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WO2009126120A1 - Système et procédé de commande de feux de signalisation de trafic - Google Patents

Système et procédé de commande de feux de signalisation de trafic Download PDF

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Publication number
WO2009126120A1
WO2009126120A1 PCT/US2008/004472 US2008004472W WO2009126120A1 WO 2009126120 A1 WO2009126120 A1 WO 2009126120A1 US 2008004472 W US2008004472 W US 2008004472W WO 2009126120 A1 WO2009126120 A1 WO 2009126120A1
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WIPO (PCT)
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area
interest
image
images
intersection
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PCT/US2008/004472
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English (en)
Inventor
Henry H. Wall
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Individual
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Priority to PCT/US2008/004472 priority Critical patent/WO2009126120A1/fr
Publication of WO2009126120A1 publication Critical patent/WO2009126120A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles

Definitions

  • This invention relates to an apparatus or system and method or process for controlling the movement of one or more objects as they approach a point at which the objects are likely to collide if a control apparatus or system is absent. More specifically, a practical application of the present invention is the apparatus or system and method or process for controlling vehicular traffic at an intersection.
  • U.S. Patent 6,366,219 to Moummady includes an elaborate traffic management system using a video camera that provides data on the intersection, is converted to digital imaging information, and is processed and analyzed. The analysis is used to simulate and validate a strategy for traffic control prior to ⁇ n-site implementation.
  • the system uses a measurement of traffic density on the road to predict a traffic flow rate and includes video cameras for picking up images of a traffic condition at an upper stream of an intersection, an analog/digital converter for converting the image data into a digital video signal, two sets of image memories for storing the digital image data for two scenes captured, a data process/control unit for calculating a total number of vehicles with a predetermined area and calculating a correction coefficient and an input/output unit for interfacing with the traffic control signal.
  • this system and method uses complex video image processing and analog video systems which need conversion to digital signals and, further, uses traffic estimates and correction coefficients to control the traffic light.
  • Patent 4,908,615 employs a radar traffic light control system with a transmitter/receiver module including an array of interconnected microstrip patch antennas which also act as the resonators for oscillators powered by IMPATT diodes; varactors on the interconnections permit beam steering for scanning roadways.
  • this system requires an interconnected array of antennas and receivers to gain the whole picture of the intersection or roadway.
  • Other mechanical systems such as road embedded loop antennas or pneumatic strips across the roadway give limited information and require expensive maintenance and traffic interruption.
  • an improved system or apparatus and method or process for traffic regulation and control to provide a smooth flow of traffic is desirable and is provided by the present invention.
  • an object of this invention to provide a method or process for controlling traffic at intersections without overly complicating a digital camera input device with the total image which the camera can observe and capture as images. It is another object of this invention to use a digital camera to avoid the step of converting the image captured into digital format for processing.
  • Il is a still further object of the present invention l ⁇ provide an apparatus or system combining a digital camera with a roadside marker and a central processing unit having a computer program which obtains the digital image, processes and analyzes less than the entire image for information on the traffic and then proceeds through a logical progression to produce an output which changes the traffic signal light in a safe and efficient manner so that energy and emotion is conserved.
  • the present invention provides a method or process for controlling the movement of a first object in a first lane so that it does not collide with a second object moving in a second lane which intersects with the first lane by providing a digital image of the convergence of the first and second objects, processing and analyzing less than the entire image so provided using a logical algorithm to determine whether the first or second object should have the right of way and sending a control signal to a control unit at the intersection.
  • Also provided by the present invention is at least one viewing means for capturing an image of the intersection, a means for analyzing and evaluating less than the entire image captured and according to a logical algorithm producing a control signal, and a control unit for receiving the control unit so that the control unit provides a right of way signal to one of the objects in preference to the other.
  • FIG. 1 is a logic diagram of the process for traffic control of the invention.
  • the present invention is a system or apparatus for preventing the collision of or for regulating the movement through an intersection where at least a first moving object must cross an intersection with another lane having a second moving body therein and which is moving toward the intersection. Also, a process or method for the regulation of moving bodies on a collision course through an intersection is contemplated by the present invention.
  • This invention has use in the industries related Io automatic warehousing logistics, biomedical and biomechanical areas, micromanufacturing, space physics, traffic control and the like.
