JP2006065818A - Traffic signal control device and traffic signal system using it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform traffic signal control further rapidly following the sudden change of a traffic state. <P>SOLUTION: The next blue time of traffic signals A1 and A2 is set based on a traffic volume q1 or q2 and a signal-waiting vehicle number n1 or n2 in each intersection inflow passage R1 or R2 of a road 101, and the red time of traffic signals A3 and A4 of a road 102 corresponding to the blue time is set according to this. The next blue time of the traffic signals A3 and A4 is set based on a traffic volume q3 or q4 and a signal-waiting vehicle number n3 or n4 in each intersection inflow passage R3 or R4 of the road 102, and the red time of the traffic signals A1 and A2 of the road 101 corresponding to the blue time is set according to this. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention controls the first traffic signal for the first road and the second traffic signal for the second road installed at the intersection where the first road and the second road intersect. The present invention relates to a traffic signal control device and a traffic signal system using the same.

  Conventionally, in such a traffic signal control device, when the control linked with traffic signals at other intersections (so-called system control) is not performed, traffic state information (for example, for each intersection inflow path of the first and second roads) Traffic volume, etc.), and two signal control parameters of cycle length and split are controlled based on the traffic situation information. Here, the cycle length is the time from the start of the green signal display of the traffic signal for one road to the start of the next green signal display of the traffic signal. The split is a ratio of the length of the green light display time of the traffic signal for one road to the cycle length.

For example, in the traffic signal control device disclosed in Patent Document 1 below, vehicles provided respectively at a predetermined upstream position of each intersection inflow path of the first road and a predetermined upstream position of each intersection inflow path of the second road. Two signal control parameters, cycle length and split, are controlled based on the output from the sensor.
JP 2003-303398 A

  However, since the conventional traffic signal control apparatus controls two signal control parameters of cycle length and split, the cycle length and split of the next cycle are determined based on the traffic condition information acquired before and now. It will be decided. In other words, the cycle length and split of the current cycle are determined based on the traffic situation information acquired at least one cycle length at the latest.

  Therefore, even if the traffic situation fluctuates suddenly during one cycle, the conventional traffic signal control device cannot follow this rapidly.

  The present invention has been made in view of such circumstances, and a traffic signal control device capable of realizing traffic signal control that more quickly follows a sudden change in traffic conditions, and the same. An object is to provide a traffic signal system.

  Further, the present invention provides a traffic signal control device capable of realizing more appropriate and efficient traffic signal control while realizing traffic signal control that more quickly follows rapid fluctuations in traffic conditions, and It aims at providing the traffic signal system using this.

  In order to solve the above-mentioned problem, a traffic signal control apparatus according to a first aspect of the present invention provides a first traffic for the first road installed at an intersection where the first road and the second road intersect. A traffic signal control apparatus for controlling a traffic signal and a second traffic signal for the second road, wherein the traffic on each inflow path of each intersection of the first road when the red traffic light of the first traffic signal is displayed First traffic condition information obtaining means for obtaining situation information, and a next green signal display time for the first traffic signal based on the traffic condition information obtained by the first traffic condition information obtaining means. 1 setting means, and second setting means for setting a red signal display time of the second traffic signal corresponding to the green light display time according to the green light display time set by the first setting means; , Red signal display of the second traffic signal Based on the traffic condition information obtained by the second traffic condition information obtaining means for obtaining the traffic condition information of each intersection inflow path of the second road, and the traffic condition information obtained by the second traffic condition information obtaining means, 3rd setting means for setting the next green signal display time of the traffic signal 2 and the first traffic signal corresponding to the green signal display time according to the green signal display time set by the third setting means And a means for controlling the presenting of the first and second traffic signals according to each signal display time set by the first to fourth setting means. And.

  According to the first aspect, the first traffic signal is based on the traffic condition information of each intersection inflow path of the first road obtained during the red traffic light of the first traffic signal for the first road. The next green traffic light display time is set, and the red traffic light display time of the second traffic signal corresponding to the green traffic display time is set accordingly. Further, based on the traffic condition information of each intersection inflow road of the second road obtained during the red traffic light of the second traffic signal for the second road, the next green signal display time of the second traffic signal is In response to this, the red traffic light display time of the first traffic signal corresponding to the green traffic light display time is set. Thus, in this 1st aspect, the green signal display time of the traffic signal of the present one road is the inflow path of each intersection of the said one road obtained during the red signal display time of the said traffic signal immediately before that It is determined based on the traffic situation. Therefore, according to the first aspect, even if the traffic situation fluctuates suddenly during one cycle, it is possible to realize traffic signal control that follows this more quickly than the prior art. it can.

  The traffic signal control apparatus according to a second aspect of the present invention is the traffic signal control device according to the first aspect, wherein the first traffic condition information acquisition means is the first road that is displaying a red signal of the first traffic signal. First traffic volume acquisition means for obtaining traffic volume at a predetermined position upstream of each intersection inflow path, and each intersection of the first road at a predetermined time point when a red traffic light is displayed on the first traffic signal First signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the intersection of the inflow path.

  In this second mode, an example of obtaining the traffic volume of each intersection inflow path and the number of vehicles waiting for signals is given as traffic condition information of each intersection inflow path of the first road. In this case, with respect to the first road, by using the traffic volume and the number of vehicles waiting for traffic lights, for example, as shown in an eighth aspect to be described later, the green signal display time at which the number of remaining profits at the end of the green light display should be exactly zero is set. Predict with high accuracy. For this reason, according to the said 2nd aspect, more appropriate and efficient traffic signal control is realizable, implement | achieving the traffic signal control which followed the rapid fluctuation | variation of the traffic condition more rapidly.

  The traffic signal control apparatus according to a third aspect of the present invention is the traffic signal control device according to the second aspect, wherein the first traffic volume acquisition means is configured to determine the intersection inflow path of at least one intersection inflow path of the first road. A vehicle detector for detecting the vehicle at a predetermined position on the upstream side, and the number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle detector The traffic volume of the at least one intersection inflow path of the first road is obtained by dividing by.

  This third aspect is a specific example of traffic volume acquisition related to the first road.

  The traffic signal control apparatus according to a fourth aspect of the present invention is the traffic signal control device according to the second aspect, wherein the first signal waiting vehicle number acquisition means is configured to inflow at the intersection with respect to at least one intersection inflow path of the first road. A vehicle detector for detecting a vehicle at a predetermined position upstream of the road, and the number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle detector, It is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of one road.

  This 4th aspect gives the specific example of signal waiting vehicle number acquisition regarding the 1st road. In this case, the number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle detector is used as an estimated value of the number of waiting vehicles.

  The traffic signal control apparatus according to a fifth aspect of the present invention is the traffic signal control apparatus according to the second aspect, wherein: (a) the first traffic volume acquisition means is related to at least one intersection inflow path of the first road; A vehicle detector that senses the vehicle at a predetermined position upstream of the inflow path, and the number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the vehicle detector By dividing by the time of the period, the traffic volume of the at least one intersection inflow path of the first road is acquired, and (b) the first signal waiting vehicle number acquiring means is configured to acquire the traffic volume of the first road. The at least one intersection inflow path includes the vehicle detector in common with the first traffic volume acquisition means, and is displaying red light of the first traffic signal obtained based on the output of the vehicle detector. Passing vehicle for a predetermined period of The number of, those obtained as a signal waiting vehicle number of the at least one intersection inlet channel of the first road.

  This fifth aspect is a specific example of traffic volume acquisition and signal waiting vehicle number acquisition related to the first road. In this case, since the same vehicle detector is shared by the first traffic volume acquisition means and the first signal waiting vehicle number acquisition means, the number of sensors can be reduced and the cost can be reduced. .

  The traffic signal control apparatus according to a sixth aspect of the present invention is the traffic signal control device according to the second aspect, wherein the first signal waiting vehicle number acquisition means is related to the at least one intersection inflow path of the first road. Imaging means for capturing an image including a range between a stop line position of the inflow path and a predetermined position upstream of the intersection inflow path, and the image of the first road based on the image captured by the imaging means The number of vehicles waiting for signals on at least one intersection inflow path is obtained.

  The sixth aspect is a specific example of acquiring the number of signal waiting vehicles relating to the first road. In this case, since the number of signal waiting vehicles is obtained based on the image picked up by the image pickup means, the actual measurement value is obtained as the number of signal waiting vehicles. In this case, the imaging timing of the imaging means is preferably closer to the end point of the red signal display time during the red signal display time of the first traffic signal.

