JP2007141144A - Intersection control system and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intersection control system and device for enabling a vehicle to smoothly pass an intersection with safety and the absolute necessary speed reduction in consideration of the safety and smooth intersection passage of a pedestrian. <P>SOLUTION: This intersection control system for controlling intersection traffic arranged at a road intersection where a signal for a vehicle is not installed includes a signal for a pedestrian arranged at the intersection and a vehicle speed reduction controller loaded on a vehicle passing the intersection. When a vehicle or pedestrian having crossing possibility with a vehicle at the intersection is detected, priority relating to the intersection passage is set in a traveling object having those crossing possibility, and the display color of the signal for a pedestrian is controlled or a vehicle speed reduction controller is made to execute vehicle speed reduction control so that the vehicle or pedestrian can pass the intersection in the order of higher priority. The priority is given to an emergency vehicle, pedestrian and general vehicle in this order as a principle, and when a pedestrian continuously passes, a time slot when the general vehicle is temporarily given priority is set so that the stay of a vehicle can be avoided. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention generally relates to an intersection control system that is disposed at a road intersection where no vehicle traffic signal is installed and controls the intersection traffic of the vehicle, and more particularly, each passing vehicle safely and minimally decelerates the intersection. It is related with the intersection control system and apparatus which enable it to pass smoothly.

  Traffic control to smooth the traffic of vehicles up to the present day is, for example, traffic lights installed at intersections, traffic signs installed along roads, temporary stop lines drawn on the road, etc. This is done by communicating the details of the regulations from the infrastructure side to each vehicle (driver) and encouraging respect for the regulations. In order for this traffic control to function, it is necessary for each vehicle driver to remember and understand general traffic rules such as the meaning of signs, and to drive and operate the vehicle according to those rules. Become.

  The traffic accidents that can occur despite such traffic control are broadly classified as follows: 1) If the driver did not comply with (or did not comply with) the prescribed traffic regulations; 2) There are cases where no traffic lights, signs, etc. are installed for traffic control, and the traffic control content is unclear for the driver, so that the vehicle is virtually uncontrolled.

  In the case of 1), a conventional method for warning the driver of the existence of a vehicle that may be overspeeded or crossed based on information acquired using vehicle-to-vehicle communication or road-to-vehicle communication. In some cases, a method for assisting the driving operation of the driver, such as automatically performing deceleration control from the vehicle side, has been proposed (see, for example, Patent Document 1).

In Patent Document 1, a vehicle sensor is installed on the road side, the course of each vehicle entering the intersection is predicted, the collision occurrence probability at the intersection is obtained, and the collision is avoided when the possibility of the collision is high. A method for providing the information is disclosed.
JP 2002-140799 A

  However, according to the conventional method disclosed in Patent Document 1 described above, unless any rules (rules), standards, and agreements regarding intersection approach are set between vehicles that are determined to have the possibility of crossing each other, these Deceleration control is given to both vehicles entering the intersection, and there is a possibility that vehicle traveling at the intersection may not be smooth.

  Further, the conventional method disclosed in Patent Document 1 does not consider pedestrians, bicycles, and the like, and even if each vehicle can be controlled so that the vehicles do not collide with each other, pedestrians passing the intersection, etc. As a result, each vehicle cannot pass through the intersection as planned, and the expected control result may not be obtained.

  In addition, traffic control that relies on fixed installations such as traffic lights and signs, as described above, installs such equipment at all intersections of all sizes, from large intersections to small intersections in residential areas. Is very difficult and impractical, and inevitably yields an intersection where no traffic control is implemented as in 2) above.

  At such intersections where traffic control is not performed, priority / non-priority for entering the intersection is unclear, and traffic control is an uncertain element such as the judgment of the driver who has entered the intersection (concession, etc.) Will be entrusted to. In fact, most of the traffic accidents are encounter accidents at narrow street intersections where there are no traffic lights or temporary stop lines.

  Another problem with traffic control that relies on fixed installations such as traffic lights and signs as described above is that the control content is fixed and cannot be dynamically adapted to changes in traffic volume. . In some cases, there are signs that indicate traffic control contents that differ depending on the day of the week and time zone, and methods such as changing the lighting time of each color of the traffic light are actually realized, but it is only control within a narrow range, It's hard to say that traffic control is changing dynamically (in real time).

