JP2007323409A - Vehicle deceleration determination system, signal control apparatus, on-vehicle apparatus, method for controlling signal, method for determining vehicle deceleration, and computer program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle deceleration determination system, a signal control apparatus, an on-vehicle apparatus, a method for controlling a signal, a method for determining the deceleration of a vehicle, and a computer program, in which even when the lighting time of a signal lamp color is updated, whether a vehicle should pass a prescribed position of a road or stop before the prescribed position can be safely determined. <P>SOLUTION: The signal control apparatus 1 calculates time t1 at which an evaluation function PI becomes minimum on the basis of a vehicle profile, calculates the lower limit value T of switching time of a signal lamp color on the basis of the time t1 and transmits signal lamp information including the lower limit value T to the on-vehicle apparatus 4 through a road side apparatus 5. The on-vehicle apparatus 4 receives the signal lamp information and acquires the speed V and positional information of the vehicle. Then the on-vehicle apparatus 4 calculates a distance L up to a stop line, and when L≤V(T+β) is not satisfied and L≥V<SP>2</SP>/2d+α is not satisfied, outputs a deceleration signal to a vehicle control part to stop the vehicle at a deceleration speed d. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle deceleration determination system for determining deceleration of a vehicle traveling on a road, a signal control device and an in-vehicle device constituting the vehicle deceleration determination system, a signal control method, a vehicle deceleration determination method, the signal control device, and an in-vehicle device. The present invention relates to a computer program for realizing the above.

  In order to suppress traffic accidents or smooth traffic, a system that provides traffic information to vehicles traveling on the road is required. Especially, collisions between vehicles at or near intersections, vehicles and pedestrian crossings. A system that prevents a contact accident with a walking pedestrian has been proposed.

  For example, the color signal of the signal light transmitted by the traffic light at the intersection, the remaining time signal until the signal light color changes, is received by the vehicle receiver, and the vehicle is moved to the intersection based on the received signal, the vehicle speed and acceleration, the inter-vehicle distance, etc. If it is judged that the vehicle is dangerous or safe, a warning is issued to the driver, and if the driver does not perform braking, the automatic brake is further activated to stop the vehicle. An operation system has been proposed (see Patent Document 1).

In addition, traffic information is collected by sensors provided on the road, the state of the intersection from the present to the future is created as profile data, and signal control parameters (for example, cycle, split, offset, etc.) are optimized by the rolling horizon method. Thus, a traffic signal control device that can cope with a sudden change in traffic situation has been proposed (see Patent Document 2).
JP-A-3-271999 JP 2001-134893 A

  However, when the system of Patent Literature 1 and the device of Patent Literature 2 are used, the vehicle has received and received signal lamp information including the remaining time until the signal lamp color is switched (for example, until the signal is switched from blue to yellow). When it is determined that the vehicle cannot safely pass the intersection based on the signal light information, the brake is operated to decelerate the vehicle. However, after the vehicle is decelerated, the signal light color display time is updated (optimization of signal control parameters). For example, if the remaining time until the signal switches from blue to yellow is extended, the signal is blue. In spite of this, the vehicle stops before the intersection, which may cause a rear-end collision by the following vehicle. Conversely, it is determined that the vehicle can safely pass the intersection based on the received signal light information, and after traveling without decelerating, the display time of the signal light color is updated. For example, the signal is changed from blue to yellow. When the remaining time until switching to is reduced, the blue signal is switched when a vehicle that has traveled without decelerating arrives before the intersection, and a collision accident may occur in the intersection.

  The present invention has been made in view of such circumstances, and the signal control device calculates the lower limit value of the remaining display time of the signal lamp color, transmits the calculated lower limit value and the signal lamp information including the signal lamp color, and the in-vehicle device. Receives signal light information, acquires position information of the vehicle, position information about a predetermined point on the road (including the distance from the vehicle to the predetermined point), and the speed of the vehicle. And the display time of the signal lamp color is updated by determining whether or not the vehicle is decelerated to stop before the vehicle reaches the predetermined point based on the received signal lamp information. A vehicle deceleration determination system capable of safely determining whether the vehicle passes a predetermined point on the road or stops before the predetermined point, a signal control device constituting the vehicle deceleration determination system, and Transfer device, the vehicle deceleration determination method, and an object thereof is to provide a computer program for realizing the vehicle device.

  Another object of the present invention is to predict the number of vehicles arriving at the predetermined point in time series based on the number of vehicles passing through the point upstream of the predetermined point toward the predetermined point on the road. Based on the predicted number of vehicles, the signal light color switching time point (corresponding to the remaining display time of the signal light color) at which the evaluation index indicating the degree of traffic congestion in the vicinity of the predetermined point is minimized is specified, and the specified time point ( If the lower limit value of the remaining display time of the signal lamp color has already been calculated, the lower limit value of the remaining display time of the signal lamp color is calculated based on the most recently calculated lower limit value of the remaining display time of the signal lamp color) Thus, even when the display time of the signal light color is updated, the signal light information for safely determining whether the vehicle passes the predetermined point on the road or stops before the predetermined point with high accuracy. To send Signal controller capable to provide a computer program for realizing the signal control method and the signal controller.

  Another object of the present invention is that even when the display time of the signal lamp color is updated by setting the remaining time until the time when the evaluation index becomes the minimum as the lower limit value of the remaining display time of the signal lamp color. An object of the present invention is to provide a signal control device capable of transmitting signal light information for safely determining whether a vehicle passes a predetermined point on a road with high accuracy or stops before a predetermined point.

  Another object of the present invention is to set the remaining time until the time when the evaluation index becomes the minimum as the lower limit value of the remaining display time of the signal lamp color when the time when the evaluation index becomes the minimum is before the next update time. Thus, an object of the present invention is to provide a signal control device capable of transmitting signal light information for safely determining whether a vehicle passes a predetermined point on a road with high accuracy or stops before a predetermined point.

  According to another object of the present invention, when the time point at which the evaluation index is minimum is after the next update time point, the evaluation index is between the next update time point and the time point at which the evaluation index is minimum. By setting the remaining time until the point of time when the indicator is increased by a predetermined value from the minimum value of the indicator as the lower limit value, the lower limit of the signal light color switching time point can be delayed, and the vehicle passes a predetermined point on the road with high accuracy or An object of the present invention is to provide a signal control device capable of transmitting signal lamp information for safely determining whether to stop before a predetermined point.

  Another object of the present invention is to change the size of the predetermined value according to the length of the remaining time until the time when the evaluation index becomes the minimum, so that the vehicle passes the predetermined point on the road with high accuracy or An object of the present invention is to provide a signal control device capable of transmitting signal lamp information for safely determining whether to stop before a predetermined point.

  Another object of the present invention is that the evaluation index is the amount of delay of the vehicle, the number of times the vehicle is stopped, the number of times the vehicle waits for a signal, the saturation of the traffic, the load factor, the effective blue time rate of the signal lamp color, An object of the present invention is to provide a signal control device that can accurately calculate a lower limit value according to traffic conditions by including at least one of a travel time of a vehicle and an amount of profit of the vehicle.

