264 results about "Pedestrian road crossing" patented technology

The invention discloses a road section pedestrian traffic signal control system based on pedestrian crossing clearance time. The road section pedestrian traffic signal control system based on the pedestrian crossing clearance time comprises a pedestrian data acquisition and recording unit, a pedestrian crossing clearance time computing unit and a signal implementation and feedback unit, and is applicable to pedestrian signal timing designs of thick crowd crossing districts and intersections with exclusive pedestrian phases. The road section pedestrian traffic signal control system based on the pedestrian crossing clearance time comprehensively takes time loss and pedestrian crossing traffic capacity decline due to mutual disturbance of stream of people of opposite directions during thick crowd crossing into consideration, overcomes the defects that the pedestrian speed is used as a constant and the pedestrian crossing capacity is unchanged in a traditional pedestrian traffic signal control, so that the timing result is more accurate and practical. Only the pedestrian flow and the pedestrian speed of the pedestrian crossing are needed to be measured and computed, so that the computation is concise.

The invention discloses a pedestrian avoiding method and device, a vehicle and a storage medium. The method includes the following steps that the current safe running area of the vehicle is determinedaccording to the running track, planned by a vehicle route planning system, of the vehicle; when a target pedestrian is monitored on a pedestrian crossing in front of the running route of the vehicle, the motion position attribute of the target pedestrian relative to the safe running area is determined; according to the motion position attribute, the convergence result of the target pedestrian with the vehicle in the safe running area is predicted; when the convergence result is that the vehicle and the target pedestrian converge, the vehicle is controlled to avoid the target pedestrian. According to the pedestrian avoiding method and device, the vehicle and the storage medium, the problem that the vehicle does not avoid pedestrians or the vehicle scratches the pedestrians under the condition that the pedestrians are about to enter the running track area or pedestrian distance identification is not accurate is solved, so that the effect that the autonomous vehicle can avoid the pedestrians correctly is achieved.

The invention provides a method and system for reducing the influence of pedestrian crossing on plane sensing signal control efficiency, and provides a control scheme which can obtain the red-light stopping frequencies in the first direction and the second direction, and adjust the signal lamp according to the red-light waiting frequencies in the two directions. When in the low peak condition, the automotive vehicles in the two directions wait and stop for the red light for zero time, the signal lamp in the first direction is green, and there are pedestrians passing through the cross walk in the first direction, so that the flashing time of the green light of a cross walk is prolonged; the signal lamp in the first direction is green, the cross walk in the first direction has no pedestrians to pass through, and there are pedestrians in the waiting area of a crossing in the first direction or the number of pedestrians waiting for passing through the cross walk exceeds the setting threshold, so that the green light signal of the cross walk is started or the green light signal of the cross walk is prolonged; and otherwise, the red light is maintained or the cross walk light is set to be light, in this way, the influence of the pedestrian crossing on signal lamp passing efficiency can be reduced.

The invention discloses a system for traffic violation automatic recording. The system is characterized by comprising a video and image acquisition module, a pedestrian signal lamp acquisition module, a motor vehicle detection module, a pedestrian detection module, a traffic violation determination module, and a traffic violation automatic recording module. Beneficial effects of the system and the method are that the system automatically and continuously acquires and records motor vehicles which do not avoid pedestrian in a pedestrian crossing region for 24 hours all weather, the system obviously improve efficiency of road traffic control, strictly restrains driving behaviors of vehicle drivers, effectively ensuring traffic safety of pedestrian, and improves traffic efficiency of urban road intersections.

The invention provides a fused automatic driving automobile street-crossing pedestrian trajectory prediction method and system, and the method comprises the steps: obtaining street-crossing pedestrianmotion state information, pedestrian individual feature information and vehicle motion state information according to a vehicle-mounted sensor fusion algorithm; calibrating parameters in the social force model according to the state data obtained by the vehicle-mounted sensor; training structural weight and offset parameters of an LSTM model according to the state data obtained by the vehicle-mounted sensor; utilizing the social force model and the LSTM model to respectively predict the motion trails of pedestrians crossing the street; importing the motion trail predicted by the model and theactual trail truth value of the pedestrian crossing the street into a Stacking fusion model, and training a structure weight; and outputting the optimal prediction track of the pedestrian crossing the street within a first preset time length in the future by utilizing the Stacking fusion model. According to the method, the Stacking algorithm is used for fusing the social force model and the LSTMmodel, the effect of reducing variance and deviation is achieved, and therefore it is guaranteed that the predicted trajectory is closer to the actual trajectory of the pedestrian.

