Traffic signal floor lamp control method and system based on positions of pedestrians and vehicles

Abstract

A traffic signal floor lamp control method based on positions of pedestrians and vehicles is characterized in that traffic signal floor lamps are active floor lamps capable of changing light emitting colors, the traffic signal floor lamps are uniformly arranged on the road surface and two sides of a pedestrian crossing and / or a road corner, each traffic signal floor lamp is electrically connected with a central controller, and the central controller is electrically connected with the traffic signal floor lamps. The central controller is in signal connection with the detection radar group, the central controller is used for controlling the on-off and color of the ground lamp on the road surface, the detection radar group is used for detecting the positions of vehicles and pedestrians on the road, and the control method comprises a position detection step, a ground lamp mode judgment step and a ground lamp working step. According to the design, the positions of vehicles and pedestrians on the road can be detected through the detection radar group, the distance between the vehicles and the pedestrian crosswalk can be prompted by turning on the green light, yellow light or red light of the ground lamp on the road surface, the safety is effectively improved, the positions of the vehicles and the pedestrians can be accurately obtained through the point cloud data of the radar, and the misjudgment rate is effectively reduced.

Description

Technical Field

[0001] The present invention relates to a traffic signal ground lamp control method, and in particular to a traffic signal ground lamp control method and system based on the positions of pedestrians and vehicles. Background Art

[0002] Conventional traffic signal lights are usually installed on both sides of the road or on both sides of the guide line. Their function is to guide vehicles and pedestrians to pass, and at the same time warn drivers and pedestrians to avoid obstacles. Currently, traffic signal lights are divided into active and passive types. Active lights have self-luminous devices that can convert input energy, usually electrical energy, solar energy or wind energy, into light energy. Passive traffic lights do not have self-luminous devices and can only reflect external light through reflective mechanisms.

[0003] Traditional active traffic signal lights are controlled as a whole. They use cameras to identify whether there are pedestrians passing by. When pedestrians pass through crosswalks or intersections, the lights on the entire crosswalk or intersection are turned on to provide lighting for pedestrians.

[0004] Although this advance drilling device can flexibly carry out advance reinforcement construction according to the formation conditions, it still has the following defects:

[0005] 1. Existing traffic signal lights can only provide simple flashing lighting effects, and at the same time indicate to drivers that there are pedestrians on the crosswalk, but cannot display the location of pedestrians and the distance between vehicles and the crosswalk, resulting in poor safety.

[0006] 2. The clarity of the camera at intersections with poor lighting at night and at pedestrian crosswalks (such as non-main roads and village roads) is tested, which may cause misjudgment.

[0007] 3. At the corners of the forks of single-lane roads such as mountain roads, it is difficult for drivers to notice vehicles coming from the other direction due to the narrow lanes and poor visibility. The existing traffic signal lights cannot prevent safety accidents when vehicles are coming from both directions at the corners.

[0008] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the application, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings of the prior art, namely, poor safety and easy misjudgment, and to provide a traffic signal ground lamp control method based on the positions of pedestrians and vehicles, which is highly safe and not prone to misjudgment.

[0010] To achieve the above objectives, the technical solution of the present invention is:

[0011] A traffic signal ground lamp control method based on the positions of pedestrians and vehicles, the control method is based on the following structure:

[0012] The traffic signal lights are active lights that can change the color of light. The traffic signal lights are evenly arranged on the road surface and both sides of the crosswalk and / or road corners. Each of the traffic signal lights is electrically connected to a central controller, which is connected to a detection radar group signal. The central controller is used to control the on / off and color of the road lights. The detection radar group is used to detect the positions of vehicles and pedestrians on the road.

[0013] The control method comprises the following steps:

[0014] Position detection step, the detection radar group detects whether there are pedestrians and / or vehicles on the lane, and sends the position information of the pedestrians and / or vehicles to the central controller. When the central controller receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0015] In the step of determining the mode of the traffic light, the central controller determines the working mode of the traffic light according to the received information, and sends a signal to control the traffic signal traffic light at the corresponding position to light up the corresponding color;

[0016] The working steps of the traffic signal lamp are as follows: the central controller sends out control signals and color signals to control the traffic signal lamps at the corresponding positions to light up the corresponding colors.

