KR101901868B1 - Method for detecting signal conflict at tram crossroad - Google Patents

Abstract

It is installed at a tram intersection that includes a tram-only car and a general lane, detects a signal contradiction that can cause a collision between a vehicle and a tram from traffic light information of an intersection, and drives a tram signal lamp so as to secure safety when a contradiction occurs Is provided. The tram signal device generates the tram signal light output information for each access road of the intersection according to the tram access information and the priority signal result, and transmits the information to the traffic signal controller. It is judged that there is a signal contradiction when the traffic light feedback information for each approach road is received from the traffic signal controller and the output of the tram signal is the tram pass signal and the vehicle signal lamp of the conflicting route is active. According to the present invention, it is possible to prevent a collision between a tram and a general vehicle due to the inconsistency of a traffic light in a tram intersection where a tram and a general vehicle are used in combination.

Description

TECHNICAL FIELD The present invention relates to a method for detecting a signal contradiction at a tram intersection,

The present invention relates to a method for detecting a signal contradiction in a tram intersection, and more particularly, to a method for detecting a signal contradiction in a tram intersection, and more particularly to a method for detecting a signal contradiction in a tram intersection, The present invention relates to a method of detecting a signal contradiction and driving a tram signal lamp so as to secure safety when a contradiction occurs.

In general, a tram-dedicated runway (hereinafter referred to as a tram-dedicated runway) of a tram is installed in a general lane in which a general vehicle such as an automobile moves, but has a boundary such that it can be distinguished from a normal lane. Therefore, although the tram dedicated lane is designed to be able to use the intersection of the general lane, the tram should use the intersection at the same time as the passenger car, so the traffic control should be different from the general intersection.

For example, Japanese Patent No. 1260373 and Japanese Patent No. 1387435 disclose a traffic signal operation method at such a tram intersection.

In patent No. 1260373, when a tram intersects with an intersection with a tram's career branch, the direction of the line switching and the direction of the tram signal and the road traffic signal are interlocked and controlled to improve the safety of the intersection. So that the efficiency of use of the road is increased.

Patent No. 1387435 generates a speed code according to traffic signal information when a tram detection signal is inputted and wirelessly transmits the speed code to the tram device so as to prevent entry of the intersection or crossing of the tram when the traffic signal is warn or caution, Thereby preventing a collision with the vehicle or a contact accident.

However, in the standard signal controller on the general road, it is defined the detection of inconsistency with respect to general vehicle signal registration and the provision of safety signal (flicker) in case of contradiction, but in the signal intersection performing the tram priority signal control, , There is no contradiction detection method for tram signals which may cause mutual collision, and a method for providing safety signals in case of inconsistency.

In the signal intersection where the tram priority signal control is performed, the output control for the general vehicle signal lamp is performed by the road traffic signal controller, and the output control for the tram signal lamp is performed by the tram signal device. The tram signaling device is a dedicated control module mounted in the road traffic signal controller and performing control of the tram priority signal in association with the general vehicle signal and generating output information of the corresponding tram signal light. However, in accordance with the provision that all traffic signal outputs in the intersection are outputted by the road traffic signal controller, the output information of the tram signal is generated in the tram signal device, but the output of the actual signal register controls the tram signal light by using the signal controller output .

However, since the output control for the general vehicle signal lamp is performed by the road traffic signal controller and the output control for the tram signal lamp is performed by the tram signal device, a collision between the vehicle and the tram is caused between the signal of the general vehicle signal lamp and the tram signal lamp A possible signal contradiction can occur.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tram device capable of detecting a contradiction between a tram signal output and a vehicle signal output that can cause a large accident at a signal intersection where a tram and a vehicle are operated in combination, And a method for driving a traffic light.

In the present invention, a method of detecting a signal contradiction in a tram intersection including a tram-specific car and a general lane is provided. In one embodiment, the method includes a first step of generating a tram signal output information for each access road of the intersection according to the tram access information and the priority signal result, and transmitting the generated tram signal output information to the traffic signal controller, A second step of outputting a driving signal to a vehicle signal lamp and a tram signal according to the generated vehicle signal light output information and the tram signal light output information generated by itself and transmitting the feedback information of the outputted signal from the traffic signal controller, And a third step of extracting an access route tram signal and a vehicle signal from the feedback information and judging that the output of the tram signal is a tram pass signal and that the vehicle signal lamp of the conflicting route is activated,

In the third step, it is preferable that the signal contradiction is determined when the vehicle signal lamp of the conflicting route is activated and the predetermined time has elapsed.

