JP6860757B2 - Intersection passage control system - Google Patents

Description

The present invention relates to a passage control system at an intersection equipped with a signal.

The traffic light is a fixed cycle type that repeatedly displays blue, yellow, and red signals at a fixed time, a sensitive type that changes the signal when a vehicle arrives, and a push button type that is applied to pedestrian crossings, etc. There are other types such as acoustic type and blinking type.

A fixed cycle formula is adopted for general intersections. The fixed-cycle traffic light changes in the order of blue → yellow → red for each cycle, and the distribution rate (split) of the signal time allocated in one direction in one cycle is determined.

Patent Document 1 has been proposed as a system for safely and smoothly driving a vehicle at an intersection.
In Patent Document 1, as a device for supporting the passage of a traffic light, a notification means for notifying information based on the lighting information of the traffic light, a predictive means for predicting deceleration of the vehicle based on information on a route on which the vehicle travels, and a prediction means. When the deceleration of the vehicle is predicted, the one provided with the control means for controlling the notification means so as not to give the notification for urging the speed maintenance or acceleration of the vehicle has been proposed.
According to this device, whether or not the own vehicle needs to stop at the traffic light in front is predicted from the current vehicle speed, etc., and whether or not the driver can pass through the intersection where the traffic light is installed. Can be notified.

Patent Document 2 proposes a vehicle control device that determines a signal of a traffic light in front of the vehicle. This vehicle control device acquires map information indicating information on the road on which the vehicle travels and position information indicating information on the position of the vehicle, and detects the position of a traffic light in front of the vehicle based on the map information and the position information. The traffic light position detection unit, the peripheral information detection unit that detects information around the vehicle, and the image information in front of the vehicle are acquired, and the vehicle is based on the detection result and the image information detected by the traffic light position detection unit. Determine the signal of the traffic light ahead.
In particular, when the signal of the front traffic light cannot be determined, the front signal determination unit that determines the signal of the front traffic light based on the detection result detected by the peripheral information detection unit such as an in-vehicle camera is disclosed.

Patent Document 3 proposes a traffic signal control system suitable for public vehicles such as buses, which are required to travel on a predetermined operation route on time. This system describes the content of controlling a signal lamp installed on a road based on uplink information transmitted from an in-vehicle device mounted on a public vehicle.

Patent Document 4 discloses a signal control system including a traffic terminal device and a central device capable of communicating with the traffic terminal device. The central device receives the vehicle detection information, calculates the traffic index at the target intersection based on the vehicle detection information, and calculates the signal control parameters including the cycle length, split, and offset based on the calculated values. ing.

JP-A-2017-207895 Japanese Unexamined Patent Publication No. 2017-182297 Japanese Unexamined Patent Publication No. 2011-141606 Japanese Unexamined Patent Publication No. 2017-016433

In order to drive a car safely and smoothly, it is natural to follow the established traffic rules, but it is also important to move in cooperation with surrounding vehicles.
Especially at intersections, if you stop when you can pass at normal speed enough, or if you enter the intersection when you cannot cross at the green light, it will not only bother surrounding vehicles but also cause a serious accident. May cause.

When passing through an intersection, the driver does not only judge whether the traffic light in front of him is currently red or blue, but also the time until the color of the traffic light changes, the speed of his vehicle, the degree of traffic congestion, and the intersection. Whether or not to pass the intersection as it is is judged by using the number of vehicles inside as a judgment factor.

When the technology disclosed in the prior art is applied to automatic driving, there are the following problems when the computer (AI) makes the above prediction judgment.
For example, in the case of Patent Document 1, it is determined whether the vehicle can cross the previous signal or stop in front of the signal based on the vehicle speed of the own vehicle, but the remaining time of the signal light or the split is taken into consideration as a factor for the determination. Must.
However, Patent Document 1 does not mention the remaining time of the signal light or the split, and even if it is taken into consideration, the deviation of the split, that is, the time of the own vehicle and the time of the traffic light are completely the same. If not, the remaining time of the signal light or the deviation of the split is not taken into consideration.

