JP2007141145A - Intersection control system and equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intersection control system and device for enabling a vehicle to smoothly pass an intersection with safety and the absolute minimum speed reduction. <P>SOLUTION: This intersection control system arranged in a road intersection where any signal for a vehicle is not installed for controlling intersection traffic includes a vehicle detection device for detecting a vehicle entering a predetermined range from an intersection and a vehicle speed reduction controller loaded on a vehicle passing the intersection. The location information and vehicle status information is acquired from each vehicle whose entry has been detected, and the crossing possibility of each vehicle is decided, and priority is set based on the location information and the vehicle status information with respect to each vehicle having crossing possibility, and the vehicle speed reduction controller is made to execute speed reduction control so that a vehicle having crossing possibility can pass the intersection in the order of high priority. When vehicle status information showing such a vehicle status that speed reduction control is impossible from any vehicle having crossing possibility, the priority of the vehicle is set the highest. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention generally relates to an intersection control system that is disposed at a road intersection where no vehicle traffic signal is installed and controls the intersection traffic of the vehicle, and more particularly, each passing vehicle safely and minimally decelerates the intersection. It is related with the intersection control system and apparatus which enable it to pass smoothly.

  Traffic control to smooth the traffic of vehicles up to the present day is, for example, traffic lights installed at intersections, traffic signs installed along roads, temporary stop lines drawn on the road, etc. This is done by communicating the details of the regulations from the infrastructure side to each vehicle (driver) and encouraging respect for the regulations. In order for this traffic control to function, it is necessary for each vehicle driver to remember and understand general traffic rules such as the meaning of signs, and to drive and operate the vehicle according to those rules. Become.

  The traffic accidents that can occur despite such traffic control are broadly classified as follows: 1) If the driver did not comply with (or did not comply with) the prescribed traffic regulations; 2) There are cases where no traffic lights, signs, etc. are installed for traffic control, and the traffic control content is unclear for the driver, so that the vehicle is virtually uncontrolled.

  In the case of 1), a conventional method for warning the driver of the existence of a vehicle that may be overspeeded or crossed based on information acquired using vehicle-to-vehicle communication or road-to-vehicle communication. In some cases, a method for assisting the driving operation of the driver, such as automatically performing deceleration control from the vehicle side, has been proposed (see, for example, Patent Document 1).

In Patent Document 1, a vehicle sensor is installed on the road side, the course of each vehicle entering the intersection is predicted, the collision occurrence probability at the intersection is obtained, and the collision is avoided when the possibility of the collision is high. A method for providing the information is disclosed.
JP 2002-140799 A

  However, according to the conventional method disclosed in Patent Document 1 described above, unless any rules (rules), standards, and agreements regarding intersection approach are set between vehicles that are determined to have the possibility of crossing each other, these Deceleration control is given to both vehicles entering the intersection, and there is a possibility that vehicle traveling at the intersection may not be smooth.

  In addition, traffic control that relies on fixed installations such as traffic lights and signs, as described above, installs such equipment at all intersections of all sizes, from large intersections to small intersections in residential areas. Is very difficult and impractical, and inevitably yields an intersection where no traffic control is implemented as in 2) above.

  At such intersections where traffic control is not performed, priority / non-priority for entering the intersection is unclear, and traffic control is an uncertain element such as the judgment of the driver who has entered the intersection (concession, etc.) Will be entrusted to. In fact, most of the traffic accidents are encounter accidents at narrow street intersections where there are no traffic lights or temporary stop lines.

  Another problem with traffic control that relies on fixed installations such as traffic lights and signs as described above is that the control content is fixed and cannot be dynamically adapted to changes in traffic volume. . In some cases, there are signs that indicate traffic control contents that differ depending on the day of the week and time zone, and methods such as changing the lighting time of each color of the traffic light are actually realized, but it is only control within a narrow range, It's hard to say that traffic control is changing dynamically (in real time).