  • aspects of the present invention are operable in 3 dimensions, for the purposes of explanation and description, there is described the use of the instant invention in a 2-dimensional plane, such as, for purposes of illustration only and without limitation, the intersection of at least two roadways which are regulated and controlled by a tri-color traffic light.
  • the present invention provides a traffic control apparatus adjacent an area of interest in which one or more moving objects is to be controlled for efficiency and safety in passage through said area, said apparatus including a) at least one means for viewing said area of interest and capturing at least one image thereof to provide information related to movement of one or more of said objects through said area of interest, b) means for analyzing and evaluating said information, using less than the entire image to provide location, speed, direction of travel, size and distance from said area of interest parameters for one or more of said objects in order to provide said parameters as data for algorithms to solve a logical proposition for regulation of the passage through said area of interest and provide an appropriate control signal, and c) at least one control signal means for regulating the passage of one or more of said objects through the area of interest.
  • the present invention in a preferred embodiment of the apparatus of this invention includes the area of interest being an intersection of one or more streets or roadways and in which the means for viewing the area of interest is a high resolution digital camera.
  • a more specific embodiment features the high resolution digital camera having the ability to pan 360 degrees horizontally and 180 degrees vertically and zoom from 1 to 10 times with automatic focus.
  • a marker means of sufficient size and shape that it can be distinguished and identified using the camera.
  • Particularly suitable for the marker means is a fiat, geometrically shaped marker having a highly reflective surface, which is sized to be readily recognized by the viewing means or camera and is capable of night time viewing.
  • the marker may have fluorescent paint, which glows in the dark, or have an electrical glow wire, which is visible by infrared sens ⁇ r in the camera.
  • Another component of the present invention is a means for analyzing and evaluating data observed and captured in the form of at least one image which is an integrated central processing unit.
  • a more preferred embodiment of the present invention is an integrated central processing unit which has a simplified digital image processing algorithm to process less than the entire image or members of images captured by the viewing means and compare such image or series of images to a previously captured image of the area of interest which is unoccupied and determine the location, speed, direction of travel, size and distance from the area of interest of any object in the area of interest, the comparison providing data to solve logical algorithms using such data for regulation of the passage of one ⁇ r more objects through the area ⁇ f interest by generating an appropriate control signal to the control signal means to regulate the passage of one or more of the objects through the area of interest.
  • a still further embodiment of the integrated central processing unit is a digital computer means for analyzing one or more of the images or series of images captured by the digital camera, which digital computer means employs a simplified digital image processing algorithm to process less than the entire image captured in the image or series of images in order to provide data to a logical algorithm for regulation of passage of one or more of the objects through the area of interest.
  • a still further embodiment of the present invention is the control signal means being a tri-color traffic control signal.
  • the present invention further comprises a process ⁇ r method for regulating the movement of one or more discrete bodies in motion in specific intersecting lanes and intersecting motion so that collision of such bodies in the intersection is avoided and the bodies proceed through the intersection in a safe and efficient manner, the process comprising the steps of a) capturing at least a portion of an image or series of images of the discrete bodies approaching the intersectional area over a discrete period of time, using a camera means and including a known marker means at a predetermined location in at least a portion of the image or series of images; b) comparing the captured images to a known image of an unoccupied lane in order Io determine the size, speed of approach l ⁇ , distance from the intersection and direction of travel of at least one such discrete body, if any; c) based on the calculated size, speed, distance from the intersection and direction of travel, determining the most efficient and effective protocol for allowing at least one of such discrete bodies to enter and safely pass through the intersection, and d) signaling a control means to operate at
  • a further feature of the method or process of this invention includes the step (b) being carried out using one or more algorithms for comparing at least a portion of the image or series of images using triangulation calculations to determine the size, speed, distance and direction of travel of any discrete bodies captured in the image or series of images.
  • a still further feature of the present invention is a process or method as previously described in which a failsafe intcrscctional area protocol is used in the event that a useable image or series of images cannot be captured or the system or apparatus suffers some dysfunction.
  • a further feature of the process or method of this invention is the additional step of (e) intervening in the process at any step by an operator to manually control the intersectional control signal means or traffic light.
  • the viewing means is preferably a camera, radar transmitter/receiver or other optical device that provides a captured image to the integrated central processing unit for analysis and evaluation according to this invention.
