Management and control method for vehicle to give way to pedestrian and related hardware

Abstract

The embodiment of the invention provides a control method for a vehicle to give way to pedestrians and related hardware. The traffic management and control system comprises a video sensor, an edge computing device and a right turn signal lamp which are installed at the position of an intersection road section. The edge computing device is used for receiving the RTSP data collected by the video sensor and converting the RTSP data into video information; when it is determined that the vehicle is driven into a right-turn lane target area according to the video information, if the driving speed is larger than a first preset speed threshold value and the indication state of a right-turn signal lamp is a passing permission indication state, the right-turn signal lamp is controlled to adjust the indication state to a non-passing permission indication state; when it is determined that the preset condition is met, a right turn signal lamp is controlled to adjust the indication state into a passing permission indication state; and if the driving speed is smaller than or equal to a first preset speed threshold value and the right-turn signal lamp indication state is a passing permission indication state, analyzing the video information and recording vehicles which do not give way to pedestrians on a pedestrian passage intersecting with the right-turn direction of the vehicles.

Description

Technical Field

[0001] The present invention relates to the field of traffic technology, and in particular to a method for controlling vehicles to give way to pedestrians and related hardware. Background Art

[0002] In recent years, with the improvement of the quality of traffic participants, the level of traffic civilization in my country has improved significantly. Summary of the invention

[0003] The embodiment of the present invention provides a method for controlling vehicles to give way to pedestrians and related hardware, which are used to ensure traffic safety when vehicles turn right at an intersection.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling vehicles yielding to pedestrians, which is applied to an edge computing device, wherein the edge computing device is respectively connected to a video sensor installed at a road section at an intersection and a right turn signal light corresponding to a right turn direction at the intersection, and the video sensor collects video data of the right turn direction controlled by the right turn signal light in real time;

[0005] The method comprises:

[0006] Receiving the real-time streaming protocol RTSP data sent by the video sensor in real time, and converting the RTSP data into video information; the RTSP data is obtained by converting the video data collected by the video sensor on the intersection section in real time;

[0007] When it is determined according to the video information that the vehicle has entered the right-turn lane target area, determining whether the driving speed of the vehicle is greater than a first preset speed threshold;

[0008] If the driving speed is greater than the first preset speed threshold, and the indication state of the right turn signal light is the passage-permitting indication state, a first indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-not-permitting indication state; when it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-permitting indication state;

[0009] If the driving speed is less than or equal to the first preset speed threshold, and the right turn signal light indicates a state of allowing passage, the video information is analyzed to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane that intersects with the right turn direction of the vehicle, and the vehicle that fails to give way to pedestrians is recorded as having violated the violation.

[0010] Optionally, after sending the first indication state adjustment instruction to the right turn signal light, the method further includes:

[0011] The video information is analyzed to detect whether the vehicle stops before the stop line of the intersection section, and a violation of the traffic light indication is recorded for a vehicle that does not stop before the stop line of the intersection section.

[0012] Optionally, the method further comprises:

[0013] If the driving speed is greater than a second preset speed threshold, a speeding violation is recorded for the vehicle; wherein the second preset speed threshold is greater than the first preset speed threshold.

[0014] Optionally, the preset condition includes at least one of the following:

[0015] The time for which the right turn signal light indication state is in the non-passage-permitted indication state is greater than a preset time;

[0016] It is determined that there are no pedestrians on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light.

[0017] Optionally, the edge computing device is further connected to a ground warning light controller for controlling a ground warning light, wherein the ground warning light is installed on a road surface of the pedestrian passage intersecting with a right turn direction corresponding to the right turn signal light;

[0018] The method further comprises:

[0019] When it is determined that the warning light on condition is met, sending a warning light on instruction to the ground warning light controller so that the ground warning light controller controls the ground warning light to flash;

[0020] When it is determined that the warning light on condition is not met, a warning light off instruction is sent to the ground warning light controller, so that the ground warning light controller controls the ground warning light to stop flashing.

[0021] Optionally, the warning light turning on condition includes at least one of the following:

[0022] Determining that there are pedestrians on the pedestrian passage corresponding to the ground warning light;

[0023] Determining that the right turn signal light indication state is a passage permitting indication state;

[0024] It is determined that the vehicle is located in a warning light triggering area.

[0025] In a second aspect, based on the same inventive concept, an embodiment of the present invention further provides an edge computing device, including:

[0026] A video processing module, used for receiving the real-time streaming protocol RTSP data sent by the video sensor in real time, and converting the RTSP data into video information; the RTSP data is obtained by converting the video data collected by the video sensor at the intersection in real time;

[0027] A vehicle speed recognition module, for determining whether the vehicle's driving speed is greater than a first preset speed threshold when it is determined according to the video information that the vehicle has entered a right-turn lane target area;

[0028] The fast vehicle speed control module is used for sending a first indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a non-passage-permitted indication state if the driving speed is greater than the first preset speed threshold and the indication state of the right turn signal light is a passage-permitted indication state; and sending a second indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a passage-permitted indication state when it is determined that the preset condition is met;

[0029] The slow vehicle speed control module is used to analyze the video information to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle if the driving speed is less than or equal to the first preset speed threshold and the right turn signal light indicates a state of allowing passage, and record the violation of failing to give way to pedestrians for the vehicle that fails to give way to pedestrians.

[0030] In a third aspect, based on the same inventive concept, an embodiment of the present invention further provides an edge computing device, including:

[0031] a processor and a memory for storing instructions executable by the processor;

[0032] Among them, the processor is configured to execute the instructions to implement the vehicle giving way to pedestrians control method as described in the first aspect.

[0033] In a fourth aspect, based on the same inventive concept, an embodiment of the present invention further provides an edge computing device, including:

[0034] The computer-readable storage medium stores a computer program, and the computer program is used to implement the vehicle yielding to pedestrians control method as described in the first aspect.

