KR101248584B1 - Traffic lamp of controlling method and apparatus lighting green light according to walking speed - Google Patents

Abstract

PURPOSE: A method and apparatus for controlling a single light are provided to secure safe walking by determining a green light cycle using a walking speed of a pedestrian. CONSTITUTION: A crosswalk(7) is installed on a roadway(6). A radar transceiver(5) transmits radar to the crosswalk and receives the reflected signal. Signal lights(3,4) are symmetrically installed on both ends of the crosswalk. A signal light controller(2) controls and manages the radar transceiver and determines a green light cycle of the signal light.

Description

Traffic lamp of controlling method and apparatus lighting green light according to walking speed}

The present invention relates to a traffic light control method and apparatus for extending the light-off time of green manifestation in accordance with the speed of pedestrians walking pedestrian crossing to allow pedestrians to safely cross the pedestrian crossing.

Pedestrian crossing traffic lights are traffic lights installed on both sides of the pedestrian crossing perpendicular to the roadway and outputting the present time according to a preset presenting cycle so that the pedestrian crossing can safely cross the roadway.

In addition, pedestrian crossing traffic lights give pedestrians and vehicles the right of way, thereby reducing the incidence of traffic accidents by suppressing conflicts between pedestrians and vehicles, and reducing the waiting time of pedestrians and congestion rates. It is installed and used.

However, the conventional pedestrian crossing traffic light is simply configured to output the manifestations according to the preset manifestation cycle. Therefore, pedestrians who enter the pedestrian crossing late often run quickly to cross the pedestrian crossing before the green manifestation turns off. As a result, traffic accidents with vehicles that do not recognize pedestrians who have jumped into the crosswalk suddenly occur frequently.

In particular, when the pedestrians including the disabled, pregnant women, the injured and the elderly who have lower walking speed than the general people use the conventional pedestrian crossing traffic lights, the conventional pedestrian crossing traffic lights are displayed before the pedestrians complete the pedestrian crossing. Traffic accidents of pedestrians are frequently occurring by turning off green manifestations according to the cycle. That is, since the conventional pedestrian crossing traffic light is not configured to protect the pedestrians at all, the pedestrians walk the pedestrian crossing under threat of life.

In addition, as the number of vehicles increased, multi-lane roads increased the risk of pedestrian crossing crossings.

In order to overcome this problem, various signal systems have been studied to protect pedestrians such as detecting green pedestrians from traffic lights while detecting pedestrians walking in crosswalks.

FIG. 1 is a configuration diagram for explaining a traffic signal controller disclosed in Registration Utility Model No. 20-0306634 (name of the invention: a traffic signal controller having a pedestrian detection function in a pedestrian crossing).

The conventional traffic signal controller 101 of FIG. 1 is a controller for controlling the output of the traffic light 200, and when the human body sensor 103 detects a pedestrian in the crosswalk 105, the traffic light 200 is controlled to control the traffic light 200. At 200, the green manifestation, which is a pedestrian walking signal, is continuously output.

In addition, the traffic signal controller 101 controls the traffic light 200 when the human body sensor 103 does not detect a pedestrian so that the red light, which is a pedestrian walking prohibition signal, is output from the traffic light 200.

As such, the conventional traffic signal controller 101 determines the appearance of traffic lights according to the presence or absence of pedestrians in the crosswalk, so that the pedestrians can safely cross the crosswalk 105.

In addition, the conventional traffic signal controller 101 allows the pedestrian to cross the crosswalk safely even when entering the crosswalk 105 lately.

In general, pedestrian crossing pedestrians cross the pedestrian crossing in a hurry because there is a danger that the green manifestation will soon be turned off. However, if the pedestrian realizes that the green manifestation will be lit before crossing, the walking speed will be significantly reduced.

Accordingly, when the conventional traffic signal controller 101 is applied, the average speed of pedestrians is considerably lowered compared to when the traffic signal controller 101 is normal, thereby causing a problem of increased traffic congestion.

In addition, when the traffic signal controller 101 is installed on a road and an intersection where the floating population is dense, traffic congestion becomes more severe because the pedestrian is constantly detected.

The present invention is to solve such a problem, the problem of the present invention is to provide a traffic light control method and apparatus for providing a safe walking of pedestrians by determining the green manifestation cycle using the walking speed of pedestrians walking pedestrian crossing. It is to.

In addition, another problem of the present invention is a traffic light control method for pedestrians who enter late crosswalk safely walking crosswalk by updating the green manifestation cycle by using the walking speed of the new pedestrian when the new pedestrian is detected after the green manifestation is determined. It is for providing a device.

In addition, another problem of the present invention is to provide a traffic light control method and apparatus to prevent the pedestrians from falling due to the sense of crisis that the green manifestation will soon be turned off because the green manifestation cycle is determined according to the pedestrian's speed.

