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DE102008024707A1 - Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed - Google Patents

Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed Download PDF

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Publication number
DE102008024707A1
DE102008024707A1 DE102008024707A DE102008024707A DE102008024707A1 DE 102008024707 A1 DE102008024707 A1 DE 102008024707A1 DE 102008024707 A DE102008024707 A DE 102008024707A DE 102008024707 A DE102008024707 A DE 102008024707A DE 102008024707 A1 DE102008024707 A1 DE 102008024707A1
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DE
Germany
Prior art keywords
motor vehicle
vehicle
driver assistance
assistance system
zebra crossing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102008024707A
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German (de)
Inventor
Rolf Adomat
Stefan Hegemann
Akitsugu Yoda
Masao Prof. Nagai
Raksincharoensak Prof Dr. Pongsathorn
Ikuko Prof. Dr. Shimizu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ADC Automotive Distance Control Systems GmbH
Original Assignee
ADC Automotive Distance Control Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ADC Automotive Distance Control Systems GmbH filed Critical ADC Automotive Distance Control Systems GmbH
Priority to DE102008024707A priority Critical patent/DE102008024707A1/en
Priority to JP2011510864A priority patent/JP5649568B2/en
Priority to US12/992,174 priority patent/US9239380B2/en
Priority to EP09749582.4A priority patent/EP2291836B1/en
Priority to PCT/EP2009/003427 priority patent/WO2009141092A1/en
Publication of DE102008024707A1 publication Critical patent/DE102008024707A1/en
Withdrawn legal-status Critical Current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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The system has an output unit activated during an approximation of a motor vehicle to a zebra crossing and outputting warning depending on a vehicle speed. A zebra crossing is identified by a camera system for environment detection in the vehicle. A road sign detection function is provided to detect a traffic character, which is indicated on the zebra crossing. An electronic map contains a position of the zebra crossing. The speed of the vehicle is reduced automatically, if the speed lie above a given threshold value during approximation at the zebra crossing.

Description

Die Erfindung betrifft ein Fahrerassistenzsystem mit Zebrastreifenerkennung und findet z. B. Anwendung in Kraftfahrzeugen, die mit einem Fahrerassistenzsystem zum Fußgängerschutz ausgestattet sind.The The invention relates to a driver assistance system with zebra detection and finds z. B. Application in motor vehicles with a driver assistance system for pedestrian protection are equipped.

Es ist statistisch belegt, dass ein hohes Unfallrisiko für Fußgänger innerhalb von Ortschaften besteht.It It is statistically proven that a high accident risk for pedestrians within consists of localities.

Im Stand der Technik sind Fahrerassistenzsysteme bekannt, die eine Kollision eines Kraftfahrzeugs mit Fußgängern verhindern oder zumindest die Unfallfolgen für den Fußgänger mildern. Diese Fahrerassistenzsysteme basieren i. d. R. auf einer Erkennung des Fußgängers mit einem Videobildkamerasystem. Zur Erkennung eines Fußgängers aus Bilddaten ist jedoch eine hohe Rechenleistung erforderlich.in the The prior art driver assistance systems are known which a Collision of a motor vehicle with pedestrians prevent or at least the Accident consequences for to soften the pedestrian. These driver assistance systems are based i. d. R. on a detection of the pedestrian with a video image camera system. For recognizing a pedestrian from image data However, a high computing power is required.

Alternativ kann zur Fußgängererkennung eine Wärmebildkamera eingesetzt werden. Nachteilig an dieser Lösung ist jedoch, dass eine Wärmebildkamera sehr teuer ist.alternative can be used for pedestrian detection Thermal camera be used. The disadvantage of this solution, however, is that one Thermal camera very expensive.

Es ist deshalb die Aufgabe der hier vorgestellten Erfindung ein kostengünstiges und zuverlässiges Fahrerassistenzsystem zum Fußgängerschutz anzugebenIt Therefore, the object of the invention presented here is a cost-effective and reliable Driver assistance system for pedestrian protection

Diese Aufgabe ist erfindungsgemäß gelöst durch eine Fahrerassistenzsystem gemäß dem unabhängigen Patentanspruch 1. Vorteilhafte Weiterbildungen sind den Unteransprüchen zu entnehmen.These The object is achieved by a driver assistance system according to the independent claim 1. Advantageous developments are the dependent claims remove.

