C-V2X-based blind person priority passing signal control system and method
By acquiring trajectory information of blind people through C-V2X technology and adaptively adjusting traffic light timings, the problem of poor waiting experience for blind people at intersections has been solved, achieving a balance between safe passage for blind people and efficiency for social vehicles.
Patent Information
- Application Number
- CN202511471593.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-15
- Publication Date
- 2026-02-10
AI Technical Summary
Existing technologies that use cameras, millimeter-wave radar, and other sensing devices to identify blind people have limitations in terms of usage environment, accuracy is difficult to guarantee, and the need to be close to the zebra crossing to perform sensing and recognition results in a poor experience for blind people waiting at intersections and affects the efficiency of traffic flow for other vehicles.
C-V2X technology is used to acquire the trajectory information of blind people. The information of blind people crossing the street is sent to the traffic signal controller through the C-V2X smart terminal and the roadside unit (RSU). The traffic signal controller adaptively adjusts the timing of the traffic lights to ensure that the green light is on when the blind person arrives at the zebra crossing and to extend the green light duration, so as to ensure the blind person can cross safely.
This allows for the adjustment of traffic light timings before a blind person reaches the zebra crossing, preventing them from waiting at red lights and improving the accessibility experience, while also taking into account the efficiency of traffic flow for other vehicles and ensuring the safe passage of blind people across intersections.
Smart Images
Figure CN121505894A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of vehicle-road cooperative technology, specifically relating to a C-V2X-based signal control system and method for prioritizing passage for the blind. Background Technology
[0002] In urban traffic environments, safely and independently navigating traffic-light controlled intersections is one of the core challenges faced by blind and visually impaired individuals in their daily travels. Blind people walk at approximately 45% to 90% of the walking speed of sighted individuals. Pedestrian phase timing at intersections is typically set based on the walking speed and crosswalk length of sighted people. This results in insufficient green light time for blind individuals, making it difficult to guarantee their safe passage across the crosswalk. To address this issue, most current methods utilize roadside sensing devices such as cameras and millimeter-wave radar to identify the location and speed of blind individuals. Based on this speed information, the required green light duration for crossing the crosswalk is calculated, and combined with other intersection information, a timing scheme is generated. This scheme is then displayed by the traffic signal light output unit.
[0003] The current method of using cameras and millimeter-wave radar to identify the characteristics, location, and speed of blind people and adjust the green light duration for the pedestrian phase where the blind person is located has several problems in practical applications. First, in crowded intersections, the limited angle of the cameras or millimeter-wave radar may prevent the identification of blind people, resulting in limited accuracy in identifying their characteristics, location, and speed in engineering applications. Second, the cameras and millimeter-wave radar can only detect and identify blind people when they are near the crosswalk, making it impossible to adjust the traffic light timing in advance to ensure the green light illuminates when the blind person reaches the crosswalk, causing them to wait at intersections and resulting in a poor accessibility experience. Third, the methods for controlling pedestrian priority signals are often unreasonable. Many control methods unilaterally increase the green light ratio for the pedestrian phase where the blind person is located, ignoring the needs of other vehicles and easily causing traffic congestion. Therefore, there is an urgent need for a reliable traffic signal control system and method that considers the needs of other vehicles in other phases to assist blind people in safely crossing traffic light intersections. Summary of the Invention
[0004] To address the shortcomings of the existing technologies, the present invention aims to provide a C-V2X-based pedestrian priority signal control system and method for the blind, thereby solving the technical defects of existing technologies, such as limited usage environment, difficulty in guaranteeing accuracy, and the need to be close to the zebra crossing for blind perception and recognition, which are caused by the use of sensing devices such as cameras and millimeter-wave radar. It also solves the problems of poor accessibility experience for the blind when waiting at intersections and the impact of unilaterally increasing the green light ratio of the pedestrian phase where the blind are located on the efficiency of social vehicle traffic.