  As described above, in traffic control using traffic lights, signs, etc., it is premised that the traffic control contents presented by traffic lights, signs, etc. are respected by each vehicle. In such traffic control, if the control content is fixed, even if there is no crossing vehicle, it will be necessary to stop unnecessarily with a red light or a stop line, which will hinder smooth traffic. Become.

  In this way, traffic control using traffic lights, signs, etc., that have been used as a matter of course until now, a) is virtually impossible to control all intersections, and b) when traffic volume is low. Even so, there are two problems of making traffic flow worse because unnecessary pauses and decelerations are required.

  In order to pass through the intersection point smoothly without decelerating or temporarily stopping at least one of the vehicles in a positional relationship that can intersect on a two-dimensional plane without using a traffic light, a sign, a stop line, etc. Ideally, the intersecting roads are crossed. However, as a matter of course, it is practically impossible to make all the intersections into solid intersections.

  The present invention is intended to solve such problems, and is an intersection that allows a vehicle to pass through an intersection smoothly and safely with the minimum necessary deceleration while considering pedestrian safety and smooth passage through the intersection. The main purpose is to provide a control system and apparatus.

  In order to achieve the above object, a first aspect of the present invention is an intersection control system for controlling intersection traffic that is disposed at a road intersection where no vehicle traffic signal is installed, and is a walking disposed at the intersection. A vehicle that includes a traffic signal for a passenger and a vehicle deceleration control device mounted on a vehicle passing through the intersection, and a vehicle or a pedestrian having the possibility of intersection with the vehicle at the intersection is detected. Set the priority (or priority) for passing through the intersection, and control the display color of the pedestrian traffic light so that the mobile object having the possibility of crossing passes through the intersection in descending order of priority. Or an intersection control system that causes the vehicle deceleration control device to execute vehicle deceleration control.

  In this first aspect, the above-mentioned pedestrian comprehensively refers to all moving bodies that are close to pedestrians rather than vehicles when considering traffic at intersections, such as people on bicycles and people on wheelchairs. It shall be generic.

  Also, in this first aspect, when the pedestrian traffic light defaults to a red display meaning that no crossing is possible, a predetermined operation (for example, pressing a predetermined button) is performed by the pedestrian (for example, a predetermined button). If it is configured to display a blue color indicating that (time) crossing is possible, it is possible to detect the presence of a pedestrian who is about to pass through the intersection by the predetermined operation on the pedestrian traffic light.

  According to this first aspect, at an intersection where no vehicle traffic signal is installed, a priority is set for each vehicle having the possibility of crossing at the intersection. Since the deceleration control is executed in addition to the highest priority vehicle so that each vehicle passes by each vehicle, each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic light for vehicles, and relatively non-priority. The vehicle that has become necessary can be reduced to the minimum necessary speed, and there is no need to temporarily stop waiting for a signal and can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth.

  In addition, according to the first aspect, since the presence of a pedestrian who is going to cross the intersection at the time of setting the priority is also taken into consideration, the pedestrian can cross the intersection safely and safely. In addition, both smooth passage through the intersection can be achieved.

  In this first aspect, except for emergency vehicles such as ambulances, fire engines, and police cars, it is preferable to give priority to the pedestrian's crossing over the vehicle. When pedestrians and pedestrians have the possibility of crossing at the intersection, priority is set higher than pedestrians for emergency vehicles, and 2) When vehicles other than emergency vehicles and pedestrians have the possibility of crossing at intersections A higher priority is set for pedestrians than vehicles other than emergency vehicles.

  However, if there are continuous pedestrians passing through the intersection, there is a risk that the traffic of the vehicle may stay, so there is a state where a higher priority is set for pedestrians than vehicles other than emergency vehicles at a specific intersection. When continuing for the first predetermined time, it is preferable that the priority of vehicles other than the emergency vehicle is temporarily higher than the pedestrian for a second predetermined time. Further, here, in order to eliminate traffic congestion, the length of the second predetermined time is increased as the number of vehicles other than the emergency vehicle set with a lower priority than the pedestrian at the intersection increases. Is preferred.

