KR102195527B1 - Intelligent smart crosswalk control method and system - Google Patents

Abstract

The present invention relates to a crosswalk control method and to a system thereof. The crosswalk control method comprises the steps of: receiving a Lidar scan image for user monitoring from a Lidar sensor rotating 360 degrees; recognizing users in a plurality of characteristic areas mapped to the Lidar scan image from the Lidar scan image, wherein the plurality of characteristic areas include a pedestrian waiting area, a vehicle passing area, a pedestrian crossing area, and a pedestrian traffic area to recognize users in the plurality of characteristic areas; and outputting a voice guidance message corresponding based on a current state of the traffic light and whether the user is recognized or a traffic light control signal.

Description

Intelligent smart crosswalk control method and system {INTELLIGENT SMART CROSSWALK CONTROL METHOD AND SYSTEM}

The present invention relates to an intelligent smart crosswalk control method and system, and specifically, a crosswalk area recognized through a lidar is set as various recognition areas according to regional characteristics, and the pedestrian recognition and traffic signal status in each recognition area It relates to an intelligent smart pedestrian crossing control method and system capable of dynamically controlling traffic signals and outputting various guides accordingly.

A crosswalk is a roadway that both pedestrians and vehicles can use. Crosswalks have vehicle traffic lights and pedestrian traffic lights, and vehicles can cross the crosswalk according to the vehicle traffic lights, and pedestrians can cross the crosswalk according to the pedestrian traffic lights.

Traffic accidents occur frequently at crosswalks. In crosswalks, various traffic accidents have occurred due to non-compliance with traffic laws and various signals such as unauthorized crossing of pedestrians, crossing of areas other than crosswalks, illegal traffic of vehicles, sudden acceleration of vehicles, sudden start, and yellow light departure. Korea is known as the country with the highest mortality rate for pedestrian traffic accidents among OECD countries, and life-threatening accidents account for a large proportion of the traffic vulnerable groups such as children and the elderly. In order to reduce traffic accidents at crosswalks, laws that strengthen penalties are revised or the crosswalk system applied to crosswalks is being improved.

To reduce traffic accidents, as a known existing pedestrian crossing system, the first generation traffic lights inform pedestrians of the signal status of the crosswalk by lighting green/red signals, and the second generation traffic lights display the remaining time of the green signal for walking The disabled information function was added.

Both the 1st and 2nd generation traffic lights are traffic lights for reducing traffic accidents based on the perception of pedestrians, and there are many restrictions to prevent traffic accidents. A crosswalk system for automatically recognizing pedestrians through electronic control and controlling unauthorized crosswalks is also known, beyond the limitations of these first and second generation traffic lights.

A pedestrian crossing system capable of electronically recognizing pedestrians, for example, installs a laser sensor rod to recognize pedestrians passing through the laser sensor rod, and outputs a warning announcement in the event of unauthorized crossing at a signal that is not allowed to pass, or outputs a limited area. The pedestrian is recognized through the sensor, and a warning announcement is output when the recognized pedestrian crosses.

Such an existing improved crosswalk system also has many limitations in protecting pedestrians from vehicles. For example, the existing crosswalk system is limited to receiving a traffic signal state and outputting a warning announcement according to a pedestrian crossing recognition in a restricted area based on the traffic signal state.

As described above, there is a need for an intelligent smart crosswalk control method and system capable of overcoming the limitations of existing crosswalk systems and detecting and reducing various types of traffic accident risk factors at crosswalks.

Registered Patent 10-2020340, September 11, 2019,

The present invention has been devised to solve the above-described problem, and dynamically recognizes all pedestrians in various characteristic areas including crosswalks, and dynamically guides pedestrians according to the current traffic signal conditions and characteristics of the recognized area. Its purpose is to provide an intelligent smart crosswalk control method and system that can reduce safety accidents by providing them.

In addition, the present invention maps the entire area of the crosswalk recognized using the lidar to various characteristic areas, and then, the pedestrians recognized in the characteristic area mapped through the lidar and the pedestrians in each characteristic area according to the received traffic signal state. Its purpose is to provide an intelligent smart pedestrian crossing control method and system capable of outputting announcements to users.

In addition, the present invention automatically recognizes a pedestrian using a crosswalk, controls the change of the traffic signal for a vehicle according to the recognition of the pedestrian at the crosswalk, and an intelligent smart crosswalk control that can guide pedestrians to move to a safe area through an announcement. Its purpose is to provide a method and system.

In addition, the present invention maps the entire area of the crosswalk sensed through the lidar to various characteristic areas according to the site characteristics of the installed crosswalk, and guides the use of each crosswalk according to the specialized characteristic area of each crosswalk. Its purpose is to provide an intelligent smart pedestrian crossing control method and system.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. I will be able to.

A crosswalk control method according to an aspect of the present invention includes receiving a lidar scan image for user monitoring from a lidar sensor rotating 360 degrees, in a plurality of characteristic areas mapped to the lidar scan image Recognizing the user from the lidar scan image, wherein the plurality of characteristic areas include a pedestrian waiting area, a vehicle passing area, a pedestrian crossing area, and a pedestrian traffic area, recognizing users in a plurality of characteristic areas, and current traffic lights. Including the step of outputting a corresponding voice guidance message or a traffic light control signal based on the state and whether the user is recognized, and the step of recognizing the user in the plurality of characteristic areas recognizes the user located in the waiting area for a specified time or longer. Including, and the step of outputting includes outputting a vehicle traffic light control signal and a pedestrian traffic light control signal for allowing a user to cross through a crosswalk according to the user's recognition of a specified time or more in the pedestrian waiting area.

In the above-described crosswalk control method, after the outputting step, receiving a lidar scan image for user monitoring from a lidar sensor rotating 360 degrees, a crosswalk area and a vehicle passage area mapped to the lidar scan image Recognizing the user of the LIDAR in the scanned image, outputting a voice guidance message guiding the crossing through the crosswalk when the user is recognized in the vehicle passage area, and after the passage time for the user crossing In the case where the user in the crosswalk area is recognized, outputting a pedestrian traffic light control signal for prohibiting the user's crossing and a vehicle traffic light control signal for prohibiting vehicle traffic are further included.

In the above-described crosswalk control method, the step of recognizing users in a plurality of characteristic areas further includes user recognition located in a pedestrian passage area for a specified time or longer, user recognition in a vehicle passage area, and user recognition in a crosswalk area. Including and outputting the output of a voice guidance message to guide the movement to the pedestrian waiting area according to the user's recognition for more than a specified time in the pedestrian traffic area and recognition of the user in the vehicle traffic area in the current traffic light state where user crossing is prohibited. It further includes outputting a voice guidance message for guiding the movement to the waiting area or the pedestrian area according to the user's recognition in the crosswalk area.

In the above-described crosswalk control method, the plurality of characteristic areas further include a student passage area, and the step of recognizing a user in the plurality of characteristic areas includes a pedestrian waiting area, a vehicle passage area, a pedestrian crossing area, and a pedestrian passage area. And the step of recognizing and outputting a user in one or more of the commuting areas further includes outputting a control signal for outputting a visual guide display recognizable by the vehicle according to the user's recognition in the one or more areas.