  As described above, in traffic control using traffic lights, signs, etc., it is premised that the traffic control contents presented by traffic lights, signs, etc. are respected by each vehicle. In such traffic control, if the control content is fixed, even if there is no crossing vehicle, it will be necessary to stop unnecessarily with a red light or a stop line, which will hinder smooth traffic. Become.

  In this way, traffic control using traffic lights, signs, etc., that have been used as a matter of course until now, a) is virtually impossible to control all intersections, and b) when traffic volume is low. Even so, there are two problems of making traffic flow worse because unnecessary pauses and decelerations are required.

  In order to pass through the intersection point smoothly without decelerating or temporarily stopping at least one of the vehicles in a positional relationship that can intersect on a two-dimensional plane without using a traffic light, a sign, a stop line, etc. Ideally, the intersecting roads are crossed. However, as a matter of course, it is practically impossible to make all the intersections into solid intersections.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide an intersection control system and apparatus that allow a vehicle to pass through an intersection smoothly and safely with a minimum required deceleration.

  In order to achieve the above object, a first aspect of the present invention is an intersection control system that is disposed at a road intersection where no vehicle traffic signal is installed and controls intersection traffic, and is within a predetermined distance range from the intersection. A vehicle detection device that detects a vehicle that has entered the vehicle, and a vehicle deceleration control device that is mounted on a vehicle that passes through an intersection, from each vehicle that has been detected to enter the predetermined distance range by the vehicle detection device. Obtaining position information and vehicle state information, determining the possibility of crossing of each vehicle at the intersection based on the position information, and for each vehicle determined to have crossing possibility, the position information and vehicle state Priorities for passing the intersection are set based on the information, and the vehicles are reduced so that vehicles determined to have the possibility of crossing pass the intersections in descending order of priority. To execute the vehicle deceleration control to a control device, which is the intersection control system.

  In this first aspect, when the vehicle state information indicating that the vehicle state is incapable of vehicle deceleration control is obtained from any of the vehicles determined to have the possibility of crossing, deceleration control is difficult. Since a non-priority vehicle cannot be set as a non-priority vehicle, the priority of the vehicle is set to the highest regardless of the position and speed of the vehicle, and the intersection is passed with the highest priority without deceleration control.

  According to this first aspect, at an intersection where no vehicle traffic signal is installed, a priority is set for each vehicle having the possibility of crossing at the intersection. Since the deceleration control is executed in addition to the highest priority vehicle so that each vehicle passes by each vehicle, each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic light for vehicles, and relatively non-priority. The vehicle that has become necessary can be reduced to the minimum necessary speed, and there is no need to temporarily stop waiting for a signal and can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth.

  In addition, according to the first aspect, when the priority is set, the vehicle state of each vehicle is taken into consideration, and if there is a vehicle in which deceleration control is difficult, the vehicle is not required to perform deceleration control. Since the vehicle is a priority vehicle, it is possible to realize smooth intersection control in a situation where a broken vehicle is included in the intersection approaching vehicle.

  In the first aspect, when the position information or the vehicle state information is not acquired from any of the vehicles that have been detected to enter the predetermined distance range by the vehicle detection device, For safety, the control based on the priority is stopped, and a vehicle that is determined to have the possibility of crossing has a predetermined standard different from the priority (for example, a vehicle that is positioned relatively to the right or left). It is preferable to cause the vehicle deceleration control device to execute vehicle deceleration control so as to pass through the intersection based on a criterion such as relative priority.

  In order to achieve the above object, a second aspect of the present invention is an intersection control device for controlling intersection traffic, which is disposed at a road intersection where no vehicle traffic signal is installed, and is within a predetermined distance range from the intersection. Vehicle detection means for detecting a vehicle that has entered the vehicle, and information acquisition for acquiring position information and vehicle state information from each vehicle that has been detected to enter the predetermined distance range by the vehicle detection means using communication Means for determining the crossing possibility of each vehicle at the intersection based on the position information, and for each vehicle determined to have the crossing possibility, based on the position information and the vehicle state information, A priority setting means for setting a priority for passing, and a vehicle that is determined to have the possibility of crossing using communication is set by the priority setting means with a high priority. An intersection control device and a vehicle control means for executing deceleration control to each vehicle so as to pass through the intersection.