  The traffic signal control apparatus according to a seventh aspect of the present invention is the traffic signal control apparatus according to the second aspect, wherein (a) the first signal waiting vehicle number acquisition means relates to the at least one intersection inflow path of the first road. An image pickup means for picking up an image including a range between a stop line position of the intersection inflow path and a predetermined position on the upstream side of the intersection inflow path, and based on the image picked up by the image pickup means, the first Obtaining the number of vehicles waiting for a signal on the at least one intersection inflow path of the road; and (b) the first traffic volume acquisition means with respect to the at least one intersection inflow path of the first road. The image pickup means is included in common with the signal waiting vehicle number acquisition means, and based on the images picked up by the image pickup means at the first and second timings during the red signal display of the first traffic signal. It is intended to obtain the traffic of the at least one intersection inlet channel of the first road.

  The seventh aspect is a specific example of traffic volume acquisition and signal waiting vehicle number acquisition related to the first road. In this case, since the same imaging means is shared by the first traffic volume acquisition means and the first signal waiting vehicle number acquisition means, the number of sensors can be reduced and the cost can be reduced. Moreover, since the measured value is obtained as the number of vehicles waiting for a signal, it is preferable.

  The traffic signal control apparatus according to an eighth aspect of the present invention is the traffic signal control device according to any one of the second to seventh aspects, wherein: (a) each intersection inflow path of the first road The traffic volume obtained by the traffic volume acquisition means is q, the signal waiting vehicle number obtained by the first signal waiting vehicle number acquisition means is n for the intersection inflow path, and the intersection inflow path is preset. When the saturated traffic flow is S, the first setting means is represented by T = n / (S−q) for each intersection inflow path with respect to each intersection inflow path of the first road. (B) the first setting means is based on the time T of each intersection inflow path of the first road calculated by the first calculation means. The next traffic light of the first traffic signal It is to set the signal display time.

  In the eighth aspect, the time T is the remaining amount at the end of the green signal display when the traffic at the previous red signal display time is regarded as the traffic during the green signal display time for the intersection inflow path. This corresponds to the green light display time when the number should be exactly zero. Therefore, the time T is an accurate predicted value of the green signal display time at which the remaining number of remaining lights at the end of the green signal display should be exactly zero. For this reason, according to the said 8th aspect, since the next green light display time of the 1st traffic signal is set based on the time T of each intersection inflow path of the 1st road, sudden change of traffic conditions Therefore, more appropriate and efficient traffic signal control can be realized while realizing traffic signal control that follows more quickly.

  The traffic signal control apparatus according to a ninth aspect of the present invention is the traffic signal control device according to the eighth aspect, wherein the first setting means is configured to calculate each intersection inflow path of the first road calculated by the first calculation means. Based on the longest time among the times T, the next green signal display time of the first traffic signal is set.

  As in the ninth aspect, it is preferable to set the next green signal display time of the first traffic signal based on the longest time among the time T of each intersection inflow road of the first road. In this case, the longest time may be set as the next green traffic light display time of the first traffic signal as it is. For example, a predetermined correction coefficient (preferably 1 or more for the longest time is 1 A value obtained by multiplying the value may be set as the next green signal display time of the first traffic signal. In the eighth aspect, for example, the next green signal display time of the first traffic signal may be set based on the average time of the times T of the intersection inflow paths of the first road.

  In the traffic signal control apparatus according to a tenth aspect of the present invention, in any one of the first to ninth aspects, the first setting means sets the next green signal display time of the first traffic signal, It is set above a predetermined lower limit value.

  According to the tenth aspect, even when there is almost no traffic volume at each intersection inflow road of the first road, the green light display time of the first traffic signal is too short and the display changes frequently. This is preferable because it is possible to prevent such a situation. But the said 1st thru | or 9th aspect is not limited to this 10th aspect.

  In the traffic signal control apparatus according to an eleventh aspect of the present invention, in any one of the first to tenth aspects, the first setting means sets the next green signal display time of the first traffic signal, It is set below a predetermined upper limit value.

  According to the eleventh aspect, even when the traffic on the first road is conspicuous, the green signal display time of the first traffic signal is too long and the second traffic signal does not switch to the green signal display for a long time. This is preferable because it is possible to prevent such a situation. But the said 1st thru | or 10th aspect is not limited to this 11th aspect.

  The traffic signal control device according to a twelfth aspect of the present invention is the traffic signal control apparatus according to any one of the first to eleventh aspects, wherein the second traffic condition information acquisition means is displaying a red signal of the second traffic signal. , Second traffic volume acquisition means for obtaining traffic volume at a predetermined position on the upstream side of each intersection inflow path of the second road, and the second traffic signal at a predetermined time point during red signal display of the second traffic signal. 2nd signal waiting vehicle number acquisition means which obtains the number of signal waiting vehicles with respect to the said intersection of each intersection inflow way of 2 roads.

  In the twelfth aspect, an example of obtaining the traffic volume of each intersection inflow path and the number of vehicles waiting for signals is given as the traffic situation information of each intersection inflow path of the second road. In this case, with respect to the second road, by using the traffic volume and the number of vehicles waiting for signals, for example, as shown in an eighteenth aspect to be described later, a green signal display time at which the number of remaining profits at the end of the green signal display should be exactly zero is obtained. Predict with high accuracy. For this reason, according to the twelfth aspect, it is possible to realize traffic signal control that is more appropriate and efficient while realizing traffic signal control that more quickly follows rapid fluctuations in traffic conditions.

  The traffic signal control apparatus according to a thirteenth aspect of the present invention is the traffic signal control device according to the twelfth aspect, wherein the second traffic volume acquisition means is configured to determine the intersection inflow path of at least one intersection inflow path of the second road. A vehicle detector for detecting the vehicle at a predetermined position on the upstream side, and the number of passing vehicles in a predetermined period during the red signal display of the second traffic signal obtained based on the output of the vehicle detector The traffic volume of the at least one intersection inflow path of the second road is obtained by dividing by.

  The thirteenth aspect is a specific example of traffic volume acquisition related to the second road.

  The traffic signal control apparatus according to a fourteenth aspect of the present invention is the traffic signal control device according to the twelfth aspect, wherein the second signal waiting vehicle number acquisition means is configured to inflow at the intersection with respect to at least one intersection inflow path of the second road. A vehicle detector for detecting the vehicle at a predetermined position upstream of the road, and the number of passing vehicles in a predetermined period during the red signal display of the second traffic signal obtained based on the output of the vehicle detector, This is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of the two roads.

  The fourteenth aspect is a specific example of obtaining the number of signal waiting vehicles relating to the second road. In this case, the number of passing vehicles in a predetermined period during the red signal display of the second traffic signal obtained based on the output of the vehicle detector is used as an estimated value of the number of waiting vehicles.

  The traffic signal control apparatus according to a fifteenth aspect of the present invention is the traffic signal control apparatus according to the twelfth aspect, wherein: (a) the second traffic volume acquisition means is associated with at least one intersection inflow path of the second road; A vehicle detector that senses the vehicle at a predetermined position upstream of the inflow path, and the number of passing vehicles in a predetermined period during a red signal display of the second traffic signal obtained based on the output of the vehicle detector By dividing by the time of the period, the traffic volume of the at least one intersection inflow path of the second road is acquired, and (b) the second signal waiting vehicle number acquisition means is configured to acquire the traffic volume of the second road. Regarding the at least one intersection inflow path, the vehicle traffic sensor is included in common with the second traffic volume acquisition means, and the red traffic light of the second traffic traffic signal obtained based on the output of the vehicle sensor is being displayed. Passage of a predetermined period of Both the number is to obtain as a signal waiting vehicle number of the at least one intersection inlet channel of the second road.

  The fifteenth aspect is a specific example of traffic volume acquisition and signal waiting vehicle number acquisition related to the second road. In this case, since the same vehicle detector is shared by the second traffic volume acquisition means and the second signal waiting vehicle number acquisition means, the number of sensors can be reduced and the cost can be reduced. .

  The traffic signal control apparatus according to a sixteenth aspect of the present invention is the traffic signal control device according to the twelfth aspect, wherein the second signal waiting vehicle number acquisition means is related to the at least one intersection inflow path of the second road. Imaging means for capturing an image including a range between a stop line position of the inflow path and a predetermined position on the upstream side of the intersection inflow path, and based on the image captured by the imaging means, the second road The number of vehicles waiting for signals on at least one intersection inflow path is obtained.

  The sixteenth aspect is a specific example of obtaining the number of signal waiting vehicles relating to the second road. In this case, since the number of signal waiting vehicles is obtained based on the image picked up by the image pickup means, the actual measurement value is obtained as the number of signal waiting vehicles. The imaging timing of the imaging means in this case is preferably as close as possible to the end point of the red signal display time during the red signal display time of the second traffic signal.

