JP2006031573A - Driving support method and system - Google Patents

Driving support method and system Download PDF

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JP2006031573A
JP2006031573A JP2004212440A JP2004212440A JP2006031573A JP 2006031573 A JP2006031573 A JP 2006031573A JP 2004212440 A JP2004212440 A JP 2004212440A JP 2004212440 A JP2004212440 A JP 2004212440A JP 2006031573 A JP2006031573 A JP 2006031573A
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intersection
vehicle
recommended
point
information
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JP2006031573A5 (en
JP3859663B2 (en
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Masahiro Watanabe
渡辺雅弘
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Masahiro Watanabe
渡辺 雅弘
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Abstract

<P>PROBLEM TO BE SOLVED: To realize nonstop passage of a vehicle at an intersection for the purpose of energy-saving, prevention of exhaust gas pollution, and safe travel at the intersection. <P>SOLUTION: A recommended travel velocity and a recommended required time between a point P and the intersection so as to pass the intersection without stop are computed in the point P at a prescribed distance D before the intersection from a traffic light state information of the intersection, distance D information, and allowable maximum velocity information between a communication area and the intersection, and the vehicle side travels to the intersection at the recommended travel velocity. Thereby, the intersection nonstop passage is realized. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a driving support method that allows a vehicle to smoothly travel at an intersection while reducing the consumption of fuel and emission of pollutant gas due to a stop at a red light and the subsequent start by smoothly passing the vehicle through an intersection. About the system.

  Means for smooth passage of vehicles at intersections include traffic light control such as point control, multistage control, and sensitive control. In addition, idling stops have been put to practical use in some buses and the like as a method of saving energy and reducing exhaust gas when vehicles are stopped at a red light.

  Furthermore, ETC as a driving support system applying road-to-vehicle communication is effective in saving energy and reducing exhaust gas because it collects tolls on toll roads without stopping the vehicle. In addition, various driving support systems that support energy saving, exhaust gas reduction, safe driving, and the like have been proposed, but they are not yet in full use. For example, it is technically possible to prevent encounter collisions at intersections by applying road-to-vehicle communication, or to control engine (idling) when stopping at a red signal, but the cost required to realize it Insufficiency is a major factor that hinders its realization.

Japanese Patent Laid-Open No. 2002-269689 JP 2002-373396 A JP 2003-56376 A

  The present invention greatly reduces or eliminates vehicles stopped at a red light at an intersection, attempts to reduce wasteful consumption of fuel and emission of pollutant gas when the vehicle is stopped or at the start, and to ensure safe driving in the intersection. Is.

The basic idea for solving the problem is as follows.
That is, signal condition information of an intersection to be passed by a vehicle is detected in advance at a point P at a certain distance D before the intersection, and a driving condition is determined so that a vehicle passing the point P can pass the intersection during a green light. The vehicle is caused to travel from the point P to the intersection under the traveling conditions.

A specific method for realizing the basic concept will be described with reference to FIG. In FIG. 3, the vertical axis L is the distance on the road from the intersection, L = 0 is the stop line position of the intersection, and L = D is the position P. The horizontal axis t is a time axis. On the time axis, ta, tb, and tc are times when the signals change from blue to yellow, red to blue, and blue to yellow, respectively. That is, ta-tb is the time interval TN of the yellow and red signals, tb-tc is the time interval TG of the blue signal, and ta-tc is the signal period TP.
The ta, tb, tc, TN, TG, TP, and the current time tn are the signal state information.

  If all the vehicles passing through the point P during one signal period TP can pass through the intersection during the time interval TG in which the vehicle is blue, non-stop passage at the intersection can be realized. That is, it is a non-stop condition that the vehicle that has passed the point P during the signal period TP between the times td and te must pass through the intersection during the green signal TG between the times tb and tc.

  Assuming that the maximum speed allowed for the vehicle in traveling from the point P to the intersection is VMAX, a vehicle traveling between the point P and the intersection at the maximum allowable speed VMAX passes the point P at time te. The required time to the intersection of the vehicle is the time interval between te and tc, that is, D / VMAX. Also, let td be the time before the signal period TP from time te.

  Here, tp (where 0 ≦ tp <TP) is the elapsed time from the time td, that is, the relative time on the time interval TP between the signal periods td to te, and the intersections in the same order as the vehicle passes the point P. If the vehicle passes through the point P at the time td + tp, the vehicle passing the point Pd at the time tb + (TG / TP) · tp satisfies the above condition for the non-stop passage at the intersection.

