JP2008276498A - Traffic system, on-vehicle device, vehicle, and traffic signal controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide more definite content of signal information in a traffic system for providing the signal information about display of a traffic light. <P>SOLUTION: A traffic signal controller 1A determines a signal control plan for each cycle. Based on the signal control plan, the traffic signal controller generates signal information about a current signal light color of a signal light 2Aa, its duration, and a signal light color to be displayed in the future and its duration, etc., and sends this signal information to a communication area Q. An on-vehicle device 6 of a vehicle C traveling on a road R receives the signal information in the communication area Q, and from the signal information predicts the signal light color at a stop line. In this case, the traffic signal controller 1A determines the signal control plan at a point of time earlier by a time which is approximately half of the length of one cycle. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a traffic system that provides signal information related to display of a signal lamp to an in-vehicle device.

In traffic signal control, a table control method is widely used in which a signal control plan for lighting each signal lamp color is created for each cycle, and a signal lamp is controlled according to the signal control plan.
One cycle means that the display of the traffic signal is completed, and the cycle length indicates the time required for one cycle. In the case of traffic lights installed at intersections, the start of the green light display on the main road side is regarded as the start time of one cycle, and the period from when the signal display is completed until the next green signal display on the main road side is started. Often one cycle. Further, the cycle length is often set to about 90 seconds to 150 seconds, and is changed as needed according to traffic conditions and time zones.

In the table control method, the traffic signal controller usually determines (creates) a signal control plan for one cycle immediately before the start of one cycle, and the signal lamp is displayed according to the signal control plan.
In this case, the traffic signal controller determines a signal control plan based on signal control command information sent from a central device such as a signal control device installed in the traffic control center. The central device can transmit the signal control command information at any time, and the traffic signal controller transmits the signal control command information received last from the central device at the time of signal control plan creation (at the start of one cycle). adopt. The signal control plan is determined in consideration of not only the signal control command information but also the values of various parameters stored in advance in the traffic signal controller.

In recent years, with the aim of promoting traffic safety and preventing traffic accidents, a system that improves the safety of vehicles by receiving information from infrastructure devices installed on the road and utilizing the information has been studied. ing.
As such a system, for example, a safe driving support system is proposed in which operation information of a traffic light is wirelessly transmitted to a vehicle, and the vehicle performs brake control according to a remaining display time of a green signal included in the operation information ( Patent Document 1).

Japanese Patent No. 2806801

In the table control method, since the traffic signal controller determines (creates) the signal control plan for the one cycle immediately before the start of one cycle, the future time is equivalent to the cycle length at the start of the one cycle. The display schedule of traffic lights up to that point in time has been decided, but the rest is undecided.
That is, in the operation information (hereinafter referred to as signal information) of the traffic light in the safe driving support system, for example, “blue: 65 seconds, yellow: 5 seconds, red: 50 seconds”, etc. for one cycle. However, the display schedule of the traffic lights after the end of the one cycle is uncertain.

  In this case, at the start of one cycle, a display schedule (information about the future from about 90 seconds to about 150 seconds) can be provided to the vehicle after the time corresponding to the one cycle has elapsed. At the time point just before the end of the one cycle, there is almost no fixed information, and useful signal information cannot be provided to the vehicle.

For example, in the case of one cycle starting from the start of the green light on the main road, the signal information provided to the vehicle traveling toward the intersection on the main road just before the end of the cycle (for example, 3 seconds before the end) , “The currently displayed lamp color is a red signal and its duration is 3 seconds” has only been determined, and the duration of the next green signal to be displayed is undecided. is there.
Therefore, for example, when a vehicle that is expected to arrive at an intersection after about one minute has received the signal information, the display time of the green light is unknown, so whether the vehicle can safely pass through the intersection or must stop There is a problem that it cannot be judged.

On the other hand, in the case of one cycle starting from the start of the green light on the main road, the current display is shown for vehicles traveling on the road toward the intersection just before the end of the cycle (for example, 3 seconds before the end). Even the red light duration that is being done cannot be provided.
This is because, on the secondary road side, both the signal lamp color displayed at the end of one cycle and the signal lamp color displayed at the beginning of the next cycle are red signals, so the display schedule of the next cycle is unknown. This is because even the duration of this red signal cannot be determined.
For this reason, there is a problem that the display of the signal lamp color at the time of arrival at the intersection cannot be predicted even for a vehicle traveling on the secondary road toward the intersection.

  Therefore, the present invention has an object to provide a traffic system or the like that can provide a vehicle with signal information in which a display plan of a traffic signal until a certain time in the future is fixed even at the time just before the end of one cycle. .

  The traffic system according to the first aspect of the present invention is the signal control plan creation means for creating a signal control plan for one cycle at a time point a predetermined time before the start time of the one cycle, and according to the created signal control plan, Traffic having signal lamp control means for switching each signal lamp color in one cycle, and signal information creation means for creating signal information related to the display of the current and future signal lamps based on the created signal control plan A signal controller and a transmission means for transmitting the signal information to a predetermined area on the road, wherein the predetermined time is approximately half the length of one cycle immediately before the one cycle. It is characterized (claim 1).