  A vehicle deceleration determination system according to a first aspect of the present invention is a signal control device that controls a display time of a signal lamp color, and determines whether or not the vehicle is decelerated according to the display time of the signal lamp color controlled by the signal control device. In the vehicle deceleration determination system including an in-vehicle device, the signal control device includes a calculation unit that calculates a lower limit value of the remaining display time of the signal lamp color, and a transmission unit that transmits signal lamp information including the calculated lower limit value and the signal lamp color. The vehicle-mounted device includes: a receiving unit that receives the signal light information; a vehicle position information; an acquisition unit that acquires position information about a predetermined point on the road; and a vehicle speed; Based on the speed and the received signal light information, a determination means for determining whether or not the vehicle is to be decelerated to stop before the vehicle reaches the predetermined point, and the determination means And an outputting means for outputting a determination result.

  A signal control device according to a second aspect of the present invention is a signal control device for controlling a display time of a signal lamp color, a calculation means for calculating a lower limit value of the remaining display time of the signal lamp color, and a signal lamp including the calculated lower limit value and the signal lamp color And a transmission means for transmitting information.

  According to a third aspect of the present invention, the signal control device according to the second aspect is based on the means for acquiring the number of vehicles passing through a point upstream of the predetermined point toward the predetermined point on the road, and the acquired number of vehicles. A means for predicting the number of vehicles arriving at the predetermined point in time series, and a signal lamp color switching time point at which an evaluation index indicating a degree of traffic congestion near the predetermined point is minimized based on the predicted number of vehicles. Specifying means for specifying, and the calculating means is configured to calculate a lower limit value of the remaining display time of the signal lamp color based on the time point specified by the specifying means.

  According to a fourth aspect of the present invention, there is provided the signal control device according to the third aspect, wherein the calculation means sets the remaining time until the time point specified by the specifying means as a lower limit value of the remaining display time of the signal lamp color. It is characterized by that.

  A signal control device according to a fifth invention is the signal control device according to the third or fourth invention, wherein the updating means for repeatedly updating the display time of the signal lamp color and the comparison for comparing the time point specified by the specifying means and the next update time point. And when the specified time is before the next update time, the calculating means is configured to set the remaining time until the specified time as a lower limit value of the remaining display time of the signal lamp color. It is characterized by being.

  The signal control device according to a sixth aspect of the present invention is the signal control apparatus according to the third or fourth aspect, wherein the updating means for repeatedly updating the display time of the signal lamp color is compared with the time point specified by the specifying means and the next update time point. And when the specified time is after the next update time, the calculation means is between the update time and the specified time, and the evaluation index is less than the minimum value of the evaluation index. The remaining time until the point of increase by a predetermined value is configured as the lower limit value of the remaining display time of the signal lamp color.

  The signal control device according to a seventh aspect of the invention is characterized in that, in the sixth aspect of the invention, the signal control device further comprises changing means for changing the magnitude of the predetermined value according to the length of the remaining time until the specified time point.

  The signal control device according to an eighth invention is the signal control device according to any one of the third to seventh inventions, wherein the evaluation index includes a vehicle delay amount, a vehicle stop count, a vehicle signal wait count, a traffic saturation, a load. It includes at least one of a rate, an effective blue time rate of a signal lamp color, a long traffic jam, a travel time of a vehicle, and an amount of profit of the vehicle.

  An in-vehicle apparatus according to a ninth aspect of the present invention is the in-vehicle apparatus that determines whether or not the vehicle is decelerated so as to stop the vehicle before reaching a predetermined point on the road. The lower limit of the signal lamp color and the remaining display time of the signal lamp color Based on receiving means for receiving signal light information including values, acquisition means for acquiring vehicle position information, position information on the predetermined point and vehicle speed, each acquired position information and vehicle speed, and received signal light information And determining means for determining whether or not the vehicle is decelerated to stop before the vehicle reaches the predetermined point, and output means for outputting the determination result determined by the determining means. And

  A signal control method according to a tenth aspect of the present invention is the signal control method for controlling the display time of the signal lamp color. The number of vehicles passing through a point upstream of the predetermined point toward the predetermined point on the road is acquired and acquired. Based on the number of vehicles, the number of vehicles arriving at the predetermined point is predicted in time series, and based on the predicted number of vehicles, the signal light color that minimizes the evaluation index indicating the degree of congestion near the predetermined point The lower limit value of the remaining display time of the signal lamp color is calculated based on the specified time point, and signal lamp information including the calculated lower limit value and the signal lamp color is transmitted.

  A vehicle deceleration determination method according to an eleventh aspect of the present invention is the vehicle deceleration determination method for determining whether or not to decelerate the vehicle to stop the vehicle before reaching a predetermined point on the road. Signal light information including a lower limit value of the display time is received, vehicle position information, position information regarding the predetermined point and vehicle speed are acquired, based on each acquired position information and vehicle speed and received signal light information, Before the vehicle reaches the predetermined point, it is determined whether to decelerate the vehicle so as to stop, and a determination result is output.

  A computer program according to a twelfth aspect of the invention is a computer program for causing a computer to control the display time of a signal lamp color. The number of vehicles passing the computer through a point upstream from the predetermined point toward the predetermined point on the road And a computer for predicting the number of vehicles at the predetermined point in time series and a signal lamp for minimizing an evaluation index indicating the degree of congestion near the predetermined point based on the predicted number of vehicles. A means for specifying a color switching time point and a computer function as means for calculating a lower limit value of the remaining display time of the signal lamp color based on the specified time point.

  A computer program according to a thirteenth invention is a computer program for causing a computer to determine whether or not to decelerate the vehicle before reaching a predetermined point on the road. Means for calculating the distance between the vehicle and the predetermined point on the basis of the information and the position information relating to the predetermined point; and a computer for calculating the calculated distance, the speed of the vehicle, the signal lamp color for the road, and the remaining display time of the signal lamp color. Based on the signal light information including the lower limit value, the vehicle functions as a determination unit that determines whether or not the vehicle is to be decelerated to stop before reaching the predetermined point.