In addition, another problem of the present invention is that when the green population is continuously output when the floating population is installed in many places, the green light is turned off when the lighting time after the green light is turned on becomes the preset time TH1. It is an object of the present invention to provide a traffic light control method and apparatus for minimizing the occurrence of traffic jams due to the output of the appearance.

Solution to Problem The present invention for solving the above problems is to receive the reflected signal from the radar transceiver for transmitting the radar to the detection area forming a crosswalk and receiving the reflected signal reflected from the reflective object at both ends of the crosswalk A traffic light control device for controlling the appearance of traffic lights, comprising: a control module for driving the radar transceiver when a predetermined first set time (TH1) has elapsed since the green light is turned on in the traffic light; The presence or absence of a pedestrian walking through the crosswalk, the walking speed of the pedestrian, the walking direction of the pedestrian and the current position of the pedestrian from the current position of the pedestrian, the remaining distance from the end of the pedestrian crossing is detected. A detection module; A pass prediction time calculating module for dividing the remaining distance detected by the detection module by the walking speed and calculating a pass prediction time, the time required for the pedestrian to pass the crosswalk; And a visual determination module configured to determine the passing prediction time as the green display period when the pass prediction time calculated by the passing prediction time calculation module is greater than or equal to the remaining time of the green display period currently applied to the traffic light, and determined by the display determination module. The traffic light is controlled so that the green light is output from the traffic light according to the green light cycle.

In addition, the position of the pedestrians detected in the present invention is tracked in real time, and when a new pedestrian is newly entered into the crosswalk while the green light is output from the traffic light, the walking speed, walking direction, remaining distance of the new pedestrian. And calculating a predicted passing time, and when the calculated predicted passing time of the new pedestrian is greater than or equal to the remaining time of the green presenting period, it is preferable to update the passing predicted time of the new pedestrian to the green presenting period of the traffic light.

In the present invention, the first predetermined time (TH1) is when the pedestrian passes the reference point that is more than one tenth of the crosswalk length and less than two tenths based on the average walking speed of 5 km / s. It is preferable to set the time of.

In the present invention, when the green light is turned on in the traffic light, the elapsed time measuring module for measuring the elapsed time (t) and the elapsed time (t) measured in the elapsed time measuring module are used to minimize the traffic congestion of the vehicle. And an elapsed time comparison module for comparing the second preset time TH2, which is a maximum output time of the step, and wherein the elapsed time t is equal to the second preset time TH2 in the elapsed time comparison module. It is preferable to stop the drive of the radar transceiver.

In another aspect, the present invention provides a signal control method for controlling the appearance of the traffic lights provided at both ends of the crosswalk through a signal transmitted from the radar transceiver for transmitting and receiving the radar to the detection area forming a crosswalk: A driving step of driving the radar transceiver when the first preset time TH1 elapses after the green light is turned on at a traffic light; Remaining from the pedestrian presence, the walking speed of the pedestrian, the walking direction of the pedestrian and the current position of the pedestrian from the current position of the pedestrian through the signal received from the radar transceiver in the driving step to the end of the crosswalk A detecting step of detecting a distance; Calculating a passing prediction time, which is a time required for the pedestrian to pass the crosswalk by dividing the remaining distance detected in the detecting step by the walking speed; An appearance determination step of determining the passage prediction time as the green appearance period if the passage prediction time calculated in the calculating step is equal to or greater than the remaining time of the green appearance period currently applied to the traffic light; And a traffic light control step of turning on the green light in the traffic light according to the green light cycle determined in the light determination step.

In addition, the tracking step of tracking the location of the pedestrians detected after the control step in real time in the present invention; It is preferable to further include a detection step of detecting the entry of a new pedestrian that is a new pedestrian through the tracking step, and if the new pedestrian is detected, return to the detection step to perform the process after the detection step again. Do.

In addition, the elapsed time measuring step is performed before the detection step in the present invention, measuring the elapsed time (t) when the green light is turned on in the traffic light; Comparing the elapsed time (t) measured in the elapsed time measuring step with the second preset time (TH2) which is the maximum output time of the green manifestation to minimize traffic congestion of the vehicle further comprises: When the elapsed time t is equal to the second set time TH2 in the elapsed time comparison step, it is preferable to stop the driving of the radar transceiver.

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According to the present invention having the above-mentioned problems and solutions, pedestrians are able to walk pedestrian crossing safely because the green manifestation is continuously turned on during the crosswalk crossing by determining the green manifestation period in the traffic light control device according to their walking speed.

In addition, according to the present invention, when the traffic light control device detects the crustal pedestrian, the crustal pedestrian can safely cross the pedestrian walk by recalculating the green manifestation period according to the walking speed of the crustal pedestrian.

