JP2006331002A - Signal controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a signal controller for properly operating the priority signal control of a signal light for making a priority vehicle smoothly travel, and for sufficiently suppressing any adverse influence on traffic at an intersection side for the priority vehicle. <P>SOLUTION: The signal controller 1 continuously acquires traveling information to be transmitted from an on-vehicle unit 2 mounted on a priority vehicle 6 traveling in a direction approaching an intersection by a reception part 13. The signal controller 1 repeatedly predicts the arrival time at the intersection of the priority vehicle 6 until the priority vehicle 6 arrives at the intersection, and executes priority signal control corresponding to the predicted arrival time every time the arrival time is predicted. Therefore, it is possible to precisely execute proper priority signal control for the priority vehicle 6, and to sufficiently suppress any adverse influence on traffic at the intersection side. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a signal control device for controlling a signal lamp installed at an intersection, and more particularly, a bus, a vehicle that is shared by many people (HOV (High Occupancy Vehicle)), an emergency vehicle such as a police car or an ambulance, and Relates to a signal control device that performs signal control for preferentially driving a vehicle such as a taxi that is being paid (priority vehicle).

  2. Description of the Related Art Conventionally, a signal control device that performs priority signal control for smoothly driving a priority vehicle such as a bus with respect to a signal lamp installed at an intersection has been put into practical use. Recently, it is also considered to add a high-capacity vehicle (HOV (High Occupancy Vehicle)), an emergency vehicle such as a patrol car or an ambulance, a taxi during wage, etc. to the priority vehicle. In short, the priority signal control is a control of a signal lamp that shortens the time when the priority vehicle stops at a red light at an intersection, the so-called signal stop time, and makes the priority vehicle run smoothly. Specifically, a sensor that detects a priority vehicle approaching the intersection is installed at a point some distance from the intersection, for example, about 100 m away from the intersection, and when this sensor detects the priority vehicle, the fact is indicated. Notify the signal controller. This signal control device controls the signal lamp installed at the intersection. The signal control device predicts the arrival time at which the priority vehicle detected by the sensor reaches the intersection. For example, when the distance between the sensing point where the sensor senses the priority vehicle and the intersection is L, the time T (T = L) required to travel from the sensing point to the intersection is assumed to be a predetermined V traveling speed. / V) is used to predict the arrival time. Also, a speed measuring device that measures the traveling speed of the priority vehicle is installed at the sensing point of the sensor, and the traveling speed V of the priority vehicle measured by the speed measuring device is used, that is, the actual traveling speed of the priority vehicle is used. Thus, the arrival time to reach the intersection is also predicted.

  The signal control device determines the state of the signal lamp at the intersection at the arrival time of the priority vehicle predicted this time. Here, when it is determined that the priority vehicle is in a green signal state, the priority vehicle can pass through the intersection without being stopped by the red signal, and therefore priority signal control is not particularly performed. In addition, if it is determined that it is the initial stage of the yellow light or red light, the priority vehicle will be stopped before the intersection, so the time of the green light will be extended so that the priority vehicle can pass without stopping at the intersection. Extend the green light. Also, when it is a red signal and it is determined that it is not the initial stage, the priority vehicle is stopped before the intersection, so the red signal is shortened to shorten the time of the red signal. This red signal shortening allows the priority vehicle to pass without stopping at the intersection with the blue signal switched from the shortened red signal, or shortens the signal stop time of the priority vehicle at the intersection for the shortened red signal time be able to.

  In addition, when the above-described green light extension is performed, the red signal of the signal lamp on the crossing side that intersects the traveling direction of the priority vehicle is extended. For this reason, if the time for extending the green light (blue extension time) is made too long, the adverse effect on the traffic situation on the crossing side will increase, causing traffic jams on the crossing side. For this reason, in normal priority signal control, the maximum value is limited for the blue extension time in the blue signal extension. Further, when the above red signal shortening is performed, the green signal on the intersection side that intersects the traveling direction of the priority vehicle is shortened by the time when the red signal is shortened (red shortening time). As a minimum, the time for the green light on the crossing side must be secured for the time required for pedestrians to cross the pedestrian crossing. For this reason, in the normal priority signal control, the maximum value is limited for the red shortening time in the red signal shortening.

  The signal control device controls the signal lamp with the set signal control parameter, and when the priority vehicle is detected by the sensor, priority signal control (blue signal extension control, red signal reduction control) for this priority vehicle. )I do. In other words, when the priority vehicle is not detected by the sensor, the signal lamp is controlled based on the set signal control parameter.

  Further, in a plurality of signal intersection groups that are controlled in cooperation with each other on one route, Patent Document 1 proposes that priority signal control in these plurality of signal intersection groups is performed by one sensor. Specifically, a sensor is installed at a certain distance from an intersection at one end of a plurality of signal control groups, and when this sensor detects a priority vehicle, the priority vehicle is placed at the intersection at one end. Predict the time of arrival. At the intersection at one end, priority signal control is performed based on the predicted time. Further, at other intersections, the time when the priority vehicle passes through the adjacent upstream intersection is predicted, and the arrival time of the priority vehicle is predicted using the predicted passage time of the adjacent upstream intersection, Priority signal control is performed based on the predicted time.

Note that the signal control device at each intersection predicts the arrival time of the priority vehicle using a predetermined speed V as the traveling speed of the priority vehicle from the position sensed by the sensor to the other end intersection. .
JP 2001-307289 A

  However, in the conventional priority signal control, when the arrival time when the priority vehicle reaches the intersection is predicted, the traveling speed until the priority vehicle reaches the intersection is determined at a predetermined speed or a detection point of the sensor. The measured traveling speed of the priority vehicle was used. In other words, the arrival time is predicted on the assumption that the priority vehicle travels at a constant traveling speed from the sensing point to the intersection. On the other hand, the priority vehicle may be accelerated under the influence of a pedestrian or another vehicle while traveling from the sensing point to the intersection, or may be decelerated or temporarily stopped. Therefore, there is a tendency for a deviation between the traveling speed of the priority vehicle used to predict the arrival time when the priority vehicle reaches the intersection and the actual traveling speed of the priority vehicle, and proper priority signal control for smoothly traveling the priority vehicle is performed. There was a problem that it could not be done. For example, when the green light is extended with priority signal control, if the arrival time when the priority vehicle actually reaches the intersection is delayed by a time exceeding the blue extension time from the predicted arrival time, the priority vehicle is extended at the intersection. It will be stopped for a long time only for the blue extension time. Further, as described above, since the red signal on the intersection side is extended for the blue extension time, the vehicle on the intersection side is wasted waiting for the blue extension time. In addition, when red signal shortening is performed as priority signal control, if the arrival time when the priority vehicle actually reaches the intersection is delayed by a time exceeding the red shortening time from the predicted arrival time, the priority vehicle is controlled by priority signal control. Even if it was not done, it was passing without stopping at the intersection. That is, useless red signal shortening has been performed. Then, as described above, since the red signal shortening is performed, the intersection side blue signal is shortened by the red shortening time. It will make you wait in vain.

