JP2006251836A - Traffic control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve accuracy of an intersection nonstop travel control system for realizing safe vehicular travel, energy saving, exhaust gas quantity reduction, and reduction in traffic noise. <P>SOLUTION: Traveling conditions or a traveling condition range for passing an intersection B, without stopping is presented to a vehicle traveling through a point A on an upstream certain distance L from the intersection B toward the intersection B. The vehicle, receiving the presentation, travels while carrying out correction of the presented traveling conditions or traveling condition range by using an elapsed time tx and a travel distance Lx after passing through the point A, and it accurately passes through the intersection B without stopping. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention allows the vehicle to smoothly travel during and within the intersection so that not only the vehicle travels safely, but also wasteful fuel consumption and carbon dioxide emissions due to stoppage of the red light at the intersection and subsequent start. The present invention relates to a traffic control system that can reduce emissions.

As a smooth vehicle passing method at an intersection, the time required for the vehicle to reach the intersection is calculated from the distance between the host vehicle and the intersection and the vehicle speed, and the time required to reach the intersection and the traffic signal at the intersection are calculated. Based on the characteristics, the signal state when the vehicle reaches the intersection is predicted, and based on the prediction result, the traveling speed to the intersection of the vehicle, the distance between the preceding vehicle and the necessity of stopping at the intersection, etc. are appropriately determined in advance. In some cases, it is determined to safely run or stop the vehicle.

In addition, idling stop has been put to practical use as a method of saving energy and reducing exhaust gas of vehicles that are stopped at a red light.
Furthermore, ETC as a driving support system applying road-to-vehicle communication is effective in saving energy, reducing exhaust gas, and reducing noise because it collects tolls on toll roads without stopping the vehicle.

JP 2001-236600 A JP 2002-373396 A JP 2003-56376 A

  The present invention calculates the vehicle for each vehicle that passes the traveling condition between point A and intersection B for passing the intersection B with a green light at a point A before a certain distance L from the intersection B to which the vehicle should pass next. By reporting the vehicle, the vehicle's driving is rationally regulated, the vehicle driving is made safer, and the number of vehicles stopped at the red light at the intersection is greatly reduced or eliminated. It is intended to reduce wasteful consumption, emission gas, and noise generation.

First, the basic idea for solving the above-mentioned problem is shown below.
In the realization of the present invention, in the traffic control center that controls and controls each traffic signal or the traffic signal in the control area, the signal form such as the future signal cycle or green signal blinking time, etc. It is assumed that can be grasped.

Under the above-mentioned preconditions, for a vehicle passing a point A at a certain distance L from the intersection B, a vehicle traveling in the same direction before and after the vehicle and the next intersection B with a green signal without changing the traveling order The traveling conditions for passing are: the point A passing time of the vehicle, the signal form of the traffic signal installed at the intersection B, the green signal blinking time and other signal forms, the distance L between the point A and the intersection B, and the point A -Calculate from the maximum traveling speed Vmax allowed for traveling between the intersections B, and report the calculation result to the vehicle.
The vehicle that has received the report travels to the next intersection B under the travel conditions for which the report has been received.

  By this control, all vehicles traveling from the point A to the intersection B can pass through the intersection B with a green light. By performing this control for all intersections in the control area of the traffic control center in each direction for each intersection, all vehicles traveling in the control area will be able to stop all intersections in the control area non-stop unless the traffic capacity of the road becomes insufficient. You will be able to run.

Next, the rationality of the basic concept will be described with reference to FIG.
In FIG. 1, it is assumed that the vehicle passes a point A and heads for the next intersection B, and the distance between the point A and the intersection B is L. The signal period of the vehicle traveling direction signal at the next intersection B is Tp1, Tp2, Tp3,... Green signal duration is Tg1, Tg2, Tg3,... Red signal and yellow signal duration is Tn1, Tn2, Tn3. ...

  In addition, the traffic signal in the direction from the point A to the intersection B is turned on at time tb1, tb3,..., And is turned off at times tb2, tb4,. The maximum allowable speed between point A and intersection B is Vmax.

  Next, consider the time at point A. The time before the time Tmin from the time tb4 is ta4, and the time before the signal period Tp2 from the time ta4 is ta2. Here, the time Tmin is the time required when the vehicle travels between the point A and the intersection B at the maximum allowable speed Vmax. The time Tmin is expressed by the following equation (1), and the time ta4 passes the intersection B during the green light Tg2. It becomes the point A last time to pass.