[0017] The control method is applicable to the pedestrian crossing safety warning scene, the traffic signal ground lamp includes a road ground lamp, a plurality of the road ground lamps are evenly arranged on the road surface, the connection line between the plurality of the road ground lamps is perpendicular to the center line of the road, each of the road ground lamps is electrically connected to the central controller, the central controller is connected to the detection radar group signal, the central controller is used to control the on and off and color of the road ground lamp, and the detection radar group is used to detect the position of vehicles and pedestrians on the road;

[0018] The control method comprises:

[0019] Position detection step, the detection radar continuously detects whether there are pedestrians on the sidewalk. When there are pedestrians on the sidewalk, the detection radar detects the position of the pedestrians on the sidewalk and sends the pedestrian position information to the central controller in real time. At the same time, it starts to detect whether there are vehicles on the road. When there are vehicles on the road, the detection radar detects the position of the vehicles on the road and sends the vehicle position information to the central controller in real time. When the central controller receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0020] In the step of determining the mode of the road lamp, the central controller determines the working mode of the road lamp according to the received information, and when no pedestrian position information is received, the central controller sends a signal to turn off the road lamp;

[0021] When the central controller receives the pedestrian position information but does not receive the vehicle position information, the central controller sends a control signal to control the road surface lamp to enter the pedestrian surface lamp working step, and sends a color signal to the road surface lamp to control the road surface lamp to turn on the green light;

[0022] When the central controller receives the pedestrian location information and vehicle location information at the same time, and the vehicle location is greater than 10 meters away from the sidewalk, the central controller sends a control signal to control the road surface lamp to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp to control the road surface lamp to light up yellow;

[0023] When the central controller receives the pedestrian position information and the vehicle position information at the same time, and the vehicle position is less than 10 meters away from the sidewalk, the central controller sends a control signal to control the road surface lamp to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp to control the road surface lamp to turn on the red light;

[0024] The working steps of the pedestrian crossing lamps are as follows: the central controller sends control signals and color signals to control the road lamps on both sides and both ends of the pedestrian crossing to light up the lamps of corresponding colors.

[0025] The traffic signal floor lights also include edge floor lights, multiple edge floor lights are evenly arranged on both sides of the road, the connecting lines between the multiple edge floor lights are parallel to the center line of the road, each of the edge floor lights is electrically connected to the central controller, the central controller is connected to the detection radar group signal, and the central controller is used to control the on and off and color of the edge floor lights.

[0026] The detection radar group includes a pedestrian detection radar and a vehicle detection radar, the horizontal field of view angles of the pedestrian detection radar and the vehicle detection radar are both 120°, and the pedestrian detection radar and the vehicle detection radar are both connected to the central controller signal;

[0027] The pedestrian detection radar is arranged on the ground at one end of the crosswalk, and the detection range of the pedestrian detection radar covers the entire crosswalk. The pedestrian detection radar is used to detect the position of pedestrians on the crosswalk and send the pedestrian position information to the central controller;

[0028] The vehicle detection radar is arranged directly above the lane facing the crosswalk in the direction of travel. The setting height of the vehicle detection radar is greater than the maximum passing height allowed by the road. The detection range of the vehicle detection radar covers a section of the corresponding lane close to the crosswalk of at least 50 meters. The vehicle detection radar is used to detect the position of vehicles on the road and send the vehicle position information to the central controller.

[0029] In the position detection step, the pedestrian detection radar continuously detects whether there are pedestrians on the crosswalk. When there are pedestrians on the crosswalk, the pedestrian detection radar detects the position of the pedestrians on the crosswalk and sends the pedestrian position information to the central controller in real time. At the same time, the central controller sends a control signal to control the vehicle detection radar to start working. The vehicle detection radar starts to detect whether there are vehicles on the road. When there are vehicles on the road, the vehicle detection radar detects the position of the vehicles on the road and sends the vehicle position information to the central controller in real time. When the central controller receives the pedestrian position information, it enters the ground lamp mode judgment step.

[0030] In the pedestrian crossing ground lamp working steps, the central controller sends a control signal according to the pedestrian position information to control the road surface ground lamps located near the pedestrians to light up.

[0031] The control method is also applicable to a vehicle turning warning scenario, in which the detection radar group also includes a fork in the road radar, which is a radar with a horizontal field of view of 360°, and is arranged at the outer edge of a curve on a single-lane road. The fork in the road radar is used to detect whether there is an oncoming vehicle and the distance between the vehicles in the lanes on both sides of the fork in the road;

[0032] The control method in the vehicle turning warning scenario includes the following steps:

[0033] The position detection step includes: when the fork in the road radar detects that there are vehicles coming from both directions at the fork in the road, the vehicle position information is sent to the central controller in real time; when the central controller receives the vehicle position information from both directions at the fork in the road, the ground light mode judgment step is entered;

[0034] The step of determining the ground lamp mode includes entering a step of operating the turn ground lamp when the central controller receives the vehicle position information in both directions at the fork in the road;

[0035] The working steps of the turn signal lamp include: the central controller sends a control signal to control the traffic signal lamp to light up.

[0036] The position detection step includes, when the fork in the road radar detects that there is an obstacle on one side of the fork in the road, sending the obstacle information to the central controller, and when the central controller receives the obstacle information, entering the ground light mode determination step;

[0037] The ground lamp mode determination step includes entering a turn ground lamp warning step when the central controller receives obstacle information;

[0038] The step of early warning of the turn signal lights includes the central controller sending a control signal to control the traffic signal lights to flash.