  The traffic signal controller according to the second aspect of the invention is a signal control plan creation means for creating a signal control plan for one cycle at a time before a predetermined time from the start of the one cycle, and the created signal control Signal lamp control means for switching each signal lamp color in the one cycle according to the plan, and signal information creation means for creating signal information related to the display of the current and future signal lamps based on the created signal control plan And the output means for outputting the signal information to the outside, wherein the predetermined time is approximately half the length of one cycle immediately before the one cycle. 11).

According to these inventions, the display schedule of the traffic signal until a certain time in the future can be determined even at the time just before the end of one cycle. For example, at the time just before the end of one cycle. However, it is possible to provide the vehicle with signal information whose contents are fixed until a certain time in the future. In this case, since the time point for determining the signal control plan for one cycle is approximately half the length of the previous one cycle immediately before the one cycle, at least one time point in any one cycle. It has become possible to make the display contents of the signal lamp for a period of approximately half the length of the cycle finalized.
Although it may be possible to make the display plan of the traffic light finalized at an earlier time point, setting the signal control plan decision time point approximately half a cycle earlier means that the real-time nature of signal control and the signal This is advantageous in that it can simultaneously exhibit two technical effects based on the trade-off relationship of information determinism.

  In addition, the traffic system according to the third invention is installed at an intersection, and is created with a signal control plan creation means for creating a signal control plan for one cycle at a time before a predetermined time from the start time of the one cycle. A signal lamp control means for switching each signal lamp color of the signal lamp in one cycle according to the signal control plan, and a signal for creating signal information relating to the present and future display of the signal lamp based on the created signal control plan A traffic signal controller having information generating means, and transmitting means for transmitting the signal information to a predetermined area on the road, the time point before the predetermined time is the one cycle immediately before the one cycle, From the time immediately before the display of the green light for the first road that starts displaying the green light at the start of the previous cycle, the first road and Characterized in that it is a any time until the time of starting to display the green light to the second road to the difference (claim 2).

  Moreover, the traffic signal controller according to the fourth invention is installed at an intersection, and a signal control plan creation means for creating a signal control plan for one cycle at a time before a predetermined time from the start time of the one cycle; In accordance with the created signal control plan, the signal lamp control means for switching the signal lamp color of the signal lamp in one cycle, and signal information relating to the display of the current and future signal lamps are created based on the created signal control plan. A signal information generating means for outputting and an output means for outputting the signal information to the outside. The time point before the predetermined time is a display of a blue signal at the start of the immediately preceding one cycle in the immediately preceding one cycle. From the time just before the display of the green light for the first road that starts, the green light for the second road that intersects the first road Characterized in that it is a any time until the time of starting the shown (claim 12).

According to these third and fourth inventions, by determining a signal control plan for the next one cycle at any point in the period during which the right of traffic moves between intersecting roads, It is possible to make the state where the same situation as the situation of granting the traffic right returns is confirmed. That is, even if the vehicle is traveling on any road, for example, if it is a current red signal, at least the duration of the next green signal to be displayed can be provided as fixed information. A vehicle predicted to arrive at the stop line before the intersection can reliably predict whether or not the intersection can be safely passed.
Although it is conceivable that the display plan of the traffic light is determined at an earlier time point, it is possible to set the signal control plan determination time as any time point within the period during which the traffic right moves. This is advantageous in that it can simultaneously exhibit two technical effects that are in a trade-off relationship between real-time characteristics and signal information determinism.

  The signal information in the first to fourth inventions preferably includes information relating to the display of the signal lamp over a period longer than the length of one cycle (claims 3 and 13).

  According to the present invention, the signal information provided to the vehicle can be determined for a period of approximately one and a half cycles at a maximum, so that information for a period longer than one cycle can be provided. The usefulness of providing information for vehicles approaching the intersection can be enhanced, and traffic safety can be further promoted.

  The traffic system according to the first and third inventions includes a signal control command creating means for creating signal control command information used for creating the signal control plan, and the signal control command information to the traffic signal controller. It is desirable to further comprise a signal control device having command transmission means for transmitting the data (claim 4).

  When the traffic signal controller creates the signal control plan, signal control command information transmitted from the signal control device as needed can be used to perform signal control more suitable for traffic conditions.

  In this case, it is preferable that the traffic signal controller generates notification information about a time point when the signal control plan is created and notifies the signal control device (Claim 5), and the signal control device includes the notification information. Based on this, it is preferable to determine a transmission time point of the signal control command information.

  According to these inventions, since the signal control device can accurately grasp the creation time of the signal control plan, the signal control is performed according to the timing at which the traffic signal controller creates the signal control plan. The apparatus can transmit the signal control command information at an appropriate timing.