  A vehicle that has passed the point A at the time ta2 before the signal period Ts2 from the time ta4 is allowed to reach the intersection B at the time tb3, that is, immediately after the green light at the intersection B is turned on. That is, a vehicle that has passed through point A during one traffic signal cycle at time Tp2 between times ta2 and ta4 passes through intersection B during a green light at time Tg2 between times tb3 and tb4. All vehicles passing through A and heading for intersection B can pass through intersection B non-stop during the green light.

  Next, a vehicle that has passed point A at an arbitrary time ta between time ta2 and ta4 is overtaken or overtaken by a vehicle that travels in the same direction without changing its traveling order and its traveling order. Without passing the maximum allowable speed Vmax and passing the intersection B at time tb between Tg2 when the green light is lit at time tb3-tb4, the times ta and tb satisfy the relationship of Equation 2. There is a need.

As a result, the traveling condition between the point A and the intersection B, that is, the recommended required time topt is obtained by the following equation 3, and the recommended traveling speed vopt is obtained by the following equation 4.
That is, if the vehicle that has passed the point A at the time ta travels to the intersection B after that with the recommended travel time topt and the recommended travel speed vopt, the vehicle will arrive at the intersection B at the time tb. The intersection signal form is a green signal state as shown in FIG.

(Equation 1)
Tmin = L / Vmax

(Equation 2)
(Ta−ta2) / (ta4−ta2) = (tb−tb3) / (tb4−tb3)

(Equation 3)
topt = tb−ta
= {(L / Vmax) · Tg2 + (tb4−ta) · Tn2} / Tp2

(Equation 4)
vopt = L / topt

However, in the above (Equation 1), (Equation 2), (Equation 3), and (Equation 4),
L: Distance between point A and intersection B Vmax: Maximum allowable traveling speed between point A and intersection B Tmin: Minimum traveling time from point A to intersection B,
topt: Recommended travel time between point A and intersection B to pass intersection B with a green light
vopt: Recommended travel speed between point A and intersection B for passing green at intersection B

Tp1, Tp2, Tp3, ...: Traffic signal cycle at intersection B Tn1, Tn2, Tn3, ...: Duration of yellow and red signals at intersection B Tg1, Tg2, Tg3, ...: At intersection B Green light duration
tb1, tb3, ...: Green light lighting time at intersection B
tb2, tb4, ...: Green light extinction time at intersection B
ta2, ta4,...: a point A passing time for a vehicle traveling at point A toward intersection B at speed Vmax to arrive at intersection B at times tb2, tb4,.
ta: Time at which vehicle passes through point A
tb: Arrival time at intersection B when a vehicle passing through point A at time ta travels toward intersection B at the recommended travel speed vopt
t: time,
It is.

  Further, in the calculation of the recommended required time topt and the recommended travel speed vopt until the time ta6 after the time ta has passed the time ta4, Tp2, Tg2, and Tn2 in the expressions of Equations 3 and 4 are each Tp3. , Tg3, Tn3, and tb4 is updated to tb6.

  The vehicle is informed about the recommended travel time topt and recommended travel speed vopt corresponding to the travel time ta of the vehicle at point A, and travels to intersection B under the reported travel conditions. There is also a risk that the travel conditions will deviate from the reported travel conditions. In order to solve this problem, the vehicle travels while counting the elapsed time tx and the travel distance Lx after passing through the point A, and the travel distance Lx changes by a constant distance ΔLx each time the elapsed time tx changes by a constant time Δtx. Each time, the corrected recommended travel time toptt and the corrected recommended travel speed voptt are calculated using the formulas (5) and (6), and the vehicle is corrected every fixed time Δtx or fixed distance ΔLx. There is a method of traveling between the intersections B while sequentially updating the conditions.

(Equation 5)
toptt = topt−tx

(Equation 6)
voptt = (L−Lx) / (topt−tx) = (L−Lx) / toptt ≦ Vmax

However,
toptt: Recommended time required for correction
voptt: Recommended recommended travel speed
tx: Elapsed time after passing through point A
Lx: Travel distance after passing through point A
It is.