In the above-described crosswalk control method, prior to receiving a lidar scan image for user monitoring, receiving a lidar scan image for mapping a plurality of characteristic areas from a lidar sensor rotating 360 degrees; In accordance with the step of converting the lidar scan image of the IDA sensor into a 3D map map and the administrator setting input for the converted 3D map map, the waiting area, vehicle traffic area, pedestrian crossing area, and pedestrian traffic area are set in the 3D map map. The step of recognizing users in a plurality of characteristic areas further includes a step, and the step of recognizing users in a plurality of characteristic areas is a lidar scan for user monitoring of users located in the waiting area, vehicle traffic area, crosswalk area or pedestrian traffic area set in the 3D map map Recognize it in the image.

In the above-described crosswalk control method, after the step of recognizing a user in a plurality of characteristic areas, photographing an image including the position of the user recognized according to the user's recognition through a rotatable camera sensor, and the photographed The step of storing the image and identifying the user through analysis of the captured image further includes, and the step of outputting outputs a voice guidance message or a traffic light control signal further based on whether the user is identified from the captured image.

In addition, the crosswalk system according to an aspect of the present invention is mapped to a sub-module equipped with a lidar sensor rotating 360 degrees and a lidar scan image, and includes a waiting area, a vehicle passing area, a pedestrian crossing area, and a pedestrian traffic area. And a main module for recognizing users in a plurality of characteristic areas to be recognized from the lidar scan image from the sub-module and outputting a corresponding voice guidance message or a traffic light control signal based on the current state of the traffic light and whether the user is recognized, and the main module The module outputs a vehicle traffic light control signal and a pedestrian traffic light control signal to allow the user to cross through the crosswalk according to the perception of the user located in the waiting area for more than a specified time.

In the above-described pedestrian crossing system, after outputting a control signal for allowing a user to cross a crosswalk through the crosswalk, the main module detects the user of the crosswalk area and the vehicle passage area mapped to the lidar scan image from the sub-module. Recognized in the lidar scan image, and when the user is recognized in the vehicle passage area, a voice guidance message that guides the crossing through the crosswalk area is output through the equipped speaker, and after the passage time for the user crossing When a user in the crosswalk area is recognized, the pedestrian traffic light control signal for prohibiting the user's crossing and the vehicle traffic light control signal to prohibit vehicle traffic are output to the connected pedestrian traffic light and the vehicle signal light.

In the above-described pedestrian crossing system, the main module outputs a voice guidance message through a speaker equipped to guide the movement to the pedestrian waiting area according to the recognition of the user located for a specified time or longer in the pedestrian passage area, and crosses the user. In this prohibited current traffic light state, a voice guidance message for guiding the movement to the pedestrian waiting area or the pedestrian traffic area is output through the speaker as the user is recognized in the vehicle traffic area or the user in the pedestrian crossing area.

In the above-described pedestrian crossing system, the plurality of characteristic areas further include a student passage area, and the sub-module further includes a warning light for outputting a visual guide display, and the main module includes a pedestrian waiting area, a vehicle passage area, and a crossing. A user is recognized in at least one of a sidewalk area, a pedestrian area, and a commuter area, and a control signal for outputting a visual guide display recognizable by the vehicle according to the user's recognition in at least one area is output to the sub-module.

In the above-described crosswalk system, prior to user recognition in a plurality of characteristic areas, the main module receives the lidar scan image from the sub-module and converts the received lidar scan image into a 3D map map by applying SLAM technology. Then, according to the setting input for the converted 3D map map, set and save the waiting area, vehicle traffic area, crosswalk area and pedestrian traffic area in the 3D map map, and then the pedestrian waiting area and vehicle traffic area set in the 3D map map. , Users located in the crosswalk area or pedestrian traffic area are recognized in the lidar scan image for user monitoring from the sub module, and the main module is a plurality of characteristic areas set in the lidar scan image for user monitoring from the sub module. Each user is recognized by applying artificial intelligence technology.

The intelligent smart pedestrian crossing control method and system according to the present invention as described above dynamically recognizes all pedestrians in various characteristic areas including pedestrian crossings, and dynamically guides pedestrians according to the current traffic signal conditions and characteristics of the recognized area. There is an effect that can reduce safety accidents by providing.

In addition, the intelligent smart pedestrian crossing control method and system according to the present invention as described above maps the entire area of the pedestrian crossing recognized using the lidar to various characteristic areas, and then, the pedestrians recognized in the characteristic area mapped through the lidar. There is an effect of outputting a guide broadcast to pedestrians in each characteristic area according to the condition of the received traffic signal and.

In addition, the intelligent smart crosswalk control method and system according to the present invention as described above automatically recognizes pedestrians who are using the crosswalk, controls the change of traffic signals for vehicles according to the recognition of the pedestrians at the crosswalk, and controls pedestrians through announcements. It has the effect of guiding you to a safe area.

In addition, the intelligent smart crosswalk control method and system according to the present invention as described above maps the entire area of the crosswalk sensed through the lidar to various characteristic areas according to the site characteristics of the crosswalk to be installed, and specializes in each crosswalk. It has the effect of guiding the use of each crosswalk depending on the specific area.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a diagram showing an exemplary system configuration of a pedestrian crossing system constructed in accordance with the present invention.
2 is a diagram showing an example in which the crosswalk system according to the present invention is applied to an arbitrary crosswalk.
3 is a diagram illustrating an exemplary block diagram of a main module.
4 is a diagram illustrating a control flow for setting an entire area of a crosswalk, which is a management target, as a plurality of characteristic areas.
5 is a diagram illustrating an example of characteristic areas set in an arbitrary crosswalk that is a management target.
6 is a diagram illustrating an exemplary control flow for controlling a pedestrian crossing in a state where a current traffic light is allowed to pass a vehicle and guiding a voice to a pedestrian.
7 is a diagram illustrating an exemplary control flow of controlling a pedestrian crossing and providing voice guidance to pedestrians in a current traffic light state in a state in which pedestrians are allowed to pass.
8 is a diagram illustrating various examples of monitoring of users applied in a crosswalk system.

The above-described objects, features, and advantages will become more apparent through the detailed description that will be described later in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains will understand the technical idea of the present invention. It will be easy to implement. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram showing an exemplary system configuration of a pedestrian crossing system 10 constructed according to the present invention, and FIG. 2 shows an example of applying the pedestrian crossing system 10 to an arbitrary pedestrian crossing.

1 and 2, the crosswalk system 10 is composed of several devices, devices, and components to be applied to any crosswalk, and each device is installed in the area of the crosswalk.

The crosswalk system 10 includes one or more main modules 100, one or more sub-modules 200, a traffic signal controller 300, one or more vehicle traffic lights 400, and one or more pedestrian traffic lights 500. .