In one embodiment, the second step is performed periodically, for example every 100 ms. Alternatively, the procedures of the first to third steps may be performed every 100 ms.

If it is determined in the third step that the signal is inconsistent, the tram signaling device transmits a signal to the traffic signal controller which causes both the tram signal of the access route and the intersection vehicle signal to flash in red, and the signal controller receiving the signal transmits the tram signal light and the vehicle signal light Are all driven in red flashing.

The conflicting course includes a vehicle course in the direction intersecting the tram direction and a sinusoidal course in the tram direction. In one embodiment, the tram signal device stores data defining the conflicting route in accordance with the characteristics of the intersection in which the tram signal device is installed.

The tram signaling device constructs the accessory - specific register configuration information into an internal database, and generates the vehicle traffic light output information by access road based on this information. Vehicle signal light output information by access route is generated by applying the following rule.

i) At the intersection of trams, two or more trams should not enter the intersection at the same time for the safety of the intersection,

ii) A tram signal light is output in connection with a vehicle signal lamp in the same direction to prevent mutual collision between the tram in the intersection and the vehicle,

iii) a tram pass signal G is generated only when the vehicle signal in the same direction is green,

iv) The display order of tram lights is displayed in the order of stop, pass, signal change and stop,

v) The change signal Y of the tram signal maintains the change signal Y output for a time during which the tram can pass safely through the intersection, taking into account the stopping distance of the tram,

vi) outputting a change signal Y and a tram stop R to prohibit the entry of the subsequent tram when entering the intersection of the corresponding tram after the tram passing signal G,

vii) If the tram signaling device detects the intersection approach of the tram, the tram signaling device (T) is turned on to inform the driver that the tram has been detected and the tram signal light Flashing predicts that the pass signal (G) will be displayed.

According to the present invention, it is possible to prevent a collision between a tram and a general vehicle due to the inconsistency of a traffic light in a tram intersection where a tram and a general vehicle are used in combination.

1 is a block diagram showing the configuration of a traffic light control system installed at a tram intersection.
Figure 2 is an example of a tram intersection.
3 is a diagram showing signal definitions for each symbol of a tram signal lamp.
Fig. 4 is a diagram for explaining information on access routes used in the present invention. Fig.
FIG. 5 shows an example in which the registration information of each intersection access road is constructed as an internal database.
6 is an example of a vehicle signal and a tram signal to which a tram pass signal generation rule is applied.
7 shows an example in which a traffic signal controller assigns a signal output unit (LSU) number for a tram signal lamp.
Figure 8 is an illustration of an example of a conflicting course at a tram intersection.
9 is a flowchart showing a procedure for detecting inconsistency between a tram signal and a vehicle signal at a tram intersection and performing a corresponding operation.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

Fig. 1 is a block diagram showing the configuration of a traffic light control system installed at a tram intersection, Fig. 2 is an example of a tram intersection, and Fig. 3 is a signal definition of a tram signal.

The tram intersection is an intersection that includes a tram lane (road marked in red in Fig. 2) and a public lane. The tram intersection further includes a tram signal device 200 for controlling the tram priority signal in addition to the traffic signal controller 100 installed at the general intersection. The tram signal lamp system is operated in a white bar type signal lamp system as shown in FIG. 3 so as to be distinguished from the vehicle signal. The tram signal lamp output information is generated in the tram signal apparatus 200 independent of the traffic signal controller 100 do. However, direct signal output to the vehicle signal lamp 310 and the tram signal lamp 320 is performed through the traffic signal controller 100. A vehicle signal lamp 310 and a tram signal lamp 320 are installed for each intersection access road and a signal output unit LSU 130 is provided for each of the vehicle signal lamp 310 and the tram signal lamp 320 installed for each intersection access road .

The tram signal light output information is generated by the tram priority signal algorithm based on the intersection access information (access speed, access position, etc.) of the tram approaching the intersection. Although the generation method is slightly different for each tram priority signal algorithm, the output information of the tram signal is composed of information for controlling the tram signal or the like at the stage of intersection pass / stop / warning. The present invention is not limited to a specific tram priority signal algorithm.