[0035] In a fifth aspect, based on the same inventive concept, an embodiment of the present invention further provides a traffic control system, including:

[0036] A video sensor installed at a road section at an intersection, wherein the video sensor is connected to an edge computing device and is used to collect video data of the road section at an intersection in real time, and convert the video data into RTSP data and send it to the edge computing device;

[0037] The edge computing device, wherein the edge computing device is also connected to the right turn signal light, is used to receive the real-time streaming protocol RTSP data sent in real time by the video sensor, and convert the RTSP data into video information; when it is determined according to the video information that the vehicle has entered the target area of ​​the right turn lane, determine whether the driving speed of the vehicle is greater than a first preset speed threshold; if the driving speed is greater than the first preset speed threshold, and the indication state of the right turn signal light is a passage-permitting indication state, send a first indication state adjustment instruction to the right turn signal light to control the right turn signal light. The turn signal light adjusts the indication state to a non-passage-permitted indication state; when it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to a passage-permitted indication state; if the driving speed is less than or equal to the first preset speed threshold, and the indication state of the right turn signal light is a passage-permitted indication state, the video information is analyzed to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle, and the vehicle that fails to give way to pedestrians is recorded as having a violation of failing to give way to pedestrians;

[0038] The right turn signal light is used to adjust the indication state to a non-passage-permitted indication state according to a first indication state adjustment instruction sent by the edge computing device; and to adjust the indication state to a passage-permitted indication state according to a second indication state adjustment instruction sent by the edge computing device.

[0039] The beneficial effects of the present invention are as follows:

[0040] The vehicle yielding to pedestrians control method and related hardware provided in the embodiment of the present invention, when the vehicle is traveling at a high speed, by changing the right turn signal light to the non-passing indication state, thereby using the traffic control rules of the traffic signal light to force the vehicle to slow down and stop, so as to ensure the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction. In addition, for vehicles traveling at a slow speed, when the right turn signal light is in the passing indication state, the indication state of the right turn signal light is not changed, but by identifying whether the vehicle has yielded to pedestrians in the direction intersecting the right turn direction, the vehicle that did not yield is recorded, so that the traffic management department can deal with the vehicle that did not yield according to the record afterwards, thereby ensuring the traffic efficiency of the right turn direction while improving the awareness of vehicle drivers to yield to pedestrians when turning right, and improving the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction from a long-term perspective. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 One of the structural schematic diagrams of the traffic control system provided by an embodiment of the present invention;

[0042] Figure 2 A second structural diagram of a traffic control system provided by an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of an application scenario of a traffic control system provided by an embodiment of the present invention;

[0044] Figure 4 One of the flow charts of the method for controlling vehicles yielding to pedestrians provided in an embodiment of the present invention;

[0045] Figure 5 Flow chart 2 of the method for controlling vehicles yielding to pedestrians provided in an embodiment of the present invention;

[0046] Figure 6 Flow chart 3 of the method for controlling vehicles yielding to pedestrians provided in an embodiment of the present invention;

[0047] Figure 7 Flow chart 4 of the method for controlling vehicles yielding to pedestrians provided in an embodiment of the present invention;

[0048] Figure 8 Flow chart 5 of the method for controlling vehicles yielding to pedestrians provided in an embodiment of the present invention;

[0049] Fig. 9 One of the structural schematic diagrams of the edge computing device provided in an embodiment of the present invention;

[0050] Fig.10 The second structural diagram of the edge computing device provided in the embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described below with reference to the accompanying drawings and examples. However, the exemplary embodiments can be implemented in various forms and should not be understood as being limited to the embodiments described herein; on the contrary, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concepts of the exemplary embodiments to those skilled in the art. The same figure marks in the figures represent the same or similar structures, and thus their repeated descriptions will be omitted. The words expressing position and direction described in the present invention are all explained using the accompanying drawings as examples, but changes can be made as needed, and the changes made are all included in the scope of protection of the present invention. The drawings of the present invention are only used to illustrate the relative position relationship and do not represent the true proportions.

[0052] It should be noted that specific details are described in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application and is not intended to limit the scope of the present application. The scope of protection of the present application shall be determined by the definition of the attached claims.

[0053] The vehicle yielding to pedestrians control method and related hardware provided in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] In a first aspect, an embodiment of the present invention provides a traffic control system S, such as Figure 1-Figure 2 As shown, it includes: a video sensor C (such as Figure 3 As shown), edge computing device U1, and right turn signal light R. The video sensor C is connected to the edge computing device U1, and the right turn signal light R is connected to the edge computing device U1.

[0055] In a specific implementation process, the video sensor C may be one or more video sensors. Figure 3 As shown, the video sensor C includes a first video sensor C1 and a second video sensor C2. The two video sensors are installed to face different directions so as to capture the front image of the vehicle when entering the right turn lane and the rear image of the vehicle when leaving the right turn lane. The video sensor C and / or the right turn signal light R can be connected to the edge computing device U1 via wired or wireless means. If the video sensor C / the right turn signal light R is connected to the edge computing device U1 via wired means (such as Figure 3 If the video sensor C / the right turn signal light R is connected to the edge computing device U1 by wireless, it can be connected by wireless local area network (WLAN), Bluetooth, mobile cellular network, NB-IoT, Zigbee, LoRa, etc. This embodiment is not limited in this regard.

[0056] The video sensor C is used to collect video data of the intersection section in real time, and convert it into Real Time Streaming Protocol (RTSP) data and send it to the edge computing device U1. The RTSP protocol is an application layer protocol in the TCP / IP protocol system. This protocol defines how one-to-many applications can effectively transmit multimedia data over the network. RTSP is located above the Real-time Transport Protocol (RTP) and the Real-time Data Transmission Control Protocol (RTCP) in the architecture. The RTSP protocol uses the Transmission Control Protocol (TCP) or the User Datagram Protocol (UDP) to complete data transmission. The RTSP protocol does not particularly emphasize time synchronization, and has a higher tolerance for transmission delays.

