KR20160091540A - The video-based radio-linked intersection traffic signal control system and control method - Google Patents

The video-based radio-linked intersection traffic signal control system and control method Download PDF

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Publication number
KR20160091540A
KR20160091540A KR1020150011644A KR20150011644A KR20160091540A KR 20160091540 A KR20160091540 A KR 20160091540A KR 1020150011644 A KR1020150011644 A KR 1020150011644A KR 20150011644 A KR20150011644 A KR 20150011644A KR 20160091540 A KR20160091540 A KR 20160091540A
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South Korea
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traffic
intersection
signal
traffic volume
vehicle
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KR1020150011644A
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Korean (ko)
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양도근
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양도근
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

The present invention relates to a system including a device for smoothly performing a traffic flow at an intersection where a large number of vehicles or a traffic interlocking system is required, and a control method thereof. More particularly, the present invention relates to a camera image processing device A signal control system for actively resolving the traffic congestion due to the smooth progress of the vehicle when the traffic volume is large by referring to the traffic volume information on the inflow and outflow of the vehicle,

Figure pat00001

Description

[0001] The present invention relates to a video-based radio-linked intersection traffic signal control system and a control method,

The present invention relates to a system including an apparatus for smooth traffic flow in an intersection with many vehicles, and a control method thereof. More particularly, the present invention relates to a system and method for controlling a vehicle by adding a camera image processing apparatus, The signal control system actively resolves the traffic congestion as the vehicle progresses smoothly when traffic volume is large by referring to the traffic volume information on the inflow and outflow, and its control method.

In addition, it provides functions such as devices and vehicles utilizing information Internet (IoT), etc. by providing traffic signals and traffic volume at intersections by wireless communication, and accurately receiving intersection signals and traffic volume information using the information

This will enable accurate information to be provided to devices that use traffic information such as navigation systems, automatic driving devices, and driving aids, and can be used as information to be used by future unmanned vehicles (AGV)

In order to utilize traffic volume information through other video devices as information to compensate or replace, the signal control system also includes a method of communicating with a vehicle equipped with Internet (IoT) using wireless communication

This technology can also serve as a black box for cases of illegal parking and tail wagging that cause traffic congestion at an intersection, and it is also possible to transmit information on traffic volume and signal status to a traffic control central server, To be able to provide accurate information.

Generally, the signal control system appearing at an intersection operates a signal system (a straight line, a left turn and a stop at the time of a stop) in a fixed time system in which a signal is converted into a next scheduled signal when a predetermined time elapses, has exist

Therefore, a vehicle waiting at an intersection must wait for a signal change time according to the existing signal system regardless of the traffic volume. Therefore, when there are more vehicles entering the intersection than a traffic volume eliminated by one signal cycle at an intersection, If there is no further advance due to the influence of the preceding intersection, additional traffic will enter the intersection and serious traffic congestion will occur. In other words, there is a tendency to wait for traffic signals at intersections without consideration of traffic volume. Traffic jams in one direction may cause traffic jams in another direction. In this case, when the traffic signal system is above a certain amount of traffic, the effect of the signal interlocking is lost and the situation is repeated. In addition, unnecessary waiting time occurs when there is no vehicle to pass through an intersection or in a situation where there is less vehicle. That is, even when there is no vehicle in the opposite direction or the other direction, there may occur a situation in which a signal is unnecessarily waiting.

In order to compensate for this, recently, there is a case in which the traffic amount is grasped in advance and the straight ahead and the left turn are provided at the same time. In some cases, the detection sensor is embedded at a specific point and only left turn is provided for a certain time Some traffic signaling systems have some changes.

Public number 10-2012-0117410 Public number 10-2010-0127074 Public number 10-2012-0070770 Public number 10-2009-0116172

In the case of embedding a sensor on the road, there is a disadvantage that it is difficult to perform post-management and additional repair, and adverse effect of causing traffic congestion due to additional maintenance, and a conventional signal In the control system, when the waiting time of the vehicle signal becomes unnecessarily long and traffic jam occurs and even traffic jamming obstructing the smooth lane due to tail water in the intersection occurs, the waiting time of the vehicle is increased. The adverse effect is clear, and it can be a major factor causing air pollution, and the environment will be adversely affected by increasing carbon dioxide emissions.