  In the first invention, the second invention, the ninth invention, the eleventh invention and the thirteenth invention, the signal control device calculates a lower limit value of the remaining display time of the signal lamp color, and calculates the calculated lower limit value and the signal lamp color. Transmit signal light information including. The in-vehicle device receives the signal light information, the position information of the vehicle, the position information (for example, the position information of the predetermined point or the distance from the vehicle to the predetermined point) regarding the predetermined point of the road (for example, the stop line of the intersection), and Get vehicle speed. The in-vehicle device determines whether the vehicle is to be decelerated to stop before the vehicle reaches the predetermined point, based on the acquired position information, vehicle speed, and received signal light information. For example, based on the distance between the vehicle and the predetermined point, the lower limit value of the remaining time of the blue display time, etc., the in-vehicle device can safely pass the predetermined point during the blue display or the yellow display (not decelerate) Or) or whether to stop (decelerate) before a predetermined point. When determining that the vehicle is to be decelerated, the in-vehicle device outputs a determination result (for example, outputs a deceleration signal). Moreover, the said vehicle-mounted apparatus outputs a determination result (for example, does not output a deceleration signal), when it determines with not decelerating a vehicle. Since the determination is based on the lower limit value of the blue display time, even when the signal lamp color display time is updated and the signal lamp color switching time is advanced, for example, the blue display is switched immediately before the intersection. The possibility of ignoring and entering the intersection can be prevented, and the vehicle can be decelerated by safely determining whether to pass a predetermined point on the road or stop before the predetermined point. Further, even when the remaining time until the signal switches from blue to yellow is extended, the vehicle does not decelerate before the intersection, so that it is possible to prevent a rear-end collision caused by the following vehicle.

  In the third invention, the tenth invention and the twelfth invention, the number of vehicles passing through a point upstream of the predetermined point toward the predetermined point on the road is acquired, and based on the acquired number of vehicles, The number of vehicles that reach the predetermined point is predicted in time series. For example, the number of vehicles that reach the intersection every time a predetermined time elapses from the current time is predicted. An evaluation index by changing the current signal lamp color (for example, blue lamp color) as an initial value and sequentially changing (early or late) the switching point at a predetermined interval (for example, the minimum unit interval for switching the signal lamp color). Specify the point in time when is the smallest. The remaining display time of the signal lamp color based on the identified time point (when the lower limit value of the remaining display time of the signal lamp color has already been calculated, the time point after the lower limit value of the remaining display time of the signal lamp color calculated most recently) By calculating the lower limit value of the vehicle, even if the display time of the signal lamp color is updated, it is safely determined whether the vehicle passes the predetermined point on the road or stops before the predetermined point with high accuracy Signal light information can be transmitted.

  In the fourth invention, the remaining time until the specified time is set as the lower limit value of the remaining display time of the signal lamp color. Thereby, even when the display time of the signal lamp color is updated, the signal lamp information for safely determining whether the vehicle passes the predetermined point on the road or stops before the predetermined point is transmitted. can do.

  In the fifth invention, when the specified time is before the next update time, the remaining time until the specified time is set as the lower limit value of the remaining display time of the signal lamp color. This is because the signal lamp color is switched at the specified time, and the remaining time until the specified time becomes the lower limit value of the remaining display time. Thereby, it is possible to transmit signal light information for safely determining whether the vehicle passes a predetermined point on the road or stops before the predetermined point.

  In the sixth invention, when the specified time point is after the next update time point, the evaluation index is between the next update time point and the specified time point, and the evaluation index is a predetermined value from the minimum value of the evaluation index. The remaining time until the time of increase is set as the lower limit value. The reason why the remaining time up to the time point is set as the lower limit is as follows. Usually, the traffic volume prediction and the evaluation index at each time point do not change greatly between the current update time point and the next update time point. Therefore, at the current update time point, the evaluation index is a predetermined value or more than the minimum value ( (More precisely, it does not include the equal sign) It is unlikely that a large point in time will be the smallest evaluation index at the next update point. Therefore, the signal lamp color switching time at the next update time can be limited to the time point and beyond, and as a result, the remaining time up to the time point becomes the lower limit value of the remaining display time. Thereby, the lower limit of the signal lamp color switching time can be delayed, and signal lamp information for safely determining whether the vehicle passes a predetermined point on the road or stops before the predetermined point is transmitted. Can do.

  In the seventh invention, the magnitude of the predetermined value is changed according to the length of the remaining time until the specified time. For example, when the remaining time until the optimal signal display switching time is long, the lower limit value can be obtained with high accuracy by increasing the predetermined value and speeding up the lower limit value.

  In the eighth invention, the evaluation index includes the amount of delay of the vehicle, the number of times of stopping of the vehicle, the number of times of waiting for the signal of the vehicle, the saturation of the traffic, the load factor, the effective blue time rate of the signal light color, the long time of traffic jam, At least one of the travel time of the vehicle and the amount of profit of the vehicle. Accordingly, the lower limit value can be calculated with high accuracy according to the traffic situation.

  In the present invention, the signal control device calculates the lower limit value of the remaining display time of the signal lamp color, transmits the signal lamp information including the calculated lower limit value and the signal lamp color, the in-vehicle device receives the signal lamp information, Based on the position information of the vehicle, the position information about the predetermined point on the road (including the distance from the vehicle to the predetermined point) and the speed of the vehicle, based on the acquired position information and the speed of the vehicle and the received signal light information, Even if the display time of the signal light color is updated by determining whether or not the vehicle is decelerated to stop before reaching the predetermined point, the vehicle passes the predetermined point on the road. It is possible to safely determine whether to stop before a predetermined point.

Embodiment 1
Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of a vehicle deceleration determination system according to the present invention. The vehicle deceleration determination system according to the present invention includes a signal control device 1, a signal light 2, a vehicle detector 3, 3, an in-vehicle device 4, a roadside device 5 such as an optical beacon, and the like. A signal lamp 2 is connected to the signal control device 1, and vehicle sensors 3 and 3 and a roadside device 5 are connected through a communication line 6. The roadside device 5 is configured to be able to communicate with the in-vehicle device 4.

  The vehicle sensors 3 and 3 are, for example, an ultrasonic sensor, a loop coil sensor, a far-infrared sensor, an image sensor, or the like that can detect a vehicle, and a point upstream of the stop line on the road A A vehicle passing through B1 and B2 is detected, and the detection result is output to the signal control device 1. In addition, the point which detects a vehicle is not limited to two places.

  The signal control device 1 stores signal lamp information for controlling the display time of the signal lamp 2. The signal control device 1 detects the vehicle detection results obtained from the vehicle detectors 3 and 3 and the predicted outflow traffic volume at the upstream adjacent intersection C2 obtained from another device (not shown) (outflow from the intersection C2 toward the intersection C1). The vehicle profile is created at predetermined time intervals (for example, 6 seconds) based on the traffic volume).

  Based on the created vehicle profile, the signal control device 1 changes the signal lamp color switching time for each predetermined minimum switching unit time so that a predetermined evaluation function (for example, a function indicating the degree of congestion) is minimized. A signal control plan (including the lower limit value of the signal lamp color switching time, that is, the lower limit value of the remaining display time of the signal lamp color) is created, and the stored signal lamp information is updated at a predetermined time interval (for example, 6 seconds). The signal control device 1 transmits the updated signal lamp information to the in-vehicle device 4 via the roadside device 5.

  The signal lamp 2 includes light sources for displaying blue, yellow, red, and blue arrows for turning right.