Es wird ein Fahrerassistenzsystem zum Fußgängerschutz für ein Kraftfahrzeug mit Zebrastreifenerkennungsfunktion und einer Ausgabeeinheit angegeben. Bei einer Annäherung des Fahrzeugs an einen Zebrastreifen wird die Ausgabeeinheit aktiviert und es wird eine Warnung ausgegeben. Diese Warnung kann insbesondere auch in Abhängigkeit von der Fahrzeuggeschwindigkeit ausgegeben werden. Nähert sich ein Fahrzeug zu schnell einem Zebrastreifen, wird die Ausgabeeinheit aktiviert.It is a driver assistance system for pedestrian protection for a motor vehicle indicated with zebra detection function and an output unit. At an approach of the vehicle to a crosswalk, the output unit is activated and a warning is issued. In particular, this warning can also in dependence be output from the vehicle speed. Approaches a vehicle too fast a crosswalk, the output unit becomes activated.

In einer vorteilhaften Ausgestaltung der Erfindung wird die Geschwindigkeit des Kraftfahrzeugs automatisch reduziert, wenn diese bei Annäherung an den Zebrastreifen oberhalb eines vorgegebenen Schwellwerts liegt. Damit wird gewährleistet, dass ein Fahrzeug langsam an einen Zebrastreifen heranfährt. Insbesondere wird erst nach einer Warnung, wenn der Fahrer nicht innerhalb einer vorgegebenen Zeit reagiert, die Geschwindigkeit reduziert.In An advantageous embodiment of the invention, the speed of the motor vehicle automatically reduced, if this approaching the zebra crossing is above a predetermined threshold. This will ensure that a vehicle slowly approaches a crosswalk. Especially will only come out after a warning if the driver is not within one given time, the speed is reduced.

In einem vorteilhaften Ausführungsbeispiel wird die Warnung optisch oder akustisch ausgegeben, um die Aufmerksamkeit des Fahrers auf einen Zebrastreifen vor dem Fahrzeug zu lenken.

  • • Im Folgenden werden Methoden zur Zebrastreifenerkennung beschrieben, Vorzugsweise wird ein Zebrastreifen von einem Kamerasystem zur Umfelderfassung im Kraftfahrzeug erkannt. Dazu wird ein geeigneter Bildverarbeitungsalgorithmus im Kamerasystem hinterlegt, der mittels Kantenselektions- oder Farberkennungs- oder Mustererkennungs- oder ähnlicher Verfahren einen Zebrastreifen vor dem Fahrzeug erkennt.
  • • Eine weitere vorteilhafte Ausgestaltung der Erfindung sieht eine kamerabasierte Verkehrszeichenerkennungsfunktion vor, wobei die Erkennungsfunktion ein Verkehrzeichen erkennt, das auf einen Zebrastreifen hinweist.
  • • Eine positive Ausgestaltung der Erfindung sieht vor, dass das Fahrzeug mit einer elektronischen Karte ausgestattet ist. Die elektronische Karte enthält die Position von Zebrastreifen, die Position des Fahrzeugs wird vorzugsweise mit einem Navigationsgerät z. B. einem GPS Empfänger bestimmt.
  • • Insbesondere wird die Information über einen Zebrastreifen in Fahrtrichtung von vorausfahrenden Fahrzeugen durch Car-to-Car Kommunikation übertragen.
In an advantageous embodiment, the warning is output visually or acoustically to direct the attention of the driver to a crosswalk in front of the vehicle.
  • In the following, methods for cross-zebra detection are described. Preferably, a crosswalk is detected by a camera system for detecting surroundings in the motor vehicle. For this purpose, a suitable image processing algorithm is stored in the camera system, which recognizes a zebra crossing in front of the vehicle by means of edge selection or color recognition or pattern recognition or similar methods.
  • A further advantageous embodiment of the invention provides for a camera-based traffic sign recognition function, wherein the recognition function recognizes a traffic sign which points to a crosswalk.
  • A positive embodiment of the invention provides that the vehicle is equipped with an electronic card. The electronic map contains the position of zebra stripes, the position of the vehicle is preferably with a navigation device z. B. a GPS receiver determined.
  • In particular, the information about a zebra crossing in the direction of travel of preceding vehicles is transmitted by car-to-car communication.

