KR102604369B1 - Vehicle siginal control apparatus for intersection control - Google Patents

Abstract

The present invention relates to a vehicle signal control device for intersection control. According to one embodiment, the vehicle signal control device for intersection control is arranged to correspond to at least one image capture camera module and the at least one image capture camera module, At least one wireless communication module for transmitting at least one frame of video data captured in real time by the at least one video capture camera module through wireless communication, and analyzing the image data captured by the at least one video capture camera module At least one traffic light that divides and distinguishes a plurality of monitoring block areas and a plurality of accident-vulnerable block areas for each video frame, and controls the signal system of traffic lights based on the vehicle congestion section and congestion amount detection results for each of the plurality of monitoring block areas. Includes control panel.

Description

Vehicle signal control device for intersection control {VEHICLE SIGINAL CONTROL APPARATUS FOR INTERSECTION CONTROL}

The present invention relates to a vehicle signal control device for intersection control.

Typically, vehicle and pedestrian signal systems at intersections are operated as a fixed-time sequential signal system that converts to the next scheduled signal after a certain period of time, regardless of traffic volume on the road.

Conventionally, vehicles waiting at an intersection must wait for the signal to change according to the existing signal system, regardless of traffic volume or congestion. Therefore, if the number of vehicles flowing into the intersection exceeds the traffic volume that can be resolved with one signal cycle, a situation occurs in which advance is no longer possible due to congestion at the previous intersection or the next intersection. Additionally, if more vehicles enter the intersection, more severe traffic congestion will occur. Accordingly, people often wait for the signal to change at intersections without considering traffic volume, and traffic congestion in one direction can cause traffic congestion in another direction. In particular, when the traffic volume exceeds a certain level in the traffic signal system, the effect of signal interlocking disappears, and you end up in a situation where you have to stop and stop repeatedly. Additionally, unnecessary waiting time occurs even in situations where there are already no or few vehicles to pass at the intersection. Even when there are no vehicles in the opposite or other direction, a situation may arise where you have to wait for a signal unnecessarily.

In the case of a conventional signal system in which the signal system is uniformly repeated for a fixed time regardless of the amount of vehicles entering the intersection and the amount of waiting, the waiting time for vehicles at the signal is unnecessarily long. In this way, there was a problem that carbon dioxide emissions increased in the vehicle atmosphere due to inefficient factors, ultimately further polluting the environment. To complement this, a traffic signal system has recently been proposed that detects traffic volume in advance and temporarily provides both straight ahead and left turns at the same time, and provides a proceeding signal only when a vehicle is recognized by embedding a detection sensor at a specific point. There were also some changes. However, the conventional signal system, in which the signal system is uniformly repeated, has limitations in alleviating or resolving vehicle congestion. In addition, because the conventional repetitive traffic signal system has no control effect in situations where there are few vehicles passing through the intersection, two-wheeled vehicles and pedestrians who are vulnerable to traffic accidents during accident-prone times may be put in an even more dangerous situation.

Publication number: 10-2016-0091540(2016.08.03)

The present invention adds video cameras and communication modules to existing traffic light facilities to recognize the congestion section and amount of congestion through a real-time video analysis process, and actively controls the signaling system in response to the amount of congestion based on situational awareness. The goal is to provide a vehicle signal control device for intersection control.

In addition, it provides a vehicle signal control device for intersection control that can recognize two-wheeled vehicles and pedestrians vulnerable to traffic accidents during preset accident-vulnerable times and actively control the signal system to prevent traffic accidents from occurring.

The problems of the present invention are not limited to the problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A vehicle signal control device for intersection control in an embodiment to solve the above problem is arranged to correspond to at least one video capture camera module and the at least one video capture camera module, and transmits real-time signals from the at least one video capture camera module. At least one wireless communication module that transmits at least one frame of image data captured using a wireless communication method, and a plurality of monitoring block areas for each image frame by analyzing the image data captured by the at least one image capture camera module It may include at least one traffic light control panel that divides and distinguishes a plurality of accident-vulnerable block areas and controls the signal system of traffic lights based on the vehicle congestion section and congestion amount detection results for each of the plurality of monitoring block areas.

In addition, the vehicle signal control device for intersection control includes a control analysis module that monitors images of multiple monitoring block areas and multiple accident-prone block areas and monitors the signal system control status of traffic lights in real time, and pedestrian traffic lights on crosswalks. It may further include a warning notification beacon module disposed adjacent to the pedestrian traffic light to correspond to each, and transmitting a warning notification message by sound.

