JP2006260313A - Traffic signal control device, and traffic signal system using it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve a traffic signal control capable of rapidly following up sudden fluctuation of a traffic state while linking with traffic signals at an adjacent intersection, and easily responding to control object areas differed in the number of intersections. <P>SOLUTION: The next blue time of signals A1 and A2 of a main road 10 at an own intersection CR are set, based on a signal waiting vehicle number n1, n2 of each inflow route R1, R2 of the main road 10, which is obtained during red lighting of the signals A1 and A2 and information from adjacent intersections CR' and CR", and the red time of signals A3 and A4 of a slave road 20 at the own intersection CR corresponding to the blue time is set according to this. The next blue time of the signals A3 and A4 is set, based on a traffic volume q3, q4 of each inflow route R3, R4 and a signal waiting vehicle numbers n3, n4, which are obtained during red lighting of the signals A3 and A4, and the red time of the traffic signals A1 and A2 corresponding to the blue time is set according to this. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention provides a traffic signal control device for controlling the first traffic signal for the predetermined road and the second traffic signal for the intersection road installed at a self-intersection where the predetermined road and the intersection road intersect, and The present invention relates to a traffic signal system using this.

Conventionally, when controlling traffic signals at a plurality of intersections that are successively adjacent to each other in a predetermined area on a main road, the traffic status information (for example, traffic volume) of each part is obtained and the traffic status information is obtained. On the basis of the above, the central control device that controls the traffic signals of the plurality of intersections in the area controls the three types of signal control parameters of the traffic signal cycle length, split, and offset of each intersection ( For example, the following nonpatent literature 1). Here, the cycle length is the time from the start of the green signal display of the traffic signal for one of the intersecting roads to the start of the next green signal display of the traffic signal. A split is the length of time allotted to each presentation within one cycle. The offset is a temporal relative relationship between the intersections.
Edited by Japan Society for Traffic Engineering, “Signal Guide for Traffic Signals”, 1st edition, 2nd edition, Japan Society for Traffic Engineering, July 1999, p. 75-84

  However, in the above-described prior art, since three types of signal control parameters of cycle length, split, and offset are controlled, the cycle length of the next cycle, split, and The offset will be determined. In other words, the cycle length, split, and offset of the current cycle are determined based on the traffic condition information acquired at least one cycle length at the latest.

  Therefore, in the above-described prior art, even if the traffic situation fluctuates suddenly during one cycle, it is not possible to quickly follow this.

  In addition, since a central control device that controls the traffic signals of the plurality of intersections in the area is used, the control program and the like must be modified according to the number of intersections in the area and the modification is necessary. Since it becomes complicated, it takes a lot of time for designing in accordance with the control target area and the cost cannot be increased, and it is not easy to enlarge the control target area after installation.

  The present invention has been made in view of the above circumstances, and realizes traffic signal control linked to traffic signals at adjacent intersections, and traffic signal control that more quickly follows sudden changes in traffic conditions. In addition, a traffic signal control device that can be easily accommodated even when the number of intersections in the control target area is different and distributed at each intersection, and a traffic signal using the traffic signal control device The purpose is to provide a system.

  In order to solve the above-mentioned problem, a traffic signal control device according to a first aspect of the present invention includes a first traffic signal device for a predetermined road and a cross road that are installed at a self-intersection where a predetermined road and an intersection road intersect A traffic signal control device for controlling a second traffic signal for use in association with traffic signal displays at adjacent intersections on both sides of the predetermined road adjacent to the own intersection, wherein the first traffic signal The first traffic condition information acquisition means for obtaining the traffic condition information of each inflow road with respect to the own intersection of the predetermined road while the red signal is being displayed, and adjacent information which is information relating to traffic signal display control of the adjacent intersections on both sides Adjacent intersection information acquisition means for acquiring intersection information while the red traffic light is displayed on the first traffic signal, traffic condition information obtained by the first traffic condition information acquisition means, and the adjacent intersection information acquisition. Based on the adjacent intersection information obtained by the means, a first setting means for setting a next green light display time of the first traffic signal, and a green light display time set by the first setting means. Second setting means for setting the red traffic light display time of the second traffic signal corresponding to the green traffic light display time, and the self-intersection of the intersection road during the red traffic light display of the second traffic light Second traffic condition information acquisition means for obtaining traffic condition information of each inflow route, and the next green signal display of the second traffic signal based on the traffic condition information obtained by the second traffic condition information acquisition means According to the third setting means for setting the time and the green signal display time set by the third setting means, the red signal display time of the first traffic signal corresponding to the green signal display time is set. And 4 setting means, but provided with a means for controlling the traffic signal display of the first and second traffic signals according to the signal display time set by the first to fourth setting means.

  According to the first aspect, the traffic condition information of each inflow path with respect to the self-intersection of the predetermined road obtained during the red signal of the first traffic signal for the predetermined road, and the first traffic for the predetermined road Based on the adjacent intersection information acquired during the red traffic light, the next green traffic light display time of the first traffic light is set, and the red traffic light of the second traffic light corresponding to the green traffic display time is set accordingly. The signal display time is set. Also, the next green traffic light display time of the second traffic signal is set based on the traffic status information of each inflow path for the own intersection of the intersection road obtained during the red traffic light of the second traffic signal for the intersection road. Accordingly, the red traffic light display time of the first traffic signal corresponding to the green traffic light display time is set. As described above, in the first aspect, the green signal display time of the traffic signal on one of the current roads is the same as that of each inflow channel of the one road obtained during the red signal display time of the traffic signal immediately before that. Determined based on traffic conditions. Therefore, according to the first aspect, even if the traffic situation fluctuates suddenly during one cycle, it is possible to realize traffic signal control that follows this more quickly than the prior art. it can. In the first aspect, the next green light display time of the first traffic signal for the predetermined road is set based on not only the traffic condition information of each inflow road for the own intersection of the predetermined road but also the adjacent intersection information. Therefore, it is possible to realize traffic signal control linked to traffic signals at adjacent intersections. Further, in the first aspect, such linkage is a traffic signal control device that controls the first and second traffic signals at the own intersection (that is, a traffic signal control device provided corresponding to the own intersection). ) Is realized only by acquiring adjacent intersection information, and does not use a central control device that controls the traffic signals of the plurality of intersections in the area as in the prior art described above. Even when the number of intersections in the control target area is different, it can be easily handled.

  The traffic signal control apparatus according to a second aspect of the present invention is the traffic signal control device according to the first aspect, wherein the first traffic condition information acquisition means is a predetermined time point during red signal display of the first traffic signal. It includes first signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the own intersection of each inflow path with respect to the own intersection of a predetermined road.

  In this second mode, an example is given in which the number of vehicles waiting for signals on each inflow path is obtained as traffic status information on each inflow path with respect to the intersection of the predetermined road. In this case, more appropriate and efficient traffic signal control can be realized by using the number of waiting vehicles for each inflow path to the intersection of the predetermined road.

  The traffic signal control apparatus according to a third aspect of the present invention is the traffic signal control device according to the second aspect, wherein the first signal waiting vehicle number acquisition means relates to the inflow with respect to at least one inflow path to the own intersection of the predetermined road. An imaging unit that captures an image including a range between a stop line position of the road and a predetermined position upstream of the inflow channel, and based on the image captured by the imaging unit, The number of vehicles waiting for signals in at least one inflow path is obtained.

  The third aspect is a specific example of acquiring the number of signal waiting vehicles related to each inflow path with respect to the self-intersection of the predetermined road. In this case, since the number of signal waiting vehicles is obtained based on the image picked up by the image pickup means, the actual measurement value is obtained as the number of signal waiting vehicles. In this case, the imaging timing of the imaging means is preferably closer to the end point of the red signal display time during the red signal display time of the first traffic signal.

  The traffic signal control apparatus according to a fourth aspect of the present invention is the traffic signal control device according to the second or third aspect, wherein the adjacent intersection information of each adjacent intersection on the both sides is the green signal display time start for the predetermined road at the adjacent intersection. The first information, which is the time point or information for specifying this, and the second information, which is the start point of the single red light display time for the predetermined road at the adjacent intersection or information for specifying this , Green signal display time for the predetermined road of the adjacent intersection or information for specifying the same, or the inflow path toward the own intersection among the inflow paths of the predetermined road with respect to the adjacent intersection Third information, which is a candidate time calculated as a candidate for a green light display time for a predetermined road, and a single red light display time for the predetermined road at the adjacent intersection or this is specified. It is because the information is intended to include a fourth information.

  The fourth aspect is a specific example of adjacent intersection information. If such information is acquired as the adjacent intersection information, the traffic signal display of the own intersection is changed to the adjacent intersection according to the traffic signal display state of the adjacent intersection, for example, as in the fifth aspect and the sixth aspect described later. It is possible to link more appropriately to the traffic signal display.

  The traffic signal control apparatus according to a fifth aspect of the present invention is the traffic signal control apparatus according to the fourth aspect, wherein: (a) for each inflow path to the own intersection of the predetermined road, the first signal waiting vehicle number acquisition for the inflow path When the number of signal waiting vehicles obtained by the means is n and the saturated traffic flow set in advance for the inflow path is S, the first setting means relates to each inflow path with respect to the intersection of the predetermined road. And a basic time calculating means for calculating a basic time Tb represented by an equation of Tb = n / S for each inflow route, and (b) the first setting means for each of the predetermined roads with respect to the intersection With respect to the inflow path, for each inflow path, the green signal display time start point for a predetermined road according to the first information of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition unit is the adjacent road. When it is after the start point of the single red light display time for the predetermined road according to the second information of the adjacent intersection upstream of the inflow path obtained by the intersection information acquisition means, the start point of the green light display time is used as a reference. If it is the time and vice versa, the single red signal display time starts based on the second and fourth information of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition means The next green signal display time start time point after the time point is obtained and this is set as a reference time point, and the vehicle starting from the stop line position of the corresponding inflow path upstream of the inflow path at the reference time point is the inflow path of the own intersection A predicted arrival time acquisition means for obtaining a predicted arrival time which is a time predicted to reach the stop line position, (c) the first setting means for the self-intersection of the predetermined road With respect to the inflow path, the first time that is the next green signal display time start time of the first traffic signal is calculated for the inflow path by the basic time calculation means from the first time point. Obtaining the predicted arrival time for the second time point when the basic time Tb has elapsed and the third time point when the preliminarily set margin time for the inflow path has elapsed from the second time point The basic time Tb calculated for the inflow path by the basic time calculation means, the first time point, and the predicted arrival in accordance with the temporal context of the predicted arrival time obtained for the inflow path by the means The predicted arrival time obtained for the inflow path by the time acquisition means, and the third of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition means. And (d) the first setting for calculating the candidate time T as a candidate for the next green traffic light display time of the first traffic signal on the inflow route. The means sets the next green signal display time of the first traffic signal based on the candidate time T for each inflow path with respect to the intersection of the predetermined road calculated by the first candidate time calculation means. To do.

  According to the fifth aspect, in addition to the number of waiting signals at the own intersection, the first traffic is considered while taking into account the number of vehicles flowing from the adjacent intersection to the own intersection according to the traffic signal display state at the adjacent intersection. Since the next green signal display time of the traffic light is set, the traffic signal display of the own intersection can be more appropriately linked to the traffic signal display of the adjacent intersection.

  The traffic signal control apparatus according to a sixth aspect of the present invention is the traffic signal control device according to the fifth aspect, wherein the first time point is SECm, and the basic time calculation means is used for each inflow path to the intersection of the predetermined road. The basic time calculated for the inflow route is Tb, the predicted arrival time obtained for the inflow route by the predicted arrival time acquisition unit is SECa, and the upstream of the inflow route obtained by the adjacent intersection information acquisition unit The green signal display time or the candidate time for the predetermined road according to the third information of the adjacent intersection of the current road is set as TX, the saturated traffic flow set in advance for the inflow path is set as S, and the adjacent intersection upstream of the inflow path is When the saturated traffic flow set in advance for the corresponding inflow route is S ′, the first candidate time calculation means is connected to the intersection of the predetermined road. For each inflow path, (i) when the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is before the first time, T = Tb + (Ii) the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means according to the equation {TX- (SECm-SECa)} · S ′ / S or the equation where S ′ = S in this equation. Is after the first time point and before the second time point for the inflow path, according to the equation T = Tb + TX · S ′ / S or the equation S ′ = S in this equation, (iii) When the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition unit is after the second time point for the inflow path and before the third time point for the inflow path Includes T = (SE a−SECm) + TX · S ′ / S or the equation where S ′ = S in this equation, (iv) the predicted arrival time obtained for the inflow channel by the predicted arrival time acquisition means is the inflow channel If the time is after the third time point, the candidate time T as a candidate for the next green traffic light display time of the first traffic signal is calculated for the inflow route by the equation T = Tb. is there.

  The sixth aspect is a specific example of the fifth aspect. By adopting such a candidate time calculation method as a candidate for the next green signal display time of the first traffic signal, the traffic signal display at the own intersection is more appropriately linked to the traffic signal display at the adjacent intersection. be able to.

  The traffic signal control apparatus according to a seventh aspect of the present invention is the traffic signal control device according to the fifth or sixth aspect, wherein the first setting means is the self-registration of the predetermined road calculated by the first candidate time calculation means. The longest time among the candidate times T for each inflow path with respect to the intersection is selected, and based on this, the next green light display time of the first traffic signal is set.

  As in the seventh aspect, it is preferable that the next green signal display time of the first traffic signal is set based on the longest time among the candidate times T of each inflow path with respect to the intersection of the predetermined road. . In this case, the longest time may be set as the next green traffic light display time of the first traffic signal as it is. For example, a predetermined correction coefficient (preferably 1 or more for the longest time is 1 A value obtained by multiplying the value may be set as the next green signal display time of the first traffic signal. In the fifth and sixth aspects, for example, the next green signal display time of the first traffic signal is set based on the average time of the candidate times T of each inflow path with respect to the own intersection of the predetermined road. May be.

  A traffic signal control device according to an eighth aspect of the present invention is the vehicle according to the seventh aspect, wherein the traffic signal control device is provided for each inflow path with respect to the intersection of the predetermined road and senses the vehicle at a predetermined position upstream of the inflow path. The basic time Tb calculated for the inflow path by the basic time calculation means when the first setting means sets the green light display time during the green light display time of the sensor and the first traffic signal. , After the elapse of the green light display time from the start time, the inflow path to the intersection of the predetermined road corresponding to the candidate time T selected when the first setting means sets the green light display time When the vehicle detector is not continuously detected for a preset time-out period for the inflow path, the green signal is displayed. Means for aborting, those having a.

  According to the eighth aspect, since the means for canceling is provided, the wasteful green time can be reduced and efficient traffic signal control can be achieved even when there are few actual inflowing vehicles from the adjacent intersection to the own intersection. Can be realized.

  The traffic signal control apparatus according to a ninth aspect of the present invention is the traffic signal control device according to the eighth aspect, wherein the censoring time preset for each inflow path to the intersection of the predetermined road is provided for the inflow path. The travel time from the sensing position of the vehicle sensor to the stop line position of the inflow path is substantially the same as the travel time based on the free flow speed set in advance for the inflow path.

  It is preferable to set the censoring time as in the ninth aspect because the wasteful blue time can be more appropriately reduced.

  A traffic signal control apparatus according to a tenth aspect of the present invention is the first traffic signal for the predetermined road and the second traffic signal for the intersection road installed at a self-intersection where the predetermined road and the intersection road intersect. A traffic signal control device for controlling the traffic signal display of the adjacent intersection on one side on the predetermined road adjacent to the own intersection, and displaying a red signal of the first traffic signal, First traffic condition information acquisition means for obtaining traffic condition information of each inflow path with respect to the own intersection of the predetermined road, and adjacent intersection information which is information relating to traffic signal display control of the adjacent intersection on the one side, Adjacent intersection information acquisition means acquired during red traffic light display of the traffic signal, traffic situation information obtained by the first traffic situation information acquisition means, and neighbor obtained by the adjacent intersection information acquisition means Based on the intersection information, the first setting means for setting the next green light display time of the first traffic signal, and the green light display time according to the green light display time set by the first setting means. A second setting means for setting a corresponding red traffic light display time of the second traffic signal, and a traffic situation of each inflow road with respect to the intersection of the intersection road during the red traffic light display of the second traffic signal A second traffic condition information acquisition unit for obtaining information, and a third green signal display time for the next traffic signal set based on the traffic condition information obtained by the second traffic condition information acquisition unit. And a fourth setting means for setting a red signal display time of the first traffic signal corresponding to the green signal display time according to the green signal display time set by the third setting means, Above And means for controlling the traffic signal display of the first and second traffic signals according to the signal display time set by the first through fourth setting means those having a.

  Whereas the first aspect controls the traffic signal at its own intersection to be linked with the traffic signal display at each adjacent intersection on both sides of the predetermined road at its own intersection, this tenth aspect The traffic signal is controlled so as to be linked with the traffic signal display of the adjacent intersection on one side on the predetermined road of the own intersection, but both are basically the same and the same advantages can be obtained. For example, the traffic signal control apparatus according to the tenth aspect can be used to control traffic signals at intersections at the ends of the control target area of a predetermined road, as in the 28th and 29th aspects described later. The traffic signal control apparatus according to the first aspect can be used to control traffic signals at an intermediate intersection in a control target area of a predetermined road as in a 29th aspect described later. The traffic signal control device for controlling the traffic signal at the adjacent intersection of the destination of the intersection of the traffic signal at the intersection controlled by the traffic signal control device according to the tenth aspect is the traffic signal control device according to the first aspect, The traffic signal control device according to the tenth aspect is not limited to the traffic signal control device according to the tenth aspect. For example, an existing traffic signal control device for point control may be used. Similarly, the traffic signal control apparatus for controlling the traffic signal at the adjacent intersection of the destination of the intersection of the traffic signal at the intersection controlled by the traffic signal control apparatus according to the first aspect is the traffic signal control apparatus according to the first aspect. The traffic signal control device according to the tenth aspect is not limited to the traffic signal control device according to the tenth aspect. For example, an existing traffic signal control device for point control may be used.

  The traffic signal control apparatus according to an eleventh aspect of the present invention is the traffic signal control device according to the tenth aspect, wherein the first traffic condition information acquisition means is a predetermined time point during the red signal display of the first traffic signal. A first signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the own intersection of each inflow path with respect to the own intersection of the predetermined road; First traffic volume obtaining means for obtaining a traffic volume at a predetermined position upstream of the inflow path opposite to the adjacent intersection with respect to the own intersection.

  In the eleventh aspect, as the traffic status information of each inflow path with respect to the self-intersection of the predetermined road, the number of waiting vehicles for the signal of the inflow path is obtained and opposite to the adjacent intersection with respect to the self-intersection of the predetermined road For the inflow channel on the side, an example of obtaining further traffic volume is given. In this case, by using these as traffic condition information, more appropriate and efficient traffic signal control can be realized.

  The traffic signal control apparatus according to a twelfth aspect of the present invention is the traffic signal control apparatus according to the eleventh aspect, wherein the first signal waiting vehicle number acquisition means relates to the inflow of at least one inflow path with respect to the intersection of the predetermined road. An imaging unit that captures an image including a range between a stop line position of the road and a predetermined position upstream of the inflow path, and based on the image captured by the imaging unit, The number of vehicles waiting for signals in at least one inflow path is obtained.

  In the twelfth aspect, a specific example of acquiring the number of signal waiting vehicles relating to each inflow path with respect to the self-intersection of the predetermined road is given. In this case, since the number of signal waiting vehicles is obtained based on the image picked up by the image pickup means, the actual measurement value is obtained as the number of signal waiting vehicles. In this case, the imaging timing of the imaging means is preferably closer to the end point of the red signal display time during the red signal display time of the first traffic signal.

  The traffic signal control apparatus according to a thirteenth aspect of the present invention is the traffic signal control apparatus according to the eleventh or twelfth aspect, wherein the first traffic volume acquisition means is on the opposite side of the predetermined intersection from the adjacent intersection. A vehicle detector that is provided for the inflow path and senses the vehicle at a predetermined position upstream of the inflow path, and that is obtained for a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle sensor. By dividing the number of passing vehicles by the time of the predetermined period, the traffic volume of the inflow path with respect to the own intersection of the predetermined road is obtained.

  The thirteenth aspect is a specific example of traffic volume acquisition related to the inflow path on the opposite side of the adjacent intersection with respect to the self-intersection of the predetermined road.