  Here, when the corrected recommended travel speed voptt exceeds the allowable maximum travel speed Vmax, the recommended recommended travel time vttt for the next green light period Tg3 is changed by replacing the recommended recommended travel time toptt with toptt + Tnb3. calculate.

  Furthermore, at a place where a situation where the vehicle is decelerated or stopped during traveling, such as an intersection or a pedestrian crossing where there is no signal between the point A and the intersection B, the traveling condition based on the basic concept, that is, the recommended required time immediately after passing through the place. Topt and recommended travel speed vopt By recalculating and re-reporting the speed, it is possible to minimize the difference in arrival time at intersection B.

  The above is a method that does not set the allowable range in the driving conditions. However, as shown in Fig. 2, the recommended required time range or recommended driving speed range toptmin to toptmax and the recommended driving speed range voptmin to voptmax, There is also a method in which these vehicles travel to the intersection B while keeping this traveling condition range.

Here, the recommended minimum required time range value toptmin is Equation 7 and Equation 8, the recommended maximum required time range value toptmax is Equation 9, the recommended minimum traveling speed range value voptmin is Equation 10, and the recommended recommended traveling speed range maximum value voptmax is several. 11 and so on.
However, as shown in FIG. 2, in a vehicle that has passed through point A at time ta, the recommended required time range minimum value toptmin when time ta is between time ta2 and time ta3 (where ta4−ta3 = Tg2) is When time ta exceeds time ta3 and between time ta3 and time ta4, that is, at the position of ta 'in FIG. 2, tb3−ta ≦ Tmin, so the recommended required time range minimum value toptmin is a number It becomes like 8.

(Equation 7)
toptmin = tb3-ta where ta <ta4-Tg2

(Equation 8)
toptmin = Tmin where ta ≧ ta4−Tg2

(Equation 9)
toptmax = tb4−ta

(Equation 10)
voptmin = L / toptmax

(Equation 11)
voptmax = L / toptmin ≤ Vmax

However, in Equation 7, Equation 8, Equation 9, Equation 10, and Equation 11,
toptmin: Minimum recommended time range
toptmax: Maximum recommended time range
voptmin: Minimum recommended travel speed range
voptmax: Maximum recommended speed range
It is.

  All the vehicles can pass through the intersection B in a non-stop manner as the vehicles travel from the point A to the intersection B in the traveling condition range corresponding to the point A passing time ta.

Further, the travel condition range is set such that every time the elapsed time tx after passing through the point A changes by a certain time Δtx or every time the travel distance Lx after passing through the point A changes by a certain distance ΔLx, There is also a method in which the distance Lx is used to make corrections such as Equation 12, Equation 13, Equation 14, and Equation 15, and the vehicle travels to the intersection B while sequentially updating the traveling condition range to the latest modified traveling condition range.
In this case, the recommended recommended time range toptmint to toptmaxt and the recommended recommended travel speed range voptmint to voptmaxt are

(Equation 12)
toptmint = toptmin−tx ≧ Tmin−tx

(Equation 13)
toptmaxt = toptmax−tx

(Equation 14)
voptmint = (L−Lx) / (toptmax−tx) = (L−Lx) / toptmaxt

(Equation 15)
voptmaxt = (L−Lx) / (toptmin−tx) = (L−Lx) / toptmint ≦ Vmax
It becomes.

However,
toptmint: Minimum recommended recommended time range
toptmaxt: Maximum recommended recommended time range
voptmint: Minimum recommended recommended speed range
voptmaxt: Maximum recommended recommended speed range.

  In addition, in order for the vehicle to travel under the reported traveling condition or the modified traveling condition, the recommended traveling speed vopt or the modified recommended traveling speed voptt is set to the set speed of the automatic speed control device installed in the vehicle. An automatic speed control method is most effective from the viewpoint of reducing the load on the driver and from the viewpoint of maximizing the effectiveness of the system. Here, the automatic speed control device is a device for automatically driving the vehicle at a speed set there, that is, a set speed. However, the deceleration by the driver and the acceleration by the acceleration operation have priority over the set speed.

  However, as the simplest system configuration, the driving condition range is reported from the road side to the vehicle side with a display board, and the vehicle driver then knows the driving condition range and travels to the intersection B under the driving conditions within that range. There is also. This method has a great advantage that the load on the driver is heavy, but no device is required on the vehicle side.