The vehicle traffic light 400 is a signal device installed on an upper side of a roadway where the vehicle can recognize and regulates the traffic flow of the vehicle. The vehicle traffic light 400 may turn on or off a red, yellow, or green traffic light provided according to a control signal received from the traffic signal controller 300. The control signals applied to the vehicle traffic light 400 may be, for example, an alternating current (AC) signal provided to turn on and off each traffic light.

The pedestrian traffic light 500 is a signal device that is installed on the sidewalk and regulates the movement of pedestrians through a crosswalk. The pedestrian traffic light 500 may turn on/off or flash a red or green traffic light provided according to a control signal received from the traffic signal controller 300. The control signals applied to the pedestrian traffic light 500 may be, for example, an alternating current (AC) signal provided to turn on or off each traffic light or blink.

The traffic signal controller 300 controls the vehicle traffic light 400 and the pedestrian traffic light 500 to control the movement of vehicles and pedestrians in the installed crosswalk. The traffic signal controller 300 outputs a control signal for controlling the flow of the vehicle to the vehicle traffic light 400, and the pedestrians (hereinafter, including pedestrians, who use the crosswalk, are collectively referred to as'users') with the pedestrian traffic light 500. ) Can output a control signal to control the crosswalk movement. The traffic signal controller 300 may output a vehicle traffic light control signal and a pedestrian traffic light control signal through a wired (cable) line.

The traffic signal controller 300 is preferably configured to be interlocked with the main module 100 capable of controlling the crosswalk according to the dynamic recognition of the user. The traffic signal controller 300 may output current traffic light status information corresponding to the currently output vehicle traffic light control signal and the pedestrian traffic light control signal to the main module 100, and the vehicle signal control signal and/or from the main module 100 It is possible to receive a pedestrian traffic light control signal and output it to the vehicle traffic light 400 and the pedestrian traffic light 500.

The traffic signal controller 300 may output AC vehicle traffic light control signals and pedestrian traffic light control signals as current traffic light status information to the main module 100 through a wired cable. Alternatively, the traffic signal controller 300 may output digital state data corresponding to AC vehicle traffic light control signals and pedestrian traffic light control signals as current traffic light state information. When digital status data can be output, the traffic signal controller 300 can output the corresponding status data to the main module 100 through Ethernet, Wi-Fi, RS232, or the like.

The traffic signal controller 300 may receive a vehicle signal control signal and/or a pedestrian traffic light control signal from the main module 100 and output it to the vehicle traffic light 400 and the pedestrian traffic light 500, for example, The traffic signal controller 300 receives digital control data corresponding to a vehicle signal control signal and/or a pedestrian signal control signal from the main module 100 through Ethernet, Wi-Fi, or RS232, and receives the vehicle signal control signal and/or It can be converted into a control signal such as a walking signal and output. Alternatively, the traffic signal controller 300 receives an AC vehicle signal control signal and/or a pedestrian traffic light control signal from the main module 100 through a wired cable and outputs it to the vehicle traffic light 400 and the pedestrian traffic light 500. I can.

The sub-module 200 is a device capable of sensing a pedestrian crossing and a user in the vicinity and outputting a visual guide display under the control of the main module 100. The sub-module 200 may include a lidar sensor 203 capable of rotating 360 degrees and a warning light 201 capable of outputting a visual guide display such as red or yellow.

The LIDAR sensor has 16 or 32 channels, rotates 360 degrees in the horizontal direction, and can generate a lidar scan image according to the rotation. The lidar sensor 203 may output a lidar scan image generated according to one rotation at a rotation speed of 30 or 60 times per second to the main module 100.

The lidar sensor 203 outputs lidar sensing data for each channel at different angles to the main module 100 according to a sensing period, or configures a lidar scan image including sensing data of multiple channels according to one rotation. It can be output to the main module 100. The lidar sensor 203 may output a lidar scan image (sensing data constituting the component) to the main module 100 through a processor provided therein or a processor further included in the submodule 200.

The sub-module 200 further includes a warning lamp 201 for outputting a visual guide display, and the sub-module 200 receives a control signal for outputting a visual guide display from the main module 100 and controls the received warning lamp. The warning light 201 can be turned on and off according to the signal. The beacon control signal may be an analog signal, a digital signal, or a signal constructed from digital data.

The sub-module 200 may be connected to the main module 100 through a wired network such as Ethernet, RS232, or USB, or a wireless network such as Wi-Fi or Bluetooth to output a lidar scan image or receive a control signal.

The main module 100 controls the crosswalk (system of) according to the user's perception. The main module 100 periodically receives the lidar scan image from the sub-module 200, recognizes the user from the lidar scan image, whether the user is recognized, the recognized user's location area, and receives from the traffic signal controller 300 A traffic light control signal for controlling a pedestrian crossing may be output to the traffic signal controller 300 based on the current traffic light state (information) and the like, and a voice guidance message may be output to the provided speaker.

The main module 100 includes several set in the main module 100 in the lidar scan image from the sub-module 200 that is periodically received for user monitoring (eg, 1/30 second, 1/60 second, etc.). It is structured to recognize users in each characteristic area by applying artificial intelligence technology.

As shown in the application example of FIG. 2, the main module 100 may be installed on the pole (post) of the pedestrian traffic light 500, and the sub-module 200 is within (or adjacent to) a pedestrian traffic area or a pedestrian waiting area to be discussed below ) Can be installed. The sub-module 200 may include a lidar sensor 203 that rotates in a horizontal direction on the ground by 360 degrees at a position of approximately 1 m. The sub-module 200 may scan a lidar image in a 360-degree vertical direction at a set height including a pillar (pole). Accordingly, it is possible to easily recognize users of the vulnerable class such as preschoolers and children.

The crosswalk system 10 installed on an arbitrary crosswalk includes one sub-module 200 and one main module 100, or two sub-modules 200 and two main modules as in the example of FIG. (100) may be provided. When two sub-modules 200 and main modules 100 are provided in the crosswalk system 10, one sub-module 200 and the main module 100 are provided as long as there is a roadway (crosswalk) between them. It is installed on the side of the pedestrian road (India) and the other sub-module 200 and the main module 100 may be installed on the other side of the pedestrian road.

Here, the sub-module 200 and the main module 100 may be installed in different locations by being embedded in separate separate devices as in the example of FIG. 2. Alternatively, the sub-module 200 and the main module 100 may be embedded in a single device and installed at the same location.

A detailed configuration of the crosswalk system 10 including the main module 100 and the sub-module 200 and a control flow thereof will be described in more detail below in FIG. 3.

3 is a diagram illustrating an exemplary block diagram of the main module 100.

The block diagram of FIG. 3 preferably shows a functional block diagram, and the main module 100 has hardware components (logic, chipset, circuit, etc.) for performing each function. Here, a specific hardware block for executing a specific functional block may be used for executing one or more other functional blocks.

Looking at the main module 100 through FIG. 3, the main module 100 includes an image capture unit 101, a traffic signal controller interface 103, a manager device interface 105, a storage unit 107, and a submodule interface ( 109), an audio signal output unit 111, a state transmission unit 113, and a control unit 115. The main module 100 may further include other functional blocks in addition to the functional blocks of FIG. 3.