  In this second aspect, the priority setting means has the vehicle state information indicating that the vehicle state is in a vehicle state in which vehicle deceleration control cannot be performed from any of the vehicles determined to have the crossing possibility. When acquired by the acquisition means, a vehicle in which deceleration control is difficult cannot be set as a non-priority vehicle. Therefore, regardless of the position of the vehicle and the vehicle speed, the priority of the vehicle is set to the highest level without deceleration control. Pass through the intersection with priority.

  According to this second aspect, at an intersection where no vehicle traffic signal is installed, a priority is set for each vehicle having the possibility of crossing at the intersection. Since the deceleration control is executed in addition to the highest priority vehicle so that each vehicle passes by each vehicle, each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic light for vehicles, and relatively non-priority. The vehicle that has become necessary can be reduced to the minimum necessary speed, and there is no need to temporarily stop waiting for a signal and can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth.

  In addition, according to the second aspect, when the priority is set, the vehicle state of each vehicle is taken into consideration, and if there is a vehicle in which deceleration control is difficult, the vehicle is not required to perform deceleration control. Since the vehicle is a priority vehicle, it is possible to realize smooth intersection control in a situation where a broken vehicle is included in the intersection approaching vehicle.

  In this second aspect, the vehicle control means receives the position information or the vehicle state information from any of the vehicles that have been detected to enter the predetermined distance range by the vehicle detection means. If the information is not acquired by the information acquisition means, the control based on the priority is stopped for safety, and a vehicle determined to have the possibility of crossing has a predetermined reference different from the priority (for example, relative It is preferable to cause each vehicle to execute the deceleration control so that the vehicle passes through the intersection based on a criterion that the vehicle located on the right side or the left side is relatively prioritized.

  ADVANTAGE OF THE INVENTION According to this invention, the intersection control system and apparatus which enable a vehicle to pass an intersection smoothly with the required minimum deceleration can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept of the road-to-vehicle communication system, the main hardware configuration, the operating principle, the basic control method, and the like are known to those skilled in the art and will not be described in detail.

  Hereinafter, an intersection control system according to an embodiment of the present invention will be described with reference to FIGS. The intersection control system according to the present embodiment gives priority to each vehicle having the possibility of crossing at an intersection where no traffic signal for vehicles is installed, and vehicles other than the highest priority vehicle sequentially pass the intersection according to this priority. In the case where there is a broken vehicle, priority is given to passing the vehicle through the intersection.

  In FIG. 1, the outline of the intersection control system 100 which concerns on a present Example is shown. The intersection control system 100 includes a vehicle control device 101 mounted on the vehicle V, a pedestrian traffic light 102 disposed at an intersection where no vehicle traffic signal is installed, and vehicle control of each vehicle V using communication. An intersection control device 103 that transmits and receives information to and from the device 101 and obtains detection results from a vehicle detector 102 disposed at a predetermined distance from the intersection on each road connected to the intersection.

  In this embodiment, as long as each of the vehicle detectors 102 can detect that the vehicle has passed in the direction of entering the intersection, a specific detection method is known to those skilled in the art. Any of these can be employed. For example, a load sensor embedded near the road surface or an infrared sensor installed beside or above the road can be considered.