  In addition, the signal control device further includes a traffic situation prediction means for predicting a traffic situation at a future time point when the signal lamp color is actually controlled according to a signal control plan created using the signal control command information, It is desirable that the signal control command creating means creates signal control command information corresponding to the predicted traffic situation.

  In this way, when the signal control device creates the signal control command information, the signal control device predicts the traffic situation at a future time point when the traffic signal control is actually performed according to the signal control plan determined based on the signal control command information. Thus, an appropriate command according to the future traffic situation can be given to the traffic signal controller.

  In addition, the traffic system according to the first and third aspects of the invention may include an in-vehicle device that receives the signal information in the predetermined area and performs safe driving support control based on the received signal information. (Claim 8).

  The in-vehicle device performs safe driving support control based on highly useful signal information, thereby further improving traffic safety. Note that the safe driving support control mentioned here accurately predicts the display of the traffic light based on the signal information, and determines whether or not it is possible to safely pass the point where the traffic signal is installed according to the prediction. In this case, it indicates notifying the driver of information corresponding to the result or braking the vehicle.

  Further, safety can be improved in the same manner for the in-vehicle device used in the transportation system according to the first and third inventions and the vehicle equipped with the in-vehicle device (claims 9 and 10).

  As described above, according to the traffic system, traffic signal controller, in-vehicle device, and vehicle of the present invention, at least about half a cycle of the traffic signal for a vehicle approaching an intersection at any timing. Thus, it becomes possible to provide the vehicle side with signal information in which the display schedule is confirmed, and traffic safety can be improved.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram showing an outline of equipment arrangement of a traffic system according to the present invention, and includes a traffic signal controller 1A, a signal controller 5, a vehicle C, and an in-vehicle device 6 mounted on the vehicle C. FIG. 3 is a block diagram showing functional blocks of the traffic signal controller 1A.

[Overall system configuration]
On the road R connected to the intersection A, a stop line P is drawn before the intersection A.
A traffic signal controller 1A is installed at the intersection A. One or a plurality of vehicles traveling toward the intersection A by turning on, turning off, and blinking the signal lamp colors of the signal lamps including the signal lamp 2Aa (see FIG. The right of traffic is displayed for the vehicle C in the middle).

The traffic signal controller 1A has a built-in transmitter 7 (FIG. 3) for wirelessly transmitting communication data to the vehicle, and communicates from the communication antenna 1Aa connected to the transmitter toward the road R. Data is sent. The vehicle C traveling on the road R can receive the communication data transmitted via the communication antenna 1Aa in the communication area Q (a range indicated by hatching in FIG. 1).
For roads other than the road R connected to the intersection A, the vehicle traveling on the road can receive the communication data of the traffic signal controller 1A with the same configuration.

The communication data transmitted to the communication area Q includes signal information related to the display lamp color of the signal lamp 2Aa controlled by the traffic signal controller 1A and the schedule of the number of continuous seconds.
The signal information here stores, for example, the duration of the currently displayed green signal, the display order of the yellow signal, the right turn arrow, the red signal, and the like to be displayed thereafter, the scheduled duration thereof, and the like. Note that the signal information includes display schedule information for more traffic lights than for one cycle. In addition, the point in time when the display of the green light for the vehicle traveling on the road R toward the intersection A is started as the cycle start point.
The communication data includes road shape information related to the shape of the road such as the number of lanes and gradient of the road R, road surface state information for notifying the road surface state of the road R, and the like.

The transmitter 7 may not be built in the traffic signal controller 1A. For example, the transmitter 7 is installed on the road R as an independent road device (for example, an optical beacon or a DSRC road machine). May be used.
In this case, the traffic signal controller 1A may transmit the created signal information and the like to the road device separately through a communication line or the like.
The signal information and the like may be in any format. For example, the signal information and the road shape information may be combined into one information, or conversely, the signal information may be a plurality of information of two or more. . A transmitter may be prepared for each type of data to be transmitted, and signal information and road shape information may be transmitted from different transmitters.

On the other hand, a signal control device 5 is installed in the traffic control center, and exchanges information with the traffic signal controller 1A through the router 4 and the communication line.
The traffic signal controller 1A determines a signal control plan based on the signal control command information from the signal control device 5, and functions to light each signal lamp color such as the signal lamp 2Aa based on the determined signal control plan Have
The signal control command information here includes, for example, information on the time or ratio of the green light to be assigned to each of the main road and the secondary road, cycle length, point sensitive control (for example, right turn sensitive control, bus sensitive control and dilemma). Information regarding whether or not to perform sensitivity control or the like may be stored.

The vehicle C traveling on the road R has a function of receiving the signal information and performing a safe driving support operation.
The safe driving support operation here is based on the signal information, road shape information, etc., and predicts the display state of the traffic light when the vehicle C passes the stop line P. When it is predicted that the vehicle is stopped, it means that the brake is automatically controlled to stop the vehicle before the stop line P, or that the driver is warned to stop.
Note that all the vehicles traveling on the road R do not have to have the function of the safe driving support operation, and the function may be stopped even if the vehicle has the function.