The image capturing unit 101 photographs an image outside the main module 100. The image capturing unit 101 may include a lens, a camera sensor, a rotation motor, and the like, and may position the lens and the camera sensor in a designated direction by driving a rotation motor according to a camera rotation control signal received from the controller 115. The image capturing unit 101 may control the pan motor and the tilt motor according to a camera rotation control signal for controlling pan and tilt.

In addition, the image capturing unit 101 captures an image through a camera sensor in response to reception of a shooting control signal from the control unit 115 and outputs the captured image to the control unit 115. The image capturing unit 101 may output a series of image data captured through Ethernet, an internal system bus, or the like to the control unit 115 and receive control data corresponding to a control signal. The imaging unit 101 may be configured to include a chipset or hardware logic for accessing Ethernet or an internal system bus.

The traffic signal controller interface 103 interfaces with the traffic signal controller 300. The traffic signal controller interface 103 may receive current traffic light status information from the traffic signal controller 300 and output a vehicle signal control signal and/or a pedestrian traffic light control signal generated by the control unit 115. The traffic signal controller interface 103 may transmit and receive various states and control signals by having a chipset for Ethernet, wireless Wi-Fi, and RS232 communication, and a wired cable for individually transmitting and receiving hardware logic or various signals.

The manager device interface 105 interfaces with a manager device that manages the main module 100. The manager device is a device capable of setting various internal data of the main module 100 and may be, for example, a smart phone, a tablet PC, a notebook, a PDA, or a dedicated terminal.

The manager device interface 105 is equipped with a chipset for Ethernet, USB, and UART communication and hardware logic to transmit and receive various data to and from the manager device. At least, through the manager device interface 105, it is possible to set characteristic areas within the entire area of the crosswalk that is the monitoring target on the 3D map map of the lidar scan image. The main module 100 may perform various controls of the crosswalk system 10 according to user recognition in characteristic areas set by the manager device.

The storage unit 107 stores various data and programs including a volatile memory and/or a nonvolatile memory, as well as a mass storage medium such as a hard disk. The storage unit 107 stores information on at least several set characteristic regions, and stores a program and a control program for recognizing a user from the two-dimensional (planar) or three-dimensional (stereoscopic) location region information of the characteristic region. The control program controls the entire main module 100, and the recognition program recognizes and tracks users of specific characteristic areas in the lidar scan image. The recognition program may be, for example, a program to which an artificial intelligence technology capable of tracking a recognized user or whether or not a user is recognized for each characteristic region by receiving information on a lidar scan image and characteristic regions as input. The recognition program can be controlled and driven by the control program.

In addition, the storage unit 107 further stores a program for converting the lidar scan image into a 3D map map. The conversion program may be a program to which a SLAM (Simultaneous Localization and Mapping) technology capable of converting a lidar scan image including distance data into a three-dimensional map map is applied.

The submodule interface 109 interfaces with the submodule 200. The submodule interface 109 receives the lidar scan image from the submodule 200 (the lidar sensor 203) through Ethernet or the like, and outputs it to the control unit 115 or the storage unit 107. The submodule interface 109 may output a warning light control signal received from the controller 115 to the submodule 200. The submodule interface 109 may include a communication chipset for accessing a wired network such as Ethernet, RS232, and USB, a communication chipset for accessing a wireless network such as hardware logic or Wi-Fi or Bluetooth, an antenna, and a hardware circuit. have.

The audio signal output unit 111 outputs an audio signal. The audio signal output unit 111 includes an audio DAC and a speaker and/or an amplifier connected to the audio DAC and outputs a voice guidance message from the control unit 115 as a vibration signal that can be audibly recognized by the user.

The state transmission unit 113 outputs the state of the crosswalk. The state transmission unit 113 includes a communication chipset for implementing Ethernet, Wi-Fi, Bluetooth, and the like, and transmits the state of the crosswalk to a remote traffic control system or outputs it to vehicles around the crosswalk. For example, the status transmission unit 113 is the current traffic light status information recognized or set by the main module 100, the currently recognized user information (for example, information indicating the presence of a user crossing a crosswalk, etc.) The lights can be transmitted to the traffic control system via Wi-Fi or Ethernet, or can be transmitted to adjacent vehicles through Bluetooth broadcasting (beacon broadcasting).

The control unit 115 controls the main module 100. The control unit 115 includes or represents a CPU, an MPU, a processor, a central processing unit, and a microcomputer. The control unit 115 controls the main module 100 through execution of a program including at least one execution unit that loads a program in the storage unit 107 and executes a command of the program.

The control unit 115 performing the control program or recognition program recognizes the user in various characteristic areas set from the lidar scan image, and based on whether the user is recognized and the current traffic light state determined through the traffic signal controller interface 103 Thus, a voice guidance message is output to the voice signal output unit 111 and/or a traffic light control signal is output through the traffic signal controller interface 103.

For example, the control unit 115 serves users in various characteristic areas including a pedestrian waiting area, a vehicle passing area, a pedestrian crossing area, a pedestrian passing area, and further, a commuting school passing area that is mapped and set on the lidar scan image. Recognized from the lidar scan image from the module 200 and outputs a voice guidance message to the voice signal output unit 111 to provide a safe crosswalk environment based on the current traffic light status and whether the user is recognized in one or more characteristic areas And outputs the traffic light control signal to the traffic signal controller 300 through the traffic signal controller interface 103.

Various control flows performed by the control unit 115 will be described in more detail through the drawings below in FIG. 4.

4 is a diagram illustrating a control flow for setting an entire area of a crosswalk, which is a management target, as a plurality of characteristic areas.

The control flow of FIG. 4 performed prior to the control flow of FIG. 6 or less is performed by the crosswalk system 10 and preferably the main module 100 (of the control unit 115) for controlling the sub-module 200. Performed by The control flow of FIG. 4 is performed at any crosswalk through the manager device interface 105 after the crosswalk system 10 including the main module 100 and the submodule 200 is installed (for the first time) at an arbitrary crosswalk. It can be initiated upon request to set the characteristic area of the

First, the crosswalk system 10 receives (S110) a lidar scan image to be used for mapping characteristic areas.

The control unit 115 of the main module 100 controls the sub-module 200 (for example, outputting a control signal requesting sensing of a lidar scan image) from the sub-module 200 to one (or multiple) rotations. The corresponding lidar scan image is received through the submodule interface 109. The sub-module 200 may configure a lidar scan image sensed from channels in different vertical angle directions in 360 degrees omnidirectional according to the rotation of the equipped lidar sensor 203 and transmit it to the main module 100. have. The lidar scan image is reflected from the output of the lidar pulse, which is sensed at a specified period (e.g., 1/30720 seconds) according to the specified rotational speed in all directions horizontally 360 degrees from the ground in multiple channels. Data indicating a distance according to an input) may be included.

Upon reception of the lidar scan image, the pedestrian crossing system 10 converts the lidar scan image into a map map (S130).