  As described above, the conventional signal control device cannot accurately perform an appropriate priority signal for smoothly driving the priority vehicle, and has a large adverse effect on the traffic on the intersection side, such as causing the vehicle on the intersection side to wait wastefully. There was a problem.

  An object of the present invention is to provide a signal control device capable of appropriately performing priority signal control of a signal lamp for smoothly driving a priority vehicle and sufficiently suppressing adverse effects on traffic on the crossing side of the priority vehicle. is there.

  The signal control device of the present invention has the following configuration in order to solve the above problems.

(1) A traveling state acquisition means for continuously acquiring a traveling state for each priority vehicle traveling in a direction approaching the intersection;
An arrival time prediction means for predicting an arrival time for reaching each of the priority vehicles using the traveling situation for each priority vehicle continuously acquired by the traveling condition acquisition means;
Signal lamp control means for controlling the signal lamp installed at the intersection according to the arrival time at the intersection for each priority vehicle predicted by the arrival time prediction means.

  In this configuration, since the travel status acquisition means continuously acquires the travel status of the priority vehicle for each priority vehicle approaching the intersection, the travel status of the priority vehicle until the intersection reaches the intersection. Even if it changes to, the change of the driving | running | working condition until the superior point ahead vehicle arrives at an intersection can be acquired. Therefore, even if the traveling state of the priority vehicle changes before reaching the intersection, the arrival time predicting means can re-predict the arrival time at which the intersection reaches the intersection in the changed traveling state. Then, every time the arrival time when the priority vehicle reaches the intersection is predicted by the arrival time prediction means, the signal lamp control means performs priority signal control on the signal lamp according to the predicted arrival time. Appropriate priority signal control for the vehicle can be performed with high accuracy. Moreover, since the appropriate priority signal control for the priority vehicle can be performed, adverse effects on the traffic on the intersection side can be sufficiently suppressed.

  (2) The priority vehicle travel status acquisition means receives the travel information including the identification information of the priority vehicle, the travel position at that time, and the time, which are repeatedly transmitted from the priority vehicle, and thereby the priority vehicle. This is a means for continuously acquiring the driving situation every time.

  In this configuration, for each priority vehicle approaching the intersection, the priority vehicle identification information, the travel position at that time, and the travel information including the time are repeatedly acquired. The traveling speed of the vehicle can be obtained.

The travel speed V of the priority vehicle uses the distance L between the travel position in the current travel information and the travel position in the previous travel information, and the time difference T between the time in the current travel information and the time in the previous travel information. And
V = L / T
Can be calculated. Further, the priority vehicle may include the traveling speed in the traveling information and transmit it. In this case, it is not necessary to calculate the traveling speed of the priority vehicle in the signal control device.

  (3) The priority vehicle traveling state acquisition unit processes a captured image around the intersection captured by one or more cameras, identifies a priority vehicle traveling in a direction approaching the intersection, It is a means to acquire a driving | running | working condition continuously for every priority vehicle identified by (2).

  In this configuration, the captured image around the intersection captured by one or a plurality of cameras is processed, and for each vehicle traveling in a direction approaching the intersection, it is identified whether the vehicle is a priority vehicle. . For example, a bus may be identified from the shape of the vehicle. Moreover, what is necessary is just to identify with emergency vehicles, such as a police car and an ambulance, by the presence or absence of a red light. About the identified priority vehicle, a driving | running | working position can be continuously acquired by processing a captured image continuously in time and acquiring the change of a driving | running | working position. Further, the traveling speed can be calculated from the change in the traveling position. In this way, by processing the captured image of the camera, it is possible to track the vehicle traveling in the direction approaching the intersection and continuously acquire the traveling information of the priority vehicle.

  (4) The arrival time predicting means predicts the arrival time to reach the intersection only for priority vehicles that are located in a predetermined peripheral area with respect to the intersection and are traveling in a direction approaching the intersection. It is means to do.

  In this configuration, the priority signal control for the priority vehicle located outside the peripheral area is not performed because the arrival time at the intersection is not predicted for the priority vehicle not traveling in the predetermined peripheral area. The size of the surrounding area is such that appropriate priority signal control can be performed for priority vehicles entering the surrounding area from outside the surrounding area. For example, it takes for priority vehicles entering the surrounding area from outside the surrounding area to reach the intersection. The time is set to a size that is about 100 seconds (about 70 to 130 seconds). Here, it is difficult to accurately predict the arrival time at which the priority vehicle traveling at a position away from the intersection (outside the surrounding area) by a certain distance (outside the surrounding area) at this time. Therefore, for a priority vehicle for which it is difficult to accurately predict the arrival time to reach the intersection, a wasteful process of predicting the arrival time to the intersection is not performed, and the processing load on the apparatus main body is suppressed.

  (5) The signal lamp control means is a means for controlling the signal lamp installed at the intersection for the priority vehicle that has the earliest arrival time at the intersection predicted by the arrival time prediction means.

  In this configuration, when a plurality of priority vehicles are approaching the intersection, priority signal control is performed on the priority vehicle that reaches the intersection earliest. Therefore, it is possible to prevent the priority vehicle that has reached the intersection earliest from being stopped for a long time at the intersection under the influence of priority signal control for other priority vehicles.

  (6) Whether the traveling status acquisition means is a vehicle that is traveling in a direction approaching the intersection based on the traveling status of the priority vehicle continuously acquired for each priority vehicle. The priority vehicle that is not traveling in the direction approaching the intersection is treated as a priority vehicle that is not subject to processing.

  In this configuration, the priority vehicle that is not traveling in the direction approaching the intersection is regarded as a priority vehicle that is not subject to processing. Therefore, the processing load on the unnecessary priority vehicle can be reduced, and as a result, the processing load in the signal control device is reduced. Can be further suppressed.

