JP2006344006A - Travel time estimation system, apparatus, and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a link travel time estimation system, apparatus, and method capable of obtaining a link travel time reflecting actual traffic conditions even when a road beacon is not installed at a starting end and a trailing end of the link. <P>SOLUTION: A partial link allocation travel time calculation part 55 allocates a travel time between road beacons calculated by a calculation part 53 for calculating a travel time between road beacons according to a ratio of statistic of the partial link travel time calculated by a partial link travel time calculation part 54, and obtains an allocated travel time of the partial link. A link travel time calculation part 56 adds the allocated travel time of each partial link which composes a link to calculate the link travel time of the link. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a link travel time estimation system, apparatus, and method for estimating link travel time using trajectory information of two or more types of vehicles. Here, the link refers to a road section between intersections.

  The travel time of the link is useful information for the traffic manager in grasping the traffic situation and the route search of the dynamic route guidance system, and is useful information for the driver in the route search of the car navigation system.

  As a method of measuring the link travel time, a road communication device that can communicate with the vehicle-mounted device is installed on the road, the vehicle is identified by bidirectional communication with the vehicle, and the time when the vehicle passes the start of the link A method for measuring the link travel time from the time when the end of the link is passed is known. Here, the start end of the link is one end on the upstream side of the link, and the end end of the link is one end on the downstream side of the link.

  In this method, travel time is measured as follows. First, when a vehicle equipped with a vehicle-mounted device passes through the road communication device, the vehicle-mounted device transmits an identification code of the vehicle-mounted device, a vehicle type, and information on the road communication device that has passed the previous time to the road communication device. Next, the roadside communication device stores the time when the information is received, and the traffic information center stores the identification code of the roadside communication device, the reception time, the identification code of the in-vehicle device, the vehicle type, and the information of the roadside communication device that has passed the previous time. Send to device. Then, the traffic information center apparatus receives and accumulates the information, and estimates a link travel time for each fixed time (for example, 5 minutes) of each link based on the information.

  This will be specifically described with reference to FIGS. FIG. 1 is a road map for explaining the relationship between a road, a road beacon that functions as a road communication device, and a traffic information center device. The road 1 between the intersection 2 and the intersection 3 is represented by one link. The road beacon 4 is installed at the beginning of the link (and the end of the link upstream of the link) in principle, and is connected to the traffic information center device 5 through the communication line 6. FIG. 2 is a road map showing an example in which road beacons are installed on two links. In FIG. 2, there are adjacent links 100 and 101 (where 100 and 101 are link identification codes), and identification codes are provided at the start end of the link 100, the end of the link 100 (and the start end of the link 101), and the end of the link 101, respectively. 27, 28, 29 road beacons 4 are installed. Table 1 is an example of information accumulated in the traffic information center device (hereinafter referred to as “road beacon reception information”).

  For example, when estimating the link travel time of the link 101 on Tuesday, March 22, 2005, 08:35:00 to 08:40:00, first, identification of the received road beacon from the road beacon reception information. The code is the identification code 29 of the road beacon 4 installed at the end of the link 101, and the reception time is 08:35:00 to 08:40:00 on March 22, 2005 (Tuesday) (hereinafter, (Referred to as “downstream data”). Next, from the road beacon reception information, the received road beacon identification code is the road beacon 4 identification code 28 installed at the beginning of the link 101, and the reception time is before the downstream data reception time. The data (hereinafter referred to as “upstream data”) in which the identification code and vehicle type of the in-vehicle device are the same as the identification code and vehicle type of the in-vehicle device of the downstream data are extracted. Then, the difference between the reception time of the downstream data and the reception time of the upstream data is obtained and used as the link travel time of the link 101.

  Referring to Table 1, the downstream data includes the received road beacon identification code, the reception time, the in-vehicle device identification code, the vehicle type, and the previous road beacon identification code of 28, March 22, 2005, respectively. (Tue) 08: 25: 16,123, Medium, 27 No. 1541 data, and upstream data are 29, 2005 March 22 (Tuesday) 08:31:30, 123, medium size, 28 No. Since the data is 1545, the link travel time of the link 101 is 374 seconds, which is the difference between the reception times. When a plurality of combinations of upstream data and downstream data are extracted for the identification codes of a plurality of in-vehicle devices, the link travel time is obtained by averaging the differences between the reception times.

JP 2003-016570 A

  However, since the road beacon 4 is not necessarily installed at the start and end of each link, the link travel time may not be directly estimated from the difference in the reception time of the road beacon 4. For example, as shown in FIG. 3, there are two adjacent links 110 and 111, and road beacons 4 with identification codes 30 and 31 are installed at the start end of the link 110 and the end of the link 111, respectively. This is a case where the road beacon 4 is not installed at the start end of the link 111. In this case, the link travel time is estimated by allocating the difference in the reception time at each road beacon 4 for the identification code data of the same in-vehicle device by the ratio of the distance of each link.

  For example, if the difference in the reception time of the identification codes 30 and 31 on the road beacon 4 is 390 seconds for the identification code data of a certain in-vehicle device, this is distributed by the ratio of the distances 120 m and 140 m of the links 110 and 111. Thus, each link travel time can be estimated as 180 seconds (= 390 seconds × 120 m / (120 m + 140 m)) and 210 seconds (= 390 seconds × 140 m / (120 m + 140 m)).