  When the vehicle (position X) reaches the communicable area with the roadside device 5, the in-vehicle device 4 receives the signal lamp information transmitted from the signal control device 1 via the roadside device 5. The in-vehicle device 4 includes a GPS, a map database, and the like, acquires position information Y (including the distance to the stop line) of the stop line (predetermined point) of the intersection C1, the current position of the vehicle, and the like. The speed is acquired from the vehicle control unit. The in-vehicle device 4 determines whether to decelerate the vehicle so as to pass the stop line at the intersection C1 or stop before the stop line based on the acquired position information, vehicle speed, received signal light information, and the like. Is performed at a predetermined time interval (for example, 0.1 second), and the determination result is output. The predetermined point is not limited to the stop line, and may be another point on the road A.

  FIG. 2 is a block diagram showing the configuration of the signal control apparatus 1. The signal control device 1 includes a control unit 15 including a CPU that performs various arithmetic processes. An interface unit 12, a transmission / reception unit 13, a storage unit 14, and the like are connected to the control unit 15 via an internal bus, and the control unit 15 controls operations of these hardware units.

  The interface unit 12 has an interface function for performing communication with the signal lamp 2. The interface unit 12 outputs a control signal for controlling the signal display of the signal lamp 2. Thereby, for example, the signal lamp 2 repeats lighting based on control parameters such as a predetermined cycle, split, and offset in the order of blue, yellow, and red.

  The storage unit 14 stores signal lamp information 141 used for controlling the signal display of the signal lamp 2, the created vehicle profile 142, a plurality of predetermined values TH for calculating the lower limit value of the signal lamp color switching time, and the like. . The signal light information 141 is stored as separate data for each road that intersects the intersection C1. In the following description, data for the road A will be described.

  The signal light information 141 is set with a standard value (standard display length) of each display time such as blue, yellow, and red of the signal light 2 and signal control indicating the display plan of the display light color of the signal light 2 together with the time. I remember the plan. The signal light information 141 includes, for example, a switching time indicating how many seconds later the signal light color is switched to an arbitrary time as a reference, a lower limit value of the switching time, and the like.

  The transmission / reception unit 13 has an interface function for communicating with the vehicle detectors 3 and 3 and the roadside device 5. The transmission / reception unit 13 transmits the signal lamp color, the lower limit value of the signal lamp color switching time (lower limit value of the remaining display time of the signal lamp color), and the like to the roadside device 5 at a predetermined time interval (for example, 6 seconds). The roadside device 5 performs data communication with the in-vehicle device 4 when the vehicle passes through the communicable area A1 of the road A (a predetermined range upstream from the stop line). For example, the lower limit value of the signal lamp color and the switching time of the signal lamp color transmitted from the signal control apparatus 1 to the in-vehicle device 4 of the vehicle traveling toward the intersection C1 in the communicable area A1 (the lower limit of the remaining display time of the signal lamp color) Value) and the like are transmitted to the in-vehicle device 4.

  The control unit 15 arrives at the intersection C1 (stop line) from the present time to the future (for example, Horizon 150 seconds after the current time) based on the acquired vehicle detection result, the predicted traffic flow at the upstream adjacent intersection C2, and the like. Then, a vehicle profile 142 obtained by counting the expected number of vehicles every second is created at a predetermined time interval (for example, 6 seconds) and stored in the storage unit 14.

  Based on the vehicle profile 142 created, the control unit 15 sets the lower limit value of the current signal lamp color switching time as an initial value, and every time the switching time is delayed every predetermined minimum unit time Δt, the degree of congestion near the stop line The minimum value PImin of the evaluation function PI is calculated by simulating the fluctuation of the evaluation function PI, and the time t1 at which the evaluation function PI is minimum is calculated.

  The control unit 15 compares whether the calculated time t1 is before or after the next update time t2. If the time t1 is after the time t2, the control unit 15 stores according to the length of the remaining time from the current time to the time t1. The predetermined value TH stored in the unit 14 is selected. For example, when the remaining time until time t1 is long, the control unit 15 selects a larger predetermined value TH. The control unit 15 calculates a time t3 that is a time when the evaluation function PI is PImin + TH, is after the time t2, and is before the time t1, and switches the remaining time from the current time to the time t3 to switch the signal lamp color. Calculated as the lower limit T of the time. In addition, instead of the configuration in which a plurality of predetermined values TH are stored and selected from among them, the control unit 15 calculates the predetermined value TH according to the length of the remaining time from the current time to the time t1. Also good.

  Further, when the time t1 is before the time t2, the control unit 15 calculates the remaining time from the current time to the time t1 as the lower limit value T of the signal lamp color switching time.

  The control unit 15 repeats the above-described calculation processing of the lower limit value T of the signal lamp color switching time at each update timing, and outputs the calculated lower limit value to the interface unit 12 together with the signal lamp color.

  Moreover, the above-mentioned lower limit calculation process can also be realized by a procedure indicated by a computer program. For example, a computer program indicating the lower limit calculation process is stored in advance in the storage unit 14. When the CPU of the control unit 15 executes the computer program stored in the storage unit 14, the control unit 15 performs the lower limit calculation process according to the processing procedure indicated by the computer program.

  FIG. 3 is a block diagram showing the configuration of the in-vehicle device 4. The in-vehicle device 4 includes a control unit 41 including a CPU that performs various arithmetic processes. The control unit 41 is connected to a reception unit 42, a storage unit 43, a RAM 44, an input / output unit 45, a display unit 46, an operation unit 47, and the like via an internal bus.

  The receiving unit 42 communicates with the roadside device 5 when the vehicle passes through the communicable area A1 of the road A, and receives the signal light information 141 transmitted from the signal control device 1 through the roadside device 5. Receive. The received signal lamp information 141 is stored in the storage unit 43.

  The input / output unit 45 is provided in the vehicle, and exchanges signals with a vehicle control unit (not shown) that controls traveling of the vehicle. For example, the input / output unit 45 acquires a signal indicating the speed of the vehicle from the vehicle control unit. The input / output unit 45 outputs a deceleration signal for decelerating the vehicle to the vehicle control unit based on the determination result of the deceleration determination process performed by the control unit 41. Further, the input / output unit 45 repeatedly acquires the position of the stop line at the intersection C1 (or the distance between the vehicle and the stop line) and the position of the vehicle based on information from GPS, a map database, and the like. Thereby, the vehicle-mounted apparatus 4 can acquire the position of a vehicle at any time, when the vehicle is drive | working.

  The display unit 46 includes, for example, a liquid crystal display panel and a speaker. When notifying the driver of a warning under the control of the control unit 41, the display unit 46 displays the content of the warning in characters and outputs a voice. For example, messages such as “I can go straight ahead at the intersection”, “Please stop before the intersection”, “Decelerate to stop before the intersection”, etc. can be displayed on the display or voiced .

  The operation unit 47 includes various operation panels and functions as a user interface between the driver and the in-vehicle device 4. For example, the operation of the in-vehicle device 4 can be started or stopped by the operation of the driver.