[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0006] The present invention discloses a C-V2X-based pedestrian priority signal control system, comprising: a C-V2X intelligent terminal, a roadside unit (RSU), and a traffic signal controller; the C-V2X intelligent terminal is used to calculate the trajectory information of the blind person in real time and send the blind person's crossing information to the roadside unit (RSU), the roadside unit (RSU) sends the blind person's crossing information to the traffic signal controller, and the traffic signal controller adaptively adjusts the traffic light timing according to the blind person's crossing information to ensure that the green light is on when the blind person arrives at the zebra crossing and that the passage time is sufficient for the blind person to cross the zebra crossing;
[0007] The information on blind people crossing the street includes: blind people's request information for crossing the street and blind people's trajectory information; the blind people's trajectory information includes longitude, latitude and average speed; the blind people's request information for crossing the street includes the pedestrian phase of the blind people crossing the zebra crossing.
[0008] This invention also provides a C-V2X-based method for controlling priority passage signals for the blind. Based on the above system, the steps are as follows:
[0009] 1) The C-V2X intelligent terminal obtains the latitude and longitude coordinates of the center point of the intersection ahead from the roadside unit (RSU). , The longitude of the center point of the intersection ahead. The latitude of the center point of the intersection ahead is used, and the current coordinates are calculated periodically. Location of the blind person at all times To the center of the intersection ahead distance , latitude and longitude coordinates express, For the present The longitude of the location of the blind person at any given time. For the present The latitude and longitude of the blind person's location at any given moment;
[0010] 2) C-V2X intelligent terminal determines distance Is it greater than the set threshold? ,like Less than / equal to threshold Then the C-V2X smart terminal will send the blind person's request for crossing the street and average speed to the traffic signal controller via the roadside unit (RSU);
[0011] 3) The traffic signal controller obtains the starting coordinates of the pedestrian crossing for the visually impaired from the roadside unit (RSU). End point coordinates And the length of the zebra crossing, The longitude of the starting point of the zebra crossing for the blind. The latitude and longitude of the starting point of the zebra crossing for blind pedestrians. The longitude of the endpoint of the zebra crossing for blind pedestrians. The latitude of the endpoint of the zebra crossing for the blind;
[0012] 4) The traffic signal controller calculates the initial clearance time for blind pedestrians crossing the zebra crossing. ;
[0013] 5) Traffic signal controllers calculate the corrected clearance time for visually impaired pedestrians at crosswalks. ;
[0014] 6) After receiving a request from a blind person to cross the street, the traffic signal controller performs signal cycle alignment and calculates the arrival time of the blind person to the starting point of the crosswalk. ;
[0015] 7) Traffic signal controllers shall be configured according to the pedestrian phase green ratio of the original timing scheme for crosswalks for the visually impaired. The time to reach The timing scheme is adjusted by dividing the signal into two cycles, with the green light duration for blind pedestrians crossing the zebra crossing being [duration missing] in each cycle. The red light duration is Time elapsed to reach After a certain time, when a blind person arrives at the starting point of the crosswalk, it will coincide with the start of the green light for the next signal cycle. Therefore, the initial green light duration for the blind person crossing the crosswalk is set to... ;
[0016] 8) Traffic signal controllers periodically calculate the distance from a blind person to the end of the zebra crossing. ;
[0017] 9) The traffic signal controller determines whether a blind person has reached the end of the zebra crossing before the green light ends. If not, it records the distance from the blind person to the end of the zebra crossing at that moment. And calculate the green light extension time. Extend the time according to the green light The final green light duration for visually impaired pedestrians at crosswalks is calculated based on the pedestrian phase green light ratio at the crosswalk. Calculate the red light duration for visually impaired pedestrians at crosswalks during the current signal cycle; after the current signal cycle ends, the traffic signal controller resumes its original timing scheme.
[0018] Furthermore, in step 1), the distance The calculation formula is as follows:
[0019] .
[0020] Further, the threshold in step 2) The value range is [50, 400].
[0021] Furthermore, in step 4), the initial clearance time is the green light duration of the zebra crossing, calculated using the following formula:
[0022] ;
[0023] in, The average walking speed of a blind person. The length of the zebra crossing for the blind. This is the average velocity correction factor, which is a constant and ranges from [1, 1.5].
[0024] Furthermore, in step 5), the adjusted passage time for blind pedestrians at the zebra crossing... The calculation formula is as follows:
[0025] ;
[0026] in, The original plan for allowing blind people to cross zebra crossings is to determine the permitted crossing time.
[0027] Furthermore, step 6) specifically includes:
[0028] Obtain the latitude, longitude, and average speed of the blind person at the end of the current signal cycle, and calculate the arrival time of the blind person to the starting point of the crosswalk. ,like , If the original signal cycle is reached, proceed to step 7); otherwise, continue through... Calculated after duration ,until Proceed to step 7); calculate arrival time. The formula is as follows:
[0029] ;
[0030] ;
[0031] in, This is the arrival time before rounding up.
