WO2017026642A1 - Système de sécurité de feu de circulation pour passage piéton - Google Patents

Système de sécurité de feu de circulation pour passage piéton Download PDF

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Publication number
WO2017026642A1
WO2017026642A1 PCT/KR2016/006578 KR2016006578W WO2017026642A1 WO 2017026642 A1 WO2017026642 A1 WO 2017026642A1 KR 2016006578 W KR2016006578 W KR 2016006578W WO 2017026642 A1 WO2017026642 A1 WO 2017026642A1
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WO
WIPO (PCT)
Prior art keywords
pedestrian
zone
signal
detection zone
detection
Prior art date
Application number
PCT/KR2016/006578
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English (en)
Korean (ko)
Inventor
임철수
임아름
임다운
임미래
Original Assignee
임철수
임아름
임다운
임미래
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020150188405A external-priority patent/KR101635477B1/ko
Priority claimed from KR1020160046727A external-priority patent/KR101661237B1/ko
Application filed by 임철수, 임아름, 임다운, 임미래 filed Critical 임철수
Publication of WO2017026642A1 publication Critical patent/WO2017026642A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • 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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • 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

Definitions

  • the present invention relates to a traffic signal safety system for a pedestrian crossing, more particularly, a pedestrian sensing pedestrian approaching a safe line in a crosswalk,
  • a third function of detecting a pedestrian crossing the crosswalk when the visually impaired is detected and outputting a voice for the visually impaired is integrated into a single system and operated in an efficient integrated management system for pedestrian safety on a pedestrian crossing will be.
  • the present invention relates to a traffic signal safety system for a pedestrian crossing.
  • a pedestrian crossing for pedestrians is installed on a road on which a vehicle is running, and a pedestrian crossing signal is generated on a pedestrian crossing Pedestrian traffic lights and pedestrian crossing entrance In India, there is a safety line that pedestrians can safely wait.
  • the conventional pedestrian crossing is merely a signal function for recognizing only whether the pedestrian signal is stopped (red) or walking (green) to the pedestrian, so that the pedestrian signal light can be displayed on the pedestrian waiting for crossing the crosswalk.
  • a pedestrian sensing unit is installed at the entrance of a pedestrian crossing, and when the pedestrian senses that the pedestrian has entered the safety line in the stop signal state of the pedestrian signal lamp, a device is provided to notify the driver that the pedestrian should go back.
  • the pedestrian if the pedestrian is present in the safety line, it can be detected. However, when the pedestrian crosses the safety line, if the pedestrian enters the road edge, it can not detect the pedestrian beyond the range of the detection sensor. .
  • the pedestrian sensing unit When the pedestrian sensing unit detects the pedestrian, the pedestrian sensing unit only detects whether the pedestrian has entered the safety line, and performs only a simple function of outputting the voice of the danger guidance. There is a problem in that a simple function is inefficiently operated because a complex function of various traffic functions can not be performed after installing a system with a large budget.
  • the signal system In order to efficiently operate the pedestrian signal of the pedestrian crossing, when the pedestrian crosses the signal system, the signal system is operated mainly for the time when there are not many pedestrians.
  • the bell button installed on the signal lamp When the bell button installed on the signal lamp is pressed, There is a problem that pedestrians can not recognize pedestrians who use pedestrian crossing and pedestrians to change from green to green signals.
  • Korean Patent Registration No. 10-0742558 discloses a system in which a pedestrian signal lamp operates only when a traffic light system installed in a single pedestrian crossing or a pedestrian crossing pedestrian crossing a pedestrian crossing has an infrared sensor And a pedestrian detector module using the pedestrian sensor module and a control method thereof.
  • a button for the visually impaired is installed in the signal lamp holder, so that a bell button is pressed to output a guidance voice for the visually impaired so that the visually impaired can use the pedestrian crosswalk.
  • 'detection sensors 201, 202 and 207 for detecting a pedestrian from a plurality of sensing areas X1 to X3;
  • An induction information outputting section (24) for acquiring the lighting state information of the signal lamp for the pedestrian from the signal controller;
  • a judging unit 203 for judging whether a pedestrian's entry area X1-X3 and a visually impaired person are present;
  • an inductive information output unit (24) for acquiring the walking state of the pedestrian and the signal lamp lighting state information and outputting the voice data to the speaker (SP) "(paragraphs 14-20 and 31, 1-2 and FIG. 1-2).
  • the sensing area of X1, the sensing area of X2, and the sensing area of X3 are overlapped with each other, so that they can be used only for guidance voice of a simple blind person.
  • the safety line detection zone, the danger detection zone, the crossing zone detection zone, and the crosswalk detection zone are not overlapped with each other, It is necessary to judge that they have been correctly detected according to the detection area of the sensor.
  • Prior art document 4 Referring to FIG. 1, when a person is on the roadway of a pedestrian crossing and the boundary line of the crosswalk, the X1 sensing area, the X2 sensing area and the X3 sensing area are detected at the same time.
  • the announcement voice to go out from dangerous area, the guidance voice for the visually impaired, and the warning message for the warning of warning of warning) will be outputted in a superimposed manner.
  • the prior art document 4 discloses a technical feature (refer to paragraph 31) in which the pedestrian guidance device outputs a guidance voice for the visually impaired and controls the guidance voice to not be stopped until the visually impaired person completes the walking. It is designed to be operated only for the visually impaired guidance voice output.
  • the prior art document 4 discloses a technical feature (see paragraph 31) in which the pedestrian guidance device 200 controls the guiding sound for the visually impaired to not be interrupted until the visually impaired person completes the crossing.
  • the pedestrian detection sensor includes a camera for sensing a region X1 around the entrance, and an infrared (or ultrasonic) sensor for sensing a region X2 surrounding the area around the entrance.
  • Technical features for judging whether or not a person with visual impairment is detected by detecting a cane for the visually impaired.
  • the pedestrian detection device measures the speed (speed and direction) of the pedestrian through the change of pedestrian position measurement (see paragraph 32) and the pedestrian detection device 27 measures the presence of people, persons with disabilities and obstacles 'Technical features (see paragraph 34)
  • 'Pedestrian detection system' displays the pedestrian size, shape, and position by points indicated by three-dimensional X, Y, and Z coordinates to determine walking speed, human presence, and obstacles and obstacles (see paragraphs 32-34)
  • a signal control function according to the detection of a pedestrian by a pedestrian signal control system and a voice output function of a traverse direction ".