[0057] The edge computing device U1 is used to perform the following Figure 4 Steps shown:

[0058] S110 , receiving RTSP data sent by the video sensor C in real time, and converting the RTSP data into video information.

[0059] S120. Determine whether there is a vehicle entering the right-turn lane target area based on the video information.

[0060] In the specific implementation process, the target area can be set according to factors such as the installation location of the video sensor C and the road section, for example Figure 3As shown, the range of a certain distance before the stop line is set as the right-turn lane target area. Since the position of the video sensor C does not change under normal circumstances, the environment corresponding to the video data collected by the video sensor C will not change either. Therefore, when no vehicle enters the right-turn lane target area, the image area corresponding to the right-turn lane target area in the image frame will not change in a short time. Then the edge computing device U1 can judge whether there is a vehicle entering the right-turn lane target area according to the color change of the image area corresponding to the right-turn lane target area in each image frame of the video information. If there is a continuous preset number of image frames in which the color change of the image area corresponding to the right-turn lane target area meets the preset color change judgment condition (for example, in the image area corresponding to the right-turn lane target area, the change value of the color value of the image area greater than the preset area threshold is greater than the preset difference), it is determined that a vehicle enters the right-turn lane target area. Alternatively, the edge computing device U1 can use a target recognition model trained based on a machine learning algorithm to identify each image frame of the video information. If a vehicle target is recognized in the right-turn lane target area in a continuous preset first number of image frames, it is determined that a vehicle enters the right-turn lane target area. Of course, the edge computing device U1 can also use other methods to determine whether a vehicle enters the right-turn lane target area, and no further restrictions are made here.

[0061] If the result of step S120 is yes, step S140 is executed. If the result of step S120 is no, wait until the result is yes before executing the subsequent steps.

[0062] S140: Determine the indication status of the right turn signal light R.

[0063] If the step S140 determines that the indication state of the right turn signal light R is the passage-permitting indication state, the step S150 is executed.

[0064] S150: Determine whether the driving speed of the vehicle is greater than a first preset speed threshold.

[0065] In the specific implementation process, the edge computing device U1 can determine the driving speed of the vehicle according to the video information. Specifically, the edge computing device U1 can determine each image frame in the video information corresponding to the vehicle driving in the target area of ​​the right-turn lane, and use the image recognition model trained based on the machine learning algorithm to respectively determine the position of the image area of ​​the vehicle in each image frame, and then calculate the pixel distance moved by the vehicle in each image frame, calculate the physical distance traveled by the vehicle according to the conversion relationship between the pixels of the image frame and the geographical location, and calculate the driving speed of the vehicle according to the time corresponding to each image frame. Alternatively, the traffic control system S also includes a radar installed at the intersection section (not shown in the figure), and the radar is connected to the edge computing device U1, which is used to collect the relative position data between the object on the right-turn lane and the radar in real time, and send the relative position data to the edge computing device U1 in real time. The edge computing device U1 is also used to convert the relative position data into geographical location coordinates according to the conversion relationship between the radar coordinates and the geographical location coordinates, and calculate the driving speed of the vehicle according to multiple geographical location coordinates and corresponding times.

[0066] If the result of step S150 is yes, execute step S160; if the result of step S150 is no, execute step S190.

[0067] S160: Send a first indication state adjustment instruction to the right turn signal light R, so that the right turn signal light R adjusts the indication state to a non-passage permitted indication state.

[0068] S180: When it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light R, so that the right turn signal light R adjusts the indication state to a passage permitting indication state.

[0069] Optionally, the preset condition includes at least one of the following:

[0070] ① The time that the right turn signal light is in the non-passing indication state is greater than a preset time. For example, step S180 may be performed 3 seconds after step S160 is performed.

[0071] ② Determine that there are no pedestrians on the pedestrian passage that intersects the right turn direction corresponding to the right turn signal light. For example, the edge computing device U1 uses an image recognition algorithm to identify each image frame of the video information, and determines that no pedestrian target is identified on the pedestrian passage that intersects the right turn direction in a preset second number of image frames (e.g., 10 image frames) after the indication state of the right turn signal light R is adjusted to the non-passage-permitted state indication state, and determines that there are no pedestrians on the pedestrian passage that intersects the right turn direction corresponding to the right turn signal light.

[0072] S190. Analyze the video information to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle, and record the violation of failing to give way to pedestrians for the vehicle that fails to give way to pedestrians.

[0073] In the specific implementation process, Figure 3 As shown, according to the relevant laws and regulations of the area to which the road section belongs, the pedestrian passage can be an area such as a crosswalk.

[0074] In the specific implementation process, the edge computing device U1 can use an image recognition algorithm to identify each image frame of the video information. If a preset third number of image frames (for example, 3 consecutive image frames) continuously identify that the vehicle has reached the stop line, and it is determined that the driving speed of the vehicle is greater than a preset third speed threshold (for example, the third speed threshold is set to 5km / h), and there are pedestrians within a preset range (for example, a range of 3 meters from the vehicle) on the pedestrian passage intersecting the right turn direction of the vehicle, it is determined that the vehicle did not give way to pedestrians.

[0075] The right turn signal light R is used to adjust the indication state to a non-passage-permitted indication state according to a first indication state adjustment instruction sent by the edge computing device U1; and to adjust the indication state to a passage-permitted indication state according to a second indication state adjustment instruction sent by the edge computing device U1.

