KR102382429B1 - Control system for sensitive left turn signal left based on interactive service - Google Patents

Abstract

The present invention relates to a system for controlling a left-turn response signal based on a bidirectional service. In accordance with the present invention, when sensing a vehicle turning left, the system establishes a signal system to output a left-turn response signal while displaying sensing confirmation information indicating that the left turning vehicle has been sensed through a sensing information display device, and, the system includes a request line for receiving a request for a left-turn response signal from a driver, thereby reducing a left-turn vehicle standby time while preventing unnecessary left-turn signal output to smoothly guide a traffic flow as well as increase service reliability and convenience, and, also, the system can effectively solve excessive standby time, the anxiety of drivers and damage such as a car accident from an existing method which does not sense a left turning vehicle.

Description

Bidirectional service based left turn sensitive signal control system {Control system for sensitive left turn signal left based on interactive service}

The present invention relates to a two-way service-based left-turn sensitive signal control system, and in detail, when a left-turning vehicle is detected, a signal system is established so that a left-turning sensitive signal is output, and at the same time, a left-turning vehicle is detected through a detection information display device. detection confirmation information is displayed externally, and by providing a request line to receive a request for a left turn response signal from the driver, it can reduce the waiting time for a left turn vehicle and prevent unnecessary left turn signal output, thereby guiding the traffic flow smoothly and providing service It relates to a two-way service-based left turn sensitive signal control system that can increase reliability and convenience, and can effectively solve damages such as excessive waiting time, driver's anxiety, and traffic accidents caused by conventional left-turning vehicle non-detection.

Recently, as the vehicle penetration rate increases and the city center expands, traffic congestion has become commonplace, causing enormous economic losses. , this method not only requires huge financial resources, but also has limitations that are difficult to solve in the short term.

Therefore, various studies are being conducted to reduce waiting time for vehicles by optimizing the signal system of intersections.

As a typical conventional intersection signal system, a fixed period signal operation method that outputs a fixed signal period and current time according to TOD (Time Of Day) using accumulated data detected by vehicle detection means, and It is classified as an active signal operation method that uses and controls signals according to traffic conditions.

In particular, the active signal operation method has the advantage of being able to effectively reduce vehicle congestion by responding flexibly according to the current traffic situation, so various studies are being conducted on it.

The most representative method among these active signal operation methods is a left-turn sensitive signal control method that outputs a left-turn signal when a left-turning vehicle, which is a vehicle in a left-turning lane, is detected, but controls the traffic signal to not output a left-turn signal when a left-turning vehicle is not detected. .

In general, in the conventional left-turn sensitive signal control system, a detection means for detecting a waiting vehicle in a left-turning lane is necessarily installed, and a loop detector, a laser sensor, a radar sensor, a camera, a thermal imaging camera, etc. are used as the detection means. .

However, each detector used as a detection means of the conventional left-turn sensitive signal control system may fail to detect a left-turning vehicle due to various variables such as various traffic conditions, weather, illuminance, and self-part failure. Since the signal is not provided, not only does the waiting time of the left-turning vehicle increase, but the driver of the left-turning vehicle recognizes that the vehicle is not recognized and moves the vehicle forward and backward unnecessarily to cause a traffic accident.

In addition, in the prior art, as the vehicle unrecognized disorder occurs frequently, the driver of the left-turning vehicle basically has anxiety and burden about the unrecognized disorder, but a separate detection information display device is provided to provide the driver that the vehicle is normally recognized Because it is not provided, it has a structural limit that does not reduce the burden on the driver's unrecognized disability.

1 is a configuration diagram showing a signal control system for a left-turning waiting vehicle using the image processing technology disclosed in Korean Patent Registration No. 10-1128906 (Title of the invention: Left-turning waiting vehicle sensitive signal control system using image processing technology).

The left-turn waiting vehicle response signal control system (hereinafter referred to as the prior art) 100 of FIG. 1 includes a photographing unit 110 for photographing a vehicle waiting for a signal in an area set as a left-turn detection area at an intersection, and a photographing unit 110 Left-turning vehicle detection unit 120 for obtaining left-turning waiting vehicle matrix information by reading the image taken in It consists of a traffic light controller 130 for controlling the cycle of.

The left-turning vehicle detection unit 120 includes a storage unit 121 that stores reference background image data that matches the actual position data of the left-turning detection area of the intersection, and an identifier granting unit that assigns an identifier to the vehicle so that the vehicle on the intersection can be identified. 122, a binary image generator 123 for generating a binary image by comparing the image captured by the photographing unit 110 with the background image data stored in the storage unit 121 and processing the comparison operation, and the position of the vehicle from the binary image A position data extraction unit 124 for extracting data, and a reading unit 125 for reading a vehicle located in the corresponding position data as a left-turn standby vehicle when the vehicle position data does not change for a predetermined time in the left-turn detection area; , Analyze the image in the left turn detection area to cancel the left turn sensitive mode when the weather and weather conditions deteriorate and require careful driving for safe driving, and activate the left turn sensitive mode by determining the good weather and weather conditions It consists of a weather condition determination unit 126 for

The prior art 100 configured in this way can actively control the lighting time of the traffic light according to the number of vehicles waiting for the left turn signal at the intersection, and when the weather conditions such as rain or snowfall deteriorate, the lighting time of the traffic light By controlling the traffic lights with the standard control time, it is possible to induce smooth vehicle traffic by variably controlling the traffic lights, and it has the advantage of suppressing traffic congestion.

However, since the prior art 100 does not include a separate detection information display device for providing information on whether the identifier granting unit 122 correctly identifies the vehicle or the waiting time information of the left turn signal to the driver of the left turn vehicle. There is a structural limit that cannot reduce the anxiety and burden of the left-turning vehicle driver's unrecognized disability, and accordingly, the driver performs unnecessary actions such as forward and reverse to detect the vehicle, thereby causing a traffic accident. .

