94 may be image recognition or voice recognition, or an identification signal from the emergency vehicle 94 or the like may be transmitted.

  In addition, depending on the environment such as the time zone and the weather, the image acquired by the camera unit 51 may be unclear, and it may be difficult to detect the bicycle 91 by image recognition. In such a case, the bicycle 91 detection process by image recognition may not be executed.

DESCRIPTION OF SYMBOLS 10 Traffic control system 20 Image sensor control part 21 Image processing part 22 Detection signal output part 23 Power supply part 24 Notification output part 25 Terminal part 51 Camera part 53 Speaker 54 Display board 70 Traffic signal controller 71 Signal lamp 72 for vehicles Only for bicycles Signal lamp 80 Road 81 Vehicle lane 82 Bicycle exclusive lane 91 Bicycle 92 Car 93 Motorcycle 94 Emergency car

Claims (3)

A traffic control system for controlling a vehicle on a roadway and a bicycle traffic having a vehicle traffic zone in which a general vehicle travels and a bicycle-only traffic zone in which the bicycle travels in parallel with the vehicle traffic zone,
And a camera that has been installed toward the bike traffic zone,
An image processing unit that detects whether or not a bicycle exists in the bicycle-only lane based on an image captured by the camera;
A vehicle signal lamp for controlling traffic of a vehicle traveling in the vehicle lane,
A bicycle signal lamp for controlling the traffic of the bicycle traveling in the bicycle-only lane,
When the image processing unit determines that a bicycle is present, and the bicycle signal light that controls the traveling of the bicycle-only traffic zone where the bicycle is present is red, the traveling of the bicycle-only traffic zone where the bicycle is present Switching from the red signal to the green signal of the bicycle signal lamp for controlling the bicycle is arranged in parallel with the bicycle-only traffic zone where the bicycle exists, and travels in the same direction as the bicycle-only traffic zone where the bicycle exists A traffic control system, comprising: a signal lamp control unit that performs an earlier timing than switching from a red signal to a blue signal of the vehicle signal lamp for controlling a vehicle in a vehicle traffic zone . The traffic control system according to claim 1, wherein the image processing unit determines that the bicycle is a bicycle when there is no license plate for a two-wheeled vehicle from an image captured by the camera . The signal lamp control unit switches the bicycle signal lamp to a blue signal when switching the red signal to the blue signal of the bicycle signal lamp at an earlier timing than the switching from the red signal to the blue signal of the vehicle signal lamp. 3. The vehicle signal lamp is then switched to a green signal so that the bicycle signal lamp and the vehicle signal lamp are controlled to be in the same green signal state. The traffic control system described in .

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