  In the traffic signal control device according to a fourteenth aspect of the present invention, in any one of the eleventh to thirteenth aspects, the adjacent intersection information of the adjacent intersection on the one side is a blue signal for the predetermined road at the adjacent intersection. The first information, which is the display time start time or information for specifying this, and the first red light display time start time for the predetermined road at the adjacent intersection, or information for specifying the second, Information and information for specifying the green light display time for the predetermined road of the adjacent intersection or information for specifying the same, or the inflow path toward the own intersection among the inflow paths of the predetermined road with respect to the adjacent intersection Third information, which is a candidate time calculated as a candidate for the green light display time for the predetermined road at the intersection, and a single red light display for the predetermined road at the adjacent intersection Or is information for identifying this, those containing a fourth information.

  The fourteenth aspect is a specific example of adjacent intersection information. If such information is acquired as the adjacent intersection information, for example, the traffic signal display of the own intersection is changed to the adjacent intersection according to the traffic signal display state of the adjacent intersection as in the fifteenth aspect and the sixteenth aspect described later. It is possible to link more appropriately to the traffic signal display.

  The traffic signal control apparatus according to a fifteenth aspect of the present invention is the traffic signal control apparatus according to the fourteenth aspect, wherein (a) an inflow path on the one side adjacent intersection side among the inflow paths to the own intersection of the predetermined road, When the number of signal waiting vehicles obtained by the first signal waiting vehicle number acquisition means for the inflow path is n and the saturated traffic flow set in advance for the inflow path is S, the first setting means is And a basic time calculating means for calculating a basic time Tb represented by an equation of Tb = n / S for the inflow path on the one side adjacent intersection among the inflow paths to the own intersection of the predetermined road. (B) The first setting means is obtained by the adjacent intersection information acquisition means for the inflow path on the one side adjacent intersection among the inflow paths to the own intersection of the predetermined road. The green signal display time start point for the predetermined road based on the first information of the adjacent intersection on one side is the predetermined road based on the second information of the adjacent intersection on the one side obtained by the adjacent intersection information acquisition means If it is after the start point of the single red signal display time, the start point of the green signal display time is set as the reference time point, and in the opposite case, the one side obtained by the adjacent intersection information acquisition means Based on the second and fourth information of the adjacent intersection, the next green signal display time start time after the single red signal display time start time is obtained as a reference time, and the one-side adjacent intersection at the reference time Predicted arrival time acquisition means for obtaining a predicted arrival time that is a time when a vehicle starting from the stop line position of the corresponding inflow path is predicted to reach the stop line position of the inflow path at the intersection And (c) the first setting means is configured to display a next green signal of the first traffic signal with respect to an inflow path on the one side adjacent intersection among the inflow paths to the own intersection of the predetermined road. A first time that is a time start time, a second time that is a time when the basic time Tb calculated for the inflow path from the first time is calculated by the basic time calculation means, and the second time According to the temporal context of the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition unit with respect to a third time point that is a time point when a preset margin time has elapsed for the inflow path from the time point The basic time Tb calculated for the inflow path by the basic time calculation means, the first time point, and the prediction obtained for the inflow path by the predicted arrival time acquisition means As a candidate for the next green light display time of the first traffic signal for the inflow route based on the arrival time and the third information of the adjacent intersection on the one side obtained by the adjacent intersection information acquisition means First candidate time calculating means for calculating the candidate time T of the inflow, (d) among the inflow paths to the own intersection of the predetermined road, the inflow of the inflow path on the opposite side of the adjacent intersection on the one side For the road, the traffic volume obtained by the first traffic volume acquisition means is q, for the inflow path, the signal waiting vehicle number obtained by the first signal waiting vehicle number acquisition means is n, and for the inflow path When the preset saturated traffic flow is S, the first setting means includes an inflow path on the opposite side of the one-side adjacent intersection among the inflow paths with respect to the intersection of the predetermined road. Accordingly, second candidate time calculation means for calculating a candidate time T as a candidate for the next green traffic light display time of the first traffic signal for the inflow path by the equation T = n / (Sq). (E) the first setting means is based on the candidate time T for each inflow path with respect to the intersection of the predetermined road calculated by the first and second candidate time calculation means, The next green signal display time of the first traffic signal is set.

  According to the fifteenth aspect, regarding the inflow path on the side of the adjacent intersection to be linked among the inflow paths with respect to the own intersection of the predetermined road, in addition to the number of waiting signals at the own intersection, the traffic signal of the adjacent intersection The candidate time T as a candidate for the next green light display time of the first traffic signal is calculated in consideration of the number of inflowing vehicles from the adjacent intersection to the own intersection according to the display state. On the other hand, regarding the inflow road on the opposite side to the adjacent intersection to be linked among the inflow paths to the intersection of the predetermined road, the traffic volume at the previous red light display time is regarded as the traffic volume during the green light display time. At this time, the green signal display time at which the number of remaining remaining at the end of the green signal display should be exactly zero is calculated as the candidate time T. According to the fifteenth aspect, since the next green signal display time of the first traffic signal is set based on these candidate times T, the traffic signal display of the own intersection is changed from the traffic signal display of the adjacent intersection. Thus, more appropriate and efficient traffic signal control can be realized while more appropriately linking.

  The traffic signal control apparatus according to a sixteenth aspect of the present invention is the traffic signal control apparatus according to the fifteenth aspect, wherein the first time point is SECm, and each of the inflow paths to the own intersection of the predetermined road For the inflow path on the side, the basic time calculated for the inflow path by the basic time calculation means is Tb, the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is SECa, and the adjacent The green traffic light display time or the candidate time for the predetermined road according to the third information of the adjacent intersection on the one side obtained by the intersection information acquisition means is set as TX, and a saturated traffic flow set in advance for the inflow route is S When the saturated traffic flow set in advance for the corresponding inflow path of the adjacent intersection on the one side is S ′, the first candidate time calculation means Of the inflow paths to the own intersection of the predetermined road, regarding the inflow path on the one side adjacent intersection, (i) the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is the first If it is before the time point 1, the equation (ii) the predicted arrival time point is obtained by the equation T = Tb + {TX− (SECm−SECa)} · S ′ / S or the equation S ′ = S in this equation. If the predicted arrival time obtained for the inflow path by the acquisition means is after the first time point and before the second time point for the inflow path, T = Tb + TX · S ′ / S (Iii) the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is after the second time point for the inflow path and Inflow channel If it is earlier than the third time point, (iv) the predicted arrival time point by the equation T = (SECa−SECm) + TX · S ′ / S or the equation S ′ = S in this equation If the predicted arrival time obtained for the inflow route by the acquisition means is after the third time point for the inflow route, the first traffic signal of the first traffic signal is obtained for the inflow route by the equation T = Tb. The candidate time T as a candidate for the next green light display time is calculated.

  The sixteenth aspect is a specific example of the fifteenth aspect. A method for calculating a candidate time as a candidate for the next green light display time of the first traffic signal is adopted for the inflow path on the side of the adjacent intersection to be linked among the inflow paths to the own intersection of the predetermined road. Thus, the traffic signal display at the own intersection can be more appropriately linked to the traffic signal display at the adjacent intersection.

  The traffic signal control apparatus according to a seventeenth aspect of the present invention is the traffic signal control device according to the fifteenth or sixteenth aspect, wherein the first setting means is calculated by the first and second candidate time calculation means, respectively. The longest time among the candidate times T for each inflow path with respect to the intersection of the road is selected, and the next green signal display time of the first traffic signal is set based on this.

  As in the seventeenth aspect, it is preferable that the next green signal display time of the first traffic signal is set based on the longest time among the candidate times T of each inflow path with respect to the intersection of the predetermined road. . In this case, the longest time may be set as the next green traffic light display time of the first traffic signal as it is. For example, a predetermined correction coefficient (preferably 1 or more for the longest time is 1 A value obtained by multiplying the value may be set as the next green signal display time of the first traffic signal. In the fifteenth and sixteenth aspects, for example, the next green signal display time of the first traffic signal is set based on the average time of the candidate times T of the respective inflow paths with respect to the intersection of the predetermined road. May be.

  The traffic signal control apparatus according to an eighteenth aspect of the present invention is the traffic signal control device according to the seventeenth aspect, wherein the traffic signal control apparatus is provided with respect to the inflow path on the adjacent intersection side on the one side among the inflow paths to the own intersection of the predetermined road, When the first setting means sets the green signal display time during the green signal display time of the vehicle detector that detects the vehicle at a predetermined position upstream of the inflow channel and the first traffic signal, the first On the premise that the candidate time T calculated by the candidate time calculation means is selected, the first time setting means calculates the inflow path by the basic time calculation means when setting the green light display time. After the basic time Tb elapses from the start time of the green light display time, the inflow path on the adjacent intersection side on the one side among the inflow paths with respect to the own intersection of the predetermined road By the vehicle detectors provided regarding the case where the vehicle continues for a preset cutoff time for the inlet passage is not detected, it is obtained and means for aborting the green indication.

  According to the eighteenth aspect, since the means for canceling is provided, even if there are few actual inflow vehicles from the adjacent intersection to be linked to the own intersection, the wasteful green time can be reduced and the efficiency is high. Traffic signal control can be realized.

  The traffic signal control apparatus according to a nineteenth aspect of the present invention is the traffic signal control device according to the eighteenth aspect, wherein the inflow path on the one side adjacent intersection side among the inflow paths to the own intersection of the predetermined road is preset. The censoring time is substantially the same as the travel time based on the free flow speed preset for the inflow path from the sensing position of the vehicle sensor provided for the inflow path to the stop line position of the inflow path. It is.

  It is preferable to set the censoring time as in the nineteenth aspect because the waste blue time can be more appropriately reduced.

  In the traffic signal control apparatus according to a twentieth aspect of the present invention, in any one of the first to nineteenth aspects, the first setting means sets the next green signal display time of the first traffic signal, It is set to be equal to or higher than a predetermined lower limit value.

  According to the twentieth aspect, even when there is almost no traffic volume on each inflow path of the predetermined road, the green light display time of the first traffic signal is too short and the display changes frequently. This is preferable because it is possible to prevent unexpected situations. However, the first to nineteenth aspects are not limited to the nineteenth aspect.

  In the traffic signal control device according to a twenty-first aspect of the present invention, in any one of the first to twentieth aspects, the first setting means sets the next green signal display time of the first traffic signal, It is set below a predetermined upper limit value.

  According to the twenty-first aspect, even when the traffic on the predetermined road is conspicuous, the green signal display time of the first traffic signal is too long and the second traffic signal does not switch to the green signal display for a long time. Since such a situation can be prevented, it is preferable. However, the first to twentieth aspects are not limited to the twenty-first aspect.

  The traffic signal control apparatus according to a twenty-second aspect of the present invention is the traffic signal control device according to any one of the first to twenty-first aspects, wherein the second traffic condition information acquiring means is displaying a red signal of the second traffic signal. , Second traffic volume acquisition means for obtaining traffic volume at a predetermined position upstream of each inflow road with respect to the intersection of the intersection road, And second signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the own intersection of each inflow path with respect to the own intersection of the intersection road.

  In the twenty-second aspect, an example of obtaining the traffic volume of each inflow path and the number of vehicles waiting for signals is given as the traffic status information of each inflow path of the intersection road. In this case, with respect to the crossing road, by using the traffic volume and the number of vehicles waiting for traffic lights, for example, as shown in a 25th aspect described later, the green signal display time at which the number of remaining profits at the end of the green light display should be exactly zero can be accurately obtained. Can be predicted well. For this reason, according to the twenty-first aspect, more appropriate and efficient traffic signal control can be realized while realizing traffic signal control that more quickly follows a sudden change in traffic conditions.

  The traffic signal control apparatus according to a twenty-third aspect of the present invention is the traffic signal control device according to the twenty-second aspect, wherein the second traffic volume acquisition means is provided with respect to at least one inflow path to the intersection of the intersection road. A vehicle detector that senses the vehicle at a predetermined position upstream of the vehicle, and the number of passing vehicles in a predetermined period during a red signal display of the second traffic signal obtained based on the output of the vehicle sensor By dividing by time, the traffic volume of the at least one inflow path with respect to the intersection of the intersection road is obtained.

  This 23rd aspect gives the specific example of the traffic volume acquisition regarding the said intersection road.

  In the traffic signal control apparatus according to a twenty-fourth aspect of the present invention, in the twenty-second or twenty-third aspect, the second signal waiting vehicle number acquisition means relates to at least one inflow path with respect to the own intersection of the intersection road. An image pickup means for picking up an image including a range between a stop line position of the inflow path and a predetermined position upstream of the inflow path, and based on the image picked up by the image pickup means, The number of vehicles waiting for signals on the at least one inflow path with respect to the intersection is obtained.

  In the twenty-fourth aspect, a specific example of obtaining the number of signal waiting vehicles relating to the intersection road is given. In this case, since the number of signal waiting vehicles is obtained based on the image picked up by the image pickup means, the actual measurement value is obtained as the number of signal waiting vehicles. The imaging timing of the imaging means in this case is preferably as close as possible to the end point of the red signal display time during the red signal display time of the second traffic signal.

  The traffic signal control apparatus according to a twenty-fifth aspect of the present invention is the traffic signal control apparatus according to any one of the twenty-second to twenty-fourth aspects, wherein (a) each inflow path to the intersection of the intersection road is the second for the inflow path. The traffic volume obtained by the traffic volume obtaining means is q, the signal waiting vehicle number obtained by the second signal waiting vehicle number obtaining means is n for the inflow path, and the preset saturation is set for the inflow path. When the traffic flow is S, the third setting means, for each inflow path with respect to the intersection of the intersection road, for each inflow path, according to the equation T = n / (Sq) A third candidate time calculating means for calculating a candidate time T as a candidate for the next green traffic light display time of the second traffic signal for the inflow path; and (b) the third setting means includes the third setting means Candidate time Based on the candidate time T for each inlet channel for the self intersection of the cross road calculated by means output, and sets the next green light display time of said second traffic signal.

  In this twenty-fifth aspect, the candidate time T for each inflow road with respect to the intersection of the intersection road is the traffic volume during the green light display time with respect to the traffic volume immediately before the red light display time for the inflow road. This is equivalent to the green signal display time when the remaining number of remaining lights at the end of the green signal display should be exactly zero. Therefore, the candidate time T is a highly accurate predicted value of the green signal display time at which the remaining number of remaining lights at the end of the green signal display should be exactly zero. Therefore, according to the twenty-fifth aspect, the next green signal display time of the second traffic signal is set based on the candidate time T of each inflow path with respect to the own intersection of the intersection road. It is possible to realize traffic signal control that is more appropriate and efficient, while realizing traffic signal control that more quickly follows various fluctuations.

  The traffic signal control apparatus according to a twenty-sixth aspect of the present invention is the traffic signal control apparatus according to the twenty-fifth aspect, wherein the third setting means is configured to each of the intersections of the intersection road calculated by the third candidate time calculation means. The longest time among the candidate times T for the inflow path is selected, and the next green signal display time of the second traffic signal is set based on the selected time.

  As in the twenty-sixth aspect, it is preferable that the next green signal display time for the second traffic signal is set based on the longest time among the candidate times T of the respective inflow paths with respect to the intersection of the intersection road. . In this case, the longest time may be set as the next green traffic light display time of the second traffic signal as it is. For example, a predetermined correction coefficient (preferably 1 or more for the longest time is 1 A value obtained by multiplying by the second traffic signal may be set as the next green signal display time of the second traffic signal. In the twenty-fifth aspect, for example, the next green signal display time of the second traffic signal may be set based on the average time of the candidate times T of each inflow path with respect to the intersection of the intersection road. .

  In the traffic signal control device according to a twenty-seventh aspect of the present invention, in any one of the first to twenty-sixth aspects, the third setting means sets the next green signal display time of the second traffic signal, It is set to a value not less than a predetermined lower limit value.

  According to the twenty-seventh aspect, even when there is almost no traffic volume on each inflow path of the crossing road, the green light display time of the second traffic signal is too short so that the display changes frequently. This is preferable because it is possible to prevent an unexpected situation. However, the first to twenty-sixth aspects are not limited to the twenty-seventh aspect.

  In the traffic signal control device according to a twenty-eighth aspect of the present invention, in any one of the first to twenty-seventh aspects, the third setting means sets the next green signal display time of the second traffic signal, It is set below a predetermined upper limit value.

  According to the twenty-eighth aspect, even when the traffic on the crossing road is significant, the green signal display time of the second traffic signal is too long and the first traffic signal does not switch to the green signal display for a long time. Such a situation can be prevented, which is preferable. However, the first to twenty-seventh aspects are not limited to the twenty-eighth aspect.

  A traffic signal system according to a twenty-ninth aspect of the present invention is arranged at each intersection with respect to two intersections adjacent to each other on a predetermined road, and intersects with the first traffic signal for the predetermined road and the predetermined road. A second traffic signal for an intersecting road, and two traffic signal control devices for controlling the first and second traffic signals at the corresponding intersection provided in one-to-one correspondence with the two intersections, The traffic signal control devices include the first and second traffic signals at the corresponding intersection, and the first and second traffic signals at the intersection adjacent to the corresponding intersection of the two intersections. The traffic signal control device is a traffic signal control device according to any one of the tenth to nineteenth aspects.

  According to the twenty-ninth aspect, since the traffic signal control device according to any one of the tenth to nineteenth aspects is used, while realizing traffic signal control linked to traffic signals at adjacent intersections, It is possible to realize traffic signal control that more quickly follows the sudden fluctuation of the vehicle.

  A traffic signal system according to a thirtieth aspect of the present invention is the first traffic signal system installed at each intersection with respect to three or more intersections that are successively adjacent to each other in a predetermined area on the predetermined road. A traffic signal, a second traffic signal for an intersection road that intersects the predetermined road, and the first and second traffic signals at a corresponding intersection provided in one-to-one correspondence with the three or more intersections, respectively. Three or more traffic signal control devices for controlling each of the traffic signal control devices, and the traffic signal control devices each of which corresponds to the first and second traffic lights at the corresponding intersection, among the corresponding intersections among the three or more intersections. Control is performed so as to link with traffic signal display by the first and second traffic signals at adjacent intersections, and the first of the intersections at one end in the predetermined area of the three or more traffic signal control devices. And the traffic signal control device for controlling the second traffic signal device is the traffic signal control device according to any one of the tenth to nineteenth aspects, and the traffic signal control device in the predetermined area among the three or more traffic signal control devices. The traffic signal control device for controlling the first and second traffic signals at the intersection at the other end is the traffic signal control device according to any one of the tenth to nineteenth aspects, and the three or more traffic signals. A traffic signal control device for controlling the first and second traffic signal at an intersection other than an end in the predetermined area is a traffic signal control device according to any one of the first to ninth aspects. There is something.

  According to the thirtieth aspect, the traffic signal control apparatus according to any one of the tenth to nineteenth aspects and the traffic signal control apparatus according to any one of the first to ninth aspects are used. While realizing traffic signal control linked to traffic signals at intersections, traffic signal control can be realized more quickly following sudden changes in traffic conditions, and distributed at each intersection. Even when the number of intersections in the target area is different, it can be easily handled.

  According to the present invention, while realizing traffic signal control linked with traffic signals at adjacent intersections, it is possible to realize traffic signal control that more quickly follows rapid fluctuations in traffic conditions, It is possible to provide a traffic signal control device that can be easily accommodated even when the number of intersections in the control target area is different and distributed at each intersection, and a traffic signal system using the traffic signal control device.

  Hereinafter, a traffic signal control apparatus and a traffic signal system using the same according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic plan view schematically showing a control target area 200 of a traffic signal system according to an embodiment of the present invention. As shown in FIG. 1, the traffic signal system according to the present embodiment includes five intersections CR1 to CR5 that are successively adjacent to each other on a predetermined road (hereinafter referred to as “main road”) 10 such as a main road. The control target area 200 is used. At intersections CR1 to CR5, intersection roads (hereinafter referred to as “secondary roads”) 21 to 25 intersect with the main road 10, respectively. The interval between adjacent intersections is, for example, about several tens of meters to several hundreds of meters. At each of the intersections CR1 to CR5, a traffic signal for a main road and a traffic signal for a secondary road are set, but the illustration thereof is omitted in FIG. The traffic signal system according to this embodiment includes a traffic signal for a main road and a traffic signal for a secondary road (not shown in FIG. 1) installed at each of the intersections CR1 to CR5, and five intersections CR1 to CR5. On the other hand, it is provided with five traffic signal control devices (not shown in FIG. 1) which are respectively provided on a one-to-one basis and control the traffic signal for the main road and the traffic signal for the secondary road at the corresponding intersection.