  The control unit 41 acquires the vehicle speed V, the stop line position Y, and the vehicle position X through the input / output unit 45. Further, the control unit 41 calculates a distance L from the host vehicle to the stop line based on the acquired position X of the vehicle and position Y of the stop line. In addition, it replaces with the structure which calculates the distance L, and the control part 41 can also acquire the distance L of a vehicle and a stop line directly based on GPS, map data, etc.

  The control unit 41 receives the signal light information 141 from the roadside device 5 through the reception unit 42, whereby the blue light color of the signal light 2 at the time of reception (that is, the current time), and the lower limit value T of the remaining display time of the blue light color. , Yellow light color display time β, vehicle speed V, distance L to stop line, preset vehicle deceleration d, predetermined margin value α (according to the distance the vehicle travels during the time required for warning, etc. Or the like, the vehicle is allowed to pass through the intersection C1, or whether the vehicle should be decelerated by determining whether the vehicle should stop before the stop line (deceleration). Determination process).

  The control unit 41 repeats the deceleration determination process described above at intervals of, for example, about 0.1 seconds, and whenever the signal lamp information 141 is updated (for example, every 6 seconds elapses), the roadside device 5 is passed through the reception unit 42. By receiving the signal lamp information 141 from the signal control device 1 through the above, a deceleration determination process is performed based on the latest data.

  The deceleration determination process described above can also be realized by a procedure indicated by a computer program. For example, a computer program indicating the procedure of the deceleration determination process is stored in advance in the storage unit 43. When the CPU of the control unit 41 loads the computer program stored in the storage unit 43 into the RAM 44, the control unit 41 performs a deceleration determination process according to the processing procedure indicated by the computer program.

The storage unit 43 stores the deceleration d of the vehicle when the brake is applied. For example, the deceleration d of a normal vehicle is 3.0 m / s ² , and the deceleration d of a large vehicle is 2.0 m / s ² . The storage unit 43 stores a predetermined margin value α.

  FIG. 4 is an explanatory diagram showing an example of creating the vehicle profile 142. As shown in the figure, the vehicle profile 142 (stop line arrival profile) indicates an estimate of the arrival status of the vehicle, for example, counted in units of 1 second, starting from the current point. For example, the vehicle profile 142 is created based on the observed traffic volume at points B1 and B2 upstream from the stop line of the intersection C1, the predicted outflow traffic flowing out from the upstream adjacent intersection C2 to the intersection C1, and the like. It should be noted that the number of observation points is an example, and is not limited to the situation shown in FIG.

  More specifically, the vehicle profile 142 includes the vehicle detectors 3 and 3 installed upstream of a link (a straight lane, a right turn lane, a left turn lane, etc. at the intersection are treated as links independently) and an upstream adjacent intersection C2. Is used to predict the timing at which the future traffic volume, which is several minutes ahead from the present, arrives at the stop line at the intersection C1.

  This is based on the assumption that the inflowing vehicle travels at a set speed, and the data by the vehicle detectors 3 and 3 are arranged in order of the expected stop line arrival time. Totaling is performed for each time step in units of one second. It should be noted that the traffic volume arriving from the upstream from the installation position of the vehicle detectors 3 and 3 is given from the predicted outflow traffic information of the upstream intersection exchanged with the upstream adjacent intersection C2. The vehicle profile 142 is created by calculating the estimated cross-sectional traffic volume based on the data (observed traffic volume) of the vehicle detectors 3 and 3, distributing the estimated cross-sectional traffic volume based on the estimated branching rate, and creating a stop line arrival profile for each direction of travel. However, in the link where the vehicle detectors 3 and 3 are not installed, the estimation is performed from the estimated upstream outflow profile.

  In addition, when the data of an upstream intersection is not obtained, the average cross-section inflow traffic volume before 1 cycle can be employ | adopted as a demand traffic volume. Further, when the traffic volume exceeds the vehicle detector position and the inflow traffic volume cannot be measured, the past statistical value can be used as the demand traffic volume.

  Next, the evaluation function PI used in the present invention will be described. The evaluation function PI is expressed by Expression (1). For example, the evaluation function PI can be configured using various parameters representing the degree of traffic congestion near the intersection C1, but is not limited to the expression (1).

Here, L _i : link weight coefficient, wn: weight coefficient of each cost element n, Delay: intersection delay amount (unit / second), Stop: number of stops (times) (number of stop line arrivals in red time), OutDelay: Estimated delay value (units / second) at downstream link, DangerousFactor: Risk, EnvironmentFactor: Environmental factor, PublicFactor: Public factor, Dev: Deviation from standard display length (second). Hereinafter, information used in calculating the evaluation function PI will be described.

  First, estimation of stop line arrival traffic will be described. In the estimation of the stop line arrival traffic volume, the inflow traffic volume arriving at the stop line for each step of unit seconds (for example, 6 seconds) is estimated. The inflow traffic is a value obtained by normalizing stop line arrival profile (vehicle profile 142) information created based on an upstream vehicle sensor or the like. For traffic flowing in from the upstream of the vehicle detector position at the upstream of the link, in the case of an area boundary link (when traffic jams cannot be collected: statistical values) (when there is no traffic jam: average value of the previous cycle) To do. For internal links, the predicted outflow traffic volume at the upstream intersection is used as the inflow traffic volume.

  The stop line arrival traffic volume (the number of stop line arrivals) is calculated by equation (2). Where t: step (time), a: normalization coefficient, arrive: number of steps from vehicle detector position to stop line arrival, Income (t): number of stop line arrivals at step t, Profile (t): step Vehicle sensor collection profile data at t.

  Next, estimation of outflow traffic will be described. The estimation of the outflow traffic is based on the signal light information 141 and the saturated flow rate, and the outflow traffic per unit second is estimated. In the downstream link, when the number of traffic jams at the time of prediction exceeds the downstream link capacity, the number of outflows to the downstream link is 0. Also, if there is a traffic flow that can flow out of the link subject to conflict due to conflict conditions, the number of traffic flowing out in the corresponding traveling direction will be 0.

  The number of outflows Outgo (t) at step t is expressed by equation (3). Here, Q (t): number of traffic jams at step t, Income (t): number of stop line arrivals at step t, SF: saturated flow rate (units / second), b: lane blockage correction coefficient.

  Next, estimation of the number of traffic jams (traffic jam length) will be described. For estimating the number of traffic jams (traffic jam length), the number of traffic jams per unit second of each link is estimated by equation (4). Here, Q (t): the number of traffic jams at time t, Income (t): the number of stop line arrivals at time t, and Outgo (t): the number of outflows at time t.

  The intersection delay amount Delay is calculated by Delay = ΣQ (t).

  The amount of delay of the downstream link OutDelay is the same as that of the link, as the delay amount that the vehicle flowing out of the link suffers in the downstream link in the horizon of 150 seconds (limited optimization range several minutes from now) It can be estimated from the signal light information and traffic information of the link.

  The stop count Stop is defined as the number of vehicles that arrive on the stop line in the time zone in which the signal light color is red.