  In order to achieve the above object, a second aspect of the present invention is an intersection control device for controlling intersection traffic, which is disposed at a road intersection where no vehicle traffic signal is installed, and is a walking disposed at the intersection. Control means for controlling a traffic light for passengers, communication means for requesting execution of deceleration control to a vehicle control device mounted on a vehicle passing through an intersection using communication, and a vehicle having a possibility of crossing with a vehicle at the intersection Or, when a pedestrian is detected, it has priority setting means for setting the priority (or priority) regarding the passage of the intersection to the mobile body having the possibility of crossing, and priority is given by the priority setting means. When the degree is set, the control means controls the display color of the pedestrian traffic light so that the mobile body having the possibility of crossing passes through the intersections in the order of the priority. Or, by the communication means to execute the vehicle deceleration control in the vehicle control device, an intersection control device.

  In this second aspect, the above pedestrians generally refer to all moving objects that are close to pedestrians rather than vehicles when considering traffic at intersections, such as people on bicycles and people on wheelchairs. It shall be generic.

  According to this second aspect, at an intersection where no vehicle traffic signal is installed, a priority is set for each vehicle having the possibility of crossing at the intersection. Since the deceleration control is executed in addition to the highest priority vehicle so that each vehicle passes by each vehicle, each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic light for vehicles, and relatively non-priority. The vehicle that has become necessary can be reduced to the minimum necessary speed, and there is no need to temporarily stop waiting for a signal and can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth.

  Further, according to the second aspect, since the presence of a pedestrian who is going to cross the intersection at the time of setting the priority is also taken into consideration, the pedestrian can cross the intersection safely and safely. In addition, both smooth passage through the intersection can be achieved.

  In the second aspect, except for emergency vehicles such as ambulances, fire engines, and patrol cars, the priority setting is performed from the viewpoint that it is preferable to give priority to the pedestrian crossing the vehicle. Means are as follows: 1) When an emergency vehicle and a pedestrian have the possibility of crossing at an intersection, a higher priority is set for the emergency vehicle than a pedestrian, and 2) a vehicle other than the emergency vehicle and a pedestrian If there is a possibility of crossing, a higher priority is set for pedestrians than vehicles other than emergency vehicles.

  However, if there are continuous pedestrians passing through the intersection, there is a risk that the traffic of the vehicle may stay. Therefore, the priority setting means gives higher priority to the pedestrian than the vehicle other than the emergency vehicle at a specific intersection. When the state in which the degree is set continues for the first predetermined time, it is preferable that the priority of the vehicles other than the emergency vehicle is temporarily higher than the pedestrian for the second predetermined time. Further, here, in order to eliminate traffic congestion, the priority setting means sets the number of vehicles other than the emergency vehicle in which the second predetermined time length is set lower than the pedestrian at the intersection. It is preferable to make it longer as there is more.

  According to the present invention, it is possible to provide an intersection control system and apparatus that allow a vehicle to pass through an intersection smoothly and safely with the minimum necessary deceleration while considering pedestrian safety and smooth passage through the intersection. .

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept of the road-to-vehicle communication system, the main hardware configuration, the operating principle, the basic control method, and the like are known to those skilled in the art and will not be described in detail.

  Hereinafter, an intersection control system according to an embodiment of the present invention will be described with reference to FIGS. The intersection control system according to the present embodiment gives priority to each vehicle having the possibility of crossing at an intersection where no traffic signal for vehicles is installed, and vehicles other than the highest priority vehicle sequentially pass the intersection according to this priority. This is a system that decelerates pedestrians and gives priority to crossing pedestrians when there are pedestrians.

  In FIG. 1, the outline of the intersection control system 100 which concerns on a present Example is shown. The intersection control system 100 includes a vehicle control device 101 mounted on the vehicle V, a pedestrian traffic light 102 disposed at an intersection where no vehicle traffic signal is installed, and vehicle control of each vehicle V using communication. It has an intersection control device 103 that transmits / receives information to / from the device 101 and manages and controls the pedestrian traffic light 102 in an integrated manner.