[0039] A traffic signal ground light control system based on the positions of pedestrians and vehicles, the control system comprising a position detection module, a ground light mode judgment module and a ground light working module, the control system is used to execute the aforementioned traffic signal ground light control method based on the positions of pedestrians and vehicles;

[0040] A position detection module, used to detect whether there are pedestrians and / or vehicles on the lane, and send the position information of the pedestrians and / or vehicles to the ground lamp mode judgment module;

[0041] A floor lamp mode determination module, used for determining the floor lamp working mode according to the received information, and sending the floor lamp working mode to the floor lamp working module;

[0042] The floor lamp working module is used to execute the floor lamp working mode.

[0043] A traffic signal ground light control device based on the positions of pedestrians and vehicles, the device comprising a processor and a memory;

[0044] The memory is used to store computer program code and transmit the computer program code to the processor;

[0045] The processor is used to execute the aforementioned traffic signal ground lamp control method based on the positions of pedestrians and vehicles according to the instructions in the computer program code.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. In a traffic signal ground lamp control method based on the position of pedestrians and vehicles of the present invention, the road surface ground lamp is an active ground lamp that can change the color of light emission, the road surface ground lamp is electrically connected to the central controller, the central controller is connected to the detection radar group signal, the detection radar group is used to detect the position of vehicles and pedestrians on the road, and at the same time, the central controller determines different working modes according to whether there are pedestrians passing through the crosswalk and the distance between the vehicle and the pedestrian, and prompts pedestrians and vehicles to the distance from the crosswalk by turning on the road surface ground lamp green, yellow or red, effectively improving safety. Therefore, this design can detect the position of vehicles and pedestrians on the road through the detection radar group, and prompt pedestrians and vehicles to the distance from the crosswalk by turning on the road surface ground lamp green, yellow or red, effectively improving safety.

[0048] 2. In the traffic signal ground lamp control method based on the position of pedestrians and vehicles of the present invention, the radar includes pedestrian detection radar, vehicle detection radar and fork-road radar. The position of vehicles and pedestrians on the road is detected through the point cloud data of different radars. It has the advantages of less interference from lighting conditions, stable imaging, large amount of captured information and high accuracy. In addition, the data has distance information that two-dimensional image data does not have, which can more accurately locate the position of pedestrians and vehicles and effectively reduce the misjudgment rate. Therefore, this design can accurately obtain the position of vehicles and pedestrians through the point cloud data of the radar, effectively reducing the misjudgment rate.

[0049] 3. In the method for controlling traffic signal lights based on the positions of pedestrians and vehicles of the present invention, in the working steps of the road lights, the central controller sends a control signal according to the pedestrian position information to control the road lights located on both sides of the crosswalk and near the pedestrians to light up, so as to remind the driver of the pedestrian position, prevent the information from being misjudged or ignored by pedestrians and drivers, and further improve safety. Therefore, the present design can send a control signal according to the pedestrian position information to control the road lights located on both sides of the crosswalk and near the pedestrians to light up, and further improve safety.

[0050] 4. The traffic signal lamp control method based on the position of pedestrians and vehicles of the present invention also includes a fork in the road radar, which is used to detect whether there are vehicles coming and the distance of vehicles in the lanes on both sides of the fork in the road. When vehicles are coming in both directions at the fork in the road, the traffic signal lamp is lit to remind the driver to pay attention to vehicles coming from the side. Therefore, the design can detect whether there are vehicles coming and the distance of vehicles in the lanes on both sides of the fork in the road through the fork in the road radar, and prevent safety accidents caused by visual blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of the present invention.

[0052] Figure 2 It is a structural diagram of the present invention.

[0053] Figure 3 It is a schematic diagram of the road surface ground lamp of the present invention when the green light is on.

[0054] Figure 4 It is a schematic diagram of the road surface ground lamp of the present invention when the yellow light is on.

[0055] Figure 5 It is a schematic diagram of the road surface ground lamp of the present invention when the red light is on.

[0056] Figure 6 It is a schematic diagram of the arrangement position of the pedestrian detection radar in the present invention.

[0057] Figure 7 This is a schematic diagram of the layout of the fork in the road radar in Example 2.

[0058] Figure 8 This is a schematic diagram of the layout of the fork in the road radar in Example 3.

[0059] Fig. 9 The present invention is a structural block diagram of a traffic signal ground lamp control system based on the positions of pedestrians and vehicles.

[0060] Fig.10 The present invention is a structural block diagram of a traffic signal ground light control device based on the positions of pedestrians and vehicles.

[0061] In the figure: traffic signal ground lamp 1, road surface ground lamp 11, edge ground lamp 12, central controller 2, detection radar group 3, pedestrian detection radar 31, vehicle detection radar 32, fork intersection radar 33. DETAILED DESCRIPTION

[0062] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0063] The principle of the present invention is described as follows:

[0064] This design is suitable for scenarios such as mountain roads and rural roads where it is inconvenient to connect to the power grid. It often uses solar panels and batteries to provide electricity for operation, or is suitable for scenarios at night when there are fewer pedestrians and long-term continuous operation is not required. Therefore, the pedestrian position information is monitored by the pedestrian detection radar 31, and the vehicle detection radar 32 is only turned on when the pedestrian detection radar 31 detects the presence of pedestrians on the crosswalk. At the same time, the central controller 2 controls the road surface lamps 11 located near the pedestrians to light up through the pedestrian position information monitored by the pedestrian detection radar 31, so that the vehicle detection radar 32 does not need to be turned on for a long time, and the road surface lamps 11 do not need to be turned on all at the same time, which reduces energy consumption.