The signal control unit 110 outputs the vehicle signal operation information received from the intersection signal operation information center and / or the vehicle signal output information sequentially determined by the internal operation database and the tram signal output information received from the tram signal apparatus 200 And determines the driving information of the vehicle signal lamp and the tram signal lamp of each signal output unit 130 based on the information.

The driving information of each signal output unit (LSU) 130 determined by the signal control unit 110 is transmitted to the signal driving unit (SCU) 120 at predetermined time intervals, for example, every 100 ms, And performs registered output of the corresponding signal output unit based on the driving information received from the control unit 110. [ The vehicle signal lamp 310 and the tram signal lamp 320 transmit feedback information of the output signal to the signal driver 120. The signal driver 120 includes the feedback information in the signal controller response packet, Lt; / RTI > The signal controller 110 transmits the collected signal driving information (feedback information) for each direction to the tram signal device 200.

Also, the traffic signal controller 100 performs a signal driver (SCU) signal contradiction detection function and a software (S / W) signal contradiction detection function for safety signal operation based on the received signal driving information.

That is, the contradiction process of the conventional traffic signal controller 100 is performed in two stages. In the first stage, the signal driver 120 driving the signal lamp 120 itself determines in hardware. The second stage is the signal controller 110, In a software manner.

The signal driving unit 120 generates an inconsistency signal when the signal output unit driving information and the signal feedback information collected by the signal output unit do not coincide with each other for a predetermined time. The signal driving unit 120 includes a signal contradiction detection function (GG Conflict) Fail). GG Conflict is a voltage monitoring method in which the green signal (G, A, PG) signal is off and the feedback signal of the corresponding register is input (that is, the signal lamp is not driven, ) Is defined as a contradiction state, and the inconsistency time is measured to determine the contradiction therefrom. RED-Fail is a current monitoring method in which the red stop signal of the vehicle stop signal is turned on but the red stop signal is not inputted (that is, the red signal is driven but the red stop signal is not outputted) ) Is defined as a contradiction state, and the inconsistency time is measured to determine the contradiction therefrom.

The inconsistency signal generated in the first stage is monitored for a predetermined time (for example, every 100 ms) by the signal controller 110. When a contradiction signal is detected, the signal controller 110 blinks red of all the signal lights.

The two-step signal contradiction detection is performed in the signal controller 110. The contradiction detection is performed by software-comparing the feedback information and the driving information of each signal driver 120 for a predetermined time (for example, every 100 ms) The contradiction method is the same as the first-order contradiction detection method (GG-Conflict, RED-FAIL).

The signal controller in which the signal contradiction occurs is returned to normal signal operation by the field operator by releasing the contradiction after the completion of the corresponding contradiction action.

However, the function of detecting a signal contradiction at a tram signal intersection requires a function of detecting a signal contradiction in order to prevent mutual collision between a tram and a general vehicle in addition to a function of detecting a signal contradiction in a general signal intersection. In the present invention, the tram signal device 200 judges whether there is a signal contradiction that causes a conflict within an intersection based on driving signal lamp driving information and tram signal driving information collected in real time, and when a signal contradiction occurs, And transmits the tram pass safety signal to the signal controller 110. [

Hereinafter, a method for detecting a tram intersection signal contradiction in the present invention will be described in detail.

end. Define access path configuration information

Fig. 4 is a diagram for explaining information on access routes used in the present invention. Fig. At the intersection of trams, access road information is constructed according to the following principle according to approach direction of intersection of vehicle and tram.

- The approach road is defined by the intersection approach direction.

- Vehicle traffic lights and tram traffic lights control the travel of vehicles and trams in the same direction.

- It is divided into an access road (tram access road) through which the tram passes and an access road which does not pass.

In the example of FIG. 4, access routes # 1 and # 2 are access routes through which trams pass, access routes # 3 and # 4 are access routes that do not pass trams, access routes # 3 and # It is the direction in which the four-legged tram and the car are in conflict.

In the tram intersection, the tram signaling device constructs the access path-specific registration configuration information in the internal database to extract the vehicle signal information in the direction conflicting with the tram pass signal, and extracts the vehicle signal output information by access route based on this information . In the example of the intersection of Fig. 4, the intersection access road is composed of four access roads, and an example of the internal database at this time is shown in Fig.

