KR102157582B1 - PEDESTRIAN SAFETY MANAGEMENT SYSTEM BASED ON LiDAR SENSOR - Google Patents

Abstract

The present invention relates to a pedestrian safety management system based on a lidar sensor, and more particularly, a lidar sensor that detects the approach of a vehicle using a lidar sensor, and informs the pedestrian of danger through warning signals and voice guidance. Provides a pedestrian safety management system based on.

Description

Pedestrian safety management system based on lidar sensor {PEDESTRIAN SAFETY MANAGEMENT SYSTEM BASED ON LiDAR SENSOR}

The present invention relates to a pedestrian safety management system, and more particularly, a lidar sensor-based pedestrian safety management that detects the approach of a vehicle using a lidar sensor and informs the pedestrian of danger through warning signals and voice guidance. It's about the system.

In general, crosswalks are installed at regular intervals or irregularly at required locations on a road on which a vehicle is driven so that pedestrians can cross the other side.

In addition, traffic lights for controlling vehicles and guiding pedestrians to cross the pedestrian crossing are installed in such crosswalks.

Accordingly, the pedestrian waits when the vehicle is driving according to the signal of the traffic light, and checks the crossing signal when the crossing signal of the traffic light turns on and crosses it.

However, even though crosswalks and traffic lights are installed as described above, accidents frequently occurred while attempting to cross the streets without ignoring them.

In particular, such an accident has a problem that occurs more severely to children whose judgment ability is lowered.

In addition, when a pedestrian attempts to cross a crosswalk, there is a problem in which a high-speed vehicle violates the signal immediately after the pedestrian traffic light is turned on, or accidentally collides with a pedestrian without inadvertently stopping.

In particular, there is a problem that life-threatening accidents often occur at pedestrian crossings because kindergarteners and elementary school students do not look around and jump into the crosswalk as soon as the pedestrian traffic light is turned on.

In addition, conventionally, an orange signal is lit or a green signal flashes in the process of changing the signal of a vehicle traffic light and a pedestrian traffic light to give attention to the driver or pedestrian, but the signal is too short to be properly recognized by the driver or pedestrian, causing an accident. There is a problem that occurs.

In other words, when a vehicle is passing, the driver checks the green traffic light while driving, but when the signal suddenly changes near the traffic light, it is frequently not possible to stop in front of the traffic light due to the speed of the moving vehicle, and thus, traffic accidents at an intersection or crosswalk. There is a problem that an accident that leads to occurs occurs.

In addition, pedestrians check the green signal of a pedestrian traffic light and cross the road, and when the green light blinks, some people run, but others (the elderly or the disabled) cannot run. At this time, if the signal is changed while crossing the crosswalk, there is a problem that an accident often occurs in which a person crossing the street cannot be identified and is hit by a starting vehicle or a vehicle traveling at high speed.

In particular, there is a problem in that the incidence of traffic accidents at crosswalks is high in the case of the elderly or children who are not fast in gait or cannot quickly detect the fluctuation of signals.

In general, the safety system used in crosswalks is at the level of transmitting a danger signal through an infrared sensor located at the entrance to the road or a piezoelectric sensor in a sidewalk block, and this function is not effective for the safety detection function by detecting the motion of pedestrians. There is a problem.

In Korean Patent Registration [10-1695466], a pedestrian safety management system for crosswalks and a pedestrian safety management method using the pedestrian safety management system are disclosed.

Korean Patent Registration [10-1695466] (Registration date: January 5, 2017)

Accordingly, the present invention has been conceived to solve the above problems, and an object of the present invention is that the death rate of traffic accidents for children and the elderly is continuously increasing under road conditions such as intersections including crosswalks, and in this regard Pedestrian safety based on a lidar sensor that detects the approach of a car using a lidar sensor and informs pedestrians of danger through warning signals and voice guidance in order to reflect actively in the overall government-wide policy for pedestrian safety. It is to provide a management system.