  Estimating the link travel time as described above is based on the premise that the vehicle on which the vehicle-mounted device having the identification code is mounted travels on the links 110 and 111 at the same speed. However, actually, the vehicle is not always traveling on the links 110 and 111 at the same speed. In some cases, the link 110 is free and travels at a high speed, whereas the link 111 is congested and travels at a low speed. Therefore, there is a problem that the estimated link travel time does not reflect the actual traffic situation.

  Further, as shown in FIG. 4, there are three adjacent links 120, 121, and 122, and a road beacon 4 with identification codes 40, 41, and 42 is installed in the middle of each link. Even when the road beacon 4 is not installed at the end, the difference in the reception time at each road beacon 4 for the identification code data of the same in-vehicle device is expressed as the distance from the road beacon 4 to the start or end of the link. The link travel time is estimated by allocating them in the ratio of and summing them in link units.

  For example, for the identification code data of a certain in-vehicle device, the difference in reception time of the identification codes 40 and 41 on the road beacon 4 is 420 seconds, and the difference in reception time of the identification codes 41 and 42 on the road beacon 4 is 300. If it is second, 420 seconds is allocated at a ratio of a distance of 70 m from the road beacon 4 of the identification code 40 to the end of the link 120 and a distance of 50 m from the road beacon 4 of the identification code 41 to the start of the link 121, and 300 seconds. Are included in the link 121, with a ratio of 60m from the road beacon 4 of the identification code 41 to the end of the link 121 and 40m from the road beacon 4 of the identification code 42 to the start of the link 122 The total travel time of the link 121 is 425 seconds (= 420 seconds × 70 m / (70 m + 50 m) +300 seconds × 60 m / (60 m + 40 m)).

  However, in this case as well, there is a problem that the estimated link travel time does not reflect the actual traffic situation.

  Therefore, the present invention provides a link travel time estimation system, apparatus, and method capable of obtaining link travel time reflecting actual traffic conditions even when road beacons are not installed at the start and end of the link. The purpose is to provide.

  A link travel time estimation system according to a first invention includes a first in-vehicle device, a second in-vehicle device, at least two road communication devices, and a link travel time estimation device for estimating a link travel time. The first in-vehicle device includes transmission means for transmitting information on the identification code of the in-vehicle device to the road communication device, and the road communication device receives the identification code information of the first on-vehicle device. Receiving means for receiving, timing means for timing the time received by the receiving means, a first code including an identification code of the first in-vehicle device, a reception time counted by the timing means, and an identification code of the roadside communication device Transmission means for transmitting the trajectory information to the link travel time estimation device, and the second in-vehicle device accumulates time and position information for each distance shorter than the shortest distance between the roadside communication devices. The link travel time estimation device comprising: storage means; and transmission means for transmitting second trajectory information including the identification code of the in-vehicle device and the time and position information stored by the storage means to the link travel time estimation device. The first receiving means for receiving the first trajectory information, the second receiving means for receiving the second trajectory information, the first trajectory information, the identification code of the road communication device, and the road communication device Based on the information that associates the position of the road communication device with the road, the travel time calculation means between the road communication devices for calculating the travel time between the road communication devices, and based on the second trajectory information, the position of the road communication device and the link The partial link travel time calculation means for calculating the travel time of the partial link between one end and the travel time between the roadside communication devices are allocated based on the travel time of the partial link to calculate the allocated travel time of the partial link. A partial link distribution travel time calculation means and a link travel time calculation means for calculating the link travel time of the link by adding the distribution travel time of each partial link constituting the link (claim) Item 1).

  In the first invention, the first in-vehicle device transmits information on the identification code of the in-vehicle device to the roadside communication device. The roadside communication device receives the transmitted information of the identification code of the first in-vehicle device, measures the time, and includes the identification code of the first in-vehicle device, the reception time, and the identification code of the roadside communication device. The first trajectory information is transmitted to the link travel time estimation device. The second in-vehicle device accumulates time and position information for each distance shorter than the distance of the shortest section among road communication devices (for example, every 1 second or every 5 m travel), and the in-vehicle device The second trajectory information including the identification code and the accumulated time and position information is transmitted to the link travel time estimation device.

  The link travel time estimation device receives the first trajectory information, and based on the information and the information that associates the identification code of the road communication device with the position of the road communication device, the first vehicle-mounted device having the same road communication device The travel time between the on-road communication devices is calculated from the difference in time when the identification code is received. Further, the link travel time estimation device receives the second trajectory information, and based on the time and position information for each short distance for each identification code of the second in-vehicle device included in the information, the link travel time estimation device The time when the second vehicle-mounted device passes through the road communication device and one end of the link is calculated, and the travel time of the partial link between the position of the road communication device and one end of the link is calculated from the difference in time.

  Here, one end of the link means the start or end of the link, and the partial link means a part of the link from the start of the link to the road communication device or the link from the road communication device to the end of the link. Say part of it. For example, when a road communication device is installed in the middle of a link, the link includes a partial link from the start of the link to the road communication device and a partial link from the road communication device to the end of the link. It will be divided into two partial links. In addition, when the road communication device is installed at the start of the link, there is no partial link from the link start to the road communication device, so the link is one partial link from the road communication device to the end of the link. Will match.

  The link travel time estimation device allocates the travel time between the roadside communication devices based on the travel time of the partial link, and calculates the allocated travel time of the partial link. Since the allocation is based on the travel time of the partial link that reflects the actual traffic situation, the actual traffic situation is less in the allocation travel time of the partial link than the conventional method of allocating based on the distance ratio of the partial link. It will be reflected more. The reason why the partial travel time is defined as the partial link travel time is to distinguish it from the partial link travel time calculated based on the second trajectory information. The link travel time estimation device calculates the link travel time of the link by adding the allocated travel time of each partial link constituting the link.