I. Method of extracting vehicle signal information by access route

The tram signaling device 200 extracts the vehicle traffic light information based on the signal output unit (LSU) driving information among the operating information of the signal control unit 110 connected at every predetermined time, for example, every 100 ms. The LSU driving information is preferably based on the LSU number per access path. The LSU drive information provided by the signal controller 110 includes information on the entire LSU. Each LSU drive information consists of Byte information, and LSU drive information of each access path can be bit-allocated as follows.

Bit 0: Red light (0 = off, 1 = on)

Bit 1: Amber light (0 = off, 1 = on)

Bit 2: left turn / right turn, etc. (0 = off, 1 = on)

Bit 3: Green light (0 = off, 1 = on)

Bit 4: Pedestrian red light (0 = off, 1 = on)

Bit 5: Walking green light (0 = off, 1 = on)

All. By access road Tram traffic lights  Driving plan

The tram signal device 200 generates tram signal light information for each tram access path and transmits it to the signal control unit 110. The tram signal device 200 generates tram pass signal information according to the following rules. Communication between the tram signal device 200 and the signal controller 110 is preferably performed for a predetermined time, for example, every 100 ms.

1) At the intersection of trams, two or more trams should not enter the intersection at the same time for the safety of the intersection.

2) A tram traffic light is output in conjunction with a vehicle traffic light in the same direction to prevent mutual collision between the tram in the intersection and the vehicle.

3) A tram pass signal (G) is generated only when the vehicle signal in the same direction is green.

4) The presentation order of the tram lights should be displayed in order of stop -> pass -> signal change -> stop, and the order can not be arbitrarily changed.

5) The change signal (Y) of the tram signal should keep the change signal (Y) output for the time that the tram can pass safely through the intersection, taking into account the stopping distance of the tram.

6) After the tram pass signal (G), the change signal (Y) is outputted and the tram stop (R) is outputted in order to prohibit the entry of the next tram when entering the intersection of the corresponding tram.

7) When approaching the intersection of the tram is detected, the tram signal device turns ON the tram preliminary traffic light (T) and notifies the driver that the tram has been detected and sets the tram signal light You must predict that the passing signal (G) will be displayed by flashing.

An example of a vehicle signal and a tram signal applying the above rules is shown in Fig.

The driving voltage of the tram signal lamp 320 is outputted through the signal output unit (LSU) 130 in the traffic signal controller 100 and the signal output unit 130 can be divided and operated for the general automobile and the tram signal lamp . For example, in the traffic signal controller 100, the signal output unit 130 for the tram signal can be allocated as shown in FIG.

In addition, the tram signal lamps in each signal output unit 130 can be bit-allocated as follows.

Bit 0: Tram stop (R register) (0 = off, 1 = on)

Bit 1: Signal change (Y register) (0 = off, 1 = on)

Bit 2: Tram rotation (A register) (0 = off, 1 = on)

Bit 3: Tram pass (G register) (0 = off, 1 = on)

Bit 5: Reserved signal (T) (PG register) (0 = off, 1 = on)

la. How to detect contradictory vehicle signal contradiction with tram signal

The function of detecting the contradiction between the tram signal and the conflicting vehicle signal is basically a function for prohibiting the entry of the tram into the intersection for the safe operation of the tram when the collision of the tram is anticipated by comparing the running direction of the tram and the running directions of the vehicles.

The trade-off between the tram and the vehicle is generally as follows.

1) Vehicle route (straight ahead and left turn) in the direction intersecting the tram travel direction (access road # 3 and access road # 4 entry direction in FIG. 4)

2) Sin rotation path in the tram direction of travel (red arrow in FIG. 8)

Since the tram line and the vehicle line can have various forms at each intersection, it is necessary to define the conflict route according to the above-mentioned principle according to the characteristic of each intersection. That is, it is preferable that the tram signal device 200 stores data defining the conflicting route according to the characteristics of the intersection where the tram signal device 200 is installed.

9 is a flowchart showing a procedure for detecting inconsistency between a tram signal and a vehicle signal at a tram intersection and performing a corresponding operation.

The tram signal device 200 generates and outputs the tram signal output information to the traffic signal control device 100 according to the tram access information and the priority signal result. The tram signal contradiction judgment in Fig. 9 is preferably performed every predetermined time, for example every 100 ms, in accordance with the output period of the tram signal.

When the tram signal lamp is to be controlled, the tram signal device 200 transmits the tram signal output information of each access path to the signal controller 110 and initializes the timer to reset (step S91). The signal controller 110 receives the tram signal light output information, and outputs a tram signal light driving signal through the signal output unit 130 which is responsible for signal output of each tram signal through the signal driver 120. The tram signal output information may be transmitted to the signal controller 110 for a predetermined time, for example, every 100 ms, or may be transmitted only when the tram signal lamp is changed.