Similar to Patent Document 1, Patent Document 2 recognizes the state of the traffic light in front, but regarding the difference between the remaining time (split) of the signal light of the traffic light and the remaining time (split) of the signal light between the own vehicle and the traffic light. Does not consider at all.

The system disclosed in Patent Document 3 is a content in which a public vehicle such as a bus is preferentially traveled over another vehicle, and is not applicable to operation at an intersection of all vehicles including public vehicles.

Patent Document 4 remotely controls splits and offsets of traffic lights at intersections according to the traffic volume, and does not mention anything about smooth running at intersections when automatically driving a bus or the like.

In order to solve the above problems, the intersection passage control system according to the present invention includes means for detecting the remaining time of the signal light at the intersection to be passed and information obtained by the means for detecting the remaining time of the signal light. A means for predicting the signal light when the own vehicle reaches and passes the intersection based on the position and speed information of the own vehicle (including the following vehicle in the platoon), and the own vehicle can pass through the intersection before it becomes a red light. It is provided with a means for determining whether or not the vehicle can pass, and a means for controlling the deceleration of the own vehicle when it is determined that the vehicle cannot pass.

As a means for detecting the remaining time of the signal light, the remaining time is directly acquired from the traffic light or the signal management center, or the signal split information is acquired from the traffic light or the signal management center, and the deviation between the traffic light and the clock of the own vehicle is detected. Then, a means of correcting the remaining time can be considered.

In addition, as a means of detecting the deviation between the traffic light and the clock of the own vehicle and correcting the remaining time, is it possible to detect the deviation of the clock by reading the signal light at the intersection to be passed by the sensor attached to the own vehicle and correct it? , The signal light of the intersection that is going to pass by the sensor installed on the roadside is read and the deviation of the clock is detected and corrected, or the signal light of the intersection that is going to pass by the sensor attached to the preceding vehicle that passed the intersection first A means of reading the fire, detecting the deviation of the clock, and correcting it can be considered.

Further, the means for predicting the signal light when the own vehicle reaches and passes the intersection reaches the intersection at the remaining time of the detected signal light and the current speed of the own vehicle, and the own vehicle completely reaches the intersection. Predict the signal lights at the time of arrival and at the time of passing from the time until the passage is completed.

In addition, the means for predicting the signal lighting when the own vehicle reaches and passes the intersection is when the current speed of the own vehicle is low and the time required to pass the signal becomes large enough to exceed one cycle of the signal. , Signal lights are not predicted. In this case, speed recovery is performed.

As a means of determining whether or not the own vehicle can pass through an intersection, the yellow light is regarded as a red light for the predicted signal light when passing through the intersection, and the "current signal or the signal at the time of arrival" and "when passing" If any of the "signals of

The means for controlling the deceleration of the own vehicle decelerates according to a preset run curve.

Further, a means for detecting the remaining time of the above-mentioned signal light, a means for predicting the signal light when the own vehicle reaches and passes the intersection, and a means for determining whether or not the own vehicle can pass through the intersection before becoming a red light. All the means to do so and the means to control the deceleration of the own vehicle when it is determined that the vehicle cannot pass are updated in real time until the signal is passed.

When the intersection passage control system according to the present invention is applied to the case of automatically driving a route bus or the like, the signal change at the intersection is appropriately predicted, and based on the prediction, it is determined whether to stop before the signal or pass as it is. it can.

The above judgment does not disturb the flow of surrounding vehicles and allows the traffic to flow smoothly, so that it does not cause an accident or traffic jam at an intersection.

In particular, since the remaining time of the light signal can be accurately determined on the own vehicle side, there is no inconvenience such as not being able to cross the intersection even if the light signal turns red.

Top view of an intersection that employs the intersection passage control system according to the present invention. Configuration diagram of the intersection passage control system according to the present invention mounted on a vehicle Graph showing an example of deceleration run curve Flow chart of the intersection passage control system according to the present invention

As shown in FIG. 1, the intersection passage control system 100 according to the present invention is mounted on a vehicle 1 that automatically drives on a predetermined route such as a bus.