Further, according to the present invention, if the output time after the green light is turned on is more than the preset time TH1, the green light is turned off to minimize traffic congestion.

In addition, according to the present invention because the pedestrians walking the crosswalk has a sense of crisis that the green manifestation will soon be turned off, the walking speed is maintained without falling, thereby reducing the occurrence of traffic congestion.

1 is a block diagram illustrating a traffic signal controller disclosed in the Utility Model Registration No. 20-0306634 (name of the invention: a traffic signal controller having a pedestrian detection function in a pedestrian crossing).
2 is a block diagram illustrating a signal system to which an embodiment of the present invention is applied.
FIG. 3A is an exemplary diagram for describing the traffic light controller of FIG. 2.
FIG. 3B is an exemplary view illustrating an operation of a traffic light controller when FIG. 3A is applied.
4 is an exemplary diagram for describing the traffic light controller of FIG. 2.
5 is a block diagram illustrating a traffic light controller of FIG. 2.
FIG. 6 is a flowchart for describing an operation process of the traffic light controller of FIG. 5.
7 is a diagram illustrating a signal system to which a second embodiment of the present invention is applied.
8 is a block diagram illustrating a traffic light controller of FIG. 7.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

2 is a block diagram illustrating a signal system to which an embodiment of the present invention is applied.

The signal system 1 of FIG. 2 includes a pedestrian crossing 7 formed perpendicular to the driveway 6 on which the vehicle travels, and a radar transceiver 5 for transmitting a radar to the pedestrian crossing 7 and receiving a reflected signal. The present invention is to control and manage the traffic lights (3), (4) and the traffic lights (3), (4) and the radar transmitting and receiving device (5) are installed symmetrically at both ends of the crosswalk. One embodiment is made of a traffic light controller (2). At this time, for convenience of description, one end of the pedestrian crossing on which the traffic light 3 is installed will be referred to as an access road 8, and the other end of the pedestrian crossing on which the traffic light 4 is installed will be referred to as an access road 9.

Also, although not shown in FIG. 2, the signal system 1 is a communication network (not shown) that provides a movement path through which data is transmitted and received between the traffic light controller 2, the traffic lights 3, 4, and the radar transceiver 5. It includes.

The radar transceiver 5 emits radar to the crosswalk 7 and receives the reflected signal, and transmits the received reflected signal to the traffic light controller 2 in real time.

Traffic lights (3) and (4) is an output device that outputs a constant display and code of colors, rays, shapes, and sounds to ensure and prohibit pedestrians' traffic, and passes to pedestrians under the control of the traffic light controller (2). Display the green manifestations that give priority and the red manifestations that prohibit pedestrians from passing.

The traffic light controller 2 determines the green display cycle of the traffic lights 3 and 4 by using the signals received from the radar transceiver 5, and at the traffic lights 3 and 4 according to the determined green display cycle. The green manifestation period is determined based on so that the green representation is output, and the traffic lights 3 and 4 are controlled to output the green representation from the traffic lights 3 and 4 according to the determined green representation period.

In addition, the traffic light controller 2 controls the traffic lights 3 and 4 so that the red light is output according to a preset red light cycle when the green light is turned off.

In addition, the traffic light controller 2 transmits the driving control signal to the radar transceiver 5 when the preset time TH1 elapses after the green light is turned on so that the radar transceiver 5 is driven. At this time, the first predetermined time (TH1) is more than one tenth of the length of the pedestrian crossing 7 after the pedestrian enters the driveway or the ramp based on the average walking speed of 5km / s. It is preferable to set the elapsed time until passing through the reference point which is below.

In addition, the traffic light controller 2 detects the detected moving direction of the pedestrian by using the signal received from the radar transceiver 5. At this time, the traffic light controller 2 includes a pedestrian having a moving direction from the traffic light 3 toward the traffic light 4 (hereinafter referred to as a walker) and a moving direction from the traffic light 4 toward the traffic light 3. Classified pedestrians (hereinafter referred to as pedestrians).

In addition, the traffic light controller 2 calculates walking speeds of the entry and exit pedestrians classified based on the signal received from the radar transceiver 5. In this case, since the technique of calculating the speed of the reflective object using the reflected signal of the radar is a technique commonly used in the radar technique, a detailed description thereof will be omitted.

In addition, when the walking speed is calculated, the traffic light controller 2 calculates the exit road remaining distance S1, which is the remaining distance from the current position of each of the pedestrians walking in the exit road 9, and calculates the exit road remaining distance S1. ) Is divided by walking speed to calculate the passage prediction time T, which is the time required for each walking walker to walk from the current position to the driving path 9.

In addition, the traffic light controller 2 calculates the access road remaining distance S2 and the passing prediction time T of each entry direction pedestrians in the same manner as calculating the access road remaining distance S1 and the passing prediction time T.