  That is, vehicles C0, C1, C2, C3, C4 passing through the point P at tp0 = 0 (ie, time td), tp1, tp2, tp3, tp4,..., Tpn = TP (ie, time te),. .., CN can pass through the intersection between times tb and tc by traveling to the intersection in the traveling state as shown in FIG.

  In addition, a vehicle that passes through the point P after the time te can pass through the intersection non-stop by performing the same traveling as described above during the next green light.

  Assuming that the required time from the point P to the intersection for passing through the intersection is the recommended required time topt and the travel speed is the recommended travel speed vopt, the recommended required time topt is given by Thus, the recommended travel speed vopt is as shown in Equation 2. Here, the elapsed time tp from the time td to the time tn is expressed by Equation 3. The current time tn needs to satisfy the condition of Equation 4.

(Equation 1)
topt = D / VMAX + (1-tp / TP) TN

(Equation 2)
vopt = D / topt = L / {D / VMAX + (1-tp / TP) · TN}

(Equation 3)
0 ≤ tp <TP where tp = (tn-td)

(Equation 4)
0 <tc− (TP + D / VMAX) ≦ tn <tc−D / VMAX

However, in the above formula 1, formula 2, formula 3, formula 4,
topt: Recommended travel time from point P to the intersection for passing the intersection with a green light
vopt: Recommended travel speed from point P to intersection for passing green light at intersection D: Distance from point P to intersection VMAX: Maximum allowable travel speed from point P to intersection TP: Intersection signal cycle (= TN + TG) )
TN: Time interval between yellow and red signals TG: Time interval between blue signals
tp: Elapsed time from time td shown in FIG. 3 to current time tn (≦ TP)
tn: Current time.
When the time tn exceeds the range of Equation 4, tc is set as the next tc, that is, tc after one signal period TP of the current tc as a new tc.

  The driving support system based on the above basic concept includes a roadside means composed of a signal state detection means, a roadside calculation means, and information transmission means from the roadside to the vehicle side, information reception means on the vehicle side, reception It is comprised from the vehicle side means comprised by the calculated information calculation means and the information output means.

An information transmission means from the road side to the vehicle side is provided at a point P just before a certain distance D from the intersection.
Signal state information from the traffic signal at the intersection by the signal state detection means, i.e., current time tn, time ta when the signal changes from blue to yellow, time tb when the signal changes from red to blue, time tc when the signal changes from blue to yellow, The time interval TG when the signal is blue, the time interval TN when the signal is yellow and red, and the signal period TP are detected.

  In the roadside computing means, the intersection is determined based on the distance D information inputted in advance, the allowable maximum speed VMAX information from the point P to the intersection, and the signal status information detected by the signal status detection means. The conditions for passing in a non-stop manner, that is, the recommended required time topt from the point P to the intersection and the recommended traveling speed vopt are calculated using the equations 1 and 2.

  As a specific method of obtaining the recommended required time topt and the recommended travel speed vopt, there is a method of calculating the recommended required time topt and the recommended travel speed vopt based on tp at that time using the above formulas 1 and 2 every time the vehicle makes a point P. However, for example, tp recommended time required topt every second, topt recommended travel speed vopt value, prepare a table, recommended travel time topt corresponding to tp when the vehicle passes the point P, recommended travel speed It is more reasonable to take vopt from the table.

  In the above description, the recommended required time topt and the recommended travel speed vopt are calculated at one point P before the intersection, but the point P1 on the way to the intersection after passing the point P (distance D1 <intersection from the intersection) D), P2 (distance from intersection D2 <D1),... To obtain the latest recommended required time topt and recommended required speed vopt by performing the same calculation using equations 1 and 2. By making the new recommended travel time and the recommended travel speed, it is possible to pass through the intersection more accurately.

  The recommended travel speed vopt, which is the calculation result of the roadside calculation means, is reported to the vehicle side by the information transmission means from the roadside to the vehicle side. In this notification, information other than the recommended travel speed vopt, for example, the recommended required time topt, the distance D, the allowable maximum speed VMAX, and the like can also be reported. Also, the various information necessary for calculating the recommended required time topt and the recommended travel speed vopt can be reported from the road side to the vehicle side, and the recommended required time topt and the recommended travel speed vopt can be calculated by the vehicle side calculation means. it can.