[Contents of signal information]
FIG. 2 shows an example of the signal information.
(A) is an example of the basic structure of signal information, and shows that it is composed of a header part, a data part, and a footer part.
(B) is an example which shows the detail of information.

The header portion stores the data size of the signal information and the number of lamp colors (08) that the traffic signal controller 1A provides information to the vehicle, and displays the display lamp colors in the subsequent areas. The estimated number of seconds is stored for the number of lamp colors.
A CRC, SUM value, and the like are stored in the footer part.

Further, the data portion stores the scheduled number of seconds of lamp color display corresponding to the number of lamp colors stored in the header portion. In this example, the currently displayed signal lamp color is a blue signal (code “01”), the scheduled display time is 22 seconds (“16” in hexadecimal), and the yellow signal is displayed next to the blue signal. (Code “02”), the display scheduled number of seconds is 8 seconds (“08” in hexadecimal), and the right turn arrow (code “13”) is displayed next to the yellow signal, and the display scheduled number of seconds. The number is 10 seconds (hexadecimal “0A”), the right turn arrow displays the red signal (code “03”), and the scheduled display time is 64 seconds (hexadecimal “40”). It is shown that.
The scheduled display seconds may be expressed in units of 100 ms or 10 ms. If the scheduled display seconds are unknown, “FF” indicating that the number of seconds is unknown may be stored at the number of seconds.

  When more display schedules than one cycle are stored in the signal information of the present invention, normally, in the signal color number field of the signal information transmitted to the main road side, one cycle is executed. A value larger than the number of signal lamp colors to be displayed is set. Further, in the signal information transmitted to the secondary road side, the signal lamp color (red signal) displayed at the start of the cycle and at the end of the cycle is the same, so the number of signal lamp colors displayed during one cycle is the same. Or a larger value is set.

In traffic signal control, a flashing display (a yellow flashing signal on the main road side and a red flashing signal on the secondary road side) may be performed at night when traffic volume is low. Not necessarily the same.
In this case, the signal information may store information for two cycles or more, or may be information for just one cycle. Further, there may be a case in which some of the signal information is unconfirmed.

[Basic operation of traffic signal controller]
Hereinafter, the basic operation of the traffic signal controller 1A will be described with reference to FIGS.

  The traffic signal controller 1 </ b> A exchanges information with the signal control device 5 through a communication line, a router, or the like, and the central device information receiving unit 131 receives signal control command information transmitted from the signal control device 5.

The signal control plan creation means 101 of the traffic signal controller 1A does not determine the signal control plan for the next cycle immediately before the start of one cycle (hereinafter referred to as the next cycle), unlike the conventional traffic signal controller. The signal control plan for the next cycle is determined during the execution of the cycle immediately before the next cycle (the cycle currently being executed, hereinafter referred to as the current cycle). The signal control plan for the next cycle is determined based on the signal control command information received from the signal control device 5 at the end when a period of about half the length of the cycle has elapsed during execution of the cycle. . That is, the decision is made by adopting the latest one of the signal control command information that arrives until the time when about half of the length of the cycle elapses.
That is, the signal control plan for one cycle is determined when the cycle one cycle before that cycle is executed about half.

FIG. 4 is a diagram showing the relationship between the determination timing of the signal control plan and the signal control command information transmitted from the central device such as the signal control device 5. The cycle one cycle before this cycle is called the previous cycle, and the cycle one cycle before the previous cycle is called the previous cycle.
At the time when about half of the period has elapsed since the start of the previous cycle (time T1), the last signal control command information (command Y) of the signal control command information that has arrived up to that time is used. Determine the signal control plan for the cycle.
At the time when about half of the period has elapsed since the start of this cycle (time T2), the last signal control command information (command Z) among the signal control command information arrived up to that time is used. The signal control plan for the next cycle is determined.

  When the signal control plan for the next cycle is determined, it is stored in the next signal control plan table 103 ((b) of FIG. 5). The current signal control plan table 102 stores the signal control plan of the current cycle currently being executed (the plan determined at the time T1 during execution of the previous cycle) ((a) in FIG. 5). The signal lamp control means 111 controls the signal lamp 2Aa and the like according to the order and duration of the states 1 to 7 in the plan of the current cycle stored in the current signal control plan table 102, and executes turning on / off of each signal lamp color, etc. To do. Then, at the end of this cycle, the contents of the next signal control plan table 103 are copied to the current signal control plan table 102.

When such a method is used, the signal control plan for the next cycle has already been determined even during the period from the time T2 to the time immediately before the end of the cycle. Even for a vehicle approaching the intersection A, it is possible to provide useful signal information in which more parts than at least one cycle are determined.
Further, in this method, even at the time immediately before the time T2, information determined for a period corresponding to at least about half of the cycle can be transmitted to the vehicle. That is, according to the present invention, at least a portion corresponding to a half cycle or more of the signal information can be determined and provided to the vehicle side. It is possible to provide useful signal information to the vehicle.