  FIG. 2 focuses on one of the five intersections CR1 to CR5 as the own intersection CR, and among the five intersections CR1 to CR5, the adjacent intersection on the main road upstream side with respect to the own intersection CR is defined as CR ′. Traffic signals A1 to A4, A1 'to A4', installed at the intersections CR, CR ', CR ", where CR" is an adjacent intersection on the downside of the main road with respect to the own intersection CR among the intersections CR1 to CR5 It is a schematic plan view which shows typically the example of arrangement | positioning of the traffic signal control apparatuses 1, 1 ', 1 "provided 1: 1 with respect to A1" -A4 "and intersection CR, CR', CR". However, in FIG. 2, the own intersection CR is shown as being one of the intersections CR <b> 2 to CR <b> 4 other than the end portion in the control target area 200. When the own intersection CR is the intersection CR1 at the end of the main road descending side in the control target area 200, the adjacent intersection CR "on the main road descending side does not exist in the control target area 200, and the own intersection CR is In the case of the intersection CR5 at the end on the main road upside in the control target area 200, there is no adjacent crossing CR ″ on the main road upside in the control target area 200. In FIG. 2, the secondary road of the own intersection CR is indicated as 20, the secondary road of the adjacent intersection CR ′ on the upstream side of the main road is indicated as 20 ′, and the secondary road of the adjacent intersection CR ″ on the downstream side of the primary road is indicated as 20 ″.

  As shown in FIG. 2, traffic signals (first traffic signals) A1 and A2 for the main road 10 installed at the own intersection CR are traffic to the inflow paths R1 and R2 with respect to the own intersection CR of the main road 10. Installed to display signals. Similarly, traffic signals (second traffic signals) A3 and A4 for the secondary road 20 installed at the own intersection CR display traffic signals for the inflow paths R3 and R4 with respect to the own intersection CR of the secondary road 20. It is installed as follows. The inflow directions of the inflow channels R1 and R2 with respect to the own intersection CR are opposite to each other, and the inflow directions of the inflow channels R3 and R4 with respect to the own intersection CR are opposite to each other. The inflow direction with respect to the self-intersection CR of the inflow path R1 is the main road down direction, and the inflow direction with respect to the self-intersection CR of the inflow path R2 is the main road up direction. The traffic signals A1 and A2 display the same signal, and the traffic signals A3 and A4 display the same signal. L1 to L4 in FIG. 2 are stop lines of the inflow paths R1 to R4 for the own intersection CR, respectively. In FIG. 2, elements related to the upstream adjacent intersection CR ′ are denoted by a single quote “′” added to the code of the corresponding element related to the own intersection CR, and elements related to the downstream adjacent intersection CR ″. The reference numerals of the corresponding elements relating to the self-intersection CR are assigned the reference numerals with double quotes “” ”, and the description thereof is omitted.

  In the present embodiment, the traffic signal control devices provided corresponding to the intersections CR <b> 2 to CR <b> 4 other than the end portion in the control target area 200 have the same configuration as each other, The traffic signal control device provided corresponding to the intersections CR1 and CR2 has basically the same configuration as the traffic signal control device provided corresponding to the intersections CR2 to CR4, and will be described later. The operation of the control processing unit 3 is slightly changed.

  FIG. 3 is a schematic block diagram showing the traffic signal control apparatus 1 provided corresponding to the own intersection CR. In the present embodiment, the traffic signal control device 1 provided corresponding to the own intersection CR has the configuration shown in FIG. 3 regardless of whether the own intersection CR is any of the intersections CR1 to CR5.

  As shown in FIG. 3, the traffic signal control device 1 provided corresponding to the own intersection CR includes vehicle sensors B1 to B4 such as ultrasonic vehicle sensors, television cameras C1 to C4 as imaging means, And a control unit 2. The control unit 2 includes a traffic jam length measurement processing unit D1 to D4, a control processing unit 3, a drive circuit 4 for lighting and driving the traffic signals A1 to A4 at the own intersection CR according to a control signal from the control processing unit 3, a communication line And a communication unit 5 such as a LAN for exchanging information, which will be described later, between adjacent intersections CR ′ and CR. The communication unit 5 includes a communication disabled state detection unit 6 that detects a communication disabled state (for example, a disconnection of the communication line 7) between adjacent intersections CR 'and CR according to a known communication technique. FIG. 2 shows an arrangement state of the vehicle detectors B1 to B4, the television cameras C1 to C4, and the control unit 2 of the traffic signal control device 1 at the own intersection CR. In FIG. 2, the elements related to the traffic signal control apparatus 1 ′ of the adjacent adjacent intersection CR ′ on the upstream side are the codes obtained by adding a single quote “′” to the codes of the corresponding elements related to the traffic signal control apparatus 1 of the own intersection CR. The elements related to the traffic signal control apparatus 1 "at the adjacent intersection CR" on the down side are labeled with double quotes "" "with respect to the corresponding elements related to the traffic signal control apparatus 1 at the own intersection CR. The description is omitted.

  FIG. 4 shows an example of a state of the vehicle 100 on the inflow path R1 with respect to the own intersection CR of the main road 10 in FIG. It is explanatory drawing which shows the sensing position. In FIG. 4, the vehicle 100 stopped before the stop line L1 is indicated by a solid line, and the vehicle 100 traveling toward the own intersection CR is indicated by a broken line.

  As shown in FIGS. 3 and 4, the vehicle detectors B1 to B4 detect the vehicle 100 at a predetermined position on the upstream side of each of the inflow paths R1 to R4 (for example, a position 170 m from the own intersection CR). The television cameras C1 to C4 respectively capture images including ranges of the positions of the stop lines L1 to L4 of the inflow paths R1 to R4 and a predetermined upstream position (for example, a position 150 m from the own intersection CR). The vehicle detectors B1 to B4 are preferably arranged outside the visual field of the television cameras C1 to C4, but may be arranged within the visual field.

  The traffic jam length measurement processing units D1 to D4 respectively process the images from the television cameras C1 to C4 to obtain the lengths of the vehicles 100 (jamming traffic lengths) stopped before the stop lines L1 to L4. A device combining such a television camera and a traffic jam length measurement processing unit has been put into practical use as a traffic jam length measurement processing device, and is well known.

  The control processing unit 3 is constituted by, for example, a computer or the like, and based on the detection signal from the vehicle detectors B1 to B4 and the output signal indicating the traffic jam length from the traffic jam length measurement processing units D1 to D4, the traffic traffic signals A1 to A4. A control process for controlling the signal display is performed.

  FIG. 5 is a time chart showing an operation example of the traffic signals A1 to A4 at the own intersection CR realized by the operation of the control processing unit 3 of the traffic signal control device 1 provided corresponding to the own intersection CR.

  In the present embodiment, in FIG. 5, the total red time (time for displaying red signals on all traffic signals A1 to A4) AR, the yellow signal display time (yellow time) Ym of traffic signals A1 and A2, and traffic The yellow times Ys of the traffic lights A3 and A4 are always fixed values, and these values are stored in an internal memory (not shown) of the control processing unit 3. On the other hand, the green signal display time (green time) Gm of the traffic signals A1 and A2 and the green signal display time (blue time) Gs of the traffic signals A3 and A4 are variable values set each time. Traffic signal A1, A2 single red signal display time (single red time) (only traffic signal A1, A2 performs red signal display, traffic signal A3, A4 displays green signal display or yellow signal display) Rm, and Rs is Rm = Gs + Ys and Rs = Gm + Ym, respectively, when the traffic lights A3 and A4 are alone in red time (only traffic signals A3 and A4 display red signals and traffic signals A1 and A2 display green signals or yellow signals). Is a variable value set according to As can be seen from FIG. 5, the red signal display time (red time) of traffic signals A1 and A2 is the entire continuous AR + Rm + AR, and the red signal display time (red time) of traffic signals A3 and A4 is the entire continuous AR + Rs + AR. It is. However, the present invention is not necessarily limited to these. The values of Gm, Gs, Rm, and Rs are set by being stored in the internal memory of the control processing unit 3 and updated to new values each time.

  Although not shown in the drawing, the operation of traffic signals A1 ′ to A4 ′ at the adjacent intersection CR ′ on the upstream side is the same as the operation of traffic signals A1 to A4 at its own intersection CR shown in FIG. In the following description, if necessary, each time relating to the operation of the traffic signals A1 ′ to A4 ′ at the adjacent intersection CR ′ on the upstream side corresponds to the operation of the traffic signals A1 to A4 at the own intersection CR shown in FIG. A description will be given by adding a single quotation mark “′” to a code such as time. Further, the operations of traffic signals A1 "to A4" at the adjacent intersection CR "on the downstream side are the same as the operations of the traffic signals A1 to A4 at the own intersection CR shown in Fig. 5, and as necessary in the following description. , Each time related to the operation of the traffic signals A1 ′ to A4 ′ at the adjacent intersection CR ″ on the downstream side is double quotes with respect to the codes such as the corresponding times related to the operations of the traffic signals A1 to A4 at the own intersection CR shown in FIG. A description will be given with reference numerals with "" ". However, in the present embodiment, the total red time AR and the yellow times Ys and Ym are the same for all the intersections, and therefore the total red time and the yellow time for the adjacent intersections CR ′ and CR ″ may be used. No single quote "'" nor double quote "" ".

  Here, prior to the description of the operation of the control processing unit 3, the candidate times T1 to T4 calculated for the inflow paths R1 to R4 with respect to the own intersection CR will be described.

  First, candidates for green traffic light display times (blue hours) of traffic signals A3 and A4 for the slave road 20 at the own intersection CR, calculated for the downstream inflow route R3 with respect to the own intersection CR of the slave road 20 in the present embodiment. The candidate time T3 will be described with reference to FIG. FIG. 6 shows the passage of time from the blue start time (red end time) of traffic signals A3 and A4 for the slave road 20 at the own intersection CR, and the number of inflows to the own intersection CR through the inflow path R3. (Cumulative number) and the number of outflows (cumulative number) from the own intersection CR through the inflow path R3 are shown. In FIG. 6, the signal waiting number of the inflow path R3 at the red end time (blue start time) is n3, and the traffic volume q3 (inflow traffic to the own intersection CR by the inflow path R3 during the blue hours of the traffic lights A3 and A4. Pedestal / second) is constant, and the outflow from the own intersection CR by the inflow path R3 is performed by the saturated traffic flow S3 (unit / second) having a constant value set for the inflow path R3. Yes.

  In this case, since q3 <S3, when the time (blue time) elapses from the red end time, the outflow cumulative number and the inflow cumulative number coincide with each other. The time when both coincide is calculated as a candidate time T3 for the inflow path R3. The candidate time T3 is represented by an equation of T3 = n3 / (S3-q3).

  If the blue hours of the traffic signals A3 and A4 for the secondary road 20 are terminated when the candidate time T3 has elapsed, the remaining number of remaining profits regarding the inflow path R3 at that time is exactly zero. Therefore, if the blue hours of the traffic signals A3 and A4 for the slave road 20 at the own intersection CR are terminated at the time when the candidate time T3 has elapsed, there is no remaining profit on the inflow route R3 and the blue time is wasted. It turns out that efficiency is good.

  From the same point of view, in the present embodiment, for the inflow route R4 in the upward direction with respect to the own intersection CR of the slave road 20, the candidate time as the candidate for the blue hours of the traffic signals A3 and A4 for the slave road 20 of the own intersection CR. T4 is calculated by an equation of T4 = n4 / (S4-q4). Here, n4, S4, and q4 are related to the inflow path R4, and correspond to n3, S3, and q3 related to the inflow path R3, respectively.

  In the present embodiment, the traffic signal control device 1 at the own intersection CR cannot acquire information to be described later from the adjacent adjacent intersection CR ′ due to the disconnection of the communication line 7 or the own intersection CR is in the control target area 200. In the case of the intersection CR5 at the end of the main road going up, the traffic lights A1, A2 for the main road 10 at the own intersection CR are blue for the downstream inflow route R1 with respect to the own intersection CR of the main road 10. Candidate time T1 as a time candidate is calculated by the equation T1 = n1 / (S1-q1). Here, n1, S1, and q1 are related to the inflow path R1, and correspond to n3, S3, and q3 related to the inflow path R3, respectively.

  Further, in the present embodiment, when the traffic signal control device 1 at the own intersection CR cannot acquire information to be described later from the adjacent intersection CR ″ on the down side due to the disconnection of the communication line 7 or the like, In the case of the intersection CR1 at the end of the main road descending, the traffic light A1 and A2 for the main road 10 at the own intersection CR is blue for the upstream inflow route R2 with respect to the own intersection CR of the main road 10. A candidate time T2 as a time candidate is calculated by the formula T2 = n2 / (S2-q2), where n2, S2, q2 are related to the inflow path R2, and n3, S3, regarding the inflow path R3. Each corresponds to q3.

  Next, in the present embodiment, there is no interruption of the communication line 7 and the own intersection CR is not the intersection CR5 at the end of the main road in the controlled area 200 but the traffic at the own intersection CR. In a normal case where the signal control device 1 can obtain information to be described later from the adjacent adjacent intersection CR ′ on the upstream side, the main road 10 of the own intersection CR calculated for the downstream inflow route R1 with respect to the own intersection CR of the main road 10 is calculated. The candidate time T1 as a candidate for the green signal display time (green time) of the traffic signals A1 and A2 will be described with reference to FIGS.

  The candidate time T1 in this normal case basically flows into the own intersection CR first after the traffic lights A1 ′ and A2 ′ for the main road 10 of the adjacent adjacent intersection CR ′ on the upstream side start the green time. In consideration of the state of the traffic signals A1 and A2 for the main road 10 of the own intersection CR when the vehicle to reach the stop line L1 of the inflow path R1 in the downward direction of the own intersection CR , A downstream inflow path R1 ′ (inflow path) with respect to the upstream adjacent intersection CR ′ of the main road 10 during the green time Gm ′ of the traffic signals A1 ′, A2 ′ for the main road 10 of the upstream adjacent intersection CR ′. From the stop line L1 ′ of the corresponding inflow path R1 ′) of the adjacent intersection CR ′ upstream of R1, the predicted number of inflowing vehicles that are expected to flow into the own intersection CR and the red end point of the traffic lights A1 and A2 Trust of inflow path R1 of own intersection CR Waiting vehicle number n1, the entire, as green time for drainage remaining number is exactly zero to traffic signals A1, A2 of the inflow passage R1, is determined.

  The method for determining the candidate time T1 in this normal case will be specifically described with reference to FIGS.

  In the present embodiment, the traffic signal control device 1 at its own intersection CR receives information on traffic signal display control at the adjacent intersection CR ′ from the traffic signal control device 1 ′ at the adjacent intersection CR ′. As the intersection information, the latest four pieces of information at the time of acquisition, that is, the blue start time SECm ′ of the traffic lights A1 ′ and A2 ′ for the main road 10 of the adjacent intersection CR ′, and the main road of the adjacent adjacent intersection CR ′ on the upstream side 10 of the traffic lights A1 ′, A2 ′ for the traffic lights A1 ′, A2 ′ of the single red time start (single red start time) SECs ′ and the inflow road R1 ′, R2 ′ of the main road 10 with respect to the adjacent adjacent intersection CR ′ Candidate time T1 ′ calculated as a candidate for the green time of traffic signals A1 ′ and A2 ′ of the adjacent adjacent intersection CR ′ on the downstream inflow route R1 ′ toward the CR (the inflow route of the own intersection CR) Single candidate traffic time A1 ′, A2 ′ for the main road 10 of the adjacent intersection CR ′ on the upstream side, and the candidate time T1 ′ for the inflow route R1 ′ of the adjacent intersection CR ′ corresponding to the candidate time T1 for 1. The red time Rm ′ is acquired via the communication line 7. In the present invention, information for specifying this may be acquired instead of the blue start time SECm ′, or information for specifying this may be acquired instead of the single red start time SECs ′. Alternatively, instead of the single red time Rm ′, information for specifying this may be acquired. For example, the single red start time SECs ′ can be specified if the yellow time end time is acquired, because the total red time AR is known.

  In the present embodiment, as shown in FIGS. 7 to 9, the traffic signal control device 1 at its own intersection CR receives the upstream adjacent intersection information from the traffic signal control device 1 ′ at the upstream adjacent intersection CR ′. It is obtained near the start time of the all red time AR (end time of the single red time Rm ′) immediately before the next blue time Gm to be set for the traffic lights A1 and A2 for the main road 10 at the own intersection CR. FIGS. 7 to 9 show the acquisition timing of the adjacent intersection information on the upstream side of the traffic signal control device 1 at the own intersection CR and the state of the traffic signals A1 ′ and A2 ′ for the main road 10 at the adjacent adjacent intersection CR ′. It is a figure which shows the relationship.

  FIG. 7A shows the acquisition timing when the acquisition timing is during the single red time Rm ′ of the traffic lights A1 ′ and A2 ′ for the main road 10 at the adjacent intersection CR ′ on the upstream side. Is in the all red time AR immediately after the yellow time Ym of the traffic lights A1 ′, A2 ′ for the main road 10 at the upcoming adjacent intersection CR ′, FIG. When the traffic lights A1 ′ and A2 ′ for the main road 10 at the intersection CR ′ are in the yellow time Ym, FIG. When A1 ′ and A2 ′ are in the green time Gm ′, FIG. 9 shows that the acquisition timing is immediately after the single red time Rm ′ of the traffic signals A1 ′ and A2 ′ for the main road 10 of the adjacent adjacent intersection CR ′. If you are in the total red time AR of It is.

  In the present embodiment, as shown in FIGS. 7B, 8A, and 8B, SECm ′> SECs ′ () based on the upstream adjacent intersection information acquired at the acquisition timing. That is, when the blue start time point SECm ′ is after the single red start time point SECs ′), the reference time point SECm0 serving as a basis for obtaining the predicted number of inflowing vehicles from the adjacent adjacent crossing point CR ′ to the own crossing point CR. Let 'be the blue start time SECm' of the traffic signals A1 ', A2' for the main road 10 at the upcoming adjacent intersection CR '. On the other hand, when SECm ′ <SECs ′ (that is, the blue start time SECm ′ is before the single red start time SECs ′) as shown in FIGS. 7A and 9, the reference time SECm0 ′ is increased by Next blue start time of traffic signals A1 ′, A2 ′ for the main road 10 at the adjacent intersection CR ′ (ie, SECs ′ + Rm ′ + AR, ie, single red start time SECs ′ and single red time Rm and all red) Time AR).

  FIG. 10 shows the reference time SECm0 ′ and the predicted arrival time SECa1 (downward direction of the adjacent adjacent intersection CR ′ at the reference time SECm0 ′ when SECm ′> SECs ′ (that is, when SECm0 ′ = SECm ′). The vehicle that departs from the position of the stop line L1 ′ of the inflow path R1 ′ (the vehicle that departs first during the blue hours starting from the reference time SECm0 ′) reaches the position of the stop line L1 of the inflow path R1 of the own intersection CR Then, it is a figure which shows the relationship with the time (predicted). FIG. 11 is a diagram illustrating the relationship between the reference time point SECm0 ′ and the predicted arrival time point SECa1 when SECm ′ <SECs ′ (that is, when SECm0 ′ = SECs ′ + Rm ′ + AR). 10 and 11 also show the blue start time SECm of the next green time Gm to be set for the traffic lights A1 and A2 for the main road 10 at the own intersection CR, a basic time Tb1 and a margin time Tex1 described later. .

  In the present embodiment, as shown in FIG. 10 and FIG. 11, the vehicle that departs from the stop line L1 ′ of the adjacent intersection CR ′ on the upstream side is a distance between the stop lines L1 and L1 ′ and a predetermined free flow. Assume that the vehicle reaches the stop line L1 at its own intersection after the travel time Tf1 obtained from the speed, and obtains the predicted arrival time SECa1 by SECa1 = SECm0 ′ + Tf1.