The vehicle signal lamp 310 and the tram signal lamp 320 transmit feedback information of the output signal to the signal driver 120. The signal driver 120 includes the feedback information in the signal controller response packet, Lt; / RTI > Then, the signal controller 110 transmits the feedback information to the tram signal device 200 every 100 ms, and the tram signal device 200 extracts the tram signal and the vehicle signal for each access route from the feedback information (step S92) .

When the tram approaches the intersection, the tram signal device 200 controls the signal operation period so that the tram pass signal G can be output based on the tram pass prediction signal outside a certain distance of the intersection. Since the contradiction situation between the tram signal and the vehicle signal occurs only when the tram pass signal G is outputted, it is confirmed whether or not the tram pass signal G is outputted from the extracted tram signal for each approach route and the vehicle signal (step S93 ). If the tram pass signal G is output (YES in step S93), the tram signal device 200 determines whether or not the tram pass signal G is defined in the conflicting direction by the stored conflicting route data among the feedback information of the vehicle signal received from the signal control unit 110 The vehicle signal is extracted (step S94).

If the extracted vehicle signal is a signal in which the progress to the conflicting route is activated, that is, if the vehicle signal in the approach route in the approach direction in FIG. 8 is green or left, or the vehicle signal in the tram approach route is in the left direction YES), the timer is incremented (step S96), and it is checked whether the state is maintained for a predetermined time (for example, one second) from the timer value (step S97). If the predetermined time has not elapsed (NO in step S97), the output of the current tram signal is maintained in step S99. In addition, if the tram signal is not outputting the progress G (NO in step S93) or if the conflicting route is not activated (NO in step S95), the output of the current tram signal is maintained S99).

If the conflicting activity state has been maintained for a predetermined time in step S97 (Yes in step S97), that is, if the timer has reached the predetermined threshold value, the tram signal device 200 determines that the tram signal device is contradictory, (Step S98).

In the operation at the time of the contradiction in step S98, for example, the tram signal device 200 causes the traffic signal controller 100 to red-flash the tram signal and the intersection vehicle signal of the access route Signal, and the signal controller 100 drives both the tram signal lamp and the vehicle signal lamp in red flashing to prevent the vehicle and the tram from entering the intersection. Intersection of the intersection signal due to tram signal inconsistency The normal operation of the signal is performed after the field operator releases it based on the contradiction cancellation function after the situation operator measures the situation.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention.

It is to be understood that the terms "comprises", "comprising", or "having" as used in the foregoing description mean that a component can be implanted unless specifically stated to the contrary, But should be construed as further including other elements.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100 traffic signal controller,
110 signal control section,
120 signal driver,
130 signal output section,
200 tram signal device,
310 vehicle traffic lights,
320 tram traffic lights.

Claims (18)