[0076] In the specific implementation process, the traffic light's permitted passage indication state and non-permitted passage indication state can be set according to the relevant laws and regulations of the area to which the road section belongs. For example, in some areas, the green light state is set to the permitted passage indication state, and the yellow light state and the red light state are set to the non-permitted passage indication state. Then, in the above steps S140 to S180, when it is determined that the right turn signal light R is in the green light state at this time, a first indication state adjustment instruction indicating that the light turns yellow can be sent to the right turn signal light R to control the right turn signal light R to turn into the yellow light state, and after a preset time (for example, 3 seconds), a first indication state adjustment instruction indicating that the light turns red can be sent to the right turn signal light R to control the right turn signal light R to turn into the red light state. After that, when it is determined that the preset conditions are met, a second indication state adjustment instruction indicating that the light turns green can be sent to the right turn signal light R to control the right turn signal light R to turn green.

[0077] In this way, the traffic control system provided by the embodiment of the present invention can change the right turn signal light to a non-passage indication state when the vehicle is traveling at a high speed, thereby forcing the vehicle to slow down and stop by using the traffic control rules of the traffic signal light, so as to ensure the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction. In addition, for vehicles traveling at a slow speed, when the right turn signal light is in the passage indication state, the indication state of the right turn signal light is not changed, but the vehicle is identified to determine whether it has given way to pedestrians in the direction intersecting the right turn direction, and the vehicles that have not given way are recorded, so that the traffic management department can deal with the vehicles that have not given way according to the records afterwards, thereby ensuring the traffic efficiency of the right turn direction while improving the awareness of vehicle drivers to give way to pedestrians when turning right, and improving the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction from a long-term perspective.

[0078] Furthermore, if Figure 5 As shown, the edge computing device U1 is also used to: after sending the first indication state adjustment instruction to the right turn signal light R in step S160, execute step S170.

[0079] S170, analyzing the video information to detect whether the vehicle stops before the stop line of the intersection section, and recording a violation of traffic light indication for a vehicle that does not stop before the stop line of the intersection section.

[0080] In a specific implementation process, the edge computing device U1 can determine each image frame in the video information corresponding to the vehicle driving in the target area of ​​the right turn lane, and use the image recognition model trained based on the machine learning algorithm to respectively determine the position of the image area of ​​the vehicle in each image frame, and determine whether the pixel distance between the image area of ​​the vehicle and the image area of ​​the stop line is less than a preset pixel distance threshold after sending the first indication state adjustment instruction to the right turn signal R and before sending the second indication state adjustment instruction to the right turn signal R; or calculate the geographic location coordinates of the vehicle according to the conversion relationship between the pixel coordinates of the image frame and the geographic location coordinates, and determine whether the distance between the vehicle and the stop line is less than a preset distance threshold after sending the first indication state adjustment instruction to the right turn signal R and before sending the second indication state adjustment instruction to the right turn signal R. If the pixel distance between the image area of ​​the vehicle and the image area of ​​the stop line is less than the preset pixel distance threshold, or the distance between the vehicle and the stop line is less than the preset distance threshold, it is determined that the vehicle has not stopped before the stop line of the intersection section. Alternatively, if the traffic control system S also includes the radar installed at the intersection section as described above, the edge computing device U1 can convert the relative position data of the vehicle collected by the radar into the geographic location coordinates according to the conversion relationship between the radar coordinates and the geographic location coordinates, and determine whether the distance between the vehicle and the stop line is less than the preset distance threshold after the first indication state adjustment instruction is sent to the right turn signal light R and before the second indication state adjustment instruction is sent to the right turn signal light R. If the distance between the vehicle and the stop line is less than the preset distance threshold, it is determined that the vehicle has not stopped before the stop line of the intersection section. The preset distance threshold can be set to different values ​​according to the selected positive direction and the reference when calculating the distance between the vehicle and the stop line. For example, the direction opposite to the vehicle's driving direction is selected as the positive direction for calculating the distance between the vehicle and the stop line, and the distance between the vehicle and the stop line is calculated from the rear of the vehicle, then the preset distance threshold can be set to a smaller positive value than the length of the vehicle; or the direction opposite to the vehicle's driving direction is selected as the positive direction for calculating the distance between the vehicle and the stop line, and the distance between the vehicle and the stop line is calculated from the front of the vehicle, then the preset distance threshold can be set to a negative value.

[0081] Furthermore, if Figure 5 As shown, the edge computing device U1 is also used for: if the step S140 determines that the indication state of the right turn signal light R is a non-passage-permitted indication state, executing step S170.

[0082] In this way, by recording vehicles that force right turns when the right turn light indicates that right turns are not allowed, it is convenient for the traffic management department to deal with vehicles that force right turns based on the records afterwards. This can also enhance the awareness of vehicle drivers to give way to pedestrians when making right turns, and improve the safety of pedestrians crossing intersections in the direction intersecting with the right turn direction from a long-term perspective.

[0083] Furthermore, if Figure 5-Figure 7 As shown, the edge computing device U1 is also used for: after determining whether the driving speed of the vehicle is greater than a first preset speed threshold in step S150, if the result of step S150 is yes, further executing step S151.

[0084] S151. Determine whether the driving speed of the vehicle is greater than a second preset speed threshold.

[0085] If the result of step S151 is yes, execute step S152; if the result of step S151 is no, skip executing step S152.

[0086] S152. Record that the vehicle has speeding violations.

[0087] Wherein, the second preset speed threshold is greater than the first preset speed threshold.

[0088] In this way, by detecting the vehicle's driving speed and recording the speeding vehicles, the traffic management department can deal with the speeding vehicles according to the records afterwards, which can enhance the awareness of vehicle drivers to comply with traffic regulations when turning right, and improve road traffic safety from a long-term perspective.

[0089] At present, according to relevant research on traffic accidents at intersections, it is found that large vehicles have a larger blind spot area, so large vehicles are more likely to have traffic accidents with pedestrians when turning right at intersections, and the losses caused by such traffic accidents with large vehicles are often greater. However, small vehicles have smaller blind spots, so the probability of small vehicles having traffic accidents with pedestrians when turning right at intersections is relatively low, and the losses caused by such traffic accidents with small vehicles are also relatively small. In order to improve the traffic efficiency of road traffic, further, such as Figure 6 and Figure 7 As shown, the edge computing device U1 is also used to: after the step S120, also execute step S130.