Real-time image processing and complementary Internet (IoT) communication processing for intersection for straight ahead and left turn By understanding the traffic volume and the amount of traffic after entering the intersection, it is possible to control the traffic volume as quickly and efficiently as possible The mechanism is introduced, and traffic information through communication is provided for a section where traffic congestion occurs, thereby achieving a dispersion effect of traffic volume. In order to accomplish this, in order to compensate for the fact that the traffic signal system is not replaced despite the disadvantage that the signals between the intersections need to be interlocked and the traffic congestion occurs, the signal system newly introduced through the present invention seeks to solve the traffic congestion So that interworking with other intersection signals can be performed automatically and smoothly.

In addition, the system provides wireless electronic signals to be received by public electronic devices to provide information to devices or vehicles using Internet (IoT), so that industries such as unmanned vehicles And to establish a system and a control method that can help to be introduced.

The present invention relates to a control device for a vehicle passing on an intersection using image recognition and an image inputting part for inputting images of a traffic volume and a traffic volume to enter an intersection and an image of a lane pushed after an intersection, (IoT) signal input unit from a vehicle in the vicinity of an intersection and an image input unit for recognizing a vehicle entering the intersection or departing from the intersection or departing from the intersection, The direction indicator information is analyzed to analyze the future driving direction, and the traffic flow departing from the intersection of the traffic volume and the vehicle with reference to the information of the vehicle and the traffic volume waiting in the other lane is smoothly and preferentially controlled And traffic lights to improve the traffic flow considering interlocking signals with other intersections. And a signal control unit for controlling.

Also, a wired or wireless transmitter and an information generating device capable of transmitting the traffic volume, the traffic signal, and the duration of the signal appearing at the intersection of the time, to the vehicle, the pedestrian, the base station, and the like are included.

The present invention relates to a system including an apparatus for smooth traffic flow in an intersection with many vehicles, and a control method thereof. More particularly, the present invention relates to a system and method for controlling a vehicle by adding a camera image processing apparatus, Traffic flow information based on the situation recognition based on the situation recognition on the inflow and outflow, the vehicle can smoothly proceed in the case of heavy traffic, and the interlocking signal can be grasped and applied in the signal linkage section, thereby actively resolving the traffic congestion, There is an advantage that time can be reduced.

In addition, by providing traffic signals and traffic volume at intersections by wireless communication, devices and vehicles using the Internet (IoT) can accurately provide intersection signals and traffic volume information using the information, ), There is an advantage of providing accurate information of intersection signal and traffic volume information, and providing accurate information to devices using traffic information such as navigation.

In addition, it is possible to store an image of an incident occurring at an intersection through image storage of a vehicle entering an intersection, thereby performing a black box for a traffic accident. By reducing the vehicle waiting time on the road, There is an advantage that the amount of generated carbon dioxide can be reduced to reduce environmental pollution.

1 is a configuration diagram of an intersection vehicle control apparatus using image recognition according to an embodiment of the present invention;
FIG. 2A is a conceptual diagram of vehicle and traffic volume recognition in an intersection according to an embodiment of the present invention;
FIG. 2B is a traffic volume recognition area after waiting or entering an intersection seen from one of the image input units according to the embodiment of the present invention,
FIG. 3 is a flowchart for determining traffic volume using image recognition according to an embodiment of the present invention. FIG.
FIG. 4 is a flowchart of vehicle control in an intersection using image recognition according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. , Which may vary depending on the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

Each block of the accompanying block diagrams and combinations of steps of the flowcharts may be performed by computer program instructions (execution engines), which may be executed by a general-purpose computer, a special purpose computer, or any other data- Processor, so that a computer or other programmable data

The instructions that are executed through the processor of the processing equipment will generate means for performing the functions described in each block or flowchart of the block diagram. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory It is also possible for the instructions stored in the block diagram to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of the flowchart.

Computer program instructions may also be loaded onto a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible that the instructions that perform the data processing equipment are capable of providing the steps for executing the functions described in each block of the block diagram and at each step of the flowchart.

Also, each block or step may represent a portion of a module, segment, or code that includes one or more executable instructions for executing the specified logical functions, and in some alternative embodiments, It should be noted that functions may occur out of order. For example, two successive blocks or steps may actually be performed substantially concurrently, and it is also possible that the blocks or steps are performed in the reverse order of the function as needed.

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

1 is a block diagram of an apparatus for controlling an intersection vehicle through image recognition and local communication according to an embodiment of the present invention.