  Further, in FIG. 1, for convenience, the intersection control device 103 is illustrated as if it is disposed near the center of the intersection (for example, embedded under the road). Communication between the vehicle V detected by the detector 102 and entering the area inside the intersection from the installation point of the vehicle detector 102 and road-to-vehicle communication may be optional as long as it is integrated with any one of the vehicle detectors 102. Also good. As far as possible, as long as such road-to-vehicle communication and acquisition of detection results from the vehicle detector 102 are possible through wired or wireless communication, the intersection control device 103 (for example, a single intersection control device 103 has a plurality of intersections). (For example, for the purpose of managing the traffic), it may be located at a remote location from the intersection.

  Next, the vehicle control device 101 mounted on each vehicle for realizing traffic control in the intersection control system 100 according to the present embodiment will be described with reference to FIG. FIG. 2 is a schematic configuration diagram of the vehicle control device 101 according to the present embodiment.

  The vehicle control device 101 includes a road-to-vehicle communication unit 201 for communicating with the intersection control device 103 when the host vehicle is located in an area inside the intersection from the vehicle detector 102. As will be apparent to those skilled in the art, the communication connection with the intersection control device 103 by the road-to-vehicle communication unit 201 is not limited to a direct connection, but is an indirect connection through vehicle-to-vehicle communication or satellite communication. Also good. Further, the performance and shape of the antenna included in the road-to-vehicle communication unit 201, the method used for communication, the frequency band, and the like are not particularly limited and may be arbitrary. Various specific communication methods and device configurations have already been proposed for specific specifications for road-to-vehicle communication, and are well known to those skilled in the art. Therefore, detailed description thereof is omitted here.

  The vehicle control apparatus 101 further includes a host vehicle position detection unit 202 that detects the position of the host vehicle using, for example, a GPS (Global Positioning System). The detection accuracy (resolution) of the own vehicle position detection unit 202 is preferably as high (fine) as possible. For example, it is preferable to use high-accuracy GPS such as RTK (Real Time Kinematic) -GPS.

  The vehicle control device 101 further includes a vehicle speed detection unit 203 that detects the vehicle speed of the host vehicle. In this embodiment, the vehicle speed detection unit 203 detects the vehicle speed of the host vehicle using, for example, a wheel speed sensor. As an alternative example, the vehicle speed of the host vehicle may be calculated from the time change of the host vehicle position detected by the host vehicle position detection unit 202.

  The vehicle control apparatus 101 further includes an accelerator pedal reaction force control unit 204 that generates an operation reaction force of an arbitrary magnitude on the accelerator pedal using an actuator, for example, and controls the accelerator pedal reaction force. Various proposals have already been made regarding the specific structure and mechanism by which the accelerator pedal reaction force control unit 204 generates an arbitrary operation reaction force on the accelerator pedal. . In this embodiment, any structure / mechanism can be adopted.

  The vehicle control device 101 further includes a braking force control unit 205 that generates an auxiliary assist braking force separately from the brake operation by the driver. Various proposals have already been made regarding the specific structure / mechanism by which the braking force control unit 205 generates the assist braking force, and the description thereof will be omitted because it is known to those skilled in the art. In this embodiment, any structure / mechanism can be adopted.

  The braking force control unit 205 is mainly for realizing deceleration of the host vehicle, and ignores any operation by the driver and does not invalidate the operation. For example, when the assist braking force is generated, for example, when a driver who has found an obstacle ahead further steps in the brake, a braking force greater than the assist braking force generated by the braking force control unit 205 should be exhibited. It is.

  The vehicle control device 101 further includes a main control unit 206 that comprehensively controls each component of the vehicle control device 101. The main control unit 206 is, for example, an ECU (Electronic Control Unit).

  In the vehicle control device 101 having such a configuration, when the main control unit 206 enters the communication range of the intersection control device 103 and receives a request signal from the intersection control device 103, 1) by the own vehicle position detection unit 202 The detected current position of the host vehicle, 2) the host vehicle speed detected by the vehicle speed detecting unit 203, and 3) state information of these components acquired from the accelerator pedal reaction force control unit 204 and the braking force control unit 205. Then, the road-to-vehicle communication unit 201 is used to transmit to the intersection control device 103. Only the current position of the host vehicle may be transmitted, and the vehicle speed may be calculated from the time change of the vehicle position in the intersection control device 103.