As shown in FIG. 2, the intersection passage control system 100 includes a signal information confirmation unit 110, a GPS antenna 120, a passability determination unit 130, and a signal passage control unit 140.

The signal information confirmation unit 110 has a function of acquiring information necessary for predicting a signal when the vehicle (bus) 1 passes through an intersection, that is, the current signal light, the remaining time information of the signal light, and the signal split information. Be prepared. This information is transmitted by the traffic light itself or from the traffic control center that controls the traffic light.

There are two types of traffic lights: a traffic light that is connected to the traffic control center and a traffic light that is not connected to the traffic control center (local). Locally operating traffic lights have an internal clock built into each local traffic light, and the signal lights are switched according to the set split information.

It is conceivable that the internal clock of the local traffic light may deviate from the clock such as GPS used by the vehicle (bus) 1. If this is left as it is, the remaining time of the signal light calculated by the intersection passage control system 100 and the actual remaining time will be different, and the vehicle may not be able to pass through the intersection during the green light.

Therefore, the signal information confirmation unit 110 acquires signal information from the traffic signal (or the traffic control center) in real time by wireless communication or the like for the traffic signal connected to the traffic control center, and for the local traffic light, the signal information confirmation unit 110 acquires the signal information from the traffic signal (or the traffic control center). The signal split information and the deviation between the internal clock of the traffic light and the clock on the vehicle (bus) side are acquired.

The following methods can be specifically considered as a method for acquiring the clock deviation.
(1) The color of the signal is read from a distance by a camera mounted on the vehicle (bus) side, and the deviation is measured by using the time when the signal changes.
(2) The color of the signal is read by a camera installed on the roadside, and the time when the signal changes is used to measure the deviation.
(3) Receive information from the preceding vehicle that passed the signal first and measure the deviation.

The GPS antenna 120 is configured to be able to receive information for specifying the vehicle position (coordinates), vehicle speed, and time from the satellite. The information received by the GPS antenna 120 is output to the passability determination unit 130.

The lighting information confirmed by the signal information confirmation unit 110 is also output to the passability determination unit 130. The passability determination unit 130 determines whether or not the intersection can be passed at a green light based on the signal lighting information acquired from the signal information confirmation unit 110 and the position and vehicle speed (current vehicle speed) acquired from the GPS antenna 120. ..

From the position information acquired from the GPS antenna 120, the distance until the vehicle (bus) arrives at the intersection and the distance until it passes can be known.
Further, the time required for the vehicle (bus) to pass the intersection can be calculated from the vehicle speed information acquired from the GPS antenna 120.

When the remaining time of the current traffic light is acquired or, in the case of a local traffic light, the time adjustment between the traffic light and the vehicle side is completed, the time when the vehicle arrives at the intersection and the time when the vehicle passes can be calculated.

From the calculated arrival time, passage time, and remaining time of the signal light, the signal light when the arrival time passes can be predicted in real time.
In self-driving buses, even if the predicted signal is yellow, it is red to avoid the signal turning yellow just before the intersection (dilemma zone) or the signal turning yellow while the vehicle is passing through the intersection. Recognize as a signal.

When both the current signal light or the signal light on arrival and the passing signal are green lights, the vehicle can cross the intersection at the green light if the current speed is maintained or accelerated. That is, at this time, it is determined that deceleration control is not necessary.

Also, when both or one of the signal lights on arrival and the signal lights on passing is red, the vehicle cannot pass the intersection between the green lights at the current speed, so it is necessary to enter deceleration control once. Judge. The edge low result by the passability determination unit 130 is output to the signal passage control unit 140.

The signal passage control unit 140 controls the intersection passage speed based on the information input from the passability determination unit 130. Specifically, when the signal passage control unit 140 determines that the intersection can be passed at the green light by the passability determination unit 130, the signal passage control unit 140 maintains the vehicle speed. On the other hand, when it is determined at the green light that the intersection cannot be passed, the vehicle decelerates according to the run curve shown in FIG. 3 so as not to cause a sudden speed change.