  As the reporting means from the road side to the vehicle side, a display board or a road-vehicle communication device can be considered. When the notification means from the road side to the vehicle side is a display device provided on the road side or on the road, the vehicle driver knows the information by looking at it and runs the vehicle based on the information. The information receiving means on the side and the vehicle side means such as the processing means for the received information and the output means for the information become unnecessary, and the system configuration is simplified.

  On the other hand, when the reporting means from the roadside to the vehicle side is a roadside-to-vehicle communication roadside device, a roadside-to-vehicle communication vehicle-side device is required as information receiving means on the vehicle side, and the received information is processed / calculated as means for processing. Vehicle side computing device, voice / display output device as information output means or car navigation system as an alternative means, or ASC (automatic speed control device) etc. with output vopt as its set speed A device is required.

  Further, with respect to the calculation result of the recommended required time topt and the recommended travel speed vopt, the elapsed times t 1, t 1, t 2,..., The travel distances d, d 1, d 2 after passing points P The accuracy of non-stop traveling at the intersection can be improved by performing the correction according to.

  For example, from the recommended required time topt, the recommended traveling speed vopt, which is the calculation result at the point P, and the distance D and the allowable maximum speed VMAX obtained by the road-to-vehicle communication, the recommended required time after the passage of the point P has elapsed The time correction value toptt and the recommended travel speed correction value voptt are calculated using Equations 5 and 6, respectively, and set as the new recommended required time and the recommended travel speed.

(Equation 5)
toptt = topt -t

(Equation 6)
voptt = (D−d) / toptt = (D−d) / (topt−t) ≦ VMAX

However, in the above formulas 5 and 6,
toptt: Recommended time correction value
voptt: Recommended travel speed correction value t: Elapsed time after passing through point P, which is counted by providing a timer in the vehicle side arithmetic unit.
d: Travel distance after passing through the point P, which is obtained in the vehicle side arithmetic unit as a time integral value after passing through the point P of the vehicle speed information v input to the vehicle side arithmetic unit.

  By running the vehicle between the point P and the intersection according to the recommended traveling speed vopt or the recommended traveling speed correction value voptt obtained as described above, all vehicles are stopped at the red signal of the intersection unless there is a lack of road traffic capacity. Without passing through the green light.

  However, for the setting of the points P, P1, P2,..., The road facilities, etc. that are required to stop vehicles such as pedestrian crossings between the points P, P1, P2,. There is no premise.

  Also, the recommended driving speed vopt on the vehicle side is transmitted to the driver by voice or display of information, etc., and the driver should take action as a result of comparing the recommended driving speed vopt with the current vehicle speed v on the vehicle side device. It is necessary to devise the driver so that the driver can respond safely and accurately.

  With the driving support method and system according to the present invention described above, in a situation where traffic demand does not exceed the intersection traffic capacity, there is no need to pause at the intersection when the vehicle is running, fuel consumption due to the suspension and subsequent start, In addition to reducing the emission of harmful exhaust gas, which is a source of pollution, the possibility of temporary stop violations at intersections and the neglect of red lights is reduced, which can greatly contribute to the reduction of social costs of vehicles in a broad sense.

  Effective use of roadside / vehicle equipment of existing road-to-vehicle communication systems to optimize the division of roles for computation and processing mainly on the roadside and vehicle side, and the recommended traveling speed obtained is an automatic speed control device ( ASC) or the like is set to the set speed of the travel control device. If this is not possible, the voice / display output function of a car navigation system that is already widely used is effectively used.

  FIG. 1 shows the configuration of Embodiment 1 of the driving support system according to the present invention, and FIG. 2 shows the positional relationship between an intersection in the configuration of FIG. 1 and a road-to-vehicle communication area (hereinafter referred to as a communication area) formed by a road-to-vehicle communication roadside device. .

In FIG.
111 is a signal status detection device that is connected to a traffic signal (not shown) and detects the signal status of the traffic signal, that is, ta, tb, tc, tn and TP, TN, TG, etc. shown in FIG.
112 obtains the signal state information of the traffic signal from the signal state detection device 111 and is input to the intersection-communication area distance D information (see FIG. 2) inputted in advance, and allowed to travel from the communication area to the intersection. This is a roadside arithmetic unit that calculates the recommended required time topt and the recommended travel speed vopt from (Expression 1) and (Expression 2) from the maximum speed VMAX information.