In addition, the traffic light controller 2 calculates the passage prediction time T for the forward pedestrians and the pedestrians detected in the crosswalk 7 of the green light cycle currently applied to the traffic lights 3 and 4. If the predicted passing time T is greater than the remaining time compared to the remaining time, the predicted passing time is determined as the green manifestation period C. At this time, the traffic light controller 2 extends the green light extinction point of the traffic lights 3 and 4 by the newly determined green light cycle C by applying the newly determined green light cycle C from the determined time point.

In addition, the traffic light controller 2 causes the green light to be output from the traffic lights 3 and 4 according to the determined green light cycle C.

In addition, the traffic light controller 2 continuously tracks the positions of the sensing targets that have received signals in real time from the radar transceiver 5.

In addition, when the traffic light controller 2 detects a new pedestrian (hereinafter referred to as a new pedestrian) in the crosswalk 3 after the green manifestation period is determined, the pedestrian remaining distance S1 of the new pedestrian in the same manner as described above. The access road remaining distance S2 is detected, and a passage prediction time T is calculated.

In addition, the traffic light controller 2 compares the calculated pedestrian predicted time T of the new pedestrian with the remaining time of the predetermined green local cycle C, and when the predicted predicted time T is more than the remaining time, the pedestrian predicted time of the new pedestrian. (T) is determined as the green manifestation period. If the predicted passing time T is less than the remaining time, the green manifestation period C is not updated.

In addition, the traffic light controller 2 presets and stores the second set time TH2, which is the maximum lighting period of the green light of the traffic lights 3 and 4, to minimize traffic congestion of the vehicles. When the elapsed time t thereafter has elapsed until the second set time TH2, the control module 22 transmits the driving stop control signal to the radar transceiver 5 so that the traffic lights 3 and 4 are currently determined. The green light is turned on only after the remaining time of the green light cycle, and the green light is turned off.

That is, when the green light is turned on, the traffic light controller 2 drives the timer to measure the elapsed time t. When the measured elapsed time t has elapsed to the second set time TH2, the green light cycle even if a new pedestrian is detected. Do not update.

FIG. 3A is an exemplary view for explaining the traffic light controller of FIG. 2, and FIG. 3B is an exemplary view showing the operation of the traffic light controller when FIG. 3A is applied.

As shown in (a) and (b) of FIG. 3, when the first display time TH1 elapses after the green light is output from the traffic lights 3 and 4, the traffic light controller 2 crosses the crosswalk ( 7, the position of the pedestrians 91, 92, 93, 94, 95 walking, the direction of movement 96, 97, 98, 99, 100 and Pedestrians 91, 92, and 93 are pedestrians according to the detected moving directions 96, 97, 98, 99, and 100 as the forward direction pedestrians. (94) and (95) are classified as directional walkers. At this time, the traffic light controller 2 determines the preset green display cycle as the green display cycle C of the current traffic lights 3 and 4.

In addition, the traffic light controller 2 includes a roadway remaining distance S1, which is a distance from the current position of each of the roadway walkers 91, 92, and 93 to the roadway 8, and the roadway pedestrian 94. ) And (95) to detect the access road remaining distance S2, which is the distance from the current position to the access road 9, and use the detected walking speed, access road remaining distance S1 and access road remaining distance S2. By calculating the passing prediction time (T) of each of the pedestrians (91), (92), (93), (94), (95).

In addition, the traffic light controller 2 compares the calculated transit prediction time T with the remaining time of the green display period C currently applied in the traffic lights 3 and 4, and thus the traffic prediction time T more than the green display period C. Determine (T) as the green manifestation cycle. At this time, the traffic light controller 2 determines the pass prediction time T having the largest value as the green display period if there are a plurality of pass prediction times T greater than the remaining time.

That is, as shown in (b) of FIG. 3, when the remaining time of the green display cycle C currently applied to the traffic lights 3 and 4 is 18 seconds, the traffic light controller 2 passes through the pedestrian 92. Since the predicted time (19 seconds) is larger than the remaining time (18 seconds), 19 seconds, which is the predicted time of passing of the pedestrian 92, is determined as a new green manifestation period, so that the traffic lights (3) and (4) are green for 19 seconds. Will print out the manifest.

4 is an exemplary diagram for describing the traffic light controller of FIG. 2.

When the new pedestrian 80 enters after a predetermined time has elapsed in the state of FIG. 3, the traffic light controller 2 detects this and calculates a passing prediction time T of the new pedestrian 80 in the same manner as described above. And, the passage prediction time (T) of the new pedestrian 80 is compared with the remaining time of the predetermined green manifestation period (C).

In addition, the traffic light controller 2 determines the passing prediction time T of the new pedestrian as the green display period when the passing prediction time T is more than the remaining time of the green display period C.

5 is a block diagram illustrating a traffic light controller of FIG. 2.