CLAIMS What is claimed is: 1. A method for detecting a signal contradiction in a tram signaling device installed in a tram intersection comprising a tram lane and a lane lane,
A first step of generating tram signal light output information for each access road of the intersection according to the tram access information and the priority signal result and transmitting the generated tram signal light output information to the traffic signal controller,
A second step of receiving feedback information of a signal output from a vehicle signal lamp and a tram signal from a traffic signal controller,
A third step of extracting an access path tram signal from the feedback information,
A fourth step of extracting a vehicle signal of a conflicting route from the feedback information if the extracted tram signal is a tram pass signal,
If the extracted vehicle signal is a signal in which progress to the conflicting route is activated, A fifth step of determining that there is a signal contradiction in a case where a conflicting active state is maintained for a predetermined time
And,
Wherein the conflict path includes a vehicle path in a direction intersecting the tram travel direction and a sinusoidal path in the tram travel direction.
delete The method according to claim 1,
Wherein the second step is performed periodically. ≪ RTI ID = 0.0 > 8. < / RTI > The method according to claim 1,
And a sixth step of, if it is determined in step 5 that a signal contradiction is present, transmitting a signal to the traffic signal controller such that both the tram signal of the approach road and the intersection vehicle signal are blinked red.
delete The method according to any one of claims 1, 3, and 4,
Wherein the tram signal device stores data defining the conflicting route in accordance with characteristics of an intersection in which a tram signal device is installed. The method according to any one of claims 1, 3, and 4,
Wherein the steps of the first through fifth steps are performed every 100 ms. The method according to any one of claims 1, 3, and 4,
Wherein the tram signal device constructs the accessory-specific register configuration information as an internal database, and generates the vehicle signal light output information by access road based on the information. 9. The method according to claim 8, wherein the vehicle traffic light output information by access path
i) At the intersection of trams, two or more trams should not enter the intersection at the same time for the safety of the intersection,
ii) A tram signal light is output in connection with a vehicle signal lamp in the same direction to prevent mutual collision between the tram in the intersection and the vehicle,
iii) a tram pass signal G is generated only when the vehicle signal in the same direction is green,
iv) The display order of tram lights is displayed in the order of stop, pass, signal change and stop,
v) The change signal Y of the tram signal maintains the change signal Y output for a time during which the tram can pass safely through the intersection, taking into account the stopping distance of the tram,
vi) outputting a change signal Y and a tram stop R to prohibit the entry of the subsequent tram when entering the intersection of the corresponding tram after the tram passing signal G,
vii) If the tram signaling device detects the intersection approach of the tram, the tram signaling device (T) is turned on to inform the driver that the tram has been detected and the tram signal light Is generated by applying a rule that predicts that a passing signal (G) will be displayed. A method for detecting a signal contradiction in a tram intersection comprising a tram lane and a lane lane,
A first step of generating a tram signal output information for each access road of the intersection according to the access information of the tram and the priority signal result and transmitting the information to the traffic signal controller;
The traffic signal controller outputs a driving signal to the vehicle signal lamp and the tram signal according to the vehicle signal light output information and the tram signal light output information generated by the traffic signal controller and transmits the feedback information of the signal outputted from the vehicle signal lamp and the tram signal to the tram signal device A second step in which,
A third step of the tram signal device extracting an access path tram signal from the feedback information,
A fourth step of extracting a vehicle signal of a conflicting route from the feedback information if the extracted tram signal is a tram pass signal,
If the tram signal device determines that the vehicle signal is a contradictory signal state when the vehicle signal is kept in a conflicting active state for a predetermined time period if the extracted vehicle signal is a signal in which the progress to the conflicting route is activated,
And,
Wherein the conflict path includes a vehicle path in a direction intersecting the tram travel direction and a sinusoidal path in the tram travel direction. delete 11. The method of claim 10,
Wherein the second step is performed periodically. ≪ RTI ID = 0.0 > 8. < / RTI > 11. The method of claim 10,
If it is determined in step 5 that the signal is inconsistent, the tram signal device transmits a signal to the traffic signal controller to cause both the tram signal of the access route and the intersection vehicle signal to flash red, and the signal controller receiving the signal transmits the tram signal light and the vehicle signal light Further comprising: a sixth step of driving all of the red LEDs in a red blinking manner.
delete 14. The method according to any one of claims 10, 12 and 13,
Wherein the tram signal device stores data defining the conflicting route in accordance with characteristics of an intersection in which a tram signal device is installed. 14. The method according to any one of claims 10, 12 and 13,
Wherein the steps of the first through fifth steps are performed every 100 ms. 14. The method according to any one of claims 10, 12 and 13,
Wherein the tram signal device constructs the accessory-specific register configuration information as an internal database, and generates the vehicle signal light output information by access road based on the information. 18. The method according to claim 17, wherein the vehicle traffic light output information by access path
i) At the intersection of trams, two or more trams should not enter the intersection at the same time for the safety of the intersection,
ii) A tram signal light is output in connection with a vehicle signal lamp in the same direction to prevent mutual collision between the tram in the intersection and the vehicle,
iii) a tram pass signal G is generated only when the vehicle signal in the same direction is green,
iv) The display order of tram lights is displayed in the order of stop, pass, signal change and stop,
v) The change signal Y of the tram signal maintains the change signal Y output for a time during which the tram can pass safely through the intersection, taking into account the stopping distance of the tram,
vi) outputting a change signal Y and a tram stop R to prohibit the entry of the subsequent tram when entering the intersection of the corresponding tram after the tram passing signal G,
vii) If the tram signaling device detects the intersection approach of the tram, the tram signaling device (T) is turned on to inform the driver that the tram has been detected and the tram signal light Is generated by applying a rule that predicts that a passing signal (G) will be displayed.

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