113 forms a communication area (refer to FIG. 2) at a point P at a distance D from the intersection, and outputs the road time calculation device 112 recommended required time topt recommended travel speed vopt, the distance D, and the allowable maximum speed VMAX information, which will be described later. Road-to-vehicle communication roadside device that transmits to the roadside-to-vehicle communication vehicle-side device 121,
Thus, the signal state detection device 111, the roadside arithmetic device 112, and the road-to-vehicle communication roadside device 113 constitute the roadside device 110.
Further, the communication area shown in FIG. 2 is formed on the road by optimally setting the directivity, attachment position, etc. of an antenna (not shown) constituting a part of the road-to-vehicle communication roadside device 113.

121 is a road-to-vehicle communication vehicle-side device that receives the recommended required time topt, recommended travel speed vopt information, intersection-communication area distance D, and allowable maximum speed VMAX information transmitted from the road-to-vehicle communication roadside device 113;
Reference numeral 122 denotes information received by the road-to-vehicle communication vehicle side device 121. Recommended travel time topt, recommended travel speed vopt, intersection-communication area distance D, allowable maximum speed VMAX, and own vehicle speed sensor output of own vehicle A vehicle-side computing device that inputs speed information v and computes the current recommended required time correction value toptt and the recommended travel speed correction value voptt after the passage of time t after passing through the communication area from Formulas 5 and 6; It is.

  However, in the above formulas 5 and 6, t is the elapsed time after passing through the point P where the vehicle is in the communication area, d is the travel distance after the vehicle passes through the point P, and t is in the vehicle side arithmetic unit 122. And d is obtained by time-integrating own vehicle speed information v from the vehicle in the vehicle side arithmetic unit.

Reference numeral 123 denotes a sound / display output device that inputs a recommended travel speed correction value voptt that is a calculation result of the vehicle-side calculation device 122 and transmits the value to the vehicle driver by sound or display output.
The road-to-vehicle communication vehicle-side device 121, the vehicle-side arithmetic device 122, and the voice / display output device 123 constitute the vehicle-side device 120.

  The driver of the vehicle drives the vehicle at the recommended travel speed vopt or the recommended travel speed correction value voptt indicated by the voice / display output device 123 during the point P, that is, after passing through the communication area until the intersection. Can pass nonstop.

  Further, by inputting the recommended travel speed vopt or the recommended travel speed correction value voptt as a set speed of a travel control apparatus such as an ASC (automatic speed control apparatus) that controls the travel speed of the vehicle, the speed can be controlled more accurately. .

  The present invention is extremely effective for energy saving of vehicle traveling, reduction of harmful exhaust gas, and safe passage of intersections by being applied mainly to vehicles traveling on urban main roads.

Configuration example of driving support system according to the present invention Explanatory drawing which shows the positional relationship of the intersection of the driving assistance system 1 structural example shown in FIG. FIG. 3 is an explanatory diagram of a concept regarding a method for calculating a recommended traveling speed of a vehicle according to the present invention.

Explanation of symbols

1 and 2,
110: Roadside device 111: Signal state detection device 112: Roadside arithmetic device 113: Road-to-vehicle communication roadside device 120: Vehicle-side device 121: Road-to-vehicle communication vehicle-side device 122: Vehicle-side arithmetic device 123: Audio / display output device

2 and 3,
D: Distance between intersection and communication area In FIG.
TP: Traffic signal period TN: Yellow and red signal time interval TG: Blue signal time interval VMAX: Maximum speed allowed for traveling between communication area and intersection
ta : Yellow signal lighting (blue light extinction light) time
tb: Green light lighting time
tc: Yellow signal on (green light extinction) time (however, ta <tc)
td: tc- (D / VMAX) -TP = te-TP
te: tc-(D / VMAX)
tp: Time when the vehicle passes the point P (Elapsed time from time td to current time tn, ≦ TP)
tn: Current time.