  • the present invention since the present invention is installed in the field of a pedestrian crossing, there is a problem that a person in charge has to visit the site and check it periodically in order to check if a system error occurs.
  • a traffic signal safety system for a pedestrian crossing solves the problems of the conventional systems and methods and provides a new concept system different from the conventional systems and methods .
  • the pedestrian detection unit and the detection zone entering identification unit in the pedestrian signal light in the state of the pedestrian signal light entering the safety line zone, entering the danger detection zone It is precisely detected and judged whether the pedestrian has entered the crossing atmosphere detection zone. If it is judged that the pedestrian has entered the safety line detection zone, the control unit informs the user through the voice output unit '
  • control unit informs the user through the voice output unit '
  • the pedestrian traffic light should be changed from the red signal to the green signal so that an efficient traffic system can be operated.
  • a traffic signal safety system for a pedestrian crossing there is provided a traffic signal safety system for a pedestrian crossing
  • a pedestrian detection unit for detecting the presence of a person in a safety line detection zone or a danger detection zone or a crossing zone detection zone or a crosswalk detection zone in a pedestrian signal light stop signal state;
  • a signal identification unit for receiving a signal from the signal light sensing unit or the signal light main control unit to identify whether the pedestrian signal is a stop signal or a gait signal;
  • a time zone check unit for checking the time to vary the signal period of the pedestrian signal in the selected time zone or to change the size of the guidance sound output through the sound output unit according to the time zone;
  • a control unit for changing the signal into a walk signal; And a visually impaired person identification unit for identifying whether the person who entered the transit atmosphere detection area is a visually impaired person,
  • control unit causes the visually impaired person identification voice to be outputted through the voice output unit when the visually impaired person identification unit identifies the person who entered the transit atmosphere detection zone as the visually impaired person
  • the guidance voice or the warning sound is not output even if the pedestrian senses that the pedestrian has entered the safety line detection zone or the danger detection zone in the state of the walking stop signal.
  • a traffic signal safety system of a pedestrian crossing is characterized in that in a traffic signal safety system of a pedestrian crossing, a pedestrian signal light is transmitted from a stop signal state to a safety line detection zone, A pedestrian sensing unit for sensing a pedestrian;
  • a detection zone entrance identification unit for receiving a signal from the pedestrian sensing unit and identifying whether the pedestrian signal entered the safety line detection zone, the danger detection zone, or the transit atmosphere detection zone in the stop signal state;
  • a control section for causing the pedestrian signal lamp to output a guidance voice or a warning sound corresponding to the pedestrian signal through the voice output section when the pedestrian signal is detected in the safety line detection zone or the danger detection zone in the stop signal state;
  • An audio output unit for outputting a guidance voice or a warning sound under the control of the control unit;
  • a guiding voice output order adjusting unit for adjusting the guiding voice output order when the pedestrian is sensed to be superimposed within two or more sensing zones simultaneously or within a predetermined time.
  • a traffic signal safety system for a pedestrian crossing is a traffic signal safety system for a pedestrian crossing
  • a pedestrian detection unit for detecting the presence of a person in a safety line detection zone or a danger detection zone or a crossing zone detection zone or a crosswalk detection zone in a pedestrian signal light stop signal state;
  • a control section for causing the pedestrian signal lamp to output a guidance voice or a warning sound corresponding to the pedestrian signal through the voice output section when the pedestrian signal is detected in the safety line detection zone or the danger detection zone in the stop signal state;
  • An audio output unit for outputting a guidance voice or a warning sound under the control of the control unit
  • a detection zone for identifying whether the pedestrian has entered the safety line detection zone or entered the hazard detection zone or entered the cross zone detection zone or entered the crosswalk detection zone
  • the detection zone section is provided with a detection line for detecting a safety line formed in a straight or curved shape within a predetermined distance in width along the edge of the pedestrian crossing at the vehicle side edge 20-9 of the crossing of the crosswalk, Zone 20-1;
  • a crosswalk roadway and an Indian borderline (20-9) roadway a risk-detecting zone (20-2) formed in a straight or curved shape within a predetermined distance in width along the edge of the crosswalk, ;
  • the time zone check unit may include: a first time zone check unit for checking the signal period of the pedestrian signal lamp to change in a selected time zone; And a second time zone check unit for checking the size of the guidance voice output through the voice output unit according to the time zone,
  • the control unit causes the stop signal of the pedestrian signal lamp to be changed to the walking signal when the pedestrian signal enters the stopping area in the stop signal state in the time zone checked by the first time zone check unit,
  • the second time zone check unit outputs a small announcement sound or a warning sound output through the sound output unit in the time zone checked.
  • the guidance voice output order adjustment unit or the control unit may include:
  • the guidance voice output corresponding to the detection of the safety line detection zone the announcement voice output corresponding to the detection of the danger zone
  • a guidance voice output common to both the safety line detection zone detection and the hazard detection zone detection is output
  • the announcement voice output corresponding to the detection of the safety line zone is started first, the announcement voice output corresponding to the detection of the safety zone is detected,
  • the guidance voice output corresponding to the detection of the dangerous area is started first, the guidance voice corresponding to the safety line detection zone is detected after the detection of the dangerous zone is canceled,
  • the guidance voice output order adjustment unit or the control unit may include:
  • the pedestrian traffic signal safety system further includes a pedestrian entry direction identification unit for identifying whether the pedestrian signal lamp has entered the roadway from the roadside to the roadway in the stop signal state, Including,
  • the pedestrian entry direction identification unit identifies that the pedestrian has entered the vehicle from the roadside when it is detected first in the danger detection zone rather than the safety line detection zone of the pedestrian sensing unit,
  • the control unit is configured to output or output the guidance voice corresponding to the pedestrian through the voice output unit when it is identified that the pedestrian in the pedestrian entry direction identification unit has entered the delivery from the roadside.