  Note that the timing for determining the signal control plan for the next cycle may not be the time T2 when approximately half of the period has elapsed since the start of this cycle, for example, a predetermined time before the time T2 ( For example, the time may be 10 seconds before).

[Modification of basic operation of traffic signal controller]
The timing for determining the signal control plan for the next cycle is a time point immediately before the end of the green signal (hereinafter, the road displaying the green signal is referred to as a main road) at the beginning of the cycle. For example, 3 seconds before the end of the green light) to the point when the green light display starts on the road that intersects the main road (hereinafter referred to as the secondary road) (hereinafter, this period is referred to as the traffic transfer period in this cycle). .) May be used at any time point.

If the signal control plan for the next cycle is not determined within the traffic transfer period, the vehicle traveling toward the intersection on the secondary road after the period has elapsed is displayed for the next secondary road. If you do not know the duration of the red light (the red light that starts at the end of the current cycle), that is, when the next blue light will start to be displayed, It is not possible to determine whether it is possible to pass through or whether it is necessary to stop.
Usually, the blue hours for the secondary roads are shorter than the blue hours for the main roads, and the transportation right transfer period is often later than the time when about half of one cycle is executed. It is preferable to determine a signal control plan for the next cycle within the right transfer period.

  According to this method, for a vehicle traveling on either the main road or the secondary road, it is possible to obtain a state in which the timing for displaying at least the same signal color next to the current color is always determined. That is, even if the vehicle is traveling on any road, for example, if it is a current red signal, signal information can be obtained assuming that at least the duration of the next green signal to be displayed is always fixed, When it is predicted that the vehicle will arrive at the stop line in front, it can be reliably predicted whether or not the intersection can be safely passed.

  The signal control plan for the next cycle is determined immediately before the start of the previous cycle, at any time during execution of the previous cycle, immediately before the start of the cycle immediately before the previous cycle (hereinafter referred to as the cycle before the previous cycle), etc. It may be. That is, the signal control plan for the next cycle can be determined at a time such as during execution of the second or third previous cycle.

[Notification to signal control device by traffic signal controller]
In this case, the plan decision point notifying means 141 transmits to the signal control device 5 etc. information on when to determine the signal control plan to the signal control device 5 etc. that sends the signal control command information. Also good. Further, when the timing for determining the signal control plan is approaching, information that prompts the signal control device 5 or the like to transmit the signal control command information may be notified. Usually, since the signal control device 5 controls a plurality of traffic signal controllers, when the determination timing of the signal control plan is different for each traffic signal controller, the determination timing is notified. Thus, it is possible to know the appropriate transmission point of the signal control command information for each traffic signal controller, which is very effective.

For example, when notifying the time point for determining the signal control plan for the next cycle, it is preferable to simultaneously notify information related to the signal control plan for the current cycle that has already been determined at the time of notification.
However, since it is after the end of the current cycle that the signal lamp is actually controlled according to the signal control plan of the next cycle that will be decided soon, if the contents of the control of this cycle are known, The signal control device 5 can more accurately predict the traffic situation at the start of the next cycle, and by creating the signal control command information according to the accurate prediction, the actual traffic can be further increased. This is because appropriate traffic signal control according to the situation can be performed.
It should be noted that information regarding the signal control plan of the cycle that has already been determined may be transmitted sequentially when the signal control plan is determined, and may not necessarily be simultaneously with the notification of the determination timing.

[Creation of signal information by traffic signal controller]
Further, the signal information creating unit 121 creates signal information for a period longer than one cycle based on the current signal control plan table 102 and the next signal control plan table 103 at every predetermined period (for example, every second). . The generated signal information is transmitted to the communication area Q through the transmitter 7.
In this case, the “scheduled display time for the currently displayed signal lamp color (1)” included in the signal information is reduced as time passes and is currently displayed when it reaches 0 seconds. Is replaced with the next signal color.

  According to the present invention, it is possible to provide the signal information to the vehicle after confirming the display of the signal lamp color for at least a half cycle of the signal information.

The signal information to be created may be information for two cycles or may include more information than for two cycles. For example, if the signal control plan for the next cycle is created immediately after the start of this cycle or at a time before the start of this cycle, the duration of the signal light color for two cycles or more can be determined. The vehicle side may be provided with information up to a distant future.
In addition, the signal information to be provided can be customized for each point in consideration of the amount of data and the road-to-vehicle communication band. For example, if the cycle length is set to be long enough, in addition to the information for one cycle, just providing one or two more signal light color durations to the future far enough Information. In this way, by reducing the amount of signal information data to the required limit, the amount of road-to-vehicle communication information can be reduced, the reliability of data arrival to the vehicle side can be improved, and the communication band can be used efficiently Is possible.

