JP2018049337A - Signal control apparatus, signal control system, and signal control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a signal control apparatus capable of preventing contact accidents of pedestrian crossing a crossing zone with a car turning left while preventing congestion of vehicles waiting to turn left.SOLUTION: A signal control apparatus 4 includes: a signal control unit 47 that controls the signal display of a vehicle traffic light 11; and a pedestrian determination part 46 that determines whether any pedestrian is crossing a crossing zone in an intersection into which a vehicle which follows the signal display of the vehicle traffic light and turns left will proceed. When the pedestrian determination part determines that there is a pedestrian crossing the crossing zone in a period when the vehicle traffic light should display a left-turn signal and a rectilinear signal, the signal control unit 47 controls the signal display to display the rectilinear signal only excluding the left-turn signal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a signal control device, a signal control system, and a signal control method for controlling signal display of an arrow-type vehicle traffic signal installed at an intersection.

  According to the traffic safety white paper, the absolute value of the number of traffic accidents in recent years has been on a decreasing trend, but it is pointed out that the percentage of walking is the highest in the breakdown. In order to improve the safety for such a pedestrian, research and development have been conducted to use an inter-pedal signal control system of ITS (Intelligent Transport System) which is a safe driving support radio system.

  In many traffic intersections, there are many arrow-type vehicle traffic signals that can display arrow signals such as a left turn signal indicating that a left turn is allowed and a straight signal indicating that a vehicle can go straight. The arrow signal is displayed simultaneously with the red main signal. However, as shown in FIG. 25A, when the vehicle traffic light 11A corresponding to the traveling road 13A displays the left turn signal and the straight traveling signal, the vehicle 6A traveling on the traveling road 13A makes a left turn at the intersection 10. A green light is also displayed on the pedestrian traffic light 12A corresponding to the crossing area 15A that enters. In such a case, if there is a pedestrian 2 crossing the crossing area 15A, a contact accident may occur in which the vehicle 6A that makes a left turn at the intersection 10 and enters the crossing area 15A contacts the pedestrian 2. Therefore, as shown in FIG. 25 (B), when the pedestrian traffic light 12A displays a green signal, the signal display of the vehicle traffic light 11A is controlled so that only a straight-ahead signal is displayed without displaying a left turn signal. The technique to do is proposed (refer patent document 1).

JP 2014-199123 A

  However, in the prior art described in Patent Document 1, when the pedestrian traffic light displays a green light, the vehicle traffic light corresponding to the road in which the vehicle enters in a left turn into the crossing area corresponding to the pedestrian traffic light. Then, even if there is no pedestrian crossing, the left turn signal is not displayed, so that there is a problem that the vehicle waiting for the left turn is congested before the intersection.

  The present invention has been devised in view of such problems of the prior art, and both prevents a pedestrian crossing a crossing area and a left turn vehicle from being accidentally contacted, and prevents a vehicle from waiting for a left turn. It is a main object to provide a signal control device, a signal control system, and a signal control method that can be realized together.

  The signal control device of the present invention is a signal control device for controlling the signal display of an arrow-type vehicle traffic signal installed at an intersection, the signal control unit for controlling the signal display of the vehicle traffic signal, and the vehicle A crossing determination unit that determines whether or not there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display of the traffic light makes a left turn, and the signal control unit includes the vehicle traffic signal When the crossing determination unit determines that there is a pedestrian crossing the crossing area during the period in which the vehicle is allowed to go straight, a straight signal indicating that the vehicle can go straight is displayed and walking crossing the crossing area When it is determined that there is no person, the straight turn signal and a left turn signal indicating that left turn is possible are displayed.

  According to the present invention, it is possible to realize both the prevention of a contact accident between a pedestrian crossing a crossing area and a left turn vehicle and the prevention of a traffic jam of a vehicle waiting for a left turn.

1 is an overall configuration diagram of a signal control system according to a first embodiment. The figure which shows the example which applied the signal control system to the intersection where two roads crossed The block diagram which shows schematic structure of a pedestrian terminal device The figure which shows the example of the signal control by the signal control system which concerns on 1st Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 1st Embodiment The flowchart which shows operation | movement of the signal control apparatus which concerns on 1st Embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 2nd Embodiment The flowchart which shows operation | movement of the signal control apparatus which concerns on 2nd Embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 3rd Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 3rd Embodiment The flowchart which shows operation | movement of the signal control apparatus which concerns on 3rd Embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 4th Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 4th Embodiment The flowchart which shows operation | movement of the signal control apparatus which concerns on 4th Embodiment. Overall configuration diagram of signal control system according to fifth embodiment The figure which shows the example of transmission / reception of the message in the signal control system which concerns on 5th Embodiment The block diagram which shows schematic structure of the pedestrian terminal device which concerns on 5th Embodiment. The block diagram which shows schematic structure of the vehicle-mounted terminal device which concerns on 5th Embodiment. The sequence diagram which shows the outline | summary of operation | movement of the signal control system which concerns on 5th Embodiment. Overall configuration diagram of signal control system according to sixth embodiment The figure which shows the example of transmission / reception of the message in the signal control system which concerns on 6th Embodiment The block diagram which shows schematic structure of the vehicle-mounted terminal device which concerns on 6th Embodiment. Sequence diagram showing an outline of the operation of the signal control system according to the sixth embodiment The figure which shows the modification of the signal control system which concerns on this invention The figure for demonstrating the conventional signal control method

  A first invention made to solve the above-mentioned problems is a signal control device for controlling the signal display of an arrow type vehicle traffic signal installed at an intersection, the signal controlling the signal display of the vehicle traffic signal A control unit, and a crossing determination unit that determines whether or not there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display of the vehicle traffic light makes a left turn, and the signal control The unit displays a straight signal indicating that the vehicle is allowed to go straight when the crossing determination unit determines that there is a pedestrian crossing the crossing area during the period in which the vehicle traffic signal is allowed to go straight. When it is determined that there is no pedestrian crossing the crossing area, the straight signal and a left turn signal indicating that a left turn is allowed are displayed.

  According to the signal control apparatus according to the first aspect of the present invention, the pedestrian crossing the crossing area of the intersection that enters when the vehicle in accordance with the signal display of the vehicle traffic light turns left during the period in which the vehicle traffic signal can go straight ahead. If it is determined that there is a pedestrian crossing the crossing area, the signal display can be controlled so as not to display the left turn signal, so walking across the crossing area It is possible to prevent a contact accident between a person and a left turn car. In addition, when it is determined that there are no pedestrians crossing the crossing area, the signal display can be controlled so that a left turn signal is displayed, so that a vehicle waiting for a left turn is congested before the intersection. It can also be prevented.

  According to a second aspect, in the first aspect, the signal control unit controls the signal display to display the left turn signal and the straight traveling signal, and then crosses the crossing area by the crossing person determination unit. When it is determined that there is a pedestrian to perform, the signal display is controlled so that the left turn signal is displayed in a display mode different from the normal display mode.

  According to the signal control apparatus according to the second aspect of the present invention, the pedestrian crossing the crossing area after controlling the signal display so as to display the left turn signal and the straight traveling signal during the period in which the vehicle traffic light is allowed to travel straight. Even if a sudden appears, the driver of the left turn car can be alerted by displaying the left turn signal in a display mode different from the normal display mode such as blinking or changing the signal color. This makes it possible to prevent a contact accident between the pedestrian crossing the crossing area and the left turn vehicle.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the signal control unit displays the signal of the vehicle traffic signal at the crossing determination unit during a period when the vehicle traffic signal allows a right turn. When it is determined that there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle conforming to the right turns, the signal display is controlled so as not to display a right turn signal indicating that a right turn is possible. .

  According to the signal control device of the third aspect of the present invention, the pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display of the vehicle traffic light turns right during the period in which the vehicle traffic signal allows the vehicle to turn right. If it is determined that there is a pedestrian crossing the crossing area, the signal display can be controlled so that the right turn signal is not displayed, so walking across the crossing area It becomes possible to prevent a contact accident between a person and a right turn car.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the pedestrian determination unit includes a pedestrian in a vehicle passage area through which a left turn vehicle or a right turn vehicle passes in the crossing area. The signal control unit displays a signal so as not to display the left turn signal or the right turn signal only when the pedestrian determination unit determines that there is a pedestrian in the vehicle passage area. It is characterized by controlling.