[0065] Embodiment 1:

[0066] See also Figures 1 to 6 , a traffic signal ground lamp control method based on the positions of pedestrians and vehicles, the control method is based on the following structure:

[0067] The traffic signal lamp 1 is an active lamp that can change the color of light. The traffic signal lamp 1 is evenly arranged on the road surface and both sides of the crosswalk and / or road corner. Each of the traffic signal lamps 1 is electrically connected to the central controller 2, and the central controller 2 is connected to the detection radar group 3 by signal. The central controller 2 is used to control the on / off and color of the road lamp 11, and the detection radar group 3 is used to detect the position of vehicles and pedestrians on the road.

[0068] The control method comprises the following steps:

[0069] Position detection step, the detection radar group 3 detects whether there are pedestrians and / or vehicles on the lane, and sends the position information of the pedestrians and / or vehicles to the central controller 2. When the central controller 2 receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0070] In the step of determining the mode of the traffic light, the central controller 2 determines the working mode of the traffic light according to the received information, and sends a signal to control the traffic signal traffic light 1 at the corresponding position to light up the corresponding color;

[0071] The working steps of the traffic light are as follows: the central controller 2 sends a control signal and a color signal to control the traffic signal ground light 1 at the corresponding position to light up the corresponding color.

[0072] The control method is applicable to the pedestrian crossing safety warning scene, the traffic signal ground lamp 1 includes a road surface ground lamp 11, a plurality of the road surface ground lamps 11 are evenly arranged on the road surface, the connection line between the plurality of the road surface ground lamps 11 is perpendicular to the center line of the road, each of the road surface ground lamps 11 is electrically connected to the central controller 2, the central controller 2 is connected to the detection radar group 3 by signal, the central controller 2 is used to control the on / off and color of the road surface ground lamps 11, and the detection radar group 3 is used to detect the position of vehicles and pedestrians on the road;

[0073] The control method comprises:

[0074] Position detection step, the detection radar 3 continuously detects whether there are pedestrians on the sidewalk. When there are pedestrians on the sidewalk, the detection radar 3 detects the position of the pedestrians on the sidewalk and sends the pedestrian position information to the central controller 2 in real time. At the same time, it starts to detect whether there are vehicles on the road. When there are vehicles on the road, the detection radar 3 detects the position of the vehicles on the road and sends the vehicle position information to the central controller 2 in real time. When the central controller 2 receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0075] In the step of determining the mode of the ground lamp, the central controller 2 determines the working mode of the ground lamp according to the received information. When the pedestrian position information is not received, the central controller 2 sends a signal to turn off the road ground lamp 11;

[0076] When the central controller 2 receives the pedestrian position information but does not receive the vehicle position information, the central controller 2 sends a control signal to control the pavement lamp 11 to enter the pedestrian lamp working step, and sends a color signal to the pavement lamp 11 to control the pavement lamp 11 to light up green;

[0077] When the central controller 2 receives the pedestrian position information and the vehicle position information at the same time, and the distance between the vehicle position and the sidewalk is greater than 10 meters, the central controller 2 sends a control signal to control the road surface lamp 11 to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp 11 to control the road surface lamp 11 to light up yellow;

[0078] When the central controller 2 receives the pedestrian position information and the vehicle position information at the same time, and the distance between the vehicle position and the sidewalk is less than 10 meters, the central controller 2 sends a control signal to control the road surface lamp 11 to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp 11 to control the road surface lamp 11 to light up red;

[0079] The working steps of the pedestrian crossing lamp are as follows: the central controller 2 sends a control signal and a color signal to control the road surface lamps 11 on both sides and both ends of the pedestrian crossing to light up the lamps of corresponding colors.

[0080] The traffic signal floor lamp 1 also includes an edge floor lamp 12, and a plurality of the edge floor lamps 12 are evenly arranged on both sides of the road. The connecting lines between the plurality of the edge floor lamps 12 are parallel to the center line of the road. Each of the edge floor lamps 12 is electrically connected to the central controller 2, and the central controller 2 is signal-connected to the detection radar group 3. The central controller 2 is used to control the on / off and color of the edge floor lamps 12.

[0081] The detection radar group 3 includes a pedestrian detection radar 31 and a vehicle detection radar 32. The horizontal field of view of the pedestrian detection radar 31 and the vehicle detection radar 32 is 120°. The pedestrian detection radar 31 and the vehicle detection radar 32 are both connected to the central controller 2 by signal.