[0090] S130: Identify the vehicle model, and determine whether the vehicle model is a preset model.

[0091] If the result of step S130 is yes, step S140 is executed.

[0092] In the specific implementation process, vehicles can be divided into types according to size, function and other standards. For example, vehicles can be divided into small, medium and large buses / trucks, tractors, engineering vehicles, etc. Then, vehicles with larger sizes and larger driver blind spots (such as large buses, large trucks, tractors, engineering vehicles, etc.) can be set as the preset models, and these vehicles can be controlled using the above-mentioned scheme to ensure the safety of pedestrians. For vehicles that are not preset models, since the probability of these vehicles competing with pedestrians for the right turn is relatively low, these vehicles do not need to be subject to the special control scheme described above; or Figure 6 As shown, when the result of step S130 is no, step S190 is executed; or Figure 7 As shown, when the result of step S130 is no, step S151 is executed, and after the result of step S151 is no and step S152 is completed, step S190 is executed. This reduces special traffic control for non-preset vehicles and improves traffic efficiency. This embodiment is not limited in detail.

[0093] In the specific implementation process, the edge computing device U1 can use a machine learning algorithm to analyze the video information to determine the model of the vehicle entering the right turn lane. For example, the model of the vehicle can be determined by extracting and analyzing the vehicle logo, front, rear, lights, body size, windows, doors, cargo box, body warning signs and other features of each image frame in the video information using a model recognition model trained based on a machine learning algorithm.

[0094] Furthermore, if Figure 2 As shown, the traffic control system S also includes a ground warning light L and a ground warning light controller U2. Figure 3 As shown, the ground warning light L is installed on the road surface of the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light. The ground warning light controller U2 is connected to the ground warning light L and the edge computing device U1 respectively.

[0095] In the specific implementation process, the ground warning light controller U2 and the ground warning light L / the edge computing device U1 can be connected by wire or wirelessly. If the ground warning light controller U2 is connected to the ground warning light L / the edge computing device U1 by wire, it can be connected by RJ45, RS232, RS422, RS485 and the like; if the ground warning light controller U2 is connected to the ground warning light L / the edge computing device U1 by wireless, it can be connected by wireless local area network (WLAN), Bluetooth, mobile cellular network, NB-IoT, Zigbee, LoRa and the like. This embodiment is not limited in detail.

[0096] The edge computing device U1 is also used (not shown in the figure):

[0097] When it is determined that the warning light on condition is met, a warning light on instruction is sent to the ground warning light controller U2, so that the ground warning light controller U2 controls the ground warning light L to flash;

[0098] When it is determined that the warning light on condition is not met, a warning light off instruction is sent to the ground warning light controller U2, so that the ground warning light controller U2 controls the ground warning light L to stop flashing.

[0099] The ground warning light controller U2 is used to control the ground warning light L to flash according to the warning light on command sent by the edge computing device U1; and to control the ground warning light L to stop flashing according to the warning light off command sent by the edge computing device U1.

[0100] Furthermore, the warning light on condition includes at least one of the following:

[0101] ① Determine whether there are pedestrians on the pedestrian passage corresponding to the ground warning light.

[0102] ② Determine that the right turn signal light indicates a state where passage is permitted.

[0103] ③ Determine that the vehicle is located in the warning light triggering area.

[0104] During the specific implementation process, the right-turn lane area whose distance from the pedestrian passage or the stop line is less than a preset warning distance threshold (for example, 5 meters) can be set as the warning light trigger area. When the vehicle is located in the warning light trigger area, the edge computing device U1 controls the flashing of the ground warning light.

[0105] The warning light activation condition may be implemented by any one of them or in combination. For example, when the edge computing device U1 determines that the right turn signal light indicates a state of allowing passage and the vehicle is located in the warning light triggering area, the edge computing device U1 controls the flashing of the ground warning light. This embodiment is not limited in detail.

[0106] In this way, by turning on the warning lights on the pedestrian walkway that intersects with the right turn direction of the vehicle during the right turn, pedestrians can be effectively warned to pay attention to vehicles turning right when passing through the intersection, thereby further ensuring the safety of pedestrians in the direction intersecting with the right turn direction when passing through the intersection.

[0107] In the second aspect, based on the same inventive concept, an embodiment of the present invention also provides a method for controlling vehicles yielding to pedestrians, which is applied to an edge computing device U1. The edge computing device is respectively connected to a video sensor installed at a road section at an intersection and a right turn signal light corresponding to the right turn direction of the road section at the intersection, and the video sensor collects video data of the right turn direction controlled by the right turn signal light in real time;

[0108] The method comprises:

[0109] Receiving the real-time streaming protocol RTSP data sent by the video sensor in real time, and converting the RTSP data into video information; the RTSP data is obtained by converting the video data collected by the video sensor on the intersection section in real time;

[0110] When it is determined according to the video information that the vehicle has entered the right-turn lane target area, determining whether the driving speed of the vehicle is greater than a first preset speed threshold;

[0111] If the driving speed is greater than the first preset speed threshold, and the indication state of the right turn signal light is the passage-permitting indication state, a first indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-not-permitting indication state; when it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-permitting indication state;

[0112] If the driving speed is less than or equal to the first preset speed threshold, and the right turn signal light indicates a state of allowing passage, the video information is analyzed to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane that intersects with the right turn direction of the vehicle, and the vehicle that fails to give way to pedestrians is recorded as having violated the violation.