The invention relates to a traffic control way for a high-flow planar intersection. A left-turn lane in an intersection entrance direction (3) is adjusted to an outermost lane (6) in a same-side direction; and a left-turn to-be-turned line (11) and a cross-opposite-direction lane (7) are set. An entrance side parking line moves backward and is arranged in front of a pedestrian crossing line at a distance of 5 to 15 meters. Four kinds of signal lights are arranged at an intersection for motor vehicles: the first kind of signal light being straight driving-right turning-left turning signal light as a main signal light (15), the second kind of signal light being a left-turn to-be-crossed opposite-direction lane signal light (18), the third kind of signal light being an exit-direction anti-collision signal light (20), and the fourth kind of signal light being a pedestrian-non-motor vehicle signal light (21); the left-turn to-be-crossed opposite-direction lane signal light (18) and the exit-direction anti-collision signal light (20) are located in a full-green or full-red period of the main signal light; and the pedestrian-non-motor vehicle signal light is arranged at the latter half of the green light of the main signal light in the direction. The system has the following beneficial effects: only two phases exist during one main signal period and no cross interference influence is caused, so that the passing capacity of the intersection is improved.

The invention relates to an automatic extraction method and device for a road pedestrian crossing in high-precision map making. The extraction method comprises the following steps: A, extracting a pedestrian crossing in an RGB image collected by a high-precision map; B, obtaining a track point closest to the pedestrian crosswalk in the laser point cloud; C, projecting a three-dimensional laser point cloud area containing the pedestrian crosswalk into a two-dimensional projection image according to the track points, and performing semantic segmentation and extraction on the two-dimensional projection image; D, performing back calculation, duplicate removal, optimization and combination on pedestrian crossing information extracted from the two-dimensional projection image until pedestrian crossing target elements in all three-dimensional laser point clouds in a high-precision map are extracted. According to the automatic extraction method and device for the road pedestrian crosswalk in high-precision map making, manual making is replaced with full automation, the problem of labor consumption cost of high-precision map making is solved, and the urban road element making speed is increased.

The invention discloses an intelligent pedestrian protection method and system based on data processing and road traffic. The method comprises the following steps: controlling a monitoring camera to start to shoot a monitoring image in real time, and binding a warning lamp group with a traffic signal lamp corresponding to a pedestrian crossing, controlling the light change of the warning lamp group to correspond to the bound traffic signal lamp and analyzing the light information of the traffic signal lamp in real time; if yes, controlling the pedestrian lifting barrier to ascend by a first distance, and controlling the motor vehicle lifting barrier to completely contract; if the lamp is a driving forbidding lamp, controlling the motor vehicle lifting barrier to be completely lifted and controlling the pedestrian lifting barrier to be completely contracted; when the traffic signal lamp is a driving passing lamp, identifying pedestrian crossing area information in real time, and analyzing whether pedestrians are located in a pedestrian crossing area in real time; and if yes, controlling the warning lamp set to enter a warning state, controlling the speed reduction lifting mechanismto drive the non-Newtonian fluid to slowly rise and fill the ground protection belt, and after it is recognized that the pedestrian leaves, controlling the speed reduction lifting mechanism to drive the non-Newtonian fluid to slowly contract.

The invention relates to a system for realizing law violation monitoring and automatic prompting based on an intelligent pedestrian road crossing signal lamp, wherein the intelligent pedestrian road crossing signal lamp includes a control module, a pedestrian road crossing monitoring module and an illegal road crossing prompting module. The system comprises an external signal machine; a control module judges whether to transmit a corresponding prompting control instruction to the illegal road crossing prompting module according to received pedestrian image information and signal lamp state information provided by the external signal machine; the pedestrian road crossing monitoring module acquires pedestrian image information at a corresponding intersection and transmits the pedestrian image information to the control module; and after receiving the prompting control instruction, the illegal road crossing prompting module emits corresponding prompting speech. According to the system for realizing law violation monitoring and automatic prompting based on the intelligent pedestrian road crossing signal lamp adopted, design requirements of the external signal machine are decreased, so that the integration degree of the system is higher. With the system adopted, illegal road crossing behaviors of pedestrians can be effectively reduced, traffic congestion can be eliminated, smooth traffic can be ensured, and personal safety can be ensured. The system has a wider application range.