  In the traffic signal control apparatus according to a seventeenth aspect of the present invention, in the twelfth aspect, (a) the second signal waiting vehicle number acquisition means relates to the at least one intersection inflow path of the second road. An image pickup means for picking up an image including a range between a stop line position of the intersection inflow path and a predetermined position upstream of the intersection inflow path, and the second image based on the image picked up by the image pickup means Obtaining the number of vehicles waiting for a signal on the at least one intersection inflow path of the road; and (b) the second traffic volume acquisition means relates to the second inflow path on the at least one intersection of the second road. Based on images captured at the first and second timings during the red signal display of the second traffic signal by the imaging means, including the imaging means in common with the signal waiting vehicle number acquisition means. It is intended to obtain the traffic of the at least one intersection inlet channel of the second road.

  The seventeenth aspect is a specific example of traffic volume acquisition and signal waiting vehicle number acquisition related to the second road. In this case, since the same imaging means is shared by the second traffic volume acquisition means and the second signal waiting vehicle number acquisition means, the number of sensors can be reduced, and the cost can be reduced. Moreover, since the measured value is obtained as the number of vehicles waiting for a signal, it is preferable.

  The traffic signal control apparatus according to an eighteenth aspect of the present invention is the traffic signal control apparatus according to any one of the twelfth to seventeenth aspects, wherein: (a) the second inflow path of the second road Q is the traffic volume obtained by the traffic volume acquisition means, and n is the number of signal waiting vehicles obtained by the second signal waiting vehicle number acquisition means for the intersection inflow path, and is preset for the intersection inflow path. When the saturated traffic flow is S, the third setting means is expressed by T = n / (S−q) for each intersection inflow path for each intersection inflow path of the second road. And (b) the third setting means based on the time T of each intersection inflow path of the second road calculated by the second calculation means. The second traffic signal It is to set a green light display time of times.

  In the eighteenth aspect, the time T is the remaining amount at the end of the green light display when the traffic at the previous red light display time is regarded as the traffic during the green light display time for the intersection inflow path. This corresponds to the green light display time when the number should be exactly zero. Therefore, the time T is an accurate predicted value of the green signal display time at which the remaining number of remaining lights at the end of the green signal display should be exactly zero. For this reason, according to the eighteenth aspect, since the next green signal display time of the second traffic signal is set based on the time T of each intersection inflow path of the second road, the traffic condition suddenly fluctuates. Therefore, more appropriate and efficient traffic signal control can be realized while realizing traffic signal control that follows more quickly.

  The traffic signal control apparatus according to a nineteenth aspect of the present invention is the traffic signal control device according to the eighteenth aspect, wherein the third setting means is configured to calculate each intersection inflow path of the second road calculated by the second calculation means. Based on the longest time among the times T, the next green signal display time of the second traffic signal is set.

  As in the nineteenth aspect, it is preferable to set the next green traffic light display time for the second traffic signal based on the longest time among the times T of the intersection inflow paths of the second road. In this case, the longest time may be set as the next green traffic light display time of the second traffic signal as it is. For example, a predetermined correction coefficient (preferably 1 or more for the longest time is 1 A value obtained by multiplying by the second traffic signal may be set as the next green signal display time of the second traffic signal. In the eighteenth aspect, for example, the next green light display time of the second traffic signal may be set based on the average time of the times T of the intersection inflow paths of the second road.

  In the traffic signal control apparatus according to a twentieth aspect of the present invention, in any one of the first to nineteenth aspects, the third setting means sets the next green signal display time of the second traffic signal, It is set above a predetermined lower limit value.

  According to the twentieth aspect, even when there is almost no traffic volume on each intersection inflow road of the second road, the green light display time of the second traffic signal is too short and the display changes frequently. This is preferable because it is possible to prevent such a situation. However, the first to nineteenth aspects are not limited to the twentieth aspect.

  In the traffic signal control apparatus according to a twenty-first aspect of the present invention, in any one of the first to twenty-first aspects, the third setting means determines the next green signal display time of the second traffic signal, It is set below a predetermined upper limit value.

  According to the twenty-first aspect, even when the traffic on the second road is conspicuous, the green signal display time of the second traffic signal is too long, and the first traffic signal does not switch to the green signal display for a long time. This is preferable because it is possible to prevent such a situation. However, the first to twentieth aspects are not limited to the twenty-first aspect.

  ADVANTAGE OF THE INVENTION According to this invention, the traffic signal control apparatus which can implement | achieve the traffic signal control which followed the rapid fluctuation | variation of the traffic condition more rapidly, and a traffic signal system using the same can be provided.

  Further, according to the present invention, a traffic signal control device capable of realizing more appropriate and efficient traffic signal control while realizing traffic signal control that more quickly follows a sudden change in traffic conditions, And the traffic signal system using the same can be provided.

  Hereinafter, a traffic signal control apparatus and a traffic signal system using the same according to the present invention will be described with reference to the drawings.

  [First Embodiment]

  FIG. 1 is a schematic block diagram showing a traffic signal system according to a first embodiment of the present invention. FIG. 2 is a schematic plan view schematically showing the intersection CR where the traffic signals A1 to A4 of this traffic signal system are installed. FIG. 3 shows an example of the state of the vehicle 100 on the intersection inflow path R1 of the road 101 in FIG. 2, and the field of view of the TV camera C1 and the sensing position of the vehicle detector B1 arranged in relation to the intersection inflow path R1. It is explanatory drawing which shows. In FIG. 3, the vehicle 100 stopped before the stop line L1 is indicated by a solid line, and the vehicle 100 traveling toward the intersection CR is indicated by a broken line.

  As shown in FIGS. 1 and 2, the traffic signal system according to the present embodiment controls traffic signals A1 to A4 and traffic signals A1 to A4 installed at an intersection CR where a road 101 and a road 102 intersect. A traffic signal control device 1 is provided.

  As shown in FIG. 2, traffic signals (first traffic signals) A1 and A2 for one road 101 are installed so as to display traffic signals for intersection inflow paths R1 and R2 of the road 101. . Similarly, traffic signals (second traffic signals) A3 and A4 for the other road 102 are installed so as to display traffic signals on the intersection inflow paths R3 and R4 of the road 102. The inflow directions of the intersection inflow paths R1 and R2 with respect to the intersection CR are opposite to each other, and the inflow directions of the intersection inflow paths R3 and R4 with respect to the intersection CR are opposite to each other. The traffic signals A1 and A2 display the same signal, and the traffic signals A3 and A4 display the same signal. L1 to L4 in FIG. 2 are stop lines of the inflow paths R1 to R4 with respect to the intersection CR, respectively.

  As shown in FIGS. 1 and 2, the traffic signal control device 1 includes vehicle sensors B1 to B4 such as ultrasonic vehicle sensors, television cameras C1 to C4 as imaging means, and a congestion length measurement processing unit D1 to D1. D4, a control processing unit 2, and a drive circuit 3 that lights and drives traffic signals A1 to A4 according to a control signal from the control processing unit 2.

  As shown in FIGS. 2 and 3, the vehicle detectors B1 to B4 detect the vehicle 100 at predetermined positions upstream of the intersection inflow paths R1 to R4 (for example, a position 170 m from the intersection CR). The television cameras C1 to C4 respectively capture images including ranges of the positions of the stop lines L1 to L4 of the intersection inflow paths R1 to R4 and an upstream predetermined position (for example, a position 150 m from the intersection CR). The vehicle detectors B1 to B4 are preferably arranged outside the visual field of the television cameras C1 to C4, but may be arranged within the visual field.

  The traffic jam length measurement processing units D1 to D4 respectively process the images from the television cameras C1 to C4 to obtain the lengths of the vehicles 100 (jamming traffic lengths) stopped before the stop lines L1 to L4. A device combining such a television camera and a traffic jam length measurement processing unit has been put into practical use as a traffic jam length measurement processing device, and is well known.

  The control processing unit 2 is configured by, for example, a computer and the like, based on the detection signals from the vehicle detectors B1 to B4 and the output signals indicating the congestion length from the congestion length measurement processing units D1 to D4. A control process for controlling the signal display is performed.

  Here, with reference to FIG. 4, a description will be given of a time T <b> 0 when the remaining number of earnings is exactly zero for any one of the intersection inflow paths R <b> 1 to R <b> 4. FIG. 4 shows the passage of time from the end of the red light, the number of inflows into the intersection CR through the intersection inflow path (cumulative number), and the number of outflows from the intersection CR through the intersection inflow path (cumulative). Number). In FIG. 4, the number of waiting signals at the end of the red signal (at the start of the green signal) is n0, the inflow traffic q0 (vehicle / second) to the intersection CR by the intersection inflow path in the green signal is constant, The outflow from the intersection CR through the intersection inflow path is assumed to be performed with a saturated traffic flow S0 (unit / second) having a constant value set for the intersection inflow path.