  The above is the basic idea of the present invention, but as a more advanced and practical control, the congestion speed around the point A due to the difference between the traveling speed up to the point A of the vehicle and the speed after passing the point A is different. In order to prevent the occurrence, the speed change before and after passing through the point A can be moderated, and the total driving condition to the intersection B can be controlled to be the same as the driving condition based on the basic idea.

  Furthermore, when the present invention is put into practical use, it is also necessary to provide a margin between the green signal duration time intervals Tg1, Tg2, Tg3 of the intersection B and the actual green signal duration time interval for calculation of driving conditions and the like.

  By the traffic control system according to the present invention described above, all the target vehicles travel while complying with the above driving conditions, and as long as the road and the intersection traffic capacity are sufficient for the demand, There is no need for a temporary stop due to a red light, and in addition to reducing fuel consumption, exhaust gas volume, noise, etc. due to a temporary stop at an intersection and subsequent start, reducing accidents due to thorough safe driving , Can greatly contribute to reducing the social costs of cars.

  Further, if the present invention can be completely implemented, the current intersection traffic light only needs a signal form such as its signal period and green light blinking time, and the traffic light itself is unnecessary.

  Effectively utilize roadside devices and in-vehicle devices of existing road-to-vehicle communication systems, such as optical beacons of VICS systems, in-vehicle terminals for VICS, ETC system roadside devices, in-vehicle devices for ETC, and the like. On the road side of point A, in addition to the travel conditions such as the recommended required time topt and the recommended travel speed vopt, the distance L between the point A and the intersection B and the allowable maximum travel speed Vmax between the point A and the intersection B are reported to the vehicle side.

  On the vehicle side, using the elapsed time tx after passing through point A and the travel distance Lx after passing through point A, the corrected recommended travel time toptt and the corrected recommended travel speed voptt are calculated from the equation (5), and the latest calculated Drive toward intersection B at the corrected recommended travel speed voptt. The vehicle is equipped with an automatic speed control device that uses the latest corrected recommended travel speed voptt calculated as the speed setting value.

  FIG. 3 shows a configuration example of the roadside device and the vehicle side device of the traffic control system according to the present invention, and FIG. 6 shows an arrangement example of each device of the roadside device in the configuration example shown in FIG.

3 and 6,
111 is connected to a traffic signal (not shown) at the intersection B, and the signal form of the traffic signal in the vehicle traveling direction, that is, tb1, tb2, tb3, tb4,... And Tp1, Tp2, Tp3, shown in FIG.・ ・ ・, Tg1, Tg2, Tg3, ... Tn1, Tn2, Tn3, etc.

  112 obtains traffic signal signal form information from the signal form detection device 111, the distance L information between the point A and the intersection B (see FIG. 1) that has been input in advance, and the allowable maximum traveling speed between the point A and the intersection B A roadside arithmetic unit that calculates travel conditions such as the recommended required time topt and the recommended travel speed vopt from the Vmax information according to the formulas 3 and 4 every fixed time ΔT,

113 forms a road-to-vehicle communication area (see FIG. 4) from intersection B to point A before distance L, and the road conditions such as recommended required time topt and recommended travel speed vopt, which are outputs from roadside arithmetic unit 112, and point A- A road-to-vehicle communication roadside device that transmits a distance L between intersections B and an allowable maximum speed Vmax between point A and intersection B to a road-to-vehicle communication vehicle-side device 121 described later,
The signal form detection device 111, the roadside arithmetic device 112, and the road-vehicle communication roadside device 113 constitute the roadside device 110.

  In addition, the communication area shown in FIG. 6 is directed to an antenna (not shown) constituting a part of the road-vehicle communication roadside device 113 so that normal road-vehicle communication can be performed with all vehicles heading in the direction of the intersection B. It is formed on the road heading to the intersection B with the optimal setting of the property and attachment position.

  121 receives the recommended travel time topt, the recommended travel speed vopt, and the like, the travel distance such as the recommended travel speed vopt, the distance L between the point A and the intersection B, and the allowable maximum speed Vmax between the point A and the intersection B. Roadside-to-vehicle communication vehicle side device,

122, the recommended required time topt received by the road-to-vehicle communication vehicle side device 121, the travel conditions such as the recommended travel speed vopt, the distance L between the point A and the intersection B, and the allowable maximum speed Vmax between the point A and the intersection B are input. At the same time, the elapsed time tx after passing through point A and the mileage Lx after passing through point A are counted. This is a vehicle-side arithmetic unit that calculates a traveling speed voptt.
Here, the travel distance Lx after passing through the point A is obtained by integrating vehicle speed information.