The invention discloses a judgment method for section pedestrian crossing signal lamp arrangement and belongs to the field of traffic management and traffic safety. The method comprises the steps: relevant information is first acquired from a section, relevant parameters are extracted, a relational expression between section pedestrian crossing signal lamp arrangement basis values and the extracted parameters is built based on a gathering model, corresponding section pedestrian crossing signal lamp basis values W are calculated by assigning combinations of different values of the relevant parameters, and a pedestrian crossing signal lamp threshold W0 is set according to an assigned section; when the basis value W of a corresponding parameter combination of a certain section is greater than the threshold W0, a pedestrian crossing signal lamp needs to be arranged at the section; otherwise, the arrangement is not needed. According to the judgment method, influences of various road characteristics including motor vehicles and pedestrians, traffic flow and traffic environments on the section pedestrian crossing signal lamp arrangement are considered, the judgment time period is favorably shortened, the judgment efficiency and accuracy are improved, and the section passing efficiency and the pedestrian traffic safety are improved.

The invention discloses a motor vehicle zebra crossing pedestrian-yielding automatic auditing method based on deep learning. The motor vehicle zebra crossing pedestrian-yielding automatic auditing method comprises the steps of: acquiring pictures of a vehicle passing by means of a traffic intersection captured by a means of a checkpoint camera; using a pedestrian detection algorithm to detect whether a pedestrian exists in the picture; tracking pedestrians on three pictures by using a pedestrian re-identification algorithm, and judging whether the pedestrians have obvious displacement or not according to positions of the pedestrians; using a scene segmentation algorithm to segment information of a pedestrian crossing region, and judging whether the pedestrians are in the pedestrian crossing region or not; detecting the vehicle on the snapshot pictures by using a vehicle detection algorithm; positioning and tracking a to-be-audited vehicle in the three pictures by using a license platerecognition algorithms and a vehicle re-recognition algorithm; judging whether a driving direction of the tracked vehicle conflicts with a pedestrian displacement direction or not; and judging whetherthe vehicle crosses a stop line or not in the first picture and whether the motor vehicle has displacement and stops the pedestrians from passing in the second picture and the third picture.

The invention discloses a pedestrian intention multi-task identification and trajectory prediction method under the view angle of an intelligent automobile, and the method comprises the steps: carrying out the multi-task identification of the pedestrian intention and trajectory prediction according to different kinds of spatio-temporal context information captured in an environment, including visual feature information and non-visual feature information, through a novel neural network architecture, employing a hybrid method, and carrying out the multi-task identification of the pedestrian intention in the view angle of the intelligent automobile; performing joint visual space and dynamic reasoning on each information source by using a feedforward network and a loop architecture, fusing visual information and non-visual information of m historical time steps at T time, classifying current states or actions of pedestrians at the time T, predicting future crossing intentions, outputting actions and intention probabilities at the time T, and obtaining a crossing intention prediction result; the model also predicts a trajectory from time T to time T + n. The method comprehensively considers global spatio-temporal context information of a traffic environment where pedestrians are located, comprises five kinds of visual and non-visual information sources, improves the accuracy of pedestrian crossing intention prediction, and has the advantages of being small in occupied memory amount, high in reasoning speed, complementary in associated task performance and the like.

The invention belongs to the technical field of pedestrian traffic signal control and discloses a signal control method and system for pedestrian detection. The method comprises the steps that by checking the size of the people stream of a pedestrian waiting area, the pedestrian crossing phase time is automatically distributed; according to the number of detected existing passing pedestrians on zebra stripes, the red lamp time for conflict phases of conflict motor vehicles is prolonged; when it is detected that no pedestrians exist on the waiting area and the zebra stripes, no pedestrian phases are executed or pedestrian phases are reduced; when it is detected that a large number of people continuously pass through the waiting area and the zebra stripes and it is detected by a vehicle detector that no motor vehicle passes or few motor vehicles pass, the phase time for the motor vehicles is shortened, or the phases of the motor vehicles are deducted. According to the method, based on pedestrian detection data, the traffic pedestrian crossing phase time distribution or arrival mode are reasonably adjusted; the optimal time for pedestrian crossing is dynamically adjusted, so that thecrossing time for a crowd of pedestrians is sufficient and reasonable; when no pedestrian crossing demand exists, the pedestrian crossing phases are reduced, and the maximum application efficiency ofa road is achieved.