  In this case, since q0> S0, when the time (blue time) elapses from the end of the red signal, the accumulated number of outflows coincides with the accumulated number of inflows. The time T (the elapsed time from the end of the red signal) when both coincide is represented by an equation of T0 = n0 / (S0−q0) (hereinafter referred to as “the equation obtained in FIG. 4”). If the blue time ends when the time T0 has elapsed, the remaining number of profits at that time is exactly zero. Therefore, it can be seen that if the blue time is terminated when the time T0 elapses, there is no remaining profit in the intersection inflow path, and the blue time is not wasted, which is efficient.

  Focusing on this point, in the present embodiment, the expression obtained in FIG. 4 is approximately applied to obtain a time corresponding to time T0 (time T1 to T4 described later), and this is used for signal control.

  Next, the operation of the control processing unit 2 will be specifically described with reference to FIGS. 6 to 9 are schematic flowcharts showing the operation of the control processing unit 2. FIG. 5 is a time chart showing an operation example of the traffic signals A1 to A4 realized by the operation of the control processing unit 2.

  In the present embodiment, in FIG. 5, the total red time (the time for which all traffic signals A1 to A4 display red signals) AR, the yellow signal display time (yellow time) Ym of traffic signals A1 and A2, and The yellow hours Ys of the traffic signals A3 and A4 are always fixed values, and these values are stored in an internal memory (not shown) of the control processing unit 2. On the other hand, the green signal display time (green time) Gm of the traffic signals A1 and A2 and the green signal display time (blue time) Gs of the traffic signals A3 and A4 are variable values set each time. Traffic signal A1, A2 single red signal display time (single red time) (only traffic signal A1, A2 performs red signal display, traffic signal A3, A4 displays green signal display or yellow signal display) Rm, and Rs is Rm = Gs + Ys and Rs = Gm + Ym, respectively, when the traffic lights A3 and A4 are alone in red time (only traffic signals A3 and A4 display red signals and traffic signals A1 and A2 display green signals or yellow signals). Is a variable value set according to As can be seen from FIG. 5, the red signal display time (red time) of traffic signals A1 and A2 is the entire continuous AR + Rm + AR, and the red signal display time (red time) of traffic signals A3 and A4 is the entire continuous AR + Rs + AR. It is. However, the present invention is not necessarily limited to these. The values of Gm, Gs, Rm, and Rs are set by being stored in the internal memory of the control processing unit 2 and updated to a new value each time.

  When starting the operation, the control processing unit 2 first causes all the traffic lights A1 to A4 to start displaying red (that is, start all red) (step S1).

  Next, the control processing unit 2 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S2).

  Next, the control processing unit 2 sets the next blue time Gs of the traffic lights A3 and A4 on the road 102 to the initial value Gs0 (step S3).

  Thereafter, the control processing unit 2 calculates the next single red time Rm of the traffic lights A1 and A2 on the road 101 by Rm = Gs + Ys (step S4).

  Subsequently, the control processing unit 2 determines whether or not the total red time AR has elapsed from the time of step S2 (step S5). If the total red time AR has not elapsed, the control processing unit 2 waits until the total red time AR has elapsed. When the total red time AR has elapsed, the control processing unit 2 terminates the red signal display on the traffic lights A3 and A4 on the road 102. Green signal display is started (step S6).

  Next, the control processing unit 2 measures the number N1 of vehicles 100 detected by the vehicle detector B1 of the intersection inflow path R1 of the road 101, and is detected by the vehicle sensor B2 of the intersection inflow path R2 of the road 101. Measurement of the number N2 of vehicles 100 to be started is started (step S7). That is, the control processing unit 2 resets the values of the numbers N1 and N2 in the internal memory to zero at the time of step S7, and from the time of step S7 to the time of step S13 to end the measurement described later, Each time a sensing signal is obtained from the vehicle detector B1, the value of the number N1 is incremented by 1 by an interruption process, and every time a sensing signal is obtained from the vehicle sensor B2, the value of the number N2 is incremented by 1 by an interruption process. .

  After step S7, the control processing unit 2 starts after resetting the built-in timer (t) for measuring the elapsed time t to t = 0 (step S8).

  Next, the control processing unit 2 determines whether or not the currently set blue time Gs has elapsed since the time of step S8 (step S9). If the blue time Gs has not elapsed, the control processing unit 2 waits until the blue time Gs has elapsed. When the blue time Gs has elapsed, the control processing unit 2 terminates the green signal display on the traffic lights A3 and A4 on the road 102 and displays the yellow signal display. Start (step S10).

  Next, the control processing unit 2 determines whether or not the single red time Rm of the traffic lights A1 and A2 on the road 101 calculated at the latest in step S4 has elapsed since the time of step S8 (step S11). If the single red time Rm has not elapsed, the control processing unit 2 waits until the single red time Rm has elapsed. When the single red time Rm has elapsed, the control processing unit 2 terminates the yellow signal display on the traffic lights A3 and A4 on the road 102. Red signal display is started (that is, all red is started) (step S12).

  Thereafter, the control processing unit 2 performs the measurement started in step S7 (that is, the measurement of the number N1 of the vehicles 100 sensed by the vehicle detector B1 in the intersection inflow path R1 of the road 101, and the intersection inflow path R2 of the road 101). The measurement of the number N2 of vehicles 100 sensed by the vehicle sensor B2 is terminated (step S13). Therefore, after step S13, the number N1 in the memory of the control processing unit 2 is the number of vehicles that have passed the sensing position of the vehicle detector B1 in the intersection inflow path R1 of the road 101 during the previous single red time Rm. Show. Similarly, after step S13, the number N2 in the memory of the control processing unit 2 is the number of vehicles that have passed the sensing position of the vehicle detector B2 in the intersection inflow path R2 of the road 101 during the previous single red time Rm. Indicates.

  Next, the control processing unit 2 detects the current traffic jam length E1 measured by the camera C1 and the traffic jam length measurement processing unit D1 of the intersection 101 of the road 101, and the camera C2 and the traffic jam of the intersection 101 of the road 101. The current traffic jam length E2 measured by the length measurement processing unit D2 is taken into the internal memory (step S14).

  Next, the control processing unit 2 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S15).

  Thereafter, the control processing unit 2 uses the number of passing vehicles N1 and N2 in the single red time Rm most recently obtained in steps S7 and S13 and the single red time Rm obtained most recently in step S4, and q1 = The traffic volume q1 (vehicles / second) of the intersection inflow path R1 of the road 101 and the traffic volume q2 (vehicles / second) of the intersection inflow path R2 of the road 101 are respectively calculated by N1 / Rm and q2 = N2 / Rm ( Steps S16 and S17).

  Further, the control processing unit 2 uses the traffic jam length E1 of the intersection inflow route R1 of the road 101 and the traffic jam length E2 of the intersection inflow route R2 of the road 101, and the predetermined average vehicle head distance F, which are captured in step S14. Thus, by n1 = E1 / F and n2 = E2 / F, the number of signal waiting vehicles n1 on the intersection inflow path R1 of the road 101 and the number of signal waiting vehicles n2 on the intersection inflow path R2 of the road 101 are respectively calculated (step S18). , S19).

  Thereafter, the control processing unit 2 performs q1, q2, n1, and n2 that are calculated most recently in steps S16 to S19, a saturated traffic flow (car / second) S1 that is preset for the intersection inflow path R1, and the intersection inflow path R2. Times T1 and T2 are respectively calculated by using T1 = n1 / (S1-q1) and T2 = n2 / (S2-q2) using a saturated traffic flow (unit / second) S2 set in advance for (Step S20). , S21).

  Time T1 relates to the intersection inflow route R1, the traffic volume q1 of the intersection inflow route R1 during the single red time Rm coincides with the inflow traffic amount q0 (see FIG. 4) during the next blue time Gm, and the single red time Rm. Assuming that the number of signal-waiting vehicles n1 at the end coincides with the number of signal-waiting vehicles n0 (see FIG. 4) at the end of the red time (at the start of the next blue time Gm) (predicted) and obtained in FIG. This corresponds to the time T0 obtained by applying the above equation. The time T2 is the same as the time T1, and the same applies to the times T3 and T4 described later.

  In order to further improve such prediction accuracy, the timing of step S13 and the timing of step S14 should be closer to the red time end point (blue time Gm) of traffic lights A1 and A2, and the single red time Rm It may be in the middle of the next all red time AR. However, in the present embodiment, the processing up to step S31 needs to be completed by the end of the red time of traffic lights A1 and A2. The same applies to the timing of step S40 and the timing of step S41 described later.