The control unit 20 of the traffic light controller 2 of FIG. 5 includes a memory 21 in which data is stored, a detection module 23 for detecting a position, a moving direction, and speed information of a pedestrian, and a pedestrian entering or exiting a pedestrian. Green display of the classification module 24, which is classified as a pedestrian, a passing prediction time calculation module 25 for calculating a passing prediction time, which is a time required for a pedestrian to cross the crosswalk. Display module 26 for determining the period, the tracking module 27 for determining whether a new pedestrian is generated by tracking the position of the pedestrians in real time, and when the green light is on, the timer (not shown) is driven to drive the elapsed time ( an elapsed time measurement module 28 for measuring t), an elapsed time comparison module 29 for comparing the elapsed time measured by the elapsed time measurement module 28 with the second preset time TH2, and these connections Manage targets 21, 23, 24, 25, 26, 27, 28 and 29 And a control module 22 for controlling.

In addition, the controller 20 is connected to the traffic light (3), (4) and the data transmission and reception unit 30 for transmitting and receiving data with the radar transceiver 5 to control the data transmission and reception unit 30.

The control module 22 is an operating system (OS) of the control unit 20 and controls the data transceiver 30 after a predetermined time has elapsed after the green light is output from the traffic lights 3 and 4. 5) The control signal is transmitted to the radar transceiver 5 to emit and receive the signal, and when the green light goes out, the control unit stops the drive by the radar transceiver 5 by controlling the data transceiver 30. Send it. That is, the traffic light controller 2 causes the radar transceiver 5 to be driven when the green light is output from the traffic lights 3 and 4, and stops the driving of the radar transceiver 5 when the red light is output.

In addition, the control module 22 periodically crawls the data transmission / reception unit 30 when the green appearance is determined by the appearance determination module 26, and receives the signal received from the radar transceiver 5. Enter That is, the control module 22 inputs the signal received from the radar transceiver 5 to the data transmission / reception unit 30 after the predetermined time has elapsed and the green signal is output to the detection module 23. Input to the new pedestrian determination module 27.

In addition, when the control module 22 detects the position and movement direction information of the pedestrians in the detection module 23, the control module 22 inputs the detected position and movement direction information to the classification module 24 so that the pedestrian may enter the pedestrian direction in the classification module 24. It should be classified as a walker.

In addition, when the pedestrian classifies in the classification module 24, the control module 22 inputs the classification information to the passing prediction time calculation module 25 so that the passing prediction time which is the elapsed time until the pedestrians cross the crosswalk at the current location ( Let T) be calculated.

In addition, the control module 22 transmits the calculated passing prediction time T information to the manifestation module 26 when the passing prediction time T of the pedestrians is calculated in the passing prediction time calculating module 25.

In addition, when the control module 22 determines the green display cycle by the display determination module 26, the new pedestrian determination module 27 inputs the signals received by the data transmission / reception unit 30 to the new pedestrian determination module 27. Determine if a new pedestrian has occurred.

In addition, when the new pedestrian determination module 27 determines that the new pedestrian has occurred, the control module 22 inputs the received signal to the detection module 23 to the data transmission / reception unit 30.

In addition, the control module 22 controls the elapsed time measuring module 28 when the green light is turned on at the traffic lights 3 and 4 so as to measure the elapsed time t after the green light is turned off.

In addition, the control module 22 controls the elapsed time measuring module 29 in real time so that the elapsed time comparing module 29 is measured in the elapsed time measuring module 28 and the second time stored in the memory 21. Compare the setting time (TH2).

The memory 21 includes location information of the crosswalk 7, location information of the access road 8 and the exit path 9, preset traffic lights 3, green and red display cycles of the 4, traffic lights 3, Terminal ID values of (4) are stored.

In addition, the memory 21 stores and presets the second set time TH2 which is the maximum lighting time of the green light to minimize the traffic jam.

The detection module 23 is a position detection module 231 for detecting the position information of the pedestrian based on the signal transmitted by the radar transceiver 5, a movement direction detection module 232 for detecting the movement direction of the pedestrian, It includes a speed calculation module 233 for calculating the speed of the pedestrian.

At this time, since the method of detecting the position, the moving direction and the speed of the sensing object using the radar is a technique commonly used in the radar technology, a detailed description thereof will be omitted.

The classification module 24 classifies the pedestrian into the outgoing pedestrian or the approaching pedestrian by using the moving direction information detected by the detection module 23, and if the moving direction is the direction from the access road 8 to the exit path 9. In this case, the pedestrian is classified as a pedestrian walking direction, and if the moving direction is a direction from the access road 9 to the access road 8, the pedestrian is classified as the pedestrian walking direction.