Objects of the embodiments of the present invention are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. .

A pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention for achieving the above object generates scan information by scanning a preset monitoring area in a LiDAR method. A lidar detection unit 100; An object identification unit 200 for identifying vehicle and pedestrian objects based on the scan information of the lidar detection unit 100; A voice output unit 300 for transmitting a warning sound or announcement; And the location of the crosswalk is stored, and when it is detected that the vehicle approaches the crosswalk based on the motion information of the object identified from the object identification unit 200, a warning sound or announcement is set in advance in the voice output unit 300. It characterized in that it comprises a; control unit 400 for controlling to transmit.

In addition, the lidar detecting unit 100 is a vehicle detection lid 110 for monitoring a preset monitoring area among roads passing through the vehicle; And a pedestrian detection line 120 for monitoring a preset monitoring area among the waiting points for crosswalks.

In addition, the control unit 400, based on the motion information of the object identified from the object identification unit 200, when it is detected that the vehicle is approaching the crosswalk, when it is detected that a person is going to cross the crosswalk, the It characterized in that the control to transmit a warning sound or announcement set in advance to the audio output unit 300.

In addition, the control unit 400 is connected to the traffic light 10 installed on the crosswalk, receives a lighting signal from the traffic light, and when a vehicle entering in violation of the signal is detected, a warning sound preset in the voice output unit 300 Or it characterized in that the control to transmit the announcement.

In addition, the controller 400 applies a straight line separation algorithm based on point cloud information using a Split-and-Merge technique, analyzes the standard of pedestrians and moving objects entering the crosswalk of the back road, and characterizes the pedestrian. It classifies objects by extracting the data pattern to be passed as a function to distinguish pedestrians coming and going to cross, determining the existence of an object through clustering and classification calculation, and processing the object in consideration of the association of distance data through LiDAR sensor output. It is characterized in that it detects the direction of movement.

In addition, when a vehicle is detected by the vehicle detection lid 110 and a pedestrian is detected by the pedestrian detection lid 120, the controller 400 allows power to be applied to the voice output unit 300. It is characterized.

According to a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention, a vehicle and a pedestrian are recognized based on information scanned by the lidar method, and a warning sound to the pedestrian when the vehicle is detected approaching a crosswalk. Or, by performing an announcement, there is an effect of preventing traffic accidents, but improving object recognition accuracy, signal processing speed, and attention notification function.

In addition, by monitoring different areas such as the vehicle detection lidar 110 and the pedestrian detection lidar 120, but only the areas that can minimize the risk of accidents, the time and cost required for lidar scanning are minimized. It works.

In addition, when it is detected that a vehicle is approaching a crosswalk, a warning sound or announcement is sent out when a person is trying to cross the crosswalk, so that a vehicle or signal that cannot inadvertently stop to a person crossing without looking around. It has the effect of preventing traffic accidents in advance by notifying the danger of violating vehicles.

In addition, when a vehicle entering in violation of a signal is detected, a warning sound or announcement is transmitted to inform the crossing person of the danger of a vehicle that cannot stop inadvertently or a vehicle that violates the signal, thereby further reducing traffic accidents. It can have an effect.

In addition, by applying a straight line separation algorithm based on point cloud information using the Split-and-Merge technique, there is an effect of analyzing information required for division in a relatively fast time.

In addition, when a pedestrian is detected, power is applied to the acoustic unit, thereby minimizing power consumption.

In addition, there is an effect of enabling a safer crossing of a pedestrian crossing by broadcasting a pedestrian guide when a green signal of a pedestrian traffic light and a warning broadcast to a pedestrian entering the crosswalk when a red signal of a pedestrian traffic light is displayed.

In addition, if it is determined that the pedestrian traffic light cannot cross the crosswalk before it turns red, by delaying the lighting time of the green light of the pedestrian traffic light, there is an effect that the elderly or the disabled can safely cross the crosswalk. There is an effect of preventing traffic accidents in advance even when a pedestrian looks ahead and jumps into a crosswalk as soon as the green light comes in.