[0113] Further, after sending the first indication state adjustment instruction to the right turn signal light, the method further includes:

[0114] The video information is analyzed to detect whether the vehicle stops before the stop line of the intersection section, and a violation of the traffic light indication is recorded for a vehicle that does not stop before the stop line of the intersection section.

[0115] Furthermore, the method further comprises:

[0116] If the driving speed is greater than a second preset speed threshold, a speeding violation is recorded for the vehicle; wherein the second preset speed threshold is greater than the first preset speed threshold.

[0117] Furthermore, the preset condition includes at least one of the following:

[0118] The time for which the right turn signal light indication state is in the non-passage-permitted indication state is greater than a preset time;

[0119] It is determined that there are no pedestrians on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light.

[0120] Furthermore, the edge computing device is also connected to a ground warning light controller for controlling a ground warning light, wherein the ground warning light is installed on a road surface of the pedestrian passage intersecting with a right turn direction corresponding to the right turn signal light;

[0121] The method further comprises:

[0122] When it is determined that the warning light on condition is met, sending a warning light on instruction to the ground warning light controller so that the ground warning light controller controls the ground warning light to flash;

[0123] When it is determined that the warning light on condition is not met, a warning light off instruction is sent to the ground warning light controller, so that the ground warning light controller controls the ground warning light to stop flashing.

[0124] Furthermore, the warning light on condition includes at least one of the following:

[0125] Determining that there are pedestrians on the pedestrian passage corresponding to the ground warning light;

[0126] Determining that the right turn signal light indication state is a passage permitting indication state;

[0127] It is determined that the vehicle is located in a warning light triggering area.

[0128] Since the vehicle-to-pedestrian courtesy control method described in the second aspect corresponds to the working principle of the edge computing device in the traffic control system described in the first aspect, the specific implementation method can be described in detail with reference to the corresponding content of the first aspect and will not be repeated here.

[0129] The above-mentioned vehicle courtesy to pedestrians control method is described in detail below with a specific example, wherein the edge computing device is respectively connected to a first video sensor installed at the intersection section, a second adapter sensor, and a right turn signal light corresponding to the right turn direction of the intersection section. The first video sensor is used to collect the front video data of the vehicle when it enters the target area of ​​the right turn lane, and converts it into RTSP data and sends it to the edge computing device; the second video sensor is used to collect the rear video data of the vehicle when it leaves the target area of ​​the right turn lane, and converts it into RTSP data and sends it to the edge computing device. Figure 8 As shown, the following steps may be specifically included:

[0130] S201, receiving RTSP data sent by a video sensor in real time, and converting the RTSP data into video information. The video sensor includes the first video sensor and the second video sensor.

[0131] S202: Determine whether there is a vehicle entering the right-turn lane target area based on the video information.

[0132] If the result of step S202 is yes, step S203 is executed. If the result of step S202 is no, wait until the result is yes before executing the subsequent steps.

[0133] S203, identifying the vehicle model, and determining whether the vehicle model is a preset vehicle model, wherein the preset vehicle model is a vehicle model whose vehicle length is greater than a preset length.

[0134] If the result of step S203 is yes, execute step S204. If the result of step S203 is no, return to step S202.

[0135] S204: Determine the driving speed of the vehicle according to the video information.

[0136] S205: Determine whether the driving speed is greater than a second preset speed threshold.

[0137] If the result of step S205 is yes, execute step S206; if the result of step S205 is no, execute step S207.

[0138] S206: Record that the vehicle has speeding violation behavior. Execute step S208.

[0139] S207: Determine whether the driving speed is greater than a first preset speed threshold, wherein the first preset speed threshold is less than the second preset speed threshold.

[0140] If the result of step S207 is yes, execute step S208; if the result of step S207 is no, execute step S214.

[0141] S208: Determine whether the indication state of the right turn signal light is a green light indication state.

[0142] If the result of step S208 is yes, execute step S209; if the result of step S208 is no, execute step S211.

[0143] S209: Sending a first indication state adjustment instruction to the right turn signal light for controlling the right turn signal light to change the green light indication state to the yellow light indication state.

[0144] S210: After a preset time period, a first indication state adjustment instruction for controlling the right turn signal light to change the yellow light indication state to the red light indication state is sent to the right turn signal light.

[0145] S211. Determine, based on the video information, whether the distance between the vehicle and the stop line is less than a preset first distance threshold.

[0146] In the specific implementation process, the direction opposite to the vehicle's driving direction can be selected as the positive direction for calculating the distance between the vehicle and the stop line, and the distance between the vehicle and the stop line can be calculated starting from the rear of the vehicle. Then the preset first distance threshold can be set to a positive value less than the preset length, and step S211 can analyze the video information corresponding to the second video sensor.

[0147] If the result of step S211 is yes, execute step S212; if the result of step S211 is no, execute step S214.

[0148] S212: Recording that the vehicle violates traffic light instructions.

[0149] S213: When it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light for controlling the right turn signal light to change the red light indication state to the green light indication state. If the result of step S208 is yes, the preset condition is that the time the right turn signal light is in the red light indication state is greater than the preset first red light time threshold. If the result of step S208 is no, the preset condition can be set to one or more conditions such as the signal lights in other directions that conflict with the right turn direction corresponding to the right turn signal light are changed to the red light indication state, the time the right turn signal light is in the red light indication state is greater than the preset second red light time threshold according to the actual needs of the intersection, and no excessive restrictions are made here.

[0150] S214. Determine, based on the video information, whether the distance between the vehicle and the stop line is less than a preset second distance threshold.

[0151] For example, the direction opposite to the vehicle's driving direction is selected as the positive direction for calculating the distance between the vehicle and the stop line, and the distance between the vehicle and the stop line is calculated from the front of the vehicle, the preset second distance threshold can be set to 5 meters, and the step S214 can analyze the video information corresponding to the first video sensor. The area of ​​the right-turn lane from the stop line to the preset second distance threshold from the stop line is the warning light triggering area.