If the classification information input from the classification module 24 is the forward direction walker, the pass prediction time calculation module 25 detects the exit path remaining distance, which is the distance from the current position of the forward direction walker to the exit path 9, and detects The exit path remaining distance is divided by the speed calculated by the detection module 23 to calculate a pass prediction time T, which is a time required for the exit direction walker to pass through the exit path 9.

In addition, when the classification information input from the classification module 24 is the entry direction walker, the pass prediction time calculation module 25 detects the remaining distance of the access road, which is the distance from the current position of the entry direction walker to the access road 8, and detects the entrance path. The remaining distance is divided by the speed calculated by the detection module 23 to calculate the passage prediction time T, which is a time required for the pedestrian walker to pass through the access road 8.

In addition, the passing prediction time calculation module 25 inputs the passing prediction time T calculated under the control of the control module 22 to the manifestation determination module 26.

The display determination module 26 compares the input pass prediction time T with the remaining time of the green display period of the traffic lights 3 and 4, and if the pass prediction time T is longer than the remaining time, the pass prediction time (T) is determined as the green manifestation period. If the predicted passing time T is less than the remaining time, the green manifestation period is not updated.

In addition, the manifestation determination module 26 determines the initial green representation cycle as the preset green representation cycle stored in the memory 21 when the green representation is turned on.

The new pedestrian determination module 27 receives a signal transmitted from the radar transceiver 5 in real time, and determines whether the new pedestrian enters by tracking the location information of the sensing targets in real time using the received signal.

In addition, the new pedestrian determination module 27 detects the positions of the pedestrians detected by the initial signal input according to the lighting of the green manifestation, and tracks the trajectories of the first pedestrians based on the input signal in real time, so that new pedestrians other than the first pedestrians may be detected. When the pedestrian is detected, a signal corresponding to the new pedestrian is input to the detection module 23 under the control of the control module 22.

When the green light is turned on at the traffic lights 3 and 4, the elapsed time measuring module 28 drives a timer (not shown) to measure the elapsed time t after the green light is turned on.

The elapsed time comparison module 29 compares the elapsed time t measured by the elapsed time measurement module 28 with the second set time TH2 stored in the memory 21 in real time.

In addition, the elapsed time comparison module 29 does not perform a special operation and operation when the elapsed time t is less than the second set time TH2, and the control module when the elapsed time t is greater than or equal to the second set time TH2. The drive prohibition request signal is transmitted to (22). In this case, when the control module 22 receives the driving prohibition request signal from the elapsed time comparison module 29, the control module 22 transmits the driving prohibition control signal to the radar transceiver 5 so that no further green manifestation period is updated. In other words, when the elapsed time t is greater than or equal to the second set time TH2, the control module 22 stops driving the radar transceiver 5 for the remaining time of the green display period currently determined. Only turn on the green manifestation and turn off the green manifestation.

FIG. 6 is a flowchart for describing an operation process of the traffic light controller of FIG. 5.

The traffic light controller 2 measures the elapsed time t when the green light is turned on (S10), and the display determination module 27 determines the green light display cycle of the traffic lights 3 and 4 as the preset green light display cycle ( S20).

After a predetermined time has elapsed after the green light is turned on, the driving signal is transmitted to the radar transceiver 5 so that the radar transceiver 5 is driven (S30).

Upon receiving a signal from the radar transceiver 5, the position, movement direction, and speed of the pedestrian are detected (S40), and the pedestrian is classified as an entry walker or an advancing pedestrian based on the movement direction detected in step 40 (S40). (S50).

Using the classification information classified in step 50 (S50) and the position and speed information detected in step 40 (S40), a passage prediction time T required for the pedestrian to cross the crosswalk is calculated (S60).

It is determined whether the pass prediction time T calculated in step 60 (S60) is greater than or equal to the remaining time of the green display period currently applied to the traffic lights 3 and 4, and if the pass prediction time T is less than the current remaining time, If so, the next step 90 is performed (S70).

If the pass prediction time T is greater than or equal to the remaining time in step 70 (S70), the pass prediction time T is determined as the green display period (S80).

When the green manifestation period is determined in step 80 (S80), the detected pedestrians are classified as comparison completion objects, and the position variation of the classified comparison completion objects is tracked (S90).

The elapsed time t measured in step 10 (S10) is compared with the preset second set time TH2, and if the elapsed time t is less than the second set time TH2, the next step S100 is performed. If the elapsed time t is greater than or equal to the second predetermined time TH2, step 130 (S130) is performed (S100).

The signal is received in real time from the radar transceiver 5 (S110).

It is determined whether a new pedestrian other than the comparison completion objects classified in step 90 (S90) is detected by using the received signals. If no new pedestrian is detected, the process returns to step 90 (S90) and after step 90 (S90). If the new pedestrian is detected, the process returns to step 40 (S40), and the process after step 40 (S40) is performed again (S120).