  • Preferred for use in the instant invention is a camera, and more preferred is a high resolution digital camera.
  • Several such cameras are available which are suitable for the apparatus of the present invention.
  • the Cohu, Inc. Electronics Division 470 HTVL resolution color camera, which can be conveniently incorporated into the Cohu Model 3920 system having i-dome enclosure, the high resolution CCTV camera, fast positioner, and sealed and pressurized dome enclosure.
  • Sony Corporations SSC-M383CE high resolution, black and white video camera.
  • the means for analyzing and evaluating information which is provided by the camera is preferably an integrated central processing unit which has a program for denominated Computational Algorithm for Calculating Changes in Timing of Traffic Signal Lights, hereinafter CACCTTSL for short.
  • the C ⁇ CCTTSL controls digital image processing to determine the presence, location, speed, direction of travel, size and distance from the area of interest, or for example an intersection. This data is used by the algorithms in addition to CACCTTSL to solve a logical proposition for regulation of the passage of traffic, usually vehicles, through the area of interest.
  • the area of interest is an intersection of at least two streets or roadways.
  • CACCTTSL has supervisory control over the digital image processing, but does not contain the algorithms per se.
  • the present invention also requires a traffic control signal unit that for the purposes of this invention is conventional.
  • the traditional tri-color traffic light is the best known and most common such traffic control signal unit.
  • also included in this invention is the use of directional signals such as turn signals, the use of multiple signals for various lanes.
  • any conventional traffic control signal unit can be used and is not novel per se, but only in combination with the traffic control apparatus of the present invention.
  • a marker means is employed to act as a camera direction pointing reference for the CACCTTSL program.
  • Any conventional traffic control sign type of marker means can be used if it is of sufficient size, say from about 3 to about 24 inches on a side, has a highly reflective surface and a fixed and precise geometry for recognition by the CACCTTSL program or its algorithms.
  • the marker means can be installed on dedicated pole, on a signal pole, on a utility pole or if conveniently located on a building near the adjacent street or roadway.
  • the marker should be located from about 500 to about 1000 feet from the camera, but limitations on distance from the camera depend entirely on the ability of the camera to focus and provide sufficiently accurate images to the simplified digital imaging processing algorithms. The location of the camera and marker are initially input by the installer.
  • each pixel may represent a point from about 0.5 inches to about 3 inches from the next closest point.
  • a marker should be more than about 12 by about 96 inches.
  • Fig. 1 is a Logic Diagram for the Traffic Control Signal Computer Program.
  • the central processing unit employed in the present invention includes a program, identified previously, as CACCTTSL, that is comprised of several sub-programs or algorithms for specific functions as described hereinafter and several SDIP Algorithms for less than entire image processing. As shown in Fig.
  • the CACCTTSL logic diagram provides a central processing unit or cpu 1 which allows an input signal from an outside source, such as an installer supervisory control (ISC) computer 2, for example, from an initial installers computer, a centralized traffic control computer, or from a network of intersections overall control computer.
  • ISC installer supervisory control
  • inputs z, /+1, /+2,..., i+n, which are 3, 3a, 3b,..., 3n, respectively, from the SDIP algorithms into the CACCTTSL program 5; while outputs o, o+l, ⁇ +2,..., o+n, which are 4, 4a, 4b,..., 4n, respectively, are sent with instructions for change in position to the viewing means or request for data to various SDIP algorithms.
  • the data or information received by the cpu 1 from the viewing means is input to the main evaluation and analysis program of SDIP algorithms.
  • the CACCTTSL program 5 initiates the analysis and evaluation by giving instructions to camera set up module 6, which controls camera position and provides for pan, tilt or zoom movement to allow better viewing of a particular zone or area of interest in or around the intersection.
  • First SDIP Algorithm 7 establishes from the data provided by the viewing means or camera whether some atmospheric condition has blinded the observation by comparison with a "historical" library of roadway files 8 maintained in memory.
  • the historical roadway files 8 maintain in memory data representing empty road pixel values for each point of each lane of each roadway filed according to time of day, day of year, year and weather conditions, such as dry, wet, flooded, iced, snow-covered or the like. These files are permanent. Where no vehicle is detected, a second file is set up for the same time, day, year and weather condition as a variant of the historical roadway files 8, and this variant of the historical is stored in current roadway files 10. If the current roadway file 10 data is identical, within limits, to the same roadway condition stored in historical roadway files 8, the current roadway file 10 is not kept longer than required.