  Here, a pedestrian is not only a person P who is actually walking, but a person B on a bicycle or a person on a wheelchair (not shown), such as a pedestrian rather than a vehicle when considering traffic at an intersection. It is used as a collective term that generally refers to all mobile objects that exist close to. That is, the pedestrian traffic light 102 is intended not only for the pedestrian P but also for the person B on the bicycle.

  Further, in this embodiment, the pedestrian traffic light 102 defaults to red display meaning that crossing is impossible, and when a predetermined operation (for example, pressing a predetermined button) is performed by the pedestrian, a predetermined time (= It is configured to display a blue color indicating that the pedestrian can cross at least a time sufficient for the pedestrian to cross the intersection. As a result, the intersection control device 103 that manages and controls the pedestrian traffic light 102 monitors the pedestrian traffic light 102 in which the pedestrian traffic signal 102 is detected, so that the pedestrian who is going to cross the intersection. It can be detected that P has appeared and which pedestrian P is about to cross which road from which point in the crossing road.

  Further, in FIG. 1, for convenience, the intersection control device 103 is illustrated as if it is disposed near the center of the intersection (for example, embedded under the road). Road-to-vehicle communication with a vehicle V within a predetermined range about to pass through an intersection may be arbitrary as long as possible, and may be integrated with any one of the pedestrian traffic lights 102. As far as possible, as long as such road-to-vehicle communication and control of the pedestrian signal 102 are possible through wired or wireless communication, the intersection control device 103 (for example, manages a plurality of intersections with one intersection control device 103). (For the purpose etc.) It may be arranged in a remote place from the intersection.

  Next, the vehicle control device 101 mounted on each vehicle for realizing traffic control in the intersection control system 100 according to the present embodiment will be described with reference to FIG. FIG. 2 is a schematic configuration diagram of the vehicle control device 101 according to the present embodiment.

  The vehicle control device 101 includes a road-to-vehicle communication unit 201 for communicating with the intersection control device 103 when the host vehicle is located within a predetermined range from the intersection control device 103. As will be apparent to those skilled in the art, the communication connection with the intersection control device 103 by the road-to-vehicle communication unit 201 is not limited to a direct connection, but is an indirect connection through vehicle-to-vehicle communication or satellite communication. Also good. Further, the performance and shape of the antenna included in the road-to-vehicle communication unit 201, the method used for communication, the frequency band, and the like are not particularly limited and may be arbitrary. Various specific communication methods and device configurations have already been proposed for specific specifications for road-to-vehicle communication, and are well known to those skilled in the art. Therefore, detailed description thereof is omitted here.

  The vehicle control apparatus 101 further includes a host vehicle position detection unit 202 that detects the position of the host vehicle using, for example, a GPS (Global Positioning System). The detection accuracy (resolution) of the own vehicle position detection unit 202 is preferably as high (fine) as possible. For example, it is preferable to use high-accuracy GPS such as RTK (Real Time Kinematic) -GPS.

  The vehicle control device 101 further includes a vehicle speed detection unit 203 that detects the vehicle speed of the host vehicle. In this embodiment, the vehicle speed detection unit 203 detects the vehicle speed of the host vehicle using, for example, a wheel speed sensor. As an alternative example, the vehicle speed of the host vehicle may be calculated from the time change of the host vehicle position detected by the host vehicle position detection unit 202.

  The vehicle control apparatus 101 further includes an accelerator pedal reaction force control unit 204 that generates an operation reaction force of an arbitrary magnitude on the accelerator pedal using an actuator, for example, and controls the accelerator pedal reaction force. Various proposals have already been made regarding the specific structure and mechanism by which the accelerator pedal reaction force control unit 204 generates an arbitrary operation reaction force on the accelerator pedal. . In this embodiment, any structure / mechanism can be adopted.

  The vehicle control device 101 further includes a braking force control unit 205 that generates an auxiliary assist braking force separately from the brake operation by the driver. Various proposals have already been made regarding the specific structure / mechanism by which the braking force control unit 205 generates the assist braking force, and the description thereof will be omitted because it is known to those skilled in the art. In this embodiment, any structure / mechanism can be adopted.