  According to the present invention, for each priority vehicle approaching the intersection, the change in the traveling state until the priority vehicle reaches the intersection is acquired, so the intersection is reached in the changed traveling state. The arrival time can be predicted again. Therefore, every time the arrival time at which the priority vehicle reaches the intersection is predicted, priority signal control corresponding to the predicted arrival time is performed, so that appropriate priority signal control for the priority vehicle can be performed. As a result, the time for stopping the priority vehicle by the red signal at the intersection can be reduced, and the vehicle traveling on the intersection side with respect to the priority vehicle can be smoothly driven without causing the vehicle to wait wastefully with the red signal. And adverse effects on the traffic on the crossing side can be sufficiently suppressed.

  Hereinafter, a signal control system to which a signal control apparatus according to an embodiment of the present invention is applied will be described.

  FIG. 1 is a diagram illustrating an outline of a signal control system to which a signal control apparatus according to an embodiment of the present invention is applied. This signal control system includes a signal control device 1 that controls a signal lamp 5 installed at an intersection, an in-vehicle device 2 that is mounted on a priority vehicle 6, and a camera 3 that captures a vehicle entering the intersection. I have. The signal control device 1 is installed at an intersection where a signal lamp 5 to be controlled is installed, and has a wireless communication function for receiving traveling information (details will be described later) transmitted wirelessly from the in-vehicle device 2. It is the composition which has. As shown in FIG. 1B, the wireless communication area of the signal control device 1 is in a range of a radius of several kilometers (for example, 2 to 4 km) about the intersection where the main body is installed. A peripheral area is set in the wireless communication area. The surrounding area has a size of about 100 seconds (about 70 to 130 seconds) required for the priority vehicle 6 entering the surrounding area from outside the surrounding area to reach the intersection. As described above, since the surrounding area is defined by the time until the priority vehicle reaches the intersection, it has a shape corresponding to the terrain around the intersection, and the intersection is not necessarily located at the approximate center of the surrounding area. The size of the peripheral area is defined by the time during which priority signal control for the priority vehicle 6 entering the peripheral area from outside the peripheral area can be appropriately performed. FIG. 1B shows a rectangular peripheral area. The in-vehicle device 2 is issued to the priority vehicle 6. In other words, the vehicle on which the in-vehicle device 2 is mounted is the priority vehicle 6 here. In addition, the camera 3 is installed at a position where an image is captured in front of the intersection, and a captured image obtained by capturing a vehicle entering the intersection is input to the signal control device 1.

  Note that a plurality of straight lines shown in FIG. 1B indicate roads in and around the wireless communication area. The signal control device 1 is installed at a plurality of intersections in the peripheral area.

  FIG. 2 is a block diagram showing the configuration of the signal control apparatus according to the embodiment of the present invention. The signal control device 1 includes a control unit 11 that controls the operation of the apparatus main body, a display control unit 12 that controls switching of display (red, yellow, blue, etc.) for the signal lamp 5 installed at the intersection, and the like. The reception unit 13 that receives the travel information transmitted from the in-vehicle device 2, the image processing unit 14 that processes the captured image of the camera 3, the clock unit 15 that measures the current time, and the communication unit 13 And a storage unit 16 that temporarily stores travel information. The display control unit 12 instructs the switching of the display for each signal lamp 5 installed at the intersection based on the signal control parameter, the processing result related to the priority signal control, and the like. Each signal lamp 5 at the intersection switches its display in accordance with an instruction from the signal control device 1. The receiving unit 13 is a configuration for performing wireless communication with the in-vehicle device 2, and specifically, is a configuration for receiving travel information transmitted from the in-vehicle device 2. The image processing unit 14 processes a captured image of the camera 3 and determines a lane in which the priority vehicle is traveling in front of the intersection. The clock unit 15 has a function of a so-called radio clock, and performs time adjustment at a preset timing. The memory | storage part 16 has memorize | stored the table which temporarily memorize | stores the driving information of the priority vehicle 6 received by the receiving part 13, and the road map containing the surrounding area shown to FIG. 1 (B).

  FIG. 3 is a block diagram showing the configuration of the in-vehicle device in the signal control system of this embodiment. The in-vehicle device 2 includes a control unit 21 that controls the operation of the main body, a transmission unit 22 that wirelessly transmits travel information and the like, a clock unit 23 that measures the current time, a position detection unit 24 that detects the current position, It has. The vehicle-mounted device 2 is issued to the priority vehicle 6 as described above, and the vehicle on which the vehicle-mounted device 2 is mounted corresponds to the priority vehicle 6 here. The in-vehicle device 2 may be issued to, for example, a bus, an emergency vehicle such as a police car or an ambulance, or a taxi, for example, a bus, a vehicle (HOV (High Occupancy Vehicle)) that rides together. However, the vehicle-mounted device 2 issued to the taxi may be configured to be valid only during wage. For example, a general taxi is provided with an indicator for displaying wage, empty car, forwarding, etc., and a configuration for detecting the display state of this indicator, and each part of the main body when the display state is wage The vehicle-mounted device 2 may be provided with a configuration for supplying operation power to the vehicle. The control unit 21 is provided with a nonvolatile memory (not shown), and an identification code for identifying the in-vehicle device 2 is stored in the nonvolatile memory. The transmission unit 22 is configured to wirelessly transmit travel information to the signal control device 1. The clock unit 23 has the function of a radio clock as with the clock unit 15 of the signal control device 1 and performs time adjustment at a preset timing. About the timing which the timepiece part 15 of the signal control apparatus 1 and the timepiece part 23 of the vehicle equipment 2 perform time adjustment may be the same or different. The position detection unit 24 has a so-called GPS function, and can acquire the latitude and longitude of the current position. The vehicle-mounted device 2 of this embodiment is detected by the identification code for identifying itself at a certain time, for example, every second, the time measured by the clock unit 23 at this time, and the position detection unit 24 at this time. The traveling information including the determined position is transmitted from the transmission unit 22. The identification code can be used as information for identifying the priority vehicle 6 on which the in-vehicle device 2 is mounted. Further, the vehicle-mounted device 2 is configured to operate when the engine of the priority vehicle 6 is running. When the engine of the priority vehicle 6 is not started, the vehicle-mounted device 2 can start the engine of the priority vehicle 6 while operating only a part of the configuration such as time measurement in the clock unit 23 and detection of the state of the engine of the priority vehicle 6 Waiting for Thus, the vehicle equipment 2 is a structure which does not transmit driving information, when the engine of the priority vehicle 6 is not started.