  The reason for considering DangerousFactor is that the risk of traffic accidents increases during the time when the signal color changes from blue to red. This is because the judgment of whether to stop or pass is delayed for a moment, so that a vehicle that is braked by sudden braking or a vehicle that forcibly enters the intersection occurs, and a traffic accident such as a rear-end collision or a collision occurs.

  FIG. 5 is a conceptual diagram for explaining the risk level. As shown in the figure, the degree of danger can be reduced by reducing the number of vehicles entering the dangerous time zone in which the signal lamp color is yellow or red. For example, using the number of vehicles arriving at the stop line in the yellow and red time zones (arrival flow) Q (x), calculation of the danger level DangerousFactor immediately before the end of blue (time t) (ta ≦ x ≦ t) In the case of (5), formula (5) can be used. Further, when calculating the degree of risk immediately after the start of red (time t) (t ≦ x ≦ t + b) n, the equation (6) can be used. Here, the start time of red is t.

  Noise is a typical traffic pollution. The problematic noise is generated when the vehicle starts to accelerate. The purpose of introducing environmental factors as an evaluation factor is to allow noise sources such as large vehicles and poorly maintained vehicles to pass quickly without stopping at the intersection, and to suppress noise generation due to acceleration at the intersection. A noise profile is created from the information of the noise detector. Assuming that the noise generating vehicle group travels at the measured or set speed, the noise cost is defined as a noise cost when the noise generating vehicle group arrives at the stop line at a red signal. Further, the exhaust gas has the same cost by using the exhaust gas profile obtained by the exhaust gas sensor.

  For example, the environmental factor EnvironmentFactor can be expressed by Expression (7). Here, wa, wb: weighting factor, Noise: noise value, Gas: exhaust gas concentration.

  The public factor is a factor for giving priority to public vehicles such as buses. That is, the bus stop line arrival timing is predicted from the data of the bus sensor. The number of buses arriving at the stop line during the time when the signal is red is given as a cost factor. As a result, it is possible to prioritize the bus while balancing the overall delay.

  The deviation Dev from the standard display length adds a difference between the signal lamp color display plan and the standard display length to the evaluation element (cost element) in order to maintain consistency between intersections in the same sub-area.

  Further, in addition to the above-described elements, the evaluation function can be set in consideration of the saturation of traffic, the load factor, the effective blue time rate of the signal light color, the long traffic time, the travel time of the vehicle, and the like. In addition, the elements used for the evaluation function are not limited to the above-mentioned combinations, and any one of the elements can be used. Also, the vehicle deceleration judgment is performed to prevent traffic accidents. A plurality of elements can be appropriately combined and set according to road conditions, traffic conditions, and the like.

  As described above, the control unit 15 simulates and evaluates the variation of the evaluation function PI every time the switching time is delayed every predetermined minimum unit time Δt, with the lower limit value of the current signal lamp color switching time as the initial value. A minimum value PImin of the function PI is calculated, and a time t1 at which the evaluation function PI is minimum is calculated.

  The control unit 15 compares whether the calculated time t1 is before or after the next update time t2. If the time t1 is before the time t2, the time from the current time to the time t1 is set as the lower limit of the signal lamp color switching time. Calculated as value T. In this case, since the signal lamp information 141 is not updated before the signal lamp color (for example, blue) is switched, it is determined whether or not the vehicle is decelerated using the lower limit value of the calculated signal lamp color switching time. It can be determined with high accuracy.

  In addition, when the calculated time t1 is after the time t2, the control unit 15 uses an update timing when the signal lamp information 141 is updated before the signal lamp color (for example, blue) is switched. The lower limit value of the signal lamp color switching time is calculated.

  FIG. 6 is an explanatory diagram illustrating a calculation example of the lower limit value of the signal lamp color switching time. As shown in the figure, the lower limit value is calculated at the time when the evaluation function PI becomes PImin + TH (more precisely, every time the switching time is advanced every predetermined minimum unit time Δt with the time t1 as an initial value, the evaluation function PI is calculated. The latest time before the evaluation function PI exceeds PImin + TH by simulating the fluctuation of the current time, and after the time t2 (update time when the current processing is performed) and before the time t1 t3 is calculated, and the time from the present time to time t3 is calculated as the lower limit value T of the signal lamp color switching time.

  FIG. 7 is a time chart showing a calculation example of the lower limit value of the signal lamp color switching time. As shown in the figure, the update times of the signal light information 141 are t21, t22, t23, and t24. The update time interval is, for example, 6 seconds. In the figure, update 1 is performed at time t21, update 2 is performed at time t22, and update 3 is performed at time t23.

  At time t21, the control unit 15 uses t30 (for example, the lower limit value calculated at the time of update before t21) as an initial value, and sets the time at which the evaluation function PI is minimum every predetermined minimum unit time Δt from time t30. By delaying, the time t11 at which the evaluation function PI is minimized is calculated.

  Since the calculated time t11 is after the next update time t22, the control unit 15 calculates a time t31 at which the evaluation function PI becomes a value obtained by adding the predetermined value TH to the minimum value of the evaluation function PI. The remaining time from the current time (time t21) to time t31 is calculated as the lower limit value T, the signal light information 141 is updated, and the calculated lower limit value T and the like are transmitted to the in-vehicle device 4 via the roadside device 5.

  At time t22, the control unit 15 sets the evaluation function PI by delaying the time at which the evaluation function PI is minimized from the time t31 by a predetermined minimum unit time Δt, with the time t31 calculated at the update timing of the time t21 as an initial value. The time t12 at which is minimized is calculated.

  Since the calculated time t12 is after the next update time t23, the control unit 15 calculates a time t32 at which the evaluation function PI becomes a value obtained by adding the predetermined value TH to the minimum value of the evaluation function PI. At this time, when the time t32 is before the next update time t23, the time t23 is calculated as the time t32. Then, the remaining time from the current time (time t22) to time t32 is calculated as the lower limit value T, the signal lamp information 141 is updated, and the calculated lower limit value T and the like are transmitted to the in-vehicle device 4.

  At time t23, the control unit 15 sets the evaluation function PI by delaying the time at which the evaluation function PI becomes minimum from the time t32 by a predetermined minimum unit time Δt, with the time t32 calculated at the update timing of time t22 as an initial value. The time t13 at which is minimized is calculated.

  Since the calculated time t13 is before the next update time t24, the control unit 15 calculates the remaining time from the current time (time t23) to the time t13 as the lower limit value T, and updates the signal lamp information 141. The calculated lower limit value T and the like are transmitted to the in-vehicle device 4 via the roadside device 5.

  Thereby, the switching time of the signal lamp color (for example, blue) is optimized every time it is updated, and the optimized signal lamp information 141 is transmitted to the in-vehicle device 4. In addition, when the time when the evaluation function PI is minimum is after the next update time, the lower limit value of the signal lamp color switching time can be delayed, and the time when the evaluation function PI is minimum is updated next time. If it is before the time, the remaining time until the signal light color changes does not change, so it is safe to determine whether the vehicle passes a predetermined point on the road or stops before the predetermined point with high accuracy. be able to.