The main module 100 (the control unit 115 of), which received the lidar scan image from the submodule 200 through the submodule interface 109, applies SLAM technology to the lidar scan image received by executing the conversion program. Then, the lidar scan image is converted into a 3D map map. The main module 100 (the control unit 115 of) generates a 3D map map centered on the sub-module 200 (LIDAR sensor 203) using a series of distance data of each of the channels of the lidar scan image. Configurable. The converted 3D map map may be stored in the storage unit 107.

The crosswalk system 10 is used for user recognition in the converted map map and sets characteristic areas to be used for control of the crosswalk system 10 according to the current traffic light state (S150). The characteristic areas are divided and set in the 3D map map of the LIDAR scan image, and are configured to enable control and guidance of the crosswalk system 10 specialized according to the user recognized in each characteristic area and the current traffic light conditions. The characteristic areas are set differently for each crosswalk according to the administrator's setting input.

Specifically, the manager device connects to the main module 100 through the manager device interface 105, and the main module 100 (the control unit 115) of the storage unit 107 according to an input from the manager device. The map map (image of) is transmitted to the manager device through the manager device interface 105.

The manager device displays the 3D map map through a display, and sets the areas of each characteristic area in the 3D map map according to the selection of the characteristic area and the location selection through the input interface of the manager device. For example, the manager device may designate a characteristic area to be set and specify the area by displaying an outer coordinate point of the specified characteristic area on a 3D map map.

The main module 100 receives characteristic area information set according to the setting input of the manager device through the manager device interface 105, maps it to a 3D map map, and stores it in the storage unit 107. The characteristic area information may include three or more outer coordinate points, and may further include a characteristic area identifier (eg, a name of a characteristic area or a corresponding serial number).

In this way, the main module 100 may set various types of characteristic areas on the 3D map map converted by applying the SLAM technology according to the manager setting input through the manager device.

FIG. 5 shows an example of characteristic areas set in an arbitrary crosswalk that is a management target. As can be seen in the example of FIG. 5, characteristic areas that can be set by the manager device are pedestrian waiting areas (see ⓐ), Pedestrian traffic area (refer to ⓑ), crosswalk area (refer to ⓒ), vehicle traffic area (refer to ⓓ), and commuter traffic area (refer to ⓔ) may further be included. The administrator can identify various installations (see ⓕ, pillars, main module 100, center divider, etc.) from the image of the 3D map map and set various characteristic areas targeted to various installations.

Pedestrian waiting area represents the area of the sidewalk (india) that waits to cross the other side of the sidewalk through the crosswalk, and is set by the administrator as a part of the sidewalk area in front of the crosswalk.

The crosswalk area represents a crosswalk area in which a user can cross the roadway, and the vehicle passage area represents a roadway area in which a vehicle can be used. The school traffic area represents a roadway and a sidewalk that is used by children, kindergarteners, etc. to cross the crosswalk.

As in the example of FIG. 5, the manager inputs the location representing the boundary (corner) of each characteristic area into the 3D map map image through the manager device, and the pedestrian waiting area, the pedestrian traffic area, the pedestrian crossing area, the vehicle traffic area and further traffic A student passage area is designated, and the main module 100 stores in the storage unit 107 a plurality of characteristic area information indicating a set pedestrian waiting area, a pedestrian passage area, a crosswalk area, a vehicle passage area, and further a student passage area. . The characteristic area of the characteristic area information may be set as a 2D spatial area or a 3D spatial area.

Thereafter, the main module 100 is a lidar sensor 203 of the sub-module 200 for users located in the pedestrian waiting area, the pedestrian passing area, the pedestrian crossing area, the vehicle passing area and further the commuting area set in the 3D map map. ), it can be recognized in the lidar scan image received from the user and output various controls or guidance according to the user's recognition and the current traffic light status.

In addition, the main module 100 may further store information such as a crosswalk type (school zone, etc.) or a crosswalk travel time according to a setting through a manager device.

6 is a diagram illustrating an exemplary control flow for controlling a pedestrian crossing in a state where a current traffic light is allowed to pass a vehicle and guiding a voice to a pedestrian.

The control flow of FIG. 6 is performed by the crosswalk system 10 and is preferably performed by the main module 100 (the control unit 115 of) performing a control program and a recognition program.

The main module 100 of the crosswalk system 10 receives current traffic light status information from the traffic signal controller 300 or directly from the vehicle traffic light 400 and the pedestrian traffic light 500 through the traffic signal controller interface 103, and When the current traffic light state is a state in which a green signal of the vehicle traffic light 400 is output and a red signal is output to the pedestrian traffic light 500, the control flow of FIG. 6 is performed. The main module 100 can periodically receive the current traffic light status information through the traffic signal controller interface 103 and perform the control flow of 6 even while the current traffic light status is a vehicle traffic permit state in which vehicle traffic is permitted at a crosswalk. have.

First, the crosswalk system 10 receives 201 a lidar scan image. The main module 100 receives the lidar scan image for monitoring users in various characteristic areas periodically according to the rotation cycle of the lidar sensor 203 through the submodule interface 109 and stores it in the storage unit 107. Save it temporarily.

Upon reception of the lidar scan image, the pedestrian crossing system 10 recognizes the user (S203). The main module 100 recognizes the user in corresponding various characteristic areas of the received lidar scan image. The main module 100 may recognize users in one or a plurality of characteristic areas. If user recognition is not performed in all the characteristic areas, the execution of the following control flow of FIG. 6 is terminated, and the execution is performed again from step S201.

The main module 100 (the control unit 115 of) may preferably recognize a user in each of the set plurality of characteristic areas from the lidar scan image by applying artificial intelligence technology. The main module 100 is a lidar that receives users in the pedestrian waiting area, the pedestrian traffic area, the pedestrian crossing area, the vehicle traffic area, and the location (space) area of the school traffic area set (mapped) on the 3D map map. Can be recognized in the scanned image.

Looking at the user recognition process (S203) in more detail in connection with a characteristic area, the main module 100 is a user located in a crosswalk area or a vehicle passage area where the user is not allowed to exist in the current traffic light state (vehicle traffic permitted state) (Hereinafter also referred to as'alarm user') is recognized from the received lidar scan image. In addition, the main module 100 may recognize a user (hereinafter also referred to as a'crossing request user') located for a specified time (for example, 10 seconds, etc.) or longer in the pedestrian waiting area in the current traffic light state. In addition, the main module 100 may recognize a user (hereinafter referred to as a'cross-section estimation user') located in a pedestrian traffic area for a specified time (eg, 5 seconds, 10 seconds, etc.) or more in the current traffic light state. In addition, the main module 100 may recognize a user (hereinafter also referred to as a “school user”) located in an area where a student passes.

As such, the main module 100 may recognize users in one or more characteristic areas.

According to the recognition of one or more types of users through the lidar scan image, the crosswalk system 10 captures and stores an image including the recognized user (S205), and identifies the user from the image through analysis of the captured image (S207 )can do. The process of capturing an image and identifying a user in the captured image may be omitted depending on the design example.