In addition, when walking at a preset average walking speed, the area that can cross the crosswalk is displayed with illumination, so that it is possible to cross the crosswalk more safely by helping the walking guide not only by hearing but also by visual (lighting).

In addition, by controlling the volume of the acoustic unit proportional to the ambient noise, there is an effect of minimizing power consumption.

In addition, by using the electricity stored in the solar cell unit in a preset time period, there is an effect of reducing peak power.

In addition, there is an effect of increasing safety by simultaneously detecting a vehicle entering and a pedestrian crossing in the back road of a protected area where many children and the elderly are walking.

1 is a conceptual diagram of a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention.
2 is a conceptual diagram showing that a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention is operated in connection with a traffic light installed at a crosswalk.
3 is a conceptual diagram showing that a lighting unit is operated in connection with a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be.

On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

The terms used in the present specification are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, processes, operations, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the possibility of addition or presence of elements or numbers, processes, operations, components, parts, or combinations thereof is not preliminarily excluded.

Unless otherwise defined, all terms including technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors appropriately explain the concept of terms in order to explain their own invention in the best way. Based on the principle that it can be defined, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention. In addition, unless there are other definitions in the technical terms and scientific terms used, they have the meanings commonly understood by those of ordinary skill in the art to which this invention belongs, and the gist of the present invention in the following description and accompanying drawings Descriptions of known functions and configurations that may be unnecessarily obscure will be omitted. The drawings introduced below are provided as examples in order to sufficiently convey the spirit of the present invention to those skilled in the art. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other forms. In addition, the same reference numbers throughout the specification indicate the same elements. It should be noted that the same elements in the drawings are indicated by the same reference numerals wherever possible.

1 is a conceptual diagram of a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention, and Figure 2 is a traffic light in which a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention is installed at a pedestrian crossing 3 is a conceptual diagram showing that the lighting unit is connected to the pedestrian safety management system based on the lidar sensor according to an embodiment of the present invention.

As shown in FIG. 1, the pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention includes a lidar detection unit 100, an object identification unit 200, a voice output unit 300, and a control unit 400. ).

The lidar detection unit 100 generates scan information by scanning a preset surveillance area in a LiDAR method.

Here, the preset monitoring area may be a roadway, a sidewalk, a pedestrian crossing, and the like, and it is preferable to set a passage through which a vehicle or a pedestrian mainly moves as a monitoring area.

At this time, designating the scan range of the lidar detection unit 100 as a preset monitoring area is because the processing speed is slowed when data of an excessively wide space is acquired, while the cost of the system itself is increased.

FIG. 1 shows an example in which a road near a crosswalk and a sidewalk near a crosswalk waiting for a person who wants to cross the crosswalk are set as a preset surveillance area (expressed as a dotted line).

LiDAR is also called a laser radar, and it can be seen as a radar developed using a laser beam with properties close to radio waves.

LiDAR is a technology that can collect distance, direction, speed, and 3D image information from objects by shining a laser beam on a target, and is currently being used as a core technology for autonomous vehicles.

LiDAR has a similar principle to radar. The radar emits electromagnetic waves to the outside and checks the distance and direction with the re-received electromagnetic waves. On the other hand, the difference is that the radar fires a pulsed laser. By using a laser with a short wavelength, precision and resolution are high, and it is possible to grasp three-dimensionally depending on the object. As a close example, it is similar to the principle that dolphins use sound waves to judge objects. Of course, there are differences in how to implement LiDAR technology depending on the application area.

Using LiDAR, it is possible to recognize the position, speed (moving speed of moving objects, etc.) and moving direction of the vehicle being driven.

Therefore, if LiDAR is used, a warning broadcast according to an accurate situation determination can be transmitted.

Laser distance measurement technology is a technology that uses a laser to generate a laser at a location where the laser is generated, and then measures the wavelength of the laser returning from the target to remotely measure the distance to the target.