  After step S21, the control processing unit 2 sets the minimum value Gmin1 and the maximum value that are set in advance for the green times Gm of the traffic lights A1 and A2 on the road 101 with respect to the times T1 and T2 that are most recently obtained in steps S20 and S21. The determination using Gmax1 (steps S22 to S26) is performed, and when T1 ≧ T2 and Gmax1 ≧ T1 ≧ Gmin1, the next blue time Gm of traffic lights A1, A2 on the road 101 is set to T1 (step S27). When T <2 and Gmax1 ≧ T2 ≧ Gmin1, the next green time Gm of the traffic lights A1 and A2 on the road 101 is set to T2 (step S30), and when T1 ≧ T2 and T1 <Gmin1, and T1 <T2 and T2 < In the case of Gmin1, the next green time Gm of traffic lights A1 and A2 on the road 101 is set to Gmin1 (step S29), and T1 ≧ 2 and sets the next green time Gm traffic light A1, A2 of the road 101 to Gmax1 in cases of T1> Gmax1 and T1 <T2 and T2> Gmax1 (step S28).

  However, in the present invention, it is not necessary to use both or one of the minimum value Gmin1 and the maximum value Gmax1. When neither the minimum value Gmin1 nor the maximum value Gmax1 is used, the next blue time Gm may be set to T1 when T1 ≧ T2, and the next blue time Gm may be set to T2 when T1 <T2. Further, when only the minimum value Gmin1 is not used, steps S23, S25, and S29 are removed. If YES in step S22, the process proceeds to step S24. If NO in step S22, the process proceeds to step S26. Furthermore, when only the maximum value Gmax1 is not used, steps S24, S26, and S28 are removed. If YES in step S23, the process proceeds to step S27. If YES in step S25, the process proceeds to step S30. These points are the same in steps S49 to S57 described later.

  In the present invention, in Steps S22 to S30, instead of directly using the time T1, a value obtained by multiplying the time T1 by a predetermined correction coefficient (preferably 1 or more, but may be smaller than 1) is used. It may be used. Similarly, in steps S22 to S30, instead of directly using the time T2, a value obtained by multiplying the time T2 by a predetermined correction coefficient (preferably 1 or more, but may be smaller than 1) may be used. Good. Furthermore, in this invention, you may perform the process using the average value Tav = (T1 + T2) / 2 of time T1, T2 instead of S22-S30, for example. In this case, using both the minimum value Gmin1 and the maximum value Gmax1, the next blue time Gm is set to Tav when Gmax1 ≧ Tav ≧ Gmin1, and the next blue time Gm is set to Gmin1 when Tav <Gmin1. When Tav> Gmax1, the next blue time Gm may be set to Gmax1. Further, even when the average value Tav is used, it is not necessary to use both or one of the minimum value Gmin1 and the maximum value Gmax1. These points are the same in steps S49 to S57 described later.

  After steps S27 to S30, the control processing unit 2 calculates the next single red time Rs of the traffic lights A3 and A4 on the road 102 by Rs = Gm + Ym (step S31).

  Subsequently, the control processing unit 2 determines whether or not the all red time AR has elapsed from the time of step S15 (step S32). If the total red time AR has not elapsed, the control processing unit 2 waits until the total red time AR has elapsed. When the total red time AR has elapsed, the control signal processing unit 2 terminates the red signal display on the traffic lights A1 and A2 on the road 101. Green signal display is started (step S33).

  Next, the control processing unit 2 measures the number N3 of vehicles 100 sensed by the vehicle sensor B3 in the intersection inflow path R3 of the road 102, and is sensed by the vehicle sensor B4 in the intersection inflow path R4 of the road 102. Measurement of the number N4 of vehicles 100 to be started is started (step S34). That is, the control processing unit 2 resets the values of the numbers N3 and N4 in the internal memory to zero at the time of step S34, and from the time of step S34 to the time of step S40 to end the measurement described later, Each time a sensing signal is obtained from the vehicle sensor B3, the value of the number N3 is incremented by 1 by interruption processing, and every time a sensing signal is obtained from the vehicle sensor B4, the value of the number N4 is incremented by 1 by interruption processing. .

  After step S34, the control processing unit 2 starts after resetting the built-in timer (t) for measuring the elapsed time t to t = 0 (step S35).

  Next, the control processing unit 2 determines whether or not the currently set blue time Gm has elapsed since the time of step S35 (step S36). If the blue time Gm has not elapsed, the control processing unit 2 waits until the blue time Gm has elapsed. When the blue time Gm has elapsed, the control processing unit 2 terminates the green signal display on the traffic lights A1 and A1 on the road 101 and displays the yellow signal display. Start (step S37).

  Next, the control processing unit 2 determines whether or not the single red time Rs of the traffic signals A3 and A4 on the road 102 calculated at the latest in step S31 has elapsed since the time of step S35 (step S38). If the single red time Rs has not elapsed, the control processing unit 2 waits until the single red time Rs has elapsed. When the single red time Rs has elapsed, the control processing unit 2 terminates the yellow signal display on the traffic lights A1 and A2 on the road 101. Red signal display is started (that is, all red is started) (step S39).

  Thereafter, the control processing unit 2 performs the measurement started in step S34 (that is, the measurement of the number N3 of vehicles 100 sensed by the vehicle detector B3 in the intersection inflow path R3 of the road 102, and the intersection inflow path R4 of the road 102). (Measurement of the number N4 of vehicles 100 sensed by the vehicle sensor B4) is terminated (step S40). Therefore, after step S40, the number N3 in the memory of the control processing unit 2 is the number of vehicles that have passed through the sensing position of the vehicle detector B3 in the intersection inflow path R3 of the road 102 during the previous single red time Rs. Show. Similarly, after step S40, the number N4 in the memory of the control processing unit 2 is the number of vehicles that have passed the detection position of the vehicle detector B4 in the intersection inflow path R4 of the road 102 during the previous single red time Rs. Indicates.

  Next, the control processing unit 2 determines the current traffic jam length E3 measured by the camera C3 and the traffic jam length measurement processing unit D3 of the intersection 102 of the road 102, and the camera C4 and the traffic jam of the traffic inflow path R4 of the road 102. The current congestion length E4 measured by the length measurement processing unit D4 is taken into the internal memory (step S41).

  Next, the control processing unit 2 starts after resetting a built-in timer (t) for measuring the elapsed time t to t = 0 (step S42).

  Thereafter, the control processing unit 2 uses the number of passing vehicles N3 and N4 during the single red time Rs obtained most recently in steps S34 and S40 and the single red time Rs obtained most recently in step S31, so that q3 = By calculating N3 / Rs, q4 = N4 / Rs, the traffic volume q3 (vehicle / second) of the intersection inflow path R3 of the road 102 and the traffic volume q4 (vehicle / second) of the intersection inflow path R4 of the road 102 are respectively calculated ( Steps S43 and S44).

  Further, the control processing unit 2 uses the traffic jam length E3 of the intersection inflow path R3 of the road 102 and the traffic jam length E4 of the intersection inflow path R4 of the road 102, and the predetermined average vehicle head distance F, which are latest captured in step S41. Thus, by n3 = E3 / F and n4 = E4 / F, the number of waiting vehicles for signal n3 on intersection inflow path R3 of road 102 and the number of waiting vehicles for signal n4 on intersection inflow path R4 of road 102 are calculated (step S45). , S46).

  After that, the control processing unit 2 calculates q3, q4, n3, n4, which is the latest calculated in steps S43 to S46, a saturated traffic flow (car / second) S3 preset for the intersection inflow path R3, and the intersection inflow path R4. Times T3 and T4 are calculated by using T3 = n3 / (S3-q3) and T4 = n4 / (S4-q4), respectively, using the saturated traffic flow (units / second) S4 set in advance (step S47). , S48).

  After step S48, the control processing unit 2 determines the minimum value Gmin2 and the maximum value set in advance for the blue times Gs of the traffic lights A3 and A4 on the road 102 with respect to the times T3 and T4 obtained most recently in steps S47 and S48. The determination using Gmax2 (steps S49 to S53) is performed, and when T3 ≧ T4 and Gmax2 ≧ T3 ≧ Gmin2, the next blue time Gs of traffic lights A3 and A4 on the road 102 is set to T3 (step S54). When T <4 and Gmax2 ≧ T4 ≧ Gmin2, the next blue time Gs of traffic lights A3, A4 on the road 102 is set to T4 (step S57), and when T3 ≧ T4 and T3 <Gmin2, and T3 <T4 and T4 < In the case of Gmin2, the next green time Gs of traffic lights A3 and A4 on the road 102 is set to Gmin2 (step S56), and T3 ≧ 4 and sets the next green time Gs traffic light A3, A4 road 102 Gmax2 in cases of T3> Gmax2 and T3 <T4 and T4> Gmax2 (step S55).