  Therefore, in the first invention, the difference in time when the road communication device receives the same identification code of the first in-vehicle device is not distributed based on the distance from the road communication device to the start or end of the link. Since the link travel time is calculated by allocating based on the travel time of the partial link from the roadside communication device to the start or end of the link, the link travel time reflecting the actual traffic situation can be estimated.

  In the link travel time estimation system according to a second aspect of the present invention, in the first aspect, the roadside communication device uses an identification code of the first in-vehicle device, a reception time measured by the time measuring means, and an identification code of the roadside communication device. Instead of transmitting means for transmitting the first trajectory information to the link travel time estimating device, the first including the identification code of the first in-vehicle device, the reception time measured by the time measuring device, and the position of the on-road communication device Transmission means for transmitting the trajectory information to the link travel time estimation device, wherein the link travel time estimation device associates the first trajectory information and the identification code of the road communication device with the position of the road communication device. Based on the first trajectory information, the travel between the on-road communication devices instead of the on-road communication device travel time calculating means for calculating the travel time between the on-road communication devices. Comprises between road communication device travel time calculating means for calculating a time (claim 2).

  In the second invention, the link travel time estimating device is based on the first trajectory information including the identification code of the road communication device, and the information associating the identification code of the road communication device and the position of the road communication device. Instead of calculating the travel time between the road communication devices, the travel time between the road communication devices is calculated based on the first trajectory information including the position of the road communication device itself.

  The link travel time estimation system according to a third aspect of the present invention is the link travel time estimation system according to any one of the first and second aspects, wherein the partial link travel time calculation means calculates a plurality of travel times of the partial link based on the second trajectory information. If it is calculated, any one of the average value, median value, and mode value of the travel time is obtained and used as the travel time of the partial link (Claim 3).

  If the second in-vehicle device with a certain identification code passes through one partial link a plurality of times and the information on the time and position at the time of passage is included in the second trajectory information, the second trajectory information If the travel time of the partial link is calculated based on the above, a plurality of travel times are obtained. In addition, when the second vehicle-mounted device with a plurality of identification codes passes through one partial link, if the information on the time and position at the time of the passage is included in the second track information, the second track Even if the travel time of the partial link is calculated based on the information, a plurality of travel times are obtained. In the third invention, in such a case, an average value, a median value, or a mode value of a plurality of travel times of the partial link is obtained and set as the travel time of the partial link. . As a result, even if an abnormal value is included in one of a plurality of travel times, the influence of the abnormal value can be reduced by obtaining the average value, median value, and mode value.

  A link travel time estimation device according to a fourth aspect of the invention is used in the link travel time estimation system according to any one of claims 1 to 3 (claim 4).

  The link travel time estimation method according to the fifth aspect of the present invention is the method according to the same invention as the link travel time estimation device used in the link travel time estimation system according to claim 1 (claim 5).

  A link travel time estimation method according to a sixth aspect of the present invention is a method according to the same invention as the link travel time estimation device used in the link travel time estimation system according to claim 2 (claim 6).

  According to the present invention, even when road communication devices are not installed at the beginning and end of a link, the travel time between road communication devices is distributed based on the distance of the partial links to calculate the link travel time. Instead, since the travel time between the roadside communication devices is allocated based on the travel time of the partial links and the link travel time is calculated, the link travel time reflecting the actual traffic situation can be estimated.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 5 is a schematic diagram showing an outline of a link travel time estimation system according to the present invention. In the figure, 5 is a traffic information center device for estimating the travel time of a link. The traffic information center device 5 is connected to a communication line 6, and at least two or more road beacons 4 installed along the road 1 and one or more base stations 7 are connected to the communication line 6. is there.

  The road beacon 4 performs wireless bidirectional communication with the first in-vehicle device 8 mounted on the vehicle 100. The communication medium for bidirectional communication may be light or radio waves. When the vehicle 100 equipped with the first vehicle-mounted device 8 passes the road beacon 4, the vehicle-mounted device identification code, the vehicle type of the vehicle 100, the road on which the vehicle has passed the previous time, from the first vehicle-mounted device 8 to the road beacon 4 Information on the identification code of the beacon is transmitted, and traffic information including information on the identification code of the road beacon and link travel time information is transmitted from the road beacon 4 to the first in-vehicle device 8. The vehicle type is a distinction between small cars, medium-sized cars, large-sized cars, etc., and is set as “small”, “medium” or “large”. The road beacon 4 transmits the received information to the traffic information center device 5 via the communication line 6 at predetermined intervals (for example, 1 second). Further, the road beacon 4 receives traffic information including link travel time information from the traffic information center device 5 via the communication line 6 every predetermined period (for example, 5 minutes).

  The second in-vehicle device 9 mounted on the vehicle 101 gives the base station 7 an identification code of the in-vehicle device, a time, the position of the vehicle 101, the speed of the vehicle 101, every predetermined period (for example, one hour), Information on the direction of the vehicle 101 is transmitted wirelessly. The base station 7 transmits the received information to the traffic information center apparatus 5 via the communication line 6 at predetermined intervals (for example, 1 second). Further, the base station 7 receives traffic information including link travel time information from the traffic information center device 5 via the communication line 6 every predetermined period (for example, 5 minutes). The second in-vehicle device 9 wirelessly receives traffic information including link travel time information from the base station 7 every predetermined period (for example, 5 minutes).