  From the predicted arrival time SECa1, the candidate time T1 ′ in the main road downward direction of the adjacent intersection CR ′ on the upstream side (the inflow route R1 ′ of the adjacent intersection CR ′ corresponding to the candidate time T for the inflow route R1 of the own intersection CR) It is considered that the vehicle from the adjacent adjacent intersection CR ′ flows into the own intersection CR only during the candidate time T1 ′). In this embodiment, the candidate time T1 in the downward direction of the main road of the adjacent adjacent intersection CR ′ is not the blue time Gm ′ of the traffic lights A1 ′ and A2 ′ for the main road 10 of the adjacent adjacent intersection CR ′ on the upstream side. The reason for using 'is that in this embodiment, the blue time Gm' is the candidate time T1 'calculated for the downstream inflow path L1' and the candidate time T2 'calculated for the upstream inflow path L2'. In order to employ the larger candidate time as the blue time Gm ′, the downstream inflow channel L1 even when the candidate time T2 ′ calculated for the downstream inflow channel L2 ′ is employed as the blue time Gm ′. This is because it can be considered that the vehicle flows out only from the candidate time T1. However, in the present invention, the traffic signal control device 1 at its own intersection CR replaces the candidate time T1 ′ for the downstream inflow path R1 ′ of the upstream adjacent intersection CR ′ with the upstream adjacent intersection CR ′. The green time Gm ′ of the traffic signals A1 ′ and A2 ′ for the main road 10 may be used. From the predicted arrival time SECa1, only the candidate time T1 ′ in the main road down direction of the adjacent adjacent intersection CR ′ The vehicle from the adjacent intersection CR ′ on the side may be regarded as flowing into the own intersection CR. In this case, the traffic signal control device 1 at its own intersection CR replaces the candidate time T1 ′ with the traffic time control device 1 ′ at the adjacent adjacent intersection CR ′, and information for specifying the blue time Gm ′. Just get it.

  In the present embodiment, as shown in FIGS. 10 and 11, the basic time Tb1 represented by the equation Tb1 = n1 / S1 is calculated for the downstream inflow route R1 of the main road 10 at the own intersection CR. Here, n1 is the self-intersection at the blue start time SECm of the next green time Gm to be set for the traffic lights A1 and A2 for the main road 10 of the self-intersection CR (when the traffic lights A1 and A2 end red). This is the signal waiting number of the inflow path R1 in the downward direction of the main road 10 of the CR. S1 is a saturated traffic flow set in advance for the inflow route R1 in the downward direction of the main road 10 at the own intersection CR. The basic time Tb1 means the time when the signal waiting number n1 is just left and the remaining time is zero.

  Further, in the present embodiment, as shown in FIGS. 10 and 11, a margin time Tex1 is set in advance for the inflow path R1 in the downward direction of the main road 10 at the own intersection CR. The significance of the margin time Tex1 will be described later.

  The blue start time SECm of the next green time Gm to be set for the traffic lights A1 and A2 for the main road 10 at the own intersection CR, the time when the basic time Tb1 has elapsed from this blue start time SECm (time of (SECm + Tb1)), Further, in consideration of the temporal relationship of the predicted arrival time SECa1 with respect to the time when the basic time Tb1 and the margin time Tex1 have elapsed from the blue start time SECm (the time when (SECm + Tb1 + Tex1)), SECm ′> SECs shown in FIG. In the case of ', cases A to D in FIG. 10 are considered, and in the case of SECm ′ <SECs ′ shown in FIG. 11, cases E to H in FIG. 11 are considered.

  In case A, SECa1 <SECm (the predicted arrival time SECa1 is before the blue start time SECm). In cases B and E, SECm ≦ SECa1 <SECm + Tb1 (the predicted arrival time SECa1 is after the blue start time SECm and before the time when the basic time Tb1 has elapsed from the blue start time SECm). In cases C and F, SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1 (the predicted arrival time SECa1 is after the basic time Tb1 has elapsed from the blue start time SECm, and the basic time Tb1 and the margin time Tex1 have passed since the blue start time SECm. Before the time). In cases D, G, and H, SECm + Tb1 + Tex1 ≦ SECa1 (after the point at which the predicted arrival time SECa1 has passed the basic time Tb1 and the margin time Tex1 from the blue start time SECm).

  Regarding the method of determining the candidate time T1 (the candidate time T1 in the main road downward direction of the own intersection CR) for the downstream inflow path R1 with respect to the own intersection CR of the main road 10 in the case of SECa1 <SECm as in case A, This will be described with reference to FIG. FIG. 12 shows the passage of time and the number of inflows from the inflow path R1 ′ in the main road downward direction of the adjacent intersection CR ′ on the upstream side to the own intersection CR through the inflow path R1 of the own intersection CR when SECa1 <SECm (cumulative). Number) and the number of outflows (cumulative number) from the own intersection CR through the inflow path R1. In FIG. 12, the predicted inflow traffic volume from the adjacent intersection CR ′ on the upstream side to the own intersection CR is a saturated traffic flow having a constant value set in advance in the downstream inflow path R1 ′ at the adjacent intersection CR ′ on the upstream side. It is assumed that it is equal to S1 ′, and this traffic flows into the own intersection CR only during the candidate time T1 ′ in the down direction of the main road of the adjacent adjacent intersection CR ′ (this point will be described later with reference to FIG. 13). The same applies to FIG. 15). In addition, the outflow from the own intersection CR by the inflow path R1 in the downward direction is performed by a saturated traffic flow S1 having a constant value set for the inflow path R1 (this point will be described later with reference to FIG. 13). The same applies to FIG. 15).

  In FIG. 12, SECa1 <SECm (that is, the first vehicle that has flowed out of the adjacent adjacent intersection CR ′ is in the downstream inflow path R1 of the own intersection CR before the green signal start time SECm of the own intersection CR. Since the stop line L1 has been reached), the inflow route in the downward direction of the main road 10 of the own intersection CR at the blue start time SECm of the own intersection CR (when the traffic lights A1 and A2 of the own intersection CR end red) The number of inflows from the adjacent intersection CR ′ on the upstream side of (SECm−SECa1) · S1 ′ is included in the signal waiting number n1 of R1. As shown in FIG. 12, in the case of SECa1 <SECm, taking this into consideration, the candidate time T1 in the down direction of the main road of the own intersection CR is waited for a signal at the end of red in the inflow route R1 of the own intersection CR. The number n1 and the number of inflows from the adjacent intersection CR ′ on the upstream side after the end of red are set to be just the time, and the candidate time T1 is expressed by the following equation: T1 = Tb1 + {T1 ′ − (SECm−SECa1)} · S1 ′ / S1 calculate. When S1′≈S1, it is considered that S′1 = S1, and the candidate time T1 may be calculated by the equation T1 = Tb1 + {T1 ′ − (SECm−SECa1)}.

  As in cases B and E, in the case of SECm ≦ SECa1 <SECm + Tb1, the candidate time T1 for the downstream inflow route R1 with respect to the own intersection CR of the main road 10 (candidate time T1 in the main road downward direction of the own intersection CR) The determination method will be described with reference to FIG. FIG. 13 shows the passage of time and the number of inflows from the inflow path R1 ′ in the main road downward direction of the adjacent adjacent intersection CR ′ to the own intersection CR through the inflow path R1 of the own intersection CR when SECm ≦ SECa1 <SECm + Tb1. It shows the relationship between (cumulative number) and the number of outflows (cumulative number) from the own intersection CR through the inflow path R1.

  In FIG. 13, since SECm ≦ SECa1 <SECm + Tb1, the first vehicle that has flowed out of the adjacent adjacent intersection CR ′ on the upstream side is the stop line L1 of the downstream inflow path R1 of the own intersection CR during the elapse of the basic time Tb1. Has reached. In this case, as shown in FIG. 13, the candidate time T1 in the down direction of the main road of the own intersection CR is determined from the signal waiting number n1 at the red end of the inflow route R1 of the own intersection CR and the adjacent intersection on the upstream side after the red end. The number of inflows from CR ′ is just set to be a time to squeeze, and the candidate time T1 is calculated by the equation T1 = Tb1 + T1 ′ · S1 ′ / S1. When S′1≈S1, it is considered that S′1 = S1, and the candidate time T1 may be calculated by the equation T1 = Tb1 + T1 ′.

  In the case of SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1 as in cases C and F, the candidate time T1 (candidate time T1 in the main road down direction of the main road CR) for the downstream inflow road R1 with respect to the own road CR of the main road 10 The determination method will be described with reference to FIG. FIG. 14 shows the number of inflows from the inflow route R1 ′ in the main road down direction of the adjacent adjacent intersection CR ′ to the own intersection CR through the inflow route R1 of the own intersection CR when SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1. It shows the relationship between (cumulative number) and the number of outflows (cumulative number) from the own intersection CR through the inflow path R1.

  In FIG. 14, since SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1, the first vehicle that has flowed out of the adjacent adjacent intersection CR ′ is in the down direction of the own intersection CR during the lapse of the margin time Tex1 after the lapse of the basic time Tb1. To the stop line L1 of the inflow path R1. In this case, if only the number of waiting signals n1 at the end of red is given, the remaining number of remaining items regarding the inflow path R1 of the own intersection CR becomes zero. However, if only the number n1 waiting for the signal at the end of red is passed, vehicles from the adjacent intersection CR 'on the upstream side arrive immediately thereafter, so those vehicles must wait for a long time at their own intersection CR. At the same time, the first vehicle that has flowed out from the adjacent intersection CR ′ on the upside is forced to stop suddenly at the own intersection CR, which is dangerous. The margin time Tex1 is a time provided to prevent these disadvantages. As shown in FIG. 14, in the case of SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1, the candidate time T1 in the main road down direction of the own intersection CR is set as the number of waiting signals n1 at the end of red on the inflow route R1 of the own intersection CR and the red end The number of inflows from the adjacent crossing CR ′ on the upstream side is just set as the time required, and the candidate time T1 is calculated by the following equation: T1 = (SECa1-SECm) + T1 ′ · S1 ′ / S1. When S′1≈S1, it is considered that S′1 = S1, and the candidate time T1 may be calculated by the equation T1 = (SECa1−SECm) + T1 ′.

  In the case of SECm + Tb1 + Tex1 ≦ SECa1 as in cases D, G, and H, the candidate time T1 for the downstream inflow route R1 with respect to the own intersection CR of the main road 10 (the candidate time T1 in the main road downward direction of the own intersection CR) The determination method will be described with reference to FIG. FIG. 15 shows the passage of time and the number of inflows from the inflow route R1 ′ in the main road downward direction of the adjacent adjacent intersection CR ′ to the own intersection CR through the inflow route R1 of the own intersection CR (cumulative) in the case of SECm + Tb1 + Tex1 ≦ SECa1. Number) and the number of outflows (cumulative number) from the own intersection CR through the inflow path R1.

  In FIG. 15, since SECm + Tb1 + Tex1 ≦ SECa1, the first vehicle that has flowed out of the adjacent adjacent intersection CR ′ reaches the stop line L1 of the downstream inflow route R1 of the own intersection CR after the allowance time Tex1 has elapsed. ing. In this case, as shown in FIG. 15, the candidate time T1 in the main road descending direction of the own intersection CR is set to the time when only the number of waiting signals n1 at the end of red is used, and the candidate time T1 is expressed by the equation T1 = Tb1. calculate.

  As described above, there is no interruption of the communication line 7, and the own intersection CR is not the intersection CR5 at the end of the main road in the controlled area 200, but the traffic signal control device 1 at the own intersection CR is on the upstream side. In the normal case in which the above-described adjacent information on the upstream side can be acquired from the adjacent intersection CR ′, the inflow route R1 in the downward direction with respect to the own intersection CR of the main road 10 is calculated for the main road 10 of the own intersection CR. The candidate time T1 as a candidate for the green signal display time (blue time) of the traffic lights A1 and A2 has been described with reference to FIGS. Since the candidate time T1 is calculated as described above, if the blue time of the traffic lights A1 and A1 for the main road 20 at the own intersection CR is terminated when the candidate time T1 has elapsed, the main road 10 with respect to the own intersection CR It can be seen that the downstream inflow route R1 is linked with the traffic signal display of the adjacent intersection CR ′ on the upstream side appropriately, and there is no remaining profit and there is no waste in the blue hours, so that the efficiency is good.

  In the present embodiment, there is no interruption of the communication line 7 and the own intersection CR is not the intersection CR1 at the end of the main road downside in the controlled area 200 but the traffic signal control device at the own intersection CR. In the normal case where 1 is able to acquire the downlink adjacent intersection information (information corresponding to the above-described uplink adjacent intersection information) from the downlink adjacent intersection CR ″, the normal described above with reference to FIGS. In the same way as the candidate time T1 in the case of the above, the green signal display time (blue time) of the traffic signals A1, A2 for the main road 10 of the own intersection CR for the upstream inflow route R2 with respect to the own intersection CR of the main road 10 A candidate time T2 is calculated as a candidate.

  In the present embodiment, the traffic signal control device 1 at the own intersection CR is based on the candidate roads T1 and T2 for the inflow paths R1 and R2 of the main road 10 at the own intersection CR described above. The next green time Gm of traffic lights A1 and A2 for 10 is set. Further, the traffic signal control device 1 at the own intersection CR is for the main road 10 at the own intersection CR based on the candidate times T3 and T4 for the inflow paths R3 and R4 of the slave road 20 at the own intersection CR described above. The next green time Gm of the traffic lights A1 and A2 is set. In the present embodiment, blue cut-off control described later is also performed.

  Next, the operation of the control processing unit 3 of the traffic signal control device 1 at the own intersection CR when the own intersection CR is one of the intersections CR2 to CR4 other than the end in the control target area 200 will be described with reference to FIGS. This will be specifically described with reference to FIG. 16 to 23 show the operation of the control processing unit 3 of the traffic signal control device 1 of the own intersection CR when the own intersection CR is one of the intersections CR2 to CR4 other than the end in the control target area 200. It is a schematic flowchart shown.

  When starting the operation, the control processing unit 3 first starts a built-in timer (s) that measures each time point as an elapsed time s from s = 0 (step S1). The timer (s) is synchronized by the control processing units 3 of the traffic signal control devices at all the intersections CR1 to CR5 in the control target area 200.

  Subsequently, the control processing unit 3 starts red display on all traffic signals A1 to A4 at the own intersection CR (that is, starts all red) (step S2).

  Next, the control processing unit 3 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S3).

  Next, the control processing unit 3 sets the next blue time Gs of the traffic lights A3 and A4 on the secondary road 20 at the own intersection CR to the initial value Gs0 (step S4).

  Thereafter, the control processing unit 3 calculates the next single red time Rm of the traffic lights A1 and A2 on the main road 10 at the own intersection CR by Rm = Gs + Ys (step S5).

  Subsequently, the control processing unit 3 determines whether or not the total red time AR has elapsed from the time of step S3 (step S6). If the total red time AR has not elapsed, the control processing unit 3 waits until the total red time AR has elapsed, and when the total red time AR has elapsed, causes the traffic lights A3 and A4 on the secondary road 20 to end the red signal display. The green signal display is started (step S7).

  Next, the control processing unit 3 determines the measurement time s of the timer (s) at this point in time as the traffic signal control device 1 ′ at the upcoming adjacent intersection CR ′ and the traffic signal control device 1 at the downside adjacent intersection CR ″. As the single red start time SECs of the traffic signals A1 and A2 for the main road 10 at the own intersection CR, which is one piece of information to be supplied to "", it is stored in the internal memory (step S8). The single red start time point SECs are overwritten and stored, and only the latest one is retained. In addition, the single red start time point SECs is obtained at the adjacent intersection CR ′, CR ″ via the communication line 7 in response to each acquisition request from the traffic signal control device 1 ′, 1 ″ of the adjacent intersection CR ′, CR ″. The signals are supplied to the traffic signal control devices 1 ′ and 1 ″, respectively.

  Subsequently, the control processing unit 3 uses the single red time Rm of the traffic lights A1 and A2 of the main road 10 of the own intersection CR calculated at the latest in step S5 as the traffic signal control device 1 ′ of the adjacent adjacent intersection CR ′. And it is preserve | saved in an internal memory as one of the information for supplying to the traffic signal control apparatus 1 "of the adjacent intersection CR" on the down side (step S9). The single red time Rm is overwritten and stored, and only the latest one is retained. In addition, this single red time Rm is used for traffic at the adjacent intersections CR ′ and CR ″ via the communication line 7 in response to each acquisition request from the traffic signal control devices 1 ′ and 1 ″ at the adjacent intersections CR ′ and CR ″. The signals are supplied to the signal control devices 1 ′ and 1 ″, respectively.

  Next, the control processing unit 3 measures the number N1 of vehicles 100 detected by the vehicle detector B1 of the inflow path R1 of the main road 10 at the own intersection CR, and the inflow path R2 of the main road 10 at the own intersection CR. Measurement of the number N2 of vehicles 100 detected by the vehicle sensor B2 is started (step S10). That is, the control processing unit 3 resets the values of the numbers N1 and N2 in the internal memory to zero at the time of step S10, and from the time of step S10 to the time of step S23 to end the measurement described later, Each time a sensing signal is obtained from the vehicle detector B1, the value of the number N1 is incremented by 1 by an interruption process, and every time a sensing signal is obtained from the vehicle sensor B2, the value of the number N2 is incremented by 1 by an interruption process. .

  After step S10, the control processing unit 3 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S11).

  Next, the control processing unit 3 determines whether or not the currently set blue time Gs has elapsed since the time of step S11 (step S12). If the blue time Gs has not elapsed, the control processing unit 3 waits until the blue time Gs has elapsed. When the blue time Gs has elapsed, the control processing unit 3 causes the traffic lights A3 and A4 on the subway 20 at the intersection CR to end the green signal display. The yellow signal display is started (step S13).

  Next, the control processing unit 3 determines whether or not the single red time Rm of the traffic signals A1 and A2 on the main road 10 calculated at the latest in step S5 has elapsed since the time of step S11 (step S14). If the single red time Rm has not elapsed, the control processing unit 3 waits until the single red time Rm has elapsed. When the single red time Rm has elapsed, the control processing unit 3 sends a yellow signal to the traffic lights A3 and A4 on the secondary road 20 at its own intersection CR. The display is terminated and red signal display is started (that is, all red is started) (step S21).

  Next, the control processing unit 3 uses the measured time s of the timer (s) at this time and the total red time AR, and the blue of traffic lights A1 and A2 on the main road 10 at its own intersection CR by SECm = s + AR. The start time SECm is calculated, and information for supplying this blue start time SECm to the traffic signal control device 1 ′ at the adjacent adjacent intersection CR ′ and the traffic signal control device 1 ″ at the adjacent adjacent intersection CR ″ One is stored in the internal memory (step S22). This blue starting time point SECm is overwritten and stored and only the latest one is retained. In addition, the blue start time SECm corresponds to the traffic at the adjacent intersection CR ′, CR ″ via the communication line 7 in response to each acquisition request from the traffic signal control device 1 ′, 1 ″ at the adjacent intersection CR ′, CR ″. The signals are supplied to the signal control devices 1 ′ and 1 ″, respectively.

  Thereafter, the control processing unit 3 performs the measurement started in step S10 (that is, the measurement of the number N1 of the vehicles 100 sensed by the vehicle detector B1 of the inflow path R1 of the main road 10 and the inflow path R2 of the main road 10). (Measurement of the number N2 of vehicles 100 detected by the vehicle sensor B2) is terminated (step S23). Therefore, after step S23, the number N1 in the memory of the control processing unit 3 is the number of vehicles that have passed the sensing position of the vehicle detector B1 in the inflow path R1 of the main road 10 during the previous single red time Rm. Show. Similarly, after step S23, the number N2 in the memory of the control processing unit 3 is the number of vehicles that have passed the sensing position of the vehicle detector B2 in the inflow path R2 of the main road 10 during the previous single red time Rm. Indicates.

  Next, the control processing unit 3 detects the current traffic jam length E1 measured by the camera C1 and the traffic jam length measurement processing unit D1 of the inflow channel R1 of the main road 10, and the camera C2 and traffic jam of the inflow channel R2 of the main road 10. The current congestion length E2 measured by the length measurement processing unit D2 is taken into the internal memory (step S24).

  Next, the control processing unit 3 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S25).

  Thereafter, the control processing unit 3 uses the number of passing vehicles N1, N2 in the single red time Rm most recently obtained in steps S10 and S23 and the single red time Rm obtained in step S5 to obtain q1 = From N1 / Rm and q2 = N2 / Rm, the traffic volume q1 (vehicles / second) of the inflow path R1 of the main road 10 and the traffic volume q2 (vehicles / second) of the inflow path R2 of the main road 10 are respectively calculated ( Steps S26 and S27).