The invention discloses a pedestrian crossing road guardrail detection method and device and a computer readable storage medium, and the detection method comprises the steps: obtaining the monitored scene information, and obtaining a detection region comprising a road guardrail based on the scene information; performing target detection on the pedestrian in the detection area based on the monitoring video to obtain a target frame of the pedestrian; constructing a target sequence based on the position relation between the target frame of the pedestrian and the detection area, wherein the targetsequence comprises multiple continuous frames of target monitoring images; analyzing behaviors of pedestrians by utilizing the target sequence; and when the accumulated frame number of the target monitoring images crossing the road guardrail in the target sequence is greater than or equal to a first preset frame number threshold, outputting a detection result that the pedestrian crosses the roadguardrail. According to the scheme, the continuous multi-frame images are subjected to behavior analysis, so that the recognition accuracy can be improved.

The invention discloses a pedestrian crossing active early warning method and system based on video detection. The system comprises a detection triggering unit, a control unit, a crossing track warning unit and a vehicle early warning prompt unit. The detection triggering unit, the street crossing track warning unit and the vehicle early warning prompt unit are electrically connected with the control unit. The detection triggering unit sends detection information to the control unit, and the control unit sends control information to the street crossing track warning unit and the vehicle earlywarning prompt unit according to the detection information. The detection triggering unit is installed at an intersection and used for detecting whether a pedestrian is going to pass through the intersection. The vehicle early warning prompt unit is arranged in front of the intersection and is used for giving an alarm of paying attention to pedestrians to the coming vehicles. The street crossing track warning unit is provided with a plurality of floor lamps on the two sides of the pedestrian crossing, meanwhile, voice prompt piles are arranged on the two sides of the pedestrian crossing, pedestrians can be effectively reminded to pay attention to passing vehicles, therefore, bidirectional reminding of crossing of the vehicles and crossing of the pedestrians is achieved, and the traffic safety is further improved.

The invention discloses an intelligent pedestrian crossing line device and a control method. The device comprises a waiting area lamp strip which is disposed on the ground of a pedestrian waiting area, a stop line lamp strip which is arranged on the ground of the stop line area, a zebra crossing lamp strip which is arranged on the ground of the zebra crossing area and emits the white light, and afirst control unit which is used for controlling a waiting area lamp strip to turn on red light, the stop line lamp strip to turn on green light and the zebra crossing lamp strip to turn off after receiving the signal that the pedestrian waits and travels, and controlling the waiting area lamp strip to turn on green light, the stop line lamp strip to turn on red light and the zebra crossing lamp strip to turn on after receiving the signal that the pedestrian passes. The device is advantaged in that pedestrians and vehicles can be warned through the waiting area lamp strips and the stop line lamp strips, illumination can be achieved through the zebra crossing lamp strips, a driver can accurately judge whether pedestrians pass through a pedestrian crossing zebra crossing or not, whether pedestrians intend to cross the street or not can be accurately judged, and traffic safety is improved.

The invention discloses a dynamic traffic signal control method for a pedestrian secondary crossing intersection. The method comprises the steps: carrying out the real-time monitoring of the green light display time of a signal lamp, the waiting time of pedestrians waiting for the secondary crossing on a safety island, and the number of pedestrians waiting for the secondary crossing on the safety island, and according to a monitoring result and a preset dynamic signal control logic, dynamically adjusting the intersection signal timing scheme; and increasing the secondary crossing safety and efficiency of pedestrians and the crossing efficiency of motor vehicles. According to the invention, the green light duration is dynamically allocated according to traffic requirements under the condition of considering pedestrian crossing safety and intersection operation efficiency, and the operation efficiency of the secondary crossing intersection is improved.

The invention relates to a human body induction type pedestrian red light running voice warning and snapshot monitoring device, which comprises a background monitoring center, a main pile and an auxiliary pile, and is characterized in that the main pile and the auxiliary pile are arranged at two ends of a pedestrian crossing, a pile body of the main pile is internally provided with a main board, the main board is provided with a single-chip microcomputer, the single-chip microcomputer is connected to a voice chip, an audio amplifying circuit module, a voice data download module, a monitoring camera module, an infrared detection module, a human body induction module, a red-green LED arrow indicating light circuit module, a 3G / 4G communication module, a traffic light photoelectric coupling module and a power supply module. The device provided by the invention is simple in structure, reasonable in design and simple and convenient to operate, can give a guidance information prompt for pedestrian crossing so as to improve the safety of pedestrian crossing, and can also act as a basis for traffic law enforcement on red light running of pedestrians.