  The vehicle 102 is a vehicle on which neither the first in-vehicle device 8 nor the second in-vehicle device 9 is mounted. There may be a vehicle on which both the first in-vehicle device 8 and the second in-vehicle device 9 are mounted (not shown in FIG. 5).

  FIG. 6 is a block diagram showing the configuration of the first in-vehicle device 8. The memory | storage part 80 has memorize | stored the identification code of the said vehicle equipment, and the information of the vehicle model of the vehicle carrying the said vehicle equipment. Moreover, the memory | storage part 80 memorize | stores the identification code of the said road beacon received from the road beacon 4 as information of the identification code of the road beacon which passed the last time. The information of the identification code of the road beacon that passed last time is cleared when the power of the first in-vehicle device 8 is turned on. The wireless unit 81 transmits to the road beacon 4 the identification code of the in-vehicle device stored in the storage unit 80, the vehicle type, and the identification code of the road beacon that passed last time, and the information of the identification code of the road beacon from the road beacon 4 Receive traffic information including link travel time information. The traffic information is displayed on a vehicle monitor (not shown in FIG. 6). The control unit 82 controls processing of the storage unit 80 and the wireless unit 81.

  FIG. 7 is a block diagram showing the configuration of the road beacon 4. The memory | storage part 40 has memorize | stored the information of the identification code of the said road beacon. Moreover, the memory | storage part 40 memorize | stores the information of the identification code of the said vehicle equipment received from the 1st vehicle equipment 8, the vehicle type, and the identification code of the road beacon which passed last time with the information of the time which received these information. The storage unit 40 stores traffic information including link travel time information received from the traffic information center device 5. The clock unit 41 measures time. The wireless unit 42 transmits information on the identification code of the road beacon and traffic information stored in the storage unit 40 to the first in-vehicle device 8, and the first in-vehicle device 8 identifies the identification code of the in-vehicle device, the vehicle type, and the previous time. The information of the identification code of the road beacon that has passed is received. The communication unit 43 stores the information on the identification code of the road beacon stored in the storage unit 40, the reception time, the identification code of the in-vehicle device, the vehicle type, and the identification code of the road beacon that has passed the previous time via the communication line 6. Transmit to device 5. The communication unit 43 receives traffic information from the traffic information center device 5 via the communication line 6. The control unit 44 controls processing of the storage unit 40, the clock unit 41, the wireless unit 42, and the communication unit 43.

  FIG. 8 is a block diagram showing the configuration of the second in-vehicle device. The storage unit 90 stores an identification code of the in-vehicle device and a road map database. Further, the storage unit 90 stores information on time, position (latitude and longitude), speed, and azimuth every predetermined cycle (for example, 1 second). The clock unit 91 measures time. The GPS 92 receives position (latitude and longitude) information from GPS satellites. The direction sensor 93 measures the direction. The interface unit 94 acquires the speed from the vehicle speed sensor 10. The position detection unit 95 calculates the current vehicle position (longitude and latitude) using a map matching method based on the road map database, latitude and longitude information received from the GPS 92, direction information, and speed information. To do. The distance measuring unit 96 measures the distance traveled by the vehicle based on the speed information. The wireless unit 97 transmits the identification code, time, longitude and latitude, speed, and direction information stored in the storage unit to the base station 7 and receives traffic information including link travel time information from the base station 7. To do. The control unit 98 controls processing of the storage unit 90, the clock unit 91, the GPS 92, the direction sensor 93, the interface unit 94, the position calculation unit 95, the distance measurement unit 96, and the wireless unit 97. In addition, the memory | storage part 90 may memorize | store the information of time, a position (latitude and longitude), speed, and an azimuth | direction, whenever a vehicle drive | works a predetermined distance (for example, every 5 m).

  FIG. 9 is a block diagram showing the configuration of the base station 7. The memory | storage part 70 memorize | stores the identification code of the said vehicle equipment received from the 2nd vehicle equipment 9, the time, the longitude and latitude, the speed, and the direction information. The storage unit 70 stores traffic information including link travel time information received from the traffic information center device 5. The clock unit 71 measures time. The wireless unit 72 receives information on the identification code, time, longitude and latitude, speed, and direction of the in-vehicle device from the second in-vehicle device 9. The wireless unit 72 transmits traffic information to the second in-vehicle device 9. The communication unit 73 transmits the identification code, time, longitude and latitude, speed, and direction information stored in the storage unit 70 to the traffic information center device 5 via the communication line 6. Further, the communication unit 73 receives traffic information from the traffic information center device 5 via the communication line 6. The control unit 74 controls processing of the storage unit 70, the clock unit 71, the radio unit 72, and the communication unit 73.

  FIG. 10 is a block diagram showing the configuration of the traffic information center device 5. The memory | storage part 50 has memorize | stored the map database regarding a link, the road beacon 4, and a partial link. The map database uses the link identification code as a key, the link start and end positions (latitude and longitude), the link distance, the link identification code connected to the link start and end, and the link Information such as the identification code of the road beacon 4 and the identification code of the partial link corresponding to the link, the position (latitude and longitude) of the road beacon 4 using the road beacon 4 identification code as a key, and the road beacon 4 are installed. The link end and the distance from the start and end of the link, the information such as the identification code of the road beacon 4 upstream and downstream of the road beacon 4, the partial link start and Information such as the end position (latitude and longitude), the distance of the partial link, and the identification code of the link corresponding to the partial link is included.