  Further, the control processing unit 3 uses the traffic jam length E1 of the inflow path R1 of the main road 10 and the traffic jam length E2 of the inflow path R2 of the main road 10, and the predetermined average vehicle head distance F, which are latest captured in step S24. Thus, by n1 = E1 / F and n2 = E2 / F, the number of signal waiting vehicles n1 in the inflow path R1 of the main road 10 and the number of signal waiting vehicles n2 in the inflow path R2 of the main road 10 are respectively calculated (step S28). , S29).

  Next, based on the detection result from the incommunicable state detection unit 6 of the communication unit 5 of the traffic signal control device 1 of the own intersection CR, the control processing unit 3 determines the traffic signal control device 1 of the adjacent adjacent intersection CR ′ on the upstream side. It is determined whether or not it is possible to acquire the upcoming adjacent intersection information from '(step S30). If the acquisition is possible, the control processing unit 3 can perform a flag FU (referred to as “uplink information acquisition enable / disable flag”) FU indicating whether or not acquisition of uplink adjacent intersection information is possible. Is set to a value “1” (step S31), and the process proceeds to step S32. On the other hand, if the acquisition is impossible, the control processing unit 3 sets the upstream information acquisition enable / disable flag FU to a value “0” indicating that the acquisition is not possible (step S33), and the process proceeds to step S34.

  In step S34, the control processing unit 3 uses T1 = n1 / (S1) using q1, n1 calculated most recently in steps S26, S28, and the saturated traffic flow (unit / second) S1 preset for the inflow path R1. -Q1), the candidate time T1 for the inflow path R1 is calculated. Thereafter, the process proceeds to step S35.

  In step S32, the control processing unit 3 performs a calculation process of the candidate time T1 for the inflow route R1 based on the upstream adjacent intersection information. Thereafter, the process proceeds to step S35.

  Here, specific contents of the calculation process of the candidate time T1 in step S32 will be described with reference to FIG.

  When the calculation process in step S32 is started, the control processing unit 3 firstly sets a preset saturation for the number of waiting vehicles n1 and the inflow path R1 of the inflow path R1 in the down-stream inflow path R1 of the main road 10 calculated in step S28. Using the traffic flow S1, the basic time Tb1 is calculated by T1 = n1 / S1 (step S101).

  Next, the control processing unit 3 starts the traffic information A1 ′, A2 for the main road 10 of the adjacent intersection CR ′ from the adjacent intersection CR ′ on the upstream side as the latest adjacent intersection information. 'Blue start time SECm', traffic lights A1 'and A2' for single traffic start signals SECs' for the main road 10 at the upside adjacent intersection CR ', and main road 10 at the upside adjacent intersection CR'. Candidate time T1 ′ calculated as a candidate for the blue time of traffic signals A1 ′ and A2 ′ for the main road 10 at the adjacent intersection CR ′ on the upstream side regarding the inflow route R1 ′ in the down direction (about the inflow route R1 of the own intersection CR) Candidate time T1 ′ for the inflow path R1 ′ of the adjacent intersection CR ′ corresponding to the candidate time T of FIG. 5 and the single red time of the traffic signals A1 ′ and A2 ′ for the main road 10 of the adjacent intersection CR ′ on the upstream side. Rm ' To get through the communication line 7 (step S102).

  Next, the control processing unit 3 sets SECm ′> SECs ′ (ie, the blue start time SECm ′ is higher than the single red start time SECs ′) for the blue start time SECm ′ and the single red start time SECs ′ acquired in step S102. It is determined whether or not (step S103). If SECm ′> SECs ′, the control processing unit 3 updates the reference time point SECm0 ′, which is the basis for obtaining the predicted number of inflowing vehicles from the adjacent adjacent intersection CR ′ to the own intersection CR, in step S102. The acquired blue start time SECm ′ is set (step S104), and the process proceeds to step S106. On the other hand, if SECm ′ <SECs ′ (that is, the blue start time SECm ′ is before the single red start time SECs ′), the control processing unit 3 determines that the single red start time SECs ′ and the single red start time SECs ′ acquired most recently in step S102. Using the red time Rm ′ and the total red time AR, the next blue start time of traffic signals A1 ′ and A2 ′ for the main road 10 of the adjacent adjacent intersection CR ′ represented by SECs ′ + Rm ′ + AR The reference time SECm0 ′ is set as the next blue start time calculated (step S105), and the process proceeds to step S106.

  In step S106, the control processing unit 3 determines the reference time point SECm0 ′ determined in step S104 or S105, the distance between the stop lines L1 and L1 ′, and the predetermined downstream inflow path R1 of the main road 10. The predicted arrival time SECa1 is calculated by SECa1 = SECm0 ′ + Tf1 using the travel time Tf1 obtained from the free flow velocity.

  After that, the control processing unit 3 calculates the latest blue start time SECm of the next blue time Gm to be set for the traffic lights A1 and A2 for the main road 10 at its own intersection CR, and the latest calculation from the blue start time SECm in step S101. The time when the basic time Tb1 has passed (the time of (SECm + Tb1)), the basic time Tb1 calculated at the latest in step S101 from the blue start time SECm, and the downstream inflow route R1 of the main road 10 at the own intersection CR. The temporal chronological relationship of the predicted arrival time SECa1 obtained at the latest in step S106 with respect to the time when the set margin time Tex1 has passed (time of (SECm + Tb1 + Tex1)) is determined (steps S107, S109, S111). When SECa1 <SECm (the predicted arrival time SECa1 is before the blue start time SECm), the control processing unit 3 calculates the latest basic time Tb1 calculated in step S101 and the latest candidate time T1 ′ acquired in step S102. The blue start time SECm of the next blue time Gm to be set, the predicted arrival time SECa1 obtained in the latest in step S106, and the downstream inflow path R1 ′ of the main road 10 at the adjacent adjacent intersection CR ′ are set in advance. S1 = Tb1 + {T1 ′ − (SECm−SECa1)} ·· using the saturated traffic flow S1 ′ and the saturated traffic flow S1 set in advance for the downstream inflow path R1 of the main road 10 at the intersection CR. Downstream inflow path R1 with respect to the self-intersection CR of main road 10 according to the formula of S1 ′ / S1 or S1 ′ = S1 in this formula Calculating the candidate time T1 with (step S108). In addition, the control processing unit 3 performs control processing when SECm ≦ SECa1 <SECm + Tb1 (the predicted arrival time SECa1 is after the blue start time SECm and before the time when the basic time Tb1 has elapsed from the blue start time SECm). The unit 3 is preset for the basic time Tb1 calculated most recently in step S101, the candidate time T1 ′ acquired most recently in step S102, and the downstream inflow path R1 ′ of the main road 10 at the adjacent adjacent intersection CR ′. S1 = Tb1 + T1 ′ · S1 ′ / S1 or this formula using the saturated traffic flow S1 ′ and the saturated traffic flow S1 set in advance for the downstream inflow path R1 of the main road 10 at the own intersection CR. , The candidate time T1 for the downstream inflow route R1 with respect to the own intersection CR of the main road 10 is calculated using the equation S1 ′ = S1. Step S110). Further, the control processing unit 3 determines SECm + Tb1 ≦ SECa1 <SECm + Tb1 + Tex1 (after the predicted arrival time SECa1 has passed the basic time Tb1 from the blue start time SECm and the basic time Tb1 and the margin time Tex1 from the blue start time SECm. In the case of (before the elapsed time), the control processing unit 3 sets the latest predicted arrival time SECa1 obtained in step S106, the blue start time SECm of the next blue time Gm to be set, and the candidate obtained latest in step S102. Saturated traffic flow S1 ′ preset for the downstream inflow path R1 ′ of the main road 10 at the adjacent intersection CR ′ on the upstream side at time T1 ′, and the downstream inflow path R1 of the main road 10 at the own intersection CR T1 = (SECa1-SECm) + T1 ′ · S1 using the saturated traffic flow S1 preset for The / S1 formula or formula in which the S1 '= S1 in this formula to calculate the candidate time T1 for the inflow passage R1 of the downlink direction with respect to the self intersection CR main road 10 (step S112). Furthermore, if SECm + Tb1 + Tex1 ≦ SECa1 (after the predicted arrival time SECa1 has passed the basic time Tb1 and the margin time Tex1 from the blue start time SECm), the control processing unit 3 determines in step S101. Using the most recently calculated basic time Tb1, a candidate time T1 for the downstream inflow route R1 with respect to the own intersection CR of the main road 10 is calculated by the equation T1 = Tb1 (step S113).

  Then, after calculating the candidate time T1 in steps S108, S110, S112, and S113, the control processing unit 3 ends the calculation process of the candidate time T1 for the inflow route R1 based on the upstream adjacent intersection information in step S32. Then, the process proceeds to step S35 in FIG.

  In step S35, the control processing unit 3 determines the traffic signal control device at the adjacent intersection CR ″ on the downstream side based on the detection result from the incommunicable state detection unit 6 of the communication unit 5 of the traffic signal control device 1 at the own intersection CR. It is determined whether or not it is possible to acquire the adjacent intersection information on the downside from 1 ″. If the acquisition is possible, the control processing unit 3 can perform a flag FD (referred to as “downlink information acquisition enable / disable flag”) FD indicating whether or not acquisition of the downlink adjacent intersection information is possible. Is set to a value “1” (step S36), and the process proceeds to step S37. On the other hand, if the acquisition is impossible, the control processing unit 3 sets the downlink information acquisition enable / disable flag FD to a value “0” indicating that the acquisition is impossible (step S38), and the process proceeds to step S39.

  In step S39, the control processing unit 3 uses the saturated traffic flow (units / second) S2 preset for q2 and n2 and the inflow path R2 calculated in steps S27 and S29, and T2 = n2 / (S2 -Q2), the candidate time T2 for the inflow path R2 is calculated. Thereafter, the process proceeds to step S41.

  In step S37, the control processing unit 3 performs a calculation process of the candidate time T2 for the inflow path R2 based on the adjacent adjacent intersection information on the down side. Thereafter, the process proceeds to step S41.

  Here, specific contents of the calculation process of the candidate time T2 in step S37 will be described with reference to FIG. The content of the process in step S37 is the same as the content of the process in step S32 described above.

  When the calculation process in step S37 is started, the control processing unit 3 firstly sets a preset saturation for the number n2 of waiting vehicles for the signal on the upstream inflow path R2 of the main road 10 calculated in step S29 and the inflow path R2. Using the traffic flow S2, the basic time Tb2 is calculated by T2 = n2 / S2 (step S121).

  Next, the control processing unit 3 starts the traffic information signals A1 "and A2 for the main road 10 of the adjacent intersection CR" from the adjacent intersection CR "on the downstream side as the latest adjacent intersection information. "Blue start time SECm", traffic signal signals A1 "and A2" for the main road 10 at the downstream adjacent intersection CR ", and the red start time SECs" of the traffic road A1 ", A2" and the main road 10 at the downstream adjacent intersection CR " Candidate time T1 ″ calculated as a candidate for the blue time of traffic signals A1 ″ and A2 ″ for the main road 10 of the downstream adjacent intersection CR ″ for the upstream inflow route R2 ″ (for the inflow route R2 of the own intersection CR) Candidate time T2 ") for the inflow route R2" of the adjacent intersection CR "corresponding to the candidate time T2 of the vehicle, and the single red time of the traffic lights A1", A2 "for the main road 10 of the adjacent intersection CR" on the downstream side Rm ”and , To get through the communication line 7 (step S122).

  Next, for the blue start time SECm ″ and the single red start time SECs ″ acquired most recently in step S122, the control processing unit 3 sets SECm ″> SECs ″ (that is, the blue start time SECm ″ is higher than the single red start time SECs ″. It is determined whether or not (step S123). If SECm ″> SECs ″, the control processing unit 3 updates the reference time point SECm0 ″ as the basis for obtaining the predicted number of vehicles flowing into the own intersection CR from the adjacent intersection CR ″ on the down side in step S122. The obtained blue start time SECm ″ is set (step S124), and the process proceeds to step S126. On the other hand, if SECm ″ <SECs ”(that is, the blue start time SECm ″ is before the single red start time SECs ″), the control process is performed. The unit 3 uses the single red start time point SECs ″ and the single red time Rm ″ acquired at the latest in step S122 and also uses the total red time AR, and uses the total red time AR to express the adjacent adjacent intersection CR ″ on the downstream side expressed by SECs ″ + Rm ″ + AR. The next blue start time of traffic signals A1 ", A2" for the main road 10 of the vehicle is calculated, and the reference time SECm0 "is calculated at the next blue start time And then (step S125), the process proceeds to step S126.

  In step S126, the control processing unit 3 determines the distance between the reference time point SECm0 ″ determined in step S124 or S125 and the stop lines L2 and L2 ″ and the upstream inflow path R2 of the main road 10 determined in advance. The predicted arrival time SECa2 is calculated by SECa2 = SECm0 ″ + Tf2 using the travel time Tf2 obtained from the free flow velocity.

  After that, the control processing unit 3 calculates the latest blue start time SECm of the next blue time Gm to be set for the traffic lights A1 and A2 for the main road 10 at its own intersection CR, and the latest calculation from the blue start time SECm in step S121. Regarding the time point when the basic time Tb2 has passed (the time point of (SECm + Tb2)), the basic time Tb2 calculated at the latest in step S121 from the blue starting time point SECm, and the upstream inflow route R2 of the main road 10 at the own intersection CR in advance. The temporal chronological relationship of the predicted arrival time SECa2 obtained in the latest in step S126 with respect to the time when the set margin time Tex2 has elapsed (time of (SECm + Tb2 + Tex2)) is determined (steps S127, S129, S131). Then, if SECa2 <SECm (the predicted arrival time SECa2 is before the blue start time SECm), the control processing unit 3 calculates the basic time Tb2 that is most recently calculated in step S121 and the candidate time T2 that is most recently acquired in step S122. , The blue start time SECm of the next blue time Gm to be set, the predicted arrival time SECa2 most recently obtained in step S126, and the upstream inflow path R2 ″ of the main road 10 of the adjacent adjacent intersection CR ″. Saturated traffic flow S2 ″ and the saturated traffic flow S2 set in advance for the upstream inflow route R2 of the main road 10 at the own intersection CR, T2 = Tb2 + {T2 ″ − (SECm−SECa2)}. The inflow path R2 in the upward direction with respect to the self-intersection CR of the main road 10 by the expression S2 ″ / S2 or the expression S2 ″ = S2 in this expression The control processing unit 3 calculates SECm ≦ SECa2 <SECm + Tb2 (the predicted arrival time SECa2 is after the blue start time SECm and the basic time Tb2 from the blue start time SECm). Before the elapse of time), the control processing unit 3 determines that the basic time Tb2 calculated most recently in step S121, the candidate time T2 ″ acquired most recently in step S122, and the main road of the adjacent intersection CR ″ on the downstream side 10 using the saturated traffic flow S2 ″ set in advance for the 10 upstream inflow paths R2 ″ and the saturated traffic flow S2 set in advance for the upstream inflow path R2 of the main road 10 at the intersection CR. = Tb2 + T2 ″ · S2 ″ / S2 or in this equation, S2 ″ = S2 with respect to the intersection CR of the main road 10 Calculating the candidate time T2 for the uplink inflow passage R2 (step S130). Further, the control processing unit 3 calculates SECm + Tb2 ≦ SECa2 <SECm + Tb2 + Tex2 (after the time when the predicted arrival time SECa2 has passed the basic time Tb2 from the blue start time SECm and the basic time Tb2 and the margin time Tex2 from the blue start time SECm. In the case of (before the elapsed time), the control processing unit 3 sets the latest predicted arrival time SECa2 obtained in step S126, the blue start time SECm of the next blue time Gm to be set, and the candidate obtained latest in step S122. Saturated traffic flow S2 ″ preset for the upstream inflow path R2 ″ of the main road 10 at the downstream intersection CR ″ at time T2 ″ and the upstream inflow path R2 of the main road 10 at its own intersection CR T2 = (SECa2−SECm) + T2 ″ · S2 using the saturated traffic flow S2 preset for The candidate time T2 for the upstream inflow route R2 with respect to the own intersection CR of the main road 10 is calculated by the equation / S2 or S2 ″ = S2 in this equation (step S132). 3 is SECm + Tb2 + Tex2 ≦ SECa2 (after the predicted arrival time SECa2 has passed the basic time Tb2 and the margin time Tex2 from the blue start time SECm), the control processing unit 3 calculates the basic time most recently calculated in step S121. Using Tb2, the candidate time T1 for the upstream inflow path R2 with respect to the own intersection CR of the main road 10 is calculated by the equation T2 = Tb2 (step S133).

  Then, after calculating the candidate time T1 in steps S128, S130, S132, and S133, the control processing unit 3 ends the calculation process of the candidate time T1 for the inflow route R2 based on the adjacent adjacent intersection information in step S37. Then, the process proceeds to step S41 in FIG.

  By the way, in description regarding FIG. 12 thru | or 13, in order to understand easily, the traffic waiting vehicle number n1 is made into the inflow path of the own intersection CR at the red end time (at the time of the next green time Gm start) of traffic signal A1 and A2. The number of vehicles waiting for the signal of R1 is described. In the description related to FIG. 6, the signal waiting vehicle number n3 is described as the signal waiting vehicle number of the inflow path R3 of the own intersection CR at the red end time of the traffic signals A3 and A4 (at the start of the next green time Gs).

  However, in the present embodiment, actually, as can be seen from the timings of steps S24, S28, and S29 described above, the inflow paths R1 and R2 of the own intersection CR at the end of the single red time Rm of the traffic lights A1 and A2 The number of vehicles waiting for traffic lights is regarded as the number of vehicles waiting for traffic lights on the inflow paths R1 and R2 of the own intersection CR at the red end time (at the start of the next green time Gm) of the traffic lights A1 and A2, respectively. , N2. Similarly, as can be seen from the timings of steps S70, S83, and S84, which will be described later, the number of vehicles waiting for signals on the inflow paths R3 and R3 of the own intersection CR at the end of the single red time Rs of the traffic signals A3 and A4 Assuming that the number of vehicles waiting for signals on the inflow paths R3 and R4 of the own intersection CR at the red end time of A3 and A4 (at the start of the next blue time Gs) is n3 and n4, respectively.

  In the description related to FIG. 6, the inflow traffic volume q3 is described as the inflow traffic volume to the own intersection CR through the inflow path R3 during the green time Gs of the traffic lights A3 and A4.

  However, in the present embodiment, actually, as can be seen from the timings of steps S10, S23, S26, and S27 described above, the own intersection CR by the inflow paths R1 and R2 during the single red time Rm of the traffic signals A1 and A2 Q1 and q2 are regarded as the inflow traffic to the own intersection CR through the inflow paths R1 and R2 during the green time Gm of the traffic lights A1 and A2, respectively. Similarly, as can be seen from the timings of steps S63, S69, S81, and S82, which will be described later, each inflow traffic volume to the own intersection CR by the inflow paths R1 and R2 during the single red time Rm of the traffic signals A1 and A2 is expressed as traffic. Q3 and q4 are regarded as the respective inflow traffic to the own intersection CR through the inflow paths R3 and R4 during the green time Gs of the traffic lights A3 and A4.

  In order to further improve such prediction accuracy, the timing of step S23 and the timing of step S24 may be made closer to the red time end time (start time of blue time Gm) of traffic lights A1 and A2, and single red What is necessary is just to be in the middle of the total red time AR next to the time Rm. However, in the present embodiment, the processing up to step S50 described later needs to be completed by the end of the red time of traffic lights A1 and A2. The same applies to the timing of step S69 and the timing of step S70 described later.

  When the process proceeds to step S41, the control processing unit 3 updates the candidate time T1 for the downstream inflow route R1 of the main road 10 of the own intersection CR obtained in step S32 or S34 and the latest in step S37 or S39. With respect to the candidate time T2 for the upstream inflow route R2 of the main road 10 of the own intersection CR, the minimum value Gmin1 preset with respect to the green time Gm of the traffic lights A1 and A2 of the main road 10 of the own intersection CR and The determination using the maximum value Gmax1 is performed (steps S41 to S45), and when T1 ≧ T2 and Gmax1 ≧ T1 ≧ Gmin1, the next blue time Gm of the traffic lights A1, A2 on the main road 10 at the own intersection CR is set to T1. (Step S46), when T1 <T2 and Gmax1 ≧ T2 ≧ Gmin1, traffic lights A1, A2 on the main road 10 at the own intersection CR The next blue time Gm is set to T2 (step S49). When T1 ≧ T2 and T1 <Gmin1, and when T1 <T2 and T2 <Gmin1, the next traffic lights A1 and A2 on the main road 10 at the own intersection CR The green time Gm is set to Gmin1 (step S48), and when T1 ≧ T2 and T1> Gmax1, and when T1 <T2 and T2> Gmax1, the next blue time of the traffic lights A1 and A2 on the main road 10 at the own intersection CR Gm is set to Gmax1 (step S47).