123 is an automatic speed control device that inputs the corrected recommended travel speed voptt, which is the output of the vehicle-side arithmetic unit 122, as a set speed every time it is updated, and causes the vehicle to travel at the set speed;
The road-to-vehicle communication vehicle-side device 121, the vehicle-side arithmetic device 122, and the automatic speed control device 123 constitute the vehicle-side device 120.

    By configuring and operating the traffic control system according to the present invention as described above, the vehicle can travel between the point A and the intersection B at the recommended travel speed vopt or the corrected recommended travel speed voptt and pass through the intersection B with a green signal.

FIG. 4 shows the configuration of the second embodiment, and FIG. 7 shows an arrangement example of the roadside device 116 in the configuration shown in FIG. 4 on the roadside.
4 and 7, reference numeral 111 is the same as in FIG.
114 obtains the signal form information of the traffic signal from the signal form detection device 111, and the previously inputted distance L information between the point A and the intersection B, and the maximum speed Vmax allowed for traveling between the point A and the intersection B Based on the information, the driving conditions such as the recommended required time topt and the recommended driving speed vopt are calculated according to the equations 3 and 4, and the recommended required time range toptmin to toptmax is calculated according to the equations 7, 8, 9, 10, and 11. And a roadside arithmetic unit for calculating a driving condition range such as a recommended driving speed range voptmin to voptmax,

115, as in the case of the first embodiment, a road-to-vehicle communication area (see FIG. 7) is formed at the point A before the distance L from the intersection B, and the recommended travel speed vopt and the recommended travel speed range which are the outputs of the roadside arithmetic unit 114. a road-to-vehicle communication roadside device that transmits voptmin to voptmax to a road-to-vehicle communication vehicle-side device 124 described later,
The signal form detection device 111, the roadside arithmetic device 114, and the road-to-vehicle communication roadside device 115 constitute the roadside device 116.

  124 is a road-to-vehicle communication vehicle-side device that receives the recommended travel speed vopt and the recommended travel speed range voptmin to voptmax transmitted from the road-to-vehicle communication roadside device 115;

125 is a voice / display output device that outputs the recommended travel speed vopt received by the road-to-vehicle communication vehicle side device 124 by voice, displays the recommended travel speed range voptmin to voptmax and the own vehicle speed input from the vehicle side,
The roadside-to-vehicle communication vehicle-side device 124 and the voice / display output device 125 constitute the vehicle-side device 126.

  In the second embodiment, the driver receives the sound and the display output from the sound / display output device 125, the driver sets the vehicle to the recommended travel speed vopt as the target speed, and does not deviate from the recommended travel speed range voptmin to voptmax. The vehicle travels while monitoring the speed and passes through the intersection B with a green light.

FIG. 5 shows a configuration of the third embodiment, and FIG. 8 shows an arrangement example of each device constituting the roadside device 118 in the configuration shown in FIG. 5 on the roadside.
5 and 8,
111 is the same as FIG. 3 and FIG. 4, and 114 is the same as FIG.

117 is a roadside display device that is installed on the roadside or on the road in the vicinity of the point A, and displays the recommended travel speed range voptmin to voptmax calculated by the roadside calculation device 114 to inform the vehicle driver of it.
The vehicle driver sees the display and keeps the vehicle within the recommended travel speed range voptmin to voptmax where the vehicle is displayed, and travels to the intersection B, and passes the intersection B nonstop.

The above-described signal state detection device 111, the roadside arithmetic device 114, and the roadside display device 117 constitute a roadside device 118.
In the third embodiment, no device is required on the vehicle side, and the system can be configured with only the roadside device 118.

  As described above, the present invention can exert its effect even if it is applied to a certain distance section before one intersection, but in principle it can be applied to all intersections in a traffic control area. All vehicles traveling within the controlled area can be driven non-stop at the intersection, which is extremely effective for vehicle safety, energy saving, emission reduction, and traffic noise reduction.

Explanatory drawing for demonstrating the concept of the traffic control system by this invention Explanatory drawing for demonstrating another view of the traffic control system by this invention Example 1 roadside device and vehicle side device configuration Example 2 roadside device and vehicle side device configuration Example 3 Roadside Device Configuration Example of arrangement of roadside devices for realizing Example 1 Example of arrangement of roadside devices for realizing Example 2 12 is an example of a roadside device arrangement for realizing Example 3. FIG.