In more detail, the controller 115 outputs a camera rotation control signal for moving the camera sensor and the lens in the direction of the recognized user's position to the image capturing unit 101. The image capturing unit 101 may control a pan motor or a tilt motor according to the received camera rotation control signal to rotate the camera sensor and the lens in the direction of the recognized user.

Thereafter, the control unit 115 outputs a shooting control signal for capturing an image to the image capturing unit 101, and the image capturing unit 101 captures an image through a lens and a camera sensor, and captures the captured image data. ). The control unit 115 may store the received image in the storage unit 107, and the stored image may then be used for various other purposes (traffic accident tracking, crosswalk system 10 error cause estimation, etc.).

When a user is identified in several characteristic regions, user images of the highest priority characteristic regions may be photographed in the order of priority regions set in the current traffic light state. For example, the highest priority may be set for the vehicle passage area, and the priority may be set in the order of a crosswalk area, a school student passage area, a pedestrian waiting area, and a pedestrian passage area.

The controller 115 identifies a user by image analysis through the application of face recognition or a person recognition technique (artificial intelligence technology, etc.) from a series of images of the captured image.

Thereafter, the crosswalk system 10 outputs a corresponding voice guidance message, a warning light control signal, and/or a traffic light control signal based on the current state of the traffic light and whether the user is recognized in one or more characteristic areas (S209). The output of the voice guide message and the control signal may be further based on whether the user is identified from the captured image as well as the user recognition in the lidar scan image.

Specifically, when a user is recognized in one or more characteristic areas (for example, a pedestrian waiting area, a vehicle passing area, a pedestrian crossing area, or a commuting student passing area), the main module 100 displays visual guidance recognizable by the vehicle. A warning light control signal for outputting is output to the sub module 200 through the sub module interface 109. The sub-module 200 may turn on and off the warning lamp 201 provided in response to reception of the warning lamp control signal.

In addition, the main module 100 is the currently recognized position (vehicle passage area or crosswalk area) according to the alarm user's recognition in the current traffic light state where the user's crossing through the crosswalk is prohibited (see ① in Fig.8(a)) ) To a safe area (for example, a pedestrian waiting area or a pedestrian traffic area) through a speaker of the audio signal output unit 111. The main module 100 can track the alarm user's position movement (position movement in the vehicle passage area or the crosswalk area) (see ③ in Fig. 8(b)) through the recognition of the alarm user consecutively multiple times. In addition, a voice guidance message for guiding the danger of unauthorized crossing may be further output through the audio signal output unit 111 when the unauthorized crossing of the roadway is recognized.

In addition, the main module 100 is the current pedestrian according to the recognition of the cross-estimating user (the user who is estimated to cross through the crosswalk) who is located for a specified time or longer in the pedestrian passage area (refer to ② in Fig. 8(a)). A voice guidance message for guiding the movement from the traffic area to the pedestrian area can be output through the speaker.

In addition, the main module 100 transmits a voice guidance message ((refer to ④ in Fig. 8(c))) for guiding the movement of the school user according to the recognition of the school user in the crosswalk set as the school zone. You can print more.

In addition, the main module 100 is a traffic light control signal (to configure the pedestrian traffic permission state) to allow the user to cross through the crosswalk according to the recognition of the user requesting the crossing of the specified time or longer in the pedestrian waiting area (changed to red) A vehicle traffic light control signal to be used and a pedestrian traffic light control signal to change to green) are output to the traffic signal controller 300 through the traffic signal controller interface 103. The traffic light control signal for configuring the pedestrian traffic permission state may be composed of a series of vehicle traffic light control signals for changing to yellow and then red, and a walking light control signal for changing to green.

According to the user's recognition at a designated waiting place for a specified time or longer, the main module 100 may automatically set a pedestrian signal for walking on a crosswalk through the traffic signal controller 300. Accordingly, a crosswalk user can conveniently use the crosswalk without a separate action, and vehicles on a roadway with rare or no users can move smoothly without obstruction of the vehicle flow due to the periodically changed crosswalk traffic lights.

The main module 100 outputs a vehicle traffic light control signal to change to red and a pedestrian traffic light control signal to change to green to the traffic signal controller 300 through the traffic signal controller interface 103, and the traffic signal controller 300 Control the vehicle traffic light 400 and the pedestrian traffic light 500 connected according to the received control signal to change to a signal state that allows movement through the crosswalk.

When a user is simultaneously recognized in a plurality of characteristic areas, the main module 100 may output a voice guide message selected according to priority. The highest priority is set for the vehicle traffic area, and the priority is set in the order of the pedestrian crossing area, the student traffic area, the pedestrian waiting area, and the pedestrian traffic area, and the voice guidance message of the characteristic area corresponding to the highest priority is output first. Then, the main module 100 may output another low-priority voice guidance message.

In addition, the main module 100 transmits status information including current traffic light status information and currently recognized user information of a crosswalk to a traffic control system through Wi-Fi or Ethernet, or to an adjacent vehicle through a beacon signal (broadcast). Can be sent out.

Through the control flow of FIG. 6, in the crosswalk system 10, safety measures can be taken for users who are located in a dangerous area or crossing without permission while the current crosswalk is not permitted, and a warning display for this can be displayed on the vehicle. Print is possible.

7 is a diagram illustrating an exemplary control flow of controlling a pedestrian crossing and providing voice guidance to pedestrians in a current traffic light state in a state in which pedestrians are allowed to pass.

The control flow of Fig. 7 is performed by the crosswalk system 10, and preferably after the control flow of Fig. 6 is performed by the main module 100 (the control unit 115 of) performing a control program and a recognition program. It is performed after the output of a traffic light control signal to allow the user to cross through the sidewalk).

The main module 100 of the crosswalk system 10 receives current traffic light status information from the traffic signal controller 300 or directly from the vehicle traffic light 400 and the pedestrian traffic light 500 through the traffic signal controller interface 103, and When the current traffic light state is a state in which a red signal of the vehicle traffic light 400 is output and a green signal is output to the pedestrian traffic light 500, the control flow of FIG. 7 is performed. The main module 100 may periodically receive current traffic light status information through the traffic signal controller interface 103, and perform a control flow of 7 while the current traffic light status is a user passage permit state in which user passage is permitted at a crosswalk. .

As the current state of the traffic light changes and the control flow of FIG. 7 starts to be performed, the crosswalk system 10 first sets the crosswalk transit time to an internal timer and outputs a voice guidance message for guiding the movement through the crosswalk ( S301).

The main module 100 (the control unit 115 of) sets the crosswalk travel time preset in the storage unit 107 in an internal timer, and a timer composed of hardware or software can count the set crosswalk travel time. have. In addition, the main module 100 outputs a voice guide message for guiding or guiding the crossing of a pedestrian (user) through a speaker of the voice signal output unit 111.

In addition, the crosswalk system 10 (the main module 100 of) outputs a warning light control signal for outputting a visual guide display recognizable in the vehicle to the sub module 200 through the sub module interface 109. The sub-module 200 may turn on and off the warning lamp 201 provided in response to reception of the warning lamp control signal.