  Next, the operation of the signal control device 1 will be described. FIG. 8 is a flowchart showing a procedure for calculating the lower limit value of the signal lamp color switching time. The control unit 15 creates a vehicle profile 142 (S11), and calculates a minimum value PImin of the evaluation function PI based on the created vehicle profile 142 (S12).

  The control unit 15 calculates a time t1 at which the evaluation function PI is minimum (S13), and determines whether the time t1 is after the next update time t2 (S14). When the time t1 is after the next update time t2 (YES in S14), the control unit 15 selects the predetermined value TH according to the length of the remaining time until the time t1 (S15), and the evaluation function PI is , Time t3 when PImin + TH is calculated (S16).

  The control unit 15 sets the remaining time until time t3 as the lower limit value T of the signal lamp color switching time (S17), and transmits the signal lamp information 141 (S18). When the time t1 is not later than the next update time t2 (NO in S14), the control unit 15 sets the remaining time until the time t1 as the lower limit value T of the signal lamp color switching time (S19), and performs the process of step S18. .

  The control unit 15 determines whether or not it is the next update timing (S20), and when it is the next update timing (YES in S20), the processing after step S11 is continued. If it is not the next update timing (NO in S20), the control unit 15 determines whether or not there is a process end request (S21). If there is no process end request (NO in S21), the process of step S20 is continued. Wait until the update timing. When there is a request to end the process (YES in S21), the control unit 15 ends the process.

  Next, the operation of the in-vehicle device 4 will be described. FIG. 9 is a flowchart showing the procedure of the deceleration determination process. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the signal light information 141 (S31), and acquires position information (S32). Based on the acquired position information, the control unit 41 calculates a distance L to the stop line (S33), and acquires the vehicle speed V (S34).

The control unit 41 determines whether or not L ≦ V (T + β) (S35). If L ≦ V (T + β) is not satisfied (NO in S35), the control unit 41 determines whether or not L ≧ V ² / 2d + α. (S36). If L ≧ V ² / 2d + α is not satisfied (NO in S36), that is, if the vehicle cannot be stopped in front of the stop line with a margin, the control unit 41 decelerates the deceleration signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S37). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line.

  The control unit 41 determines whether or not the process can be terminated based on a predetermined process termination condition (S38). If the process cannot be terminated (NO in S38), the process from step S32 is continued. If the process can be completed (YES in S38), the control unit 41 determines whether or not there is an update (S39). If there is an update (YES in S39), the process after step S31 is continued.

When L ≦ V (T + β) is satisfied (YES in S35), the control unit 41 continues the processing from step S39 onward assuming that the stop line can be safely passed. When L ≧ V ² / 2d + α (YES in S36), the control unit 41 continues the processing from step S39 onwards assuming that the stop line can be safely passed. If there is no update (NO in S39), the control unit 41 ends the process.

Embodiment 2
In the first embodiment, the in-vehicle device 4 is configured to receive the position of the stop line of the intersection C1 from the roadside device 5 as the position information, but the position information is not limited to this, and the vehicle It may be a distance L from the stop line of the intersection C1. In the second embodiment, the distance L between the vehicle and the stop line at the intersection C1 is acquired from the roadside device 5, and the distance L between the vehicle and the stop line is calculated based on the travel distance of the vehicle from the acquired time point. It is an example.

  FIG. 10 is a flowchart illustrating the procedure of the deceleration determination process according to the second embodiment. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the distance L to the stop line (S51) and receives the signal lamp information 141 (S52). The control unit 41 acquires the vehicle speed V (S53).

The control unit 41 determines whether or not L ≦ V (T + β) (S54). If L ≦ V (T + β) is not satisfied (NO in S54), it is determined whether or not L ≧ V ² / 2d + α. (S55). If L ≧ V ² / 2d + α is not satisfied (NO in S55), that is, if the vehicle cannot afford to stop before the stop line with a margin, the control unit 41 decelerates the deceleration signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S56). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line.

  The control unit 41 determines whether or not the process can be ended based on a predetermined process end condition (S57). If the process cannot be ended (NO in S57), the travel distance of the vehicle during one determination process is calculated. (S58), the distance L to the stop line is calculated by subtracting the travel distance from the distance L received from the roadside device 5 (S59), and the processing after step S53 is continued. If the process can be completed (YES in S57), the control unit 41 determines whether or not there is an update (S60). If there is an update (YES in S60), the process from step S52 is continued.

When L ≦ V (T + β) is satisfied (YES in S54), the control unit 41 continues the processing after step S60 on the assumption that the stop line can be safely passed. If L ≧ V ² / 2d + α (YES in S55), the control unit 41 continues the processing from step S60 onward assuming that the stop line can be safely passed. If there is no update (NO in S60), the control unit 41 ends the process.

  As described above, in the present invention, even when the display time of the signal lamp color is updated, it is determined safely whether the vehicle passes a predetermined point on the road or stops before the predetermined point. be able to. Further, the lower limit value of the signal lamp color switching time can be delayed, and it can be safely determined whether the vehicle passes a predetermined point on the road or stops before the predetermined point with high accuracy. Further, since the remaining time until the signal color changes is not changed, it can be safely determined whether the vehicle passes a predetermined point on the road or stops before the predetermined point.

  In the above-described embodiment, the lower limit value of the signal lamp color switching time is calculated. However, the present invention is not limited to this, and the upper limit value of the switching time can also be calculated. However, considering that the prediction accuracy such as traffic volume deteriorates with the passage of time, by using the lower limit value of the switching time, without reducing the signal control accuracy within the reasonable prediction range The vehicle deceleration determination can be performed more safely.

  In the above-described embodiment, an optical beacon is used as the roadside device 5. However, the present invention is not limited to this, and instead of an optical beacon, a radio wave beacon using a microwave, a wireless LAN, a DSRC (Dedicated It may be a communication device such as a short range communication system. A plurality of optical beacons may be installed along the road.

  In the above-described embodiment, the in-vehicle device 4 is configured to receive the signal light information 141 via the roadside device 5, but is not limited thereto, and the signal control device 1 communicates with the in-vehicle device 4. A function may be provided and the signal light information 141 may be directly received from the signal control device 1.

  In the above-described embodiment, when the lower limit value of the signal lamp color switching time is calculated, the value obtained by adding the predetermined value TH to the minimum value of the evaluation function is used. However, the present invention is not limited to this. A weighting process can be performed as appropriate, for example, by adding a predetermined value to the minimum value of the evaluation function. In any case, the weighting can be appropriately set as long as an evaluation function value that can be larger than the minimum value of the evaluation function can be calculated.

  In the above-described embodiment, the case of a vehicle that goes straight at an intersection has been described. However, the present invention is not limited to this. For example, the present invention can be applied to right-turn sensitive control. Further, the blue color of the signal lamp includes a blue arrow for turning right in addition to the literal blue signal.