Explanation of symbols

1 and 2,
L: Distance between point A and intersection B Vmax: Maximum allowable traveling speed between point A and intersection B Tmin: Minimum traveling time between point A and intersection B Tp1, Tp2, Tp3, ...: Traffic signal signal period at intersection B Tg1, Tg2, Tg3, ...: Intersection B traffic signal green light duration Tn1, Tn2, Tn3, ...: Intersection B traffic signal yellow and red signal duration

tb1, tb3, tb5, ...: Intersection B traffic light green light lighting time
tb2, tb4, tb6, ...: Intersection B traffic light green light extinction time
ta2, ta4, ta6, ...: tb2, tb4, tb6, ... each time Tmin Time ahead
ta, ta ': Time when the vehicle passes through intersection B
tb: Intersection B arrival time when the vehicle that passed through point A at time ta headed for intersection B at speed vopt
tb ': Intersection B arrival time when the vehicle that passed through point A at time ta' headed to intersection B at speed vopt
tb3 ′: Intersection B arrival time when the vehicle passing through point A at time ta ′ travels at a speed Vmax
t: Time

3, 4, 5, 6, 7, and 8,
110, 116, 118: Roadside device 111: Signal form detection device 112, 114: Roadside arithmetic device 113, 115: Roadside vehicle communication roadside device 117: Roadside display device 120, 126: Vehicle side device 121, 124: Roadside vehicle communication vehicle Side device 122: Vehicle side arithmetic device 123: Automatic speed control device 125: Audio / display output device

Claims (4)

  For a vehicle traveling to the intersection B at a certain distance L from the intersection B, the passing time ta of the vehicle A, the signal period TP2 of the traffic signal installed at the intersection B, and the green flashing time ta2, Without changing the traveling order and the vehicle traveling in the same direction before and after the vehicle from the signal form such as ta4, the distance L between the point A and the intersection B, and the allowable maximum traveling speed Vmax between the point A and the intersection B In addition, the recommended travel time topt and recommended travel speed vopt for traveling between point A and intersection B to pass through intersection B with a green light is calculated and reported to the vehicle, and the vehicle follows the reported traveling condition. A traffic control system that travels between A and intersection B.   When the vehicle passes through point A, in addition to the recommended travel time topt and recommended travel speed vopt for travel between point A and intersection B, the distance between point A and intersection B, and the maximum allowable travel speed between point A and intersection B Vmax is received, and the reported traveling condition is determined by using the elapsed time tx after passing through the point A and the traveling distance Lx after passing through the point A every fixed time Δtx after passing through the point A or every fixed distance ΔLx after passing through the point A. The corrected traveling condition of the corrected recommended travel time toptt and the corrected recommended traveling speed voptt is calculated by sequentially correcting, and thereafter, the vehicle travels to the intersection B under the corrected traveling condition that is sequentially corrected. Traffic control system.   For a vehicle traveling to the intersection B at a certain distance L from the intersection B, the passing time ta of the vehicle A, the signal period TP2 of the traffic signal installed at the intersection B, and the green flashing time ta2, Recommended travel time between point A and intersection B for passing green at intersection B from signal form such as ta4, distance L between point A and intersection B, and allowable maximum traveling speed Vmax between point A and intersection B A driving condition range of a range toptmin to toptmax and a recommended driving speed range voptmin to voptmax is calculated and reported to the vehicle, and the vehicle travels between a point A and an intersection B within the reported driving condition range. Traffic control system. When the vehicle passes through point A, in addition to the recommended travel time range toptmin to toptmax and the recommended travel speed range voptmin to voptmax, the distance between point A and intersection B, point A- Upon receiving a report of the maximum allowable traveling speed Vmax between the intersections B, the elapsed time range after passing through the point A and the traveling distance Lx after passing through the point A in the reported traveling condition range every fixed time Δtx after passing through the point A or every point Corrected for every fixed distance ΔLx after passing A to calculate the corrected recommended travel time range toptmint to toptmaxt and corrected recommended travel speed range voptmint to voptmaxt. The traffic control system according to claim 3, wherein the vehicle travels while maintaining the corrected travel condition range.

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