  The operation of this signal control system will be described below. The signal control device 1 adjusts the time of the clock unit 15 at a predetermined timing (for example, every hour, every few minutes, or midnight). In addition, the in-vehicle device 2 also adjusts the time of the clock unit 23 at a predetermined timing. As described above, the signal control device 1 and the vehicle-mounted device 2 perform time adjustment of the clock units 15 and 23 at a predetermined timing, and therefore, the time that the clock unit 15 of the signal control device 1 measures, The time measured by the clock unit 23 of the in-vehicle device 2 is substantially the same. The processing related to the time adjustment performed by the clock units 15 and 23 receives the standard radio wave on which the time information is placed as is well known, and the time measured is based on the time information carried on the standard radio wave. This is a process for adjusting to the time.

  The timing at which the clock unit 15 of the signal control device 1 performs time adjustment and the timing at which the clock unit 23 of the in-vehicle device 2 performs time adjustment may be the same timing or different timings. . The in-vehicle device 2 may adjust the time of the clock unit 23 when the engine of the priority vehicle 6 mounted is started.

  FIG. 4 is a flowchart showing a travel information transmission process in the in-vehicle device. The in-vehicle device 2 of this embodiment repeatedly executes the transmission process shown in FIG. 4 at regular time intervals (for example, every 10 seconds, every second, every 100 milliseconds). The in-vehicle device 2 acquires the position (latitude, longitude) of the vehicle mounted in the position detection unit 24 when a certain time elapses from the previous transmission process (s1). Moreover, the vehicle equipment 2 acquires the time which the timepiece part 23 has timed (s2). And the vehicle equipment 2 is the position acquired at s1 (the position of the priority vehicle 6 mounted at this time), the time acquired at s2 (the time that the clock unit 23 measures at this time), and its own machine Is generated (s3), and the travel information generated in s4 is transmitted from the transmitter 22 (s4).

  Thus, in this embodiment, the vehicle-mounted device 2 transmits the travel information at regular intervals. The traveling information transmitted by the in-vehicle device 2 includes an identification code for identifying the in-vehicle device 2, the position of the priority vehicle 6 at that time (the time when the traveling information is transmitted), and the time. The identification code of the in-vehicle device 2 can also be used as the identification code of the priority vehicle 6 in which the in-vehicle device 2 is mounted.

  In addition, about the timing which the vehicle equipment 2 transmits driving | running | working information, it is good also as a structure which transmits driving | running | working information, for example, every time the priority vehicle 6 mounted carries out a fixed distance instead of every fixed time. In this case, what is necessary is just to provide the structure which acquires the traveling distance of the priority vehicle 6 in the vehicle equipment 2. For example, what is necessary is just to provide the structure which acquires a mileage from the mileage measurement part of the priority vehicle 6 in the vehicle equipment 2.

  Moreover, when the vehicle equipment 2 is located in a predetermined area, you may comprise so that the fixed time interval which transmits driving | running | working information may be shortened. For example, the time interval for transmitting travel information may be 10 seconds outside this area, and the time interval for transmitting travel information may be 1 second within this area. In this case, it is desirable that the area for shortening the time interval for transmitting the travel information is an area close to the intersection or an area where the average speed of the vehicle is relatively fast (an area where the travel distance per unit time is long). Further, in this embodiment, when the travel information is transmitted, the position and time of the priority vehicle 6 at that time are acquired. However, the timing for transmitting the travel information and the position and time of the priority vehicle 6 are acquired. The timing may be different from the timing.

  Next, the operation of the signal control device 1 will be described. The signal control device 1 includes a travel information reception process for receiving travel information transmitted from the in-vehicle device 2 mounted on the priority vehicle 6 and a signal lamp installed at an intersection (hereinafter referred to as the intersection). Priority signal control processing for performing priority signal control on 5 is executed simultaneously. First, the travel information reception process will be described.

  FIG. 5 is a flowchart showing a travel information reception process in the signal control apparatus according to the embodiment of the present invention. The signal control device 1 is waiting to receive the travel information transmitted from the in-vehicle device 2 mounted on the priority vehicle 6 (s11). When receiving the travel information, the signal control device 1 acquires the position (latitude, longitude) of the priority vehicle 6 from the currently received travel information (s12), and determines whether the acquired position is within the surrounding area. (S13). As described above, the signal control device 1 stores the road map including the surrounding area in the storage unit 16. In this road map, a peripheral area, a mask area described later, and the like are set. The signal control device 1 determines whether or not the position of the priority vehicle 6 is within the peripheral area by plotting the position of the priority vehicle 6 acquired in s12 on this map, for example. When the signal control device 1 determines that the position of the priority vehicle 6 is outside the peripheral area in s13, the signal control device 1 discards the currently received travel information (s14) and returns to s11. In s14, the traveling information transmitted from the in-vehicle device 2 mounted on the priority vehicle 6 that is separated from the intersection by a certain degree or more is discarded. It is difficult for the priority vehicle 6 located at a certain distance from the intersection to accurately determine whether or not the priority vehicle 6 passes through the intersection. Even if it is a priority vehicle that passes, it is difficult to accurately predict the arrival time to reach the intersection at this time. Therefore, it is difficult to perform proper priority signal control even if the priority vehicle 6 positioned outside the peripheral area is the target vehicle for the priority signal control process described later. In other words, even if the priority signal control process is performed with the priority vehicle 6 as the target vehicle, there is a high possibility that this process is wasted. Therefore, the signal control device 1 of this embodiment executes the processing related to s13 and s14 so that the priority vehicle 6 located outside the peripheral area is not a vehicle to be processed in the priority signal control processing described later. To reduce the load. Further, as described above, the size of the peripheral area is defined by the time during which priority signal control can be appropriately performed on the priority vehicle 6 that has entered the peripheral area from outside the peripheral area. There is no problem even if the priority vehicle 6 is a vehicle not subject to processing.

  When the signal control device 1 determines that the priority vehicle 6 is located in the peripheral area in s13, the signal control device 1 determines whether or not the identification code of the in-vehicle device 2 that has transmitted the currently received travel information is stored in the storage unit 16 ( s15). In the storage unit 16, the position of the priority vehicle 6 acquired from the travel information transmitted from the in-vehicle device 2 in association with the identification code of the in-vehicle device 2 mounted on the priority vehicle 6 located in the peripheral area. In addition, a table for storing the time cumulatively is stored. As shown in FIG. 6, this table is a table in which a record is registered for each priority vehicle 6 located in the peripheral area. Each record is transmitted from the in-vehicle device 2 to the identification code of the in-vehicle device 2. The position and time of the priority vehicle 6 acquired from the travel information that has been received are associated with each other. In FIG. 6, the position and time of the priority vehicle 6 acquired from newer travel information are stored on the right side. The signal control device 1 deletes the record of the in-vehicle device 2 for which the traveling information has not been transmitted for a certain time or longer from the table. As a result, the signal control device 1 does not keep storing the travel information transmitted from the in-vehicle device 2 mounted on the priority vehicle 6 that has gone out of the surrounding area. The area can be used effectively. In the process according to s15, it is determined whether or not the priority vehicle 6 on which the vehicle-mounted device 2 is mounted is the travel information transmitted first after entering the peripheral area.