  After steps S49 to S27, the process returns to step S4.

  As can be seen from the above description, in the present embodiment, the traffic status information of the intersection inflow paths R1 and R2 of the road 101 during the red signal display of the traffic lights A1 and A2 of the road 101 is obtained in steps S16 and S17. The traffic volumes q1 and q2 of the calculated inflow paths R1 and R2 and the signal waiting vehicle numbers n1 and n2 of the inflow paths R1 and R2 calculated in steps S18 and S19 are obtained. In the present invention, the traffic condition information is not limited to the traffic volumes q1 and q2 and the number of traffic signals waiting vehicles n1 and n2. In the present embodiment, the vehicle detectors B1 and B2 and the functions of steps S7, S8, S16, and S17 of the control processing unit 2 constitute acquisition means for obtaining the traffic volumes q1 and q2. In this embodiment, the number of waiting vehicles for signals n1, n2 is obtained by the functions of the television cameras C1, C2, the congestion length measurement processing units D1, D2, and the steps S14, S18, S19 of the control processing unit 2. Means are configured.

  Further, in the present embodiment, the inflow path R3 calculated in steps S43 and S44 is used as the traffic condition information of the intersection inflow paths R3 and R4 of the road 102 during the red signal display of the traffic lights A3 and A3 of the road 102. The traffic volume q3, q4 of R4 and the number of waiting vehicles n3, n4 for the inflow paths R3, R4 calculated in steps S45, S46 are obtained. In the present invention, the traffic condition information is not limited to the traffic volumes q3 and q4 and the number of traffic signal waiting vehicles n3 and n4. In the present embodiment, the vehicle detectors B3, B4 and the functions of steps S34, S40, S43, S44 of the control processing unit 2 constitute acquisition means for obtaining the traffic volumes q3, q4. In the present embodiment, the number of waiting vehicles for traffic signals n3 and n4 is obtained by the functions of steps S41, S45, and S469 of the television camera C3 and C4, the congestion length measurement processing units D3 and D4, and the control processing unit 2. Means are configured.

  According to the present embodiment, the traffic light A1 is based on the traffic condition information q1, q2, n1, n2 of the intersection inflow paths R1, R2 of the road 101 obtained during the red traffic lights of the traffic lights A1, A2 of the road 101. , A2's next blue time Gm is set, and accordingly, the red times of traffic lights A3, A4 corresponding to the blue time Gm are set. Further, based on the traffic status information q3, q4, n3, n4 of the intersection inflow paths R3, R4 of the road 102 obtained during the red traffic lights of the traffic lights A3, A4 of the road 102, the next blue of the traffic lights A3, A4 The time Gs is set, and the red time of the traffic lights A1 and A2 corresponding to the blue time Gs is set accordingly. Thus, in the present embodiment, the current green time of the traffic light on one road is based on the traffic situation of each intersection inflow path of the one road obtained during the red time of the traffic light immediately before that. ,It is determined. Therefore, according to the present embodiment, traffic signal control can be realized that follows more rapidly than the prior art even if the traffic situation fluctuates rapidly during one cycle. .

  In the present embodiment, the time T1 to T4 is the end of the blue time when the traffic volume q1 to q4 of the previous red hour is regarded as the traffic volume during the blue hour for the intersection inflow path. This is equivalent to the blue hour when the number of remaining profits should be zero. Therefore, the time T1 to T4 is a predicted value with high accuracy of the blue time when the remaining number of earnings at the end of the blue time should be exactly zero for the intersection inflow path. Therefore, in the present embodiment, the next green time Gm of the traffic lights A1 and A2 is set based on the times T1 and T2 of the intersection inflow paths R1 and R2 of the road 101, and each intersection inflow path R3 of the road 102 is set. , R4, the next green time Gm of traffic lights A3, A4 is set based on times T3, T4, so that traffic signal control can be performed more quickly while following a rapid change in traffic conditions. Efficient traffic signal control can be realized.

  Further, in the present embodiment, as described above, the next green time Gm of the traffic lights A1 and A2 on the road 101 is set to the lower limit Gmin1 or more, and the next blue time Gs of the traffic lights A3 and A4 on the road 102 is the lower limit. It is set to the value Gmin2 or more. Therefore, even when there is almost no traffic volume on the inflow paths R1 and R2 of the road 101 or when there is almost no traffic volume on the inflow paths R3 and R4 of the road 102, the traffic lights A1 and A2 of the road 101 It is possible to prevent a situation in which the display changes frequently due to the blue time Gm being too short or the blue times Gs of the traffic lights A3 and A4 on the road 102 being too short.

  Further, in the present embodiment, as described above, the next green time Gm of the traffic lights A1 and A2 on the road 101 is set to the upper limit value Gmax1 or less, so that even when the traffic on the road 101 is conspicuous, the road It is possible to prevent a situation in which the green time Gm of the traffic lights A1 and A2 101 is too long and the traffic lights A3 and A4 on the road 102 do not switch to blue for a long time. Similarly, since the next green time Gs of the traffic lights A3 and A4 on the road 102 is set to the upper limit value Gmax2 or less, the blue time Gs of the traffic lights A3 and A4 on the road 102 even when the traffic on the road 102 is significant. It is possible to prevent a situation in which the traffic lights A1 and A2 on the road 101 do not switch to blue for a long time due to being too long.

  [Second Embodiment]

  Next, a traffic signal system according to a second embodiment of the present invention will be described. Although not shown in the drawing, the traffic signal system according to the present embodiment differs from the traffic signal system according to the first embodiment in that the vehicle sensors B1 to B4 are removed, and accordingly, the control processing is performed. The unit 2 only performs the operations shown in FIGS. 10 to 13 instead of the operations shown in FIGS. 6 to 9 described above. Therefore, the description overlapping with the first embodiment is omitted.

  10 to 13 are schematic flowcharts showing the operation of the control processing unit 2 of the traffic signal system according to the second embodiment of the present invention. 10 to 13, steps that are the same as or correspond to steps in FIGS. 6 to 9 are given the same reference numerals, and redundant descriptions thereof are omitted.

  In the present embodiment, as vehicle detectors B1 and B2 are removed, steps S7, S13, S16, and S17 in FIGS. 6 and 7 are removed, as shown in FIGS. Instead, step S61 is performed between steps S6 and S8, steps S62 and S63 are performed between steps S15 and S18, and steps S64 and S65 are performed between steps S19 and S20.

  In the present embodiment, in step S61, the control processing unit 2 determines the current traffic jam length E1 ′ measured by the camera C1 and the traffic jam length measurement processing unit D1 of the intersection inflow path R1 of the road 101, similarly to step S14. Then, the current traffic jam length E2 ′ measured by the camera C2 and the traffic jam length measurement processing unit D2 of the intersection inflow path R2 of the road 101 is taken into the internal memory. The traffic jam lengths E1 and E2 obtained in step S14 are those at the end of the single red time Rm of the traffic lights A1 and A2 on the road 101, whereas the traffic jam lengths E1 ′ and E2 ′ obtained in step S61 are the single red time Rm. They differ in that it is the length of the traffic jam at the start.

  In steps S62 and S63, the control processing unit 2 determines the traffic jam length E1 ′ of the intersection inflow route R1 of the road 101 and the traffic jam length E2 ′ of the intersection inflow route R2 of the road 101, which are acquired in the latest in step S61, and predetermined values. Using the average vehicle head gap F, n1 ′ = E1 ′ / F, n2 ′ = E2 ′ / F, the number of vehicles waiting for signals n1 ′ on the intersection inflow path R1 of the road 101 and the signal waiting on the intersection inflow path R2 of the road 101 The number of vehicles n2 ′ is calculated respectively. Note that the number of signal waiting vehicles n1 and n2 obtained in steps S18 and S19 is the number of signal waiting vehicles at the end of the single red time Rm of the traffic lights A1 and A2 on the road 101, whereas the signal waiting vehicles obtained in steps S62 and 63. The numbers n1 ′ and n2 ′ are different from each other in that they are the number of waiting vehicles at the start of the single red time Rm.