The following methods are known for distance measurement using a laser. Pulsed TOF (time of flight) measures the round trip time of a typical pulse, phase shift measures the distance through the phase difference of the signal, and frequency modulation that extracts distance information through the frequency difference after changing the frequency Method (FMCW, frequency modulated continuous wave) technology. The TOF method measures the distance by measuring the time when the laser emits a pulse signal and the reflected pulse signals from objects within the measurement range arrive at the receiver. The TOF method shows excellent performance, but the size of the system is large and high cost is required. The phase shift or FMCW method is mainly used for inexpensive distance measurement systems. The phase shift method calculates the time and distance by emitting a laser beam that is continuously modulated with a specific frequency and measuring the amount of phase change of a signal reflected and returned from an object within the measurement range. However, the phase shift or FMCW method has a disadvantage in that system performance is limited by signal shake or crosstalk, and in particular, the FMCW method has a disadvantage in that system performance is limited by nonlinearity of frequency change. The configuration of the lidar sensor system is sometimes very complex depending on the application field, but the basic configuration can be divided into an optical unit including a lens, a laser transmitter, a laser receiver, and a data acquisition and processing unit.

The performance of the LiDAR system is determined by the FoV (Field Of View) representing the measurement angle of the receiver, the field stop to select the measurement range, and the overlapping characteristics of the laser beam and the receiver's FOV. In particular, the minimum time for unit data collection for the luminous flux is a factor that determines the range resolution. Therefore, for a resolution of less than 1m, ultra-precision data collection and processing within a few ns is required. As for the laser light source, laser light sources having a specific wavelength or variable wavelength in a wavelength range of 250 ㎚ to 11 µm are used, and recently, SLD (Semiconductor Laser Diode) capable of small size and low power is widely used.

The object identification unit 200 identifies vehicle and pedestrian objects based on the scan information of the lidar detection unit 100.

The object identification unit 200 may acquire a 3D image based on the scan information acquired by the lidar detection unit 100, and identify an object based on this.

For example, information such as the location, distance, size, shape, speed, movement direction, and movement pattern of an object can be detected, and objects in each area can be classified by comparing the detected information with information stored in a database.

Objects to be mainly identified by the object identification unit 200 are vehicles (both two-wheeled vehicles) and pedestrians.

This is because the main purpose is to prevent a collision (accident) between a vehicle (bohamed two-wheeled vehicle) and a pedestrian.

The audio output unit 300 transmits a warning sound or announcement.

The audio output unit 300 may be applied to any sound such as a buzzer, an alarm bell, a siren, an omni-directional speaker, and a directional speaker.

The control unit 400 stores the location of the crosswalk, and when it detects that the vehicle approaches the crosswalk based on the motion information of the object identified by the object identification unit 200, the voice output unit 300 presets Control to send out a warning sound or announcement.

The control unit 400 can determine the expected movement path by grasping the movement path, movement speed, etc. of the object identified from the object identification unit 200, and detects that the vehicle approaches the crosswalk based on this information. In addition, it is possible to detect in advance that a dangerous situation may occur for pedestrians by grasping the speed at which the vehicle approaches the crosswalk and the expected time of arrival at the crosswalk.

The control unit 400 may notify the pedestrian of the dangerous situation detected in advance through the voice output unit 300.

The lidar detection unit 100 of the lidar sensor-based pedestrian safety management system according to an embodiment of the present invention may include a vehicle detection lid 110 and a pedestrian detection lid 120.

The vehicle detection lidar 110 monitors a preset monitoring area among roads through which a vehicle passes.

The vehicle detection lidar 110 monitors a preset monitoring area among roads passing by a vehicle, but is not intended to monitor only vehicles, but mainly monitors a road through which the vehicle passes.

The pedestrian detection lidar 120 monitors a preset monitoring area among waiting points for crosswalks.