  The braking force control unit 205 is mainly for realizing deceleration of the host vehicle, and ignores any operation by the driver and does not invalidate the operation. For example, when the assist braking force is generated, for example, when a driver who has found an obstacle ahead further steps in the brake, a braking force greater than the assist braking force generated by the braking force control unit 205 should be exhibited. It is.

  The vehicle control device 101 further includes a main control unit 206 that comprehensively controls each component of the vehicle control device 101. The main control unit 206 is, for example, an ECU (Electronic Control Unit).

  In the vehicle control device 101 having such a configuration, the main control unit 206 enters the communication range of the intersection control device 103, and when the request signal from the intersection control device 103 is received, is detected by the own vehicle position detection unit 202. The current vehicle position and the own vehicle speed detected by the vehicle speed detection unit 203 are transmitted to the intersection control device 103 using the road-to-vehicle communication unit 201. Only the current position of the host vehicle may be transmitted, and the vehicle speed may be calculated from the time change of the vehicle position in the intersection control device 103. Further, when the host vehicle is an emergency vehicle (for example, an ambulance, a fire engine, a police car, etc.), it is preferable to transmit the fact to the intersection control device 103 in addition to the current position and the vehicle speed of the host vehicle.

  Further, when the requested deceleration amount calculated based on the priority order for passing the intersection is transmitted from the intersection control device 103 through the road-to-vehicle communication unit 201, the main control unit 206 is a pedestrian having higher priority than the host vehicle or Instruct the accelerator pedal reaction force control unit 204 and the braking force control unit 205 so that the vehicle passes through the intersection and then set the deceleration amount requested for the host vehicle as a target value. Decelerate control.

  Specifically, 1) When the requested deceleration amount is relatively small, the accelerator pedal reaction force is increased by the accelerator pedal reaction force control unit 204 so that the driver cannot step on the accelerator pedal (or it is difficult to step on). 2) When the requested deceleration amount is relatively large, the accelerator pedal reaction force control unit 204 increases the access pedal reaction force so that the driver cannot step on the accelerator pedal (or is difficult to step on). In addition, an assist braking force is generated by the braking force control unit 205.

  When the main control unit 206 receives a notification from the intersection control device 103 that the deceleration amount required for the host vehicle is zero, that is, the host vehicle is the highest priority vehicle at the intersection passing priority ranking first. , The accelerator pedal reaction force control unit 204 and the braking force control unit 205 are not instructed to perform any deceleration control, or the deceleration control that has been instructed so far is stopped, Pass the vehicle through the intersection according to the operation.

  The magnitude of the accelerator pedal reaction force and assist braking force applied during deceleration control may be arbitrary, but as will be apparent to those skilled in the art, deceleration should first be realized by increasing the accelerator pedal reaction force. The application of the assist braking force is preferably used for the purpose of supplementing it. On the other hand, when the deceleration control is released, first, the application of the assist braking force should be made zero, and then the application of the accelerator pedal reaction force should be gradually decreased.

  Further, here, being the highest priority vehicle means that any driving according to the driving operation of the driver is allowed, and the intersection is forcibly ignored by ignoring the driver's operation. It does not pass before the vehicle. In other words, the driving operation for passing the intersection depends on the driver. For example, if the driver performs a deceleration operation or the like, naturally, the vehicle may not preferentially pass the intersection as a result.

  Next, an intersection control apparatus 103 that performs traffic control in the intersection control system 100 according to the present embodiment will be described with reference to FIG. FIG. 3 is a schematic configuration diagram of the intersection control device 103 according to the present embodiment.

  The intersection control device 103 includes a road-to-vehicle communication unit 301 for communicating with the road-to-vehicle communication unit 201 of the vehicle control device 101 mounted on the vehicle V located within a predetermined range from the intersection control device 103. As will be apparent to those skilled in the art, the communication connection with the vehicle control device 101 by the road-to-vehicle communication unit 301 is not limited to a direct connection, but is an indirect connection through vehicle-to-vehicle communication or satellite communication. Also good. Further, the performance and shape of the antenna included in the road-to-vehicle communication unit 301, the method used for communication, the frequency band, and the like are not particularly limited and may be arbitrary. Various specific communication methods and device configurations have already been proposed for specific specifications for road-to-vehicle communication, and are well known to those skilled in the art. Therefore, detailed description thereof is omitted here.