According to the vehicle signal control device for intersection control according to embodiments, the vehicle congestion section and amount of congestion can be recognized through a real-time video analysis process, and the signal system can be actively controlled in response to the congestion situation based on situational awareness. Accordingly, environmental pollution can be reduced by reducing the waiting time for vehicles at intersection signals and reducing carbon dioxide emissions.

In addition, the traffic accident rate of motorcycles and pedestrians can be reduced by actively controlling the signal system to prevent traffic accidents by recognizing motorcycles and pedestrians during accident-vulnerable times.

Effects according to the embodiments are not limited to the contents exemplified above, and further various effects are included in the present specification.

1 is a configuration diagram showing each component of a vehicle signal control device for intersection control according to an embodiment of the present invention.
FIG. 2 is a layout diagram showing the arrangement of the vehicle signal control device for intersection control shown in FIG. 1.
FIG. 3 is a block diagram showing detailed components of the traffic light control panel shown in FIG. 1.
FIG. 4 is an example image analysis diagram showing the analysis process for each block of the detection block analysis unit shown in FIG. 3.
FIG. 5 is another example image analysis diagram showing the block-by-block analysis process of the detection block analysis unit shown in FIG. 3.
FIG. 6 is a video analysis diagram showing an example of setting an accident-vulnerable block area in the accident-vulnerable block area setting unit shown in FIG. 3.
FIG. 7 is an image analysis diagram showing the two-wheeled vehicle detection process of the two-wheeled vehicle and pedestrian waiting detection unit and the signal control process of the signal control unit shown in FIG. 3.
FIG. 8 is an image analysis diagram showing the process of detecting a person waiting for a pedestrian by the two-wheeled vehicle and a person waiting for a walk detection unit and the signal control process of the signal control unit shown in FIG. 3.
FIG. 9 is an image analysis diagram showing the two-wheeled vehicle and pedestrian waiting detection process of the two-wheeled vehicle and pedestrian waiting detection unit shown in FIG. 3 and the signal control process of the signal control unit.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

In this specification, first, second, etc. are used to describe various components, but these components are not limited by these terms. These terms are merely used to distinguish one component from another. Accordingly, the first component mentioned below may also be the second component within the technical spirit of the present invention.

Each feature of the various embodiments of the present invention can be combined or combined with each other, partially or entirely, and various technological interconnections and operations are possible, and each embodiment can be implemented independently of each other or together in a related relationship. It may be possible.

Hereinafter, specific embodiments will be described with reference to the attached drawings.

1 is a configuration diagram showing each component of a vehicle signal control device for intersection control according to an embodiment of the present invention. And FIG. 2 is a layout diagram showing the arrangement of the vehicle signal control device for intersection control shown in FIG. 1.

Referring to FIGS. 1 and 2, a vehicle signal control device for intersection control according to an embodiment includes at least one image capture camera module (CMn), at least one wireless communication module (ROn), and at least one traffic light control panel (SCP). ), warning notification beacon module (BMn), and control analysis module (MST).

At least one image capture camera module (CMn) is installed at a traffic light at an intersection or disposed adjacent to the direction of the traffic lights, and captures each entry section of the intersection. The image capturing camera module (CMn) includes at least one image sensor or at least one CCD camera module, and may further include at least one motor module that changes the image capturing direction. At least one video capture camera module (CMn) captures the vehicle entrance direction of each preset intersection in units of at least one frame and transmits image data of the captured image to the traffic light control panel (SCP).

At least one video capture camera module (CMn) may each photograph a vehicle entrance road in at least one preset direction, or may simultaneously photograph a plurality of entrance roads with a wider angle of view. In addition, at least one video capture camera module (CMn) may capture intersections and other entrance roads to intersections with a wider field of view depending on the installation location, installation distance, and shooting area. At least one video capture camera module (CMn) may be applied as the same module as a closed-circuit television (CCTV) camera module.

At least one wireless communication module (ROn) is arranged to correspond to at least one video capture camera module (CMn), and wirelessly transmits video data of at least one frame captured in real time by the at least one video capture camera module (CMn). Transmitted by communication method.

At least one wireless communication module (ROn) transmits image data of each corresponding image capture camera module (CMn) to at least one traffic light control panel (SCP) on a one-to-one basis. To this end, at least one wireless communication module (ROn) may use a wireless protocol-based LoRa communication module capable of mid-to-long-distance wireless communication and low-power communication. In addition, at least one wireless communication module (ROn) may use a wireless communication module such as Bluetooth, Zigbee, Wi-Fi, or beacon to perform short-range wireless communication based on the Internet of Things (IoT). Each of these wireless communication modules (ROn) forms a group for each intersection, and transmits video data captured and generated in real time by each video capture camera module (CMn) within the group to the traffic light control panel (SCP) in real time.