The pedestrian detection radar 120 also monitors a preset monitoring area among waiting points for crosswalks, but is not intended to monitor only people, but mainly monitors the road through which vehicles pass.

In the above, the example of the lidar detection unit 100 has been described as a vehicle detection lid 110 for monitoring a vehicle passing road and a pedestrian detection lid 120 for monitoring a waiting point for a crosswalk, but the present invention is limited thereto. No, of course, any area that can increase the likelihood of preventing traffic accidents in advance, such as monitoring crosswalks or other specific areas, can be detected.

The control unit 400 of the pedestrian safety management system based on the lidar sensor according to an embodiment of the present invention detects that the vehicle approaches the crosswalk based on the motion information of the object identified from the object identification unit 200. At this time, when it is sensed that a person is going to cross the crosswalk, the voice output unit 300 may be controlled to transmit a preset warning sound or announcement.

This is to prevent noise pollution from occurring due to unnecessary warning sounds or announcements even though no one is trying to cross the crosswalk in a situation where the vehicle is about to cross the crosswalk.

At this time, the control unit 400 detects the speed of the vehicle, calculates the stopping distance of the vehicle, and when it is determined that the stopping distance will invade the crosswalk, a warning sound or a warning sound notifying the crosswalk danger to the voice output unit 300 It transmits a signal to transmit an announcement (warning broadcast).

Here, the stopping distance refers to the distance traveled by the car from the moment the driver recognizes the situation to stop until the car completely stops, and is the sum of the distance between Gongju and the braking distance.

The time it takes for a driver to press the brake pedal after seeing a pedestrian or a stop sign is called Gongju Time, and the distance the car travels during that time is called Gongju Street. In addition, the distance traveled from when the brake is applied until the car comes to a complete stop is called the braking distance. The sum of these two is the stopping distance. The distance depends on the driver's attention and reaction speed, and the braking distance depends on the weight of the vehicle, road conditions, and brake performance. In both cases, the faster the car is, the longer it is.

That is, the control unit 400 detects the speed of the vehicle going through the crosswalk, and when it is determined that the vehicle will invade the crosswalk 300 and there is a risk of collision with a person who is going to cross the crosswalk, the crosswalk risk is determined. A warning sound or a signal for transmitting an announcement (warning broadcast) is transmitted to the audio output unit 300 so that a warning sound or an announcement (warning broadcast) is transmitted.

This is to inform a person who crosses without looking at the surroundings of the danger of a vehicle that cannot stop inadvertently or a vehicle that violates the signal.

As shown in Figure 2, the control unit 400 of the pedestrian safety management system based on the lidar sensor according to an embodiment of the present invention is connected to a traffic light installed at the crosswalk, receives a lighting signal from the traffic light, and When a vehicle entering in violation is detected, the voice output unit 300 may be controlled to transmit a preset warning sound or announcement.

That is, the control unit 400 detects a signal of a vehicle traffic light in red or a signal of a pedestrian traffic light in green, and when a vehicle approaching a crosswalk is detected, a warning sound or announcement is made through the voice output unit 300. Can be controlled to be sent out.

Even at this time, the control unit 400 may control the voice output unit 300 to transmit a warning sound or an announcement to notify the danger of crossing only when a pedestrian is detected.

In addition, when the signal of the pedestrian traffic light is detected as green, the control unit 400 may control to transmit an announcement notifying that the crossing is possible to the voice output unit 300,

This is to help people crossing the pedestrian crossing by sending out a pedestrian guidance broadcast when the signal of the pedestrian traffic light is green, and informing those who do not observe the pedestrian traffic light or the visually impaired that the pedestrian traffic light has changed to a green signal. .

In addition, when the signal of the pedestrian traffic light is red, a warning sound or announcement (warning broadcast) is transmitted even when a pedestrian enters or attempts to enter the crosswalk, thereby creating danger to those who mistake the signal of the pedestrian traffic light or who attempt to cross the street without permission. Inform, you can prevent unauthorized crossing.