  • the pedestrian traffic signal safety system includes a traverse / walking identification unit for identifying whether the person entering the crossing air detection zone is a person for crossing the pedestrian crossing or a person walking on the pedestrian crossing; Further comprising:
  • the transverse / gait identifying unit determines that the person is not a transit waiting person when the person continuously moves in the state where the person enters the transit atmosphere sensing zone, and when the person enters the transit atmosphere sensing zone, It is judged to be a transit waiting person,
  • control unit causes the pedestrian signal lamp to change from the stop signal to the walking signal when it is determined to be a transit waiting person of the traverse /
  • the pedestrian traffic signal safety system further includes a human presence / absence section for discriminating whether the object sensed by the pedestrian sensing section is a person or not,
  • the human being / unexperienced unit identifies the person as being not a person or, if the sensing duration of the sensing duration checking unit is less than a predetermined time, do.
  • a walking stick or a hand held by a pedestrian When a walking stick or a hand held by a pedestrian is tracked and analyzed, and a stick or a hand rises above the head, it is measured. When the stick or hand is raised above the head and the retention is measured for a predetermined time, Or if the pedestrian's walking stick has a white color, it is identified as a blind person, or if the pedestrian wears sunglasses and holds a walking stick, it is identified as a blind person
  • controller is configured to output a voice guidance for a visually impaired person through the voice output unit upon identification as the visually impaired person of the visually impaired person identification unit.
  • the pedestrian traffic signal safety system may further include an error check unit for checking whether the system is operating normally or not, Checking whether or not the output unit is normally operated, checking whether the control unit is normally operated, checking whether the guidance voice output order adjusting unit is normally operated, and checking whether the blind person identification unit is operating normally,
  • control unit causes the error check unit to transmit the signal to the contact terminal through wired or wireless communication when checking the system error.
  • a traffic signal safety system for a pedestrian crossing is a traffic signal safety system for a pedestrian crossing
  • a pedestrian detection unit for detecting the presence of a person in a safety line detection zone or a danger detection zone or a crossing zone detection zone or a crosswalk detection zone in a pedestrian signal light stop signal state;
  • a signal identification unit for receiving a signal from the signal light sensing unit or the signal light main control unit to identify whether the pedestrian signal is a stop signal or a gait signal;
  • a separately installed visually impaired system guide voice output presence / absence discrimination unit for discriminating whether a separately installed visually impaired system receiving a signal from a separately installed visually impaired system is voice guidance
  • a control unit for outputting a guidance voice or a warning sound corresponding to the pedestrian signal through the voice output unit when the pedestrian signal is in the stop signal state or when the pedestrian enters the danger detection zone; And a sound output unit for outputting a guidance sound or a warning sound under the control of the control unit,
  • control unit controls the pedestrian in the safety line detection zone or the danger detection zone in the state of the walking stop signal at the time when the visually impaired system separately installed from the separately installed visually impaired system guidance voice output identification unit is identified as being outputting the announcement voice So that a guidance voice or a warning sound is not output even if an entrance is detected.
  • the separately installed visually impaired system guidance voice output presence / absence identification unit may be installed separately from the visually impaired person system Identifying that the guide voice is output
  • a separate cable for transmitting a guidance voice signal to a speaker of a visually impaired system installed separately, and if the guidance voice signal is a signal transmitted to the speaker,
  • the speaker of the visually impaired system installed separately is detected to determine whether the speaker is in a shaky state or a separately installed visually impaired system is identified as being in voice guidance
  • a visually impaired person who is installed separately senses sound output through a speaker, and if the visually impaired person's guidance sound is sensed, a separately installed visually impaired person is identified as being in a voice guidance mode.
  • the pedestrian detection unit can detect the image motion when installing the system, it is easy to install the system, It is an integrated system that integrates the signal light conversion function of entering the transit atmosphere detection zone and the guidance function of the visually impaired person. It can perform three functions as one facility and prevent duplicate investment due to each function This has a great economic effect.
  • FIG. 1 is a schematic view of a conventional traffic signal system
  • FIG. 2 is a block diagram of a traffic signal safety system of a pedestrian crossing according to an embodiment of the present invention
  • FIG. 3 is a block diagram of a traffic signal safety system of a crosswalk in another method according to an embodiment of the present invention.
  • FIG. 4 is a schematic view of a traffic signal safety system of a pedestrian crossing according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a traffic signal safety system in a crosswalk of another method in accordance with an embodiment of the present invention.
  • FIG. 6 is a schematic view illustrating a method of checking a voice output of a system for visually impaired to be installed according to an embodiment of the present invention
  • FIGS. 7A, 7B, and 7C are schematic diagrams illustrating methods of signal light sensing units of an embodiment of the present invention.
  • first, second, third, etc. may be used to describe various components, they are used only for the purpose of distinguishing one component from another, Attributes are not limited by these terms.
  • the 'pedestrian detection unit (60)' refers to a pedestrian detecting unit for detecting a pedestrian for crossing the pedestrian crossing, that is, whether the pedestrian has entered the safety line sensing area (20-1) Detection of motion, detection of infrared rays, detection of approach, detection of curtains, and the like, which detect whether the user has entered the detection zone 20-3, entered the crosswalk detection zone 20-4, All the devices that detect the pedestrian will correspond to the pedestrian detection part.
  • the image sensing and motion sensing include a kinetic sensor, a real sensor, and a real tango, and other sensing sensors are also commercially available, and thus a detailed description thereof will be omitted.
  • the 'sensing zone 20' refers to a safety line sensing zone 20-1, a hazard sensing zone 20-2, a transverse atmosphere sensing zone 20-3, a pedestrian crossing sensing zone 20-4, It is a certain area for judging the entry of a pedestrian like the blind spot detection zone 21.
  • the 'transverse / gait identifying unit 53' is used to identify whether a person who enters the transverse air sensing zone 20-3 is a person for traversing the crosswalk 12 or not.
  • the 'human / unmodified part 54' means to identify whether the object detected by the pedestrian sensing part 60 is human or not (eyes, rain, leaves, etc.).
  • the 'pedestrian entry direction identification unit 55' is used to identify whether a person has entered the cargo area 10 or the cargo area 11 from the safety line detection area 20-1.
  • the 'separately installed blind person system 200' refers to a device that is installed in advance for the blind person's guidance voice in the transverse walkway 12.