  The traffic signal controller 1 </ b> A is used when the traffic signal controller 1 </ b> A is instructed to create a signal control plan independently from the signal control command information from the signal control device 5 or when the communication line is disconnected. In a state where communication with the control device 5 is not possible, the traffic signal controller 1A may be configured to create a signal control plan based only on control parameters stored in its own storage device or the like.

[Operation of signal controller]
Next, the operation of the signal control device 5 will be described.
FIG. 5 is a schematic diagram of functional blocks of the signal control device 5.
The signal control device 5 transmits information to and from a plurality of traffic signal controllers including the traffic signal controller 1A and other traffic signal controllers (not shown) by a transmission unit 501 and a reception unit 511 through a communication line. Sending and receiving.

The traffic condition acquisition means 531 collects sensor information transmitted from one or more vehicle sensors (not shown) installed on the road and accumulates them in the traffic information database 532. Based on these sensor information, the traffic situation on the road where the vehicle sensor is installed and the surrounding area is grasped. In this case, the traffic condition is grasped at a cycle such as every 5 minutes or every traffic light cycle time. In grasping the traffic situation, indicators such as traffic volume, occupation time, average travel speed, queue length of a group of vehicles on each road are used.
For example, the traffic volume ratio on the main road side and the secondary road side fluctuated greatly at one intersection, and the inflow traffic volume exceeded the saturation traffic flow rate at the intersection and reached saturation at another intersection. Know the situation.

Next, based on the traffic situation, a blue time, a cycle length, an offset, and the like assigned to the display of each intersection are determined, and the signal control command creating means 521 creates the signal control command information including these. In determining the blue hour allocation, for example, a method of calculating the degree of saturation and the load factor for each inflow path at the intersection and determining the allocation according to the ratio thereof can be considered. And the instruction | indication regarding operation | movement of each traffic signal controller is given by transmitting the produced said signal control command information to each traffic signal controller at any time.
Each traffic signal controller that has received the signal control command information determines a signal control plan by the method described above.

In this case, for example, if the traffic signal controller 1A determines the signal control plan for the next cycle when the cycle is executed about half, the traffic situation at the future time point at which the next cycle is executed is determined at that time. It is preferable to create and transmit signal control command information corresponding to the traffic situation after prediction. By doing so, it becomes possible to create appropriate signal control command information according to the traffic situation at the time when the traffic light is actually controlled.
If the traffic situation prediction is, for example, the traffic volume flowing into an intersection, the number of vehicles flowing into the intersection in the near future is determined from the measurement result of the vehicle detector installed upstream from the intersection. An estimation method can be used. Search past data similar to the current traffic situation using the past statistical data stored, and predict traffic jam length, travel time, etc. in consideration of conditions such as time zone and day type. You can also.

  The command transmission time point determination means 541 determines the time point when the traffic signal controller 1A is approaching the timing at which the traffic signal controller 1A is expected to determine the signal control plan as the transmission time point of the signal control command information. It is preferable to transmit. This is because the traffic conditions change from moment to moment, and it is more conducive to smooth traffic if the traffic signal controller 1A adopts the signal control command information created based on the latest traffic situation as much as possible.

  In addition, when the traffic signal controller 1A transmits the notification information regarding the determination timing of the signal control plan to the signal control device 5, the signal control command information is traffic signal controlled at the time immediately before the determination timing. It may be transmitted to the machine 1A. According to such a method, it is not necessary to predict the decision timing of the signal control plan for each traffic signal controller, and even if the decision timing is different for each traffic signal controller, each traffic signal control The signal control command information can be transmitted at an appropriate timing according to the machine.

Furthermore, when the notification information includes information regarding the signal control plan for the current cycle that has already been determined at the time of the notification, it is preferable to utilize information regarding the signal control plan for the current cycle.
However, the signal lamp is actually controlled according to the signal control plan of the next cycle which is soon determined by the traffic signal controller 1A because it is after the end of the current cycle being executed by the traffic signal controller 1A.
Specifically, for example, the execution start time of the next cycle is a future point in time for the remaining period until the end of this cycle, so by utilizing the information of this cycle, the start point of the next cycle can be accurately determined. You will be able to grasp. In addition, it is possible to accurately estimate the amount of traffic that can be made within the execution time of the cycle according to the allocation of the blue hours of the cycle, so it is possible to more accurately predict the traffic situation at the time of execution of the next cycle. It becomes.

[Basic operation of in-vehicle equipment]
Hereinafter, the basic operation of the in-vehicle device 6 will be described in detail.
FIG. 7 is a schematic diagram of the functional blocks of the in-vehicle device 6 and the vehicle C in which the in-vehicle device 6 is mounted.