In addition, in the prior art 100, even if an unrecognized failure occurs in which the identifier granting unit 122 does not accurately identify the vehicle, the technology and method for solving this are not described at all, so the waiting time of the left-turning vehicle increases, causing unnecessary damage In addition, there are problems such as a traffic accident occurring when a waiting left-turning vehicle tries to make an illegal left-turn at a signal other than a left-turn signal.

The present invention is to solve this problem, and the problem of the present invention is to output a left-turn signal when a left-turning vehicle is detected, but when a left-turning vehicle is not detected, a signal system to extend the output time of other signals without outputting a left-turn signal This is to provide a two-way service-based left turn sensitive signal control system that can not only induce traffic flow smoothly by operating the

In addition, another solution to the present invention is that when a left-turning vehicle is detected by the controller, it indicates that the vehicle is detected through the detection information display device and is configured to express feedback information including left-turn-signal waiting time to the outside, whereby the driver detects information display device This is to provide a two-way service-based left turn sensitive signal control system that can intuitively recognize that one's own vehicle has been detected through the feedback information expressed through the

In addition, another solution to the present invention includes a separate request line for requesting a left turn signal from the driver, and when the controller receives a left turn signal request through the request line, it is determined that an unrecognized error has occurred and the left turn signal is By interworking with the traffic signal controller so that it is output, it is possible to actively request the driver in the event of an unrecognized error, thereby increasing service reliability and convenience, as well as reducing excessive waiting time for left-turning vehicles due to unrecognized errors, and It is to provide a two-way service-based left turn sensitive signal control system that can effectively prevent traffic accidents caused by illegal left turns of waiting vehicles due to no signal output.

The solution of the present invention for solving the above problem is a traffic light installed at the intersection (S); a traffic signal controller for controlling turning on and off of the traffic lights; sensing means for detecting a left-turning vehicle (C) entering the left-turning lane (S1) of the intersection (S); a detection information display device installed in a position adjacent to or opposite to the left turn lane (S1); The detection data detected by the sensing means is analyzed to detect a left-turning vehicle (C), and when the left-turning vehicle (C) is detected, a left-turning sensitive signal is generated and transmitted to the traffic signal controller, and the vehicle detection is confirmed at the same time. a controller that generates feedback information and transmits it to the detection information display device; Through the voice counseling service, the counselor receives the identification information of the intersection (S) for requesting the output of the left turn-signal from the driver, and when the identification information is registered by the counselor, it is located at the intersection (S) of the registered identification information a control center server that transmits left turn-signal request data to a corresponding controller; It is installed in a position adjacent to the left turn lane (S1) of the intersection (S) and includes a guide sign displaying a control center phone number and intersection identification information, and the detection information display device receives feedback information from the controller. The received feedback information is expressed to the outside, and the controller includes: a memory; an object detection unit for detecting a left-turning vehicle (C) by analyzing the detection data detected by the detection means; a left-turn sensitive signal generating unit that is executed when the left-turning vehicle (C) is detected by the object detecting unit and generates a left-turning sensitive signal; a feedback information generating unit that is executed when a left-turning vehicle C is detected by the object detecting unit and generates feedback information; and a control unit for transmitting the left turn sensitive signal generated by the left turn sensitive signal generating unit to the traffic signal controller, and transmitting the feedback information generated by the feedback information generating unit to the detection information display device, the traffic signal The controller establishes a signal system that does not include a left turn signal when it does not receive a left turn sensitive signal from the controller to control the traffic lights, but when receiving a left turn sensitive signal from the controller, a left turn signal system including a signal Establishing and controlling the traffic lights, the controller is executed when a left-turning vehicle (C) is detected by the object detection unit, and left-turn waiting to calculate the waiting time (t) in the left-turning lane in conjunction with the traffic signal controller Further comprising a time calculation unit, wherein the feedback information generation unit generates feedback information including the waiting time (t) calculated by the left turn waiting time calculation unit, and the controller is a left turn-signal request data from the control center server Upon receiving the transmission, it further comprises a non-recognition-error determining unit that determines that an unrecognized-error that the left-turning vehicle C has not been detected has occurred, wherein the control unit generates a non-recognized-error by the non-recognized-error determining unit. If it is determined that it is, the left turn sensitive signal generating unit and the left turn waiting time calculating unit are executed.

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In addition, in the present invention, the left turn sensitive signal control system includes a hand signal detection sensor for detecting the hand signal of the driver of the left turning vehicle (C) of the intersection (S); It is installed in a position adjacent to the left turn lane S1 of the intersection S and further includes a guide sign displaying a hand signal guide, wherein the controller analyzes the detection signal transmitted and received by the hand signal detection sensor, the driver's When a hand signal is sensed, the non-recognition-error that the left-turning vehicle (C) is not detected, further comprising a non-recognition-error determining unit that determines that an error has occurred, wherein the control unit is a non-recognition-error by the non-recognition-error determining unit When it is determined that , the left turn sensitive signal generating unit and the left turn waiting time calculating unit are preferably executed.

In addition, in the present invention, the controller further includes a non-recognition-error verifying unit that is executed when it is determined that an unrecognized-error has occurred by the non-recognition-error determining unit, and the unrecognized-error verifying unit is the object detection unit. an elapsed time calculation module for calculating an elapsed time (ΔT) from a time point (T1) at which an object is most recently detected by the non-recognition-error determination unit (T2); The first to compare the elapsed time (ΔT) calculated by the elapsed time calculation module with a preset set value (TH, Threshold) that is the minimum value of the elapsed time (ΔT) that can be determined that vehicle detection is being performed normally 1 comparison module; In the first comparison module, 1) if the elapsed time (ΔT) is less than the set value (TH), it is finally determined that an unrecognized-error has not occurred, and 2) the elapsed time (ΔT) is the set value (TH) If this is the case, further comprising a non-recognition-error determining module that finally determines that a non-recognition-error has occurred, wherein the control unit finally determines that a non-recognition-error has occurred by the non-recognition-error determining module, the left turn response Preferably, the signal generating unit and the left turn waiting time calculating unit are executed.