The invention discloses a method for predicting the pedestrian-vehicle conflict probability spatial distribution at uncontrolled pedestrian crossings. The method includes the steps of predicting the motor vehicle-pedestrian conflict probability of each section on a crossing by calculating the arrival probability of motor vehicles and pedestrians; then drawing the predicted conflict probability onto a corresponding position of the crossing; and obtaining a probability distribution map. The method of the invention can be used for predicting the conflict probability distribution of each section on the crossing according to design parameters before a road is built and analyzing the safety of the crossing in advance so as to adjust the road design in the design phase and provide a basis for the evaluation of the road safety.

The invention provides a pedestrian motion trail detection and violation analysis system and relates to systems for trail detection and violation analysis during pedestrian crossing. A video collection module, a behavior trail processing module and a violation behavior analysis module are adopted to jointly form the pedestrian motion trail detection and violation analysis system, wherein the video collection module contains a high-definition camera, a tripod and a connecting line; the behavior trail processing module contains a data extraction module, a data conversion module and a trail description module for converting pedestrian behavior characteristic parameters into a pedestrian crossing trail graph; and the violation behavior analysis module contains a data extraction and conversion module capable of extracting traffic parameters in violation behaviors, a violation probability prediction module and a passage efficiency analysis module under different violation probabilities. Through the system, pedestrian crossing trail detection and crossing violation analysis are realized, a user can track and detect a pedestrian crossing trail by means of video collection and perform behavior analysis and expression, and therefore the convenience of pedestrian behavior analysis is improved.

The invention relates to a planar intersection canalization traffic system. The planar intersection canalization traffic system comprises a motor vehicle lane subsystem and a non-motor vehicle lane and walkway subsystem, wherein the non-motor vehicle lane and walkway subsystem further comprises canalization islands arranged at four cross positions of an intersection and have preset distance from roadsides, a non-motor vehicle right-turn lane and a motor vehicle right-turn lane are sequentially arranged from the roadside of each cross position to each canalization island, a first pedestrian crossing is arranged from the roadside of each cross position to each canalization island, and a second pedestrian crossing is arranged between the canalization islands located on two sides of the same intersection. Non-motor vehicles and pedestrians to cross streets can walk and wait in the canalization islands through canalization, and the non-motor vehicle right-turn lane and the motor vehicle right-turn lane are arranged between the canalization islands and the intersection and outside the canalization islands according to characteristics of the intersection, so that motor vehicles, non-motor vehicles and pedestrians have and pass roads respectively, conflict points are reduced and even avoided, and the traffic capacity of the intersection is improved.

The invention relates to a safe and fast traffic law scheme which has a lower cost and is associated with city road construction, motor vehicles, non-motor vehicles, pedestrians, animals and the like. The scheme is characterized in that motor vehicle lanes are divided into low-speed lanes at levels 0, 1, 2 and 3, intermediate-speed lanes at levels 4, 5 and 6 and high-speed lanes at levels 7, 8, 9 or higher; and man-vehicle separation guardrails are arranged so that the occurrence of traffic accidents is greatly controlled by means of the man-vehicle separation. The roads at different levels are intersected, the roads at same level are not intersected, the roads at odd-even levels are intersected, the roads at odd levels are not intersected and the roads at even levels are not intersected; and simply constructed flyovers occupy small floor space and have lower height so that the security is enhanced and the construction cost is saved. The junctions are divided into three-road junctions, T-shaped junctions, crossings (with monitoring systems), annular junctions, junctions with five roads, six roads, seven roads, eight roads, nine roads and above, and the like. The traditional motor vehicle signal lamps, non-motor vehicle signal lamps and pedestrian crossing signal lamps are cancelled so that the time is saved and the efficiency is improved. At the T-shaped junctions and the crossings, the motor vehicles can run according to the arrival time; the right-turn motor vehicles allow the straight-through motor vehicles to run first; if two motor vehicles going straight arrive at a waiting line at the same time, the motor vehicle on the road at the lower level allows the motor vehicle on the road at the higher level to run first; therefore, the city traffic runs safely, orderly and rapidly. The non-motor vehicles, the pedestrians, the animals and the like advance on the non-motor vehicle lanes and the sidewalks and utilize skywalks and underground passages for crossing roads.