In addition to the in-vehicle device 6, the vehicle C is provided with an engine for advancing the vehicle C and a brake for braking. The engine and the brake can be controlled by a driver operating an accelerator pedal, a brake pedal, and the like, but can also be automatically controlled based on an instruction from the in-vehicle device 6 or the like.
In addition, the vehicle C includes a display (head-up display, a display device for a car navigation device, etc.) for notifying a passenger of various types of information based on information from the in-vehicle device 6 by means of images, sounds, etc. A speaker is provided.

The signal information etc. acquiring means 601 receives and acquires the signal information, road shape information, etc. sent from the communication antenna 1Aa by a predetermined communication method via a receiving antenna (not shown) mounted on the vehicle C. To do.
In this case, the communication method used for road-to-vehicle communication may use any frequency band such as a long wave band or a short wave band, the modulation method may be any method such as OFDM or CDMA, and the procedure is also CSMA. Any method such as / CA may be used.
When signal information or the like is transmitted from different transmitters, a receiving unit may be provided for each piece of information.

Next, the safe driving support control based on the acquired signal information and the like will be described in detail. The safe driving support control refers to predicting the display lamp color of the signal lamp 2Aa when the stop line P is reached and supporting the driver's safe driving according to the prediction result.
Specifically, the notification information creation means 611 creates voice information for the passenger and notifies it through a speaker, or creates image information and notifies it through a display. Further, the speed control means 621 controls the engine and the brake to automatically brake the vehicle C and assist the driver's driving.

  First, the current traveling speed of the vehicle C is acquired by speed acquisition means (not shown) such as a wheel speed sensor, and the distance to the stop line P is acquired based on the received road shape information and the like. And the required time to the stop line P at the time of drive | working with the acquired said travel speed is acquired.

And the indicator lamp color of 2 Aa of signal lamps after progress of the said required time is estimated.
For example, if the required time is calculated as 30 seconds, if the signal information shown in FIG. 2 is received, the traffic light changes to a red light after 30 seconds, so the vehicle C stops before the stop line P. Judgment should be made.

In this case, the notification information creating means 611 creates sound information such as “the signal will soon turn red” or “should stop before the stop line” as notification information to the driver, and notifies the information through a speaker or the like. Furthermore, these are displayed as character information on a head-up display, or a character or design that prompts the display of the car navigation device to stop is displayed.
Further, the speed control means 621 sends a control signal to the accelerator and brake to assist the driver's driving by preventing the vehicle C from accelerating any more or decelerating. In this case, it may be displayed separately on a display device or the like that the vehicle is automatically decelerating, or may be notified to the driver by voice.
In addition, when the driver entrusts the driver to fully automatic operation, the brake and the accelerator may be continuously controlled so that the driver stops safely and smoothly before the stop line P.

  If it is determined that a green signal is displayed when the stop line P is reached, the notification information creating unit 611 does not have to create the notification information, and “passes the intersection safely as it is. You may make it produce | generate and alert | report the audio | voice information etc. which should be able to drive calmly. Further, the speed control unit 621 does not need to perform an operation such as brake assist.

As described above, according to the present invention, when a signal control plan for a certain cycle is created, not only immediately before the cycle is started but approximately half a cycle before, the end of one cycle is completed. It is possible to provide useful signal information even for a vehicle traveling toward an intersection just before. By doing in this way, the safety | security of the vehicle which utilizes a signal information and performs safe driving assistance can be improved further.
In addition, by notifying a central device such as a signal control device when the signal control plan is created, it is possible to predict traffic conditions at the time and implement appropriate traffic signal control based on the prediction. Become.

  As in the present invention, a new method for creating a signal control plan for the cycle at a time earlier than the time immediately before the start of the cycle, and a conventional method for creating a signal control plan for the cycle at a time immediately before the start of the cycle. May be switched according to the situation, and the switching may be performed by a method instructed from a central device such as a signal control device, or may be determined by the traffic signal controller itself. When the method is switched, an external device such as a central device may be notified that the method has been switched.

For example, when it is known that the occurrence probability of a traffic accident is high in a certain time zone, the new method of the present invention may be adopted only in the time zone, and the conventional method may be used outside the time zone. .
In addition, when the traffic volume falls into a saturated traffic flow state that exceeds the ability to travel at the intersection, the traffic signal is more real-time according to the traffic situation for the purpose of eliminating traffic congestion rather than the definiteness of the signal information. While using a conventional method suitable for control, if the traffic flow is approaching quiet and the vehicle traveling speed exceeds the predetermined speed, it is judged that the necessity of preventing traffic accidents has increased. A method of using the new system of the present invention is conceivable.
In this way, by switching the method according to traffic conditions, time zones, etc., it is possible to construct an advanced and highly flexible traffic system according to the purpose.