  • the First SDIP Algorithm 7 encounters a sampling of pixels which are different, or in other words, the pixels do not represent a "sameness" of light condition, then a comparison of current roadway files 10 is conducted and differences are sent to the Second SDIP Algorithm 12.
  • the library of defective pixels 14 is consulted via a subroutine to determine whether a particular pixel has become non-responsive to light in order to maintain a list of defective pixels so that these can be excluded during simplified image processing.
  • the Second SDIP Algorithm 12 is to establish or calibrate accurately the position of the viewing means or camera. It determines the camera position in order to avoid errors from movement caused by wind or vibration as a result of traffic or nearby activity.
  • This matching or identification data is provided to allow the Third SDIP Algorithm 20 to select the appropriate clear or empty roadway condition from historical roadway files 8 or current roadway files 10.
  • This matching or identification data is compared to the selected pixel data from the Fourth SDIP Algorithm 22, which has the objective of finding a vehicle on the roadway. As the installed data have established the position of each lane from the intersection to as much as 2000 feet from the intersection, Fourth SDIP Algorithm 22 searches the pixels along the lanes in the same direction from the intersection, selecting pixels which are spaced apart sufficiently to nevertheless detect motorcycles, small cars and the like.
  • the sampled pixels which are less than the l ⁇ lal number of pixels forming the captured images, as explained hereinabove, are compared to the temporary file of the roadway in current empty roadway files 10. If there is not a match, the permanent files in the historical roadway files 8 are searched. Again if there is not a match, the atypical pixels are selected as focal points for the search for vehicles or other objects in the lanes of interest. In addition the CACCTTSL program 5 is notified of these focal point pixels as part of the early notice and continual update feature of the procedure used by the overall system. The atypical pixel locations are provided to the Fifth SDIP Algorithm 24 to start a search for one or more vehicles.
  • the form of a vehicle is filled in and compared to files of motor vehicles, such as trucks, cars, motorcycles, bicycles and pedestrians maintained in vehicle files 26.
  • the size and shape is compared to the memory files for a match or close approximation. It should be noted that to match the size or shape of, for example, a vehicle, the image processing must take into account the height of the camera, the angle at which viewing occurs and the distance away from the camera because these and other factors may influence the target vehicle's aspect and thus alter the shape with which a match could be made. In other words some compensation may need to be made for lhe comparison to the memory file.
  • the target vehicle (pixels) is too long, it is considered by the Fifth SDIP Algorithm to be a line of vehicles travelling at the same speed.
  • the CACCTTSL program 5 is notified about the results as part of the early notification and continual update feature of the overall system procedure.
  • the information or data is also provided to the Sixth SDIP Algorithm 28 which calculates the distance of the vehicle(s) from the intersection using simple triangulation calculations based on the height of the camera above the roadway, the direction in which the camera is pointing, the elevation of the lanes as a function of distance from the intersection and using the lowest point of the vehicle(s) as one corner of the triangle. It is almost immaterial what point on the vehicle(s) is used for the calculation, e.g., the front bumper, front tire, the shadow on the ground, or the headlight at night, since the variation of the reference point on the vehicle introduces oniy very small error into the calculations.
  • the CACCTTSL program 5 is notified of the distance as part of the early notification and continual update feature of the overall system procedure.
  • First computational algorithm 30 uses consecutive results from the Sixth SDIP Algorithm 28 at a spacing of about 1 second for the calculation of the speed of the vehicle(s) and of the estimated lime at which lhe intersection will be reached.
  • the CACCTTSL program 5 is notified of the results.
  • the Seventh SDIP Algorithm 32 gathers images of all lanes, including turn lanes, at the intersection according to instructions from the CACCTTSL program 5 and instructs how far to search along each lane.
  • Information from the Fifth SDlP Algorithm 24 is used to determine the images based on atypical pixels provided by the Seventh SDIP Algorithm 32.
  • the Eighth SDIP Algorithm 34 is used to calculate the expected new location of the vehicle(s) and looks for it(them) in data supplied from the camera (not shown). Once verified, an output of the new distance, speed, and expected time of arrival at the intersection is notified to the CACCTTSL program 5. With this new data, the CACCTTSL program 5 then runs its logical protocol to determine whether to maintain the right of way currently shown on the traffic control signal light or when to stage the light for granting the right of way to another lane or to a turn lane. The CACCTTSL program 5 also determines when to stop analyzing a specific direction or lane of traffic on a roadway or what data are required.