Thereafter, the pedestrian crossing system 10 receives (303) a lidar scan image. The main module 100 is a lidar scan image for monitoring users in various characteristic areas (preferably at least, a crosswalk area, a vehicle passing area) periodically according to the rotation cycle of the lidar sensor 203 rotating 360 degrees. Is received through the submodule interface 109 and temporarily stored in the storage unit 107.

Upon receipt of the lidar scan image, the pedestrian crossing system 10 recognizes the user. The main module 100 recognizes a user in corresponding characteristic areas (preferably at least, a crosswalk area, a vehicle passage area) of the received lidar scan image.

At least, the crosswalk system 10 determines whether a user of a crosswalk area or a vehicle passage area of the roadway is recognized (S305). The main module 100 (the control unit 115 of) is a lidar scan image received from the sub-module 200 for a user located in a pedestrian crossing area or a vehicle passage area mapped through the administrator setting on the lidar scan image. Can be recognized from

When the user is not recognized in the crosswalk area or the vehicle passage area, the crosswalk system 10 determines whether the crosswalk transit time set in the timer has passed (S307). The main module 100 may recognize whether the crosswalk passage time has elapsed according to a timer event signal received from the timer.

When the crosswalk passage time has elapsed, the crosswalk system 10 outputs (S309) a traffic light control signal for allowing vehicle passage at the crosswalk. The main module 100 outputs a vehicle traffic light control signal to change to green and a pedestrian traffic light control signal to change to red to the traffic signal controller 300 through the traffic signal controller interface 103, and the traffic signal controller 300 May control the vehicle traffic light 400 and the pedestrian traffic light 500 connected according to the received control signal to change the state of a signal for disallowing the user to pass and allowing the vehicle to pass. Thereafter, the control flow of FIG. 6 is performed.

When the crosswalk passage time has not elapsed, the crosswalk system 10 (the main module 100 of) periodically receives the lidar scan image and performs a control flow (S303 or less) accordingly.

When the user is recognized in the crosswalk area or the vehicle passage area, the crosswalk system 10 photographs an image targeting the recognized user (S311). The main module 100 outputs a camera rotation control signal for moving the camera sensor and the lens in the direction of the recognized user's position to the image capturing unit 101. The image capturing unit 101 may control a pan motor or a tilt motor according to the received camera rotation control signal to rotate the camera sensor and the lens in the direction of the recognized user. Thereafter, the control unit 115 outputs a shooting control signal for capturing an image to the image capturing unit 101, and the image capturing unit 101 captures an image through a lens and a camera sensor, and captures the captured image data. ). The controller 115 may store the received image in the storage unit 107, and the stored image may be used for various purposes later.

When a user is identified in both the crosswalk area and the vehicle passage area, the main module 100 may capture and store a user image of the vehicle passage area.

When the user is recognized in the vehicle passage area (S313), the crosswalk system 10 outputs a voice guide message for guiding the crossing through the crosswalk area, which is a safe moving area (S315). The main module 100 may output a voice guidance message for guiding a movement into a crosswalk area, which is a safe movement area, through a speaker of the audio signal output unit 111 instead of a vehicle passage area that is a danger area.

When the crosswalk passage time has elapsed as a state in which the user is recognized in the crosswalk area or the vehicle passage area (S317) (refer to ⑤ in Fig. 8(d)), the pedestrian crossing system 10 is the vehicle passage and the user crossing ( A traffic light control signal for prohibiting traffic) is output, and a voice guidance message requesting the user to pass through the crosswalk quickly is output (S319).

The main module 100 outputs a vehicle traffic light control signal for maintaining red and a pedestrian traffic light control signal for changing to red to the traffic signal controller 300 through the traffic signal controller interface 103, and the traffic signal controller 300 May control the vehicle traffic light 400 and the pedestrian traffic light 500 connected according to the received control signal to change the state of a signal that prohibits the passage of the user and the vehicle. Depending on the design example, the output of the vehicle signal light control signal for maintaining the red color may be omitted or the vehicle signal light control signal of the control data indicating the red color status may be output.

The main module 100 may output a voice guidance message requesting rapid use of the crosswalk as the passage time elapses through a speaker of the voice signal output unit 111. Accordingly, the crosswalk system 10 according to the present invention can guarantee the right to move for the vulnerable, such as the elderly and children, and configure a safe crosswalk.

After the execution of S319, the crosswalk system 10 may repeatedly recognize the user through reception of the lidar scan image (S303) and output various control signals and guide messages based thereon.

In addition, the main module 100 transmits status information including current traffic light status information and currently recognized user information of the crossing board to the traffic control system through Wi-Fi or Ethernet, or to an adjacent vehicle through a beacon signal (broadcasting). Can be sent out.

The present invention described above, for those of ordinary skill in the technical field to which the present invention pertains, various substitutions, modifications, and changes are possible within the scope of the technical spirit of the present invention. It is not limited by the drawings.

10: Crosswalk system
100: main module
101: image capture unit 103: traffic signal controller interface
105: manager device interface 107: storage unit
109: submodule interface 111: audio signal output unit
113: status transmission unit 115: control unit
200: sub module
201: warning light 203: lidar sensor
300: traffic signal controller
400: vehicle traffic light
500: pedestrian traffic light

Claims (11)