The warning notification beacon module (BMn) is placed adjacent to the pedestrian traffic lights to correspond to the pedestrian traffic lights on the crosswalk. The warning notification beacon module (BMn) responds to the warning notification beacon signal from the traffic light control panel (SCP) and transmits a pedestrian walking warning notification signal to those waiting to walk at the crosswalk. The warning notification beacon module (BMn) can be assembled into a pedestrian traffic light or a traffic light installation prosthesis.

At least one traffic light control panel (SCP) analyzes video data captured by each video capture camera module (CMn) and divides and distinguishes a plurality of monitoring block areas and a plurality of accident-vulnerable block areas for each video frame. In addition, the vehicle congestion section and amount of congestion are detected for each of the plurality of monitoring areas, and the signal system of the traffic lights is controlled based on each congestion section and amount.

Specifically, at least one traffic light control panel (SCP) analyzes the video data of the video capture camera module (CMn) received in real time through each wireless communication module (ROn) for each video frame and creates a plurality of monitoring block areas and Multiple accident-prone block areas are divided into separate sections. Here, each monitoring block is a block area divided into sections to monitor vehicle congestion by intersection entrance direction and access road, and each monitoring block is divided into blocks of right turn lane section, straight lane section, and left turn lane section for each intersection entrance road. Can be divided and distinguished.

To be more specific, each video capture camera module (CMn) captures the entrance roads and intersections for each intersection entrance direction, and the traffic light control panel (SCP) captures the approach road direction video data taken from each intersection entrance direction and the intersection. Video data is received and stored in real time. And the traffic light control panel (SCP) samples the image data of each intersection approach road and the intersection shooting image data in at least one frame unit.

The traffic light control panel (SCP) divides the sampled image data for each intersection entrance into a plurality of preset monitoring block areas for each intersection captured image data. In other words, a plurality of monitoring block areas corresponding to the right turn lane section, straight lane section, and left turn lane section for each intersection access road are divided into block areas for each intersection access road, right turn lane section, straight lane section, and left turn lane section. And the traffic light control panel (SCP) recognizes vehicles in each divided monitoring block area and detects the vehicle congestion section and amount of congestion in each monitoring block area.

The traffic light control panel (SCP) processes images such as image segmentation processing for each monitoring block area, automobile and two-wheeled vehicle recognition and detection processing, intersection entry location for each block and distance detection processing between cars, distance detection processing in congested sections, and congested section setting processing. The process is performed sequentially. The traffic light control panel (SCP) performs a step-by-step and sequential image processing process to determine the degree of congestion, congestion distance, and congestion time in the left turn lane section, straight lane section, and right turn lane section for each intersection entrance road image data in each direction. Detected in real time.

The traffic light control panel (SCP) controls the signal period and period of traffic lights by adding weight to the progress signal period and period based on the vehicle congestion section and amount of congestion. Specifically, the traffic light control panel (SCP) compares the congestion situation according to the amount of congestion, congestion distance, and congestion time for each intersection entrance in each direction, and calculates the ratio of the progress signal lighting time for congested vehicles in the direction of intersection with a longer congestion distance. Increase to generate a traffic light control signal. For example, the traffic light control panel (SCP) sets the first to fourth priorities from the first intersection entrance direction with the longest congestion distance to the fourth entrance direction with the shortest among the intersection entrance roads in the first to fourth directions, and A traffic light control signal can be generated by distributing the time ratio so that the progress signal lighting time ratio (or period ratio) of each intersection access road gradually changes from the priority to the fourth priority. For example, the traffic light control panel (SCP) proceeds from the first-way intersection with the longest congestion distance to the fourth-way intersection with the shortest congestion distance. The signal lighting time ratio (or period ratio) is 4: 3: 2: 1. You can generate a traffic light control signal by setting it to and distributing it in a ratio of 4: 3: 2: 1. The go signal lighting time ratio (or period ratio) and the stop signal lighting time ratio are set to be inversely proportional.

In addition, the traffic light control panel (SCP) detects the amount of congestion, congestion distance, and congestion time for each right turn, straight, and left turn lane section at each intersection entrance road, and sets the progress signal lighting time ratio to correspond to the congestion distance for each right turn, straight, and left turn lane section. (Or, you can set the period ratio).

The traffic light control panel (SCP) is based on the progress signal lighting time ratio (or period ratio) for each intersection entrance, or the proceed signal lighting time ratio (or period ratio) for each right turn, straight, and left turn lane section at each intersection entrance. Traffic light control signals are generated for each intersection direction. In addition, traffic light control signals for each intersection direction are sequentially supplied to traffic lights for each vehicle direction.