Vorzugsweise tragen die genannten Methoden zur Zebrastreifenerkennung einzeln oder miteinander verknüpft zur Erfindung bei. Z. B. kann die Zebrastreifenerkennung derart ausgestaltet sein, dass ein Zebrastreifen mit zwei oder mehreren der vorgestellten Methoden erkannt wird: Mittels der elektronischen Karte oder der Verkehrszeichenerkennung wird eine Region identifiziert, in der sich mit großer Wahrscheinlichkeit ein Zebrastreifen befindet. Diese Vermutung wird durch die Analyse der Bilddaten des Kamerasystems im Fahrbahnbereich vor dem Fahrzeug verifiziert bzw. verworfen.Preferably carry the mentioned methods for zebra detection individually or linked together to the invention. For example, the crosswalk detection may be such be designed that a crosswalk with two or more the presented methods is detected: By means of electronic Map or traffic sign recognition, a region is identified, in the most likely a crosswalk is located. This assumption is made by the analysis the image data of the camera system in the lane area in front of the vehicle verified or rejected.

Claims (6)

Fahrerassistenzsystem zum Fußgängerschutz für ein Kraftfahrzeug mit einer Ausgabeeinheit, dadurch gekennzeichnet, dass eine Zebrastreifenerkennungsfunktion vorgesehen ist und die Ausgabeeinheit bei einer Annäherung des Fahrzeugs an einen Zebrastreifen aktiviert und eine Warnung ausgegeben wird.Driver assistance system for pedestrian protection for a motor vehicle with an output unit, characterized in that a zebra detection function is provided and the output unit is activated when approaching the vehicle to a crosswalk and a warning is issued. Fahrerassistenzsystem nach Anspruch 1, dadurch gekennzeichnet, dass ein Zebrastreifen von einem Kamerasystem zur Unfelderfassung im Kraftfahrzeug erkannt wird.Driver assistance system according to claim 1, characterized in that that a crosswalk from a camera system for Unfelderfassung is detected in the motor vehicle. Fahrerassistenzsystem nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass eine Verkehrszeichenerkennungsfunktion vorgesehen ist, die ein Verkehrzeichen erkennt, das auf einen Zebrastreifen hinweist.Driver assistance system according to one of the preceding claims, characterized in that a traffic sign recognition function is provided, which detects a traffic sign on a zebra indicates. Fahrerassistenzsystem nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass eine elektronische Karte vorgesehen ist, wobei die Karte die Position zumindest eines Zebrastreifens enthält.Driver assistance system according to one of the preceding claims, characterized characterized in that an electronic card is provided, wherein the map contains the location of at least one zebra crossing. Fahrerassistenzsystem nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass ein Zebrastreifen mit zumindest zwei der folgenden Methoden erkannte wird: Erkennung durch ein Kamerasystem im Fahrzeug, Erkennung durch Verkehrszeichenauswertung mit einer Kamera im Fahrzeug, Erkennung mittels elektronischer Karte und Navigationsvorrichtung.Driver assistance system according to one of the preceding claims, characterized characterized in that a zebra crossing with at least two of the following Detected methods: detection by a camera system in the vehicle, Recognition by traffic signal evaluation with a camera in the vehicle, Detection by means of electronic map and navigation device. Fahrerassistenzsystem nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Geschwindigkeit des Kraftfahrzeugs automatisch reduziert wird, wenn diese bei Annäherung an den Zebrastreifen oberhalb eines vorgegebenen Schwellwerts liegtDriver assistance system according to one of the preceding claims, characterized characterized in that the speed of the motor vehicle is automatic is reduced when these approaching the crosswalk is above a predetermined threshold
DE102008024707A 2008-05-21 2008-05-21 Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed Withdrawn DE102008024707A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE102008024707A DE102008024707A1 (en) 2008-05-21 2008-05-21 Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed
JP2011510864A JP5649568B2 (en) 2008-05-21 2009-05-14 Driver assistance system for avoiding collision between vehicle and pedestrian
US12/992,174 US9239380B2 (en) 2008-05-21 2009-05-14 Driver assistance system for avoiding collisions of a vehicle with pedestrians
EP09749582.4A EP2291836B1 (en) 2008-05-21 2009-05-14 Driver assistance system for preventing a vehicle colliding with pedestrians
PCT/EP2009/003427 WO2009141092A1 (en) 2008-05-21 2009-05-14 Driver assistance system for preventing a vehicle colliding with pedestrians