1, the intersection traffic volume signal control system of the present invention includes an image input unit 100, a traffic volume determination unit 102, a signal control unit 104, an individual signal lamp 106, an image database 108, A traffic control server 110, a local communication unit 112, and the like.

First, the image input unit 100 is a device for inputting a vehicle waiting to enter an intersection by a camera or the like and an image of the traffic volume, and recognizes the vehicle on the road and its traffic volume and transmits the recognition to the traffic volume determination unit.

The traffic volume determination unit 102 determines the amount of traffic for entering an intersection, distinguishes lanes for straight ahead and left turn, and determines traffic volume. The method of determining the amount of traffic is to determine the distance that the vehicles displayed on the image are pushed from the waiting line and to compare the amount of traffic with the amount of traffic that can be resolved to the reference signal and determine the traffic volume. And it is possible to judge the amount of traffic by detecting the outline image of a car reflected at a headlight of a vehicle and a stop at night. It also determines whether the amount of traffic in the opposite lane approaching the intersection is pushed up to the intersection. This is used to prevent the vehicle from stopping and tailing in the intersection when a left turn signal is given in the opposite lane (at 6 o'clock) or in a lane (9 o'clock) that can enter the pushed lane

 The signal control unit 104 controls the operation of the individual signal lamp 106 installed at the intersection and determines the image provided from the image input unit 100 according to the embodiment of the present invention and determines the amount of traffic for determining the amount of traffic for entering the intersection And uses the information of the determination unit 102 to readjust the operation of the signal to make the vehicle flow as smooth as possible. In addition, a signal cycle and a start point of the signal cycle are adjusted by rearranging input signals and the like for traffic flow interworking with an adjacent intersection received from the traffic control server 110 and the local communication unit 112.

In the actual situation, the amount of traffic for each of the straight ahead and the left turn, which is to be entered into the intersection, is determined through the video input unit 100 such as a video camera to be installed in a traffic light installed at each intersection in each road direction (102) The traffic signal is controlled (104) by optimally distributing the signal-by-signal period and the start time. In this case, signal control is performed to reduce the waiting time of the intersection as a whole, such as a signal having a long traffic volume, a signal having a short traffic volume, and a signal having no traffic volume if the traffic volume is different.

In the case of an interlocking signal of another intersection or an unexpected traffic lag, the road on which the traffic lag occurs is organically controlled so that the lagging factor can be solved. In order to pass smooth intersection of the traffic coming from the adjacent road, The signal period and the start time are organically adjusted 104 so that the signal interlocking can be performed based on the traffic signal and traffic volume received from the server 110 and the local communication unit 112.

Therefore, unnecessary stopping on the road can be prevented more than the vehicle guidance system using the existing fixed one-way timer, and it can also be introduced to the intersection signal system of the main road which was not introduced due to the vehicle linkage system.

In addition, when the vehicle recognition through the image input unit 100 is not smoothly performed or an error occurs, the signal control unit 104 controls the signal lamp to operate with a signal system such as a straight line, a left turn, and a stop.

When an image DB 108 for storing a moving image of a vehicle in an intersection is provided, images such as an entrance of an intersection and an intersection passing through the vehicle recognized through the image input unit 100 are stored, So that it can serve as a signal light black box. At this time, the image DB 108 can be checked at the traffic control server 110 located at a remote place.

The traffic control server 110 receives a traffic signal from the signal control unit 104 for each intersection and receives the integrated image of the intersection from the image DB 108. A control signal can be transmitted to an intersection that requires signal adjustment or interworking remotely for each intersection by combining the received signal and traffic volume.

The short distance communication unit 112 transmits intersection traffic signals and traffic volume through the Internet (IoT) or the like at the traffic volume determination unit 102 and the signal control unit 104, and transmits the traffic information at the intersection. The information can be provided accurately in real time to an electronic device using an AGV, a travel assistance device and other Internet (IoT) which is difficult to judge visually through the individual signal lamp 106. By complementing the signal processing depending on the time, it will be possible to act as an infrastructure for electronically discriminating the traffic signal from the AGV or the driving assistance device. In addition, the signal control unit 104 receives the signals and the traffic volume of the adjacent intersection and adjusts the signal so that the signals can be interlocked with each other in consideration of the distance between the intersections. In addition, the signal control unit 104 receives the signal of the intersection entry vehicle and receives the information capable of cross-checking the progress of the intersection.