The traffic lights arranged at the first to fourth direction intersections can sequentially turn on red and blue lights in response to each traffic light control signal whose lighting period or lighting time is distributed in a ratio of 4: 3: 2: 1. .

Meanwhile, the traffic light control panel (SCP) analyzes video data captured by each video capture camera module (CMn) and divides and distinguishes a plurality of accident-vulnerable block areas preset for each video frame.

In particular, the traffic light control panel (SCP) analyzes each video frame during a preset traffic accident prevention vulnerable time period and divides and divides multiple accident-vulnerable block areas, including left turn lane sections for each intersection entrance and pedestrian waiting areas for each crosswalk. do. For example, image blocks of left turn lane sections for each intersection entrance road in the first to fourth directions and pedestrian waiting areas for each crosswalk formed in the first to fourth direction intersection entrance roads are divided into separate sections.

To be more specific, the traffic light control panel (SCP) divides and distinguishes the pedestrian waiting areas of the crosswalk for each intersection entrance through the entrance direction image data and intersection shooting image data. Then, people waiting to walk (or people waiting for a signal) are detected for each pedestrian waiting area of the crosswalk. In addition, the left turn lane sections for each intersection entrance road are divided and distinguished through the entrance road direction image data and intersection shooting image data. Two-wheeled vehicles are detected for each left turn lane section.

The traffic light control panel (SCP) performs the highest left turn for two-wheeled vehicles waiting to turn left, and the next priority for crosswalking for pedestrians waiting to turn, according to the detection results of two-wheeled vehicles in left turn lane sections for each intersection entrance and the detection results of pedestrians waiting in pedestrian sidewalk areas. To achieve this, the traffic lights are controlled by sequentially generating direction traffic light control signals. In addition, the traffic light control panel (SCP) transmits crossing prohibition and waiting suggestion signals to prevent pedestrians from walking to the warning notification beacon module (BMn) based on a short-range wireless protocol. Accordingly, the warning notification beacon module (BMn) transmits a sound signal to pedestrians waiting to cross the crosswalk to prohibit crossing and suggest waiting during the high-priority left turn period of the two-wheeled vehicle waiting to turn left.

In this way, when a two-wheeled vehicle is detected in the block area of at least one left turn lane section during a preset accident-vulnerable time, the traffic light control panel (SCP) proceeds with a straight or left turn to provide the highest priority for traffic to the two-wheeled vehicle in the detected left turn lane section. By generating an instruction signal, each traffic light corresponding to the direction of travel of the two-wheeled vehicle is controlled. In addition, a crossing prohibition and waiting suggestion signal to prevent pedestrians from walking is transmitted to the warning notification beacon module (BMn). Afterwards, it is possible to direct and control the crosswalk of those waiting to walk on the crosswalk in the next priority.

In addition, when the traffic light control panel (SCP) detects a pedestrian in a block area of at least one pedestrian waiting sidewalk area among a plurality of accident-vulnerable block areas, vehicles proceeding straight and turning right in the same direction as the pedestrian crosswalk where the waiting pedestrian was detected The traffic lights are controlled by generating a stop-instructing traffic light control signal to stop and maintain the stop state. At this time, the traffic light control panel (SCP) sends a warning signal based on a short-range wireless protocol to prevent right-turning of vehicles detected in the block area of the right-turn section in the same direction as the pedestrian crosswalk where pedestrians waiting to walk are detected. Transmitted to the beacon module (BMn). Accordingly, the warning notification beacon module (BMn) transmits a right turn stop and waiting suggestion signal by sound to vehicles waiting to turn right and people waiting to walk at the crosswalk so that the vehicles in the right turn block area remain stopped during the pedestrian detection period. Accordingly, when pedestrians are waiting at a crosswalk, the right turn of adjacent vehicles can be stopped with priority. On the other hand, those waiting to walk at the crosswalk can recognize and check right-turning vehicles.

The traffic light control panel (SCP) compares and confirms the vehicles detected in the block area of the right turn section of the video data for each access road in multiple frame units to check the stopped status of the vehicles detected in the block area of the right turn section. And, based on the results of checking the stopped status of vehicles detected in the block area of the turning section, a pedestrian crosswalk control signal in the same direction as the right turn direction is generated as a green lighting control signal that can be crossed and transmitted as a traffic light. Accordingly, during accident-prone times, pedestrians can only proceed to crosswalk after confirming that right-turning vehicles have stopped.