  According to the signal control device of the fourth aspect of the present invention, it is determined whether or not there is a pedestrian in the vehicle passing area through which the left turn vehicle or the right turn car passes in the crossing section, and the pedestrian in the vehicle passing area. The signal display can be controlled not to display a left turn signal or a right turn signal only when it is determined that the vehicle is present, thus preventing a contact accident between a pedestrian crossing the crossing area and a left turn vehicle or a right turn vehicle. At the same time, it becomes possible to prevent a vehicle waiting for a left turn or a right turn from jamming before the intersection.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the invention, inter-pedal communication data communication with a pedestrian terminal device possessed by a pedestrian or an in-vehicle terminal device mounted on a vehicle. A wireless communication unit that performs wireless communication based on a format; and an information storage unit that stores position information of the crossing section. The crossing determination unit is configured such that the wireless communication unit is connected to the pedestrian from the pedestrian terminal device. When receiving the position information of the terminal device, the position information of the pedestrian terminal device is compared with the position information of the crossing area to determine whether there is a pedestrian crossing the crossing area. It is characterized by.

  According to the signal control device of the fifth aspect of the present invention, it is possible to determine whether or not there is a pedestrian crossing the crossing area based on the position information of the pedestrian terminal device received from the pedestrian terminal device. It becomes possible.

  According to a sixth aspect, in the fifth aspect, the pedestrian determination unit determines that there is a pedestrian crossing the crossing area, and the wireless communication unit is connected to the pedestrian from the pedestrian terminal device. An alarm information generator for generating alarm information indicating that the alarm target person crosses the crossing area when receiving information indicating that the alarm target person is preset, and the alarm information is And a communication control unit that controls the wireless communication unit so as to transmit to the in-vehicle terminal device.

  According to the signal control apparatus according to the sixth aspect of the present invention, when a pedestrian crossing the crossing area is an alarm target person such as an elderly person or a physically handicapped person, this is notified to the driver of the vehicle. Can inform you. Thereby, it becomes possible to ensure the safety of a person who is likely to be damaged by a traffic accident such as an elderly person or a handicapped person.

  In addition, a seventh invention further includes a pedestrian detection device that detects a pedestrian located in the intersection or in the vicinity thereof, in any one of the first to fourth inventions, A crossing person judgment part judges whether a pedestrian who crosses the crossing section exists based on a detection result in the pedestrian detection device.

  According to the signal control device according to the seventh aspect of the present invention, it is possible to determine whether there is a pedestrian crossing the crossing area based on the detection result of the pedestrian detection device.

  An eighth invention includes a signal control device according to any one of the first to fourth inventions, and a pedestrian terminal device possessed by a pedestrian and performing wireless communication with the signal control device. A signal control system comprising: a wireless communication unit that performs wireless communication based on a data communication format of inter-pedestrian communication with the signal control device; and position information of the pedestrian terminal device And a communication control unit that controls the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device.

  A ninth invention includes the signal control device according to the fifth or sixth invention and a pedestrian terminal device that a pedestrian possesses and performs wireless communication with the signal control device. A wireless communication unit that performs wireless communication based on a data communication format of communication between pedestrians between the signal control device and the vehicle-mounted terminal device mounted on the vehicle, the pedestrian terminal device; A positioning unit that acquires position information of the pedestrian terminal device, and a communication control unit that controls the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device. And

  In a tenth aspect based on the ninth aspect, the pedestrian terminal device stores information indicating that a pedestrian carrying the pedestrian terminal device is a preset alarm target person. The wireless communication unit may further include a storage unit, and the communication control unit may control the wireless communication unit to transmit information indicating that the pedestrian is the alarm target person to the signal control device.

  In an eleventh aspect based on the ninth or tenth aspect, the communication control unit receives left turn information indicating that the wireless communication unit makes a left turn at the intersection from the in-vehicle terminal device. Only in some cases, the wireless communication unit is controlled to transmit the position information to the signal control device.

  The twelfth invention according to the tenth or eleventh invention further includes an in-vehicle terminal device that is mounted on a vehicle and performs wireless communication with the signal control device or the pedestrian terminal device. A terminal device performs wireless communication based on a data communication format of inter-pedestrian communication with the signal control device or the pedestrian terminal device, and the wireless communication unit is connected to the crossing zone from the signal control device. A notification information generating unit that generates notification information for notifying the driver of the vehicle of the alarm information when alarm information indicating that a preset alarm target person crosses is received; and the notification information And an output unit that outputs to a notification device mounted on the vehicle.

  In a thirteenth aspect based on the twelfth aspect, the in-vehicle terminal device determines whether the vehicle turns left at the intersection, and the left turn determination portion determines whether the vehicle is at the intersection. A left turn information generating unit that generates left turn information indicating that the vehicle turns left at the intersection, and the wireless communication unit is configured to transmit the left turn information to the pedestrian terminal device. And a communication control unit for controlling.

  A fourteenth aspect of the present invention is a signal control method for controlling the signal display of an arrow-type vehicle traffic signal installed at an intersection, wherein the vehicle traffic signal is transmitted during a period in which the vehicle traffic signal is allowed to go straight. A step of determining whether or not there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display makes a left turn, and if it is determined that there is a pedestrian crossing the crossing area , Display a straight signal indicating that the vehicle can go straight, and if it is determined that there is no pedestrian crossing the crossing area, control the signal display to display the straight signal and a left turn signal indicating that the vehicle can turn left. And a step.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is an overall configuration diagram of a signal control system 1 according to the first embodiment of the present invention, and FIG. 2 is an application of this signal control system 1 to an intersection 10 where two roads 13 and 14 intersect. It is a figure which shows an example.

  As shown in FIGS. 1 and 2, the signal control system 1 includes a pedestrian terminal device 3 possessed by a pedestrian 2 and a signal control device 4. Although not shown, the signal control system 1 may further include an in-vehicle terminal device 7 (see FIGS. 15 and 20). The pedestrian terminal device 3 is connected to a portable information terminal device 5 such as a smartphone or a mobile phone. The pedestrian terminal device 3 may be built in the portable information terminal device 5 in advance. In addition, the pedestrian 2 may be a person who rides on a walking auxiliary vehicle such as a senior car, a light vehicle such as a bicycle, a wheelchair or the like.

  As shown in FIG. 2, the intersection 10 is formed by the intersection of a road 13 and a road 14 of two lanes on one side. In the present embodiment, two lanes of the road 13 that go straight in the upward direction on the left side in the figure are referred to as a first travel path 13A, and two lanes that go straight in the downward direction in the figure on the right side of the figure are referred to as second travel paths 13B. In addition, the two lanes that go straight in the right direction in the figure on the upper side of the road 14 are referred to as a third travel path 14A, and the two lanes that go straight in the left direction in the figure on the lower side are referred to as a fourth travel path 14B.

  In the portion of the intersection 10 that crosses the road 14, a crossing section 15A is provided on the first traveling road 13A side, and a crossing section 15B is provided on the second traveling road 13B side. Further, at the intersection 10 where the road 13 is crossed, a crossing section 15C is provided on the third traveling road 14A side, and a crossing section 15D is provided on the fourth traveling road 14B side. The crossing sections 15A to 15D (hereinafter, collectively referred to as reference numeral 15) may be a crosswalk or an area corresponding to a crosswalk. In addition, the crossing area 15 may include not only an area crossing the intersection 10 but also a sidewalk or a shoulder near the intersection 10.

  At the intersection 10, vehicle traffic lights 11 </ b> A to 11 </ b> D for displaying signals to the vehicles 6 traveling on the roads 13 and 14 (hereinafter, collectively referred to as 11), Pedestrian traffic lights 12A to 12D (hereinafter, collectively referred to as reference numeral 12) are provided for displaying signals to the pedestrian 2 crossing the area 15. The vehicle traffic lights 11A to 11D are provided corresponding to the first travel path 13A, the second travel path 13B, the third travel path 14A, and the fourth travel path 14B, respectively, and the pedestrian traffic lights 12A to 12D are It is provided corresponding to each of the crossing sections 15A to 15D. In addition, although the pedestrian traffic light 12 is actually provided on both sides of the crossing area 15 in the transverse direction, the illustration of the pedestrian traffic light 12 on one side is omitted.