If the elapsed time t is equal to or greater than the second set time TH2 in step 100 (S100), the control proceeds to the radar transceiver 5 to stop driving the radar transceiver 5 by transmitting a control signal to stop driving. Let (S130).

7 is a diagram illustrating a signal system to which a second embodiment of the present invention is applied.

The signal system 200 of FIG. 7 includes a crosswalk 7 formed perpendicular to the driveway 6 on which the vehicle travels, and traffic lights 3 and 4 that are symmetrically installed at both ends of the crosswalk and output signals. And trace detection devices 203 and 204 for tracking the pedestrian's trajectory in the detection zones 205 and 206 formed in the entry section of the traffic lights 3 and 4, and the traffic light 3 ), (4) and the trajectory detection apparatus 203, (204) consists of a traffic light controller 201 which is an embodiment of the present invention.

In addition, although not shown in FIG. 7, the signal system 1 provides a movement path through which data is transmitted and received between the traffic light controller 201, the traffic lights 3, 4, and the trajectory detection devices 203, 204. Communication network (not shown).

The trajectory detection devices 203 and 204 detect pedestrians detected in the detection areas 205 and 206 and track the trajectories of the detected pedestrians. To send in real time.

In addition, the trajectory detection devices 203 and 204 are preferably 3D cameras for detecting the trajectory of the human body detected for a predetermined time in the detection area.

Traffic lights (3) and (4) is an output device that outputs a constant display and code of colors, rays, shapes, and sounds to ensure and prohibit pedestrians' traffic, and passes to pedestrians under the control of the traffic light controller 201. Display the green manifestations that give priority and the red manifestations that prohibit pedestrians from passing.

The traffic light controller 201 uses the trajectory information received from the trajectory detection devices 203 and 204 to determine the green display cycle of the traffic lights 3 and 4, and to determine the traffic light 3 according to the determined green display cycle. ), And control the traffic lights (3), (4) to output the green manifestation at (4).

In addition, when the green light is turned off, the traffic light controller 201 controls the traffic lights 3 and 4 to output the red light according to a preset red light cycle.

In addition, the traffic light controller 201 may determine whether the detected pedestrian is a new pedestrian or pedestrian crossing attempted to start crossing the crosswalk 7 according to the track information of the pedestrian received from the track detection devices 203 and 204. Determine whether the pedestrian has completed the crossing of. At this time, the traffic light controller 2 determines the detected pedestrian as the start walker when the pedestrian's trajectory is in the direction from the detection area 205 toward the detection area 206 based on the trajectory information received from the path detection device 203. When the trajectory of the pedestrian is in the direction from the sensing region 206 toward the sensing region 205 based on the trajectory information received from the trajectory detecting apparatus 204, the detected pedestrian is determined as a completed pedestrian.

In addition, when the traffic light controller 201 detects the start pedestrian during the green light output from the traffic lights 3 and 4, the traffic light controller 201 reapplies the preset green light display cycle from the time when the start pedestrian is detected. That is, the traffic light controller 201 allows the pedestrians who have lately entered the crosswalk 7 to cross the traffic light safely by extending the extinguishing time of the green light when the starting pedestrian is detected.

8 is a block diagram illustrating a traffic light controller of FIG. 7.

FIG. 8 is a traffic light controller 201 which is a second embodiment of the present invention, and the control unit 210 of the traffic light controller 201 includes a memory 211 and trajectory detection devices 203 and 204 in which data are stored. New pedestrian determination module 215 to analyze the received trajectory information to determine the new pedestrian, and a new pedestrian determination module 217 to update the green manifestation period according to whether the new pedestrian detection detected by the new pedestrian determination module 215 And a control module 213 for controlling these control objects 211, 215, and 217, and traffic lights 3, 4, and trajectory detection devices 203, 204; Connect the data transmission and reception unit 30 for transmitting and receiving data.

The memory 211 stores preset display periods of the traffic lights 3 and 4 and position information of the sensing areas 8 and 9.

The control module 213 periodically crawls the data transceiver 30 to collect received trajectory information, and transmits the collected trajectory information to the new pedestrian determination module 215.

In addition, the control module 213 analyzes the trajectory information received by the new pedestrian determination module 215, and when the detected pedestrian is a new pedestrian, controls the present determination module 217 to display the green light by the present determination module 217. Allow the cycle to be updated.

The new pedestrian determination module 215 analyzes the input trajectory information to determine whether the detected pedestrian is a new pedestrian or a complete pedestrian.

In addition, the new pedestrian determination module 215 determines the detected pedestrian as a new pedestrian when the trajectory of the pedestrian is the direction from the detection area 205 toward the detection area 206 based on the trajectory information received from the trajectory detection device 203. When the trajectory of the pedestrian is in the direction from the sensing region 206 toward the sensing region 205 based on the trajectory information received from the trajectory detecting apparatus 204, the detected pedestrian is determined as a new pedestrian.