  The intersection control device 103 further includes a storage unit 302 that stores and holds in advance a) a priority setting algorithm and b) map information. a) The priority setting algorithm will be described in detail later. In the present embodiment, the storage unit 302 may be any storage medium. Moreover, it is preferable that the map information memorize | stored and hold | maintained at the memory | storage part 302 is suitably updated to the newest data, for example using communication.

  The intersection control device 103 further includes a pedestrian signal control unit 303 that collectively manages and controls the pedestrian traffic light 102. As described above, the pedestrian signal control unit 303 monitors the pedestrian signal 102 for detecting the pedestrian operation for switching the pedestrian traffic signal 102 from red to blue. It is possible to detect the appearance of a pedestrian who is going to cross and which road the pedestrian is going to cross from which point to which direction.

  The intersection control device 103 further includes a main control unit 304 that comprehensively controls each component of the intersection control device 103. The main control unit 304 is, for example, an ECU (Electronic Control Unit).

  Next, the flow of intersection control processing by the intersection control device 103 having such a configuration will be described with reference to the flowchart of FIG.

  First, the main control unit 304 acquires position information and vehicle speed information from surrounding vehicles through the road-to-vehicle communication unit 301 (S401).

  Next, the main control unit 304 acquires information related to the operating state of the pedestrian traffic light 102 from the pedestrian signal control unit 303 (S402). Specifically, whether there is a pedestrian who is going to cross the intersection at any pedestrian traffic light 102 and in which direction the pedestrian is going to cross the intersection , Information is acquired from the pedestrian signal control unit 303 and grasped.

  Next, the main control unit 304 determines and assigns the priority for passing the intersection for each of vehicles and pedestrians that are about to pass / cross the intersection and that have a possibility of crossing at the intersection (S403).

  In the priority setting algorithm according to the present embodiment, as an example, with the exception of emergency vehicles, with respect to general vehicles, from the viewpoint of ensuring the safety of pedestrians, pedestrians are given priority and vehicles are set relatively. It is treated as non-priority, and pedestrians are given higher priority than ordinary vehicles. That is, the emergency vehicle is given higher priority than the pedestrian.

  In order to give priority to vehicles and pedestrians that are likely to cross each other, first, the main control unit 304 stores the position and vehicle speed of surrounding vehicles acquired in S401 and information about pedestrians acquired in S402. The relative positional relationship between the surrounding vehicles and the pedestrians on the road is grasped.

  Next, the main control unit 304 determines the possibility that these surrounding vehicles and pedestrians cross at the intersection based on this relative positional relationship. In this embodiment, in what case it is determined that there is a possibility of crossing, and how high the crossing possibility is in the relative positional relationship and a determination criterion Any one of these may be used, and those skilled in the art can appropriately set.

  Next, the main control unit 304 determines, with respect to the vehicles and pedestrians that have been determined that there is a possibility of crossing, the priority regarding the passage of the intersection with respect to these pedestrians and vehicles in light of the priority setting algorithm stored in the storage unit 302 Determine the ranking.

  As described above, in this embodiment, high priority is given in the order of emergency vehicle, pedestrian, and general vehicle. When there are multiple pedestrians, the possibility of crossing between these pedestrians is ignored, and the predetermined green light period described above for the last pedestrian (= at least enough time for the pedestrian to cross the intersection) It is a time zone in which pedestrians are prioritized until the time elapses.

  When there are multiple vehicles other than emergency vehicles whose priority ranks after a pedestrian, relative priority / non-priority among these general vehicles is, for example, that each vehicle reaches a predetermined distance from the intersection. Compare the distance to the intersection at the time of the intersection or the estimated arrival time to the intersection obtained by dividing the distance by the vehicle speed, and give higher priority in order of decreasing distance to the intersection or arriving at the intersection earlier. Can be considered as one method.

  After determining the priority of passing the intersection for vehicles and pedestrians having the possibility of crossing in this way, the main control unit 304 then transfers each vehicle through the road-to-vehicle communication unit 301 based on the determined priority. The requested deceleration amount is transmitted, and B) if necessary, the display color of the pedestrian traffic light 102 is controlled through the pedestrian signal control unit 303 (S404).