  • time zone check unit 27 &quot in the present invention refers to checking the time zone set during the day to vary the signal period of the signal light in the selected time zone.
  • the 'sensing duration check unit 54-2' refers to checking the duration of a single object from the start of sensing to the end of sensing.
  • the 'guidance voice output order adjusting unit 57' is a unit for adjusting the selection and order of the guidance voice output order so as to select and / It says.
  • the 'mode switching unit 80' is a kind of switch that selects only a plurality of functions so that only necessary functions can be used.
  • the 'error checking unit 90' refers to checking for malfunction of the system operation or the like.
  • FIG. 2 is a block diagram of a traffic signal safety system of a crosswalk according to an embodiment of the present invention
  • FIG. 3 is a block diagram of a traffic signal security system of a crosswalk in another method according to an embodiment of the present invention
  • FIG. 5 is a schematic view of a traffic signal security system of a crosswalk according to another embodiment of the present invention
  • FIG. 6 is a schematic diagram of a traffic signal security system of a crosswalk according to an embodiment of the present invention.
  • FIGS. 7A, 7B, and 7C are schematic diagrams showing methods of the signal light detecting unit of an embodiment of the present invention
  • a transverse atmospheric sensing zone 20-3 is formed around the entrance of the pedestrian crossing 12, typically pedestrians, when the signal of the pedestrian traffic light 30 is a stop (red) signal to traverse the pedestrian crossing 12 And waits for a signal in the transverse air sensing zone 20-3.
  • the blind zones 21, 21-2, and 21-3 are formed so that the person who enters the transit atmosphere detection zone 20-3 is a blind person and can detect that the blind is a blind person .
  • a traffic signal safety system for a pedestrian crossing is a pedestrian traffic signal safety system for a pedestrian crossing in which a pedestrian signal lamp 30 is placed in a safety signal detection zone 20-1 or a danger zone 20- 2) or a pedestrian sensing section (60) for sensing the presence of a person in the transverse air sensing area (20-3) or the crosswalk sensing area (20-4);
  • a signal identification unit 51 for receiving a signal from the signal light detection unit 32 or the signal light main control unit 40 and identifying whether the pedestrian signal lamp 30 is a stop signal or a gait signal;
  • a detection zone entry identification section 52 for identifying whether the vehicle has entered the detection zone 20-3 or entered the crosswalk detection zone 20-4;
  • a time zone check unit 27 for checking the time to vary the signal period of the pedestrian signal lamp 30 in the selected time zone or to change the size of the guidance voice output through the voice output unit according to the time zone;
  • the control unit 50 When the blind person identifying unit 22 identifies a person who has entered the transit waiting detection area 20-3 as a blind person, the control unit 50 outputs a blind person guidance voice through the voice output unit 70 And,
  • the guidance voice or warning sound is not outputted .
  • the present invention is an integrated system in which a plurality of functions are integrated into one unit. When two or more detection zones of the plurality of detection zones 20 are detected in the proximity time, they are overlapped and outputted.
  • a guidance voice output order adjusting unit (not shown) for selectively outputting two or more guidance voices corresponding to the two or more zones detected in the time zone when they are detected to overlap each other or adjusting the guidance voice output order 57) should be formed.
  • a traffic signal safety system for a pedestrian crossing is a pedestrian traffic signal safety system for a pedestrian crossing in which a pedestrian signal lamp 30 is placed in a safety signal detection zone 20-1 or a danger zone 20- 2) or a pedestrian sensing section (60) for sensing the presence of a person in the transverse atmospheric sensing section (20-3);
  • a detection zone entry identifying unit 52 for identifying whether the detection zone 20-3 has entered the detection zone 20-3;
  • the guidance voice or warning sound corresponding thereto is outputted through the voice output part 70 A control unit 50 for controlling the control unit 50;
  • An audio output unit 70 for outputting a guidance voice or a warning sound under the control of the control unit 50;
  • a guiding voice output order adjusting unit (57) for adjusting the guiding voice output order when pedestrians are detected so as to overlap in two or more sensing zones (20) simultaneously or within a predetermined time.
  • the present invention is an integrated system in which a plurality of functions are combined into one unit.
  • the safety line detection zone 20-1 In order to determine which of the plurality of detection zones 20 a pedestrian has entered into the detection zone, the safety line detection zone 20-1, The transverse air sensing zone 20-3, and the crosswalk sensing zone 20-4.
  • a traffic signal safety system of a pedestrian crossing which is an embodiment of the present invention, is a pedestrian traffic signal safety system in a pedestrian crossing, in which a pedestrian signal lamp (30)
  • a detection zone entry identification section 52 for identifying whether the vehicle has entered the detection zone 20-3 or entered the crosswalk detection zone 20-4;
  • An audio output unit 70 for outputting a guidance voice or a warning sound under the control of the control unit 50; Whether the pedestrian has entered the safety line detection zone 20-1 or entered the danger detection zone 20-2 or entered the cross zone detection zone 20-3 or entered the crosswalk detection zone 20-4 (20) for discriminating whether or not the user has performed the operation,
  • the detection area 20 is formed at the edge 20-9 of the road 10 on the road 10 side of the guide 11 of the crosswalk 12 and the border line 20-9 of the roadway 10 of the crosswalk 12,
  • a safety line sensing area 20-1 formed in a straight or curved shape having a width within a predetermined distance according to an edge shape;
  • Crosswalk (12) Carriage (10) and India (11) Boundary (20-9) On the edge (20-9) on the India (11) side of the roadway (10) A danger detection zone 20-2 formed in a straight line or a curved line;
  • the pedestrian sensing part 60 detects the pedestrian in the safety line sensing area 20-1 when the pedestrian signal lamp 30 is in the stop (red) signal state, Enters the danger detection zone 20-2, enters the transit atmosphere detection zone 20-3, enters the crosswalk detection zone 20-4, 20-3, and transmits the signal to the detection zone entry identifying unit 52, the detection zone entry identifying unit 52 identifies the detection zone in which the pedestrian has entered the detection zone And,
  • the control unit 50 outputs the guidance voice corresponding to the signal through the voice output unit 70 in accordance with the signal of the detection zone entry identifying unit 52.