[0032] Furthermore, in step 8), the distance from the blind person to the end of the zebra crossing... The calculation formula is as follows:
[0033] ;
[0034] When a blind person crosses a zebra crossing, Gradually decrease, When the value approaches 0, it indicates that the blind person has reached the end of the zebra crossing.
[0035] Furthermore, in step 9), the green light time is extended. The calculation formula is as follows:
[0036] ;
[0037] Final green light duration for blind pedestrians at crosswalks The calculation formula is as follows:
[0038] ;
[0039] If a blind person has reached the end of the zebra crossing before the green light ends, then The value is set to 0; keeping the green light ratio unchanged, the red light duration for the current signal cycle at the crosswalk for the visually impaired is set to... .
[0040] The beneficial effects of this invention are:
[0041] This invention directly acquires the trajectory information and street crossing requests of blind people through C-V2X direct communication, which is stable and reliable. It overcomes the technical defects of existing devices that identify blind people through cameras, millimeter-wave radar and other sensing devices, such as limited usage environment, difficulty in guaranteeing accuracy, and the need to be close to the zebra crossing to perform blind person perception and recognition.
[0042] This invention can adjust the traffic light timing scheme in advance based on the blind person's trajectory information and crossing request before the blind person reaches the zebra crossing, ensuring that the green light is on when the blind person arrives at the zebra crossing, avoiding waiting at the red light and improving the accessibility experience; at the same time, if it is detected that the blind person has not crossed the zebra crossing before the green light ends, the green light duration is extended to ensure that the green light duration is sufficient for the blind person to cross the zebra crossing.
[0043] This invention maintains a constant green light ratio when adjusting the timing scheme, thus taking into account the efficiency of social vehicle traffic. Attached Figure Description
[0044] Figure 1 This is a schematic diagram of the system of the present invention.
[0045] Figure 2 This is a flowchart of the method of the present invention.
[0046] Figure 3 This is a schematic diagram of signal timing adjustment in the embodiment. Detailed Implementation
[0047] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.
[0048] Reference Figure 1As shown, the present invention discloses a C-V2X-based pedestrian priority signal control system, comprising: a C-V2X intelligent terminal, a roadside unit (RSU), and a traffic signal controller; the C-V2X intelligent terminal is used to calculate the trajectory information of the blind person in real time and send the blind person's crossing information to the roadside unit (RSU), the roadside unit (RSU) sends the blind person's crossing information to the traffic signal controller, and the traffic signal controller adaptively adjusts the traffic light timing according to the blind person's crossing information to ensure that the green light is on when the blind person arrives at the zebra crossing and that the passage time is sufficient for the blind person to cross the zebra crossing;
[0049] The information on blind people crossing the street includes: blind people's request information for crossing the street and blind people's trajectory information; the blind people's trajectory information includes longitude, latitude and average speed; the blind people's request information for crossing the street includes the pedestrian phase of the blind people crossing the zebra crossing.
[0050] Reference Figure 2 As shown, the present invention also provides a C-V2X-based method for controlling priority passage signals for the blind. Based on the above system, the steps are as follows:
[0051] 1) The C-V2X intelligent terminal obtains the latitude and longitude coordinates of the center point of the intersection ahead from the roadside unit (RSU). , The longitude of the center point of the intersection ahead. The latitude of the center point of the intersection ahead is used, and the current coordinates are calculated periodically. Location of the blind person at all times To the center of the intersection ahead distance , latitude and longitude coordinates express, For the present The longitude of the location of the blind person at any given time. For the present The latitude and longitude of the blind person's location at any given moment;
[0052] Among them, distance The calculation formula is as follows:
[0053] .
[0054] 2) C-V2X intelligent terminal determines distance Is it greater than the set threshold? ,like Less than / equal to threshold Then the C-V2X smart terminal will send the blind person's request for crossing the street and average speed to the traffic signal controller via the roadside unit (RSU);
[0055] Among them, the threshold in step 2) The value range is [50, 400].