  More specifically, the latter case B) is a case where the emergency vehicle is heading toward the intersection. In this case, in order to give the highest priority to the emergency vehicle passing through the intersection, the main control unit 304 instructs the pedestrian signal control unit 303 to display the display color of the pedestrian traffic light 102 and the emergency vehicle passes through the intersection. Make it red until

  In the case of the former A), it is necessary to calculate the deceleration amount instructed to each vehicle. This required deceleration amount can be calculated as follows, for example, as a deceleration amount required for a non-priority vehicle in two simple vehicle models. First, a coordinate conversion is performed on a relatively prioritized vehicle to a virtual position that becomes a preceding vehicle traveling in the same direction on the same lane as a relatively non-prioritized vehicle. Necessary when decelerating the non-priority vehicle with the predetermined position before the intersection as the target stop position so that a predetermined inter-vehicle distance (margin / margin distance) is ensured for the priority vehicle after coordinate conversion. Find the degree of deceleration that will be. In this case, the necessary deceleration is the amount of deceleration required for the non-priority vehicle.

  When the calculated deceleration amount for each vehicle calculated in this way is transmitted, deceleration control for satisfying the requested deceleration amount is executed in each vehicle as described above. Each time a pedestrian or vehicle passes through the intersection, this priority is incremented by one, and the requested deceleration amount received from the intersection control device 103 in order from the vehicle with the highest priority at that time becomes zero. Deceleration control for allowing other vehicles or pedestrians with higher priority to go first is released, and intersection passing according to driver operations is allowed.

  In the control processing in the present embodiment, the pedestrian is given priority over the general vehicle. Therefore, when a pedestrian who tries to cross the intersection appears continuously, the pedestrian traffic light 102 is continuously blue. The state in which all ordinary vehicles are relatively non-prioritized with respect to pedestrians continues for a long time, and there is a possibility that the vehicle traffic will stay.

  Therefore, in this embodiment, in order to avoid the occurrence of such a situation, when the main control unit 304 determines priority (S404), all ordinary vehicles are relatively non-prioritized with respect to pedestrians. In the case where the state has been continued for a predetermined time T1, in order to eliminate the stay of the vehicle, the priority order of the general vehicle is temporarily made higher than that of the pedestrian for the predetermined time T2. . The length of the predetermined time T2 is preferably set longer as the number increases, according to the number of standby vehicles that are relatively non-prioritized for pedestrians.

  Thus, according to the present embodiment, at an intersection where no vehicle traffic signal is installed, each vehicle having a possibility of crossing at the intersection and a pedestrian are given priority for passing the intersection, and the pedestrian intersection Crossing is controlled by traffic lights for pedestrians and crossing of vehicles is controlled by deceleration control by a vehicle control device mounted on the vehicle, so that these pedestrians and vehicles pass through the intersections in order of priority. Therefore, each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic light for vehicles, and vehicles that are relatively non-prioritized can also be controlled with the minimum necessary deceleration. As a result, there is no need to temporarily stop waiting for a signal and the vehicle can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth. Also, since the presence of pedestrians who are going to cross the intersection when setting priorities is taken into account, both safe and smooth crossing of pedestrians and safe and smooth crossing of vehicles must be achieved. Can do.

  In the above embodiment, the main control has been described between vehicles entering from a direction substantially perpendicular to the crossroad intersection as shown in FIG. 1, but as will be apparent to those skilled in the art, this control is performed. The example is not limited to this situation, and can be applied naturally when there is a possibility of crossing a right-turn vehicle and a straight-ahead vehicle at a crossroad intersection, or when entering or joining a relatively large road from a relatively thin road. It is.

  INDUSTRIAL APPLICABILITY The present invention can be used for an intersection control system and apparatus using road-to-vehicle communication. The size of the intersection, the number of intersection roads, and the appearance, weight, size, traveling performance, etc. of the vehicle to be controlled are not limited.