2A and 2B are diagrams for explaining an example of a vehicle 202-1 to 202-4 in the waiting line 200 for entering an intersection through image input units 100-1 to 100-4 of a camera installed in a road- 1 to 3, 206), recognizes the traffic volume of the intersection through the image, and controls the signal cycle and time, and the concept of the short range communication unit 112 for transmitting the signal and the traffic volume of the intersection to the intersection peripheral device and the vehicle FIG.

Referring to FIG. 2A, an orthogonal intersection includes four main signal lamps 106-1 to 104 and four image input units 100-1 to 100-4.

Referring to FIG. 2B, the traffic volume for each direction of the intersection is calculated based on the recognition of the turn indicator of the left-turn vehicle in the traffic volume determination unit 102 and the recognition of the direction 202 and 204 based on the manually entered lane information. The traffic volume is determined by measuring the distance lined up in that direction. For example, a traffic amount (202-2: straight line, 204-2: left turn) capable of passing through a normal signal is grasped, and a segment is divided by the signal length (divided by 202-1 to 3, The traffic amount per direction is determined according to the amount of traffic that is waiting in the section.

As shown in FIG. 2A, the amount of traffic moving from the right side to the left side is large (106-1 recognition), thereby increasing traffic volume of the traffic light 100-1. However, when the vehicle is waiting to the area 208-3 of FIG. 2B and the intersection is pushed up to the intersection due to an increase in the traffic volume on the right road as shown in FIG. 2A, the straight line signal from left to right, Signal time is not assigned (100-1 prohibited, 100-3 disabled). Also, if the signal is pushed to the 208-2 area of FIG. 2B, the signal should be changed to a caution (yellow). The reason for this is that the vehicle is pushed in the intersection of Fig. 2A to perform aggressive signal control to prevent the situation where the vehicle can not move in the other direction.

If the system fails or is unrecognizable, the signal control unit 104 operates the existing traffic control program to prevent the traffic flow from being restricted. At this time, signals can be provided without changing the traffic system.

2A and transmits the signal and traffic amount per direction of the intersection of FIG. 2A through the local communication unit 112 so that it can be recognized by persons and devices in the surrounding area to refer to the operation of the vehicle, and the traffic volume at the adjacent intersection on the left side of the intersection can be quickly resolved And transmits the information.

FIG. 3 shows a control flow for the traffic volume determination unit 102 in the embodiment of the present invention. The following description will be described in detail with reference to Figs. 1, 2A, 2B and 3.

(S300) a vehicle waiting to enter the intersection through the image input units 100-1 to 100-4 of a camera or the like installed at a road-specific traffic light at an intersection.

The scale of the traffic volume is recognized through the direction-specific images determined by the image input unit (S302).

If it is determined in step S304 that there is a vehicle by direction (202 and 204), if the amount of traffic is not zero (S306) when there is no waiting vehicle, the standard general traffic volume 202-2, The amount of traffic corresponding to the reference value is allocated S310 and the amount of traffic is decreased S314 when the traffic is below the reference value 202-1 and 204-1, 3, 204-3, and 206), traffic volume is increased (S316) to transmit traffic information.

The traffic volume for each image reference value advanced in the process is stepwise matched (S318). And then transmits the classified traffic volume and image to the signal controller 104.

FIG. 4 is a block diagram illustrating a signal controller 104 according to an embodiment of the present invention. Referring to FIGS. 1, 2A, 2B, and 4, the embodiment of the present invention will be described in detail.

The driving time is determined by allocating a signal based on the traffic volume information per direction received through the video input unit 100 and the traffic volume determination unit 102. [

(S406, S408). If it is determined that the traffic volume is within the standard range, the amount of traffic is allocated to the existing driving time maintenance (S406). If the traffic volume is less than the reference value, the driving time is shortened (S410) The travel time is extended (S414) and the traffic information is transmitted. After confirming the image after advancing the vehicle in the traveling direction, if it is pushed to the intersection area (the vehicle stops in 208-3), the traveling time is set to '0' (S416) to prevent traffic in the intersection.

A signal cycle is completed by integrating the travel time of each signal processed in the process (S418).