  The vehicle traffic signal 11 is an arrow type traffic signal, and in addition to the red and yellow main signals, an arrow signal indicating that a left turn is possible (hereinafter referred to as “left turn signal”), and an arrow signal indicating that a vehicle is allowed to go straight (hereinafter “ It is configured to display an arrow signal indicating that a right turn is possible (hereinafter referred to as a “right turn signal”). The left turn signal, straight signal, and right turn signal are displayed simultaneously with the red main signal. In the present embodiment, the vehicle traffic light 11 does not display the blue main signal. In the present embodiment, the vehicle traffic light 11 displays signals in the order of a red main signal, a left turn signal and a straight signal, a yellow main signal, a red main signal and a right turn signal, a yellow main signal, and a red main signal. Shall be switched. In addition, in order to simplify description, below, description about the display of this yellow signal is abbreviate | omitted.

  In the present embodiment, the vehicle traffic light 11 displays a red main signal, a left turn signal, and a straight turn signal during a period in which a straight turn is allowed, and displays a red main signal and a right turn signal in a period in which a right turn is allowed. It shall be. Therefore, in the following description, “a period during which a left turn signal and a straight traveling signal should be displayed” refers to a “period during which straight traveling is allowed”. Similarly, “a period during which a right turn signal should be displayed” refers to a “period during which a right turn is allowed”.

  The pedestrian traffic light 12 is configured to display a green signal and a red signal. In the present embodiment, the pedestrian traffic light 12 is a green signal in the first half of the period during which the vehicle traffic light 11 should display the red main signal, the left turn signal, and the straight travel signal (that is, the period in which straight travel is allowed). Is displayed and a red signal is displayed in the second half. At other times, the pedestrian traffic light 12 displays a red signal.

  The vehicle traffic light 11 and the pedestrian traffic light 12 are connected to the signal control device 4, and the signal display is controlled by the signal control device 4. In addition, in FIG. 2, illustration of the connection of the signal control apparatus 4, vehicle signal apparatus 11B-11D, and pedestrian signal apparatus 12B-12D is abbreviate | omitted. Switching of the signal display in the vehicle traffic light 11 and the pedestrian traffic light 12 may be performed based on a preset time interval or based on an instruction from a traffic control center (not shown). When switching the signal display based on an instruction from the traffic control center, the signal control device 4 is connected to the traffic control center via a dedicated control line or a communication network.

  Next, a schematic configuration of the pedestrian terminal device 3 will be described. FIG. 3 is a block diagram illustrating a schematic configuration of the pedestrian terminal device 3. As shown in FIG. 3, the pedestrian terminal device 3 includes a positioning unit 31, an input / output unit 32, a wireless communication unit 33, and a control unit 34.

  The positioning unit 31 acquires position information of its own device by a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), and GLONASS (Global Navigation Satellite System). In addition, you may make it acquire the positional information on an own apparatus using the positioning function which the portable information terminal device 5 has.

  The input / output unit 32 inputs / outputs information to / from the portable information terminal device 5. Input / output of information with the portable information terminal device 5 is performed by wired communication or wireless communication such as Bluetooth (registered trademark).

  The wireless communication unit 33 uses ITS wireless communication, that is, a frequency band (for example, 700 MHz band or 5.8 GHz band) adopted in a safe driving support wireless system using ITS (Intelligent Transport System). Messages are transmitted / received to / from the signal control device 4 by using the wireless communication. The message is transmitted by a broadcast method at regular intervals (for example, 100 msec).

  The control unit 34 includes a communication control unit 35 and an input / output control unit 36. The control unit 34 includes a processor, and each unit of the control unit 34 is realized by causing the processor to execute a program stored in an information storage unit (not shown).

  The communication control unit 35 controls message transmission / reception in the wireless communication unit 33. Specifically, the position information of the device itself is acquired from the positioning unit 31, a message including the position information is generated, and the message is transmitted from the wireless communication unit 33.

  The input / output control unit 36 controls input / output of information to / from the portable information terminal device 5.

  Next, a schematic configuration of the signal control device 4 will be described with reference to FIG. As shown in FIG. 1, the signal control device 4 includes a wireless communication unit 41, an information storage unit 42, a control command output unit 43, and a control unit 44.

  Similarly to the wireless communication unit 33 (see FIG. 3) of the pedestrian terminal device 3, the wireless communication unit 41 transmits and receives messages to and from the pedestrian terminal device 3 by ITS wireless communication.

  The information storage unit 42 stores map information and a program executed by the control unit 44. The map information includes position information of the crossing area 15.

  The control command output unit 43 outputs a control command for controlling signal display to the vehicle traffic light 11 and the pedestrian traffic light 12.

  The control unit 44 includes a communication control unit 45, a crossing person determination unit 46, and a signal control unit 47. The control unit 44 includes a processor, and each unit of the control unit 44 is realized by causing the processor to execute a program stored in the information storage unit 42.

  The communication control unit 45 controls message transmission / reception in the wireless communication unit 41.

  When the wireless communication unit 41 receives a message from the pedestrian terminal device 3, the crossing person determination unit 46 extracts the position information of the pedestrian terminal device 3 from the message and stores the extracted position information in the information storage unit 42. By comparing with the stored map information, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing section 15. Specifically, when the pedestrian 2 is located in the crossing area 15 or when the pedestrian 2 is located near the crossing area 15 and moving toward the crossing area 15, the crossing area 15 is crossed. It is determined that there is a pedestrian 2 who performs.

  The signal control unit 47 outputs a control command via the control command output unit 43 to control signal display on the vehicle traffic signal 11 and the pedestrian traffic signal 12. Specifically, the signal display on the vehicle traffic light 11 and the pedestrian traffic light 12 is switched based on a preset time interval or an instruction from a traffic control center (not shown). Further, the display of the arrow signal is controlled during a period in which the vehicle traffic light 11 should display an arrow signal such as a left turn signal or a straight traveling signal. The control of the display of the arrow signal is performed by the crossing person determination unit 46 for the crossing area 15 that enters when the vehicle 6 traveling on the road 13 (14) corresponding to the vehicle traffic signal 11 turns left or right at the intersection 10. This is performed based on the determination result.

  FIG. 4 is a diagram illustrating an example of signal control of the vehicle traffic signal 11 by the signal control unit 47. FIG. 4 is a period in which the vehicle traffic lights 11A and 11B are to display a left turn signal and a straight traveling signal, and when the pedestrian traffic lights 12A and 12B display a green signal, the signal display of the vehicle traffic signal 11A is controlled. An example is shown. In the following description, the vehicle 6 traveling on the first travel path 13A is referred to as the vehicle 6A, and the vehicle 6 traveling on the second travel path 13B is referred to as the vehicle 6B (however, when collectively referred to, the reference numeral 6 is used). .

  As shown in FIG. 4A, when there is no pedestrian 2 crossing the crossing section 15A, the signal control unit 47 displays the signal of the vehicle traffic light 11A so as to display both the left turn signal and the straight traveling signal. Control the display. On the other hand, as shown in FIG. 4B, when there is a pedestrian 2 crossing the crossing section 15A, the signal control unit 47 does not display the left turn signal but displays only the straight traveling signal. Controls the signal display of the traffic light 11A. The vehicle traffic light 11B corresponding to the second travel road 13B facing the first travel road 13A is also controlled in the same manner as the vehicle traffic light 11A.

  Further, the signal control unit 47 can individually control each vehicle traffic signal 11 at the intersection 10. FIG. 5 shows an example in which the signal control unit 47 individually controls the vehicle traffic lights 11A and 11B. As shown in FIG. 5, when there is a pedestrian 2 crossing the crossing section 15A, the signal display of the vehicle traffic light 11A is displayed so that only the straight signal is displayed without displaying the left turn signal for the vehicle 6A. When there is no pedestrian 2 crossing the crossing section 15B, the signal display of the vehicle traffic light 11B is controlled so that both the left turn signal and the straight signal are displayed on the vehicle 6B. Thus, the signal control unit 47 can individually control the vehicle traffic lights 11A and 11B.