  • the control unit 50 controls the sound output unit 70,
  • the guidance voice corresponding to the guidance voice is outputted through the voice output unit 70 when the user enters the danger detection zone 20-2 and the guidance voice is outputted from the time zone check unit So that the pedestrian signal lamp can be changed from the stop signal to the gait signal when it is discriminated that the person has entered the transit atmosphere detection zone 20-3 at the time zone checked by the traffic light main control unit 40 or the signal period change zone transmitted by the traffic light main control unit 40 .
  • the visually impaired person guidance voice is outputted so that the pedestrian can cross the crosswalk 12 safely.
  • An object of the present invention is to provide an integrated system that outputs a guidance voice so as to backward a pedestrian entering the safety line sensing area 20-1 (first function), and guides a pedestrian entering the danger sensing area 20-2 (Second function), the stop signal of the pedestrian signal lamp 30 is changed to the walking signal (third function) when the pedestrian who wants to cross the pedestrian crossing 12 crosses at the selected time zone, (5th function) of outputting a warning voice for a blind person when the pedestrian who is going to cross the crosswalk 12 is a blind person (fourth function), and outputting a warning notice voice for a signal violation to the signal violator
  • An integrated system should be operated,
  • each pedestrian zone is precisely segmented, And only one of the plurality of detection zones is detected in the detection zone.
  • a vehicle-oriented signal is set by separately setting a time zone in which a pedestrian travels less, such as a nighttime time, for efficient traffic signal operation.
  • a pedestrian signal lamp 30 is stopped (red)
  • the control unit 50 causes the pedestrian signal lamp 30 to change from the stop (red) signal to the walk (green) signal when it is judged that it has waited to cross the crosswalk 12 after entering the pedestrian crossing 20-3.
  • a time sparse unit (not shown) for setting a time zone to be checked for varying the signal period of the pedestrian signal lamp 30 in the selected time zone or for changing the size of the guidance sound output through the sound output unit 70 (26), < / RTI >
  • the time zone check unit 27 includes a first time zone check unit 27 for changing the stop signal to a walking signal when the pedestrian signal lamp 30 is in a stop signal state at the selected time zone, And a second time zone check unit 27-2 for reducing the sound of the guidance voice output through the voice output unit 70 and the voice output unit 70 at night.
  • the time zone check section 27 includes a first time zone check section 27-1 for checking to change the signal period of the pedestrian signal lamp 30 at the selected time zone; And a second time zone check unit (27-2) for checking the size of the guidance voice output through the voice output unit (70) according to the time zone,
  • the control unit 50 controls the pedestrian signal lamps (not shown) when the pedestrian signal lamp 30 is in the stop signal state and the pedestrian enters the transient atmosphere detection zone 20-3 at the time zone checked by the first time zone check unit 27-1 30 as a walk signal,
  • the signal period change time zone transmitted by the time zone check unit 27 and the signal light main control unit 40 may be equal to or different from the signal period change time zone transmitted by the signal light main control unit 40 instead of the time zone check unit 27, It will correspond to water.
  • the 'signal period change time zone signal transmitted by the traffic light main control unit 40' means that the traffic light main control unit 40 installed in the existing system controls the normal traffic signal during the daytime, If there is no pedestrian such as a pedestrian signal, it means a signal to notify the time zone for performing the vehicle signal flickering or the like by allocating the pedestrian signal to the center of the vehicle signal without allocating the walking signal.
  • the guidance sound output order adjusting unit 57 or the control unit 50 may detect the pedestrian in the safety line sensing area 20-1 while the pedestrian signal lamp 30 is in the stop signal state, A guidance voice output corresponding to the detection of the safety line detection zone 20-1, a guidance voice output corresponding to the detection of the danger zone 20-2, A guiding voice output of any one of the detection of the detection zone 20-1 and the detection of the dangerous zone 20-2,
  • the announcement voice output corresponding to the detection of the safety line detection zone 20-1 is not started in the case of not being the common announcement sound output between the detection of the safety line detection zone 20-1 and the detection of the danger zone 20-2, Outputs a guidance voice corresponding to the detection of the dangerous sensing zone 20-2 after completion of the guidance voice output corresponding to the sensing of the dangerous sensing zone 20-2 and outputs a guidance voice corresponding to the detection of the dangerous sensing zone 20-2
  • the guidance sound corresponding to the detection of the safety line sensing zone 20-1 is output after the detection of the danger sensing zone 20-2 is terminated,
  • the guiding voice output order adjusting unit 57 or the control unit 50 determines whether the pedestrian signal lamp 30 is in the stop signal state and whether the pedestrian is identified as the blind person of the blind identification unit 22, (20-1) or the danger detection zone (20-2) when the detection signal is detected in the detection or danger detection zone (20-2)
  • the guidance voice output corresponding to the detection of the safety line detection zone 20-1 or the detection of the danger zone 20-2 is performed once and then a guidance voice corresponding to the detection of the blind person is output and,
  • the guidance voice output corresponding to the detection of the safety line detection zone 20-1 or the detection of the danger zone 20-2 is started, the guidance voice output corresponding to the detection of the blind person is completed once and the safety line detection zone 20- 1) a guidance voice corresponding to detection of the detection or danger detection zone 20-2,
  • the safety line sensing area 20-1 or the danger sensing area 20-2 When the detection in the safety line sensing area 20-1 or the danger sensing area 20-2 is terminated before the completion of the announcement voice output corresponding to the detection of the visually impaired, the safety line sensing area 20-1 is detected or The guidance voice corresponding to the detection of the danger detection zone 20-2 is not output.
  • the pedestrian signal lamp 30 detects that the pedestrian enters the car 11 from the driveway 10 in the stop signal state or simultaneously detects within the safety line detection area 20-1 or within the danger detection area 20-2 . If the guidance voice output corresponding to the detection of entering the guidance 11 from the road 10 is violated and the guidance voice output corresponding to the detection is started first, the vehicle 11 enters the guidance 11 from the road 10 in violation of the signal After the announcement voice output corresponding to the detection is completed, a guidance voice corresponding to the detection of the safety-line detection zone 20-1 or the detection of the danger zone 20-2 is output, and the user enters the guidance 11 from the driveway 10 The guidance voice output corresponding to the entrance of the safety-line detection zone 20-1 or the entry into the danger-detection zone 20-2 is firstly output,
  • the edge of the crosswalk is a stop signal
  • the vehicle signal is a green signal so that the motorists rush and the motorbikes pass over the edge of the roadway 10.