  In steps S64 and S65, the control processing unit 2 determines the latest number of signal waiting vehicles n1 ′ and n2 ′ obtained in steps S62 and S63, and the number of waiting vehicles n1 and n2 obtained in steps S18 and S19. And, using the single red time Rm obtained at the latest in step S4, q1 = (n1−n1 ′) / Rm, q2 = (n2−n2 ′) / Rm, and the intersection inflow path R1 of the road 101 Traffic volume q1 (vehicle / second) and the traffic volume q2 (vehicle / second) of the intersection inflow path R2 of the road 101 are calculated respectively. In steps S20 and S21, it is needless to say that the traffic volumes q1 and q2 obtained most recently in steps S64 and S62 are used.

  Further, in the present embodiment, as vehicle detectors B3 and B4 are removed, steps S34, S40, S43 and S44 in FIGS. 8 and 9 are removed as shown in FIGS. Instead, step S66 is performed between steps S33 and S35, steps S67 and S68 are performed between steps S42 and S45, and steps S69 and S70 are performed between steps S46 and S47.

  In the present embodiment, in step S66, the control processing unit 2 determines the current traffic jam length E3 ′ measured by the camera C3 and the traffic jam length measurement processing unit D3 of the intersection inflow path R3 of the road 102, similarly to step S41. The current traffic jam length E4 ′ measured by the camera C4 and the traffic jam length measurement processing unit D4 of the intersection inflow path R4 of the road 102 is taken into the internal memory. The traffic jam lengths E3 and E4 obtained at step S41 are those at the end of the single red time Rs of the traffic lights A3 and A4 on the road 102, whereas the traffic jam lengths E3 ′ and E4 ′ obtained at step S66 are the single red time Rs. They differ in that it is the length of the traffic jam at the start.

  In steps S67 and S68, the control processing unit 2 determines the traffic jam length E3 ′ of the intersection inflow route R3 of the road 102 and the traffic jam length E4 ′ of the intersection inflow route R4 of the road 102, which have been captured in step S66, and predetermined values. Using the average vehicle head gap F, n3 ′ = E3 ′ / F, n4 ′ = E4 ′ / F, the number of waiting vehicles for the traffic on the intersection inflow path R3 of the road 102 and the signal on the intersection inflow path R4 of the road 102 The number of vehicles n4 ′ is calculated respectively. Note that the number of signal waiting vehicles n3 and n4 obtained in steps S45 and S46 is the number of signal waiting vehicles at the end of the single red time Rs of the traffic lights A3 and A4 on the road 102, whereas the signal waiting vehicles obtained in steps S67 and 68. The numbers n3 ′ and n4 ′ are different from each other in that they are the number of vehicles waiting for signals at the start of the single red time Rs.

  In steps S69 and S70, the control processing unit 2 determines the latest number of signal-waiting vehicles n3 ′ and n4 ′ obtained in steps S67 and S68, and the number of waiting-signal vehicles n3 and n4 obtained in steps S45 and S46. And, using the single red time Rs obtained at the latest in step S31, q3 = (n3-n3 ′) / Rs, q4 = (n4-n4 ′) / Rs, and the intersection inflow path R3 of the road 102 Traffic volume q3 (vehicles / second) and the traffic volume q4 (vehicles / second) of the intersection inflow path R4 of the road 102 are respectively calculated. Needless to say, in steps S47 and S48, the traffic volumes q3 and q4 obtained most recently in steps S69 and S70 are used.

  According to the present embodiment, the same advantages as those of the first embodiment can be obtained. In the present embodiment, the television cameras C1 to C4 and the congestion length measurement processing units D1 to D4 are not only used as part of the acquisition means for acquiring the number of signal waiting vehicles n1 to n4, but also the traffic volume. Since it is shared also as a part of acquisition means which acquires q1-q4 and vehicle sensor B1-B4 is removed, cost reduction can be aimed at more.

  [Third Embodiment]

  Next, a traffic signal system according to a third embodiment of the present invention will be described. Although not shown in the drawing, where the traffic signal system according to the present embodiment is different from the traffic signal system according to the first embodiment, the television cameras C1 to C4 and the congestion length measurement processing units D1 to D4 are removed. Accordingly, the control processing unit 2 only performs the operations shown in FIGS. 14 to 17 instead of the operations shown in FIGS. 6 to 9 described above. Therefore, the description overlapping with the first embodiment is omitted.

  14 to 17 are schematic flowcharts showing the operation of the control processing unit 2 of the traffic signal system according to the third embodiment of the present invention. 14 to 17, steps that are the same as or correspond to steps in FIGS. 6 to 9 are denoted by the same reference numerals, and redundant description thereof is omitted.

  In the present embodiment, as the television cameras C1 and C2 and the congestion length measurement processing units D1 and D2 are removed, as shown in FIGS. 14 and 15, steps S14 and S18 in FIGS. , S19 are removed, and instead, steps S81, S82 are performed between steps S17, S20.

  In the present embodiment, in steps S81 and S82, the control processing unit 2 sets the number of passing vehicles N1 and N2 obtained most recently in step S13 as the number of waiting vehicles n1 and n2, respectively. In steps S20 and S21, it goes without saying that the signal waiting vehicle numbers n1 and n2 obtained in the latest in steps S81 and S82 are used.

  Further, in the present embodiment, as the television cameras C3 and C4 and the congestion length measurement processing units D3 and D4 are removed, as shown in FIGS. 16 and 17, step S41 in FIGS. , S45, S46 are removed, and instead, Steps S83, S84 are performed between Steps S44, S47.

  In the present embodiment, in steps S83 and S84, the control processing unit 2 sets the number of passing vehicles N3 and N4 obtained most recently in step S40 as the number of signal-waiting vehicles n3 and n4, respectively. In steps S47 and S48, it goes without saying that the number of signal waiting vehicles n3 and n4 obtained in the latest in steps S83 and S84 is used.

  According to the present embodiment, the same advantages as those of the first embodiment can be obtained. In the present embodiment, the vehicle detectors B1 to B4 are not only used as a part of the acquisition means for acquiring the traffic volumes q1 to q4, but also the acquisition means for acquiring the number of waiting vehicles n1 to n4. Since the television cameras C1 to C4 and the traffic jam length measurement processing units D1 to D4 are removed, the cost can be further reduced.

  Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments.

  For example, in the first embodiment, the vehicle detector may be removed for a certain intersection inflow path, and the television camera and the congestion length measurement processing unit may be removed for another certain intersection inflow path. In this case, the operation of the control processing unit 2 is modified in accordance with the second embodiment for the process related to the certain intersection inflow path, and the third process is performed for the process related to the other intersection inflow path. What is necessary is just to deform | transform according to embodiment.

  In each of the above embodiments, the intersecting first and second roads are examples of one lane on one side. However, in the present invention, both or one of the intersecting first and second roads is on one side. It can also be applied to multi-lane roads.

1 is a schematic block diagram showing a traffic signal system according to a first embodiment of the present invention. It is a schematic plan view which shows typically the intersection in which the traffic signal of the traffic signal system shown in FIG. 1 is installed. It is explanatory drawing which shows the example of the mode of the vehicle on one intersection inflow path R1 in FIG. 2, and the visual field of the television camera arrange | positioned in relation to the said intersection inflow path, and the sensing position of a vehicle detector. It is explanatory drawing of the time when the number of remaining profits is just zero. It is a schematic flowchart which shows operation | movement of the control processing part of the traffic signal system by the 1st Embodiment of this invention. FIG. 6 is a schematic flowchart subsequent to FIG. 5. It is a schematic flowchart following FIG. It is the schematic flowchart following FIG. FIG. 9 is a schematic flowchart subsequent to FIG. 8. It is a schematic flowchart which shows operation | movement of the control processing part of the traffic signal system by the 2nd Embodiment of this invention. It is a schematic flowchart following FIG. FIG. 12 is a schematic flowchart following FIG. 11. FIG. 13 is a schematic flowchart following FIG. 12. It is a schematic flowchart which shows operation | movement of the control processing part of the traffic signal system by the 3rd Embodiment of this invention. It is the schematic flowchart following FIG. FIG. 16 is a schematic flowchart subsequent to FIG. 15. It is a schematic flowchart following FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traffic signal control apparatus 2 Control part 3 Drive circuit 100 Vehicle 101,102 Road A1-A4 Traffic signal machine B1-B4 Vehicle detector C1-C4 Television camera CR Intersection D1-D4 Congestion length measurement processing part L1-L4 Stop line R1- R4 intersection inflow route

Claims (22)