  Next, the operation of the signal control device 4 will be described with reference to the flowchart of FIG. Here, a case will be described in which the signal display of the traffic signal 11A for the vehicle corresponding to the first travel path 13A, which is a road on which the vehicle 6A enters the crossing section 15A by a left turn, will be described.

  First, in step ST101, it is determined whether or not it is a period during which the vehicle traffic light 11A should display a left turn signal and a straight traveling signal. This determination may be performed with reference to a timing for switching a preset signal display or an instruction from a traffic control center (not shown). If it is determined that it is a period during which the left turn signal and the straight signal should be displayed (ST101: Yes), the process proceeds to step ST102. If it is determined that it is not the period for displaying the left turn signal and the straight traveling signal (ST101: No), the process proceeds to step ST106.

  In step ST102, it is determined whether or not the signal display of the pedestrian traffic light 12A is a green signal. When it is determined that the display signal of the pedestrian traffic light 12A is a green signal (ST102: Yes), the process proceeds to step ST103. When it is determined that the display signal of the pedestrian traffic light 12A is not a green signal (ST102: No), the process proceeds to step ST105.

  In step ST103, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing section 15A (ST103: Yes), the process proceeds to step ST104. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST103: No), the process proceeds to step ST105.

  In step ST104, the signal display of the vehicle traffic light 11A is controlled so as to display only the straight signal without displaying a left turn signal (see FIG. 4B), and then the process returns to step ST101. In step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both a left turn signal and a straight traveling signal (see FIG. 4A), and then the process returns to step ST101.

  In step ST106, it is determined whether or not it is a period during which the vehicle traffic light 11A should display a right turn signal. If it is determined that it is the period during which the right turn signal should be displayed (ST106: Yes), the process proceeds to step ST107. When it is determined that it is not the period for displaying the right turn signal (ST106: No), the process proceeds to step ST108.

  In step ST107, the signal display of the vehicle traffic light 11A is controlled so as to display a right turn signal, and then the process returns to step ST101. In step ST108, the signal display of the vehicle traffic light 11A is controlled so that only the red main signal is displayed without displaying the right turn signal, and then the process returns to step ST101.

  In this way, according to the signal control system 1 according to the first embodiment, the vehicle 6 that follows the signal display of the vehicle traffic light 11 passes the intersection 10 during the period when the vehicle traffic light 11 should display the left turn signal and the straight traveling signal. It is determined whether or not there is a pedestrian 2 that crosses the crossing area 15 of the intersection 10 that enters when making a left turn. If it is determined that there is a pedestrian 2 that crosses the crossing area 15, a left turn signal is sent. Since the signal display can be controlled so as not to display, it is possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the left turn vehicle 6A. Further, when it is determined that there is no pedestrian 2 crossing the crossing section 15, the signal display can be controlled so as to display a left turn signal, so that the vehicle 6 waiting for a left turn is in front of the intersection 10. It is also possible to prevent congestion.

  In the present embodiment, the control of the signal display during the period in which the left turn signal and the straight signal are to be displayed has been described. However, when there is no pedestrian 2 crossing the crossing section 15 in the period in which the straight signal is to be displayed. The signal display may be controlled to display a left turn signal. In other words, even if the vehicle traffic light 11 is allowed to go straight (a period in which a straight-ahead signal should be displayed), if there is no crossing person in the crossing section 15, the signal display may be controlled to allow a left turn. Good.

(Second Embodiment)
Next, a signal control system 1 according to the second embodiment of the present invention will be described. In the second embodiment, items not particularly mentioned below are the same as those in the first embodiment described above.

  FIG. 7 is a diagram illustrating an example of control of the vehicle traffic light 11 by the signal control system 1 according to the second embodiment. FIG. 7 is a period in which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight traveling signal, and when the pedestrian traffic lights 12A and 12B display a green signal, the signal display of the vehicle traffic signal 11A is controlled. An example is shown.

  As described in the first embodiment, when there is no pedestrian 2 crossing the crossing section 15A, the signal control unit 47 of the signal control device 4 is for the vehicle so as to display both the left turn signal and the straight traveling signal. The signal display of the traffic light 11A is controlled (see FIG. 7A). However, after controlling the signal display of the vehicle traffic light 11A to display both the left turn signal and the straight signal, the pedestrian 2 crossing the crossing section 15A may suddenly appear. Accordingly, in such a case, the signal control system 1 according to the second embodiment flashes the left turn signal of the vehicle traffic light 11A as shown in FIG. Call attention to. After a predetermined time has elapsed since the left turn signal blinked, the left turn signal is turned off. Instead of or in addition to blinking, the color of the left turn signal may be changed from blue to a color that calls attention, such as red or yellow.

  Next, operation | movement of the signal control apparatus 4 in the signal control system 1 which concerns on 2nd Embodiment is demonstrated with reference to the flowchart of FIG. Here, the case of controlling the signal display of the vehicle traffic light 11A will be described. Note that steps ST101 to ST108 in FIG. 8 are the same as steps ST101 to ST108 (see FIG. 6) in the first embodiment described above, and thus description thereof is omitted.

  In step ST201 following step ST105 (state of FIG. 7A), it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing section 15A. When it is determined that there is a pedestrian 2 crossing the crossing section 15A (ST201: Yes), the process proceeds to step ST202. When it is determined that there is no pedestrian 2 crossing the crossing section 15A (ST201: No), the process returns to step ST101.

  In step ST202, the signal display of the vehicle traffic light 11A is controlled so as to blink the left turn signal (see FIG. 7B). Then, after a preset time has elapsed since blinking the left turn signal, the process proceeds to step ST203. In step ST203, the signal display of the vehicle traffic light 11A is controlled so that only a straight-ahead signal is displayed without displaying a left turn signal, and then the process returns to step ST101.

  Thus, according to the signal control system 1 according to the second embodiment, the signal display is performed so that the vehicle traffic light 11 displays both the left turn signal and the straight signal during the period in which the left turn signal and the straight signal are to be displayed. Even if a pedestrian 2 crossing the crossing section 15 suddenly appears after controlling the vehicle, the left turn signal is displayed in a display mode different from the normal display mode such as blinking or signal color change. Attention can be given to the driver of 6A. This makes it possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the left turn vehicle 6A.

(Third embodiment)
Next, a signal control system 1 according to a third embodiment of the present invention will be described. In the third embodiment, matters not particularly mentioned below are the same as those in the above-described first embodiment.

  9 and 10 are diagrams illustrating an example of signal control of the vehicle traffic signal 11 by the signal control system 1 according to the third embodiment. FIG. 9 is a period in which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight traveling signal, and when the pedestrian traffic lights 12A and 12B display a red signal, the signal display of the vehicle traffic signal 11A is controlled. An example is shown. FIG. 10 shows an example in which the signal display of the vehicle traffic light 11B is controlled when the vehicle traffic lights 11A and 11B are to display a right turn signal and the pedestrian traffic lights 12A and 12B display a red signal. Show.

  For example, when the pedestrian 2 is an elderly person or a physically handicapped person, even if the pedestrian traffic light 12A switches from a green signal to a red signal, the pedestrian 2 may not end across the crossing section 15A. For example, when the pedestrian 2 is an infant or the like, the pedestrian traffic light 12A may start crossing the crossing area 15A even though the pedestrian traffic light 12A displays a red signal. That is, as shown in FIG. 9 (A), when the vehicle traffic light 11A is to display a left turn signal and a straight traveling signal and the pedestrian traffic light 12A is displaying a red signal, the cross section 15A There may be a pedestrian 2 crossing the road. In such a case, a contact accident between the left turn vehicle 6A and the pedestrian 2 may occur. Therefore, in such a case, in the signal control system 1 according to the third embodiment, as shown in FIG. 9B, the vehicle traffic light 11A is configured to display only the straight-ahead signal without displaying the left turn signal. Control signal display.