[0056] 3) The traffic signal controller obtains the starting coordinates of the pedestrian crossing for the visually impaired from the roadside unit (RSU). End point coordinates And the length of the zebra crossing, The longitude of the starting point of the zebra crossing for the blind. The latitude and longitude of the starting point of the zebra crossing for blind pedestrians. The longitude of the endpoint of the zebra crossing for blind pedestrians. The latitude of the endpoint of the zebra crossing for the blind.
[0057] 4) The traffic signal controller calculates the initial clearance time for blind pedestrians crossing the zebra crossing. ;
[0058] The initial clearance time is the green light duration at the zebra crossing, calculated using the following formula:
[0059] ;
[0060] in, The average walking speed of a blind person. The length of the zebra crossing for the blind. This is the average velocity correction factor, which is a constant and ranges from [1, 1.5].
[0061] 5) Traffic signal controllers calculate the corrected clearance time for visually impaired pedestrians at crosswalks. ;
[0062] Adjusted clearance time for pedestrians crossing the zebra crossing The calculation formula is as follows:
[0063] ;
[0064] in, The original plan for allowing blind people to cross zebra crossings is to determine the permitted crossing time.
[0065] 6) After receiving a request from a blind person to cross the street, the traffic signal controller performs signal cycle alignment and calculates the arrival time of the blind person to the starting point of the crosswalk. Specifically, it includes:
[0066] Obtain the latitude, longitude, and average speed of the blind person at the end of the current signal cycle, and calculate the arrival time of the blind person to the starting point of the crosswalk. ,like , If the original signal cycle is reached, proceed to step 7); otherwise, continue through... Calculated after duration ,until Proceed to step 7); calculate arrival time. The formula is as follows:
[0067] ;
[0068] ;
[0069] in, This is the arrival time before rounding up.
[0070] 7) Traffic signal controllers shall be configured according to the pedestrian phase green ratio of the original timing scheme for crosswalks for the visually impaired. The time to reach The timing scheme is adjusted by dividing the signal into two cycles, with the green light duration for blind pedestrians crossing the zebra crossing being [duration missing] in each cycle. The red light duration is Time elapsed to reach After a certain time, when a blind person arrives at the starting point of the crosswalk, it will coincide with the start of the green light for the next signal cycle. Therefore, the initial green light duration for the blind person crossing the crosswalk is set to... Blind people have started crossing zebra crossings.
[0071] 8) Traffic signal controllers periodically calculate the distance from a blind person to the end of the zebra crossing. ;
[0072] Distance from a blind person to the end of the zebra crossing The calculation formula is as follows:
[0073] ;
[0074] When a blind person crosses a zebra crossing, Gradually decrease, When the value approaches 0, it indicates that the blind person has reached the end of the zebra crossing.
[0075] 9) The traffic signal controller determines whether a blind person has reached the end of the zebra crossing before the green light ends. If not, it records the distance from the blind person to the end of the zebra crossing at that moment. And calculate the green light extension time. Extend the time according to the green light The final green light duration for visually impaired pedestrians at crosswalks is calculated based on the pedestrian phase green light ratio at the crosswalk. Calculate the red light duration for visually impaired pedestrians at the crosswalk during the current signal cycle; after the current signal cycle ends, the traffic signal controller resumes operation according to the original timing scheme.
[0076] Among them, the green light extension time The calculation formula is as follows:
[0077] ;
[0078] Final green light duration for blind pedestrians at crosswalks The calculation formula is as follows:
[0079] ;
[0080] If a blind person has reached the end of the zebra crossing before the green light ends, then The value is set to 0; keeping the green light ratio unchanged, the red light duration for the current signal cycle at the crosswalk for the visually impaired is set to... .
[0081] In the example, the C-V2X smart terminal obtains the latitude and longitude coordinates of the center point of the intersection ahead from the roadside unit (RSU) via C-V2X wireless communication. (118.870140, 32.01965), calculate the location of the blind person once per second. To the center of the intersection distance As the blind person walked towards the intersection, Gradually decrease, record The latitude and longitude coordinates of the blind person's location at any given time are: (118.868832, 32.02056), then It is 159.7 meters, which is less than the threshold. (Threshold in this example) (Taking a value of 160 meters), the C-V2X smart terminal, following the planned travel route, transmits the pedestrian crossing request information for the westbound zebra crossing at the intersection via C-V2X wireless communication, with an average speed of 0.8 meters per second, to the traffic signal controller via the roadside unit (RSU). The green light duration for the westbound zebra crossing is 20 seconds, which is the original planned time for blind pedestrians to cross the zebra crossing. The red light duration is 40 seconds, and the original signal cycle is 20 seconds. For 60 seconds, green signal ratio It is 1 / 3.