The invention relates to a road section pedestrian secondary crossing dynamic traffic signal control method. Aiming at pedestrian secondary crossing in a green wave coordination scene, a brand new logic control design is adopted, motor vehicle flow, motor vehicle headway and pedestrian conditions on roadside and road central safety islands comprehensively considered; motor vehicle crossing requirements, reduction of influence on green wave coordination are well balanced according to pedestrian crossing traffic requirements; pedestrian secondary crossing green lights are dynamically turned on, and the duration of the green lights are dynamically distributed; the influence on main road traffic flow can be reduced,and the safety and efficiency of motor vehicle passing and road section pedestrian secondary crossing are improved. A system for executing the control method is further designed correspondingly. The system can be quickly arranged at a target road position, and timely responds to and executes the designed method to ensure traffic safety.

The invention discloses a motor vehicle right-turn no-yield-to-pedestrian snapshot and pedestrian crossing warning system. The system comprises a front-end subsystem; the front-end subsystem comprisesan electronic police snapshot unit, a comprehensive management and control all-in-one machine and a pedestrian prompting device. The warning system fuses passage information of motor vehicles and pedestrian running direction and quantity information, detects the motor vehicles and pedestrians passing through a monitored intersection in real time, automatically captures vehicles having illegal behaviors of not avoiding pedestrians and synchronously transmits the automatically captured information to a pedestrian prompting device in advance through the system, pedestrians are reminded to stop and pay attention to right-turn vehicles, motor vehicle right-turn accidents can be prevented in advance, pedestrians and drivers are reminded and warned in advance, and the probability of motor vehicle right-turn accidents can be reduced. Safe passage of vehicles and pedestrians is ensured, and a traffic environment for civilized driving and law-keeping driving in cities is created.

The invention discloses an intelligent pedestrian crossing detection system. The system comprises a thermal imaging camera, a video analysis module, a microprocessor module, and a spike warning module. The thermal imaging camera inputs a shot video into the video analysis module for analysis, a pedestrian movement track and a vehicle movement track are acquired, and the microprocessor module judges whether a pedestrian crosses a road or not according to the pedestrian movement track, judges whether the distance between a vehicle and the pedestrian is within a preset range or not according to the vehicle movement track at the same time, and controls the spike warning module to generate lamplight with colors flickering alternately when the pedestrian crosses the road and the distance betweenthe vehicle and the pedestrian is within the preset range. According to the invention, passing-by pedestrians can be detected, the pedestrians are warned when the pedestrians are in a dangerous state, the hidden danger of traffic accidents is eliminated, the traffic accidents are avoided, and the safety guarantee is provided for the passing-by pedestrians.

The invention discloses a non-motor vehicle and pedestrian channelization special way system for an intersection in the technical field of traffic. The non-motor vehicle and pedestrian channelizationspecial way system comprises non-motor vehicle and pedestrian channelization special ways, isolation islands, waiting zones, traffic restriction pillars, non-motor vehicle lanes, pedestrian crossings,non-motor vehicle and pedestrian traffic lights, motor vehicle right-turn lanes and motor vehicle lanes. The system fully considers the problem that motor vehicles, especially trucks, collide againstnon-motor vehicles and pedestrians due to visual blind zones when turning right to cause an accident; when passing the intersection, motor vehicles pass inside the intersection, and non-motor vehicles and pedestrians pass inside the non-motor vehicle and pedestrian channelization special ways; and when the non-motor vehicles and pedestrians cross the road at the pedestrian crossings, the motor vehicles have already turned right, and the traffic situations of forward non-motor vehicles and pedestrians can be seen to guarantee that motor vehicles cannot cause the accident due to the visual blind zones.

The invention discloses a pedestrian section crossing control method based on ground public transport traffic priority. When road right special public transport passageways are arranged at two sides of a road and no median crossing pedestrian refuge is arranged in the road, or, when the road right special public transport passageway is arranged in the middle of the road and no site is arranged atthe pedestrian crossing position of the road and a median crossing pedestrian refuge for enabling a pedestrian to stay in the middle of the road is not suitable for being set in the road, a pedestrianprimary section crossing control method is adopted. When the road right special public transport passageways are arranged at two sides of the road and a median crossing pedestrian refuge is arrangedin the road, or, when the road right special public transport passageway is arranged in the middle of the road and a boarding and alighting site is arranged at the pedestrian crossing position of theroad and the site itself is the median crossing pedestrian refuge, a pedestrian secondary section crossing control method is adopted. In a condition of not influencing the normal passing of the road right special public transport, the median crossing requirements of the pedestrian are met.