Pedestrian Traffic Light Control with Crosswalk FMCW Radar and Group Tracking Algorithm

. 2022 Feb 23;22(5):1754. doi: 10.3390/s22051754

Algorithm 1 Pedestrian traffic light triggering algorithm

procedureTraffic light control
initiate $g t r a c k ()$
create $t b_t a r g e t s$
repeat ▹Forever
set $t i m e s t a m p$ to current time
get $d e t e c t e d_t a r g e t s$ from $g t r a c k ()$
for all $d e t e c t e d_t a r g e t s$ do: ▹A
if target $is not in t b_t a r g e t s$ then:
save target and timestamp to $t b_t a r g e t s$
for all targets in $t b_t a r g e t s$ do: ▹B
if target $is not in d e t e c t e d_t a r g e t s$ then:
remove target from $t b_t a r g e t s$
else:
if target is in observable area longer than threshold time $t \geq 10$ s then:
change traffic signalization
until shutdown