[0082] The pedestrian detection radar 31 is arranged on the ground at one end of the crosswalk. The detection range of the pedestrian detection radar 31 covers the entire crosswalk. The pedestrian detection radar 31 is used to detect the position of pedestrians on the crosswalk and send the pedestrian position information to the central controller 2;

[0083] The vehicle detection radar 32 is arranged directly above the lane facing the crosswalk in the driving direction. The setting height of the vehicle detection radar 32 is greater than the maximum passing height allowed by the road. The detection range of the vehicle detection radar 32 covers the corresponding lane close to the crosswalk for at least 50 meters. The vehicle detection radar 32 is used to detect the position of the vehicle on the road and send the vehicle position information to the central controller 2.

[0084] In the position detection step, the pedestrian detection radar 31 continuously detects whether there are pedestrians on the crosswalk. When there are pedestrians on the crosswalk, the pedestrian detection radar 31 detects the position of the pedestrians on the crosswalk and sends the pedestrian position information to the central controller 2 in real time. At the same time, the central controller 2 sends a control signal to control the vehicle detection radar 32 to start working. The vehicle detection radar 32 starts to detect whether there are vehicles on the road. When there are vehicles on the road, the vehicle detection radar 32 detects the position of the vehicles on the road and sends the vehicle position information to the central controller 2 in real time. When the central controller 2 receives the pedestrian position information, it enters the ground lamp mode judgment step.

[0085] In the pedestrian crossing ground lamp working steps, the central controller 2 sends a control signal according to the pedestrian position information to control the road surface ground lamp 11 located near the pedestrian to light up.

[0086] The control method is also applicable to a vehicle turning warning scenario. In the vehicle turning warning scenario, the detection radar group 3 further includes a fork in the road radar 33. The fork in the road radar 33 is a radar with a horizontal field of view of 360°. The fork in the road radar 33 is arranged at the outer edge of the curve of a single-lane road. The fork in the road radar 33 is used to detect whether there is an oncoming vehicle in the lanes on both sides of the fork in the road and the distance between the vehicles.

[0087] The control method in the vehicle turning warning scenario includes the following steps:

[0088] The position detection step includes: when the fork in the road radar 33 detects vehicles coming from both directions at the fork in the road, the vehicle position information is sent to the central controller 2 in real time; when the central controller 2 receives the vehicle position information from both directions at the fork in the road, the ground light mode determination step is entered;

[0089] The step of determining the ground lamp mode includes entering the step of turning ground lamp operation when the central controller 2 receives the vehicle position information in both directions at the fork in the road;

[0090] The working steps of the turn signal lamp include: the central controller 2 sends a control signal to control the traffic signal lamp 1 to light up.

[0091] The position detection step includes, when the fork in the road radar 33 detects an obstacle on one side of the fork in the road, the obstacle information is sent to the central controller 2, and when the central controller 2 receives the obstacle information, the ground light mode judgment step is entered; the ground light mode judgment step includes, when the central controller 2 receives the obstacle information, the turn ground light warning step is entered; the turn ground light warning step includes, the central controller 2 sends a control signal to control the traffic signal ground light 1 to flash.

[0092] Embodiment 2:

[0093] See also Figure 7, in the vehicle turning warning scenario, the traffic signal ground lamp 1 only includes the edge ground lamp 12;

[0094] The control method is also applicable to a vehicle turning warning scenario. In the vehicle turning warning scenario, the detection radar group 3 further includes a fork in the road radar 33. The fork in the road radar 33 is a radar with a horizontal field of view of 360°. The fork in the road radar 33 is arranged at the outer edge of the curve of a single-lane road. The fork in the road radar 33 is used to detect whether there is an oncoming vehicle in the lanes on both sides of the fork in the road and the distance between the vehicles.

[0095] The control method in the vehicle turning warning scenario includes the following steps:

[0096] The position detection step includes: when the fork in the road radar 33 detects vehicles coming from both directions at the fork in the road, the vehicle position information is sent to the central controller 2 in real time; when the central controller 2 receives the vehicle position information from both directions at the fork in the road, the ground light mode determination step is entered;

[0097] The step of determining the ground lamp mode includes entering the step of turning ground lamp operation when the central controller 2 receives the vehicle position information in both directions at the fork in the road;

[0098] The step of operating the turn floor lamp includes: the central controller 2 sends a control signal to control the edge floor lamp 12 to light up.

[0099] The position detection step includes, when the fork in the road radar 33 detects that there is an obstacle on one side of the fork in the road, the obstacle information is sent to the central controller 2, and when the central controller 2 receives the obstacle information, it enters the ground light mode judgment step;

[0100] The ground lamp mode determination step includes entering a turn ground lamp warning step when the central controller 2 receives obstacle information;

[0101] The step of warning the turning floor lamp includes: the central controller 2 sends a control signal to control the edge floor lamp 12 to flash.