The control analysis module (MST) monitors the monitoring blocks for each frame of video data and the video of accident-prone block areas, and monitors the signal system control status of traffic lights in real time. The control analysis module (MST) can check the vehicle congestion section and amount of congestion at each intersection and control the control status of the traffic light control panel (SCP) at each intersection.

FIG. 3 is a block diagram showing detailed components of the traffic light control panel shown in FIG. 1.

At least one traffic light control panel (SCP) shown in FIG. 3 includes a short-distance communication module (CP1), an image data alignment unit (CP2), a detection block analysis unit (CP3), a signal control unit (CP7), and a control signal transmission unit (CP8). , It includes an accident-vulnerable block area setting unit (CP4), an accident-vulnerable time zone setting unit (CP5), and a two-wheeled vehicle and pedestrian waiting detection unit (CP6).

The short-range communication module (CP1) performs wireless communication with at least one video capture camera module (CMn) and at least one wireless communication module (ROn) corresponding to each. The short-range communication module CP1 receives at least one frame of image data captured in real time by at least one image capture camera module CMn. The short-range communication module CP1 may include a LoRa communication module based on a wireless protocol capable of performing low-power communication, or may include a short-range wireless communication module based on the Internet of Things (IoT).

The video data sorting unit (CP2) receives and stores video data for each intersection entrance and intersection shooting video data in real time. The image data sorting unit CP2 samples the image data of each intersection access road and the intersection photographed image data in at least one frame unit.

FIG. 4 is an example image analysis diagram showing the analysis process for each block of the detection block analysis unit shown in FIG. 3. And FIG. 5 is another example image analysis diagram showing the block-by-block analysis process of the detection block analysis unit shown in FIG. 3.

Referring to Figures 4 and 5, the detection block analysis unit (CP3) divides a plurality of monitoring block areas corresponding to the right turn lane section, straight lane section, and left turn lane section for each intersection access road into respective block areas. do.

Specifically, the detection block analysis unit (CP3) analyzes the video data of the video capture camera module (CMn) received in real time through each wireless communication module (ROn) for each video frame and creates a plurality of monitoring block areas (BL11). to BL22) and multiple accident-prone block areas are divided and distinguished. The detection block analysis unit (CP3) samples the intersection image data in at least one frame unit and distinguishes between the sampled image data for each intersection entrance and a plurality of preset monitoring block areas (BL11 to BL22) for each intersection image data. . At this time, a plurality of monitoring block areas (BL11 to BL22) corresponding to the right turn lane section, straight lane section, and left turn lane section are divided for each intersection access road, respectively, and each intersection access road is divided into blocks for each right turn lane section, straight lane section, and left turn lane section. It can be divided into areas (BL11 to BL22).

The detection block analysis unit (CP3) can recognize vehicles in each divided monitoring block area (BL11 to BL22) and detect the vehicle congestion section and amount of congestion for each monitoring block area. The detection block analysis unit (CP3) performs image segmentation processing for each monitoring block area, automobile and two-wheeled vehicle recognition and detection processing, intersection entry location for each block and distance detection processing between cars, distance detection processing in congested sections, and congested section setting processing. By performing the image processing process sequentially, the degree of congestion, such as vehicle congestion volume, congestion distance, and congestion time, in the left turn lane section, straight lane section, and right turn lane section is detected in real time for each intersection entrance road image data in each direction.

The signal control unit (CP7) compares the congestion situation according to the amount of congestion, congestion distance, and congestion time for each intersection entrance in each direction, and increases the rate of progress signal lighting time for congested vehicles in the direction of intersection with a longer congestion distance to turn on the traffic signal. Generates control signals. In this case, among the intersection access roads in the first to fourth directions, the first to fourth priorities are set from the first intersection entrance direction with the longest congestion distance to the fourth entrance direction with the shortest, and each intersection from the first to the fourth priorities is set. A traffic light control signal can be generated by distributing the time ratio so that the progress signal lighting time ratio (or period ratio) of the access road gradually changes.

The signal control unit (CP7) detects the amount of congestion, congestion distance, and congestion time for each right turn, straight, and left turn lane section at each intersection entrance, and sets the proceed signal lighting time ratio (or , period ratio) can be set.

The control signal transmitter (CP8) is based on the progress signal lighting time ratio (or period ratio) for each intersection entrance, or the proceed signal lighting time ratio (or period ratio) for each right turn, straight, and left turn lane section at each intersection entrance. Thus, traffic light control signals are generated for each direction of intersection. In addition, traffic light control signals for each intersection direction are sequentially supplied to traffic lights for each vehicle direction.

The control signal transmitter CP8 sequentially turns red and red lights on the traffic lights arranged at the first to fourth direction intersections in response to each traffic light control signal whose lighting period or lighting time is distributed in a ratio of 4: 3: 2: 1. The blue light can be turned on.