  Here, as described above, the partial link refers to a part of the link from the beginning of the link to the road beacon 4 or a part of the link from the road beacon 4 to the end of the link. For example, in the case of the road map of FIG. 3, the road beacon 4 is installed at the beginning or end of the link, so the partial link 110 is linked to the link 110 and the partial link 111 is linked to the link 111 as shown in FIG. Match. In the case of the road map of FIG. 4, the road beacon 4 is installed in the middle of the link. Therefore, as shown in FIG. 13, the link 120 is divided into partial links 120_1 and 120_2, and the link 121 is a partial link. 121_1 and 121_2, and the link 122 is divided into partial links 122_1,.

  In addition, the storage unit 50 accumulates information received from the road beacon 4 via the communication line 6 as road beacon reception information. An example of road beacon reception information is shown in Table 1 above. In addition, the storage unit 50 stores information received from the base station 7 via the communication line 6 as base station reception information. Table 2 is an example of base station reception information.

  The storage unit 50 stores the travel time between the road beacons 4 calculated by the road beacon travel time calculation unit 53 as travel time information between the road beacons and the partial link travel calculated by the partial link travel time calculation unit 54. The statistical value of time is stored as partial link travel time statistical value information, the partial link distribution travel time calculated by the partial link distribution travel time calculation unit 55 is stored as partial link distribution travel time information, and the link travel time calculation unit 56 Is stored as link travel time information.

  The first information collecting unit 51 receives information on the road beacon identification code, the reception time, the vehicle-mounted device identification code, the vehicle type, and the identification code of the road beacon that passed the previous time from the road beacon 4 via the communication line 6. These pieces of information are added to the road beacon reception information stored in the storage unit 50. The second information collection unit 52 receives the identification code, time, longitude and latitude, speed, and direction information of the in-vehicle device from the base station 7 via the communication line 6 and stores these information in the storage unit 50. Added to the received base station information.

  The road beacon travel time calculation unit 53 calculates the travel time between the road beacons 4 based on the road beacon reception information stored in the storage unit 50. The partial link travel time calculation unit 54 calculates the statistical value of the partial link travel time based on the base station reception information stored in the storage unit 50.

  The partial link distribution travel time calculation unit 55 compares the travel time between the road beacons 4 calculated by the road beacon travel time calculation unit 53 with the ratio of the statistical values of the travel times of the partial links calculated by the partial link travel time calculation unit 54. To get the partial link travel time. The link travel time calculation unit 56 adds the distributed travel time of each partial link constituting the link to calculate the link travel time of the link.

  The link travel time providing unit transmits traffic information including the calculated link travel time information to the road beacon 4 and the base station 7 via the communication line 6. The clock unit 58 keeps time. The control unit 59 includes a storage unit 50, a first information collection unit 51, a second information collection unit 52, a road beacon travel time calculation unit 53, a partial link travel time calculation unit 54, a partial link distribution travel time calculation unit 55, a link The processing of the travel time calculation unit 56, the link travel time provision unit 57, and the clock unit 58 is controlled.

  Next, the processing procedure of the traffic information center apparatus 5 will be described. FIG. 11 is a flowchart showing a processing procedure of the traffic information center device 5.

  The traffic information center device 5 determines whether or not a processing cycle 1 (for example, 1 second) has elapsed (step S1), and if it has elapsed (YES in step S1), the presence or absence of a processing end command is determined. Judgment is made (step S2). If it has not elapsed (NO in step S1), the traffic information center apparatus 5 continues the process of step S1.

  If there is a process end command (YES in step S2), the traffic information center device 5 ends the process. If there is no processing end command (NO in step S2), the traffic information center device 5 determines whether information is received from the road beacon 4 (step S3), and if received (step S3). The received information is added to the road beacon reception information and accumulated (step S4). If not received (NO in step S3), the traffic information center apparatus 5 continues the processing from step S5.

  The traffic information center device 5 determines whether or not information has been received from the base station (step S5), and if received (YES in step S5), adds the received information to the base station reception information. Are accumulated (step S6). If not received (NO in step S5), the traffic information center apparatus 5 continues the processing from step S7.

  The traffic information center device 5 calculates the statistical value of the travel time of the partial link based on the base station reception information for a predetermined period (for example, the past one month) and accumulates it as the partial link travel time statistical value information ( Step S7). Since the base station reception information includes latitude and longitude information for each predetermined period for each identification code of the second in-vehicle device, the latitude and longitude are closest to the start and end of the partial link from this information. The time of the data that is closest to the end of the partial link from the time of the data that is closest to the end of the partial link (hereinafter referred to as the “passing time of the end of the partial link”) The travel time of the partial link can be calculated by subtracting the “passing time at the start of the partial link”.

  The statistical value of the travel time of the partial link is calculated according to the following procedure. First, the travel time of each partial link is calculated based on the base station reception information for a predetermined period. Next, based on the passage time at the end of the partial link, those travel times are set to, for example, 00: 00: 00: 00 to 24: 00: 00: 00 for each of the three types of weekdays, Saturdays, Sundays and holidays. Sort by minute. And the average value of travel time is calculated | required every 5 minutes for every classified day type, and it is set as the statistical value of travel time.

  The reason for classifying the above three types of days is that the trend of link travel time is similar for each day type, but Monday, Tuesday, Wednesday, Thursday, Friday, Saturday, Sundays and holidays You may classify | categorize every time, Furthermore, you may classify | categorize for every day in which the tendency of the 50th, the consecutive holidays, and other link travel time is similar. Moreover, since the period for estimating the link travel time, which will be described later, is 5 minutes, it is classified every 5 minutes. This is because, since the traffic situation in the estimated time zone of the link travel time is similar, the link travel time more reflecting the traffic situation can be estimated. In the above description, the average value is used as the statistical value. However, the median value or the mode value may be used.