  • the CACCTTSL program 5 does this through inputs to the various algorithms and camera via the stop/change input labeled A in Fig. 1.
  • the CCACCTTSL program 5 then instructs the imaging and evaluation and analysis system to begin in a different direction or of the intersection itself.
  • the overall logic of the traffic control program is handled by the CACCTTSL program 5 based on SDIP evaluation and analysis.
  • the logical proposition is hierarchical in nature and considers five cases in specific order. They are as follows:
  • CASE 1 Right of Way Lanes are Empty.
  • SDIP algorithms have determined that the lanes of the roadway having the green light or right of way are empty.
  • the right of way should be changed to those lanes having vehicles waiting or approaching within about 20 to 30 seconds.
  • CASE 2 Right of Way Lanes Have Traffic Which is Not Moving.
  • the SDIP algorithms have determined that lanes with the right of way have vehicles in them, but the traffic is not moving.
  • the program checks to determine that vehicle(s) in the right of way lane have cleared the intersection before considering whether to return the right of way. Also, the program determines whether the stopped vehicle(s) is (are) being by-passed; thus, allowing continuation of the right of way. Otherwise, the right of way is changed Iu another lane ⁇ f the roadway.
  • CASE 3 Right of Way Lanes are Full and Moving. In this case, the right of way is maintained until priority of traffic guidelines is exceeded. Before the right of way is changed, a calculation is done to determine the cost of kinetic energy, as skilled persons in the art would know how to accomplish, and compare to the guidelines for priority.
  • CASE 4 Right of Way Lanes Have Traffic but Have a Gap.
  • the program notes that a space between approaching vehicles, a "gap", is approaching the intersection.
  • a calculation of the kinetic energy to be lost if the gap is not used to change the right of way is compared to guidelines to determine if the cost is too great. If so, a change in right of way is indicated. Otherwise, the change is delayed until priority times are exceeded.
  • CASE 5 Right of Way Lanes Have Traffic with an End.
  • the SDIP algorithms have detected that a line of traffic with the right of way has an end.
  • the CACCTTSL program 5 will change the right of way. If on the other hand the end arrives at the intersection and the priority time is not exceeded, the program will not change the right of way until after the end of the traffic line has passed the intersection.
  • the evaluation and analysis of the SDIP algorithms and the logical resolution of the hierarchical cases of the C ⁇ CCTTSL program 5 a determination to change the right of way is reached and a signal is sent to the authorize change in traffic signal module 36 and the appropriate instruction is sent to the traffic control signal unit (not shown) which is conventional.
  • the authorize change in traffic signal module 36 notifies the return to CACCTTSL module 38 and a signal is given to the CACCTTSL program 5 that the change in right of way has been completed.
  • the CACCTTSL program 5 then stops image processing in the SDIP algorithms and instructs the camera to reposition and the process begins again.
  • the integrated central processing unit 1 containing the CACCTTSL program 5 handles supervisory control and active image processing and initiation of changes in the timing of traffic control signal lights
  • an operator using the installer supervisory control computer 2 can override the CACCTTSL program 5, using either direct plug-in hardwire connection at the intersection, hardwire or wireless connection to a central traffic dispatch center or wireless or hard wire plug-in connection from a laptop computer.
  • Such intervention allows modification of traffic flow or control guidelines, i.e., the normal or default traffic signal timing protocol, download information to the various memory files, upload traffic information or operating data for archival purposes, reset the system after blind condition or repair and maintenance or troubleshooting the system.
  • the installer supervisory control computer 2 also allows the ability to control the camera and to input, such as by point and click means, information which may be required by the SDIP algorithms. For example, the locations and design of each marker means along the roadways, identification of each lane in the roadway from the intersection and for some distance out, say for example up to or beyond 2000 feet, each turn lane, parking space locations, major obstructions, such as buildings, trees, utility poles, sign posts, wires and the like which exist in the field of the camera's vision.
  • step b) of separate computational devices for each algorithm or subroutine so that simultaneous parallel processing of all simplified digital image processing and computations is carried out allowing traffic control in real time.