In addition, the vehicle is equipped with a navigation system display device 150 as a human-machine interface (HMI), and even in the case of automatic driving, the display device 150 includes a name of an intersection, a display signal, and a prediction signal in addition to a map. Etc. are displayed.

The flow of the entire system will be described with reference to FIG. When the vehicle starts traveling and approaches the intersection, the signal information confirmation unit 110 acquires the information and predicts the signal at the time of passing.

If the current and passing traffic lights are predicted to be blue, the speed will be maintained or accelerated, otherwise the vehicle will decelerate to stop at the stop line. In this case, when there is a preceding vehicle, the vehicle-to-vehicle automatic control system (ACC) switches the target to a vehicle speed lower than the planned target speed to decelerate and stop.

1 ... Vehicle (bus), 100 ... Intersection passage control system, 110 ... Signal information confirmation unit, 120 ... GPS antenna, 130 ... Passability judgment unit, 140 ... Signal passage control unit, 150 ... Human-machine interface.

Claims (6)

It is an intersection passage control system mounted on an automatically driven vehicle, and this intersection passage control system is a means for detecting the remaining time of a signal light at an intersection to be passed and a means for detecting the remaining time of the signal light. Means for predicting the signal light when the own vehicle reaches and passes the intersection based on the obtained information and the position and speed information of the own vehicle, and whether or not the own vehicle can pass through the intersection before it becomes a red light. The means for detecting the remaining time of the signal light is provided with a means for determining the speed and a means for controlling the deceleration of the own vehicle when it is determined that the vehicle cannot pass, and the means for detecting the remaining time of the signal light acquires signal split information from a traffic light or a signal management center. It is a means to detect the deviation between the traffic light and the clock of the own vehicle and correct the remaining time, and this means reads the signal light at the intersection that is about to pass by the sensor attached to the own vehicle and the deviation of the clock. It is installed on the preceding vehicle that has passed the intersection first, or it is a means to detect and correct the deviation of the clock by reading the signal light of the intersection that is going to pass by the sensor installed on the roadside. An intersection passage control system characterized in that it is a means for detecting and correcting a deviation of a clock by reading a signal light of an intersection that is about to pass by a sensor. It is an intersection passage control system mounted on an automatically driven vehicle, and this intersection passage control system is a means for detecting the remaining time of a signal light at an intersection to be passed and a means for detecting the remaining time of the signal light. Means for predicting the signal light when the own vehicle reaches and passes the intersection based on the obtained information and the position and speed information of the own vehicle, and whether or not the own vehicle can pass through the intersection before it becomes a red light. The means for predicting the signal light when the own vehicle reaches and passes the intersection is the current own vehicle , which is provided with a means for determining the above and a means for controlling the deceleration of the own vehicle when it is determined that the vehicle cannot pass. An intersection passage control system, characterized in that the signal lighting is not predicted when the time required to pass the intersection exceeds one cycle of the signal of the intersection to be passed while maintaining the speed of. In the intersection passage control system according to claim 1 or 2, the means for predicting the signal light when the own vehicle reaches and passes the intersection includes the remaining time of the detected signal light and the current self. An intersection passage control system characterized in that signal lights at the time of arrival and at the time of passing are predicted from the time required for the vehicle to reach the intersection at the speed of the vehicle and for the vehicle to completely pass through the intersection. In the intersection passage control system according to claim 1 or 2, the means for determining whether or not the own vehicle can pass through the intersection before it becomes a red light is for the predicted signal light when passing through the intersection. , The yellow traffic light is regarded as a red traffic light, and if both the "current traffic light or arrival signal" and the "passing signal" are green traffic lights, the traffic light passes at the current speed or higher, and at least one of them is a red traffic light. For example, an intersection passage control system characterized in that it determines to decelerate and stop after reaching a predetermined position. The intersection passage control system according to claim 1 or 2, wherein the means for controlling the deceleration of the own vehicle decelerates according to a preset run curve. The intersection passage control system according to claim 1 or 2, wherein all the means are updated in real time until the signal is passed.

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