  Further, for example, when the pedestrian 2 is an elderly person or a physically handicapped person, the period during which the vehicle traffic light 11A should display the left turn signal and the straight traveling signal (see FIG. 9A) ends, and the vehicle traffic light Even if 11A is in a period to display a right turn signal, it may not end across the crossing section 15A. When the pedestrian 2 is an infant or the like, the pedestrian traffic light 12A may start crossing the crossing area 15A even though the pedestrian traffic light 12A displays a red signal. That is, as shown in FIG. 10A, the vehicle traffic light 11A is in a period during which the right turn signal should be displayed and the pedestrian traffic light 12A is displaying a red light, the vehicle crosses the crossing area 15A. There may be a pedestrian 2. In such a case, a contact accident between the right turn vehicle 6B and the pedestrian 2 may occur. Therefore, in the signal control system 1 according to the third embodiment, in such a case, as shown in FIG. 10B, the vehicle traffic signal is displayed so that only the red main signal is displayed without displaying the right turn signal. 11B signal display is controlled.

  Next, operation | movement of the signal control apparatus 4 in the signal control system 1 which concerns on 3rd Embodiment is demonstrated with reference to the flowchart of FIG. Here, the case where the signal display of the vehicle traffic lights 11A and 11B is controlled will be described. Note that steps ST101 to ST108 in FIG. 11 are the same as steps ST101 to ST108 (see FIG. 6) in the first embodiment described above, and thus description thereof is omitted.

  In step ST102, it is determined whether or not the signal display of the pedestrian traffic light 12A is a green signal. When it is determined that the signal display of the pedestrian traffic light 12 is a green signal (ST102: Yes), the process proceeds to step ST103, and when the signal display of the pedestrian traffic light 12 is determined not to be a green signal (ST102: No). ) Proceeds to step ST301.

  In step ST301, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST301: Yes), the process proceeds to step ST302. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST301: No), the process proceeds to step ST105. As described above, in step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both the left turn signal and the straight traveling signal.

  In step ST302, the signal display of the vehicle traffic light 11A is controlled so as to display only the straight-ahead signal without displaying a left turn signal (see FIG. 9B), and then the process returns to step ST101.

  In step ST106, it is determined whether or not it is a period during which the vehicle traffic lights 11A and 11B should display a right turn signal. If it is determined that it is the period during which the right turn signal should be displayed (ST106: Yes), the process proceeds to step ST303. When it is determined that it is not the period for displaying the right turn signal (ST106: No), the process proceeds to step ST108.

  In step ST303, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing section 15A (ST303: Yes), the process proceeds to step ST108. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST303: No), the process proceeds to step ST107. In step ST107, the signal display of the vehicle traffic light 11B is controlled so as to display a right turn signal. In step ST108, the signal display of the vehicle traffic light 11B is controlled so that only the red main signal is displayed without displaying the right turn signal (see FIG. 10B).

  Thus, according to the signal control system 1 according to the third embodiment, when the vehicle 6 according to the signal display of the vehicle traffic light 11 turns right at the intersection 10 during the period when the vehicle traffic light 11 should display the right turn signal. It is determined whether or not there is a pedestrian 2 crossing the crossing area 15 of the intersection 10 that enters the road, and if it is determined that there is a pedestrian 2 crossing the crossing area 15, the right turn signal is not displayed. Therefore, it is possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the right turn vehicle 6B.

(Fourth embodiment)
Next, a signal control system 1 according to a fourth embodiment of the present invention will be described. In the fourth embodiment, matters not particularly mentioned below are the same as those in the third embodiment described above.

  12 and 13 are diagrams illustrating an example of signal control of the vehicle traffic signal 11 by the signal control system 1 according to the fourth embodiment. FIG. 12 is a period in which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight traveling signal, and when the pedestrian traffic lights 12A and 12B display a red signal, the signal display of the vehicle traffic signal 11A is controlled. An example is shown. FIG. 13 is a period during which the vehicle traffic lights 11A and 11B should display a right turn signal, and when the pedestrian traffic lights 12A and 12B are displaying a red signal, the signal display of the vehicle traffic light 11B is controlled. An example is shown.

  As described in the third embodiment, even when the pedestrian traffic light 12A displays a red signal, if the pedestrian 2 crossing the crossing section 15A exists, the vehicle traffic signal 11A does not make a left turn signal. In this way (see FIG. 9B), the signal display is controlled so that the vehicle traffic light 11B does not display the right turn signal (see FIG. 10B). However, the pedestrian 2 who crosses the crossing section 15A passes through the area where the left turn vehicle 6A or the right turn car 6B passes through the crossing section 15A, that is, the area on the fourth traveling path 14B side in the crossing section 15A (hereinafter referred to as “vehicle passing area”). If the left turn car 6A or the right turn car 6B enters the crossing section 15A, the pedestrian 2 does not come into contact. In addition, although not shown in figure, the vehicle passage area | region 16 shall be set also in each crossing area 15B-15D other than the crossing area 15A.

  Therefore, in the signal control system 1 according to the fourth embodiment, when the vehicle traffic lights 11A and 11B are to display the left turn signal and the straight traveling signal, and the pedestrian traffic lights 12A and 12B display a red signal. In addition, as shown in FIG. 12 (A), when the pedestrian 2 crossing the crossing section 15A is present in the vehicle passage area 16, the vehicle turn signal is displayed so that only the straight signal is displayed without displaying the left turn signal. 11A signal display is controlled. On the other hand, as shown in FIG. 12B, when the pedestrian 2 crossing the crossing section 15A does not exist in the vehicle passage area 16, the vehicle traffic light 11A is displayed so as to display both the left turn signal and the straight traveling signal. Control signal display.

  Further, in the signal control system 1 according to the fourth embodiment, when the vehicle traffic lights 11A and 11B are to display a right turn signal and the pedestrian traffic lights 12A and 12B display a red signal, FIG. As shown to 13 (A), when the pedestrian 2 who crosses the crossing area 15A exists in the vehicle passage area 16, the signal display of the vehicle traffic light 11B is controlled so as not to display the right turn signal. On the other hand, as shown in FIG. 13B, when the pedestrian 2 crossing the crossing section 15A does not exist in the vehicle passage area 16, the signal display of the vehicle traffic light 11B is controlled so as to display a right turn signal. .

  In the example of FIGS. 12 and 13 described above, the case where the pedestrian traffic lights 12A and 12B display a red signal has been described, but the same applies to the case where the pedestrian traffic lights 12A and 12B display a green signal.

  Whether or not the pedestrian 2 crossing the crossing section 15A exists in the vehicle passage area 16 includes the positional information of the vehicle passage area 16 in the map information stored in the information storage unit 42 (see FIG. 3). The crossing person determination unit 46 may make the determination by comparing the position information of the pedestrian 2 with the map information.

  Next, operation | movement of the signal control apparatus 4 in the signal control system 1 which concerns on 4th Embodiment is demonstrated with reference to the flowchart of FIG. Here, the case where the signal display of the vehicle traffic lights 11A and 11B is controlled will be described. Steps ST101-ST108 and ST301-303 in FIG. 14 are the same as steps ST101-ST108 (see FIG. 6) in the first embodiment and steps 301-303 (see FIG. 11) in the third embodiment. Since it is the same, description is abbreviate | omitted.

  In step ST103, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST103: Yes), the process proceeds to step ST401. When it is determined that there is no pedestrian 2 crossing the crossing area 15 (ST103: No), the process proceeds to step ST105.

  In step ST301, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing section 15A (ST301: Yes), the process proceeds to step ST401. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST301: No), the process proceeds to step ST105.

  In step ST401, it is determined whether the pedestrian 2 exists in the vehicle passage area 16. When it is determined that the pedestrian 2 is present in the vehicle passage area 16 (ST401: Yes), the process proceeds to step ST104. When it determines with the pedestrian 2 not existing in the vehicle passage area | region 16 (ST401: No), it progresses to step ST105.

  In step ST104, the signal display of the vehicular traffic light 11A is controlled so that only a straight turn signal is displayed without displaying a left turn signal (see FIG. 12A). In step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both a left turn signal and a straight traveling signal (see FIG. 12B).

  In step ST303, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. When it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST303: Yes), the process proceeds to step ST402. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST303: No), the process proceeds to step ST107.