If the intersection needs to be interlocked with another intersection (S420), if it is interlocked smoothly with the adjacent intersection signal through the traffic control server 110 or the short-distance communication unit 112 (S424) (S422). If the interlocking is not smooth, the main road signal can be interlocked with the extension of the main road signal (S426). If the main road signal alone is difficult to be interlocked (S428) (S430).

The integrated final signal cycle controls the signal light.

As described above, according to the present invention, the amount of traffic queued at an intersection at a traffic light position is checked to provide smooth vehicle communication. In other words, by actively controlling the signal according to the amount of traffic, traffic jam is resolved first, and traffic is smoothly provided. Especially, it is considered that it will be effective to increase the road traffic rate and reduce the incidence of car accidents by making it operate flexibly according to the traffic of the vehicle instead of operating at a fixed time of the existing signal processing during traffic congestion such as commute time.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should not be limited by the described embodiments but should be defined by the appended claims.

100: video input unit 102: traffic volume determination unit 104:
106: Individual traffic light 108: Image DB 110: Traffic control server
112:

Claims (6)

A video input unit for recognizing traffic volume of a vehicle entering an intersection,
A traffic volume determining unit for recognizing the traffic entering the intersection through the image input unit and determining traffic volume,
A signal controller for distributing a traffic signal in a driving direction with reference to traffic volume information of a vehicle to be moved by direction and traffic volume after entry,
A short distance communication unit for transmitting the traffic signal and the traffic amount per road and receiving the traffic signal and the traffic amount of the adjacent intersection
Based wireless interlocking traffic volume signal control system. The traffic volume determination unit determines the traffic volume for entering the intersection by distinguishing the lane for the straight ahead and the left turn. The traffic volume determination unit recognizes the traffic volume of the vehicles displayed on the image as a distance pushed from the waiting line, The system is based on a video-based wireless interlocking intersection traffic volume signal control system that recognizes traffic volume in comparison with the amount of traffic that can be relieved and judges whether traffic in the opposite lane approaching the intersection is pushed up to the intersection. The signal control unit controls the operation of the individual traffic lights installed at the intersection and uses the traffic volume information for entering the intersection and the traffic volume information for the opposite lane in which the traffic congestion has occurred after entering the intersection, And the start time of the individual traffic signal are adjusted so that the vehicle flow is maximized smoothly based on the signal length and the interworking information signal received from the traffic control server or the local communication unit for traffic flow interworking is considered , A wireless interlocking intersection traffic volume signal control system based on image utilization, which re - adjusts the cycle and start point of the traffic signal. The signal control unit receives the traffic signal and the traffic volume of the adjacent intersection and controls the signal controller to increase the specific signal length or adjust the time of the entire signal to the same specificity in consideration of the distance to the intersection, Interlocked traffic volume signal control system based on video application based on interlocking and controlling integrated signal cycle signal light. The wireless communication system according to claim 1, wherein the short range communication unit transmits the intersection traffic signal or the traffic volume through the Internet (IoT) communication unit and propagates traffic information of the intersection. The short distance communication unit may be configured to perform traffic information communication with a vehicle or an electronic device equipped with Internet (IoT) communication means utilizing wireless communication before and after passing through an intersection, or receive traffic signals or traffic volume information of an adjacent intersection , Image - Based Wireless Interlocking Traffic Signal Control System for Intersection.
KR1020150011644A 2015-01-24 2015-01-24 The video-based radio-linked intersection traffic signal control system and control method KR20160091540A (en)

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CN113450569A (en) * 2021-06-30 2021-09-28 阿波罗智联(北京)科技有限公司 Method, device, electronic equipment and storage medium for determining intersection state
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CN106530760A (en) * 2016-11-25 2017-03-22 天津易赢尔节能技术有限公司 Energy-saving and efficient electric signal lamp intelligence system based on user interaction
KR20190097611A (en) * 2018-02-12 2019-08-21 (주)제이엔디 Traffic information monitoring using Geomagnetic LenLer and Low power wide area communication network
KR102253833B1 (en) * 2020-06-12 2021-05-20 주식회사 도부 Real-time control system of intersection traffic lights according to traffic volume and method of traffic lights using for real-time control
CN113053105A (en) * 2021-02-26 2021-06-29 吴江市腾凯通信工程有限公司 Multi-component intelligent monitoring system for urban road
CN113450569A (en) * 2021-06-30 2021-09-28 阿波罗智联(北京)科技有限公司 Method, device, electronic equipment and storage medium for determining intersection state
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