FIG. 6 is a video analysis diagram showing an example of setting an accident-vulnerable block area in the accident-vulnerable block area setting unit shown in FIG. 3.

The accident-prone block area setting unit (CP4) analyzes the video data captured by each video capture camera module (CMn) and divides and distinguishes a plurality of accident-prone block areas preset for each video frame.

In particular, the accident-vulnerable block area setting unit (CP4) analyzes each video frame during the traffic accident prevention vulnerable time zone preset through the accident-vulnerable time zone setting unit (CP5) and sets the left turn lane sections for each intersection entrance and pedestrian waiting for each crosswalk. Divide and distinguish multiple accident-prone block areas including Indian areas.

Specifically, the accident-vulnerable block area setting unit CP4 divides and divides the left turn section image blocks BLLn for each left turn lane section for each intersection access road in the first to fourth directions.

In addition, the accident-vulnerable block area setting unit CP4 divides and divides the image blocks BLHn of the pedestrian waiting areas for each crosswalk formed at the first to fourth direction intersection access roads.

FIG. 7 is an image analysis diagram showing the two-wheeled vehicle detection process of the two-wheeled vehicle and pedestrian waiting detection unit and the signal control process of the signal control unit shown in FIG. 3. And FIG. 8 is an image analysis diagram showing the process of detecting a waiting person for a two-wheeled vehicle and a waiting person for walking by the waiting person detecting section and the signal control process of the signal control section shown in FIG. 3.

Referring to FIGS. 7 and 8 , the two-wheeled vehicle and pedestrian waiting detection unit CP6 detects a walking waiting person (or a signal waiting person, HS) for each image block BLHn in the walking waiting sidewalk areas. In addition, two-wheeled vehicles (MC) are detected for each left turn lane section, that is, each left turn section image block (BLLn).

Referring to FIG. 7, when a two-wheeled vehicle (MC) is detected in the left turn section image block (BLLn) of at least one left turn lane section during a preset accident-prone time period, the signal control unit (CP7) detects a two-wheeled vehicle (MC) in the detected left turn lane section. To provide the vehicle (MC) with the highest priority, a straight or left turn direction signal is generated to control each traffic light corresponding to the direction of travel of the two-wheeled vehicle.

If a two-wheeled vehicle (MC) is stopped in the middle of the road in the left turn lane during accident-vulnerable times such as at night, the risk of an accident occurring due to vehicles entering the intersection from each direction is very high, so the two-wheeled vehicle (MC) is given top priority. Proceed by ranking.

At this time, the signal control unit (CP7) transmits a crossing prohibition and waiting suggestion signal to the warning notification beacon module (BMn) to prevent pedestrians from walking. This can prevent pedestrians from crossing when a two-wheeled vehicle (MC) turns left. Afterwards, it is possible to direct and control the crosswalk of those waiting to walk on the crosswalk in the next priority.

Referring to FIG. 8, when detecting a person waiting to walk (HS) in the image block BLHn of at least one pedestrian waiting sidewalk area among a plurality of accident-prone block areas, the signal control unit CP7 moves the pedestrian crosswalk where the person waiting to walk is detected. The traffic lights are controlled by generating a traffic light control signal indicating a stop so that vehicles proceeding straight and turning right in the same direction stop and remain stopped. At this time, the signal control unit (CP7) sends a right turn stop and waiting restriction signal based on a short-range wireless protocol to prevent vehicles detected in the right turn section block area in the same direction as the pedestrian crosswalk where a pedestrian waiting (HS) was detected from proceeding to the right. A warning notification is sent to the beacon module (BMn). Accordingly, the warning notification beacon module (BMn) transmits a right turn stop and waiting suggestion signal by sound to vehicles waiting to turn right and people waiting to walk at the crosswalk so that the vehicles in the right turn block area remain stopped during the pedestrian detection period. Accordingly, when pedestrians are waiting at a crosswalk, the right turn of adjacent vehicles can be stopped with priority. On the other hand, people waiting to crosswalk can recognize and check right-turning vehicles.

The signal control unit (CP7) compares and confirms the vehicles detected in the block area of the right turn section of the image data for each access road in units of multiple frames and confirms the stopped state of the vehicles detected in the block area of the right turn section. And, based on the results of checking the stopped status of vehicles detected in the block area of the turning section, a pedestrian crosswalk control signal in the same direction as the right turn direction is generated as a green lighting control signal that can be crossed and transmitted as a traffic light. Accordingly, during accident-prone times, pedestrians can only proceed to crosswalk after confirming that right-turning vehicles have stopped.