  Here, 3) the state information is whether or not the accelerator pedal reaction force control unit 204 and the braking force control unit 205 are in a normal operating state, in other words, the host vehicle is decelerated by a necessary amount. This is information indicating whether or not deceleration control can be executed.

  In addition, when the requested deceleration amount calculated based on the priority order regarding the intersection passing is transmitted from the intersection control device 103 through the road-to-vehicle communication unit 201, the main control unit 206 determines that the vehicle having a higher priority than the own vehicle The accelerator pedal reaction force control unit 204 and the braking force control unit 205 are instructed so that the host vehicle passes through the intersection, and the host vehicle speed is controlled to be reduced by using the deceleration amount requested for the host vehicle as a target value. .

  Specifically, 1) When the requested deceleration amount is relatively small, the accelerator pedal reaction force is increased by the accelerator pedal reaction force control unit 204 so that the driver cannot step on the accelerator pedal (or it is difficult to step on). 2) When the requested deceleration amount is relatively large, the accelerator pedal reaction force control unit 204 increases the access pedal reaction force so that the driver cannot step on the accelerator pedal (or is difficult to step on). In addition, an assist braking force is generated by the braking force control unit 205.

  When the main control unit 206 receives a notification from the intersection control device 103 that the deceleration amount required for the host vehicle is zero, that is, the host vehicle is the highest priority vehicle at the intersection passing priority ranking first. , The accelerator pedal reaction force control unit 204 and the braking force control unit 205 are not instructed to perform any deceleration control, or the deceleration control that has been instructed so far is stopped, Pass the vehicle through the intersection according to the operation.

  The magnitude of the accelerator pedal reaction force and assist braking force applied during deceleration control may be arbitrary, but as will be apparent to those skilled in the art, deceleration should first be realized by increasing the accelerator pedal reaction force. The application of the assist braking force is preferably used for the purpose of supplementing it. On the other hand, when the deceleration control is released, first, the application of the assist braking force should be made zero, and then the application of the accelerator pedal reaction force should be gradually decreased.

  Further, here, being the highest priority vehicle means that any driving according to the driving operation of the driver is allowed, and the intersection is forcibly ignored by ignoring the driver's operation. It does not pass before the vehicle. In other words, the driving operation for passing the intersection depends on the driver. For example, if the driver performs a deceleration operation or the like, naturally, the vehicle may not preferentially pass the intersection as a result.

  Next, an intersection control apparatus 103 that performs traffic control in the intersection control system 100 according to the present embodiment will be described with reference to FIG. FIG. 3 is a schematic configuration diagram of the intersection control device 103 according to the present embodiment.

  The intersection control device 103 includes a road-to-vehicle communication unit 301 for communicating with the road-to-vehicle communication unit 201 of the vehicle control device 101 mounted on the vehicle V located in the area inside the intersection from the vehicle detector 102. As will be apparent to those skilled in the art, the communication connection with the vehicle control device 101 by the road-to-vehicle communication unit 301 is not limited to a direct connection, but is an indirect connection through vehicle-to-vehicle communication or satellite communication. Also good. Further, the performance and shape of the antenna included in the road-to-vehicle communication unit 301, the method used for communication, the frequency band, and the like are not particularly limited and may be arbitrary. Various specific communication methods and device configurations have already been proposed for specific specifications for road-to-vehicle communication, and are well known to those skilled in the art. Therefore, detailed description thereof is omitted here.

  The intersection control device 103 further includes a storage unit 302 that stores and holds in advance a) a priority setting algorithm and b) map information. a) The priority setting algorithm will be described in detail later. In the present embodiment, the storage unit 302 may be any storage medium. Moreover, it is preferable that the map information memorize | stored and hold | maintained at the memory | storage part 302 is suitably updated to the newest data, for example using communication.