  • the pedestrian signal lamp 30 is in the stop signal state, ).
  • the detection zone entry identifying unit 52 detects and identifies the motorcycle that has entered the danger detection zone 20-2, and malfunctions to output the guidance voice corresponding to the danger detection zone 20-2.
  • the guidance voice output order adjusting unit 57 or the control unit 50 may, as an embodiment of the present invention,
  • the detection zone unit 20 may be configured such that a walking stick or a hand held by a pedestrian is raised above the head (21-2) (21) for judging the blind person to be a blind when the retention time is measured, or if the color of the staff (21-1) held by the blind is white, it is determined that the blind is a blind person .
  • the crosswalk 12 installed at the site has the edge 20-9 of the crosswalk 12 in a straight or curved shape depending on the road shape, Since the positions of the detection zone 20-2, the transverse atmosphere detection zone 20-3, the pedestrian crossing detection zone 20-4, and the blind identification zone 21 are different from site to site, (25).
  • the pedestrian detection unit 60 detects the angle of the pedestrian sensing unit 60 according to the shape of the edge 20-9 of the pedestrian crossing
  • the zones (20-1), (20-2), (20-3), and (20-4) must be reset.
  • the safety line detection zone setting 25-1 or the danger detection zone setting 25-2 or the crossing waiting zone 25-2 may be set according to the shape of the crosswalk 12 of the image screen taken by the pedestrian sensing unit 60, And a detection zone setting unit (25) for setting the detection zone setting (25-3) or the crosswalk detection zone setting (25-4)
  • the safety line detection zone setting 25-1 is set on the edge 10- side edge 20-9 of the delivery 11 of the crosswalk 12 and the boundary line 20-9 of the roadway 10 It is possible to set the safety line sensing area 20-1 so that the safety line sensing area 20-1 can be formed in a straight or curved shape having a width within a predetermined distance according to the edge shape of the crosswalk 12,
  • the danger detection zone setting 25-2 is set on the border 11 of the crosswalk 12 and the boundary 20-9 of the crosswalk 12 to the border 11 Setting the risk detection area 20-2 so as to form a straight line or a curved line with a width within a predetermined distance according to the shape of the edge of the crosswalk 12,
  • the transverse atmospheric sensing zone setting 25-3 may be set to a predetermined distance from the edge 11 of the sideward or curved safety line sensing area 20-1 Setting the transverse air sensing zone 20-3 to be formed in a width direction,
  • the pedestrian crossing detection zone setting 25-4 is used to detect the road surface of the hazard detection zone 20-2 of either the straight or curved danger detection zone 20-2 formed at both edges of the crosswalk 12 10) side edge 20-8 to the edge 10- side edge 20-8 of the other danger detection zone 20-2 so that the crosswalk detection zone 20-4 can be formed in the zone And setting one or more of them.
  • the present invention it is necessary to judge the entry direction since the guidance voice output contents are different according to whether the pedestrian has entered the driveway 10 from the driveway 11 or the driveway 11 from the driveway 10 side.
  • a pedestrian entry direction identification part (55) for identifying whether the pedestrian has entered the driveway (10) from the leadway (11) side or from the driveway (10) side to the leadway (11)
  • the pedestrian entry direction identification unit 55 detects the pedestrian entry direction from the traffic lane 10 to the exit 11 if the pedestrian entry direction identification unit 55 is detected first in the danger detection zone 20-2 from the safety line detection zone 20-1 of the pedestrian sensing unit 60, , And the "
  • the pedestrian is first detected in the safety line detection area 20-1 rather than the danger detection area 20-2 of the pedestrian sensing part 60, the pedestrian is identified as having entered the road 10 from the delivery 11,
  • the control unit 50 outputs the guidance voice corresponding to the pedestrian through the voice output unit 70 when it is identified that the pedestrian of the pedestrian entry direction identification unit 55 has entered the delivery 11 from the road 10 side Or not outputted.
  • the pedestrian signal lamp 30 enters the pedestrian signal detection zone 20-3 in the stop signal state in the time zone checked by the time zone check unit 27 in order to vary the signal period of the pedestrian signal lamp 30 in the selected time zone
  • the pedestrian entering the crossing waiting detection area 20-3 at the time of detection is discriminated whether it is the person passing the India 11 or the person crossing the crosswalk 12.
  • the identification method is an embodiment of the present invention in which a transverse / walking identification unit 20-3 for identifying whether the person entering the crossing waiting area 20-3 is a person for crossing the crosswalk 12 or a person who continues to walk (53)
  • the transit / walking identification unit 53 determines that the person is not a transit waiting person when the person continuously moves while entering the transit atmosphere sensing zone 20-3.
  • the transit atmosphere sensing zone 20-3 It is judged to be a transit waiting person when it is stopped for a predetermined time in the entered state or when the front surface of the person faces the direction of the roadway 10,
  • the control unit 50 causes the pedestrian signal lamp 30 to change from a stop signal to a walking signal when it is determined to be a transit waiting person of the transverse /
  • the site where the apparatus of the present invention is installed is a crosswalk of a road, and a lot of fallen autumn leaves due to a roadside tree fall around the crosswalk.
  • the pedestrian sensing unit 60 should be able to identify whether the object sensed by the pedestrian sensing unit 60 is a person, a deciduous leaf, an eye, a rain, or a fog.
  • the pedestrian sensing unit 60 may further include a human / non-recognizing unit 54 for identifying whether the object sensed by the pedestrian sensing unit 60 is a person or not,
  • the human presence / nonexistence unit 54 identifies the object as a non-human or the detection duration of the sensing duration check unit 54-2 is And if it is less than the predetermined time, it is identified as not a person.
  • the human / illegality part 54 receives a signal from the pedestrian sensing part 60 and recognizes a human being and senses a natural environment such as snow, rain, leaves, shadows, and animals to detect snow, rain, leaves, And does not detect the natural environment of the person, but performs the function of detecting only the person.