  If the signal control device 1 determines that the identification code is not stored in the table of the storage unit 16 in s15, that is, if it is determined that there is no corresponding record, the priority vehicle 6 is assigned to the identification code based on the currently received travel information. A record in which the position and time are associated with each other is registered in the table (s16). On the other hand, if it is determined that the identification code is stored in the table of the storage unit 16 in s15, that is, if it is determined that the corresponding record is registered, the position of the priority vehicle 6 acquired from the previously received travel information and the current time Using the position of the priority vehicle 6 acquired from the received travel information, it is determined whether the travel direction of the priority vehicle 6 is a direction approaching the intersection (s17). In s17, the vehicle travels in the direction approaching the intersection according to the direction of the movement vector connecting the position of the priority vehicle 6 acquired from the previously received travel information and the position of the priority vehicle 6 acquired from the travel information received this time. It is determined whether it is a priority vehicle. For example, if the angle (the narrower angle) formed by the straight line connecting the position of the intersection and the position of the priority vehicle 6 acquired from the previously received travel information and the above-described movement vector is within 45 degrees, the intersection If this angle exceeds 45 degrees, it is determined that the vehicle is not traveling in the direction approaching the intersection.

  When the signal control device 1 determines in s17 that the traveling direction of the priority vehicle 6 is not the direction approaching the intersection, the priority vehicle already stored for the record of the corresponding identification code registered in the table. 6 is deleted, and the position and time of the priority vehicle 6 acquired from the travel information received this time are stored in this record (s18). Thereby, only the position and time of the priority vehicle 6 acquired from the traveling information received this time are stored in the record of the in-vehicle device 2 mounted on the priority vehicle 6 determined not to approach the intersection in s17. Record. The priority vehicle 6 that is not traveling in the direction approaching the intersection is considered to be the priority vehicle 6 that does not pass through the intersection. Therefore, if the priority vehicle 6 that the signal control device 1 is not heading for the intersection is the target vehicle, useless priority signal control processing is performed on the priority vehicle 6. Therefore, the signal control device 1 of this embodiment performs the process related to s18 so that the priority vehicle 6 that is not heading for the intersection is not the target vehicle for the priority signal control process. Thereby, the load of the signal control device 1 main body is suppressed.

  The position and time of the priority vehicle 6 acquired from the traveling information received this time in s17 are stored in this record because the priority vehicle 6 traveling toward the intersection is backed for some reason. Therefore, when the traveling information is received from the vehicle-mounted device 2 mounted on the priority vehicle 6 as described above, the process related to s17 can be performed.

  On the other hand, if it is determined in s17 that the road is approaching the intersection, whether or not the road on which the priority vehicle 6 is traveling is a road connected to the intersection, for example, in parallel with the road connected to the intersection. It is determined whether the road is a road that is running and not connected to the intersection (s19). If it is determined in s19 that the road is not connected to the intersection, the process related to s18 described above is executed. The priority vehicle 6 traveling on a road not connected to the intersection does not need to be a target of priority signal control processing, which will be described later, even if its position is in the surrounding area. However, even if the vehicle is traveling on a road that is not connected to the intersection, there is a possibility that the vehicle travels toward the intersection through a detour. When traveling information is received next time from the vehicle-mounted device 2, the processing relating to s17 and s19 can be performed. If the signal control apparatus 1 determines that the road is connected to the intersection in s19, the signal control apparatus 1 additionally stores the position and time of the priority vehicle 6 acquired from the currently received travel information in the corresponding record (s20). The signal control apparatus 1 returns to s11 after completing the processes related to s16, s18, and s20.

  In this embodiment, the signal control device 1 is configured to determine the traveling direction for the priority vehicle 6 on which the in-vehicle device 2 that has received the current traveling information is mounted. However, priority is given to the traveling information transmitted by the in-vehicle device 2. The traveling direction of the vehicle 6 may be included. In this case, the priority vehicle 6 is determined based on the position detected by the position detection unit 24 when the vehicle-mounted device 2 transmits the previous travel information and the position detected by the position detection unit 24 when the current travel information is transmitted. The travel direction may be determined, and the travel direction determined here may be included in the travel information for transmission. Further, the identification code of the in-vehicle device 2 and the travel route of the priority vehicle 6 in which the in-vehicle device 2 is mounted are set in advance in the signal control device 1 in association with each other, and the signal control device 1 uses this information. It is good also as a structure which determines whether it is the priority vehicle 6 which passes the said intersection based on. In this way, the load on the signal control device 1 can be further suppressed. Further, when the priority vehicle 6 is a bus, the route is stored in the signal control device 1 for each route of the bus, and the in-vehicle device 2 transmits the route system including the route system. Good.

  Since the vehicle-mounted device 2 transmits the travel information every predetermined time as described above, the signal control device 1 can continuously acquire the travel status of the priority vehicle 6 traveling in the direction approaching the intersection. it can.

  Next, priority signal control processing in the signal control apparatus 1 will be described. FIG. 7 is a flowchart showing priority signal control processing of the signal control apparatus according to the embodiment of the present invention. The signal control device 1 of this embodiment performs this priority signal control process at regular intervals, for example, every second. Further, as described above, the travel information reception process and the priority signal control process are executed simultaneously.

  Note that this priority signal control processing may be performed every time travel information is received, not every fixed time.

  The signal control device 1 acquires the priority vehicle 6 located in the peripheral area and traveling in the direction approaching the intersection as a target vehicle for priority signal control (s31). In s31, in the table of the storage unit 16, a record storing the position and time of the priority vehicle 6 acquired from a plurality of travel information is extracted, and the vehicle-mounted device 2 corresponding to the extracted record is mounted. The priority vehicle 6 is acquired as a target vehicle for priority signal control. Accordingly, the priority vehicle 6 determined not to travel in the direction approaching the intersection in s17 of the above-described travel information reception process or the priority determined to travel on the road not connected to the intersection in s19. The vehicle 6 is not a target vehicle for priority signal control. Further, the priority vehicle 6 that is located in the peripheral area but has received the traveling information only once so far is not subject to priority signal control.