  In step ST402, it is determined whether the pedestrian 2 exists in the vehicle passage area 16. When it determines with the pedestrian 2 existing in the vehicle passage area | region 16 (ST402: Yes), it progresses to step ST108. When it determines with the pedestrian 2 not existing in the vehicle passage area | region 16 (ST401: No), it progresses to step ST107.

  In step ST107, the signal display of the vehicle traffic light 11B is controlled so as to display a right turn signal (see FIG. 13B), and then the process returns to step ST101. In step ST108, the signal display of the vehicle traffic light 11B is controlled so that only the red main signal is displayed without displaying the right turn signal (see FIG. 13A), and then the process returns to step ST101.

  Thus, according to the signal control system 1 according to the fourth embodiment, a pedestrian exists in the vehicle passage area 16 of the crossing section 15 during the period when the vehicle traffic light 11 should display the left turn signal or the right turn signal. It is possible to control the signal display so that the left turn signal or the right turn signal is not displayed only when it is determined whether or not the pedestrian 2 is present in the vehicle passage area 16. It is possible to prevent a contact accident between the pedestrian 2 crossing the road and the left turn car 6A or the right turn car 6B and to prevent the vehicle 6 waiting for a left turn or waiting for a right turn from jamming before the intersection 10.

  In addition to the information indicating the region or position where the pedestrian 2 is present at the present time, it is also possible to control the signal display of the vehicle traffic light 11 using information indicating the moving direction of the pedestrian 2. For example, even if the pedestrian 2 is not present in the vehicle passing area 16 at the present time, if the pedestrian 2 is moving in the direction of the vehicle passing area 16, the left turn signal or the right turn signal is not displayed. The signal display may be controlled. In addition, even if the pedestrian 2 is present in the vehicle passing area 16 at the present time, if the pedestrian 2 is moving in the direction opposite to the vehicle passing area 16, a left turn signal or a right turn signal is displayed. The signal display may be controlled to do so.

(Fifth embodiment)
Next, a signal control system 1 according to a fifth embodiment of the present invention will be described. FIG. 15 is an overall configuration diagram of the signal control system 1 according to the fifth embodiment, and FIG. 16 is a diagram illustrating an example of message transmission / reception in the signal control system 1 according to the fifth embodiment. In the fifth embodiment, matters not particularly mentioned below are the same as those in the above-described first embodiment.

  As shown in FIG. 15, the signal control system 1 according to the fifth embodiment includes a pedestrian terminal device 3 possessed by a pedestrian 2, a signal control device 4, and an in-vehicle terminal device 7 mounted on a vehicle 6. I have. The in-vehicle terminal device 7 is connected to a car navigation device 8 mounted on the vehicle 6. The in-vehicle terminal device 7 may be built in the car navigation device 8. The in-vehicle terminal device 7 can send and receive messages to and from the signal control device 4 by ITS wireless communication (inter-step communication).

  Next, a schematic configuration of the pedestrian terminal device 3 will be described. FIG. 17 is a block diagram illustrating a schematic configuration of the pedestrian terminal device 3. The pedestrian terminal device 3 shown in FIG. 17 is further provided with an information storage unit 37 that stores attribute information of the user of the pedestrian terminal device 3, and the pedestrian terminal according to the first embodiment shown in FIG. Different from the device 3. Since the other points are the same as those of the first embodiment, the same reference numerals are given and the description thereof is omitted.

  The attribute information is information indicating a user's age, sex, physical condition, and the like. Examples of attribute information include information that the user is an elderly person and information that the user is a physically handicapped person. The attribute information is set in the user ID of the pedestrian terminal device 3 or the like.

  The communication control unit 35 checks the attribute information stored in the information storage unit 37 when acquiring the position information of the own device from the positioning unit 31. If the attribute information is set to a vulnerable traffic person (hereinafter referred to as “alarm target person”) who is likely to be damaged by a preset traffic accident such as an elderly person or a physically handicapped person, The attribute information is acquired from the storage unit 37, a message including the attribute information and position information is generated, and the message is transmitted from the wireless communication unit 33 to the signal control device 4 (see FIG. 16).

  Next, a schematic configuration of the signal control device 4 will be described with reference to FIG. The signal control device 4 shown in FIG. 15 is different from the signal control device 4 according to the first embodiment shown in FIG. 1 in that an alarm information generation unit 48 is further provided. Since the other points are the same as those of the first embodiment, the same reference numerals are given and the description thereof is omitted.

  The alarm information generation unit 48 determines that there is a pedestrian 2 crossing the crossing section 15 by the crossing determination unit 46, and the attribute information included in the message received from the pedestrian terminal device 3 is the alarm target person. In some cases, alarm information indicating that the alarm target person crosses the crossing area 15 is generated. The alarm information includes user attribute information (for example, information that the user is an elderly person and information that the user is a handicapped person).

  When the alarm information generating unit 48 generates alarm information, the communication control unit 45 generates a message including the alarm information, and transmits the message from the wireless communication unit 41 to the in-vehicle terminal device 7 (see FIG. 16). ).

  Next, a schematic configuration of the in-vehicle terminal device 7 will be described. FIG. 18 is a block diagram illustrating a schematic configuration of the in-vehicle terminal device 7. As shown in FIG. 18, the in-vehicle terminal device 7 includes a wireless communication unit 71, an input / output unit 72, and a control unit 73.

  The wireless communication unit 71 transmits and receives messages to and from the signal control device 4 by ITS wireless communication, similarly to the wireless communication unit 33 (see FIG. 3) of the pedestrian terminal device 3.

  The input / output unit 72 inputs / outputs information to / from the car navigation device 8.

  The control unit 73 includes a communication control unit 74, a notification information generation unit 75, and an input / output control unit 76. The control unit 73 includes a processor, and each unit of the control unit 73 is realized by causing the processor to execute a program stored in an information storage unit (not shown).

  The communication control unit 74 controls message transmission / reception in the wireless communication unit 71.

  When the wireless communication unit 71 receives a message including alarm information from the signal control device 4, the notification information generation unit 75 generates notification information for notifying the driver of the vehicle 6 of the alarm information. The notification information may be voice or screen display. The notification information includes user attribute information (for example, information that the user is an elderly person and information that the user is a physically handicapped person).

  The input / output control unit 76 controls input / output of information to / from the car navigation device 8. Specifically, when the notification information is generated by the notification information generation unit 75, the notification information is output to the car navigation device 8.

  Next, an outline of the operation of the signal control system 1 according to the fifth embodiment will be described. FIG. 19 is a sequence diagram illustrating an outline of operations of the pedestrian terminal device 3, the signal control device 4, the in-vehicle terminal device 7, and the car navigation device 8. The car navigation device 8 serves as a notification device for outputting notification information to the driver of the vehicle 6.

  When the attribute information of the pedestrian 2 is an alarm target person, the pedestrian terminal device 3 transmits a message including the attribute information and the position information from the wireless communication unit 33 to the signal control device 4 (step ST501).

  When receiving a message from the pedestrian terminal device 3, the signal control device 4 first determines whether or not there is a pedestrian 2 crossing the crossing section 15 by the crossing person determination unit 46 (step ST502). . Then, when it is determined that there is a pedestrian 2 crossing the crossing section 15 and the attribute information included in the message received from the pedestrian terminal device 3 is an alarm target person, the alarm information generating unit 48 Alarm information indicating that the alarm target person crosses the crossing area 15 is generated (step ST503). When the alarm information is generated by the alarm information generation unit 48, the communication control unit 45 generates a message including the alarm information and transmits the message from the wireless communication unit 41 to the in-vehicle terminal device 7 (step ST504).

  When the in-vehicle terminal device 7 receives a message including alarm information from the signal control device 4, the in-vehicle information generating unit 75 generates notification information (step ST505). The notification information generated by the notification information generation unit 75 is output from the input / output control unit 76 to the car navigation device 8 (step ST506).

  When the notification information is input from the in-vehicle terminal device 7, the car navigation device 8 outputs the notification information (ST507).