FIG. 9 is an image analysis diagram showing the two-wheeled vehicle and pedestrian waiting detection process of the two-wheeled vehicle and pedestrian waiting detection unit shown in FIG. 3 and the signal control process of the signal control unit.

As shown in Figure 9, the signal control unit (CP7) monitors two-wheeled vehicles and pedestrians (or , signal waiter) is detected. For example, in the dark late at night or early in the morning, preset accident-vulnerable block areas are distinguished for each intersection access road and each intersection shooting video data, that is, left turn lane sections for each intersection approach and pedestrian waiting areas for each crosswalk. . In addition, two-wheeled vehicles and pedestrians (or those waiting at the signal) are detected in the left turn lane sections at each intersection entrance and each pedestrian waiting area at each crosswalk.

When detecting a pedestrian, the signal control unit (CP7) provides priority to pedestrians (HS), generates a straight ahead signal and a pedestrian passage instruction signal in the opposite lane, and only instructs pedestrians to walk and oncoming vehicles to proceed straight. can do.

When a pedestrian waiting (HS) and a two-wheeled vehicle waiting to turn left (MC) are simultaneously detected, priority is given to the two-wheeled vehicle waiting to turn left (MC), and a pedestrian traffic stop signal at the crosswalk is generated. At this time, the signal control unit (CP7) transmits a walking waiting restriction signal to the warning notification beacon module (BMn) based on a short-range wireless protocol to prevent pedestrians from walking. Accordingly, the warning notification beacon module (BMn) transmits a waiting-to-walk suggestion signal by sound to those waiting to walk at the crosswalk so that the people waiting to walk remain stationary.

Afterwards, the signal control unit (CP7) compares and confirms the pedestrians (HS) in the image blocks (BLHn) of the pedestrian waiting sidewalk areas of the video data for each access road in multiple frame units and compares and confirms them in the image blocks (BLHn) of the pedestrian waiting sidewalk areas. Check the stationary status of detected walkers (HS). And according to the result of checking the stopping status of the pedestrians (HS) detected in the image blocks (BLHn) of the pedestrian waiting sidewalk areas, if the stop is confirmed, turn straight or left to provide traffic priority to the two-wheeled vehicle (MC) in the left turn lane section. By generating an instruction signal, each traffic light corresponding to the direction of travel of the two-wheeled vehicle is controlled.

Afterwards, if a two-wheeled vehicle (MC) is not detected in the left turn section video block (BLLn), a pedestrian crosswalk control signal is generated as a green lighting control signal that can be crossed and transmitted as a traffic light.

When pedestrians (HS) and two-wheeled vehicles (MC) waiting to turn left are simultaneously detected in multiple block areas, priority is given to the two-wheeled vehicle (MC) waiting to turn left by controlling the entire signal. In this case, a pedestrian traffic stop signal is generated at the crosswalk. At this time, the signal control unit (CP7) transmits a walking waiting restriction signal to the warning notification beacon module (BMn) based on a short-range wireless protocol to prevent pedestrians from walking. Accordingly, the warning notification beacon module (BMn) transmits a waiting-to-walk suggestion signal by sound to those waiting to walk at the crosswalk so that the people waiting to walk remain stationary.

The signal control unit (CP7) compares and confirms the pedestrians (HS) in the image blocks (BLHn) of the pedestrian waiting sidewalk areas of the image data for each access road in multiple frame units and detects the pedestrians (HS) in the image blocks (BLHn) of the pedestrian waiting sidewalk areas. Check the stationary status of those waiting to walk (HS). And, according to the results of checking the stopping status of pedestrians (HS) detected in the image blocks (BLHn) of pedestrian waiting sidewalk areas, a straight or left turn indication signal is provided to provide priority to two-wheeled vehicles (MC) in the left turn lane section. It generates and controls each traffic light corresponding to the direction of travel of the two-wheeled vehicle.

Afterwards, if a two-wheeled vehicle (MC) is not detected in the left turn section video block (BLLn), a pedestrian crosswalk control signal is generated as a green lighting control signal that can be crossed and transmitted as a traffic light.

According to the vehicle signal control device for intersection control according to the above-described embodiments, the vehicle congestion section and amount of congestion can be recognized through a real-time video analysis process, and the signal system can be actively controlled in response to the congestion situation based on situation recognition. there is. Accordingly, environmental pollution can be reduced by reducing the waiting time for vehicles at intersection signals and reducing carbon dioxide emissions.

In addition, the traffic accident rate of motorcycles and pedestrians can be reduced by actively controlling the signal system to prevent traffic accidents by recognizing motorcycles and pedestrians during accident-vulnerable times.