In addition, in the present invention, the detection means is a camera, and the controller further includes a failure determination/response unit that is executed when it is finally determined that an unrecognized-error has occurred by the unrecognized-error verification unit, and the failure determination/response unit a non-recognition-error count calculation module for calculating the number N finally determined that an unrecognized-error has occurred during the preset period (T1) by the unrecognized-error verification unit; The unrecognized-error count (N) calculated by the unrecognized-error count calculation module is the minimum value of the unrecognized-error count (N) that can be determined that a temporary failure or error has occurred in the camera, which is the detection means. a second comparison module for comparing with a preset threshold; In the second comparison module, 1) if the number of unrecognized-errors (N) is less than the threshold, it is determined that a failure has not occurred in the camera, which is the detection means, and the operation is stopped, 2) the unrecognized-error number (N) is greater than or equal to the threshold, a failure determination module for determining that a temporary failure has occurred in the camera, which is the detection means; a reset request module that is executed when the fault determination module determines that a failure has occurred in the camera, which is the detection means, and resets the camera, which is the detection means, in conjunction with the camera, which is the detection means; Executed when the failure determination module determines that a failure has occurred in the camera, which is the detection means, while the camera, which is the detection means, is reset, interlocks with the traffic signal controller to establish a signal system including a left turn-signal Left turn-signal request module; After the camera, which is the detection means, is reset, 1) if an unrecognized-error is repeated, it is finally determined that a failure has occurred in the camera, which is the detection means, 2) if the unrecognized-error is not repeated, the detection means is a failure final determination module for determining that a temporary failure of the camera has been resolved through reset, and interlocking with the traffic signal controller to establish a signal system that does not include a left turn-signal thereafter; It is preferable to include an inspection request module that is executed when it is finally determined that a failure has occurred in the camera, which is the detection means, by the failure or not final determination module, and transmits data requesting inspection due to a failure to the administrator's terminal.

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According to the present invention having the above problems and solutions, when a left-turning vehicle is detected, a left-turn signal is output, but when a left-turning vehicle is not detected, the traffic flow is reduced by operating a signal system to extend the output time of other signals without outputting a left-turning signal. Not only can it be guided smoothly, but it is also possible to significantly reduce the waiting time for vehicles at the intersection (S).

In addition, according to the present invention, when a left-turning vehicle is detected by the controller, it indicates that the vehicle has been detected through the detection information display device and is configured to express feedback information including left turn-signal waiting time to the outside, so that the driver expresses it through the detection information display device By intuitively recognizing that one's own vehicle has been detected through the feedback information, it is possible to dramatically solve the driver's anxiety due to unrecognized-error.

In addition, according to the present invention, a separate request line for requesting a left turn signal from the driver is included, and when the controller receives a left turn signal request through the request line, it is determined that an unrecognized error has occurred and the left turn signal is output. By linking with the signal controller, it is possible to make an active request from the driver in the event of an unrecognized error, thereby increasing service reliability and convenience, as well as reducing excessive waiting time for left-turning vehicles due to unrecognized errors. It can effectively prevent traffic accidents caused by illegal left turns of waiting vehicles.

1 is a block diagram illustrating a signal control system for a left-turning waiting vehicle using the image processing technology disclosed in Korean Patent Registration No. 10-1128906 (Title of the invention: Left-turning waiting vehicle sensitive signal control system using image processing technology).
2 is a block diagram showing a left turn sensitive signal control system according to an embodiment of the present invention.
3 is an exemplary view of FIG. 2 .
FIG. 4 is a configuration diagram for explaining the detection information display device of FIG. 2 .
5 is a block diagram illustrating the controller of FIG. 2 .
6 is a block diagram showing a second left turn sensitive signal control system according to a second embodiment of the present invention.
7 is a block diagram illustrating a second controller of FIG. 6 .
8 is a flowchart illustrating a left turn sensitive signal control method that is an operation process of a left turn sensitive signal control system according to an embodiment of the present invention.
9 is a block diagram illustrating a third controller that is a second embodiment of the controller of FIG. 5 .
10 is a block diagram illustrating an unrecognized-error verification unit of FIG. 9 .
FIG. 11 is a block diagram showing the failure determination/response unit of FIG. 9 .

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

2 is a block diagram showing a left turn sensitive signal control system according to an embodiment of the present invention, and FIG. 3 is an exemplary view of FIG. 2 .

The left-turn sensitive signal control system 1 according to an embodiment of the present invention establishes a signal system to output a left-turn sensitive signal when a left-turning vehicle is detected, and at the same time detects a left-turning vehicle through the detection information display device. is expressed to the outside, and by having a request line for receiving a request for a left turn response signal from the driver, it can reduce the waiting time for a left turn vehicle and prevent unnecessary left turn signal output to induce smooth traffic flow, as well as improve service reliability and convenience. This is to effectively solve damages such as excessive waiting time, driver anxiety, and traffic accidents due to the conventional non-detection of left-turning vehicles.

In addition, the left turn sensitive signal control system 1 of the present invention is transmitted from the traffic lights 8 installed at the intersection S and outputting traffic signals and the controller 3 to be described later, as shown in FIGS. 2 and 3 . After establishing a signal system according to the received left turn response signal, the traffic signal controller 7 controls the operation of the traffic lights 8 according to the established signal system, and adjacent or opposite to the left turn lane S1 of the intersection S A detection information display device 6 installed at a location where the feedback information received from the controller 3 to be described later is expressed to the outside, and a left-turning vehicle C in the left-turning lane S1 of the intersection S. Sensing The means (5) and the detection means (5) analyze the detected data to detect a left-turning vehicle (C), and when detecting a left-turning vehicle, generate a left-turn response signal and output it to the traffic signal controller (7) and simultaneously turn left The controller 3 for transmitting feedback information indicating that the detection of the vehicle C has been made to the detection information display device 6, and the left turn-signal request data to the controller 3 at the request of the user terminal 11 The data movement path between the control center server 9 that transmits, the user terminal 11 that is a mobile terminal possessed by the vehicle driver and performs a voice call to the control center, and the controller 3 and the control center server 9 It consists of a communication network 10 to provide.