  In the above-described embodiment, the case where another road including the road A intersects the intersection C1 has been described. However, the intersection of the roads at the intersection is not limited to this. For example, the present invention can be applied even to an intersection such as a three-way intersection where three roads intersect at an angle of about 120 degrees.

  In the above-described embodiment, an example is shown in which two vehicle detectors 3 are installed between the intersections C1 and C2. However, the number of installed vehicle detectors 3 is not limited to this. It may be a table, and can be appropriately determined according to the distance between intersections, traffic volume, and the like.

It is a schematic diagram which shows the outline | summary of the vehicle deceleration determination system which concerns on this invention. It is a block diagram which shows the structure of a signal control apparatus. It is a block diagram which shows the structure of a vehicle-mounted apparatus. It is explanatory drawing which shows the creation example of a vehicle profile. It is a conceptual diagram for demonstrating a danger level. It is explanatory drawing which shows the example of calculation of the lower limit of the switching time of a signal lamp color. It is a time chart which shows the example of calculation of the lower limit of the switching time of a signal lamp color. It is a flowchart which shows the procedure of the calculation process of the lower limit of the switch time of a signal lamp color. It is a flowchart which shows the procedure of the deceleration determination process. 10 is a flowchart illustrating a procedure of deceleration determination processing according to the second embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Signal control apparatus 2 Signal lamp 3 Vehicle detector 4 Car-mounted apparatus 5 Roadside apparatus 6 Communication line 12 Interface part 13 Transmission / reception part 14 Storage part 15, 41 Control part 42 Reception part 44 RAM
45 Input / output unit 46 Display unit 47 Operation unit

Claims (13)

In a vehicle deceleration determination system comprising: a signal control device that controls a signal lamp color display time; and an in-vehicle device that determines whether to decelerate the vehicle according to the signal lamp color display time controlled by the signal control device.
The signal control device includes:
A calculating means for calculating a lower limit value of the remaining display time of the signal lamp color;
Transmission means for transmitting signal lamp information including the calculated lower limit value and signal lamp color, and
The in-vehicle device is
Receiving means for receiving the signal light information;
Acquisition means for acquiring vehicle position information, position information on a predetermined point on the road, and vehicle speed;
Determining means for determining whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point, based on the acquired position information and vehicle speed and the received signal light information;
And a vehicle deceleration determination system comprising: output means for outputting a determination result determined by the determination means. In the signal control device that controls the display time of the signal lamp color,
A calculating means for calculating a lower limit value of the remaining display time of the signal lamp color;
A signal control device comprising: transmission means for transmitting signal lamp information including the calculated lower limit value and signal lamp color. Means for acquiring the number of vehicles passing through a point upstream of the predetermined point toward the predetermined point on the road;
Means for predicting, in time series, the number of vehicles that reach the predetermined point based on the number of acquired vehicles;
A specifying means for specifying a signal light color switching time point at which an evaluation index indicating a degree of traffic congestion near the predetermined point is minimized based on the predicted number of vehicles;
The calculating means includes
The signal control device according to claim 2, wherein a lower limit value of the remaining display time of the signal lamp color is calculated based on the time point specified by the specifying means. The calculating means includes
4. The signal control apparatus according to claim 3, wherein the remaining time until the time point specified by the specifying unit is configured as a lower limit value of the remaining display time of the signal lamp color. Update means for repeatedly updating the display time of the signal lamp color;
Comparing means for comparing the time point specified by the specifying means with the next update time point,
The calculating means includes
4. The system according to claim 3, wherein when the specified time is before the next update time, the remaining time until the specified time is set as a lower limit value of the remaining display time of the signal lamp color. Or the signal control apparatus of Claim 4. Update means for repeatedly updating the display time of the signal lamp color;
Comparing means for comparing the time point specified by the specifying means with the next update time point,
The calculating means includes
If the specified time is after the next update time, the remaining time until the time when the evaluation index increases by a predetermined value from the minimum value of the evaluation index, between the update time and the specified time 5. The signal control apparatus according to claim 3, wherein the signal control unit is configured to be a lower limit value of the remaining display time of the signal lamp color.   The signal control apparatus according to claim 6, further comprising a changing unit that changes the magnitude of the predetermined value according to a length of a remaining time until the specified time point. The evaluation index is
At least one of vehicle delay amount, vehicle stop count, vehicle signal wait count, traffic saturation, load factor, signal light color effective blue hour rate, traffic jam duration, vehicle travel time, vehicle gain The signal control device according to claim 3, comprising: In the in-vehicle device that determines whether to decelerate the vehicle to stop the vehicle before reaching a predetermined point on the road,
Receiving means for receiving signal lamp information including a signal lamp color and a lower limit value of the remaining display time of the signal lamp color;
Acquisition means for acquiring vehicle position information, position information on the predetermined point, and vehicle speed;
Determining means for determining whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point, based on the acquired position information and vehicle speed and the received signal light information;
An in-vehicle device comprising: output means for outputting a determination result determined by the determination means. In the signal control method for controlling the display time of the signal lamp color,
Get the number of vehicles passing through a point upstream from the predetermined point toward the predetermined point on the road,
Based on the number of acquired vehicles, predict the number of vehicles reaching the predetermined point in time series,
Based on the predicted number of vehicles, the signal light color switching time point at which the evaluation index indicating the degree of congestion near the predetermined point is minimized,
Based on the specified time, calculate the lower limit of the remaining display time of the signal light color,
A signal control method comprising transmitting signal lamp information including a calculated lower limit value and a signal lamp color. In a vehicle deceleration determination method for determining whether to decelerate the vehicle to stop the vehicle before reaching a predetermined point on the road,
Receiving the signal lamp information including the signal lamp color and the lower limit value of the remaining display time of the signal lamp color;
Obtaining vehicle position information, position information on the predetermined point and vehicle speed;
Based on each acquired position information and vehicle speed and received signal light information, it is determined whether or not the vehicle is decelerated to stop before reaching the predetermined point,
A vehicle deceleration determination method characterized by outputting a determination result. In a computer program for causing a computer to control the display time of a signal lamp color,
Means for predicting the number of vehicles at the predetermined point in time series based on the number of vehicles passing a point upstream from the predetermined point toward the predetermined point on the road;
Means for identifying a signal light color switching point at which the evaluation index indicating the degree of traffic congestion near the predetermined point is minimized based on the predicted number of vehicles;
A computer program for causing a computer to function as means for calculating a lower limit value of a remaining display time of a signal lamp color based on a specified time point. In a computer program for causing a computer to determine whether or not to decelerate a vehicle before it reaches a predetermined point on a road,
Means for calculating a distance between the vehicle and the predetermined point based on the position information of the vehicle and the position information regarding the predetermined point;
Based on the signal light information including the calculated distance, the speed of the vehicle, the signal lamp color for the road, and the lower limit value of the remaining display time of the signal lamp color, the computer is stopped to stop before the vehicle reaches the predetermined point. A computer program that functions as a determination unit that determines whether or not to decelerate a vehicle.

Images