  The signal control device 1 predicts the arrival time at which the vehicle arrives at the intersection for each target vehicle for priority signal control acquired in s31 (s32, s33). In s32, for each target vehicle acquired in s31, the traveling speed is calculated, the distance to the intersection is calculated, and the arrival time to the intersection is predicted based on these. Specifically, for each target vehicle, the position of the target vehicle is plotted on a map of the surrounding area stored in the storage unit 16. In the map of the peripheral area stored in the storage unit 16, a place where the traveling speed of the vehicle temporarily changes suddenly, for example, the top and bottom of a slope, or a sharp curve is set as a mask area. The signal control device 1 extracts two positions of the priority vehicle 6 that are not within the mask area. At this time, the signal control device 1 extracts two positions of the target vehicle acquired from the travel information received later, that is, the newer travel information. For example, if the position acquired from the last received travel information is not within the mask area, and the position acquired from the travel information received one time before this travel information is not within the mask area, it is acquired from these two travel information. Extract the position. In addition, the position acquired from the travel information received last is in the mask area, and the position acquired from the travel information received one time before and twice before the travel information is not in the mask area, The position acquired from the traveling information received one time before and twice before is extracted. Further, the position acquired from the last received travel information is not in the mask area, the position acquired from the travel information received one time before is in the mask area, and the position acquired from the travel information received twice before If is not within the mask area, the position acquired from the travel information received last and twice before is extracted.

The signal control device 1 acquires the distance L1 between the two positions extracted here, and calculates the time difference (time difference T1) acquired from the travel information acquired from the two positions. This distance L1 is a distance along the road. The signal control device 1 determines the traveling speed V1 of the priority vehicle 6 as follows:
V1 = L1 / T1
Calculated by At this time, for the priority vehicle 6 in which the traveling speed becomes negative or the two positions for calculating the traveling speed cannot be specified, a predetermined traveling speed is set.

In addition, the signal control device 1 acquires the distance L2 between the position of the priority vehicle 6 acquired from the last received travel information and the intersection, and the time T2 required for the priority vehicle to reach the intersection,
T2 = L2 / V1
Calculated by This distance L2 is also a distance along the road. Then, a time obtained by adding the time T2 calculated here to the time acquired from the last received travel information is predicted as the arrival time when the priority vehicle 6 reaches the intersection.

  In this way, the signal control device 1 uses the place where the traveling speed of the priority vehicle 6 temporarily changes suddenly as a mask area, and does not use the traveling information when the priority vehicle 6 is located in the mask area. 6 is configured to predict the arrival time to reach the intersection, the arrival time at which the priority vehicle 6 reaches the intersection can be calculated with high accuracy.

  When the signal control device 1 predicts the arrival time to the intersection for all priority vehicles 6 to be subjected to priority signal control acquired in s31, the priority vehicle 6 having the earliest predicted arrival time is subject to priority signal control. The vehicle is determined (s34). The signal control device 1 determines whether or not the display of the signal lamp 5 for the priority vehicle 6 is a green signal at the arrival time to reach the intersection predicted for the priority vehicle 6 determined as the target vehicle for priority signal control in s34. (S35). When the signal control device 1 determines that the signal is a green signal, the priority vehicle 6 determined as the target vehicle for priority signal control in s34 is not stopped at the intersection even if the priority signal control is not performed. Exit.

  On the other hand, if it is determined in s35 that the signal is not a green signal, it is determined whether a blue signal extension for extending the time of the green signal is appropriate as a priority signal control method (s36). In s36, if the predicted arrival time for the priority vehicle 6 determined as the target vehicle for priority signal control in s34 is the initial value of the yellow signal or the red signal and is within the maximum value of the green signal extension, the green signal extension is performed. Is determined to be appropriate. That is, it is determined that the green light extension is appropriate when the priority vehicle 6 can pass through the green light extension without stopping at the intersection. When the signal control apparatus 1 determines that the green signal extension is an appropriate method in s36, the signal control apparatus 1 extends the blue signal for a predetermined time (s37). This predetermined time is the same time as the cycle (for example, 1 second) for executing this priority signal control process. That is, in the state shown in FIG. 8A, it is determined that the green signal extension is appropriate, and the green signal extension is performed. FIG. 8A shows the state of the signal lamp 5 with respect to the priority vehicle 6 when the green light extension is not performed at the intersection, and FIG. 8B shows the priority when the green signal extension is performed at the intersection. The state of the signal lamp 5 with respect to the vehicle 6 is shown.

  However, since the time of the green light extended here is the same time as the cycle for executing this priority signal control process, the priority vehicle 6 determined as the target vehicle for priority signal control in s34 is predicted to reach the intersection. It does not always become a green light at the time. However, since this priority signal control process is executed again after the time when the blue signal is extended, the blue time is extended again when the priority signal control process executed again determines that the green signal extension is appropriate. The Since this priority signal control process is repeated at regular intervals until the target vehicle reaches the intersection, the result of extending the green signal in s37 is the priority vehicle 6 determined as the target signal for priority signal control in s34. Even if the predicted time to reach the intersection does not turn into a green light, no particular problem occurs.

  If it is determined in s35 that the blue signal extension is not appropriate, it is determined whether the red signal shortening for shortening the red signal is appropriate (s38). In s38, if the arrival time predicted for the priority vehicle 6 determined as the target vehicle for priority signal control in s34 is near the end of the red signal and within the maximum value of the red signal shortening, the red signal shortening is performed. Judge that it is appropriate. That is, it is determined that the red signal shortening is appropriate when the priority vehicle 6 can be passed without stopping at the intersection due to the red signal shortening. If the signal control device 1 determines that red signal shortening is an appropriate method in s37, the signal control device 1 outputs a red signal so as to change to a blue signal at the predicted arrival time for the priority vehicle 6 determined as the target vehicle for priority signal control in s34. Red signal shortening for setting the shortening time is performed (s39). Specifically, the time obtained by subtracting the predicted arrival time from the time of the blue signal when priority signal control is not performed is set as the time for shortening the red signal. That is, in the state shown in FIG. 9A, it is determined that red signal shortening is appropriate, and red signal shortening is performed. FIG. 9 (A) shows the state of the signal lamp 5 with respect to the priority vehicle 6 when the red signal shortening is not performed at the intersection, and FIG. 9 (B) is when the red signal shortening is performed at the intersection. The state of the signal lamp 5 with respect to the priority vehicle 6 is shown.