The controller 400 of a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention is also combined with a communication system of an autonomous vehicle to transmit pedestrian movement information on the corresponding back road or main road to the vehicle in real time. It is possible to respond according to the situation, and in particular, it can be easily applied to the construction of automobile communication database such as V2X, V2I, V2C, etc.

Through this, in addition to traffic lights, a pedestrian detection assistance function is added to prevent accidents in cars or pedestrians walking.

The control unit 400 of a pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention applies a straight line separation algorithm based on point cloud information using a Split-and-Merge technique, Analyze the standard of pedestrians and moving objects (cars, motorcycles, etc.), extract data patterns characteristic of pedestrians as a function to differentiate between pedestrians coming and going to cross, and presence or absence of objects through clustering and classification calculations It may be characterized by detecting the object classification and moving direction by determining and processing the object in consideration of the correlation of distance data through the LiDAR sensor output.

The Split-and-Merge technique is a method of splitting an image into small areas, combining similar areas by calculating the difference in color or brightness between adjacent areas, and finally dividing the image into remaining areas. It is a top-down method, and has the advantage of obtaining a partitioning result in a relatively fast time proportional to n*log(n).

The data format of LiDAR is the format of a point cloud.

Data in the form of a point cloud can be expressed in a specific vector system as a data set having a myriad of points to represent a certain form, and generally have various characteristics in a three-dimensional coordinate space.

When the control unit 400 of the pedestrian safety management system based on the lidar sensor according to an embodiment of the present invention detects a vehicle by the vehicle detection lid 110 and a pedestrian is detected by the pedestrian detection lid 120 , It may be characterized in that power is applied to the audio output unit 300.

This is because power is applied to the voice output unit 300 only when there is a pedestrian to minimize power consumption, and it is not necessary to operate the voice output unit 300 when there is no person to be guided.

The control unit 400 of the pedestrian safety management system based on the lidar sensor according to an embodiment of the present invention analyzes the walking pattern of pedestrians crossing the pedestrian crossing, and based on this, the pedestrian crosses before the pedestrian traffic light turns red. If it is determined that it is impossible to cross, it may be characterized in that controlling to delay the green lighting time of the pedestrian traffic light.

As soon as a green light comes in at a pedestrian traffic light, a traffic accident can occur if a pedestrian looks ahead and jumps into a crosswalk, and the vehicle violates the signal of a vehicle traffic light or is inadvertently unable to stop.

That is, in order to prevent such an accident, the lighting time of the green light of the pedestrian traffic light may be delayed according to the situation.

As shown in Figure 3, the lidar sensor-based pedestrian safety management system according to an embodiment of the present invention further includes a lighting unit 500 that illuminates or is illuminated on the crosswalk And

The control unit 400 may be characterized by controlling the lighting unit 500 to display an area capable of crossing a crosswalk when walking at a preset average walking speed.

This is to help guide walking through visual (lighting) as well as hearing.

For example, on the premise of left traffic, 6 lighting units 500 are installed to the left and right as shown in FIG. 3, and the green signal of the pedestrian traffic light is maintained for 16 seconds, and the normal time for crossing the crosswalk is 12 In seconds,

From the moment the pedestrian traffic light turns into a green signal until 6 seconds elapse, all 6 lighting units 500 installed on the left and 6 lighting units 500 installed on the right are turned on, and every 2 seconds after that, the lighting unit 500 installed on the left ) Is in one direction, the lighting unit 500 installed on the right side is in the other direction, and the lighting unit 500 may be turned off one by one.

This is to reduce pedestrians who may be exposed to the risk of traffic accidents by attempting to cross the crosswalk 300 just before the pedestrian traffic light turns into a red signal.

Although the lighting installed on the floor has been described as an example, the present invention is not limited thereto, and it is a matter of course that all of the lighting that can notify the danger, such as a warning light, a laser, and a display lamp, can be applied.

A pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention includes a noise measurement unit for measuring ambient noise,

The control unit 400 may be characterized in that the sound of the voice output unit 300 is adjusted according to the level of the noise measured by the noise measuring unit.

This is to minimize power consumption by controlling the volume of the audio output unit 300 proportional to the ambient noise, and reduce the output of the audio output unit 300 when it is quiet, and increase the output of the audio output unit 300 when it is noisy. I can.

A pedestrian safety management system based on a lidar sensor according to an embodiment of the present invention includes a solar cell unit that generates electricity from solar heat or sunlight and stores and supplies the generated electricity,

The control unit 400 may control the electricity stored in the solar cell unit at a preset time period to be used in the pedestrian safety management system based on the lidar sensor.

That is, it is possible to use the electricity stored in the solar cell unit at a certain time period.

This does not use commercial electricity supplied from KEPCO, etc. during times that require refraining from using electricity, such as power peak times (10 am to 12 am, 2 pm to 5 pm, etc.). This is to reduce peak power by using electricity.

The present invention is not limited to the above-described embodiments, and of course, various modifications can be made without departing from the gist of the present invention as claimed in the claims.

100: lidar detection unit
110: Lida for vehicle detection 120: Lida for pedestrian detection
200: object identification unit
300: audio output unit
400: control unit
500: lighting unit

Claims (6)

A lidar detection unit 100 for generating scan information by scanning a preset surveillance area in a LiDAR method;
An object identification unit 200 for identifying vehicle and pedestrian objects based on the scan information of the lidar detection unit 100;
A voice output unit 300 for transmitting a warning sound or announcement; And
The location of the crosswalk is stored, and when it is detected that the vehicle is approaching the crosswalk based on the motion information of the object identified from the object identification unit 200, a warning sound or announcement set in advance is transmitted to the voice output unit 300. Includes; a control unit 400 that controls to transmit,
The control unit 400
By applying a straight line separation algorithm based on point cloud information using the Split-and-Merge technique, the standard of pedestrians and moving objects entering the crosswalk of the back road is analyzed, and the data pattern characteristic of the pedestrian is extracted as a function. It distinguishes between pedestrians coming and going to cross, and determines the existence of an object through clustering and classification calculation, and detects object classification and movement direction by processing the object in consideration of the correlation of distance data through LiDAR sensor output. and,
The control unit 400
It is characterized by analyzing the walking pattern of pedestrians crossing the pedestrian crossing, and controlling to delay the green lighting time of the pedestrian traffic light if it is determined that the pedestrian cannot cross the pedestrian crossing before the pedestrian traffic light turns red. ,
The control unit 400
A lidar sensor-based pedestrian safety management system, characterized in that the sound of the voice output unit 300 is adjusted according to the amount of noise measured by the noise measuring unit.
The method of claim 1,
The lidar sensing unit 100 is
A vehicle detection lid for monitoring a preset monitoring area among roads passing by a vehicle;
It is a pedestrian detection line 120 for monitoring a preset monitoring area among waiting points for crosswalks;
A lidar sensor-based pedestrian safety management system that includes.
The method of claim 1,
The control unit 400
Based on the motion information of the object identified from the object identification unit 200, when a vehicle is detected approaching a crosswalk, when a person is about to cross the crosswalk is detected, the voice output unit 300 A lidar sensor-based pedestrian safety management system, characterized in that controlling to transmit a set warning sound or announcement.
The method of claim 1,
The control unit 400
It is connected to the traffic light 10 installed at the crosswalk, receives a lighting signal from the traffic light, and controls to transmit a pre-set warning sound or announcement to the audio output unit 300 when a vehicle entering in violation of the signal is detected. A lidar sensor-based pedestrian safety management system, characterized in that.
delete The method of claim 2,
The control unit 400
When a vehicle is detected by the vehicle detection lidar 110 and a pedestrian is detected by the pedestrian detection lidar 120, power is applied to the voice output unit 300. Pedestrian safety management system.

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