  However, in the present invention, it is not necessary to use both or one of the minimum value Gmin1 and the maximum value Gmax1. When neither the minimum value Gmin1 nor the maximum value Gmax1 is used, the next blue time Gm may be set to T1 when T1 ≧ T2, and the next blue time Gm may be set to T2 when T1 <T2. . If only the minimum value Gmin1 is not used, steps S42, S44, and S48 are removed, and if YES in step S41, the process proceeds to step S43, and if NO in step S41, the process proceeds to step S45. Further, when only the maximum value Gmax1 is not used, steps S43, S45, and S47 are removed. If YES in step S42, the process proceeds to step S46, and if YES in step S44, the process proceeds to step S49. These points are the same in steps S87 to S95 described later.

  In the present invention, in steps S41 to S49, instead of directly using the candidate time T1, the candidate time T1 is multiplied by a predetermined correction coefficient (preferably 1 or more, but may be smaller than 1). A value may be used. Similarly, in steps S41 to S49, instead of directly using the candidate time T2, a value obtained by multiplying the candidate time T2 by a predetermined correction coefficient (preferably 1 or more, but may be smaller than 1) is used. May be. Furthermore, in the present invention, for example, instead of S41 to S49, a process using the average value Tav = (T1 + T2) / 2 of the candidate times T1 and T2 may be performed. In this case, using both the minimum value Gmin1 and the maximum value Gmax1, the next blue time Gm is set to Tav when Gmax1 ≧ Tav ≧ Gmin1, and the next blue time Gm is set to Gmin1 when Tav <Gmin1. When Tav> Gmax1, the next blue time Gm may be set to Gmax1. Further, even when the average value Tav is used, it is not necessary to use both or one of the minimum value Gmin1 and the maximum value Gmax1. These points are the same in steps S87 to S95 described later.

  After steps S46 to S49, the control processing unit 3 calculates the next single red time Rs of the traffic signals A3 and A4 on the secondary road 20 of the own intersection CR by Rs = Gm + Ym (step S50).

  Subsequently, the control processing unit 3 determines whether or not the total red time AR has elapsed from the time of step S25 (step S51). If the total red time AR has not elapsed, the control processing unit 3 waits until the total red time AR elapses. When the total red time AR elapses, the control processing unit 3 transmits a red signal to the traffic lights A1 and A2 on the main road 10 at the own intersection CR. The display is terminated and the green signal display is started (step S61).

  After that, the control processing unit 3 supplies the candidate time T1 for the downstream inflow route R1 of the own intersection CR obtained at the latest in step S32 or S34 to the traffic signal control device 1 ″ at the adjacent adjacent intersection CR ″ on the downstream side. As one of the information to be stored in the internal memory, the candidate time T2 for the upstream inflow route R2 of the own intersection CR obtained at the latest in step S37 or S39 is stored in the upstream adjacent intersection CR ′. The information to be supplied to the traffic signal control device 1 ′ is stored in the internal memory as one piece of information (step S62). These candidate times T1 and T2 are overwritten and stored, and only the latest one is retained. These candidate times T1 and T2 are obtained at the adjacent intersections CR ″ and CR ′ via the communication line 7 in response to an acquisition request from the traffic signal control devices 1 ″ and 1 ′ of the adjacent intersections CR ″ and CR ′. The signals are supplied to the traffic signal control devices 1 ″ and 1 ′, respectively.

  Next, the control processing unit 3 measures the number N3 of vehicles 100 sensed by the vehicle detector B3 in the inflow path R3 of the secondary road 20 at the own intersection CR, and the inflow path R4 of the subordinate road 20 at the own intersection CR. Measurement of the number N4 of vehicles 100 detected by the vehicle sensor B4 is started (step S63). That is, the control processing unit 3 resets the values of the numbers N3 and N4 in the internal memory to zero at the time of step S63, and from the time of step S63 to the time of step S69 to end the measurement described later. Each time a sensing signal is obtained from the vehicle sensor B3, the value of the number N3 is incremented by 1 by interruption processing, and every time a sensing signal is obtained from the vehicle sensor B4, the value of the number N4 is incremented by 1 by interruption processing. .

  After step S63, the control processing unit 3 starts after resetting the built-in timer (t) for measuring the elapsed time t to t = 0 (step S64).

  Next, the control processing unit 3 performs an abort control process of the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR (step S65).

  An outline of the abort control process will be described with reference to FIG. FIG. 24 shows that the green time Gm set for the current green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR in the blue cutoff control process at step S65 is the own intersection CR obtained at step S32. Shows an example of blue cut-off control processing that is performed when it is determined according to the candidate time T1 for the downstream inflow path R1 (that is, YES in step S30 and YES in step S41). .

  In the case where the currently set blue time Gm is determined according to the candidate time T1 obtained in step S32, in the cases shown in FIGS. 12 to 13 described above, from the adjacent adjacent intersection CR ′, Of the vehicle in the saturated traffic flow S1 ′ of the upstream inflow path R1 ′ of the upstream adjacent intersection CR ′ for the candidate time T1 ′ for the downstream inflow path R1 ′ of the upstream adjacent intersection CR ′. Assuming that the vehicle flows into the intersection CR, the candidate time T1 is calculated in consideration of the number of inflows. However, in reality, there may be a case where the time when the vehicle flows in from the adjacent intersection CR ′ on the upstream side in the saturated traffic flow S1 ′ is shorter than the candidate time T1 ′, but until then, the main road of the own intersection CR If the green signal display of the ten traffic signals A1 and A2 is continued for the currently set green time Gm, a wasteful green time will occur. Therefore, in this embodiment, in such a case, as shown in FIG. 24, the green signal display of the traffic signals A1 and A2 on the main road 10 at the own intersection CR is discontinued.

  The vehicle detector B1 in FIG. 3 is used for measurement of the vehicle flowing into the own intersection CR ′ from the adjacent intersection CR ′ on the upstream side, and unit time v0 (for example, 1 second based on the detection signal of the vehicle detector B1). When the vehicle does not pass when the vehicle passes), the counter value nP1 is incremented by 1 and reset to 0 when the vehicle passes. In the downward inflow path R1 of the main road 10 at the own intersection CR, counting by the counter value nP1 is started after the basic time Tb has elapsed, and the count value nP1 is a count value corresponding to a predetermined cutoff time Tc1 · v0. When Tc1 is reached, the green signal display of the traffic signals A1 and A2 on the main road 10 at the own intersection CR is discontinued. The censoring time Tc1 is preferably substantially the same as the distance from the stop line L1 of the inflow path R1 of the own intersection CR to the vehicle detector B1 and the travel time based on the free flow speed preset for the inflow path R1. . Finally, if there is no vehicle passing the sensing position of the vehicle detector B1 after the censoring time Tc1 · v0 has passed after the vehicle has passed the sensing position of the vehicle detector B1, the intersection CR and the vehicle detector B1 Since there is no vehicle between the sensing position, it is assumed that there is no inflow of the vehicle from the adjacent intersection CR ′ on the uphill side to the own intersection CR thereafter, and this is used as the timing for terminating the green light display. Yes.

  Further, the green time Gm set for the current green signal display of the traffic lights A1 and A2 on the main road 10 of the own intersection CR is the candidate time T2 for the upstream inflow route R2 obtained in step S37. In the same manner, the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR is also cut off.

  Here, the specific content of the blue cutoff control process of step S65 is demonstrated with reference to FIG.

  When the blue cut-off control process in step S65 is started, the control processing unit 3 firstly, similar to step S41, the candidate time T1 for the downstream inflow route R1 of the own intersection CR obtained in step S32 or S34, and Whether or not T1 ≧ T2 is satisfied with respect to the candidate time T2 for the upstream inflow route R2 of the own intersection CR obtained in the latest step S37 or S39 (that is, traffic signal A1, traffic signal A1, on the main road 10 of the own intersection CR) The green time Gm set for the current green signal display of A2 is determined according to the candidate time T1 for the downstream inflow path R1 of the own intersection CR, or the upstream inflow of the own intersection CR Whether it is determined according to the candidate time T2 for the route R2) (step S141). If it is determined according to the candidate time T1, the process proceeds to step S142. If it is determined according to the candidate time T2, the process proceeds to step S162.

  In step S142, the control processing unit 3 determines whether or not the upstream information acquisition possibility flag FU is 1 (that is, whether the candidate time T1 has been calculated by the calculation process in step S32). If the upside information acquisition possibility flag FU is not 1 (that is, if the candidate time T1 is calculated by the calculation process in step S34), the green signal display of the traffic signals A1 and A2 on the main road 10 at the own intersection CR is discontinued. In step S65, the blue cutoff control process is terminated, and the process proceeds to step S66 in FIG. If the uplink information acquisition possibility flag FU is 1, the process proceeds to step S143.

  In step S143, the control processing unit 3 determines whether or not the basic time Tb1 calculated latest in step S101 has elapsed since the time of step S64. If the basic time Tb1 has not elapsed, the control processing unit 3 waits until the basic time Tb1 has elapsed. When the basic time Tb1 has elapsed, the control processing unit 3 resets the built-in timer (u) for measuring the elapsed time u to u = 0. The process is started later (step S144), and the count value nP1 in the internal memory is set to zero (step S145).

  Thereafter, the control processing unit 3 resets the number N1 in the internal memory to zero, and measures the number N1 of the vehicles 100 sensed by the vehicle detector B1 on the downward inflow path R1 of the main road 10 at the own intersection CR. (I.e., every time a detection signal is obtained from the vehicle detector B1, the value of the number N1 is incremented by 1 by interruption processing) (step S146).

  Next, the control processing unit 3 starts after resetting the built-in timer (v) for measuring the elapsed time v to v = 0 (step S147).

  Next, the control processing unit 3 determines whether or not the green time Gm set for the current green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR has elapsed since the time point of step S64 ( Step S148). If the green time Gm has elapsed, the blue signal discontinuation control process in step S65 is terminated without terminating the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR, and the process proceeds to step S66 in FIG. Transition. On the other hand, if the blue time Gm has not elapsed, the process proceeds to step S149.

  In step S149, the control processing unit 3 determines whether or not a predetermined unit time v0 (for example, 1 second) has elapsed since the time of step S147. If the unit time v0 has not elapsed, the process returns to step S148, while if the unit time v0 has elapsed, the process proceeds to step S150.

  In step S150, the control processing unit 3 determines whether or not the measured value of the number N1 by the vehicle detector B1 that has started the latest measurement in step S146 is 1 or more (that is, by the vehicle detector B1 during the unit time v0). It is determined whether or not the vehicle is detected. If the number N1 is 1 or more, the count value nP1 is reset to zero (step S151), and the process proceeds to step S153. On the other hand, if the number N1 is not 1 or more, the count value nP1 is incremented by 1 (step S152), and the process proceeds to step S153.

  In step S153, the control processing unit 3 determines whether or not the count value nP1 is equal to or greater than the count value Tc1 corresponding to the predetermined cutoff time Tc1 · v0. If it is not equal to or greater than the count value Tc1, the process returns to step S146. If it is equal to or greater than the count value nP1, the process proceeds to step S154.

  In step S154, the control processing unit 3 decides to cancel the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR, and the basic time Tb1 calculated latest in step S101 and the time elapsed from the time of step S144. Using the time u, the currently set blue time Gm of the traffic lights A1 and A2 is reset to Tb1 + u, which is the length after censoring.

  Next, the control processing unit 3 uses the green time Gm and the yellow time Ym of the traffic lights A1 and A2 reset in step S154, and the traffic signals A3 and A4 of the secondary road 20 of the own intersection CR next time. The red time Rs is calculated again by Rs = Gm + Ym (step S155). Thereafter, the control processing unit 3 ends the blue cutoff control process in step S65, and proceeds to step S66 in FIG.

  If NO is determined in step S141, the control processing unit 3 determines that the control information processing unit 3 has the downlink information acquisition enable / disable flag FD being 1 (that is, the candidate time T1 is calculated by the calculation process of step S37). Whether or not). If the downside information acquisition enable / disable flag FD is not 1 (that is, if the candidate time T1 is calculated by the calculation process in step S39), the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR is discontinued. In step S65, the blue cutoff control process is terminated, and the process proceeds to step S66 in FIG. If the downlink information acquisition enable / disable flag FD is 1, the process proceeds to step S163.

  In step S163, the control processing unit 3 determines whether or not the basic time Tb2 calculated latest in step S121 has elapsed since the time of step S64. If the basic time Tb2 has not elapsed, the control processing unit 3 waits until the basic time Tb2 elapses. When the basic time Tb2 elapses, the control processing unit 3 resets a built-in timer (u) for measuring the elapsed time u to u = 0. The process is started later (step S164), and the count value nP2 in the internal memory is set to zero (step S165).

  Thereafter, the control processing unit 3 resets the number N2 in the internal memory to zero, and measures the number N2 of vehicles 100 sensed by the vehicle detector B2 on the upstream inflow path R2 of the main road 10 at the own intersection CR. (I.e., every time a detection signal is obtained from the vehicle detector B2, the value of the number N2 is incremented by 1 by interruption processing) (step S166).

  Next, the control processing unit 3 starts after resetting the built-in timer (v) for measuring the elapsed time v to v = 0 (step S167).

  Next, the control processing unit 3 determines whether or not the green time Gm set for the current green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR has elapsed since the time point of step S64 ( Step S168). If the green time Gm has elapsed, the blue signal discontinuation control process in step S65 is terminated without terminating the green signal display of the traffic lights A1 and A2 on the main road 10 at the own intersection CR, and the process proceeds to step S66 in FIG. Transition. On the other hand, if the blue time Gm has not elapsed, the process proceeds to step S169.

  In step S169, the control processing unit 3 determines whether or not a predetermined unit time v0 (for example, 1 second) has elapsed since the time of step S167. If the unit time v0 has not elapsed, the process returns to step S168, while if the unit time v0 has elapsed, the process proceeds to step S170.

  In step S170, the control processing unit 3 determines whether or not the measured value of the number N2 by the vehicle sensor B2 that has started the latest measurement in step S166 is 1 or more (that is, by the vehicle sensor B2 during the unit time v0). It is determined whether or not the vehicle is detected. If the number N2 is 1 or more, the count value nP2 is reset to zero (step S171), and the process proceeds to step S173. On the other hand, if the number N2 is not 1 or more, the count value nP2 is incremented by 1 (step S172), and the process proceeds to step S173.

  In step S173, the control processing unit 3 determines whether or not the count value nP2 is equal to or greater than the count value Tc2 corresponding to the predetermined cutoff time Tc2 · v0. If it is not equal to or greater than the count value Tc2, the process returns to step S166, whereas if it is equal to or greater than the count value nP2, the process proceeds to step S174.

  In step S174, the control processing unit 3 decides to cancel the green signal display of the traffic lights A1 and A2 on the main road 10 of the own intersection CR, and the basic time Tb2 calculated latest in step S121 and the time elapsed from the time of step S164. Using the time u, the currently set green time Gm of the traffic lights A1 and A2 is reset to Tb2 + u, which is the length after the truncation.

  Next, the control processing unit 3 uses the green time Gm and the yellow time Ym of the traffic lights A1 and A2 reset in step S174, and the next traffic lights A3 and A4 of the secondary road 20 of the own intersection CR. The red time Rs is calculated again by Rs = Gm + Ym (step S175). Thereafter, the control processing unit 3 ends the blue cutoff control process in step S65, and proceeds to step S66 in FIG.

  In step S66, the control processing unit 3 causes the traffic lights A1 and A1 on the main road 10 at the own intersection CR to end the green signal display and start the yellow signal display.

  Next, the control processing unit 3 determines whether or not the single red time Rs of the traffic signals A3 and A4 of the secondary road 20 of the own intersection CR calculated most recently in step S50 or S155 or S175 has elapsed since the time of step S64. Is determined (step S67). If the single red time Rs has not elapsed, the control processing unit 3 waits until the single red time Rs has elapsed. When the single red time Rs has elapsed, the control processing unit 3 signals the traffic lights A1 and A2 on the main road 10 at the intersection CR to a yellow signal. The display is terminated and red signal display is started (that is, all red is started) (step S68).

  Thereafter, the control processing unit 3 performs the measurement started in step S63 (that is, the measurement of the number N3 of vehicles 100 sensed by the vehicle detector B3 on the inflow path R3 of the secondary road 20 of the own intersection CR, and the own intersection CR). The measurement of the number N4 of vehicles 100 sensed by the vehicle detector B4 in the inflow path R4 of the secondary road 20 is terminated (step S69). Therefore, after step S69, the number N3 in the memory of the control processing unit 3 is the vehicle that has passed the sensing position of the vehicle sensor B3 in the inflow route R3 of the secondary road 20 of the own intersection CR during the previous single red time Rs. Indicates the number of cars passing through. Similarly, after step S69, the number N4 in the memory of the control processing unit 3 has passed the sensing position of the vehicle detector B4 in the inflow route R4 of the secondary road 20 of the own intersection CR during the previous single red time Rs. Indicates the number of passing vehicles.

  Next, the control processing unit 3 determines the current traffic jam length E3 measured by the camera C3 and the traffic jam length measurement processing unit D3 of the inflow route R3 of the follower road 20 of the own intersection CR, and the follower road 20 of the own intersection CR. The current traffic jam length E4 measured by the camera C4 and the traffic jam length measurement processing unit D4 in the inflow path R4 is taken into the internal memory (step S70).

  Next, the control processing unit 3 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S71).

  Thereafter, the control processing unit 3 uses the number of passing vehicles N3 and N4 during the single red time Rs obtained most recently in steps S63 and S69 and the single red time Rs obtained most recently in step S50, S155, or S175. Thus, according to q3 = N3 / Rs and q4 = N4 / Rs, the traffic volume q3 (vehicles / second) of the inflow path R3 of the secondary road 20 at the own intersection CR and the traffic volume of the inflow path R4 of the secondary road 20 at the own intersection CR. q4 (units / second) is calculated (steps S81 and S82).

  In addition, the control processing unit 3 acquires the traffic jam length E3 of the inflow route R3 of the subordinate road 20 of the own intersection CR and the traffic jam length E4 of the inflow route R4 of the subordinate road 20 of the own intersection CR, and Using the determined average vehicle head gap F, n3 = E3 / F, n4 = E4 / F, the number of vehicles waiting for traffic light n3 on the inflow route R3 of the own intersection CR follower road 20, and the inflow route of the follower road 20 of the own intersection CR The number of vehicles waiting for signal R4 n4 is calculated (steps S83 and S84).

  After that, the control processing unit 3 sets the saturated traffic flow (base / carriage) that is set in advance for the downstream inflow route R3 of the follower road 20 of q3, q4, n3, n4, and the own intersection CR, which is calculated most recently in steps S81 to S84. Second) S3, and saturated traffic flow (units / second) S4 preset for the upstream inflow path R4 of the secondary road 20 at the intersection CR, T3 = n3 / (S3-q3), T4 = By n4 / (S4-q4), a candidate time T3 for the inflow channel R3 and a candidate time T4 for the inflow channel R4 are calculated (steps S85 and S86).

  After step S86, the control processing unit 3 determines the candidate time T3 for the downstream inflow route R3 of the slave road 20 of the own intersection CR obtained at the latest in step S85 and the own intersection CR obtained at the latest in step S86. The minimum value Gmin2 and the maximum value Gmax2 set in advance with respect to the blue time Gs of the traffic lights A3 and A4 of the slave road 20 at the intersection CR are used for the candidate time T4 for the upstream inflow path R4 of the slave road 20 Judgment (steps S87 to S91) is performed, and when T3 ≧ T4 and Gmax2 ≧ T3 ≧ Gmin2, the next blue time Gs of the traffic lights A3, A4 on the secondary road 20 of the own intersection CR is set to T3 (step S92). When T3 <T4 and Gmax2 ≧ T4 ≧ Gmin2, the next blue time Gs of the traffic lights A3 and A4 on the secondary road 20 at the own intersection CR is set to T4. (Step S95) When T3 ≧ T4 and T3 <Gmin2, and when T3 <T4 and T4 <Gmin2, the next blue time Gs of the traffic lights A3 and A4 of the own intersection CR secondary road 20 is set to Gmin2 (Step S94). ), When T3 ≧ T4 and T3> Gmax2, and when T3 <T4 and T4> Gmax2, the next blue time Gs of the traffic lights A3 and A4 on the secondary road 20 at the own intersection CR is set to Gmax2 (step S93).