  • the size of the object to be detected by the pedestrian sensing unit 60 is set in advance and the size of the object is set to 20 cm in height and 50 cm in height
  • the size of the person is 20 cm in height, 50 cm in height
  • the size of the animal or the like is less than 20 cm in width and 50 cm in height, it is discriminated that the object size detected by the pedestrian sensing section 60 is smaller than the predetermined object size, There will be.
  • the human presence / non-recognition unit 54 can detect the object sensed by the pedestrian sensing unit 60, 2) is less than a preset time, it is identified as a person, and if it is longer than the preset time, it can be identified as a person.
  • the visually impaired person identification section 22 tracks and analyzes the positions (21-2) and (21-3) where the wand or hand held by the pedestrian moves over the head, Or when the hand is ascending above the head, it is measured, and when the stick or the hand is raised above the head and the retention is measured for a predetermined time or more, it is identified as a blind person or the color of the stick 21-1 held by the pedestrian is white , Or if the pedestrian wears sunglasses and carries a stick (21-1), it is identified as a blind person
  • the control unit 50 causes the visual output unit 70 to output a voice guidance for a visually impaired person when the visually impaired person identification unit 22 is identified as a visually impaired person.
  • the present invention relates to a system for integrally operating various functions for protecting a pedestrian in a pedestrian crossing (12), and is provided with a mode switching unit (80) for selecting and operating only required functions among all the functions, Lt; / RTI >
  • a risk notification function for entering the safety line detection zone 20-1
  • a signal light signal conversion function for entering the transverse atmosphere detection zone 20-3
  • a guide function for entering the transverse atmosphere detection zone 20-3
  • a guide function for entering the transverse atmosphere detection zone 20-3
  • a mode switching unit for selecting at least one function among the blind people detection guidance function
  • the mode switching unit 80 includes a first mode 81 for performing only a risk notification function (first function) for entering the safety line detection zone 20-1, a signal mode A second mode 82 for performing only a signal conversion function (second function), a third mode 83 for performing only a guidance function (third function)
  • the pedestrian sensing unit 60 analyzes a video image captured by the pedestrian sensing unit 60 as a sensing device through a CCTV camera, and the pedestrian sensing unit 60 senses the safety line sensing zone 20-1, The pedestrian sensing zone 20-2, the transverse waiting zone 20-3, the blind zone 21, 21-2, and 21-3,
  • the sensing unit 60 includes an image sensing unit 61, a motion sensing unit 62, an infrared sensing unit 63, an approach sensing unit 64 and a curtain sensing unit 65.
  • the image sensing unit includes a knee sensor, Sensors that detect human motion, such as tango, are being actively developed.
  • the traffic signal safety system of the crosswalk is installed on the crosswalk of a road distributed nationwide, when a system failure such as a pedestrian detection unit occurs, it can be checked only when the visitor visits the site and is left for a long time in a broken state This can happen.
  • an error checking unit 90 for checking whether or not the system is operating normally
  • the error check unit 90 checks whether the pedestrian sensing unit is normally operated 91, whether the voice output unit is normally operated 92, whether the control unit is normally operated 93 or not, Check (94), check whether the blind person identification unit is in normal operation (95)
  • control unit 50 transmits the signal to the operator terminal 59-1 through wired or wireless communication.
  • the normal operation check 91 of the pedestrian sensing unit determines that the pedestrian sensing unit 60 determines that there is no pedestrian sensing signal within a predetermined time and,
  • the normal operation check 92 of the voice output unit may be performed when the pedestrian senses or blindness is detected in the safety line detection area 20-1 or the danger detection area 20-2, It is determined that the error is in error 70,
  • Whether or not the sound output unit 70 is outputting the sound may be determined by checking the signal transmission of the cable connected to the sound output unit, checking the shaking of the speaker, and checking the sound around the speaker.
  • the normal operation check 94 of the guidance voice output order adjustment unit checks whether or not the guidance voice output time is shorter than the corresponding guidance voice output time and determines that the guidance voice output order adjustment unit 57 has an error.
  • the announcement voice is "dangerous, move backward", “protect the traffic signal”, “pedestrian signal is a red signal, wait for a moment” If the guidance voice output time corresponding to the detection zone is not matched according to the detection zone, the voice guidance sequence is incorrect, so that it is determined as an error of the guidance voice output sequence adjustment unit 57.
  • the normal operation check 95 of the blind person identification unit determines that the blind person identification unit 22 determines that the blind is more than a predetermined number of times within a predetermined time.
  • the blind person identification unit 22 determines that it is an error.
  • the controller 50-1 remotely checks the error checking unit 90 In order to be able to repair an error, it is possible to restore the program by reinstalling or upgrading the control unit so that normal recovery can be performed
  • the visually impaired guide voice output apparatus 200 is installed and operated on the crosswalk, and since the visually impaired guide voice apparatus 200 is already installed and operated by the visually impaired, The present invention is operated in parallel with the present invention apparatus without removing the visually impaired guidance voice apparatus 200 in the existing installation operation.
  • a separately installed blind system guide voice output valid / invalid identification unit hereinafter referred to as " blind system guide voice output valid identification " 56, < / RTI >
  • the control unit 50 may be configured such that in the time when the visually impaired person system 200 installed separately from the separately installed visually impaired person's system voice output identification unit 56 is identified as being outputting the announcement voice, Even if it detects the entry into the safety-line sensing zone 20-1 and the hazard-sensing zone 20-2, it should not output a guidance voice or a warning sound.
  • separately installed blind system guidance voice output / non-identification unit 56 may be installed separately from the installed blind system 200 if the blind system is an audio guidance command of the control unit 56-1 Which identifies that the guidance voice is being output,
  • the sound outputted through the speakers of the visually impaired person system 200 installed separately is detected (56-4), and if the visually impaired person guidance sound is detected, the visually impaired person system 200 installed separately can be identified as the voice guidance There will be.
  • the pedestrian sensing unit 60 of the present invention uses a kind of CCTV camera, the pedestrian sensing unit 60 must store the image data captured by the pedestrian sensing unit 60 for other purposes such as crime tracking, So that the remote control or the pedestrian sensing unit 60 can view the captured image in real time.