  This will be specifically described with reference to FIGS. In FIG. 12, Δ marks represent the latitude and longitude of each time of data of a certain identification code included in the base station reception information. Of these latitudes and longitudes, A is the closest to the starting end of the partial link 110, and B is the closest to the end of the partial link 110 (and the starting end of the partial link 111). Is the closest to C, so the passage time of the start of the partial link 110 is 07:53:21 on Tuesday, March 15, 2005 at 07:53:21, the end of the partial link 110 (and the start of the partial link 111) ) Transit time at B on March 15, 2005 (Tuesday) 07:58:38, and the end time of the partial link 111 at C time is March 15, 2005 (Tuesday) 08:02:53 is there. Therefore, the travel time of the partial link 110 is 317 seconds, which is the difference between the time at A and the time at B, and it is classified on the basis of the passage time at the end, and is 5 minutes from 07: 55: 00: 00 to 08:00 on weekdays. It will be classified into. The travel time of the partial link 111 is 255 seconds, which is the difference between the time at B and at C, and it is classified into 5 minutes from 08: 00: 00: 00 to 08:00 on weekdays according to the passage time at the end. Will be classified.

  On the other hand, in FIG. 13, similarly, the start of the partial link 120_1, the end of the partial link 120_1 (and the start of the partial link 120_2), the end of the partial link 120_2 (and the start of the partial link 121_1), and the partial link 121_1 The passing times of the terminal end (and the start end of the partial link 121_2), the terminal end of the partial link 121_2 (and the start end of the partial link 122_1), and the terminal end of the partial link 122_1 are D, E, F, G, H, and I, respectively. It is time. The travel time of the partial link 120_1 is 150 seconds that is the difference between the time at D and the time at E, the travel time of the partial link 120_2 is 203 seconds that is the difference between the time at E and the time at F, and the travel time of the partial link 121_1 is F 104 seconds which is the difference between the time at G and the time at G, the travel time of the partial link 121_2 is 326 seconds which is the difference between the time at G and the time at H, and the travel time of the partial link 122_1 is the difference between the time at H and the time at I 142 seconds, which are 5 minutes from 10:15:00 to 10:20:00 on Saturday, 5 minutes from 10:15:00 to 10:20:00, and 10:20:00 to 10:10 on the same day. It is classified into 5 minutes of 25:00, 5 minutes of 10:25:00 to 10:30, and 5 minutes of 10:25:00 to 10:30. It becomes Rukoto.

  Similarly, the travel time of the partial link is calculated for all the identification code data included in the base station reception information for a predetermined period, and is classified every 5 minutes for each day type. And the average value of the travel time of a partial link is calculated | required for every 5 minutes for every day type, and it accumulate | stores as partial link travel time statistics information. Tables 3, 4 and 5 are examples of link travel time statistical value information for weekdays, Saturdays, Sundays and holidays.

  The traffic information center device 5 determines whether or not a processing cycle 2 (for example, 5 minutes) has elapsed (step S8). If it has elapsed (YES in step S8), the processing after step S9 is performed. to continue. If the time has not elapsed (NO in step S8), the traffic information center apparatus 5 continues the processing after step S1. The processing cycle 2 is a cycle for estimating the link travel time.

  Based on the road beacon reception information, the traffic information center device 5 travels between the road beacons 4 from the time when the previous processing cycle 2 has elapsed to the time when the current processing cycle 2 has passed (in this case, 5 minutes). Is calculated and stored as road beacon travel time information (step S9).

  The travel time between the road beacons 4 is calculated according to the procedure shown in the flowchart shown in FIG. First, the traffic information center device 5 receives data from the road beacon reception information whose reception time is from the time when the previous processing cycle 2 has elapsed to the time when the current processing cycle 2 has elapsed (in this case, 5 minutes). Is extracted (step S101).

  For example, the time when the previous processing cycle has passed is March 22, 2005 (Tuesday) 08:25:00, and the time when the current processing cycle 2 has passed is March 22, 2005 (Tuesday) 08:30. If the road beacon reception information is as shown in Table 6 below, One or more data including 3198 data will be extracted.

  The traffic information center device selects one from the data extracted in step S101 (step S102). The traffic information center device 5 extracts upstream data that satisfies the following three conditions from road beacon reception information. The first condition is that the identification code and the vehicle type of the in-vehicle device are the same as the identification code and the vehicle type of the in-vehicle device of the data selected in step S102. The second condition is that the road beacon 4 of the “received road beacon identification code” is included in the map database with respect to the road beacon 4 of the “received road beacon identification code” of the data selected in step S102. That is, it is installed upstream in the light of the identification code information of the road beacon 4 installed upstream and downstream of the beacon 4. The third condition is that the reception time is earlier than the reception time of the data selected in step S102. The second condition may be that the identification code of the received road beacon is the same as the identification code of the road beacon that was previously passed in the data selected in step S102 (step S103). The traffic information center device 5 obtains the difference between the reception times of the data selected in step S102 and the data extracted in step S103, and sets the travel time between the road beacons 4 of the “reception road beacon identification code” of both data. Is stored (step S104).