[0082] After receiving a request from a blind person to cross the street, the traffic signal controller obtains the starting coordinates of the crosswalk from the roadside unit (RSU). (118.870110, 32.01976), endpoint coordinates (118.870000, 32.01964) and zebra crossing length 16.9 meters, average speed correction factor The value is 1.1, used to calculate the initial clearance time for blind people crossing the zebra crossing. The value is 24 seconds, because It lasts for 20 seconds. Then adjust the release time. The value is 24 seconds.
[0083] After receiving a request from a blind person to cross the street, the traffic signal controller performs signal cycle alignment, that is, at the end of the current signal cycle (denoted as...). (Time), obtain the latitude and longitude coordinates of the blind person at that moment. Given (118.869052, 32.02041) and an average speed of 0.8 m / s, calculate the arrival time for a blind person to reach the starting point of the crosswalk. The value is 170 seconds, not present. Within the interval, wait for one signal cycle (denoted as...) (Time), obtain the latitude and longitude coordinates of the blind person at that moment. Given (118.869473, 32.02021) and an average speed of 0.8 m / s, the arrival time for a blind person to reach the starting point of the crosswalk is calculated. The value is 108 seconds. According to the original plan for the green light ratio of the zebra crossing on the west side of the intersection. ,Will The timing scheme is adjusted by dividing the intersection into two signal cycles. In each signal cycle, the green light duration for the westbound zebra crossing is 18 seconds, and the red light duration is 36 seconds. After a certain time, when the blind person arrives at the starting point of the crosswalk, it will coincide with the start of the green light for the next signal cycle. At this point, the initial green light duration for the blind person crossing the crosswalk will be set to... The time limit is 24 seconds, at which point the blind person begins to cross the zebra crossing.
[0084] During the process of a blind person crossing a zebra crossing, the traffic signal controller calculates the distance from the blind person to the end of the zebra crossing every second. When a blind person crosses a zebra crossing, Gradually decrease, When the value approaches 0, it indicates that the blind person has reached the end of the zebra crossing. If the blind person has not reached the end of the zebra crossing before the green light ends, record the distance from the blind person to the end of the zebra crossing at that moment. The value is 4.3 meters. Extending the green light duration by 6 seconds results in a final green light duration of 30 seconds. Maintaining the green light ratio, the red light duration is set to 60 seconds. After the current signal cycle ends, the traffic signal controller resumes its original timing scheme. A diagram illustrating the signal timing adjustment is shown below. Figure 3 As shown.
[0085] This invention has many specific applications. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.
Claims
1. A C-V2X-based pedestrian priority signal control system for the blind, characterized in that, include: C-V2X intelligent terminals, roadside units (RSUs), and traffic signal controllers; The C-V2X smart terminal is used to calculate the trajectory information of blind people in real time and send the information of blind people crossing the street to the roadside unit (RSU). The RSU sends the information of blind people crossing the street to the traffic signal controller. The traffic signal controller adaptively adjusts the timing of the traffic lights according to the information of blind people crossing the street to ensure that the green light is on when blind people arrive at the zebra crossing and that the passage time is sufficient for blind people to cross the zebra crossing. The information on blind people crossing the street includes: blind people's request information for crossing the street and blind people's trajectory information; the blind people's trajectory information includes longitude, latitude and average speed; the blind people's request information for crossing the street includes the pedestrian phase of the blind people crossing the zebra crossing.