  If it is determined in s38 that the red signal shortening is not appropriate, it is determined whether the combination control (red signal extension + blue signal extension) of the red signal extension for extending the red signal and the blue signal extension for extending the blue signal is appropriate. (S40). In s40, the arrival time predicted for the priority vehicle 6 determined as the target vehicle for priority signal control in s34 is a red signal and exceeds the maximum value of the green signal extension time. If it is within the time of the sum of the maximum value and the maximum value of the red signal extension (maximum value of the green signal extension on the intersection side), the red signal is shortened for a predetermined time and the blue time is extended for a predetermined time (s41). That is, in the state shown in FIG. 10, it is determined that red signal extension + blue signal extension is appropriate, and this red signal extension + blue signal extension is performed. In this control, when the priority vehicle is a little far away and the red signal is red, the red signal is extended up to the maximum red signal extension, and when the priority vehicle approaches the intersection and the green signal is green, the maximum green signal extension is limited. Extend the green light. Each extension algorithm is the same as the green signal extension. FIG. 10A shows the state of the signal lamp 5 with respect to the priority vehicle 6 when the red signal extension + blue signal extension is not performed at the intersection, and FIG. 10B shows the red signal extension at the intersection. The state of the signal lamp 5 with respect to the priority vehicle 6 when performed is shown. Since the time for extending the red signal and the blue signal is the same as the cycle for executing the priority signal control process, when the priority vehicle 6 determined as the target vehicle for priority signal control in s34 reaches the intersection, It will not always be a green light. However, since this priority signal control process is repeated at regular time intervals (every predetermined time after extending the red signal and the blue signal), the result of extending the red signal and the blue signal in s41 is the target of priority signal control in s34. Even if the priority vehicle 6 determined as a vehicle does not turn green when it reaches the intersection, no particular problem occurs.

  Further, since the priority signal control related to the red signal extension + the blue signal extension is not preferable in a traffic jam or the like, execution may be prohibited. The judgment at the time of traffic jam may be made based on whether or not the traffic volume exceeds a predetermined threshold. The traffic volume at the intersection may be determined by processing an image of the intersection trouble captured by the camera 3. The threshold may be calculated using past traffic conditions. For example, from the traffic data stored in the traffic control center for the last three months, 90% of the traffic volume when the traffic and the traffic congestion exceed 1 km for each day of the week is set as a threshold value.

Further, when it is determined in s40 that red signal extension + blue signal extension is not appropriate, combination control (blue signal shortening + red signal shortening) is performed (blue signal shortening + red signal shortening). 11). Specifically, when the priority vehicle is a little far away and the green light is green, the green light is shortened up to the maximum value of the green light shortening, and when the priority vehicle approaches the intersection and the red light lights up, the maximum value of the red light reduction is limited. Red signal is shortened. The maximum value for shortening the green light is the maximum value for shortening the red light at the intersection. Each shortening algorithm is the same as the red signal shortening. This control for shortening the green light and shortening the red light increases the number of vehicles that can be stopped at the intersection due to the shortening of the green light, so the oscillation of the priority vehicle is delayed due to the influence of the vehicles stopped by the shortening of the green light. As a result, the timing at which the priority vehicle 6 passes through the intersection may be delayed. In such a case, priority signal control by this blue signal shortening + red signal shortening may be prohibited. The number of vehicles that can be stopped due to the effect of shortening the green light and the time for shortening the green light are not known before the shortening of the green light. To do.
TA <(Q × LA) / W + (Q × LA) × VA
TA: Time for shortening the green light Q: Number of vehicles to be stopped due to the effect of the shortening of the green light LA: Average head-to-head distance when the vehicle is stopped W: Start wave (time until the vehicle starts after the vehicle ahead starts) (There is a delay, and this start timing is transmitted from the vehicle in front to the vehicle in the rear, usually using a set value of around 4 m / s.)
VA: Average speed of the vehicle This formula shows that the stop vehicle increased in front of the priority vehicle 6 due to the shortening of the green light, the time when the start time of the priority vehicle 6 is delayed, and the stop position of the priority vehicle 6 becomes upstream. It shows whether or not the sum of the extra driving time and the sum of the time is longer than the green light shortening time. If the sum of these times is larger than the green light shortening time, priority is given by shortening the green light and shortening the red light. Signal control may be prohibited. When priority signal control by blue signal shortening + red signal shortening is prohibited, priority signal control by red signal extension + blue signal extension may be performed.

  In the above equation, the average of the traffic volume of the previous signal cycle may be used instead of using only the traffic volume of the previous signal cycle. In addition, the stop vehicle increased before the priority vehicle 6 due to the shortening of the green light continuously for a predetermined number of times or more, and the start time of the priority vehicle 6 is delayed and the stop position of the priority vehicle 6 becomes upstream. The priority signal control based on the shortening of the green light and the shortening of the red light may be prohibited when the sum of the time required to travel extra from the vehicle and the sum of the time required to travel excessively exceeds the green light shortening time.

  As described above, the signal control device 1 according to this embodiment repeatedly predicts the arrival time of the priority vehicle 6 with respect to the priority vehicle 6 repeatedly until the priority vehicle 6 reaches the intersection. Priority signal control according to the predicted arrival time is performed every time. Therefore, even if the traveling state of the priority vehicle 6 changes before reaching the intersection, priority signal control according to the change can be performed. Accordingly, appropriate priority signal control for the priority vehicle 6 can be performed with high accuracy, and adverse effects on the traffic on the intersection side can be sufficiently suppressed.

  In addition, when a plurality of priority vehicles 6 are approaching the intersection, priority signal control is performed on the priority vehicle 6 that reaches the intersection earliest, so the priority vehicle that reaches the intersection earliest. 6 is not stopped for a long time at the intersection under the influence of priority signal control for the other priority vehicles 6.

  In addition, since the priority vehicle 6 that is not traveling in the vicinity area or in the direction approaching the intersection is not a vehicle subject to priority signal control processing, it is possible to prevent unnecessary processing from being performed in the apparatus body. The load on the device body can be reduced.

  Moreover, in this priority signal control, since priority signal control can be performed with respect to the signal cycle when the priority signal processing is executed, not only the priority signal control for the signal cycle when the priority vehicle 6 reaches the intersection, Priority signal control can be performed for the signal period one or two times before the signal period. Therefore, it is possible to pass the priority vehicle 6 at the intersection without stopping at a red light without fail.

  In the above embodiment, the in-vehicle device 2 transmits the travel information to the signal control device 1 and performs the priority signal control process using the travel information received by the signal control device 1, but the in-vehicle device 2 travels. Information may be transmitted to the traffic control center, the traffic control center may perform the above-described priority signal control processing, and based on the result, the signal control device 1 may be instructed to perform priority signal control. Further, when the priority vehicle 6 is a bus or the like, the travel information may be transmitted to the traffic control center via an operation management center that manages the operation of the bus.