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008024707A DE102008024707A1 (en) 2008-05-21 2008-05-21 Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed

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DE102008024707A1 true DE102008024707A1 (en) 2009-11-26

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DE102008024707A Withdrawn DE102008024707A1 (en) 2008-05-21 2008-05-21 Driver assistance system for pedestrian protection for motor vehicle, has output unit activated during approximation of motor vehicle to zebra crossing and outputting warning depending on vehicle speed

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2495807A (en) * 2011-10-20 2013-04-24 Ibm Activating image processing in a vehicle safety system based on location information
DE202013006196U1 (en) * 2013-07-09 2014-10-13 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Driver assistance system for a motor vehicle and motor vehicle
DE102013222040A1 (en) * 2013-10-30 2015-04-30 Volkswagen Aktiengesellschaft Method and device for accident prevention
WO2016195566A1 (en) * 2015-06-04 2016-12-08 Scania Cv Ab Method and control unit for avoiding an accident at a crosswalk
CN108447305A (en) * 2018-04-21 2018-08-24 上海交通大学 A kind of new friendship rule are lower to give precedence to pedestrian's method for early warning and early warning system
DE102017210429A1 (en) * 2017-06-21 2018-12-27 Bayerische Motoren Werke Aktiengesellschaft Traffic assistance system with visibility-adaptive and situation-dependent intervention parameters
CN110136485A (en) * 2019-06-20 2019-08-16 吉林大学 Pedestrian crossing zebra crossing car auxiliary reminder system and method on road section without traffic lights

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19829162A1 (en) * 1998-06-30 2000-01-05 Erwin Dietz Application of electronic camera and image recognition device in car for detecting traffic signs
DE10341753A1 (en) * 2003-09-10 2005-04-21 Bosch Gmbh Robert Device for detecting an approach to a pedestrian crossing in a vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19829162A1 (en) * 1998-06-30 2000-01-05 Erwin Dietz Application of electronic camera and image recognition device in car for detecting traffic signs
DE10341753A1 (en) * 2003-09-10 2005-04-21 Bosch Gmbh Robert Device for detecting an approach to a pedestrian crossing in a vehicle

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2495807A (en) * 2011-10-20 2013-04-24 Ibm Activating image processing in a vehicle safety system based on location information
GB2495807B (en) * 2011-10-20 2013-09-04 Ibm Optimizing the detection of objects in images
US9235766B2 (en) 2011-10-20 2016-01-12 International Business Machines Corporation Optimizing the detection of objects in images
US9405981B2 (en) 2011-10-20 2016-08-02 International Business Machines Corporation Optimizing the detection of objects in images
DE202013006196U1 (en) * 2013-07-09 2014-10-13 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Driver assistance system for a motor vehicle and motor vehicle
US9333954B2 (en) 2013-07-09 2016-05-10 GM Global Technology Operations LLC Driver assistance system for a motor vehicle
DE102013222040A1 (en) * 2013-10-30 2015-04-30 Volkswagen Aktiengesellschaft Method and device for accident prevention
WO2016195566A1 (en) * 2015-06-04 2016-12-08 Scania Cv Ab Method and control unit for avoiding an accident at a crosswalk
DE102017210429A1 (en) * 2017-06-21 2018-12-27 Bayerische Motoren Werke Aktiengesellschaft Traffic assistance system with visibility-adaptive and situation-dependent intervention parameters
CN108447305A (en) * 2018-04-21 2018-08-24 上海交通大学 A kind of new friendship rule are lower to give precedence to pedestrian's method for early warning and early warning system
CN110136485A (en) * 2019-06-20 2019-08-16 吉林大学 Pedestrian crossing zebra crossing car auxiliary reminder system and method on road section without traffic lights
CN110136485B (en) * 2019-06-20 2024-01-26 吉林大学 Vehicle auxiliary reminder system and method for pedestrians crossing zebra crossings on roads without traffic lights

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