[0102] Embodiment 3:

[0103] See also Figure 8 , in the vehicle turning warning scenario, the traffic signal ground lamp 1 only includes the road surface ground lamp 11;

[0104] The control method is also applicable to a vehicle turning warning scenario. In the vehicle turning warning scenario, the detection radar group 3 further includes a fork in the road radar 33. The fork in the road radar 33 is a radar with a horizontal field of view of 360°. The fork in the road radar 33 is arranged at the outer edge of the curve of a single-lane road. The fork in the road radar 33 is used to detect whether there is an oncoming vehicle in the lanes on both sides of the fork in the road and the distance between the vehicles.

[0105] The control method in the vehicle turning warning scenario includes the following steps:

[0106] The position detection step includes: when the fork in the road radar 33 detects vehicles coming from both directions at the fork in the road, the vehicle position information is sent to the central controller 2 in real time; when the central controller 2 receives the vehicle position information from both directions at the fork in the road, the ground light mode determination step is entered;

[0107] The step of determining the ground lamp mode includes entering the step of turning ground lamp operation when the central controller 2 receives the vehicle position information in both directions at the fork in the road;

[0108] The working steps of the turn signal lamp include: the central controller 2 sends a control signal to control the road surface lamp 11 to light up.

[0109] The position detection step includes, when the fork in the road radar 33 detects that there is an obstacle on one side of the fork in the road, the obstacle information is sent to the central controller 2, and when the central controller 2 receives the obstacle information, it enters the ground light mode judgment step;

[0110] The ground lamp mode determination step includes entering a turn ground lamp warning step when the central controller 2 receives obstacle information;

[0111] The step of warning the turning lights includes the central controller 2 sending a control signal to control the road lights 11 to flash.

[0112] Embodiment 4:

[0113] The structure of the traffic signal ground lamp 1 based on the pedestrian crossing safety warning scene and the vehicle turning warning scene is the same;

[0114] The pedestrian crossing safety warning scene and the vehicle turning warning scene can be used simultaneously or separately. When used simultaneously, the fork in the road radar 33 detects vehicles coming from both directions at the fork in the road, and at the same time, the pedestrian detection radar 31 and the vehicle detection radar 32 detect the position information of pedestrians and vehicles, the central controller 2 sends a control signal to control the edge ground lamp 12 to light up or flash, and at the same time, the central controller 2 sends a control signal to control the road surface ground lamp 11 to enter the sidewalk ground lamp working step.

[0115] Embodiment 5:

[0116] See also Fig. 9 A traffic signal ground light control system based on the positions of pedestrians and vehicles, the control system includes a position detection module, a ground light mode judgment module and a ground light working module, the control system is used to execute the aforementioned traffic signal ground light control method based on the positions of pedestrians and vehicles, the specific steps are:

[0117] The detection radar continuously detects whether there are pedestrians on the sidewalk. When there are pedestrians on the sidewalk, the detection radar detects the position of the pedestrians on the sidewalk and sends the pedestrian position information to the central controller in real time. At the same time, it starts to detect whether there are vehicles on the road. When there are vehicles on the road, the detection radar detects the position of the vehicles on the road and sends the vehicle position information to the central controller in real time. When the central controller receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0118] The pedestrian detection radar continuously detects whether there are pedestrians on the crosswalk. When there are pedestrians on the crosswalk, the pedestrian detection radar detects the position of the pedestrian on the crosswalk and sends the pedestrian position information to the central controller in real time. At the same time, the central controller sends a control signal to control the vehicle detection radar to start working. The vehicle detection radar starts to detect whether there are vehicles on the road. When there are vehicles on the road, the vehicle detection radar detects the position of the vehicles on the road and sends the vehicle position information to the central controller in real time. When the central controller receives the pedestrian position information, it enters the ground lamp mode judgment step;

[0119] When the fork road radar detects vehicles coming from both directions at the fork road, the vehicle position information is sent to the central controller in real time. When the central controller receives the vehicle position information from both directions at the fork road, it enters the ground light mode judgment step;

[0120] When the fork in the road radar detects an obstacle on one side of the fork in the road, the obstacle information is sent to the central controller. When the central controller receives the obstacle information, it enters the ground light mode judgment step;

[0121] The position detection module is used to detect whether there are pedestrians and / or vehicles on the lane, and send the position information of pedestrians and / or vehicles to the ground lamp mode judgment module. The specific steps are as follows:

[0122] The central controller determines the working mode of the ground lamp based on the received information. When no pedestrian position information is received, the central controller sends a signal to turn off the road ground lamp;

[0123] When the central controller receives the vehicle position information in both directions at the fork, it enters the turn signal lamp working step;

[0124] When the central controller receives obstacle information, it enters the turn signal warning step;

[0125] A floor lamp mode determination module, used for determining the floor lamp working mode according to the received information, and sending the floor lamp working mode to the floor lamp working module;

[0126] The floor lamp working module is used to execute the floor lamp working mode. The specific steps are as follows:

[0127] The central controller sends out control signals and color signals to control the road surface lights on both sides and ends of the crosswalk to light up the corresponding color lights;

[0128] The central controller sends a control signal based on the pedestrian's location information to control the lighting of the road lights near the pedestrians;

[0129] The central controller sends out a control signal to control the traffic signal lights to flash.