  Thus, according to the signal control system 1 according to the fifth embodiment, when the pedestrian 2 crossing the crossing section 15 is an alarm target person such as an elderly person or a physically handicapped person, Can be notified to the driver of the vehicle 6. As a result, it is possible to more reliably ensure the safety of traffic weak persons who are likely to be damaged by traffic accidents such as elderly people and physically handicapped persons. The alarm target person may be an injured person, a sick person, a pregnant woman, a child, a person with a child, a drunk person, etc., in addition to an elderly person or a physically handicapped person. In addition, in the case of a person who has many precedents jumping out in the past (particularly children), information indicating that there are many precedents jumping out in the past may be added to the message and notified to the vehicle 6. Further, in the vehicle 6, a person who has a large number of precedents jumping out in the past is notified to the driver with different notification information (for example, an alarm or the like) from the case of an elderly person or a physically handicapped person. Also good.

  In the present embodiment, the pedestrian terminal device 3 is configured to transmit the attribute information together with the position information only when the user is an alarm target person. However, the attribute information is always transmitted together with the position information. The signal control device 4 may be configured to determine whether or not the user is an alarm subject.

(Sixth embodiment)
Next, a signal control system 1 according to a sixth embodiment of the present invention will be described. FIG. 20 is an overall configuration diagram of the signal control system 1 according to the sixth embodiment, and FIG. 21 is a diagram illustrating an example of message transmission / reception in the signal control system 1 according to the sixth embodiment. In the sixth embodiment, matters not particularly mentioned below are the same as those in the first embodiment described above.

  As shown in FIG. 20, the signal control system 1 according to the sixth embodiment includes a pedestrian terminal device 3 possessed by a pedestrian 2, a signal control device 4, and an in-vehicle terminal device 7 mounted on a vehicle 6. I have. The in-vehicle terminal device 7 is connected to a car navigation device 8 mounted on the vehicle 6. The in-vehicle terminal device 7 may be built in the car navigation device 8. The in-vehicle terminal device 7 can transmit and receive messages to and from the pedestrian terminal device 3 by ITS wireless communication (inter-pedal communication).

  Next, a schematic configuration of the in-vehicle terminal device 7 will be described. FIG. 22 is a block diagram illustrating a schematic configuration of the in-vehicle terminal device 7. As shown in FIG. 22, the in-vehicle terminal device 7 includes a wireless communication unit 71, an input / output unit 72, a control unit 73, a positioning unit 91, and an information storage unit 92. The control unit 73 includes a communication control unit 74, an input / output control unit 76, a left turn determination unit 93, and a left turn information generation unit 94. Other than the positioning unit 91, the information storage unit 92, the left turn determination unit 93, and the left turn information generation unit 94 are the same as those of the in-vehicle terminal device 7 according to the fifth embodiment shown in FIG. The description thereof is omitted. Note that the in-vehicle terminal device 7 according to the sixth embodiment does not include the notification information generation unit 75.

  The positioning unit 91 acquires the position information of its own device by a satellite positioning system such as GPS, QZSS, or GLONASS, similarly to the positioning unit 31 (see FIG. 3) of the pedestrian terminal device 3. In addition, you may make it acquire the positional information on an own apparatus using the positioning function which the car navigation apparatus 8 has.

  The information storage unit 92 stores map information and programs executed by the control unit 73. The map information includes position information of the intersection 10.

  The left turn determination unit 93 collates the position information acquired by the positioning unit 91 with the map information stored in the information storage unit 92, so that the own device (vehicle 6) is located within a predetermined range from the intersection 10. It is determined whether or not to do. And when it determines with the own apparatus (vehicle 6) being located in the predetermined range from the intersection 10, it determines whether the vehicle 6 turns left at the intersection 10. FIG. The determination of the left turn of the vehicle 6 may be performed based on signals from various devices or sensors such as turn signals (direction indicators) and steering angle sensors installed in the vehicle 6.

  The left turn information generation unit 94 generates left turn information indicating that the vehicle 6 makes a left turn at the intersection 10 when the left turn determination unit 93 determines that the vehicle 6 makes a left turn.

  When the left turn information is generated by the left turn information generation unit 94, the communication control unit 74 generates a message including the left turn information and transmits the message from the wireless communication unit 71 to the pedestrian terminal device 3 (FIG. 21). reference).

  Since the pedestrian terminal device 3 and the signal control device 4 are the same as those in the first embodiment shown in FIGS. 1 and 3, the same reference numerals are given and description thereof is omitted. In addition, the pedestrian terminal device 3 is configured to transmit the position information only when receiving a left turn signal from the in-vehicle terminal device 7 instead of transmitting the position information periodically.

  Next, an outline of the operation of the signal control system 1 according to the sixth embodiment will be described. FIG. 23 is a sequence diagram illustrating an outline of operations of the pedestrian terminal device 3, the signal control device 4, and the in-vehicle terminal device 7.

  The in-vehicle terminal device 7 first checks the position information of the own device (vehicle 6) acquired by the positioning unit 91 with the map information in the left turn determination unit 93, and determines whether or not the vehicle 6 is located within a predetermined range from the intersection 10. Is determined (step ST601). And when it determines with the vehicle 6 being located in the predetermined range from the intersection 10, the left turn determination part 93 determines whether the vehicle 6 turns left at the intersection 10 (step ST602). If the left turn determination unit 93 determines that the vehicle 6 turns left at the intersection 10, the left turn information generation unit 94 generates left turn information (step ST603). When the left turn information is generated by the left turn information generation unit 94, the communication control unit 74 generates a message including the left turn information, and transmits the message from the wireless communication unit 41 to the pedestrian terminal device 3 (step ST604). .

  When the pedestrian terminal device 3 receives the left turn information from the in-vehicle terminal device 7, the positioning unit 31 acquires the position information of the own device (step ST605). And the communication control part 35 produces | generates the message containing the positional information, and transmits the message to the signal control apparatus 4 from the radio | wireless communication part 33 (step ST606).

  Thus, according to the signal control system 1 according to the sixth embodiment, the pedestrian terminal device 3 receives the position information of the own device only when the left turn information is received from the in-vehicle terminal device 7. Can be sent to. Thereby, since the frequency which transmits a positional information from the pedestrian terminal device 3 can be reduced, it becomes possible to suppress the power consumption of the pedestrian terminal device 3. FIG.

  As mentioned above, although this invention was demonstrated based on specific embodiment, these embodiment is an illustration to the last, Comprising: This invention is not limited by these embodiment. Note that all components of the signal control device, the signal control system, and the signal control method according to the present invention shown in the above embodiments are not necessarily essential, and are appropriately selected as long as they do not depart from the scope of the present invention. Is possible.

  For example, in the above embodiment, the determination as to whether or not there is a pedestrian 2 crossing the crossing section 15 is made based on the position information of the pedestrian terminal device 3, but as shown in FIG. In addition, a pedestrian detection device 17 capable of detecting the pedestrian 2 present in or near the crossing zone 15 is installed on the shoulder of the intersection 10 and the crossing zone is determined based on the detection result of the pedestrian detection device 17. You may comprise so that it may be determined whether the pedestrian 2 crossing 15 exists. The pedestrian detection device 17 may be a device using a sensor or a camera, for example. In addition, although not shown in figure, the pedestrian detection apparatus 17 shall be provided corresponding to each crossing area 15B-15D other than crossing area 15A, respectively.

  In the above embodiment, the signal control system 1 according to the present invention is applied to the intersection 10 when two roads intersect. However, the signal control system 1 according to the present invention includes three or more signal control systems 1. It can also be applied to multi-way intersections where roads intersect.

  Moreover, depending on the vehicle traffic signal, there may be a period in which the vehicle can go straight and turn right. In such a case, the present invention can be applied to a right turn as in the case of a left turn. For example, during a period in which straight and right turns are allowed, if there are crossers in the crossing area where the vehicle enters by turning right, only straight ahead is allowed, and if there are no crossers, both straight and right turns are allowed. The signal display may be controlled as described above.

  Furthermore, the present invention can be used in combination with a service that arranges a robot or the like in the vicinity of a traffic light. For example, when there is a crossing person in the crossing area, in addition to the control of the signal display as described above, the robot may stand near the pedestrian crossing and urge the stop to the left turn car or the right turn car. The robot can be replaced by an unmanned small airplane such as a drone. Such a service is particularly effective for vehicles that are drunk driving, snoozing driving, meandering driving, speeding, etc.