Claims (9)

  1.   At a point P on the road leading to the intersection at a certain distance D before the intersection, the vehicle is determined from the signal status information of the intersection, the distance D information, and the allowable maximum speed VMAX information from the point P to the intersection. The recommended required time topt and the recommended travel speed vopt from the point P to the intersection for passing through the intersection non-stop are calculated, and the vehicle is determined based on the calculated recommended travel time topt and / or the recommended travel speed vopt. A driving support method and system for running between the point P and the intersection.
  2.   The calculation of the recommended required time topt and the recommended travel speed vopt from the signal state information of the intersection, the distance D information, and the allowable maximum speed VMAX information between the point P and the intersection is performed on the road side. The driving support method and system according to claim 1.
  3.   Calculation of the recommended required time topt and the recommended travel speed vopt from the signal status information of the intersection, the distance D information, and the allowable maximum speed VMAX information from the point P to the intersection is performed on the vehicle side. The driving support method and system according to claim 1.
  4.   3. The driving support method and system according to claim 2, wherein the notification of the various information from the road side to the vehicle side is performed by a display board provided on or on the road of the point P.
  5.   4. The driving support method and system according to claim 2, wherein the notification of the various information from the road side to the vehicle side is performed by a road-to-vehicle communication road side device installed at the point P.
  6.   The correction after passing the point P with respect to the recommended required time topt and the recommended speed vopt is performed on the vehicle side by using the elapsed time t and the travel distance d after passing the point P of the vehicle. The driving support method and system described.
  7.   The calculation of the various information on the road side, or the reporting and calculation from the road side to the vehicle side is performed at other points on the way from the point P to the intersection, P1 (distance D1 to the intersection), P2 (distance to the intersection) D2),... (However, D> D1> D2> ..), characterized in that the vehicle travels with the latest recommended required time topt and recommended travel speed vopt obtained as a result. The driving support method and system according to claim 2, 3, or 6.
  8.   8. The driving support method and system according to claim 5, 6 or 7, wherein a part of the various information is transmitted to the driver via a dedicated voice / display output device or a car navigation device mounted on the vehicle.
  9. 8. The driving support method and system according to claim 5, wherein the recommended travel speed vopt or a correction value thereof is a set speed of a travel control device mounted on a vehicle.
JP2004212440A 2004-07-21 2004-07-21 Driving support method and system Expired - Fee Related JP3859663B2 (en)

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JP2007241429A (en) * 2006-03-06 2007-09-20 Sumitomo Electric Ind Ltd Traffic flow parameter calculation system, method, and program
JP2008296798A (en) * 2007-06-01 2008-12-11 Denso Corp Control device for vehicle
JP2008305135A (en) * 2007-06-07 2008-12-18 Sumitomo Electric Ind Ltd Traffic signal control system, traffic signal controller, on-vehicle device, and traffic signal control method
JP2009205281A (en) * 2008-02-26 2009-09-10 Masahiro Watanabe Vehicle traveling speed control method
US8423279B2 (en) 2009-11-30 2013-04-16 Fujitsu Limited Drive assist apparatus, method, and recording medium
WO2013100800A1 (en) * 2011-12-27 2013-07-04 Kolyunov Andrey Ivanovich Device for indicating a recommended motion velocity range
JP2014119791A (en) * 2012-12-13 2014-06-30 Mitsubishi Heavy Ind Ltd Traffic flow control system, traffic flow control method, wireless transmission device, on-vehicle apparatus, program, and recording medium
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JP2007241429A (en) * 2006-03-06 2007-09-20 Sumitomo Electric Ind Ltd Traffic flow parameter calculation system, method, and program
JP4716115B2 (en) * 2006-03-06 2011-07-06 住友電気工業株式会社 Traffic flow parameter calculation system, method and program
JP2008296798A (en) * 2007-06-01 2008-12-11 Denso Corp Control device for vehicle
JP2008305135A (en) * 2007-06-07 2008-12-18 Sumitomo Electric Ind Ltd Traffic signal control system, traffic signal controller, on-vehicle device, and traffic signal control method
JP2009205281A (en) * 2008-02-26 2009-09-10 Masahiro Watanabe Vehicle traveling speed control method
JP4518569B2 (en) * 2008-02-26 2010-08-04 雅弘 渡邉 Vehicle traveling speed control method
US8423279B2 (en) 2009-11-30 2013-04-16 Fujitsu Limited Drive assist apparatus, method, and recording medium
US9207091B2 (en) 2011-04-21 2015-12-08 Mitsubishi Electric Corporation Drive assistance device
DE112012001799B4 (en) * 2011-04-21 2019-04-25 Mitsubishi Electric Corporation Drive assistance device
WO2013100800A1 (en) * 2011-12-27 2013-07-04 Kolyunov Andrey Ivanovich Device for indicating a recommended motion velocity range
JP2014119791A (en) * 2012-12-13 2014-06-30 Mitsubishi Heavy Ind Ltd Traffic flow control system, traffic flow control method, wireless transmission device, on-vehicle apparatus, program, and recording medium

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