At this time, although not shown in the drawings for convenience of explanation in the present invention, the controller 3 is connected to the sensing means 5 , the sensing information display device 6 and the traffic signal controller 7 through a wired/wireless communication network to transmit and receive data. .

In addition, although not shown in FIG. 2, the left turn sensitive signal control system 1 of the present invention is located adjacent to the left turn lane S1 of the intersection S, the identification information of the intersection S and the phone number of the control center. A guide sign 12 to be displayed is installed.

The traffic lights 8 are installed in each lane group of the intersection S, and output signals such as going straight, stopping, waiting and turning left according to the signal system established by the traffic signal controller 7 .

At this time, among the traffic lights 8 , a traffic light installed at a position opposite to the left turn lane S1 and outputting a left turn signal to the left turn vehicle C will be referred to as a left turn signal light.

The traffic signal controller 7 controls the operation of the traffic lights 8 according to a preset signal system.

In addition, when the traffic signal controller 7 receives the left turn sensitive signal from the controller 3, it establishes a signal system in consideration of the received left turn sensitive signal, and then controls the operation of the traffic lights 8 according to the established signal system. .

For example, if the traffic signal controller 7 does not receive the left turn sensitive signal from the controller 3, it can establish a signal system that extends the output time of other signals without outputting the left turn signal, and the left turn sensitive signal When received, a signal system that outputs a left turn signal can be established.

The guide sign 12 is installed in a position adjacent to the left turn lane S1 of the intersection S, specifically, at a position where the driver of the left turning vehicle C can read, and identification information and control of the intersection S The center phone number is displayed.

That is, the driver of the left-turning vehicle C is in a waiting state in the left-turning lane S1, and when a certain time elapses, the identification information of the corresponding intersection S and the control center phone number are recognized through the guide sign 12. Accordingly, a voice call is made to the control center through the user terminal 11 to deliver the identification information of the intersection (S) to the counselor, and the control center server 9 receives identification information from the counselor. , after extracting the controller 3 of the intersection (S) corresponding to the input identification information, the left turn-signal request data is transmitted to the extracted controller 3, and the controller 3 turns left from the control center server 9 - When the signal request data is received, it is determined that a non-detection error has occurred and a left turn sensitive signal is generated.

That is, according to the present invention, even if an undetected error occurs in the controller 3, a request line using the voice call of the user terminal 11 is separately provided, so that the excessive waiting time of the left-turning vehicle C can be significantly reduced. It is possible to relieve the driver's anxiety.

The detection means 5 detects a vehicle in the left turn lane S1 of the intersection S, and in detail, it may be composed of a visible light camera, a thermal imager, a radar sensor, a laser sensor, a loop detector, and the like.

Hereinafter, for convenience of explanation, in the present invention, the detection means 5 is limited to a visible light camera, but the detection means 5 is not limited to a visible light camera, and various known methods and devices may be applied. there is.

In addition, the camera, which is the detection means (5), transmits the image obtained by photographing to the controller (3) in real time.

FIG. 4 is a configuration diagram for explaining the detection information display device of FIG. 2 .

The detection information display device 6 of FIG. 4 is installed in a position adjacent to or opposite to the left turn lane S1, and when feedback information is received from the controller 3, the received feedback information is expressed to the outside.

In addition, the detection information expression device 6 can be applied to various known devices capable of expressing the feedback information received from the controller 3 to the outside, and in detail, as shown in FIG. 4 , corresponding to the feedback information It may be composed of a display means 61 for displaying a phrase to say, a speaker 62 for outputting a voice message corresponding to feedback information, a traffic light 63 for illuminating an LED according to whether feedback information is received, and the like.

At this time, the feedback information may include the waiting time information of the left turn signal, and accordingly, the detection information display device 6 may be configured to also express the waiting time information included in the feedback information to the outside.

That is, according to the present invention, feedback information including content indicating that vehicle detection has been confirmed and waiting time information can be immediately provided to the driver of the left-turning vehicle C through the feedback information expressed from the detection information display device 6 . Therefore, it is possible to reduce the driver's anxiety about the undetected error by intuitively recognizing and confirming whether the vehicle is detected or not.

The control center server 9 matches and stores the identification information given to each intersection S and the communication identification information of the controller 3 installed at each intersection.

In addition, the control center server 9 performs a voice counseling service through a counselor. At this time, when the counselor receives a request for voice counseling from the driver through the user terminal 11, the counselor performs a voice counseling service. After registration, the voice consultation ends.

In addition, when the identification information is registered from the counselor, the control center server 9 extracts the controller 3 corresponding to the registered identification information, and then transmits the left turn-signal request data to the extracted controller 3 .

The controller 3 is connected to the detection means 5, the detection information display device 6, and the traffic signal controller 7 installed at the corresponding intersection (S) through a wired/wireless communication network to transmit and receive data, and manages and controls their operations. do.

In addition, when the controller 3 receives an image from the camera, which is the detection means 5, it analyzes the image and detects a left-turning vehicle object that is a waiting vehicle in the left-turning lane S1. When a left-turning vehicle is detected, 1) a left-turn response signal After generating and transmitting the generated left turn response signal to the traffic signal controller 7, 2) interworking with the traffic signal controller 7 to calculate the waiting time (t) of the left turn signal, the calculated left turn waiting time (t) ) to generate feedback information including, and transmit the generated feedback information to the detection information display device 6 .

In addition, when the controller 3 receives the left turn-signal request data from the control center server 9, it is determined that an unrecognized-error that does not detect that the left-turning vehicle C is waiting in the left-turning lane S1 has occurred. , after generating the left turn response signal and feedback information, the generated left turn response signal and feedback information are transmitted to the traffic signal controller 7 and the detection information display device 6 .

5 is a block diagram illustrating the controller of FIG. 2 .

As shown in FIG. 5 , the controller 3 includes a control unit 30 , a memory 31 , a communication interface unit 32 , an image analysis unit 34 , an object detection unit 36 , and a left turn sensitive signal generation unit. (37), a left turn waiting time calculation unit 38, a feedback information generation unit 39, and an unrecognized-error error determination unit 40.