[0152] If the result of step S214 is yes, execute steps S215 and S216; if the result of step S214 is no, continue to wait until the result is yes.

[0153] S215, sending a warning light on instruction to a ground warning light controller, so that the ground warning light controller controls the ground warning light installed on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light to flash. Execute step S218.

[0154] S216: Analyze the video information to determine whether the vehicle fails to give way to pedestrians on a pedestrian lane that intersects with the right turn direction of the vehicle.

[0155] If the result of step S216 is yes, execute step S217; if the result of step S216 is no, execute step S218.

[0156] S218. Record the violation of not giving way to pedestrians for the vehicle that did not give way to pedestrians.

[0157] S218: Determine whether the vehicle has left the stop line based on the video information.

[0158] If the result of step S218 is yes, execute step S219; if the result of step S218 is no, continue to wait until the result is yes.

[0159] S219, sending a warning light off instruction to the ground warning light controller, so that the ground warning light controller controls the ground warning lights installed on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light to stop flashing. Then return to step S202.

[0160] In a third aspect, based on the same inventive concept, an embodiment of the present invention further provides an edge computing device, such as Fig. 9 As shown, including:

[0161] The video processing module M1 is used to receive the real-time streaming protocol RTSP data sent by the video sensor in real time, and convert the RTSP data into video information; the RTSP data is obtained by converting the video data collected by the video sensor at the intersection in real time;

[0162] The vehicle speed recognition module M2 is used to determine whether the vehicle's driving speed is greater than a first preset speed threshold when it is determined according to the video information that the vehicle has entered the right-turn lane target area;

[0163] The fast vehicle speed control module M4 is used for sending a first indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a non-passage-permitted indication state if the driving speed is greater than the first preset speed threshold and the indication state of the right turn signal light is a passage-permitted indication state; and sending a second indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a passage-permitted indication state when it is determined that the preset condition is met;

[0164] The slow vehicle speed control module M5 is used to analyze the video information to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle if the driving speed is less than or equal to the first preset speed threshold and the right turn signal light indicates a state of allowing passage, and record the violation of failing to give way to pedestrians for the vehicle that fails to give way to pedestrians.

[0165] Optionally, the fast vehicle speed control module M4 is also used to: after sending a first indication state adjustment instruction to the right turn signal light, analyze the video information to detect whether the vehicle stops before the stop line of the intersection section, and record the violation of the signal light indication for the vehicle that does not stop before the stop line of the intersection section.

[0166] Optionally, the edge computing device further includes:

[0167] The speeding recording module M3 is used to record the speeding violation of the vehicle if the driving speed is greater than a second preset speed threshold; wherein the second preset speed threshold is greater than the first preset speed threshold.

[0168] Optionally, the preset condition includes at least one of the following:

[0169] The time for which the right turn signal light indication state is in the non-passage-permitted indication state is greater than a preset time;

[0170] It is determined that there are no pedestrians on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light.

[0171] Optionally, the edge computing device further includes:

[0172] The warning light control module M6 is used to send a warning light turn-on instruction to the ground warning light controller when it is determined that the warning light turn-on condition is met, so that the ground warning light controller controls the ground warning light to flash;

[0173] When it is determined that the warning light on condition is not met, a warning light off instruction is sent to the ground warning light controller, so that the ground warning light controller controls the ground warning light to stop flashing.

[0174] Optionally, the warning light turning on condition includes at least one of the following:

[0175] Determining that there are pedestrians on the pedestrian passage corresponding to the ground warning light;

[0176] Determining that the right turn signal light indication state is a passage permitting indication state;

[0177] It is determined that the vehicle is located in a warning light triggering area.

[0178] In the several embodiments provided by the present invention, it should be understood that the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0179] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] In addition, each functional module in each embodiment of the present invention may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may be stored in a computer-readable storage medium.

[0181] Since the specific methods for executing operations of each module of the edge computing device have been described in detail in the corresponding contents of the traffic control system described in the first aspect and the vehicle yielding to pedestrians control method described in the second aspect, they will not be repeated here.

[0182] Based on the same inventive concept, an embodiment of the present invention further provides an edge computing device, such as Fig.10As shown, it includes: a processor 110 and a memory 120 for storing executable instructions of the processor 110;

[0183] Among them, the processor 110 is configured to execute the instructions to implement the vehicle giving way to pedestrians control method described in the second aspect.

[0184] In the specific implementation process, the device may have relatively large differences due to different configurations or performances, and may include one or more processors 110, memory 120, and computer-readable storage medium 130. The memory 120 and / or computer-readable storage medium 130 include one or more applications 131 or data 132. The memory 120 and / or computer-readable storage medium 130 may also include one or more operating systems 133, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, etc. Among them, the memory 120 and the computer-readable storage medium 130 may be short-term storage or persistent storage. The application 131 may include one or more modules ( Fig.10 ), each module may include a series of instruction operations. Further, the processor 110 may be configured to communicate with the computer-readable storage medium 130, and execute a series of instruction operations in the computer-readable storage medium 130 on the device. The device may also include one or more power supplies ( Fig.10 one or more network interfaces 140, wherein the network interface 140 includes a wired network interface 141 and / or a wireless network interface 142; and one or more input / output / interfaces 143.

[0185] In the seventh aspect, based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to implement the vehicle-to-pedestrian control method described in the second aspect.

[0186] The vehicle yielding to pedestrians control method and related hardware provided in the embodiment of the present invention, when the vehicle is traveling at a high speed, by changing the right turn signal light to the non-passing indication state, thereby using the traffic control rules of the traffic signal light to force the vehicle to slow down and stop, so as to ensure the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction. In addition, for vehicles traveling at a slow speed, when the right turn signal light is in the passing indication state, the indication state of the right turn signal light is not changed, but by identifying whether the vehicle has yielded to pedestrians in the direction intersecting the right turn direction, the vehicle that did not yield is recorded, so that the traffic management department can deal with the vehicle that did not yield according to the record afterwards, thereby ensuring the traffic efficiency of the right turn direction while improving the awareness of vehicle drivers to yield to pedestrians when turning right, and improving the safety of pedestrians passing through the intersection in the direction intersecting the right turn direction from a long-term perspective.