As a crosswalk control method performed by the crosswalk system,
A designated rotational speed of 30 or 60 times per second horizontally with the ground at the location installed from the sub-module of the crosswalk system installed in the pedestrian traffic area or the pedestrian waiting area, equipped with a single lidar sensor and a warning light capable of outputting visual guidance indications According to the 360-degree rotation and the 360-degree omnidirectional lidar scan image sensed by the single lidar sensor having 16 channels or 32 channels of different vertical angles, the crosswalk system installed on the posts of a pedestrian traffic light. Receiving by the main module;
A 3D map map centered on the lidar sensor of the sub-module using distance data of each of the channels of the lidar scan image sensed by the main module through the single lidar sensor. Configuring by applying Mapping) technology;
Setting a plurality of characteristic areas including a waiting area, a vehicle traffic area, a pedestrian crossing area, and a pedestrian traffic area in the 3D map map according to a manager setting input for the 3D map map in which the main module is configured, The 3D map map is transmitted to the manager device through Ethernet, USB, or UART communication, and three or more representing the characteristic area identifier and the boundary of the characteristic area according to the manager's setting input for the 3D map map displayed on the display of the manager device. Receiving a plurality of characteristic area information, each including outer coordinate points, from the manager device through the Ethernet, USB, or UART communication, and the pedestrian waiting area, vehicle traffic area, pedestrian crossing area, and pedestrian traffic area in the 3D map map. Storing and setting the plurality of characteristic area information for specifying;
After the setting step, the main module is 360 degrees for user monitoring from the single lidar sensor used to set a plurality of characteristic areas including a pedestrian waiting area, a vehicle passing area, a crosswalk area, and a pedestrian passing area. Receiving a lidar scan image according to rotation from the sub-module;
Through the plurality of characteristic area information stored in the main module, users in the waiting area, vehicle area, pedestrian crossing area, and pedestrian area mapped to the 3D map map are received from the single lidar sensor. Is the step of recognizing from the scanned image;
The main module is a step of capturing an image including a user recognized according to the user's perception.When the user is recognized in at least two characteristic areas among a waiting area, a vehicle area, a crosswalk area, and a pedestrian area Capturing and storing a user image of one characteristic region according to a set priority among the recognized two or more characteristic regions; And
In the current traffic light state in which crossing is prohibited in the main module and the lidar scan image received from the single lidar sensor, the main module is in one or more characteristic areas of the pedestrian waiting area, the vehicle passing area, the pedestrian crossing area, and the pedestrian traffic area. Outputting a warning light control signal and a voice guidance message or a traffic light control signal corresponding to a characteristic area recognized by the user based on whether or not the user recognizes, wherein the visual guidance display is output to the sub-module according to the user's recognition. When a user is recognized in the two or more characteristic regions in the step of outputting and recognizing a warning light control signal for a user, a voice guidance message corresponding to the one characteristic region according to the set priority among the two or more characteristic regions recognized by the user And outputting a voice guide message corresponding to a characteristic region having a lower priority than the one characteristic region and then outputting; Including,
The recognizing step includes user recognition in the vehicle passage area, user recognition in the crosswalk area, user recognition located in the pedestrian waiting area for a specified time or longer, and user recognition in the pedestrian passage area for a specified time or longer. and,
The outputting may include outputting a voice guidance message for guiding movement to the pedestrian waiting area or the pedestrian traffic area according to user recognition in the vehicle traffic area, and the walking waiter according to user recognition in the pedestrian crossing area. Output of a voice guidance message to guide movement to the area or the pedestrian traffic area, vehicle traffic light control signal and pedestrian traffic light control to allow the user to cross through the crosswalk according to the user's recognition of the specified time or more in the pedestrian area Including an output of a signal and an output of a voice guidance message for guiding the movement to the pedestrian waiting area according to the user recognition for a specified time or longer in the pedestrian passage area,
The set priority is a vehicle passage area, a pedestrian crossing area, a pedestrian waiting area, a pedestrian passage area, in order, the high priority is set,
Crosswalk control method. The method of claim 1,
After the outputting step,
Receiving a lidar scan image for user monitoring from the sub-module including the single lidar sensor in which the main module rotates 360 degrees;
Recognizing, by the main module, users of a crosswalk area and a vehicle passage area mapped to the lidar scan image from the lidar scan image;
Outputting, by the main module, a voice guidance message guiding a crossing through the crosswalk area when the user is recognized in the vehicle passage area; And
After the passage of the crosswalk passage time for the user's crossing, the main module provides a pedestrian traffic light control signal for prohibiting the user crossing and a vehicle traffic light control signal for prohibiting the vehicle passage when the user in the crosswalk area is recognized. The step of outputting; further comprising,
Crosswalk control method. delete delete delete delete Equipped with a single lidar sensor with 16 channels or 32 channels with different vertical angles and 16 channels of different vertical angles and a warning light capable of outputting a visual guide indication horizontally with the ground at the installed location and rotates 360 degrees according to a designated rotation speed of 30 or 60 times per second A sub-module that transmits a 360-degree omnidirectional lidar scan image sensed by the single lidar sensor and is installed in a pedestrian traffic area or a pedestrian waiting area; And
Compose a 3D map map and set a plurality of characteristic areas including a pedestrian waiting area, a vehicle traffic area, a pedestrian crossing area, and a pedestrian traffic area in the configured 3D map map, and after setting the plurality of characteristic areas, the 3D map map A lidar scan image of a user in a plurality of characteristic areas including a pedestrian waiting area, a vehicle passing area, a pedestrian crossing area and a pedestrian traffic area mapped to a 360 degree rotation from the single lidar sensor of the submodule Recognized by the user, photographing an image including the user recognized according to the user's recognition, and based on the current traffic light status and whether the user is recognized, a warning light control signal and a voice guidance message or traffic light corresponding to the characteristic area recognized by the user Including; a main module that outputs a control signal and is installed on a post of a walking signal, etc.
The main module receives the 360-degree omnidirectional lidar scan image sensed by the single lidar sensor from the sub-module, and each of the channels of the lidar scan image sensed through the single lidar sensor Using distance data, the 3D map map centered on the lidar sensor of the sub-module is configured by applying SLAM (Simultaneous Localization and Mapping) technology, and the configured 3D map map is configured through Ethernet, USB or UART communication. A plurality of characteristic area information each including a characteristic area identifier according to a setting input of the manager for the 3D map map displayed on the display of the manager device and three or more outer coordinate points indicating the boundary of the characteristic area It receives from the manager device through the Ethernet, USB or UART communication and stores the plurality of characteristic area information for specifying the waiting area, vehicle traffic area, crosswalk area, and pedestrian traffic area in the 3D map map. In the 3D map map, a plurality of characteristic areas including a waiting area, a vehicle area, a pedestrian crossing area, and a pedestrian area are set.
According to the user's perception, when the user is recognized in at least two characteristic areas among the waiting area, the vehicle area, the crosswalk area, and the pedestrian area, the user is recognized according to the priority set among the two or more characteristic areas. Take a video of a user in a specific area,
The main module outputs a warning light control signal for outputting a visual guide display to the sub-module according to the user's perception, and when the user is recognized in the two or more characteristic areas, the set priority among the two or more characteristic areas recognized by the user Outputting a voice guidance message corresponding to the one characteristic area according to the priority, and then outputting a voice guidance message corresponding to the characteristic area having a lower priority than the one characteristic area,
The main module outputs a voice guide message for guiding the movement to the pedestrian waiting area or the pedestrian traffic area according to the user's recognition in the vehicle passage area, and the pedestrian waiting person according to the user's recognition in the pedestrian crossing area. A vehicle traffic light control signal for outputting a voice guidance message for guiding the movement to the area or the pedestrian traffic area, and allowing the user to cross through the crosswalk according to the perception of the user located in the pedestrian waiting area for a specified time or longer, and Outputting a control signal for a pedestrian traffic light, and outputting a voice guidance message for guiding a movement to the pedestrian waiting area according to user recognition for a specified time or longer in the pedestrian traffic area,
The set priority is a vehicle passing area, a pedestrian crossing area, a pedestrian waiting area, a pedestrian passing area in order of high priority is set,
Pedestrian crossing system. The method of claim 7,
After the output of a control signal for allowing the user to cross through the crosswalk,
The main module recognizes the user of the crosswalk area and the vehicle passage area mapped to the lidar scan image from the sub-module from the lidar scan image, and when the user is recognized in the vehicle passage area, the crosswalk area A pedestrian signal to prohibit the user's crossing when a user in the crosswalk area is recognized after the passage of the crosswalk passage time for the user crossing and outputting the voice guidance message guiding the crossing through the inside Outputting the control signal and the vehicle traffic light control signal to the connected pedestrian traffic light and the vehicle traffic light,
Pedestrian crossing system. delete delete delete

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