The control unit 30 is an OS (Operating System) of the controller 3 , and the control target 31 , (32), (33), (34), (35), (36), (37), (38) manage and control them.

In addition, when the control unit 30 receives the captured image from the camera, which is the sensing means 5 , through the communication interface unit 32 , the controller 30 inputs the received captured image to the image analysis unit 34 .

In addition, when the object of the left-turning vehicle C is detected by the object detecting unit 35 , the control unit 30 includes a left-turn response signal generation unit 37 , a left-turn waiting time calculation unit 38 , and a feedback information generation unit 39 . to run

In addition, when the left turn sensitive signal is generated by the left turn sensitive signal generating unit 37 , the control unit 30 controls the communication interface unit 32 so that the generated left turn sensitive signal is transmitted to the traffic signal controller 7 .

In addition, when the feedback information is generated by the feedback information generating unit 39, the control unit 30 controls the communication interface unit 32 so that the generated feedback information is transmitted to the detection information display device (6).

In addition, when receiving the left turn-signal request data from the control center server 9 through the communication interface unit 32 , the control unit 30 inputs the received left turn-signal request data to the unrecognized-error determination unit 40 . .

The memory 31 stores communication identification information of the detection means 5 , the detection information display device 6 , and the traffic signal controller 7 .

In addition, the memory 31 temporarily stores the image received from the camera, which is the detection means 5 .

In addition, the memory 31 stores the pixel position indicating the left turn lane S1 on the image frame obtained by photographing the camera, which is the sensing means 5 .

The communication interface unit 32 transmits and receives data to and from the control center server 9 , the detection means 5 , the detection information display device 6 , and the traffic signal controller 7 .

When the image analysis unit 34 receives an image obtained by photographing the camera, which is the detection means 5 , it analyzes the input image.

In this case, image analysis refers to a pre-processing process for easily and accurately detecting a vehicle object.

The object detection unit 36 utilizes and analyzes the analysis data detected by the image analysis unit 34 to detect a left-turning vehicle C, which is a vehicle entering the left-turning lane S1.

At this time, when an object is detected by the object detecting unit 36 , the control unit 30 executes the left turn sensitive signal generating unit 37 and the left turn waiting time calculating unit 38 .

The left-turn sensitive signal generating unit 37 is executed when a left-turning vehicle is detected by the object detecting unit 36 and generates a left-turning sensitive signal requesting the output of the left-turn signal.

At this time, the left turn sensitive signal generated by the left turn sensitive signal generating unit 37 is transmitted to the traffic signal controller 7 through the communication interface unit 32 under the control of the control unit 30, and the traffic signal controller 7 is When the left turn sensitive signal is received from the controller 3, a signal system including the output of the left turn signal is established in consideration of the received left turn sensitive signal.

The left turn waiting time calculation unit 38 works in conjunction with the traffic signal controller 7 to calculate the waiting time t, which is the time from the current time to the time when the left turn signal is output.

The feedback information generating unit 39 generates feedback information including the left turn waiting time t calculated by the left turn waiting time calculating unit 38 .

At this time, the feedback information generated by the feedback information generating unit 39 is transmitted to the sensing information display device 6 through the communication interface unit 32 under the control of the control unit 30, and the sensing information display unit 6 is The feedback information received from the controller 3 is expressed to the outside.

When the left turn-signal request data transmitted from the control center server 9 is input, the unrecognized-error determination unit 40 determines that an unrecognized-error that does not detect the left-turning vehicle C has occurred, and the left-turn sensitive signal The above-described process is repeated by executing the generating unit 37 and the left turn waiting time calculating unit 38 .

6 is a block diagram showing a second left turn sensitive signal control system according to a second embodiment of the present invention.

As shown in FIG. 6, the second left turn sensitive signal control system 20, which is a second embodiment of the present invention, includes a detection means 5 having the same configuration as in FIG. 2 described above, a detection information display device 6, and traffic a signal controller 7 and traffic lights 8 .

In addition, the second left turn sensitive control system 20 further includes a second controller 23 and a hand signal detection sensor (4).

At this time, although not shown in FIG. 6 , the second left turn sensitive signal control system 20 is located adjacent to the left turn lane S1 of the intersection S, as described above with reference to FIGS. 2 and 3 , of the corresponding intersection S. A guide sign 12 on which hand signal guide text is displayed is installed.

In this case, the hand signal means an action performed by a driver who suspects an unrecognized-error to request a left turn signal, and for example, an action such as reaching out and waving while sitting in the driver's seat may be guided by the hand signal.

The hand signal detection sensor 4 is installed adjacent to the left-turning lane S1 to detect the hand signal of the driver of the left-turning vehicle C, and in detail, may be composed of a radar sensor, an ultrasonic sensor, and the like.

In addition, the hand signal detection sensor 4 transmits the detection signal, receives the reflected signal, and transmits the transmitted and received detection signal information to the second controller 23 .

7 is a block diagram illustrating a second controller of FIG. 6 .

As shown in FIG. 7 , the second controller 23 includes a memory 31 , a communication interface unit 32 , an image analysis unit 34 , and an object performing the same operation as the controller 3 of FIG. 5 described above. It includes a sensing unit 36 , a left turn sensitive signal generating unit 37 , a left turn waiting time calculating unit 38 , and a feedback information generating unit 39 .

In addition, the second controller 23 further includes a second control unit 230 and a second unrecognized-error determination unit 240 .

The second control unit 230 performs the same operation as the control unit 30 of FIG. 5 described above, but the second unrecognized detection signal information transmitted and received from the hand signal detection sensor 4 through the communication interface unit 32 . - Input to the error determination unit 240 .

In addition, when it is determined that an unrecognized-error has occurred by the second unrecognized-error determining unit 240 , the second control unit 230 executes the left turn sensitive signal generating unit 37 and the left turn waiting time calculation unit 38 . make it

The second unrecognized-error determination unit 240 detects the hand signal of the driver of the left-turning vehicle C by analyzing the transmitted/received detection signal information received from the hand signal detection sensor 4 .