  • the pedestrian sensing unit 60 includes an operator server 59 for interlocking the image data photographed by the pedestrian sensing unit 60 ) Or an operator terminal (59-1).
  • the mode switching unit 80, the time countermeasure unit 26, the time zone check unit 27 and the signal cycle change time signal receiving unit 50-1 may be integrally formed in the control unit 50 or separately from the control unit 50 As shown in FIG.
  • the switching unit 80, the time span unit 26, the time zone check unit 27, the signal period change time signal receiving unit 50-1, and the like may be formed by hardware, that is, by mechanical means or software.
  • the switching unit 80, the time span unit 26, the time zone check unit 27 and the signal cycle change time signal receiving unit 50-1 may be formed at the crosswalk site or formed in a central computer via a dedicated line or the Internet It will be possible to operate it.
  • the pedestrian sensing unit 60 or the voice output unit 70 may be installed on the signal lamp holder 31 or on a separate support (not shown) (Not shown in the drawing) extending in parallel.
  • FIGS. 6A, 6B, and 6C are schematic views illustrating a signal light sensing unit according to an exemplary embodiment of the present invention. Referring to FIGS. 6A, 6B, and 6C,
  • the signal lamp detecting unit 32 detects the flow of electricity through the electromagnetic wave of the coupling 32-1 by forming a coupling 32-1 made up of a coil on the signal lamp power cable 35 and outputs the signal to the pedestrian signal lamp 30, Detecting whether or not the pedestrian signal light 30 is on or off by forming a signal light illumination sensor sensing part 32-2 in the light emitting part of the pedestrian signal light 30, And detecting whether the signal lamp is on or off by directly connecting (32-3) to the cable (35), and detecting whether the pedestrian signal lamp (30) is a red signal or a green signal And the signal detection unit 32 transmits the signal detected by the signal light detection unit 32 to the signal identification unit 51.
  • the 'traffic light main control unit 40' is a conventional traffic light control unit, which is a kind of conventional traffic light control unit operated by interlocking a vehicle signal with a pedestrian signal.
  • the traffic light main control unit 40 controls the traffic light main control unit 40 ) Is a red signal or a green signal to the signal identification unit 51 directly.

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Abstract

L'invention concerne un système de sécurité de feu de circulation pour un passage piéton, le système de sécurité de feu de circulation comprenant : une unité de détection de piéton pour détecter la présence d'une personne dans une zone de détection de ligne de sécurité, une zone de détection de danger, une zone de détection d'attente de passage piéton ou une zone de détection de passage piéton, tandis qu'une lumière de passage pour piétons est dans un état de feu d'arrêt; une unité d'identification de signal pour recevoir un signal à partir d'une unité de détection de lumière de feu ou d'une unité de commande principale de lumière de feu de manière à identifier si la lumière du passage piéton est un feu d'arrêt ou un feu de passage; une unité de zone de détection pour identifier si un piéton entre ou non dans la zone de détection de ligne de sécurité, la zone de détection de danger, la zone de détection d'attente de passage ou la zone de détection de passage piéton; une unité d'identification d'entrée dans une zone de détection pour recevoir un signal en provenance de l'unité de détection de piéton de façon à identifier si le piéton entre ou non dans la zone de détection de ligne de sécurité, la zone de détection de danger, la zone de détection d'attente de passage ou la zone de détection de passage piéton, tandis que la lumière de passage pour piétons est dans l'état de feu d'arrêt; une unité de vérification de fuseau horaire pour vérifier le temps de façon à changer un cycle de feu de la lumière de passage pour piétons dans un fuseau horaire sélectionné ou à changer le volume d'une voix de guidage délivrée par l'intermédiaire d'une unité de sortie vocale conformément à un fuseau horaire; une unité de commande pour permettre à une voix de guidage ou à un son d'avertissement correspondant à la détection d'une entrée de piéton à être délivré(e) par l'unité de sortie vocale si l'entrée de piéton sur la zone de détection de ligne de sécurité ou la zone de détection de danger est détectée tandis que la lumière de passage pour piétons est dans l'état de feu d'arrêt; et l'unité de sortie vocale pour délivrer la voix de guidage ou le son d'avertissement sous la commande de l'unité de commande.
PCT/KR2016/006578 2015-08-11 2016-06-21 Système de sécurité de feu de circulation pour passage piéton WO2017026642A1 (fr)

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KR20150112873 2015-08-11
KR10-2015-0112873 2015-08-11
KR1020150188405A KR101635477B1 (ko) 2015-12-29 2015-12-29 횡단보도의 교통신호안전시스템
KR10-2015-0188405 2015-12-29
KR10-2016-0046727 2016-04-18
KR1020160046727A KR101661237B1 (ko) 2015-08-11 2016-04-18 횡단보도의 교통신호안전시스템

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CN109584543A (zh) * 2018-12-10 2019-04-05 上海澳星照明电器制造有限公司 一种高效的行人智能警示立柱
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CN108873886A (zh) * 2017-05-10 2018-11-23 德尔福技术有限公司 针对步行人群的自动化车辆控制策略
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CN112119433A (zh) * 2018-05-24 2020-12-22 罗伯特·博世有限公司 通过车辆警告提防危险点并且对危险点采取安全措施
CN112119433B (zh) * 2018-05-24 2023-03-14 罗伯特·博世有限公司 通过车辆警告提防危险点并且对危险点采取安全措施
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CN111562267A (zh) * 2020-05-29 2020-08-21 重庆施鲁逊智能科技有限公司 用于汽车保险盒装配的视觉检测系统
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CN114863718A (zh) * 2021-02-05 2022-08-05 丰田自动车株式会社 控制装置、方法以及程序
CN114863718B (zh) * 2021-02-05 2024-03-19 丰田自动车株式会社 控制装置、方法以及记录有程序的非临时性计算机可读介质
CN113299091A (zh) * 2021-04-28 2021-08-24 深圳市文业照明实业有限公司 智慧交通路面照明警示方法及系统
CN113421446A (zh) * 2021-06-01 2021-09-21 朱世强 绿灯智能语音提示器
CN113421446B (zh) * 2021-06-01 2022-06-24 朱世强 绿灯智能语音提示器

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