  In addition, the traffic signal controller, the signal control device, and the like in the present invention may be realized by a single casing or may be realized by a combination of a plurality of casings. Each of these may be realized by one computer or may be realized by combining a plurality of computers.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a schematic diagram which shows the outline | summary of apparatus arrangement | positioning of the traffic system which concerns on this invention. (A) is a figure which shows an example of the format of the signal information which concerns on this invention, (b) is a figure which shows an example of signal information. It is a figure which shows an example of the functional block structure of 1 A of traffic signal controllers. It is a figure which shows the relationship between the decision timing of a signal control plan, and the signal control command information transmitted from a central apparatus. (A) is a figure which shows an example of the signal control plan stored in the present signal control plan table 102, (b) is a figure which shows an example of the signal control plan stored in the next signal control plan table 103. 3 is a diagram illustrating an example of a functional block configuration of a signal control device 5. FIG. It is a figure which shows an example of a functional block structure of the vehicle equipment.

Explanation of symbols

1A Traffic signal controller 1Aa Communication antenna 2Aa Signal lamp 4 Router 5 Signal controller 6 On-board unit 7 Transmitter 101 Signal control plan creation means 102 Current signal control plan table 103 Next signal control plan table 111 Signal lamp control means 121 Signal information creation Means 131 Central apparatus information receiving means 141 Plan decision time notifying means 501 Sending means 511 Receiving means 521 Signal control command creating means 531 Traffic condition obtaining means 532 Traffic information database 541 Command transmission time determining means 601 Signal information etc. obtaining means 611 Notification information creating means 611 Means 621 Speed control means

Claims (13)

A signal control plan creating means for creating a signal control plan for one cycle at a time point a predetermined time before the start point of the one cycle;
In accordance with the created signal control plan, signal lamp control means for switching each signal lamp color in the one cycle,
A traffic signal controller having signal information creating means for creating signal information relating to the display of the current and future signal lamps based on the created signal control plan;
A transmission system including transmission means for transmitting the signal information to a predetermined area on the road,
The traffic system according to claim 1, wherein the predetermined time is approximately half the length of one cycle immediately before the one cycle. Installed at the intersection,
A signal control plan creating means for creating a signal control plan for one cycle at a time point a predetermined time before the start point of the one cycle;
In accordance with the created signal control plan, signal lamp control means for switching each signal lamp color in the one cycle,
A traffic signal controller having signal information creating means for creating signal information relating to the display of the current and future signal lamps based on the created signal control plan;
A transmission system including transmission means for transmitting the signal information to a predetermined area on the road,
The time point before the predetermined time is the first time immediately before the first cycle, from the time point immediately before the end of the green light display for the first road that starts displaying the green light at the start of the previous one cycle. A traffic system characterized in that it is at any point in time until the start of the display of a green light for the second road that intersects the other road. The traffic system according to claim 1 or 2, wherein the signal information includes information related to the display of the signal lamp over a period longer than one cycle. Signal control command creating means for creating signal control command information used for creating the signal control plan;
The traffic system according to any one of claims 1 to 3, further comprising a signal control device having command transmission means for transmitting the signal control command information to the traffic signal controller. The traffic signal controller is
5. The traffic system according to claim 4, further comprising notification means for creating notification information relating to a time point when the signal control plan creation means creates a signal control plan and notifying the signal control apparatus. The signal control device includes:
6. The traffic system according to claim 5, wherein a transmission time point of the signal control command information is determined based on the notification information. The signal control device includes:
Traffic condition prediction means for predicting a traffic condition at a future time point when the signal light color is actually controlled according to a signal control plan created using the signal control command information;
The traffic system according to claim 4, wherein the signal control command creating unit creates signal control command information corresponding to the predicted traffic situation. The traffic system according to any one of claims 1 to 7, further comprising an in-vehicle device that receives the signal information in the predetermined area and performs safe driving support control based on the received signal information.   An in-vehicle device that is used in the transportation system according to claim 8.   A vehicle equipped with the vehicle-mounted device according to claim 9. A signal control plan creating means for creating a signal control plan for one cycle at a time point a predetermined time before the start point of the one cycle;
In accordance with the created signal control plan, signal lamp control means for switching each signal lamp color in the one cycle,
Based on the created signal control plan, signal information creating means for creating signal information related to current and future display of the signal lamp, and
A traffic signal controller having output means for outputting the signal information to the outside,
The traffic signal controller according to claim 1, wherein the predetermined time is approximately half the length of one cycle immediately before the one cycle. Installed at the intersection,
A signal control plan creating means for creating a signal control plan for one cycle at a time point a predetermined time before the start point of the one cycle;
In accordance with the created signal control plan, signal lamp control means for switching each signal lamp color in the one cycle,
Based on the created signal control plan, signal information creating means for creating signal information related to current and future display of the signal lamp, and
A traffic signal controller having output means for outputting the signal information to the outside,
The time point before the predetermined time is the first time immediately before the first cycle, from the time point immediately before the end of the green light display for the first road that starts displaying the green light at the start of the previous one cycle. A traffic signal controller characterized in that it is at any point in time until the start of the display of the green light for the second road that intersects the other road. The traffic signal controller according to claim 11 or 12, wherein the signal information includes information related to the display of the signal lamp over a period longer than one cycle.

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