  After steps S87 to S95, the process returns to step S5.

  As described above, the operation of the control processing unit 3 of the traffic signal control apparatus 1 at the own intersection CR when the own intersection CR is one of the intersections CR2 to CR4 other than the end portion in the control target area 200 will be described with reference to FIGS. A specific description has been given with reference to FIG.

  As can be seen from the above description, in the present embodiment, when the own intersection CR is one of the intersections CR2 to CR4, the traffic signal control device 1 at the own intersection CR has the traffic signal on the main road 10 at the own intersection CR. As traffic status information of the inflow paths R1 and R2 of the main road 10 of the own intersection CR while the red signals of A1 and A2 are displayed, the number of vehicles waiting for signal on the inflow paths R1 and R2 calculated in steps S28 and S99 n1, n2 Have gained. However, in the present invention, the traffic condition information is not limited to the number of traffic signals waiting vehicles n1 and n2. In the present embodiment, the acquisition means for obtaining the number of signal-waiting vehicles n1, n2 by the functions of steps S24, S28, S29 of the television camera C1, C2, the traffic jam length measurement processing units D1, D2, and the control processing unit 3 is provided. It is configured.

  In the present embodiment, when the own intersection CR is one of the intersections CR2 to CR4, the traffic signal control device 1 at the own intersection CR causes the traffic at the adjacent intersection CR ′ on the upstream side due to the disconnection of the communication line 7 or the like. In preparation for the case where the information on the adjacent traffic intersection on the upstream side cannot be obtained from the signal control device 1 ′ or the information on the traffic intersection on the downstream side CR ″ cannot be obtained from the traffic signal control device 1 ″ on the downstream side. While the traffic lights A1 and A2 are displaying red signals, the traffic volumes q1 and q2 of the inflow paths R1 and R2 of the main road 10 at the own intersection CR are obtained in steps S26 and S27, and the information on the adjacent adjacent intersection on the upstream side cannot be acquired. In some cases, the candidate time T1 is calculated in step S34, and in the case where the downlink adjacent intersection information cannot be acquired, the candidate time T1 is calculated in step S39. Therefore, according to the present embodiment, even if the communication line 7 is interrupted and the adjacent intersection information cannot be acquired, the link with the adjacent intersection is not performed, but without causing any special trouble, The advantage that the traffic signal display of the own intersection CR can be continued is obtained. Further, in the present embodiment, the vehicle detectors B1 and B2 for the inflow paths R1 and R2 of the main road 10 of the self-intersection CR for blue cut-off control described above are also used as the vehicle detectors for acquiring the traffic volumes q1 and q2. As a result, costs can be reduced. However, in the present invention, it is not always necessary to prepare for such inability to acquire adjacent intersection information. In that case, steps S10, S23, S26, S27, S30, S31, S33, S34, S35, S36, S38, S39, S142, S162 and the communication disabled state detection unit 6 are unnecessary.

  Further, in the present embodiment, when the own intersection CR is one of the intersections CR2 to CR4, the slave road 20 of the own intersection CR being displayed with red traffic lights of the traffic signals A3 and A3 of the slave road 20 of the own intersection CR. As traffic status information of each inflow path R3, R4, traffic volume q3, q4 of inflow paths R3, R4 calculated in steps S81, S82 and signal waiting vehicles of inflow paths R3, R4 calculated in steps S85, S86 The numbers n3 and n4 are obtained. However, in the present invention, the traffic situation information is not limited to the traffic volumes q3 and q4 and the number of signal waiting vehicles n3 and n4. In the present embodiment, the vehicle detectors B3 and B4 and the functions of steps S63, S64, S81, and S82 of the control processing unit 3 constitute acquisition means for obtaining the traffic volumes q3 and q4. In this embodiment, the number of waiting vehicles for signal n3, n4 is obtained by the functions of steps S70, S85, S86 of the television camera C3, C4, the congestion length measurement processing units D3, D4, and the control processing unit 3. Means are configured. These points are the same when the self-intersection CR described below is one of the intersections CR1 and CR2 at the end in the control target area 200.

  When the own intersection CR is the intersection CR1 at the end of the main road descending side in the control target area 200, there is no adjacent intersection CR ″ on the main road descending side in the control target area 200. The operation of the control processing unit 3 of the traffic signal control device 1 is modified as described below with respect to the operation shown in Fig. 16 to Fig. 23. That is, when the own intersection CR is the intersection CR1. Steps S35 to S38 are removed, and Steps S32 and S34 are followed by Step S39, and the process proceeds to Step S41. Steps S141 and S162 to S175 are removed, and Step S64 is followed by Step S142.

  As can be seen from this explanation, when the own intersection CR is the intersection CR1, the inflow paths R1, R1 of the main road 10 of the own intersection CR that are displayed in red traffic lights of the traffic lights A1, A1 of the main road 10 of the own intersection CR. As the traffic condition information of R2, the number of waiting vehicles n1, n2 of the inflow paths R1, R2 calculated in steps S28 and S99 and the traffic volume q2 of the inflow path R2 calculated in step S27 are obtained. However, in the present invention, the traffic condition information is not limited to the number of waiting vehicles n1, n2 and the traffic volume q2. In the present embodiment, when the own intersection CR is the intersection CR1, a signal waiting is performed by the functions of steps S24, S28, and S29 of the television cameras C1 and C2, the congestion length measurement processing units D1 and D2, and the control processing unit 3. Acquisition means for obtaining the number of vehicles n1, n2 is configured. Further, in the present embodiment, when the own intersection CR is the intersection CR1, an acquisition means for obtaining the traffic volume q2 is configured by the vehicle detector B2 and the functions of steps S10, S23, and S27 of the control processing unit 3. ing. In the present embodiment, when the own intersection CR is the intersection CR1, the uplink adjacent intersection information cannot be acquired from the traffic signal control device 1 ′ of the uplink adjacent intersection CR ′ due to the disconnection of the communication line 7 or the like. In preparation for this, the traffic volume q1 of the inflow route R1 of the main road 10 at the own intersection CR is obtained in step S26 while the red traffic lights of the traffic lights A1 and A2 on the main road 10 are displayed. There is no need to prepare.

  Further, when the own intersection CR is the intersection CR5 at the end of the main road in the control target area 200, there is no adjacent intersection CR ′ on the main road in the control target area 200. The operation of the control processing unit 3 of the traffic signal control device 1 at the intersection is modified as described below with respect to the operations shown in FIGS. 16 to 23 described above. That is, when the own intersection CR is the intersection CR5, steps S30 to S33 are removed, and after step S29, the process proceeds to step S35 through step S34, and steps S141 to S155 are removed and step S162 is performed after step S64. Migrate to

  As can be seen from this explanation, when the own intersection CR is the intersection CR5, the inflow paths R1, R1 of the main road 10 of the own intersection CR are displayed in red traffic lights of the traffic lights A1, A1 of the main road 10 of the own intersection CR. As traffic status information of R2, the number of waiting vehicles n1, n2 of the inflow paths R1, R2 calculated in steps S28 and S99 and the traffic volume q1 of the inflow path R2 calculated in step S26 are obtained. However, in the present invention, the traffic condition information is not limited to the number of waiting vehicles n1, n2 and the traffic volume q1. In the present embodiment, when the own intersection CR is the intersection CR5, the functions of the television cameras C1 and C2, the traffic jam length measurement processing units D1 and D2, and the control processing unit 3 in steps S24, S28, and S29 wait for a signal. Acquisition means for obtaining the number of vehicles n1, n2 is configured. Further, in the present embodiment, when the own intersection CR is the intersection CR5, an acquisition means for obtaining the traffic volume q1 is configured by the vehicle detector B1 and the functions of steps S10, S23, and S26 of the control processing unit 3. ing. In the present embodiment, when the own intersection CR is the intersection CR5, the downlink adjacent intersection information cannot be acquired from the traffic signal control device 1 "of the downlink adjacent intersection CR" due to the disconnection of the communication line 7 or the like. In preparation for this, the traffic volume q2 of the inflow path R2 of the main road 10 at the own intersection CR is obtained in step S26 while the red traffic lights of the traffic lights A1 and A2 on the main road 10 are displayed. There is no need to prepare.

  According to the present embodiment, the traffic signal control device 1 of the own intersection CR when the own intersection CR is one of the intersections CR2 to CR4 other than the end in the control target area 200 will be described. Traffic status information n1, n2 of each inflow path R1, R2 of the main road 10 of the own intersection CR obtained during the red traffic lights of the traffic lights A1, A2 of the main road 10, and the main road 10 of the own intersection CR The next green time Gm of the traffic signals A1 and A2 on the main road 10 of the main road 10 of the own intersection CR is set based on the adjacent information on the upside and downside obtained during the red lights of the traffic lights A1 and A2. Accordingly, the red hours of the traffic signals A3 and A4 on the secondary road 20 of the own intersection CR corresponding to the green time Gm are set. Further, based on the traffic condition information q3, q4, n3, n4 of the inflow paths R3, R4 of the slave road 20 of the own intersection CR obtained during the red traffic lights of the traffic lights A3, A4 of the slave road 20 of the own intersection CR. Thus, the next green time Gs of the traffic lights A3 and A4 on the secondary road 20 of the own intersection CR is set, and in response, the traffic signals A1 and A1 of the main road 10 of the own intersection CR corresponding to the green time Gs. A2 red time is set. Thus, in the present embodiment, the current blue hour of the traffic light on one road is based on the traffic situation of each inflow path of the one road obtained during the red hour of the traffic signal immediately before that. ,It is determined. Therefore, according to the present embodiment, traffic signal control can be realized that follows more rapidly than the prior art even if the traffic situation fluctuates rapidly during one cycle. .

  In the present embodiment, when the own intersection CR is one of the intersections C2 to C4, the next green time of the traffic lights A1 and A2 on the main road 10 of the own intersection CR is the main road 10 of the own intersection CR. Is set based on not only the traffic condition information of each of the inflow paths R1 and R2 but also the adjacent intersection information on the upstream side and the downstream side, so traffic signals A1 'on the adjacent intersections CR' and CR "on the upstream and downstream sides Traffic signal control linked to ˜A4 ′ and A1 ″ to A4 ″ can be realized.

  The points described above are the same when the own intersection CR is the intersection CR1 or CR5 at the end in the control target area 200.

  Further, in the present embodiment, when the own intersection CR is one of the intersections C1 to C5, the linkage between the adjacent intersections as described above is such that the traffic signal control device 1 of the own intersection CR is on the upstream side and the downstream side. It is realized only by acquiring adjacent intersection information, and does not use a central control device that controls the traffic signals of a plurality of intersections in the area as in the prior art described above, so for each of the intersections CR1 to CR5 Even when the traffic signal control devices are provided on a one-to-one basis and are distributed for each of the intersections CR1 to CR5, the number of intersections in the control target area can be easily dealt with. For example, the traffic signal control device corresponding to the intersection CR5 is the same as the traffic signal control device corresponding to the intersections C2 to C4, and the traffic signal control device controls the traffic signal at the intersection adjacent to the intersection CR5 on the upstream side. By simply installing the same traffic signal control device as the traffic signal control device corresponding to the intersection CR5 in the present embodiment, the control target area 200 can be easily expanded to six intersections.

  Further, in the present embodiment, the candidate time T1 for the inflow route R1 of the main road 10 at the own intersection CR is calculated by the above-described step S32, and the candidate time T2 for the inflow route R2 of the main road 10 at the own intersection CR is calculated. Since the next green light of the traffic signals A1 and A2 of the main road 10 of the own intersection CR is set based on the calculation in step S32 described above, the traffic signal display between adjacent intersections is linked more appropriately. Smooth and efficient traffic can be realized.

  Further, in the present embodiment, as described above, the next green time Gm of the traffic lights A1 and A2 on the main road 10 at the own intersection CR is set to the lower limit value Gmin1 or more, and the traffic on the subordinate road 20 at the own intersection CR. The next green time Gs of the traffic lights A3 and A4 is set to the lower limit value Gmin2 or more. Therefore, even when there is almost no traffic on the inflow paths R1 and R2 of the main road 10 at the own intersection CR or when there is almost no traffic on the inflow paths R3 and R4 of the secondary road 20, the own intersection The signal display changes frequently due to the green time Gm of the traffic lights A1 and A2 on the CR main road 10 being too short or the green time Gs of the traffic lights A3 and A4 on the slave road 20 at the intersection CR being too short. The situation can be prevented.

  In the present embodiment, as described above, the next green time Gm of the traffic lights A1 and A2 on the main road 10 at the own intersection CR is set to the upper limit value Gmax1 or less, and therefore the main road 10 at the own intersection CR. Even when there is significant traffic congestion, the traffic lights A3 and A4 on the secondary road 20 at the intersection CR will not switch to blue for a long time because the green time Gm of the traffic lights A1 and A2 on the main road 10 at the intersection CR is too long. Can be prevented. Similarly, since the next green time Gs of traffic lights A3 and A4 on the secondary road 20 at the own intersection CR is set to the upper limit Gmax2 or less, even when the traffic on the secondary road 20 at the own intersection CR is significant, To prevent a situation where the traffic lights A3 and A4 of the traffic lights A3 and A4 on the secondary road 20 of the own intersection CR are too long and the traffic lights A1 and A2 of the main road 10 of the own intersection CR do not switch to blue for a long time. Can do.

  Furthermore, in the present embodiment, since the blue cut-off control process of step S65 is performed, even if there are few actual inflow vehicles from the adjacent intersections CR ′, CR ″ to the own intersection CR, the traffic on the main road 10 of the own intersection CR. The wasted green time of the traffic lights A1 and A2 can be reduced, and efficient traffic signal control can be realized.

  Furthermore, in the present embodiment, since the information exchanged between adjacent intersections is the blue start time, the single red start time, the candidate time, and the single red time as described above, the communication traffic is very small. I'm sorry.

  As mentioned above, although the traffic signal system by one embodiment of the present invention was explained, the present invention is not limited to such a traffic signal system and the traffic signal control device used for this.

  For example, in the above-described embodiment, the number of sequentially adjacent intersections in the control target area 200 is five, but the number may be two or more. In the two cases, the traffic signal control device at the intersection on the upstream side is the same as the traffic signal control device at the intersection CR1 in the above embodiment, and the traffic signal control device at the intersection on the downstream side is used as the traffic signal control device in the above embodiment. What is necessary is just to use the traffic signal control apparatus of intersection CR5 in.

  Further, for example, the traffic signal control device at the adjacent intersection on the upstream side of the intersection combined with the traffic signal control device same as the traffic signal control device at the intersection CR1 in the embodiment described above is the intersection CR2 to CR4 in the embodiment. It is not limited to the same traffic signal control device as the traffic signal control device or the same traffic signal control device as the traffic signal control device at the intersection C5 in the embodiment, but may be any traffic signal control device. In this case, if necessary, in the same traffic signal control apparatus as the traffic signal control apparatus at the intersection CR1 in the embodiment, in the step S102, instead of the candidate time T1 ′, an adjacent intersection on the upstream side of the main road 10 The blue time Gm ′ is obtained, and in step S108, S110, the blue time Gm ′ may be used instead of the candidate time T1 ′.

  Further, for example, the traffic signal control device of the adjacent intersection on the upstream side of the intersection combined with the traffic signal control device of the intersection CR2 to CR4 in the embodiment is also the intersection CR2 in the embodiment. The traffic signal control device is not limited to the same traffic signal control device as the CR4 traffic signal control device or the traffic signal control device at the intersection C5 in the above embodiment, and may be any traffic signal control device. Also in this case, if necessary, in the same traffic signal control apparatus as the traffic signal control apparatuses at the intersections CR2 to CR4 in the above embodiment, the upstream side of the main road 10 is replaced with the candidate time T1 ′ in step S102. The blue time Gm ′ of the adjacent intersection is acquired, and the blue time Gm ′ may be used in place of the candidate time T1 ′ in the steps S108 and S110.

  In the above embodiment, the two roads intersecting at each intersection are examples of one-lane roads. However, in the present invention, both or one of the two roads intersecting at each intersection is one-side multiple lanes. It can also be applied to roads.

It is a schematic plan view which shows typically the control object area of the traffic signal system by one embodiment of this invention. It is a schematic plan view which shows typically the example of a part of arrangement | positioning of the traffic system by one embodiment of this invention. It is a schematic block diagram which shows the traffic signal control apparatus provided corresponding to the self-intersection of the traffic system by one embodiment of this invention. It is explanatory drawing which shows the example of the mode of the vehicle on the inflow path with respect to the self-intersection of the main road in FIG. 3, and the visual field of the television camera arrange | positioned in relation to the said inflow path, and the sensing position of a vehicle detector. It is a time chart which shows the operation example of the traffic signal of the own intersection implement | achieved by the traffic signal control apparatus of the own intersection shown in FIG. It is a figure which shows the calculation method of the candidate time about the inflow path of the secondary road of the own intersection. It is a figure which shows the relationship between the acquisition timing of an upside adjacent intersection information, and the state of the traffic signal of the main road of an upside adjacent intersection. It is another figure which shows the relationship between the acquisition timing of the uplink adjacent intersection information, and the state of the traffic signal of the main road of the uplink adjacent intersection. FIG. 10 is still another diagram showing the relationship between the acquisition timing of uplink adjacent intersection information and the state of traffic signals on the main road of the uplink adjacent intersection. It is a figure which shows the relationship between a reference | standard time and prediction arrival time. It is another figure which shows the relationship between a reference | standard time and prediction arrival time. It is a figure which shows the determination method of the candidate time about the inflow way of the downward direction with respect to the self-intersection of a main road. It is another figure which shows the determination method of the candidate time about the inflow way of the downward direction with respect to the self-intersection of a main road. It is a further another figure which shows the determination method of the candidate time about the inflow way of the downward direction with respect to the self-intersection of the main road. It is a further another figure which shows the determination method of the candidate time about the inflow way of the downward direction with respect to the self-intersection of the main road. It is a flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is another flowchart which shows operation | movement of the control process part of the traffic signal control apparatus of the own intersection shown in FIG. It is a figure which shows blue truncation control.