[0187] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0188] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0189] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0190] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0191] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling vehicles to give way to pedestrians, characterized in that: Applied to edge computing devices, wherein the edge computing devices are respectively connected to a video sensor installed at a road section at an intersection and a right turn signal light corresponding to a right turn direction at the road section at the intersection, and the video sensor collects video data of the right turn direction controlled by the right turn signal light in real time; The method comprises: Receiving the real-time streaming protocol RTSP data sent by the video sensor in real time, and converting the RTSP data into video information; the RTSP data is obtained by converting the video data collected by the video sensor on the intersection section in real time; When it is determined according to the video information that the vehicle has entered the right-turn lane target area, determining whether the driving speed of the vehicle is greater than a first preset speed threshold; If the driving speed is greater than the first preset speed threshold, and the indication state of the right turn signal light is the passage-permitting indication state, a first indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-not-permitting indication state; when it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-permitting indication state; If the driving speed is less than or equal to the first preset speed threshold, and the right turn signal light indicates a state of allowing passage, the video information is analyzed to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane that intersects with the right turn direction of the vehicle, and the vehicle that fails to give way to pedestrians is recorded as having violated the violation.

2. The method according to claim 1, characterized in that After sending the first indication state adjustment instruction to the right turn signal light, the method further includes: The video information is analyzed to detect whether the vehicle stops before the stop line of the intersection section, and a violation of the traffic light indication is recorded for a vehicle that does not stop before the stop line of the intersection section.

3. The method according to claim 1, characterized in that The method further comprises: If the driving speed is greater than a second preset speed threshold, a speeding violation is recorded for the vehicle; wherein the second preset speed threshold is greater than the first preset speed threshold.

4. The method according to claim 1, characterized in that The preset condition includes at least one of the following: The time for which the right turn signal light indication state is in the non-passage-permitted indication state is greater than a preset time; It is determined that there are no pedestrians on the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light.

5. The method according to claim 1, characterized in that The edge computing device is also connected to a ground warning light controller for controlling a ground warning light, wherein the ground warning light is installed on the road surface of the pedestrian passage intersecting the right turn direction corresponding to the right turn signal light; The method further comprises: When it is determined that the warning light on condition is met, sending a warning light on instruction to the ground warning light controller so that the ground warning light controller controls the ground warning light to flash; When it is determined that the warning light on condition is not met, a warning light off instruction is sent to the ground warning light controller, so that the ground warning light controller controls the ground warning light to stop flashing.

6. The method according to claim 5, characterized in that The warning light on condition includes at least one of the following: Determining that there are pedestrians on the pedestrian passage corresponding to the ground warning light; Determining that the right turn signal light indication state is a passage permitting indication state; It is determined that the vehicle is located in a warning light triggering area.

7. An edge computing device, characterized in that: include: A video processing module, used for receiving the real-time streaming protocol RTSP data sent by the video sensor in real time, and converting the RTSP data into video information; The RTSP data is obtained by converting the video data collected by the video sensor on the intersection section in real time; A vehicle speed recognition module, for determining whether the vehicle's driving speed is greater than a first preset speed threshold when it is determined according to the video information that the vehicle has entered a right-turn lane target area; The fast vehicle speed control module is used for sending a first indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a non-passage-permitted indication state if the driving speed is greater than the first preset speed threshold and the indication state of the right turn signal light is a passage-permitted indication state; and sending a second indication state adjustment instruction to the right turn signal light to control the right turn signal light to adjust the indication state to a passage-permitted indication state when it is determined that the preset condition is met; The slow vehicle speed control module is used to analyze the video information to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle if the driving speed is less than or equal to the first preset speed threshold and the right turn signal light indicates a state of allowing passage, and record the violation of failing to give way to pedestrians for the vehicle that fails to give way to pedestrians.

8. An edge computing device, characterized in that: include: a processor and a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle giving way to pedestrians control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to implement the vehicle yielding to pedestrians control method as described in any one of claims 1-6.

10. A traffic control system, characterized in that: include: A video sensor installed at a road section at an intersection, wherein the video sensor is connected to an edge computing device and is used to collect video data of the road section at an intersection in real time, and convert the video data into RTSP data and send it to the edge computing device; The edge computing device, wherein the edge computing device is also connected to the right turn signal light, is used to receive the real-time streaming protocol RTSP data sent in real time by the video sensor, and convert the RTSP data into video information; when it is determined according to the video information that the vehicle has entered the target area of ​​the right turn lane, determine whether the driving speed of the vehicle is greater than a first preset speed threshold; If the driving speed is greater than the first preset speed threshold, and the indication state of the right turn signal light is the passage-permitting indication state, a first indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-not-permitting indication state; when it is determined that the preset condition is met, a second indication state adjustment instruction is sent to the right turn signal light to control the right turn signal light to adjust the indication state to the passage-permitting indication state; If the driving speed is less than or equal to the first preset speed threshold, and the right turn signal light indicates a state of allowing passage, the video information is analyzed to determine whether the vehicle fails to give way to pedestrians on the pedestrian lane intersecting with the right turn direction of the vehicle, and a violation of failing to give way to pedestrians is recorded for the vehicle that fails to give way to pedestrians; The right turn signal light is used to adjust the indication state to a non-passage-permitted indication state according to a first indication state adjustment instruction sent by the edge computing device; and to adjust the indication state to a passage-permitted indication state according to a second indication state adjustment instruction sent by the edge computing device.

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