If the determination module 217 determines that the pedestrian detected by the new pedestrian determination module 215 as a new pedestrian, the present determination module 217 reapplies the preset green display period to the memory 211 from the time when the pedestrian is detected.

At this time, the control module 213 controls the traffic lights 3 and 4 so that the green lights are output from the traffic lights 3 and 4 according to the green display cycle updated by the display determination module 217.

1: Signal system 2: Traffic light controller 3, 4: Traffic light
5: Radar transceiver 7: Crosswalk 8: Entry route
9: entrance 20: controller 21: memory
22: control module 23: detection module 24: classification module
25: Passing time calculation module 26: Visual determination module
27: New pedestrian judgment module 28: Elapsed time measurement module
29: elapsed time comparison module 30: data transmission and reception unit

Claims (9)

In the traffic light control device for controlling the appearance of the traffic lights installed on both ends of the crosswalk by receiving the trajectory information of the pedestrian from the trajectory detection device for detecting the trajectory of the pedestrian detected in the detection area forming a crosswalk:
A control module configured to drive the trajectory detection device when a first preset time TH1 elapses after the green light is turned on in the traffic light;
Whether or not the pedestrian walks through the trajectory information detected by the trajectory detection device, the walking speed of the pedestrian, the walking direction of the pedestrian, and the current position of the pedestrian. Detection module for detecting the remaining distance to the end;
A pass prediction time calculating module for dividing the remaining distance detected by the detection module by the walking speed and calculating a pass prediction time, the time required for the pedestrian to pass the crosswalk;
And a visual determination module configured to determine the passing prediction time as the green display period when the pass prediction time calculated by the passing prediction time calculation module is greater than or equal to the remaining time of the green display period currently applied to the traffic light, and determined by the display determination module. And controlling the traffic light so that the green light is output from the traffic light according to the green light cycle. The method of claim 1, wherein the detected position of the pedestrians in real time, and when a new pedestrian is newly entered into the crosswalk while the green light is output from the traffic light, the walking speed, walking direction, remaining distance of the new pedestrian And calculating a passing prediction time, and if the calculated passing prediction time of the new pedestrian is greater than or equal to the remaining time of the green presentation period, updating the passing prediction time of the new pedestrian to the green presentation period of the traffic light. . The method of claim 2, wherein the first set time (TH1) is when the pedestrian passes a reference point that is more than one tenth of the crosswalk length and less than two tenths based on the average walking speed of 5 km / s. Traffic light control device, characterized in that set to the time. The method of claim 2, wherein when the green light is turned on in the traffic light, the elapsed time measuring module measuring the elapsed time t and the elapsed time t measured by the elapsed time measuring module are used to minimize the traffic congestion of the vehicle. The apparatus further includes an elapsed time comparison module comparing the preset second output time TH2 to a maximum output time of
And the driving of the trajectory detection device is stopped when the elapsed time t is equal to the second set time TH2 in the elapsed time comparison module. In the traffic light control method for controlling the appearance of traffic lights installed on both ends of the crosswalk by receiving the trajectory information of the pedestrian from the trajectory detection device for detecting the trajectory of the pedestrian detected in the detection area forming a crosswalk:
A driving step of driving the trajectory detection device when a first preset time TH1 elapses after the green light is turned on in the traffic light;
The pedestrian presence, the walking speed of the pedestrian, the walking direction of the pedestrian and the current position of the pedestrian from the current position of the pedestrian through the trajectory information received from the track detection device in the driving step from the end of the crosswalk A detection step of detecting a remaining distance;
Calculating a passing prediction time, which is a time required for the pedestrian to pass the crosswalk by dividing the remaining distance detected in the detecting step by the walking speed;
An appearance determination step of determining the passage prediction time as the green appearance period if the passage prediction time calculated in the calculating step is equal to or greater than the remaining time of the green appearance period currently applied to the traffic light;
And a traffic light control step of causing the green light to be turned on in the traffic light according to the green light display cycle determined in the light determination step. The method of claim 5, further comprising: tracking a location of the pedestrians detected after the control step in real time;
And detecting the entry of a new pedestrian who is a new pedestrian through the tracking step, and if the new pedestrian is detected, returning to the detection step and performing the process after the detection step again. Traffic light control method. The method of claim 6, further comprising: an elapsed time measuring step performed before the detecting step and measuring an elapsed time t when the green light is turned on in the traffic light;
Comparing the elapsed time (t) measured in the elapsed time measuring step with the second preset time (TH2) which is the maximum output time of the green manifestation to minimize traffic congestion of the vehicle further comprises: ,
And stopping the driving of the trajectory detection device when the elapsed time t is equal to the second set time TH2 in the elapsed time comparing step. delete delete

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