[0130] Embodiment 5:

[0131] See also Fig.10 , a traffic signal ground light control device based on the positions of pedestrians and vehicles, the device comprising a processor and a memory;

[0132] The memory is used to store computer program code and transmit the computer program code to the processor;

[0133] The processor is used to execute the aforementioned traffic signal ground lamp control method based on the positions of pedestrians and vehicles according to the instructions in the computer program code.

[0134] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A method for controlling traffic signal lights based on the positions of pedestrians and vehicles, characterized in that: The control method is based on the following structure: The traffic signal floor lamp (1) is an active floor lamp that can change the color of light emitted. The traffic signal floor lamp (1) is evenly arranged on the road surface and both sides of the pedestrian crossing and / or road corner. Each of the traffic signal floor lamps (1) is electrically connected to a central controller (2). The central controller (2) is signal-connected to a detection radar group (3). The central controller (2) is used to control the on / off and color of the road surface floor lamp (11). The detection radar group (3) is used to detect the positions of vehicles and pedestrians on the road. The control method comprises the following steps: A position detection step, in which the detection radar group (3) detects whether there are pedestrians and / or vehicles on the lane, and sends the position information of the pedestrians and / or vehicles to the central controller (2). When the central controller (2) receives the pedestrian position information, it enters the ground light mode determination step; In a step of determining a ground light mode, the central controller (2) determines the ground light working mode according to the received information, and sends a signal to control the traffic signal ground light (1) at the corresponding position to light up the corresponding color; The working steps of the traffic light are as follows: the central controller (2) sends a control signal and a color signal to control the traffic signal ground light (1) at the corresponding position to light up the corresponding color.

2. A method for controlling a traffic signal ground lamp based on the positions of pedestrians and vehicles according to claim 1, characterized in that: The control method is applicable to a pedestrian crossing safety warning scene, wherein the traffic signal ground lamp (1) comprises a road surface ground lamp (11), a plurality of the road surface ground lamps (11) are evenly arranged on the road surface, the connection line between the plurality of road surface ground lamps (11) is perpendicular to the center line of the road, each of the road surface ground lamps (11) is electrically connected to a central controller (2), the central controller (2) is signal-connected to a detection radar group (3), the central controller (2) is used to control the on / off and color of the road surface ground lamps (11), and the detection radar group (3) is used to detect the positions of vehicles and pedestrians on the road; The control method comprises: Position detection step, the detection radar (3) continuously detects whether there are pedestrians on the sidewalk. When there are pedestrians on the sidewalk, the detection radar (3) detects the position of the pedestrians on the sidewalk and sends the pedestrian position information to the central controller (2) in real time. At the same time, it starts to detect whether there are vehicles on the road. When there are vehicles on the road, the detection radar (3) detects the position of the vehicles on the road and sends the vehicle position information to the central controller (2) in real time. When the central controller (2) receives the pedestrian position information, it enters the ground lamp mode judgment step; A floor lamp mode determination step, wherein the central controller (2) determines the floor lamp working mode according to the received information, and when no pedestrian position information is received, the central controller (2) sends a signal to turn off the road floor lamp (11); When the central controller (2) receives pedestrian position information but does not receive vehicle position information, the central controller (2) sends a control signal to control the pavement floor lamp (11) to enter the pedestrian floor lamp working step, and sends a color signal to the pavement floor lamp (11) to control the pavement floor lamp (11) to light up green; When the central controller (2) receives the pedestrian position information and the vehicle position information at the same time, and the distance between the vehicle position and the sidewalk is greater than (10) meters, the central controller (2) sends a control signal to control the road surface lamp (11) to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp (11) to control the road surface lamp (11) to light up a yellow light; When the central controller (2) receives the pedestrian position information and the vehicle position information at the same time, and the distance between the vehicle position and the sidewalk is less than (10) meters, the central controller (2) sends a control signal to control the road surface lamp (11) to enter the sidewalk lamp working step, and sends a color signal to the road surface lamp (11) to control the road surface lamp (11) to light up red; The working steps of the pedestrian crossing lamp are as follows: the central controller (2) sends a control signal and a color signal to control the road surface lamps (11) on both sides and both ends of the pedestrian crossing to light up the lamps of corresponding colors.

3. A method for controlling a traffic signal ground lamp based on the positions of pedestrians and vehicles according to claim 2, characterized in that: The traffic signal floor lamp (1) further comprises an edge floor lamp (12), wherein a plurality of the edge floor lamps (12) are evenly arranged on both sides of the road, and a connection line between the plurality of the edge floor lamps (12) is parallel to the center line of the road, and each of the edge floor lamps (12) is electrically connected to a central controller (2), and the central controller (2) is signal-connected to a detection radar group (3), and the central controller (2) is used to control the on / off and color of the edge floor lamps (12).