A traffic signal control device for controlling the first traffic signal for the first road and the second traffic signal for the second road installed at an intersection where the first road and the second road intersect. Because
A first traffic condition information acquisition means for obtaining traffic condition information of each intersection inflow path of the first road during a red signal display of the first traffic signal;
First setting means for setting a next green light display time of the first traffic signal based on the traffic condition information obtained by the first traffic condition information acquiring means;
Second setting means for setting a red signal display time of the second traffic signal corresponding to the green signal display time according to the green signal display time set by the first setting means;
Second traffic condition information acquisition means for obtaining traffic condition information of each intersection inflow path of the second road during the red signal display of the second traffic signal;
Third setting means for setting a next green signal display time of the second traffic signal based on the traffic condition information obtained by the second traffic condition information acquiring means;
Fourth setting means for setting a red signal display time of the first traffic signal corresponding to the green light display time according to the green light display time set by the third setting means;
Means for controlling the display of the first and second traffic signals according to each signal display time set by the first to fourth setting means;
A traffic signal control device comprising:   The first traffic condition information obtaining means obtains a traffic volume at a predetermined position upstream of each intersection inflow path of the first road while the red traffic light is displayed on the first traffic signal. Acquisition means and first signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the intersection of each intersection inflow path of the first road at a predetermined time point during the red traffic light display of the first traffic signal The traffic signal control device according to claim 1, comprising:   The first traffic volume acquisition means includes a vehicle sensor for sensing a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the first road, and an output of the vehicle sensor The traffic of the at least one intersection inflow path of the first road is obtained by dividing the number of passing vehicles in the predetermined period during the red signal display of the first traffic signal obtained based on the time by the time of the predetermined period. 3. The traffic signal control device according to claim 2, wherein a quantity is obtained.   The first signal waiting vehicle number acquisition means includes a vehicle sensor that detects a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the first road, and the vehicle sensor The number of passing vehicles in a predetermined period during the red signal display of the first traffic signal obtained based on the output of the first traffic signal is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of the first road. The traffic signal control device according to claim 2. The first traffic volume acquisition means includes a vehicle sensor for sensing a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the first road, and an output of the vehicle sensor The traffic of the at least one intersection inflow path of the first road is obtained by dividing the number of passing vehicles in the predetermined period during the red signal display of the first traffic signal obtained based on the time by the time of the predetermined period. Get the quantity
The first signal waiting vehicle number acquisition means includes the vehicle sensor in common with the first traffic acquisition means for the at least one intersection inflow path of the first road, and the vehicle detector The number of passing vehicles in a predetermined period during the red traffic light display of the first traffic signal obtained based on the output of the first traffic signal is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of the first road. The traffic signal control device according to claim 2.   The first signal waiting vehicle number acquisition means is a range between a stop line position of the intersection inflow path and a predetermined upstream position of the intersection inflow path with respect to the at least one intersection inflow path of the first road. The number of vehicles waiting for a signal on the at least one intersection inflow path of the first road is obtained based on an image captured by the imaging means. The traffic signal control apparatus as described. The first signal waiting vehicle number acquisition means is a range between a stop line position of the intersection inflow path and a predetermined upstream position of the intersection inflow path with respect to the at least one intersection inflow path of the first road. An image pickup means for picking up an image including the image acquisition means, based on the image picked up by the image pickup means to obtain the number of vehicles waiting for the signal of the at least one intersection inflow path of the first road,
The first traffic acquisition means includes the imaging means in common with the first signal waiting vehicle number acquisition means for the at least one intersection inflow path of the first road, and the imaging means includes the imaging means. The traffic volume of the at least one intersection inflow path of the first road is obtained on the basis of images taken at the first and second timings during the red signal display of the first traffic signal. The traffic signal control device according to claim 2. For each intersection inflow path of the first road, the traffic volume obtained by the first traffic volume acquisition means for the intersection inflow path is q, and the first signal waiting vehicle number acquisition means for the intersection inflow path. When the number of signal waiting vehicles obtained by the above is n, and the saturated traffic flow set in advance for the intersection inflow path is S, the first setting means, with respect to each intersection inflow path of the first road, First calculating means for calculating a time T represented by T = n / (Sq) for each intersection inflow path;
The first setting means sets the next green light display time of the first traffic signal based on the time T of each intersection inflow road of the first road calculated by the first calculation means. The traffic signal control apparatus according to any one of claims 2 to 7, wherein   The first setting means determines the next time of the first traffic signal based on the longest time among the inflow times T of the intersections of the first road calculated by the first calculation means. 9. The traffic signal control apparatus according to claim 8, wherein a green signal display time is set.   The traffic signal control according to any one of claims 1 to 9, wherein the first setting means sets the next green signal display time of the first traffic signal to a predetermined lower limit value or more. apparatus.   11. The traffic signal control according to claim 1, wherein the first setting means sets the next green signal display time of the first traffic signal to a predetermined upper limit value or less. apparatus.   The second traffic condition information acquisition means obtains a traffic volume at a predetermined position upstream of each intersection inflow road of the second road while the red traffic light is displayed on the second traffic signal. Acquisition means and second signal waiting vehicle number acquisition means for obtaining the number of signal waiting vehicles for the intersection of each intersection inflow path of the second road at a predetermined time point during the red traffic light display of the second traffic signal The traffic signal control device according to claim 1, comprising:   The second traffic volume acquisition means includes a vehicle sensor for sensing a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the second road, and an output of the vehicle sensor The traffic of the at least one intersection inflow path of the second road is obtained by dividing the number of passing vehicles in the predetermined period during the red signal display of the second traffic signal obtained based on the time by the time of the predetermined period The traffic signal control device according to claim 12, wherein a quantity is obtained.   The second signal waiting vehicle number acquisition means includes a vehicle sensor that senses a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the second road. The number of passing vehicles in a predetermined period during the red signal display of the second traffic signal obtained based on the output of the second traffic signal is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of the second road. The traffic signal control device according to claim 12. The second traffic volume acquisition means includes a vehicle sensor for sensing a vehicle at a predetermined position upstream of the intersection inflow path with respect to at least one intersection inflow path of the second road, and an output of the vehicle sensor The traffic of the at least one intersection inflow path of the second road is obtained by dividing the number of passing vehicles in the predetermined period during the red signal display of the second traffic signal obtained based on the time by the time of the predetermined period. Get the quantity
The second signal waiting vehicle number acquisition means includes the vehicle sensor in common with the second traffic volume acquisition means for the at least one intersection inflow path of the second road, and the vehicle sensor The number of passing vehicles in a predetermined period during the red signal display of the second traffic signal obtained based on the output of the second traffic signal is obtained as the number of vehicles waiting for signals on the at least one intersection inflow path of the second road. The traffic signal control device according to claim 12.   The second signal waiting vehicle number acquisition means is a range between a stop line position of the intersection inflow path and a predetermined upstream position of the intersection inflow path with respect to the at least one intersection inflow path of the second road. The number of vehicles waiting for a signal on the at least one intersection inflow path of the second road is obtained based on an image captured by the imaging means. The traffic signal control apparatus as described. The second signal waiting vehicle number acquisition means is a range between a stop line position of the intersection inflow path and a predetermined upstream position of the intersection inflow path with respect to the at least one intersection inflow path of the second road. An image pickup means for picking up an image including the image, and acquiring the number of vehicles waiting for signals on the at least one intersection inflow path of the second road based on the image picked up by the image pickup means,
The second traffic volume acquisition means includes the imaging means in common with the second signal waiting vehicle number acquisition means for the at least one intersection inflow path of the second road, and the imaging means The traffic volume of the at least one intersection inflow path of the second road is obtained based on the images captured at the first and second timings during the red signal display of the second traffic signal. The traffic signal control device according to claim 12. For each intersection inflow path of the second road, the traffic volume obtained by the second traffic volume acquisition means for the intersection inflow path is q, and the second signal waiting vehicle number means acquisition for the intersection inflow path. When the number of signals waiting vehicles obtained by the means is n and the saturated traffic flow set in advance for the intersection inflow path is S, the third setting means is related to each intersection inflow path of the second road. A second calculating means for calculating a time T represented by T = n / (Sq) for each intersection inflow path;
The third setting means sets the next green signal display time of the second traffic signal based on the time T of each intersection inflow road of the second road calculated by the second calculation means. The traffic signal control device according to any one of claims 12 to 17, wherein:   The third setting means determines the next time of the second traffic signal based on the longest time among the inflow times T of the intersections of the second road calculated by the second calculation means. 19. The traffic signal control apparatus according to claim 18, wherein a green signal display time is set.   The traffic signal control according to any one of claims 1 to 19, wherein the third setting means sets the next green signal display time of the second traffic signal to a predetermined lower limit value or more. apparatus.   21. The traffic signal control according to claim 1, wherein the third setting unit sets the next green signal display time of the second traffic signal to a predetermined upper limit value or less. apparatus.   A traffic signal system comprising the traffic signal control device according to any one of claims 1 to 21 and the first and second traffic signals.

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