In addition, the second non-recognition-error determining unit 240 1) does not perform a separate operation when a hand signal is not detected, and 2) when a hand signal is detected, it is determined that an unrecognized-error has occurred.

At this time, when the second unrecognized-error determining unit 240 determines that an unrecognized-error has occurred, the second control unit 230 executes the left turn sensitive signal generating unit 37 and the left turn waiting time calculation unit 38 . .

8 is a flowchart illustrating a left turn sensitive signal control method that is an operation process of a left turn sensitive signal control system according to an embodiment of the present invention.

As shown in FIG. 8, the left-turn response signal control method (S1) includes a left-turn lane detection step (S10), a detection data analysis step (S20), a left-turn vehicle detection determination step (S30), and a feedback information generation step (S40). ), left turn sensitive signal generation step (S50), feedback information transmission/expression step (S60), left turn sensitive signal transmission/output step (S70), voice counseling service progress determination step (S80), left turn-signal request step (S90) ), unrecognized-error checking step (S100).

The left-turn lane detection step S10 is a step in which the visible light camera, which is the detection means 5, acquires an image by photographing the left-turn lane S1 of the intersection S, and then transmits the acquired image to the controller 3 .

At this time, in FIG. 8 , the detection means 5 of the left-turning lane detection step S10 has been described as an example of a visible light camera, but the detection means 5 is not limited to a visible light camera, and is a known method capable of detecting a vehicle object. Of course, it can be composed of a radar sensor, a laser sensor, a loop detector, a thermal imaging camera, and the like.

The detection data analysis step (S20) is a step in which the controller 3 analyzes the image transmitted from the visible light camera through the left-turn lane detection step (S10).

The left-turning vehicle detection step S30 is a step in which the controller 3 utilizes and analyzes the analysis data detected by the sensed data analysis step S20 to determine whether the left-turning vehicle C is detected.

In addition, the left-turning vehicle detection step (S30) is 1) when a left-turning vehicle (C) is detected, a feedback information generation step (S40) and a left-turning sensitive signal generation step (S50) are performed as the next step, 2) a left-turning vehicle ( If C) is not detected, the next step is to determine whether to proceed with the voice counseling service (S80).

The feedback information generation step (S40) proceeds when a left-turning vehicle (C) is detected in the left-turning vehicle detection step (S30), and the controller 3 interlocks with the traffic signal controller 7 to wait for the left-turning lane ( After calculating t), it is a step of generating feedback information including the calculated waiting time (t) information.

The left-turn sensitive signal generating step (S50) proceeds when the left-turning vehicle (C) is detected in the left-turning vehicle detection step (S30), and the left-turning sensitive signal for requesting that the controller 3 outputs a left-turning signal from the left-turning traffic light is the step to create

In the feedback information transmission expression step (S60), the controller 3 transmits the feedback information generated by the feedback information generation step (S40) to the detection information expression device 6, and the detection information expression device 6 sends the controller 3 ) is the step of expressing the feedback information received from the outside.

In the left turn sensitive signal transmission/output step (S70), the controller 3 transmits the left turn sensitive signal information generated by the left turn sensitive signal generation step (S50) to the traffic signal controller 7, and the traffic signal controller 7 After establishing a signal system in consideration of the left turn response signal received from the controller 3, it is a step of controlling the traffic lights 8 according to the established signal system.

In the voice counseling service progress determination step (S80), the driver of the left-turning vehicle (C) reads the guide sign 12 and goes to the control center using the phone number displayed on the guide sign 12 through the user terminal 11 When requesting the voice counseling service, it is determined that the voice counseling service is in progress, and the next step is to proceed to the left turn-signal request step (S90).

In the left turn-signal request step (S90), the driver delivers the identification information of the corresponding intersection (S) displayed on the guide sign 12 through the voice counseling service to the counselor, and the control center server receives the identification information from the counselor when the , a step of transmitting the left turn-signal request data to the controller 3 of the corresponding intersection (S).

In the unrecognized-error checking step (S100), when the controller 3 receives the left turn-signal request data from the control center server 9, it is determined that an unrecognized-error has occurred, and the next step is to generate feedback information (S40). ) and return to the step of generating the left turn sensitive signal (S50) and repeat the subsequent process.

9 is a block diagram illustrating a third controller that is a second embodiment of the controller of FIG. 5 .

As shown in FIG. 9 , the third controller 300 includes a memory 31 , a communication interface unit 32 , an image analysis unit 34 , and an object performing the same operation as the controller 3 of FIG. 5 described above. It includes a sensing unit 36 , a left turn sensitive signal generating unit 37 , a left turn waiting time calculating unit 38 , a feedback information generating unit 39 , and an unrecognized-error determining unit 40 .

In addition, the third controller 300 further includes a third control unit 301 , an unrecognized-error verification unit 341 , and a failure determination/response unit 342 .

The third control unit 301 performs the same operation as the control unit 30 of the second controller 3 of FIG. 5 described above, but when the unrecognized-error determining unit 40 determines that an unrecognized-error has occurred, The unrecognized-error verification unit 341 is executed.

In addition, when the unrecognized-error is determined by the unrecognized-error verification unit 341 , the third control unit 301 executes the left-turn sensitive signal generating unit 37 and the left-turning waiting time calculation unit 38 .

In addition, the third control unit 301 executes the failure determination/response unit 342 when the unrecognized-error is determined by the unrecognized-error verification unit 341 .

10 is a block diagram illustrating an unrecognized-error verification unit of FIG. 9 .

The unrecognized-error verifying unit 341 of FIG. 10 is executed under the control of the third control unit 301 when the non-recognizing-error determining unit 240 determines that an unrecognized-error has occurred.

Also, as shown in FIG. 10 , the unrecognized-error verification unit 341 includes an elapsed time calculation module 3411 , a first comparison module 3412 , and an unrecognized-error determining module 3413 .

The elapsed time calculation module 3411 is configured from a time point (T1) at which an object is most recently detected by the object detection unit (36) to a time point (T2) at which the second unrecognized-error determination unit 240 determines an unrecognized-error. ) to calculate the elapsed time (ΔT).