The embodiments of the present invention disclosed in the specification and drawings are merely provided as specific examples to easily explain the technical content of the present invention and to facilitate understanding of the present invention, and are not intended to limit the scope of the present invention. In addition, the embodiments according to the present invention described above are merely illustrative, and those skilled in the art will understand that various modifications and equivalent scopes of the embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the following patent claims.

BMn: Alert notification beacon module
CMn: Video capture camera module
CP1: Short-distance communication module
SCP: Traffic Light Control Panel
ROn: wireless communication module

Claims (7)

at least one video capture camera module;
at least one wireless communication module disposed to correspond to the at least one video capture camera module and transmitting at least one frame of image data captured in real time by the at least one video capture camera module through wireless communication; and
By analyzing the video data captured by the at least one video capture camera module, for each video frame, a plurality of monitoring block areas including block areas of the left turn lane section and a plurality of accident-prone block areas including pedestrian waiting sidewalk areas are divided and distinguished. and at least one traffic light control panel that controls the signal system of traffic lights based on the vehicle congestion section and congestion amount detection results for each of the plurality of monitoring block areas,
The traffic light control panel is
According to the two-wheeled vehicle detection results in the block areas of the left turn lane section and the detection results of pedestrians waiting for pedestrians in the pedestrian waiting sidewalk areas, set the highest priority left turn proceeding order for two-wheeled vehicles waiting to turn left and the next priority proceeding order for crosswalks for pedestrians waiting to turn, ,
In order to proceed with the highest left turn priority for two-wheeled vehicles waiting to turn left,
To prevent pedestrians from walking, a crossing prohibition and waiting suggestion signal is transmitted to the warning notification beacon module, and a warning notification message is transmitted by sound.
Compare and check the pedestrians detected in the image blocks of the pedestrian waiting sidewalk areas in multiple frame units to check the stationary state of the pedestrians, and when the stationary state is confirmed, provide the highest left turn priority to the two-wheeled vehicle waiting to turn left. Control the traffic lights by generating a turn indication signal,
In order to proceed with the next priority of crosswalk for those waiting to walk,
Control the traffic lights indicating a stop so that vehicles turning right in the same direction as the crosswalk of those waiting to walk stop, and transmit a right turn stop and wait proposal signal to the warning notification beacon module to stop the right turn of vehicles turning right. An audio warning message is sent to vehicles making a right turn.
Compare and confirm the image data of the block area of the right turn lane section among the plurality of monitoring block areas in multiple frame units to check the stopped state of vehicles detected in the block area of the right turn lane section,
A vehicle signal control device for intersection control that supplies a green lighting control signal to the traffic lights of a pedestrian crosswalk when the stopped state of the right-turning vehicles is confirmed according to the result of checking the stopped state of the vehicles turning right, thereby allowing the pedestrians waiting to cross in the next priority.
delete According to claim 1,
The traffic light control panel is
Sample the image data of each intersection approach road and the intersection shooting image data in at least one frame unit,
For each sampled intersection access road, a plurality of monitoring block areas corresponding to the right turn lane section, straight lane section, and left turn lane section are divided into block areas for each intersection access road, right turn lane section, straight lane section, and left turn lane section. ,
A vehicle signal control device for intersection control that recognizes vehicles in each block area of each divided lane section and detects the vehicle congestion section and amount of congestion in each block area of each lane section for each access road.
According to clause 3,
The traffic light control panel is
Images such as image segmentation processing for each block area of the divided lane sections, automobile and two-wheeled vehicle recognition and detection processing, intersection entry location for each block and distance detection processing between cars, distance detection processing in congested sections, and congested section setting processing. By performing the processing steps sequentially,
A vehicle signal control device for intersection control that detects in real time the level of congestion, including vehicle congestion volume, congestion distance, and congestion time, in the left turn lane section, straight lane section, and right turn lane section for each intersection entrance road image data in each direction.
According to clause 4,
The traffic light control panel is
Compare the congestion situation according to the amount of congestion, congestion distance, and congestion time for each intersection entrance in each direction, and generate a traffic light control signal by increasing the rate of progress signal lighting time for congested vehicles in the direction of entering the intersection with a longer congestion distance. ,
Detect the amount of congestion, congestion distance, and congestion time for each right turn, straight, and left turn lane section of the intersection access road in each direction above, and proceed to each intersection by setting the progress signal lighting time ratio to correspond to the congestion distance for each right turn, straight, and left turn lane section. A vehicle signal control device for intersection control that sequentially supplies traffic light control signals for each direction to traffic lights for each direction of vehicle travel.
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