  For example, in step S102, No. 1 in Table 1 is set. When the data of 3198 is selected, No. 3 in Table 1 is obtained in step S103. 3194 data is extracted. In step S104, no. The reception time of the data of 3198, Tuesday, March 22, 2005, 08:28:42 412 seconds, which is a difference between the reception time of 3194 data, March 22, 2005 (Tuesday) 08:21:50, is the travel time between the road beacons 4 of the identification codes 30 and 31.

  The traffic information center device 5 determines whether or not all of the data extracted in step S101 has been selected in step S102 (step S105). If all of the data has been selected (YES in step S105), the steps after step S11 are performed. Continue processing. If not all have been selected (NO in step S105), the traffic information center apparatus 5 continues the processing from step S102.

  Referring to FIG. 11 again, the traffic information center device 5 calculates the partial link allocation travel time by allocating the travel time between the road beacons with the partial link travel time statistics of each partial link between the road beacons 4. And stored as partial link distribution travel time information (step S10).

  For example, the travel time statistics of the partial links shown in FIG. 12 and FIG. 13 are as shown in Tables 3 to 5 above, and Tuesday, March 22, 2005, 08:25:00 to March 22, 2005. (Tuesday) Between the road beacons 4 with the identification codes 30 and 31 shown in FIGS. 12 and 13 at 08:30, between the road beacons 4 with the identification codes 40 and 41, and between the road beacons 4 with the identification codes 41 and 42 When the travel time is as shown in Table 7 below, the partial link distribution travel time of each partial link can be calculated as follows.

  That is, the travel time between the road beacons between the road beacons 4 of the identification codes 30 and 31 is set to the partial link travel time statistic value of 170: 111 on weekdays of the partial links 110 and 111 on weekdays 08:25:00 to 08:30. , 215 seconds, and the partial link allocation travel time of the partial links 110 and 111 is calculated. Also, the travel time between the road beacons between the road beacons 4 with the identification codes 40 and 41 is set to the partial link travel time statistical value of 8: 00: 25: 00 to 08:30:30 on weekdays of the partial links 120_2 and 121_1 for 226 seconds. , 131 at a ratio of 131 seconds, and the partial link allocation travel time of the partial links 120_2, 121_1 is calculated. Further, the travel time between the road beacons between the road beacons 4 of the identification codes 41 and 41 is set to the partial link travel time statistical value of 174 seconds on weekdays of the partial links 121_2 and 122_1 on 08:25:00 to 08:30. , 119 seconds, and the partial link allocation travel time of the partial links 121_2 and 122_1 is calculated. The results are summarized in Table 8.

  The traffic information center device 5 calculates and adds the average value of travel times of the partial links constituting the link, calculates the link travel time, and stores it as link travel time information (step S11). Instead of calculating and adding the average travel time of each partial link constituting the link, the median travel time of each partial link constituting the link may be calculated and added. You may calculate and add the mode value of the travel time of each partial link which comprises.

  For example, when the partial link distribution travel time is as shown in Table 8 above, the link travel times of the links 110, 111, and 121 are calculated as follows. That is, for the link 110, since the average value of the partial link distribution travel times of the partial links 110 constituting the link 110 is 181 seconds, the link travel time of the link 110 can be calculated as 181 seconds. For link 111, the average value of the partial link distribution travel times of partial links 111 constituting link 111 is 228 seconds, so the link travel time of link 111 can be calculated as 228 seconds. Further, for the link 121, since the average values of the partial link distribution travel times of the partial links 121_1 and 121_2 constituting the link 121 are 150 seconds and 163 seconds, respectively, the link travel time of the link 121 is 313 seconds, which is the total of these. And can be calculated.

  The traffic information center device 5 transmits traffic information including link travel time information of each link to the road beacon 4 and the base station 7 via the communication line 6 (step S12).

  As described above, in the present invention, the travel time between road beacons calculated based on road beacon reception information is calculated based on base station reception information without allocating the partial link distance ratio. Since the link travel time is calculated by allocating at the ratio of the partial link travel time statistics, the link travel time reflecting the actual traffic situation can be estimated.

  In the above-described embodiment, the road beacon 4 transmits information including the identification code of the road beacon 4 to the traffic information center apparatus 5, and the traffic information center apparatus 5 includes the road beacon reception information storing the information and the road beacon reception information. Although it was the structure which calculates the travel time between the road beacons 4 based on the information of the road beacons 4 installed upstream and downstream of the road beacons 4, the road beacons 4 include the positions of the road beacons 4 The information is transmitted, and the traffic information center device 5 grasps the upstream / downstream positions of the road beacons 4 from the position of the road beacons 4 included in the road beacon reception information, and calculates the travel time between the road beacons 4. It may be a configuration.