2. A method for controlling priority passage signals for the blind based on C-V2X, based on the system described in claim 1, characterized in that, The steps are as follows: 1) The C-V2X intelligent terminal obtains the latitude and longitude coordinates of the center point of the intersection ahead from the roadside unit (RSU). , The longitude of the center point of the intersection ahead. The latitude of the center point of the intersection ahead is used, and the current coordinates are calculated periodically. Location of the blind person at all times To the center of the intersection ahead distance , latitude and longitude coordinates express, For the present The longitude of the location of the blind person at any given time. For the present The latitude and longitude of the blind person's location at any given moment; 2) C-V2X intelligent terminal determines distance Is it greater than the set threshold? ,like Less than / equal to threshold Then the C-V2X smart terminal will send the blind person's request for crossing the street and average speed to the traffic signal controller via the roadside unit (RSU); 3) The traffic signal controller obtains the starting coordinates of the pedestrian crossing for the visually impaired from the roadside unit (RSU). End point coordinates And the length of the zebra crossing, The longitude of the starting point of the zebra crossing for the blind. The latitude and longitude of the starting point of the zebra crossing for blind pedestrians. The longitude of the endpoint of the zebra crossing for blind pedestrians. The latitude of the endpoint of the zebra crossing for the blind; 4) The traffic signal controller calculates the initial clearance time for blind pedestrians crossing the zebra crossing. ; 5) Traffic signal controllers calculate the corrected clearance time for visually impaired pedestrians at crosswalks. ; 6) After receiving a request from a blind person to cross the street, the traffic signal controller performs signal cycle alignment and calculates the arrival time of the blind person to the starting point of the crosswalk. ; 7) Traffic signal controllers shall be configured according to the pedestrian phase green ratio of the original timing scheme for crosswalks for the visually impaired. The time to reach The timing scheme is adjusted by dividing the signal into two cycles, with the green light duration for blind pedestrians crossing the zebra crossing being [duration missing] in each cycle. The red light duration is Time elapsed to reach After a certain time, when a blind person arrives at the starting point of the crosswalk, it will coincide with the start of the green light for the next signal cycle. Therefore, the initial green light duration for the blind person crossing the crosswalk is set to... ; 8) Traffic signal controllers periodically calculate the distance from a blind person to the end of the zebra crossing. ; 9) The traffic signal controller determines whether a blind person has reached the end of the zebra crossing before the green light ends. If not, it records the distance from the blind person to the end of the zebra crossing at that moment. And calculate the green light extension time. Extend the time according to the green light The final green light duration for visually impaired pedestrians at crosswalks is calculated based on the pedestrian phase green light ratio at the crosswalk. Calculate the red light duration for visually impaired pedestrians at crosswalks during the current signal cycle; after the current signal cycle ends, the traffic signal controller resumes its original timing scheme.
3. The method for controlling priority passage signals for the blind based on C-V2X according to claim 2, characterized in that, In step 1), the distance The calculation formula is as follows: 。 4. The method for controlling priority passage signals for the blind based on C-V2X according to claim 2, characterized in that, The threshold in step 2) The value range is [50, 400].
5. The method for controlling priority passage signals for the blind based on C-V2X according to claim 2, characterized in that, In step 4), the initial clearance time is the green light duration of the zebra crossing, calculated using the following formula: ； in, The average walking speed of a blind person. The length of the zebra crossing for the blind. This is the average speed correction factor.
6. The method for controlling priority passage signals for the blind based on C-V2X according to claim 5, characterized in that, In step 5), the adjusted clearance time for blind pedestrians at the crosswalk The calculation formula is as follows: ； in, The original plan for allowing blind people to cross zebra crossings is to determine the permitted crossing time.
7. The method for controlling priority passage signals for the blind based on C-V2X according to claim 6, characterized in that, Step 6) specifically includes: Obtain the latitude, longitude, and average speed of the blind person at the end of the current signal cycle, and calculate the arrival time of the blind person to the starting point of the crosswalk. ,like , If the original signal cycle is reached, proceed to step 7); otherwise, continue through... Calculated after duration ,until Proceed to step 7); calculate arrival time. The formula is as follows: ； ； in, This is the arrival time before rounding up.
8. The method for controlling priority passage signals for the blind based on C-V2X according to claim 7, characterized in that, In step 8), the distance from the blind person to the end of the zebra crossing... The calculation formula is as follows: ； When a blind person crosses a zebra crossing, Gradually decrease, When the value approaches 0, it indicates that the blind person has reached the end of the zebra crossing.
9. The method for controlling priority passage signals for the blind based on C-V2X according to claim 8, characterized in that, In step 9), the green light time is extended. The calculation formula is as follows: ； Final green light duration for blind pedestrians at crosswalks The calculation formula is as follows: ； If a blind person has reached the end of the zebra crossing before the green light ends, then The value is set to 0; keeping the green light ratio unchanged, the red light duration for the current signal cycle at the crosswalk for the visually impaired is set to... .