It is the schematic of the intersection control system which concerns on one Example of this invention. It is a schematic block diagram of the vehicle control apparatus which concerns on one Example of this invention. It is a schematic block diagram of the intersection control apparatus which concerns on one Example of this invention. It is a flowchart which shows the flow of the intersection control process by the intersection control system which concerns on one Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Intersection control system 101 Vehicle control apparatus 102 Pedestrian traffic signal 103 Intersection control apparatus 201 Road-to-vehicle communication part 202 Own vehicle position detection part 203 Vehicle speed detection part 204 Accelerator pedal reaction force control part 205 Braking force control part 206 Main control part 301 Road Inter-vehicle communication section 302 Storage section 303 Pedestrian signal control section 304 Main control section

Claims (11)

An intersection control system that is disposed at a road intersection where a traffic signal for vehicles is not installed and controls intersection traffic,
A pedestrian traffic light located at the intersection;
A vehicle deceleration control device mounted on a vehicle passing through an intersection,
When a vehicle or a pedestrian having a possibility of crossing with a vehicle is detected at an intersection, a priority for passing the intersection is set for a moving object having the possibility of crossing,
Controlling the display color of the traffic light for the pedestrian so that the moving object having the possibility of crossing passes through the intersections in the order of the priority, or causing the vehicle deceleration control device to execute vehicle deceleration control, Intersection control system characterized by that. The intersection control system according to claim 1,
An intersection control system characterized in that when an emergency vehicle and a pedestrian have a possibility of crossing at an intersection, a higher priority is set for the emergency vehicle than a pedestrian. The intersection control system according to claim 1 or 2,
An intersection control system characterized in that when a vehicle other than an emergency vehicle and a pedestrian have a possibility of crossing at an intersection, a higher priority is set for the pedestrian than a vehicle other than the emergency vehicle. An intersection control system according to claim 3,
When a state in which a higher priority than a vehicle other than an emergency vehicle is set for a pedestrian at a specific intersection continues for a first predetermined time, the priority of the vehicle other than the emergency vehicle is temporarily set for a second predetermined time. The intersection control system is characterized in that it is higher than the pedestrian. An intersection control system according to claim 4,
An intersection control system characterized in that the length of the second predetermined time is increased as the number of vehicles other than the emergency vehicle set with a lower priority than the pedestrian at the intersection increases. An intersection control system according to any one of claims 1 to 5,
The intersection control system according to claim 1, wherein the pedestrian traffic light has a red display as a default, and a blue display when a predetermined operation is performed by the pedestrian. An intersection control device that is disposed at a road intersection where no traffic signal for vehicles is installed and controls traffic at the intersection,
Control means for controlling pedestrian traffic lights arranged at the intersection;
Communication means for requesting execution of deceleration control to a vehicle control device mounted on a vehicle passing through an intersection using communication;
Priority setting means for setting priorities regarding the passage of the intersection to a moving body having the possibility of crossing when a vehicle or a pedestrian having the possibility of crossing with the vehicle is detected at the intersection,
When the priority is set by the priority setting means, the control means changes the display color of the pedestrian traffic light so that the mobile body having the possibility of crossing passes through the intersection in order of the priority. An intersection control device that controls or causes the vehicle control device to execute vehicle deceleration control by the communication means. The intersection control device according to claim 7,
The intersection control device according to claim 1, wherein the priority setting means sets a higher priority than the pedestrian for the emergency vehicle when the emergency vehicle and the pedestrian have a possibility of crossing at the intersection. The intersection control device according to claim 7 or 8,
The priority setting means sets a higher priority for a pedestrian than a vehicle other than the emergency vehicle when the vehicle other than the emergency vehicle and the pedestrian have a crossing possibility at the intersection. Control device. The intersection control device according to claim 9,
The priority setting means determines the priority of vehicles other than the emergency vehicle when a state in which a higher priority than a vehicle other than the emergency vehicle is set for a pedestrian at a specific intersection continues for a first predetermined time. An intersection control system characterized in that it is temporarily higher than the pedestrian for a second predetermined time. The intersection control device according to claim 10,
The priority setting means makes the length of the second predetermined time longer as the number of vehicles other than the emergency vehicle set with a lower priority than the pedestrian at the intersection increases. Intersection control device to do.

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