  The present invention is also applicable when the vehicle performs automatic driving. For example, if there are crossers in a crossing area, a vehicle that makes a left or right turn automatically stops in front of a crossing area such as a pedestrian crossing according to the control of signal display as described above, or goes straight at the intersection. Then you can make a left or right turn at another intersection.

  The present invention is also applicable to crossing accident countermeasures. For example, when there are elderly people, sick people, people with physical disabilities, and the like in the crossing during the time when the crossing breaker is descending, it is possible to light a stop signal to the train. Alternatively, an alarm notification may be given to the train via a communication device installed at the railroad crossing to urge the train driver to stop, or to automatically stop the train. Note that the present invention is also applicable to a case where a broken vehicle, a motorcycle, a bicycle, an electric wheelchair, a senior car, an agricultural machine, and the like exist in the railroad crossing in addition to the pedestrian. Furthermore, even when a passenger falls from a platform to a track at a station, the present invention is applicable as in the case of a crossing. Specifically, when it is detected that there are passengers on the track, a stop signal is lit on the train, or an alarm notification is sent to the train, and the train driver is stopped. Prompt or stop the train automatically.

  The signal control device, the signal control system, and the signal control method according to the present invention realize both prevention of a contact accident between a pedestrian crossing a crossing area and a left turn vehicle and prevention of a traffic jam of a vehicle waiting for a left turn. It is useful as a signal control device, a signal control system, a signal control method, and the like that can be used.

DESCRIPTION OF SYMBOLS 1 Signal control system 2 Pedestrian 3 Pedestrian terminal device 4 Signal control device 5 Portable information terminal device 6 Vehicle 7 Car-mounted terminal device 8 Car navigation device 10 Intersection 11 Vehicle traffic light 12 Pedestrian traffic light 13 Road 14 Road 15 Crossing area 16 Vehicle passing area 17 Pedestrian detection device 31 Positioning unit 33 Wireless communication unit 35 Communication control unit 37 Information storage unit 41 Wireless communication unit 43 Information storage unit 45 Communication control unit 46 Crossing person determination unit 47 Signal control unit 48 Alarm information generation unit 71 Wireless communication unit 74 Communication control unit 75 Notification information generation unit 93 Left turn determination unit 94 Left turn information generation unit

Claims (14)

A signal control device for controlling the signal display of an arrow-type vehicle traffic signal installed at an intersection,
A signal control section for controlling signal display of the vehicle traffic signal;
A crossing determination unit that determines whether or not there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display of the vehicle traffic light makes a left turn,
The signal control unit outputs a straight signal indicating that the vehicle is allowed to go straight when the crossing determination unit determines that there is a pedestrian crossing the crossing area during the period in which the vehicle traffic signal is allowed to go straight. And a signal control device that controls the signal display to display the straight signal and a left turn signal indicating that a left turn is possible when it is determined that there is no pedestrian crossing the crossing area. .   The signal control unit controls the signal display so as to display the left turn signal and the straight traveling signal, and if the pedestrian determination unit determines that there is a pedestrian crossing the crossing area, the left turn signal is displayed. 2. The signal control apparatus according to claim 1, wherein the signal display is controlled so that the signal is displayed in a display mode different from a normal display mode.   The signal control unit walks across the crossing area of the intersection that enters when the vehicle according to the signal display of the vehicle traffic signal in the crossing person determination unit makes a right turn during a period when the vehicle traffic signal allows the vehicle to turn right. 3. The signal control device according to claim 1, wherein when it is determined that a person is present, the signal display is controlled not to display a right turn signal indicating that a right turn is possible. The crossing person determination unit determines whether or not a pedestrian exists in a vehicle passing region through which a left turn car or a right turn car passes in the crossing area,
The signal control unit controls the signal display so that the left turn signal or the right turn signal is not displayed only when the crossing determination unit determines that there is a pedestrian in the vehicle passage area. The signal control device according to any one of claims 1 to 3. A wireless communication unit that performs wireless communication based on a data communication format for communication between pedestrians with a pedestrian terminal device possessed by a pedestrian or an in-vehicle terminal device mounted on a vehicle,
An information storage unit storing position information of the crossing section,
When the wireless communication unit receives the position information of the pedestrian terminal device from the pedestrian terminal device, the crossing person determination unit collates the position information of the pedestrian terminal device with the position information of the crossing area. The signal control device according to claim 1, wherein it is determined whether or not there is a pedestrian crossing the crossing area. Information indicating that the pedestrian determination unit determines that there is a pedestrian crossing the crossing area, and the wireless communication unit is an alarm target person set in advance from the pedestrian terminal device. An alarm information generating unit for generating alarm information indicating that the alarm target person crosses the crossing area when received,
The signal control device according to claim 5, further comprising a communication control unit that controls the wireless communication unit so as to transmit the alarm information to the in-vehicle terminal device. A pedestrian detection device that is located at the intersection and detects a pedestrian present in or near the crossing area;
The crossing determination unit determines whether there is a pedestrian crossing the crossing area based on a detection result of the pedestrian detection device. Any one of the signal control apparatuses. A signal control device according to any one of claims 1 to 4,
A signal control system comprising a pedestrian terminal device possessed by a pedestrian and performing wireless communication with the signal control device,
The pedestrian terminal device is
A wireless communication unit that performs wireless communication with the signal control device based on a data communication format of communication between pedestrians,
A positioning unit for acquiring position information of the pedestrian terminal device;
A signal control system comprising: a communication control unit that controls the wireless communication unit so as to transmit position information of the pedestrian terminal device to the signal control device. A signal control device according to claim 5 or 6,
A signal control system comprising a pedestrian terminal device possessed by a pedestrian and performing wireless communication with the signal control device,
The pedestrian terminal device is
A wireless communication unit that performs wireless communication based on the data communication format of inter-vehicle communication between the signal control device or the vehicle-mounted terminal device mounted on the vehicle,
A positioning unit for acquiring position information of the pedestrian terminal device;
A signal control system comprising: a communication control unit that controls the wireless communication unit so as to transmit position information of the pedestrian terminal device to the signal control device. The pedestrian terminal device further includes an information storage unit that stores information indicating that a pedestrian possessing the pedestrian terminal device is a preset alarm target person,
The signal control according to claim 9, wherein the communication control unit controls the wireless communication unit to transmit information indicating that the pedestrian is the alarm target person to the signal control device. system.   The communication control unit transmits the position information to the signal control device only when the wireless communication unit receives left turn information indicating that the vehicle turns left at the intersection from the in-vehicle terminal device. The signal control system according to claim 9 or 10, wherein the radio communication unit is controlled. An in-vehicle terminal device mounted on a vehicle and performing wireless communication with the signal control device or the pedestrian terminal device;
The in-vehicle terminal device is
A wireless communication unit that performs wireless communication based on a data communication format of communication between pedestrians between the signal control device or the pedestrian terminal device,
A notification that notifies the driver of the vehicle of the alarm information when the wireless communication unit receives alarm information indicating that a preset alarm target person crosses the crossing zone from the signal control device. A notification information generating unit for generating information;
The signal control system according to claim 10, further comprising: an output unit that outputs the notification information to a notification device mounted on the vehicle. The in-vehicle terminal device is
A left turn determination unit that determines whether or not the vehicle makes a left turn at the intersection;
A left turn information generating unit that generates left turn information indicating that the vehicle turns left at the intersection when the left turn determination unit determines that the vehicle turns left at the intersection;
The signal control system according to claim 12, further comprising a communication control unit that controls the wireless communication unit so as to transmit the left turn information to the pedestrian terminal device. A signal control method for controlling the signal display of an arrow-type vehicle traffic signal installed at an intersection,
Determining whether or not there is a pedestrian crossing the crossing area of the intersection that enters when the vehicle according to the signal display of the vehicle traffic light makes a left turn during a period in which the vehicle traffic signal is allowed to go straight ,
When it is determined that there is a pedestrian crossing the crossing area, a straight signal indicating that the vehicle can go straight is displayed, and when it is determined that there is no pedestrian crossing the crossing area, the straight signal is displayed. And a step of controlling the signal display so as to display a left turn signal indicating that a left turn is possible.

Images