Explanation of symbols

1, 1 ', 1 "Traffic signal control device 2, 2', 2" Control unit 3 Control processing unit 4 Drive circuit 5 Communication unit 6 Communication failure detection unit 7 Communication line 10 Main road 20, 20 ', 20 "21 -24 Slave road 100 Vehicle 200 Control target area A1 to A4, A1 'to A4', A1 "to A4" Traffic signal B1 to B4, B1 'to B4', B1 "to B4" Vehicle sensor C1 to C4, C1 '-C4', C1 "-C4" TV camera CR, CR ', CR ", CR1-CR5 Intersection D1-D4, D1'-D4', D1" -D4 "Congestion length measurement processing unit L1-L4, L1 ' ~ L4 ', L1 "-L4" Stop line R1-R4, R1'-R4', R1 "-R4" Inflow path

Claims (30)

The first traffic signal for the predetermined road and the second traffic signal for the intersection road installed at the own intersection where the predetermined road and the intersection road intersect with each other on both sides of the predetermined road adjacent to the own intersection A traffic signal control device for controlling the traffic signal display at each adjacent intersection of
A first traffic condition information acquisition means for obtaining traffic condition information of each inflow path with respect to the intersection of the predetermined road during a red signal display of the first traffic signal;
Adjacent intersection information acquisition means for acquiring adjacent intersection information, which is information relating to traffic signal display control of each adjacent intersection on both sides, during red signal display of the first traffic signal,
Based on the traffic situation information obtained by the first traffic situation information acquisition means and the adjacent intersection information obtained by the adjacent intersection information acquisition means, a first green signal display time for the first traffic signal is set. 1 setting means;
Second setting means for setting a red signal display time of the second traffic signal corresponding to the green signal display time according to the green signal display time set by the first setting means;
Second traffic condition information acquisition means for obtaining traffic condition information of each inflow path with respect to the own intersection of the intersection road during red signal display of the second traffic signal;
Third setting means for setting a next green signal display time of the second traffic signal based on the traffic condition information obtained by the second traffic condition information acquiring means;
Fourth setting means for setting a red signal display time of the first traffic signal corresponding to the green light display time according to the green light display time set by the third setting means;
Means for controlling traffic signal display of the first and second traffic signals according to each signal display time set by the first to fourth setting means;
A traffic signal control device comprising:   The first traffic condition information acquisition means obtains the number of vehicles waiting for a signal for the own intersection of each inflow path with respect to the own intersection of the predetermined road at a predetermined time point when the red traffic light is displayed on the first traffic signal. The traffic signal control apparatus according to claim 1, further comprising first signal waiting vehicle number acquisition means.   The first signal waiting vehicle number acquisition means includes a range between a stop line position of the inflow path and a predetermined position upstream of the inflow path with respect to at least one inflow path with respect to the intersection of the predetermined road. 3. An image pickup means for picking up an image, and obtaining the number of vehicles waiting for signals on the at least one inflow path with respect to the intersection of the predetermined road based on the image picked up by the image pickup means. Traffic signal control device.   The adjacent intersection information of the adjacent intersections on both sides is the first information which is information for identifying the start time of the green light display time for the predetermined road of the adjacent intersection or the predetermined information of the adjacent intersection. The second point of time, which is the information for identifying the start time of the single red light display time for the road, or the information thereof, and the green light display time for the predetermined road of the adjacent intersection, or the information for identifying the second information, or Third information, which is a candidate time calculated as a candidate for a green signal display time for the predetermined road of the adjacent intersection for the inflow path toward the own intersection among the inflow paths of the predetermined road with respect to the adjacent intersection; 4. The fourth information which is a single red signal display time for the predetermined road at the adjacent intersection or information for specifying the same. Traffic signal control device. For each inflow path to the intersection of the predetermined road, n is the number of signal waiting vehicles obtained by the first signal waiting vehicle number acquisition means for the inflow path, and the saturated traffic flow set in advance for the inflow path Is set to S, the first setting means calculates a basic time Tb represented by an expression of Tb = n / S for each inflow path for each inflow path with respect to the intersection of the predetermined road. Including time calculation means,
The first setting means, for each inflow path with respect to the self-intersection of the predetermined road, for each inflow path, the first intersection of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition means. The starting point of the green light display time for the predetermined road by the information is from the starting point of the single red light display time for the predetermined road by the second information of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition means. If it is later, the green signal display time start time is set as a reference time, and if it is vice versa, the second of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition means is obtained. Based on the fourth information, the next green signal display time start time point after the single red signal display time start time point is obtained, and this is used as a reference time point. Includes a predicted arrival time acquisition unit vehicle departed from the stop line position of the corresponding inflow passage of crosspoint obtain a predicted arrival time is a time predicted to reach the stop line position of the inlet channel of the own intersection,
The first setting means, for each inflow path to the intersection of the predetermined road, for each inflow path, a first time point that is a start time of a next green light display time of the first traffic signal, A second time point when the basic time Tb calculated for the inflow path from the time point 1 has elapsed by the basic time calculation means, and a margin time set in advance for the inflow path from the second time point The basic time calculation means determines the inflow path according to the temporal relationship of the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means with respect to the third time point, which is the time point that has passed. The calculated basic time Tb, the first time point, the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means, and the adjacent intersection information acquisition Based on the third information of the adjacent intersection upstream of the inflow path obtained by the means, a candidate time T as a candidate for the next green signal display time of the first traffic signal is calculated for the inflow path. 1 candidate time calculation means,
The first setting means determines the next time of the first traffic signal based on the candidate time T for each inflow path with respect to the intersection of the predetermined road calculated by the first candidate time calculation means. 5. The traffic signal control apparatus according to claim 4, wherein a green signal display time is set.   The first time is SECm, and for each inflow path to the intersection of the predetermined road, the basic time calculated for the inflow path by the basic time calculation means is Tb, and the predicted arrival time acquisition means The predicted arrival time obtained for the inflow path is SECa, and the green light display time for the predetermined road or the candidate based on the third information of the adjacent intersection upstream of the inflow path obtained by the adjacent intersection information acquisition unit When the time is TX, the saturated traffic flow set in advance for the inflow route is S, and the saturated traffic flow set in advance for the corresponding inflow route upstream of the inflow route is S ′, the first The candidate time calculation means includes: (i) the predicted arrival time acquisition means for each inflow path with respect to the self-intersection of the predetermined road. If the predicted arrival time obtained for the inflow channel is before the first time, T = Tb + {TX− (SECm−SECa)} · S ′ / S or S ′ in this equation (Ii) The predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is after the first time point and before the second time point for the inflow path. In some cases, the predicted arrival time obtained for the inflow channel by the predicted arrival time acquisition means is calculated by the equation of T = Tb + TX · S ′ / S or the equation of S ′ = S in this equation. If it is after the second time point for the inflow channel and before the third time point for the inflow channel, T = (SECa−SECm) + TX · S ′ / S or S '= S (Iv) When the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is after the third time point for the inflow path, the inflow 6. The traffic signal control apparatus according to claim 5, wherein the candidate time T is calculated as a candidate for the next green signal display time of the first traffic signal for the road.   The first setting means selects the longest time among the candidate times T for each inflow path with respect to the own intersection of the predetermined road calculated by the first candidate time calculating means, and based on the selected time The traffic signal control device according to claim 5 or 6, wherein the next green signal display time of the first traffic signal is set. A vehicle detector provided for each inflow path with respect to the intersection of the predetermined road and sensing a vehicle at a predetermined position upstream of the inflow path;
During the green light display time of the first traffic signal, the basic time Tb calculated for the inflow path by the basic time calculation means when the first setting means sets the green light display time is used as the green light. After the elapsed time from the start of the display time, the first setting means is provided with respect to the inflow path to the intersection of the predetermined road corresponding to the candidate time T selected when setting the green light display time. Means for canceling the green signal display when no vehicle is continuously detected by the vehicle detector for a preset stop time for the inflow path;
The traffic signal control apparatus according to claim 7, further comprising:   The censoring time set in advance for each inflow path with respect to the intersection of the predetermined road is the inflow path from the sensing position of the vehicle sensor provided for the inflow path to the stop line position of the inflow path. 9. The traffic signal control apparatus according to claim 8, wherein the traffic signal control apparatus is substantially the same as a travel time based on a preset free flow speed. One of the first traffic signal for the predetermined road and the second traffic signal for the intersection road installed at the own intersection where the predetermined road and the intersection road intersect with each other on the predetermined road adjacent to the own intersection A traffic signal control device for controlling to link with traffic signal display at an adjacent intersection on the side,
A first traffic condition information acquisition means for obtaining traffic condition information of each inflow path with respect to the intersection of the predetermined road during a red signal display of the first traffic signal;
Adjacent intersection information acquisition means for acquiring adjacent intersection information, which is information relating to traffic signal display control of the adjacent intersection on the one side, during red signal display of the first traffic signal,
Based on the traffic situation information obtained by the first traffic situation information acquisition means and the adjacent intersection information obtained by the adjacent intersection information acquisition means, a first green signal display time for the first traffic signal is set. 1 setting means;
Second setting means for setting a red signal display time of the second traffic signal corresponding to the green signal display time according to the green signal display time set by the first setting means;
Second traffic condition information acquisition means for obtaining traffic condition information of each inflow path with respect to the own intersection of the intersection road during red signal display of the second traffic signal;
Third setting means for setting a next green signal display time of the second traffic signal based on the traffic condition information obtained by the second traffic condition information acquiring means;
Fourth setting means for setting a red signal display time of the first traffic signal corresponding to the green light display time according to the green light display time set by the third setting means;
Means for controlling traffic signal display of the first and second traffic signals according to each signal display time set by the first to fourth setting means;
A traffic signal control device comprising:   The first traffic condition information acquisition means obtains the number of vehicles waiting for a signal for the own intersection of each inflow path with respect to the own intersection of the predetermined road at a predetermined time point when the red traffic light is displayed on the first traffic signal. Traffic at a predetermined position on the upstream side of the inflow path opposite to the adjacent intersection with respect to the self-intersection of the predetermined road, while the red signal display of the first traffic light waiting number vehicle acquisition means and the first traffic signal is displayed The traffic signal control device according to claim 10, further comprising first traffic volume acquisition means for obtaining a traffic volume.   The first signal waiting vehicle number acquisition means includes a range between a stop line position of the inflow path and a predetermined position upstream of the inflow path with respect to at least one inflow path with respect to the intersection of the predetermined road. 12. The number of vehicles waiting for signals on the at least one inflow path with respect to the self-intersection of the predetermined road is obtained based on an image picked up by the image pickup means. Traffic signal control device.   The first traffic volume acquisition means includes a vehicle detector that is provided with respect to an inflow path opposite to the adjacent intersection with respect to the self-intersection of the predetermined road and senses a vehicle at a predetermined position upstream of the inflow path, By dividing the number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle detector by the time of the predetermined period, The traffic signal control device according to claim 11 or 12, wherein the traffic amount of the inflow path is obtained.   The adjacent intersection information of the adjacent intersection on the one side is first information which is information for identifying the start time of the green signal display time for the predetermined road of the adjacent intersection or the predetermined information of the adjacent intersection. The second point of time, which is the information for identifying the start time of the single red light display time for the road, or the information thereof, and the green light display time for the predetermined road of the adjacent intersection, or the information for identifying the second information, or Third information, which is a candidate time calculated as a candidate for a green signal display time for the predetermined road of the adjacent intersection for the inflow path toward the own intersection among the inflow paths of the predetermined road with respect to the adjacent intersection; The fourth information which is the information for identifying the single red signal display time for the predetermined road at the adjacent intersection or the same is included. Traffic signal control apparatus according to any one. Of the inflow paths to the intersection of the predetermined road, the number of signal waiting vehicles obtained by the first signal waiting vehicle number acquisition means for the inflow path on the side of the adjacent intersection on the one side is n. When the saturated traffic flow set in advance for the inflow route is S, the first setting means is configured to receive the inflow on the adjacent intersection side on the one side among the inflow routes to the own intersection of the predetermined road. A basic time calculating means for calculating a basic time Tb represented by an equation of Tb = n / S with respect to the road;
The first setting means includes the adjacent intersection on the one side obtained by the adjacent intersection information acquisition means with respect to the inflow path on the adjacent intersection side on the one side among the inflow paths with respect to the own intersection of the predetermined road. The green signal display time start point for the predetermined road according to the first information is the single red signal display time for the predetermined road according to the second information of the one-side adjacent intersection obtained by the adjacent intersection information acquisition means If it is later than the start time, the green light display time start time is set as the reference time, and if vice versa, the first of the adjacent intersections on the one side obtained by the adjacent intersection information acquisition means is Based on the second and fourth information, the next green signal display time start time point after the single red signal display time start time point is obtained, and this is used as a reference time point. Includes a predicted arrival time acquisition unit vehicle departed from the stop line position of the corresponding inflow passage of crosspoint obtain a predicted arrival time is a time predicted to reach the stop line position of the inlet channel of the own intersection,
The first setting means is the next green signal display time start point of the first traffic signal on the inflow path on the one side adjacent intersection among the inflow paths to the own intersection of the predetermined road. A first time point, a second time point when the basic time Tb calculated for the inflow path from the first time point by the basic time calculation means has elapsed, and the inflow path from the second time point The basic time according to a temporal context of the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition unit with respect to a third time that is a time when a preset margin time has elapsed. The basic time Tb calculated for the inflow path by the calculation means, the first time point, the predicted arrival time point obtained for the inflow path by the predicted arrival time acquisition means, and Based on the third information of the adjacent intersection on the one side obtained by the adjacent intersection information acquisition means, a candidate time T as a candidate for the next green light display time of the first traffic signal for the inflow path. Including first candidate time calculation means for calculating
Regarding the inflow path on the opposite side to the adjacent intersection on the one side among the inflow paths to the intersection of the predetermined road, the traffic volume obtained by the first traffic volume acquisition unit for the inflow path is q, When the number of signal waiting vehicles obtained by the first signal waiting vehicle number acquisition means for the inflow path is n and the saturated traffic flow set in advance for the inflow path is S, the first setting means is The inflow path on the side opposite to the adjacent intersection on the one side among the inflow paths with respect to the intersection of the predetermined road is expressed by the equation T = n / (Sq). A second candidate time calculating means for calculating a candidate time T as a candidate for the next green light display time of the traffic signal,
The first setting means is based on the candidate time T for each inflow path with respect to the intersection of the predetermined road calculated by the first and second candidate time calculation means, respectively, based on the candidate traffic T. 15. The traffic signal control apparatus according to claim 14, wherein the next green signal display time is set.   The basic time calculated by the basic time calculation means for the inflow path on the side of the adjacent intersection on the one side among the inflow paths to the own intersection of the predetermined road with the first time point as SECm. According to the third information of the adjacent intersection on the one side obtained by the adjacent intersection information acquisition means, where Tb is the time, and the predicted arrival time obtained for the inflow path by the prediction arrival time acquisition means is SECa. The green signal display time or the candidate time for the predetermined road is set as TX, the saturated traffic flow set in advance for the inflow route is set as S, and the saturated traffic flow set in advance for the corresponding inflow route of the adjacent intersection on the one side is set as S. When S ′, the first candidate time calculation means is the adjacent intersection on the one side of the inflow paths to the own intersection of the predetermined road. (I) When the predicted arrival time obtained for the inflow channel by the predicted arrival time acquisition unit is before the first time, T = Tb + {TX− (SECm− SECa)} · S ′ / S or the equation where S ′ = S in this equation, (ii) the predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is the first time point After that and before the second time point for the inflow channel, (iii) the predicted arrival is obtained by the equation T = Tb + TX · S ′ / S or the equation S ′ = S in this equation. If the predicted arrival time obtained for the inflow path by the time acquisition means is after the second time point for the inflow path and before the third time point for the inflow path, T = ( SECa-SECm) (Iv) The predicted arrival time obtained for the inflow path by the predicted arrival time acquisition means is expressed by the equation of TX · S ′ / S or S ′ = S in this expression. If it is after the time point 3, the candidate time T as a candidate for the next green traffic light display time of the first traffic signal is calculated for the inflow path by the equation T = Tb. The traffic signal control device according to claim 15.   The first setting means selects the longest time among the candidate times T for each inflow path with respect to the intersection of the predetermined road calculated by the first and second candidate time calculation means, respectively. The traffic signal control device according to claim 15 or 16, wherein the next green signal display time of the first traffic signal is set based on the following. A vehicle detector for detecting a vehicle at a predetermined position upstream of the inflow path, provided for an inflow path on the side of the adjacent intersection on the one side among the inflow paths to the own intersection of the predetermined road;
It is assumed that during the green light display time of the first traffic signal, the first setting means has selected the candidate time T calculated by the first candidate time calculation means when setting the green light display time. As a condition, after the basic time Tb calculated for the inflow path by the basic time calculation means when the first setting means sets the green signal display time, after the elapse of the green signal display time from the start point, The vehicle detector provided for the inflow path on the one side adjacent intersection among the inflow paths with respect to the own intersection of the predetermined road continues for a preset cutoff time for the inflow path. Means for canceling the green signal display when
18. The traffic signal control apparatus according to claim 17, further comprising:   Among the inflow paths to the intersection of the predetermined road, the censoring time set in advance for the inflow path on the one side adjacent intersection is determined from the sensing position of the vehicle sensor provided for the inflow path. 19. The traffic signal control apparatus according to claim 18, wherein the travel time to the stop line position of the inflow path is substantially the same as a travel time based on a free flow speed preset for the inflow path.   The traffic signal control according to any one of claims 1 to 19, wherein the first setting means sets the next green signal display time of the first traffic signal to a predetermined lower limit value or more. apparatus.   The traffic signal control according to any one of claims 1 to 20, wherein the first setting means sets the next green signal display time of the first traffic signal to a predetermined upper limit value or less. apparatus.   The second traffic condition information acquisition means obtains the traffic volume at a predetermined position on the upstream side of each inflow path with respect to the own intersection of the intersection road while the red traffic light is displayed on the second traffic signal. A second signal waiting vehicle for obtaining the number of signal waiting vehicles for the own intersection of each inflow path with respect to the own intersection of the intersection road at a predetermined time point during the red traffic light display of the second traffic signal The traffic signal control device according to any one of claims 1 to 21, further comprising a number-of-units acquisition unit.   The second traffic volume acquisition means includes a vehicle sensor that is provided for at least one inflow path with respect to the intersection of the intersection road and that senses a vehicle at a predetermined position upstream of the inflow path. The at least one inflow path to the intersection of the intersection road by dividing the number of passing vehicles in the predetermined period during the red signal display of the second traffic signal obtained based on the output by the time of the predetermined period 23. The traffic signal control apparatus according to claim 22, wherein the traffic volume is obtained as follows.   The second signal waiting vehicle number acquisition means includes a range between a stop line position of the inflow path and a predetermined upstream position of the inflow path with respect to at least one inflow path to the intersection of the intersection road. 23. An image pickup means for picking up an image, and obtaining the number of vehicles waiting for signals on the at least one inflow path with respect to the intersection of the intersection road based on the image picked up by the image pickup means. 24. The traffic signal control apparatus according to 23. For each inflow path to the intersection of the intersection road, the traffic volume obtained by the second traffic volume acquisition means for the inflow path is q, and the second signal waiting vehicle number acquisition means for the inflow path. When the obtained number of signal waiting vehicles is n and the saturated traffic flow set in advance for the inflow route is S, the third setting means relates to each inflow route with respect to the own intersection of the intersection road. For each inflow path, a third candidate time for calculating a candidate time T as a candidate for the next green traffic light display time of the second traffic signal for the inflow path by the formula T = n / (Sq) Including calculation means,
The third setting means, based on the candidate time T for each inflow path with respect to the intersection of the intersection road calculated by the third candidate time calculation means, the next time of the second traffic signal The traffic signal control device according to any one of claims 22 to 24, wherein a green signal display time is set.   The third setting means selects the longest time among the candidate times T for each inflow path with respect to the own intersection of the intersection road calculated by the third candidate time calculation means, and based on this, 26. The traffic signal control apparatus according to claim 25, wherein the next green signal display time of the second traffic signal is set.   27. The traffic signal control according to claim 1, wherein the third setting means sets the next green signal display time of the second traffic signal to a predetermined lower limit value or more. apparatus.   The traffic signal control according to any one of claims 1 to 27, wherein the third setting means sets the next green signal display time of the second traffic signal to a predetermined upper limit value or less. apparatus. A first traffic signal for the predetermined road and a second traffic signal for the intersection road intersecting the predetermined road, installed at each intersection with respect to two intersections adjacent to each other on the predetermined road;
Two traffic signal control devices that respectively control the first and second traffic lights at the corresponding intersections that are provided one-to-one with respect to the two intersections;
With
Each of the traffic signal control devices converts the first and second traffic signals at a corresponding intersection into traffic signals by the first and second traffic signals at an intersection adjacent to the corresponding intersection of the two intersections. Control to work with the display,
Each said traffic signal control apparatus is the traffic signal control apparatus in any one of Claims 10 thru | or 19, The traffic signal system characterized by the above-mentioned. A first traffic signal for the predetermined road and an intersection road that intersects the predetermined road are installed for each of three or more intersections that are successively adjacent to each other in a predetermined area on the predetermined road. A second traffic signal,
Three or more traffic signal control devices that respectively control the first and second traffic signals at the corresponding intersections that are provided one-to-one with respect to the three or more intersections;
With
Each of the traffic signal control devices converts the first and second traffic signals at a corresponding intersection into traffic by the first and second traffic signals at an intersection adjacent to the corresponding intersection among three or more intersections. Control to work with signal display,
20. The traffic signal control device for controlling the first and second traffic signals at an intersection at one end in the predetermined area among the three or more traffic signal control devices. A traffic signal control device of
The traffic signal control device for controlling the first and second traffic signal devices at the intersection of the other end in the predetermined area among the three or more traffic signal control devices. A traffic signal control device of
10. The traffic signal control device for controlling the first and second traffic signals at an intersection other than an end portion in the predetermined area among the three or more traffic signal control devices. A traffic signal control device of
A traffic signal system characterized by that.

Images