  In addition, when the image captured by the camera 3 is processed and it is detected that the priority vehicle 6 is traveling in the right turn lane, or when it is detected that the priority vehicle 6 has changed to the right lane, etc. You may make it perform the priority signal control by the right turn arrow.

  Furthermore, in the said embodiment, although the priority vehicle 6 with the earliest arrival time to the said intersection was determined as the processing target of priority signal control, the priority vehicle 6 determined as the processing target of priority signal control by another method is determined. You may decide. For example, when the priority vehicle 6 is a bus, the priority signal control processing target is based on differences in express, normal, etc. operation modes, route buses, airport buses, etc., operators, delay times, etc. The bus (priority vehicle 6) to be determined may be determined. Moreover, you may determine the priority vehicle 6 determined as the process target of priority signal control in the order which entered in the surrounding area.

  Moreover, in the said embodiment, the driving | running | working condition of the priority vehicle 6 which is drive | working in the direction approaching an intersection is continuously acquired by the driving information transmitted from the vehicle equipment 2 mounted in the priority vehicle 6. FIG. However, a captured image obtained by capturing the vicinity of the intersection with a camera may be processed to continuously acquire the traveling state of the priority vehicle 6 traveling in the direction approaching the intersection. In this case, in the peripheral area shown in FIG. 1B, one or a plurality of cameras are installed in the peripheral area so that a vehicle traveling in the direction approaching the intersection can be tracked. The signal control device 1 processes a captured image captured by one or a plurality of cameras at a predetermined time in the image processing unit 14, acquires a change in position for each captured vehicle, Track the vehicle at. This tracking may be performed only for priority vehicles, and general vehicles that are not priority vehicles may be ignored as vehicles not subject to processing. Whether the vehicle being imaged in the captured image of the camera is a priority vehicle may be identified from the shape of the vehicle in the captured image if it is a bus. In addition, an emergency vehicle such as a police car or an ambulance may be identified based on whether or not the vehicle has a red light in the captured image (a vehicle with a red light is identified as an emergency vehicle).

  The tracking of the vehicle is performed by continuously acquiring the traveling position of the priority vehicle 6 from the captured image. Further, the traveling speed of the priority vehicle 6 can be calculated from the continuously acquired change in the traveling position. Thereby, the signal control apparatus 1 can continuously acquire the travel information of the priority vehicle 6 traveling in the direction approaching the intersection, as in the above embodiment. The signal control device 1 performs the priority signal control described in the above embodiment using the traveling information of the priority vehicle 6 that is continuously acquired.

  Therefore, as in the above-described embodiment, for each priority vehicle 6 approaching the intersection, a change in the traveling state until the priority vehicle 6 reaches the intersection is acquired, and the intersection changes in the changed traveling state. The arrival time to reach can be re-predicted. Thereby, whenever the arrival time when the priority vehicle 6 arrives at the intersection is predicted, the priority signal control corresponding to the predicted arrival time is performed, so that appropriate priority signal control for the priority vehicle can be performed. Therefore, the time for stopping the priority vehicle 6 by the red signal at the intersection is reduced, and the vehicle traveling on the intersection side with respect to the priority vehicle 6 is not waited wastefully by the red signal, and the priority vehicle can be made smooth. The vehicle can be run and adverse effects on the traffic on the crossing side can be sufficiently suppressed.

  In this case, it is not necessary to mount the vehicle-mounted device 2 in the priority vehicle 6.

It is a figure explaining the outline | summary of the signal control system to which the signal control apparatus which is embodiment of this invention is applied. It is a block diagram which shows the structure of the signal control apparatus which is embodiment of this invention. It is a block diagram which shows the structure of a vehicle equipment. It is a flowchart which shows the transmission process of the driving information in vehicle equipment. It is a flowchart which shows the driving | running | working information reception process in the signal control apparatus which is embodiment of this invention. It is a figure which shows the table which the memory | storage part of a signal control apparatus memorize | stores. It is a flowchart which shows the priority signal control process in the signal control apparatus which is embodiment of this invention. It is a figure explaining the priority signal control by the signal control apparatus which is embodiment of this invention. It is a figure explaining the priority signal control by the signal control apparatus which is embodiment of this invention. It is a figure explaining the priority signal control by the signal control apparatus which is embodiment of this invention. It is a figure explaining the priority signal control by the signal control apparatus which is embodiment of this invention.

Explanation of symbols

1-signal control device 2-vehicle device 5-signal lamp 6-priority vehicle 11-control unit 12-display control unit 13-reception unit 14-image processing unit 15-clock unit 16-storage unit 21-control unit 22-transmission Part 23-clock part 24-position detecting part

Claims (6)

For each priority vehicle that is traveling in the direction approaching the intersection, traveling status acquisition means for continuously acquiring the traveling status;
An arrival time prediction means for predicting an arrival time for reaching each of the priority vehicles using the traveling situation for each priority vehicle continuously acquired by the traveling condition acquisition means;
A signal control device comprising: signal lamp control means for controlling a signal lamp installed at the intersection according to the arrival time at the intersection for each priority vehicle predicted by the arrival time prediction means.   The priority vehicle travel status acquisition means travels for each priority vehicle by receiving travel information including the identification information of the priority vehicle, the travel position at that time, and the time, which are repeatedly transmitted from the priority vehicle. The signal control device according to claim 1, wherein the signal control device is means for continuously acquiring the situation.   The priority vehicle traveling state acquisition means processes captured images around the intersection captured by one or a plurality of cameras, identifies a priority vehicle traveling in a direction approaching the intersection, and identifies it here The signal control device according to claim 1, wherein the signal control device is means for continuously acquiring a traveling state for each priority vehicle.   The arrival time predicting means is a means for predicting the arrival time at which the arrival time is reached only for priority vehicles that are located in a predetermined peripheral area with respect to the intersection and are traveling in a direction approaching the intersection. The signal control device according to claim 2 or 3.   The signal lamp control means is means for controlling a signal lamp installed at this intersection for a priority vehicle with the earliest arrival time at the intersection predicted by the arrival time prediction means. A signal control device according to claim 1.   The travel status acquisition means determines, for each priority vehicle, whether or not the priority vehicle is traveling in a direction approaching the intersection based on the travel status of the priority vehicle continuously acquired. The signal control device according to claim 1, wherein the priority vehicle that is not traveling in a direction approaching the intersection is a means for processing as a priority vehicle that is not a target of processing.

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