  • the electronic components in such cameras may vary widely so long as sufficient pixel information is obtained to permit simplified digital image processing, that is, using less than the entire image, to make location and identification of vehicles readily apparent in real lime.
  • the present invention can be initially installed at an intersection on a new roadway or can be retrofitted to an existing intersection with relative ease and without disrupting the existing roadway bed or traffic flow.
  • the present invention can be used continually or in intermittent fashion when the CACCTTSL program determines that waiting and slowing and stopping can be reduced or avoided when unnecessary.
  • intersections can be linked together to provide smooth and efficient traffic flow.
  • the algorithms can be modified to be controlled from a central traffic dispatch center or station using the results uploaded from several intersections to control traffic.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un appareil ou système et un procédé pour réguler le trafic à un croisement mettant en oeuvre une caméra numérique avec panoramique, inclinaison, zoom, positionnement rapide et mise au point automatique afin d'envoyer des informations à une unité de traitement centrale intégrée utilisant des algorithmes de traitement d'images évaluent et analysent moins une partie de l'image afin de déterminer si un ou plusieurs véhicules sont présents ou s'approchent, ainsi que leur taille, vitesse et distance, afin de résoudre des propositions logiques pour maintenir ou modifier le droit de passage à l'aide d'un signal transmis à une unité de commande de feux de signalisation classique.
PCT/US2008/004472 2008-04-07 2008-04-07 Système et procédé de commande de feux de signalisation de trafic Ceased WO2009126120A1 (fr)

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WO2013159763A3 (fr) * 2012-04-27 2013-12-27 Peter Krumhauer Dispositif de contrôle optique de véhicules automobiles
US9275545B2 (en) 2013-03-14 2016-03-01 John Felix Hart, JR. System and method for monitoring vehicle traffic and controlling traffic signals
GB2552245A (en) * 2016-05-16 2018-01-17 Ford Global Tech Llc Traffic lights control for fuel efficiency
WO2018125508A1 (fr) * 2016-12-29 2018-07-05 X Development Llc Gestion dynamique de trafic

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US20030080878A1 (en) * 2001-10-30 2003-05-01 Kirmuss Charles Bruno Event-based vehicle image capture
US6647361B1 (en) * 1998-11-23 2003-11-11 Nestor, Inc. Non-violation event filtering for a traffic light violation detection system
US20050033505A1 (en) * 2002-12-05 2005-02-10 Premier Wireless, Inc. Traffic surveillance and report system
US20060055559A1 (en) * 2004-09-11 2006-03-16 Leonard Charles R Retractable lighted traffic control strip
US20060104481A1 (en) * 2004-11-12 2006-05-18 Takata Corporation Vehicle safety control system by image processing

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6546119B2 (en) * 1998-02-24 2003-04-08 Redflex Traffic Systems Automated traffic violation monitoring and reporting system
US6647361B1 (en) * 1998-11-23 2003-11-11 Nestor, Inc. Non-violation event filtering for a traffic light violation detection system
US20030080878A1 (en) * 2001-10-30 2003-05-01 Kirmuss Charles Bruno Event-based vehicle image capture
US20050033505A1 (en) * 2002-12-05 2005-02-10 Premier Wireless, Inc. Traffic surveillance and report system
US20060055559A1 (en) * 2004-09-11 2006-03-16 Leonard Charles R Retractable lighted traffic control strip
US20060104481A1 (en) * 2004-11-12 2006-05-18 Takata Corporation Vehicle safety control system by image processing

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013159763A3 (fr) * 2012-04-27 2013-12-27 Peter Krumhauer Dispositif de contrôle optique de véhicules automobiles
US9275545B2 (en) 2013-03-14 2016-03-01 John Felix Hart, JR. System and method for monitoring vehicle traffic and controlling traffic signals
GB2552245A (en) * 2016-05-16 2018-01-17 Ford Global Tech Llc Traffic lights control for fuel efficiency
US10297151B2 (en) 2016-05-16 2019-05-21 Ford Global Technologies, Llc Traffic lights control for fuel efficiency
WO2018125508A1 (fr) * 2016-12-29 2018-07-05 X Development Llc Gestion dynamique de trafic
US10490066B2 (en) 2016-12-29 2019-11-26 X Development Llc Dynamic traffic control

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