4. A method for controlling traffic signal lights based on the positions of pedestrians and vehicles according to claim 3, characterized in that: The detection radar group (3) comprises a pedestrian detection radar (31) and a vehicle detection radar (32), the horizontal field of view angles of the pedestrian detection radar (31) and the vehicle detection radar (32) are both (120) degrees, and the pedestrian detection radar (31) and the vehicle detection radar (32) are both connected to the central controller (2) by signal; The pedestrian detection radar (31) is arranged on the ground at one end of the crosswalk, the detection range of the pedestrian detection radar (31) covers the entire crosswalk, and the pedestrian detection radar (31) is used to detect the position of pedestrians on the crosswalk and send the pedestrian position information to the central controller (2); The vehicle detection radar (32) is arranged directly above a lane facing a crosswalk in the direction of travel, the arrangement height of the vehicle detection radar (32) is greater than the maximum pass height allowed by the road, the detection range of the vehicle detection radar (32) covers a section of the corresponding lane close to the crosswalk of at least (50) meters, and the vehicle detection radar (32) is used to detect the position of a vehicle on the road and send the vehicle position information to the central controller (2).

5. A method for controlling a traffic signal ground lamp based on the positions of pedestrians and vehicles according to claim 4, characterized in that: In the position detection step, the pedestrian detection radar (31) continuously detects whether there are pedestrians on the crosswalk. When there are pedestrians on the crosswalk, the pedestrian detection radar (31) detects the position of the pedestrian on the crosswalk and sends the pedestrian position information to the central controller (2) in real time. At the same time, the central controller (2) sends a control signal to control the vehicle detection radar (32) to start working. The vehicle detection radar (32) starts to detect whether there are vehicles on the road. When there are vehicles on the road, the vehicle detection radar (32) detects the position of the vehicle on the road and sends the vehicle position information to the central controller (2) in real time. When the central controller (2) receives the pedestrian position information, it enters the ground light mode judgment step.

6. A method for controlling traffic signal lights based on the positions of pedestrians and vehicles according to claim (5), characterized in that: In the pedestrian crossing ground lamp working steps, the central controller (2) sends a control signal according to the pedestrian position information to control the road surface ground lamp (11) located near the pedestrian to light up.

7. A method for controlling a traffic signal ground lamp based on the positions of pedestrians and vehicles according to any one of claims 1 to 5, characterized in that: The control method is also applicable to a vehicle turning warning scenario, wherein the detection radar group (3) in the vehicle turning warning scenario further comprises a fork in the road radar (33), wherein the fork in the road radar (33) is a radar with a horizontal field of view angle (360) degrees, and wherein the fork in the road radar (33) is arranged at the outer edge of a curve of a single-lane road, and wherein the fork in the road radar (33) is used to detect whether there are oncoming vehicles in the lanes on both sides of the fork in the road and the distance between the vehicles; The control method in the vehicle turning warning scenario includes the following steps: The position detection step includes: when the fork in the road radar (33) detects vehicles coming from both directions at the fork in the road, the vehicle position information is sent to the central controller (2) in real time; when the central controller (2) receives the vehicle position information from both directions at the fork in the road, the step of determining the ground light mode is entered; The step of determining the ground light mode comprises: when the central controller (2) receives the vehicle position information in both directions at the fork in the road, entering the step of turning the ground light operation; The working steps of the turn signal lamp include: a central controller (2) sends a control signal to control the traffic signal lamp (1) to light up.

8. The method for controlling a traffic signal ground lamp based on the positions of pedestrians and vehicles according to claim 7, characterized in that: The position detection step includes, when the fork in the road radar (33) detects that there is an obstacle on one side of the fork in the road, sending the obstacle information to the central controller (2), and when the central controller (2) receives the obstacle information, entering the ground light mode judgment step; The floor lamp mode determination step includes entering a turn floor lamp warning step when the central controller (2) receives obstacle information; The turn signal lamp warning step comprises: a central controller (2) sends a control signal to control the traffic signal lamp (1) to flash.

9. A traffic signal ground light control system based on the positions of pedestrians and vehicles, characterized by: The control system includes a position detection module, a floor lamp mode judgment module and a floor lamp working module; A position detection module, used to detect whether there are pedestrians and / or vehicles on the lane, and send the position information of the pedestrians and / or vehicles to the ground lamp mode judgment module; A floor lamp mode determination module, used for determining the floor lamp working mode according to the received information, and sending the floor lamp working mode to the floor lamp working module; The floor lamp working module is used to execute the floor lamp working mode.

10. A traffic signal ground light control device based on the position of pedestrians and vehicles, characterized by: The device comprises a processor and a memory; The memory is used to store computer program code and transmit the computer program code to the processor; The processor is used to execute the traffic signal ground lamp control method based on the positions of pedestrians and vehicles as described in any one of claims 1 to 8 according to the instructions in the computer program code.

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