The first comparison module 341 compares the elapsed time (ΔT) calculated by the elapsed time calculation module 3411 with a preset set value (TH, Threshold).

In this case, the set value TH means the minimum value of the elapsed time ΔT that can be determined that the vehicle is normally detected by the detection means 5 .

The unrecognized-error determining module 3413 finally determines that no unrecognized-error has occurred when the elapsed time ΔT is less than the set value TH in the first comparison module 3412, 2) If the elapsed time ΔT is equal to or greater than the set value TH, it is finally determined that an unrecognized error has occurred.

At this time, when the third control unit 301 finally determines that an unrecognized-error has occurred by the unrecognized-error determination module 3413 , the left turn sensitive signal generating unit 37 , the left turn waiting time calculation unit 38 and the failure determination / Execute the response unit 342 .

That is, the non-recognition-error verifying unit 341 performs non-recognition error due to a temporary error or a prank call when a non-recognition-error occurs after the time when the object detection is normally performed, before the time less than the set value TH elapses. -Determining as an error, and finally determining that an unrecognized-error has not occurred, the service accuracy and reliability can be improved.

FIG. 11 is a block diagram showing the failure determination/response unit of FIG. 9 .

The failure determination/response unit 342 of FIG. 11 is executed under the control of the third control unit 301 when it is finally determined that an unrecognized-error has occurred in the unrecognized-error verification unit 341 of FIG. 10 .

In addition, as shown in FIG. 11, the failure determination/response unit 342 includes an unrecognized-error count calculation module 3421, a second comparison module 3422, a failure determination module 3423, and a reset request module ( 3424), a left turn-signal request module 3425, a failure final determination module 3426, and an inspection request module 3427.

The unrecognized-error count calculation module 3421 calculates the number N finally determined by the non-recognized-error verification unit 341 that the unrecognized-error has occurred during the preset period T1 .

The second comparison module 3422 compares the unrecognized-error count N calculated by the unrecognized-error count calculation module 3421 with a preset threshold.

At this time, the threshold value is the minimum value of the number of unrecognized-errors (N) that can be determined that a temporary failure or error has occurred in the camera, which is the detection means (5).

In the second comparison module 3422, the failure determination module 3423 determines that, in the second comparison module 3422, 1) the number of unrecognized-errors (N) is less than the threshold, it is determined that there is no failure in the detection means 5 and stops the operation, 2 ) If the number of unrecognized-errors (N) is greater than or equal to the threshold, it is determined that a temporary failure has occurred in the detection means (5).

At this time, when it is determined that the failure of the detection means 5 has occurred in the failure determination module 3423 , the third control unit 301 executes the reset request module 342 and the left turn-signal request module 3425 .

The reset request module 342 resets the detection means 5 in conjunction with the detection means 5 .

Since the left-turn signal request module 3425 does not detect the left-turning vehicle C while the detecting means 5 is reset, a signal system including a left-turn signal is established in conjunction with the traffic signal controller 7 make it possible

After the detection means 5 is reset, the failure final determination module 3426 finally determines that a failure has occurred in the detection means 5 if 1) unrecognized-error is repeated, and the inspection request module 3427 2) If the unrecognized-error is not repeated, it is determined that the temporary failure in the detection means (5) has been resolved through reset, and in conjunction with the traffic signal controller (7), the left turn-signal system that does not include a signal to be established

The inspection request module 3427 is executed when it is finally determined that a failure has occurred in the detection means 5 in the failure or not final determination module 3426, and transmits data requesting inspection due to the failure occurring to the terminal of the manager.

In this case, the inspection request module 3427 may be configured to transmit the inspection request data to the manager terminal through the control center server 9 or to transmit the inspection request data to the manager terminal by itself.

As such, the left-turn sensitive signal control system 1 according to an embodiment of the present invention outputs a left-turn signal when a left-turning vehicle is detected, but does not output a left-turn signal when a left-turning vehicle is not detected, and extends the output time of other signals. By operating the system, it is possible not only to induce smooth traffic flow, but also to significantly reduce the waiting time for vehicles at the intersection (S).

In addition, the left turn sensitive signal control system 1 of the present invention indicates that the vehicle has been detected through the detection information display device when the left turn vehicle is detected by the controller and is configured to express feedback information including the left turn-signal waiting time to the outside. By intuitively recognizing that one's own vehicle has been detected through the feedback information expressed through the detection information display device, it is possible to dramatically solve the driver's anxiety due to unrecognized-error.

In addition, the left turn sensitive signal control system 1 of the present invention includes a separate request line for requesting a left turn signal from the driver, and when the controller receives a left turn signal request through the request line, an unrecognized error has occurred. By interlocking with the traffic signal controller so that a left turn signal is output by judgment, the driver can actively request an unrecognized error, thereby enhancing service reliability and convenience, as well as reducing excessive waiting time for left-turning vehicles due to unrecognized errors. It is possible to effectively prevent traffic accidents caused by illegal left turns of waiting vehicles due to non-outputting of a left turn signal.

1: Left turn sensitive signal control system 3: Controller
5: Detection means 6: Detection information display device
7: Traffic signal controller 8: Traffic lights
9: Control center server 10: Communication network
11:User terminal 12:Information sign
23: second controller 30: control unit
31: memory 32: communication interface unit
34: image analysis unit 36: object detection unit
37: left turn sensitive signal generation unit 38: left turn waiting time calculation unit
39: feedback information generation unit 40: unrecognized-error determination unit

Claims (8)