It is a road map for demonstrating the relationship between a road, a road beacon, and a traffic information center apparatus. It is a road map which shows the example in which the road beacon is installed in two links. It is a road map which shows the example in which the road beacon is not installed in the start end or termination | terminus of a link. It is a road map which shows the example in which a road beacon is installed in the middle of a link. It is a schematic diagram which shows the outline | summary of the link travel time estimation system which concerns on this invention. It is a block diagram which shows the structure of a 1st vehicle-mounted apparatus. It is a block diagram which shows the structure of a road beacon. It is a block diagram which shows the structure of a 2nd vehicle-mounted apparatus. It is a block diagram which shows the structure of a base station. It is a block diagram which shows the structure of a traffic information center apparatus. It is a flowchart which shows the process sequence of a traffic information center apparatus. It is the road map which showed the latitude and longitude of each time of the data of a certain identification code. It is the road map which showed the latitude and longitude of each time of the data of a certain identification code. It is a flowchart which shows the process sequence of a traffic information center apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Road 2 Intersection 3 Intersection 4 Road beacon 5 Traffic information center apparatus 6 Communication line 7 Base station 8 1st vehicle equipment 9 2nd vehicle equipment 10 Vehicle speed sensor 40 Memory | storage part 41 Clock part 42 Radio | wireless part 43 Communication part 44 Control part DESCRIPTION OF SYMBOLS 50 Storage part 51 1st information collection part 52 2nd information collection part 53 Road time calculation part between road beacons 54 Partial link travel time calculation part 55 Partial link distribution travel time calculation part 56 Link travel time calculation part 57 Link travel time provision part 58 Clock unit 59 Control unit 70 Storage unit 71 Clock unit 72 Radio unit 73 Communication unit 74 Control unit 80 Storage unit 81 Radio unit 82 Control unit 90 Storage unit 91 Clock unit 92 GPS
93 Direction sensor 94 Interface unit 95 Position calculation unit 96 Distance measurement unit 97 Radio unit 98 Control unit 100 Vehicle 101 equipped with the first vehicle-mounted device Vehicle 102 equipped with the second vehicle-mounted device The first vehicle-mounted device is also the second Vehicles not equipped with in-vehicle devices

Claims (6)

A link travel time estimation system comprising a first in-vehicle device, a second in-vehicle device, at least two or more road communication devices, and a link travel time estimation device for estimating a travel time of a link,
The first in-vehicle device is
Comprising a transmission means for transmitting information of the identification code of the in-vehicle device to the roadside communication device,
The road communication device is
Receiving means for receiving information of an identification code of the first in-vehicle device;
Clocking means for clocking the time received by the receiving means;
Transmitting means for transmitting first trajectory information including the identification code of the first in-vehicle device, the reception time measured by the time measuring means, and the identification code of the road communication device to the link travel time estimating device,
The second in-vehicle device is
Storage means for storing time and position information for each distance shorter than the distance of the shortest section between the roadside communication devices;
Transmission means for transmitting to the link travel time estimation device the second trajectory information including the identification code of the in-vehicle device and the time and position information stored by the storage means;
The link travel time estimation device includes:
First receiving means for receiving first trajectory information;
Second receiving means for receiving second trajectory information;
Based on information that associates the first trajectory information and the identification code of the road communication device with the position of the road communication device, a road time calculation means between the road communication devices that calculates the travel time between the road communication devices;
Based on second trajectory information, partial link travel time calculating means for calculating the travel time of the partial link between the position of the road communication device and one end of the link;
A partial link distribution travel time calculating means for calculating the distribution travel time of the partial link by allocating the travel time between the roadside communication devices based on the travel time of the partial link;
A link travel time estimation system comprising link travel time calculation means for calculating the link travel time of each link by adding the allocated travel time of each partial link constituting the link. The road communication device is
Instead of the transmission means for transmitting the first trajectory information including the identification code of the first in-vehicle device, the reception time measured by the time measuring means, and the identification code of the road communication device, to the link travel time estimation device,
Transmission means for transmitting to the link travel time estimation device the first trajectory information including the identification code of the first in-vehicle device, the reception time measured by the time measuring means, and the position of the road communication device;
The link travel time estimation device includes:
Instead of the on-road communication device travel time calculating means for calculating the travel time between the on-road communication devices based on the first trajectory information and the information that associates the identification code of the on-road communication device with the position of the on-road communication device. And
Based on the first trajectory information, comprising a travel time between road communication devices to calculate the travel time between the road communication devices,
The link travel time estimation system according to claim 1.   When the partial link travel time calculating means calculates a plurality of travel times of the partial link based on the second trajectory information, one of the average value, median value, and mode value of the travel times is calculated. The link travel time estimation system according to claim 1 or 2, wherein the travel time of the partial link is obtained.   The said link travel time estimation apparatus used for the link travel time estimation system in any one of Claims 1 thru | or 3. Collecting first trajectory information including the identification code of the in-vehicle device received by the road communication device from the first in-vehicle device, the received time, and the identification code of the road communication device from at least two road communication devices. And steps to
From the second in-vehicle device that accumulates time and position information for each distance shorter than the shortest section distance between the roadside communication devices, a second information that includes the identification code of the in-vehicle device and the accumulated time and position information Collecting trajectory information;
Calculating travel time between the roadside communication devices based on the collected first trajectory information and information associating the identification code of the roadside communication device with the position of the roadside communication device;
Based on the collected second trajectory information, calculating a travel time of the partial link between the position of the road communication device and one end of the link;
Allocating the travel time between the roadside communication devices based on the travel time of the partial link, and calculating the allocated travel time of the partial link;
A link travel time estimation method, comprising: adding a distribution travel time of each partial link constituting a link to calculate a link travel time of the link. Collecting first trajectory information including the identification code of the in-vehicle device received by the road communication device from the first in-vehicle device, the received time, and the identification code of the road communication device from at least two road communication devices. Instead of
Collecting first trajectory information including the identification code of the vehicle-mounted device received by the road communication device from the first vehicle-mounted device, the received time, and the position of the road communication device from at least two road communication devices. Has steps,
Instead of calculating the travel time between the roadside communication devices based on the collected first trajectory information and information associating the identification code of the roadside communication device with the position of the roadside communication device,
Calculating a travel time between the roadside communication devices based on the collected first trajectory information;
The link travel time estimation method according to claim 5.

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