Traffic lights installed at the intersection (S);
a traffic signal controller for controlling turning on and off of the traffic lights;
sensing means for detecting a left-turning vehicle (C) entering the left-turning lane (S1) of the intersection (S);
a detection information display device installed in a position adjacent to or opposite to the left turn lane (S1);
The detection data detected by the detection means is analyzed to detect a left-turning vehicle (C), and when the left-turning vehicle (C) is detected, a left-turning sensitive signal is generated and transmitted to the traffic signal controller, and the vehicle detection is confirmed at the same time. a controller that generates feedback information and transmits it to the detection information display device;
Through the voice counseling service, the counselor receives the identification information of the intersection (S) for requesting the output of the left turn-signal from the driver, and when the identification information is registered by the counselor, it is located at the intersection (S) of the registered identification information a control center server that transmits left turn-signal request data to a corresponding controller;
It is installed in a position adjacent to the left turn lane (S1) of the intersection (S) and includes a guide sign on which a control center phone number and intersection identification information are displayed,
The detection information display device is
When feedback information is received from the controller, the received feedback information is expressed to the outside,
the controller is
Memory;
an object detection unit for detecting a left-turning vehicle (C) by analyzing the detection data detected by the detection means;
a left-turn sensitive signal generating unit that is executed when the left-turning vehicle (C) is detected by the object detection unit and generates a left-turning sensitive signal;
a feedback information generating unit that is executed when the left-turning vehicle C is detected by the object detecting unit and generates feedback information;
and a control unit for transmitting the left turn sensitive signal generated by the left turn sensitive signal generating unit to the traffic signal controller, and transmitting the feedback information generated by the feedback information generating unit to the sensing information display device,
The traffic signal controller
If the left turn response signal is not received from the controller, a signal system that does not include a left turn signal is established to control the traffic lights, but when a left turn response signal is received from the controller, a signal system including a left turn signal is established, control the traffic lights,
the controller is
It is executed when the left-turning vehicle (C) is detected by the object detection unit, and further comprising a left-turn waiting time calculator for calculating the waiting time (t) in the left-turning lane in conjunction with the traffic signal controller,
The feedback information generation unit generates feedback information including the waiting time (t) calculated by the left turn waiting time calculation unit,
the controller is
When the left turn-signal request data is received from the control center server, the unrecognized-error determining unit that determines that an unrecognized-error of not detecting the left-turning vehicle (C) has occurred,
the control unit
When it is determined by the unrecognized-error determining unit that an unrecognized-error has occurred, the left-turn sensitive signal control system, characterized in that the left-turn sensitive signal generating unit and the left-turning waiting time calculation unit are executed. delete delete delete According to claim 1, The left turn sensitive signal control system is
a hand signal detection sensor for detecting the hand signal of the driver of the left-turning vehicle (C) of the intersection (S);
Installed in a position adjacent to the left turn lane (S1) of the intersection (S), further comprising a guide sign on which a hand signal guide text is displayed,
the controller is
By analyzing the detection signal transmitted and received by the hand signal detection sensor, when the driver's hand signal is detected, the non-recognition-error determining unit that determines that an unrecognized-error has occurred that the left-turning vehicle (C) has not been detected further comprises,
the control unit
When it is determined by the unrecognized-error determining unit that an unrecognized-error has occurred, the left-turn sensitive signal control system, characterized in that the left-turn sensitive signal generating unit and the left-turning waiting time calculation unit are executed. The method of claim 5, wherein the controller
Further comprising a non-recognition-error verification unit that is executed when it is determined that an unrecognized-error has occurred by the non-recognition-error determination unit,
The unrecognized-error verification unit
Elapsed time for calculating the elapsed time (ΔT) from the time point (T1) at which the object is most recently detected by the object detection unit to the time point (T2) at which the unrecognized-error determination unit determines the unrecognized-error calculation module;
The first to compare the elapsed time (ΔT) calculated by the elapsed time calculation module with a preset set value (TH, Threshold) that is the minimum value of the elapsed time (ΔT) that can be determined that vehicle detection is being performed normally 1 comparison module;
In the first comparison module, 1) if the elapsed time (ΔT) is less than the set value (TH), it is finally determined that an unrecognized-error has not occurred, and 2) the elapsed time (ΔT) is set as the set value (TH) If this is the case, it further comprises a non-recognition-error determination module that finally determines that an unrecognized-error has occurred,
When the non-recognition-error determination module finally determines that an unrecognized-error has occurred, the control unit executes the left-turn sensitive signal generating unit and the left-turning waiting time calculation unit. The method of claim 6, wherein the sensing means is a camera,
the controller is
Further comprising a failure determination/response unit that is executed when it is finally determined that an unrecognized-error has occurred by the unrecognized-error verification unit,
The fault determination/response unit
a non-recognition-error count calculation module for calculating the number of times (N) finally determined that an unrecognized-error has occurred by the non-recognized-error verification unit during a preset period (T1);
The unrecognized-error count (N) calculated by the unrecognized-error count calculation module is the minimum value of the unrecognized-error count (N) that can be determined that a temporary failure or error has occurred in the camera, which is the detection means. a second comparison module for comparing with a preset threshold;
In the second comparison module, 1) if the number of unrecognized-errors (N) is less than the threshold, it is determined that a failure has not occurred in the camera, which is the detection means, and the operation is stopped, 2) the unrecognized-error number (N) a failure determination module for determining that a temporary failure has occurred in the camera, which is the detection means, when is greater than or equal to the threshold value;
a reset request module that is executed when the fault determination module determines that a failure has occurred in the camera, which is the detection means, and resets the camera, which is the detection means, in conjunction with the camera, which is the detection means;
It is executed when the failure determination module determines that a failure has occurred in the camera, which is the detection means, and while the camera, which is the detection means, is reset, to establish a signal system including a left turn-signal in conjunction with the traffic signal controller Left turn-signal request module;
After the camera, which is the detection means, is reset, 1) if an unrecognized-error is repeated, it is finally determined that a failure has occurred in the camera, which is the detection means, 2) if the unrecognized-error is not repeated, the detection means is a failure final determination module for determining that a temporary failure of the camera has been resolved through reset, and interlocking with the traffic signal controller to establish a signal system that does not include a left turn-signal thereafter;
Left turn response, which is executed when it is finally determined by the failure or not final determination module that a failure has occurred in the camera, which is the detection means, comprising an inspection request module that transmits data requesting inspection when a failure occurs to the manager's terminal signal control system. delete

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