  The intersection control device 103 further includes a main control unit 303 that comprehensively controls each component of the intersection control device 103. The main control unit 303 is, for example, an ECU (Electronic Control Unit).

  The main control unit 303 is connected to the vehicle detector 102 by wired or wireless communication, and receives a notification to that effect when a vehicle that has entered an area inside the vehicle detector 102 is detected.

  Next, the flow of intersection control processing by the intersection control device 103 having such a configuration will be described with reference to the flowchart of FIG.

  First, when the main control unit 303 receives a notification from the vehicle detection unit 102 that a vehicle that has entered the area inside the intersection from the installation position of the vehicle detector 102 is detected, the main control unit 303 positions the vehicle through the road-to-vehicle communication unit 301. Information, vehicle speed information, and vehicle state information are requested to be transmitted to the intersection control device 103, and as a response thereto, the position information, vehicle speed information, and vehicle state information are acquired from the vehicle (S401).

  Next, the main control unit 303 determines whether there is a vehicle that does not respond to the request even though it is detected by the vehicle detection unit 102 that the vehicle detection unit 102 has entered the area inside the intersection. It is determined whether or not (S402). That is, it is determined whether there is an in-area entering vehicle for which any of position information, vehicle speed information, and / or vehicle state information cannot be received. There is no response to the request from a vehicle in which the road-to-vehicle communication function is defective or a vehicle that does not have the road-to-vehicle communication function in the first place.

  In response to the request, position information, vehicle speed information, and vehicle state information are received from all the vehicles detected by the vehicle detection unit 102 as having entered the area inside the intersection from the vehicle detector 102 installation position. If this is the case ("NO" in S402), the main control unit 303 then detects the intersection among the vehicles detected by the vehicle detection unit 102 that have entered the area inside the intersection from the vehicle detector 102 installation position. The priority of passing through the intersection is determined and given to each of those having the possibility of crossing in (S403).

  In order to give priority to vehicles that are likely to cross, first, the main control unit 303 places the position and vehicle speed of the in-area approaching vehicle acquired in S401 on the road information stored in the storage unit 302, Understand the relative positional relationship of these vehicles on the road.

  Next, the main control unit 303 determines the possibility that these in-area entering vehicles cross at the intersection based on this relative positional relationship. In this embodiment, in what case it is determined that there is a possibility of crossing, and how high the crossing possibility is in the relative positional relationship and a determination criterion May be arbitrary and can be appropriately set by those skilled in the art.

  Next, the main control unit 303 determines, with respect to the vehicles determined to be possible to cross each other, the position, the vehicle speed, and the vehicle state according to the priority setting algorithm stored in the storage unit 302, and passes these intersections with respect to these vehicles. Determine the priority for.

  In this embodiment, the vehicle state information indicates that deceleration control is not possible. However, for vehicles that have been found to be in a priority order that does not require deceleration control regardless of the relative positional relationship and vehicle speed with other vehicles (No. 1) In other words, the vehicle has the highest priority).

  Relative priority / non-priority between vehicles that are determined to be in a state where deceleration control is possible from the vehicle state information is, for example, the distance to the intersection when each vehicle reaches a predetermined distance before the intersection or One approach is to compare the predicted arrival times at the intersection obtained by dividing the distance by the vehicle speed between these vehicles, and to give higher priority in order of decreasing distance to the intersection or arriving at the intersection earlier. .

  After determining the priority for passing the intersection for vehicles having the possibility of crossing in this way, the main control unit 303 then determines the deceleration amount requested to each vehicle through the road-to-vehicle communication unit 301 based on the determined priority. Transmit (S404).

  Here, the deceleration amount instructed to each vehicle can be calculated as follows, for example, as a deceleration amount required for a non-priority vehicle in two simple vehicle models. First, a coordinate conversion is performed on a relatively prioritized vehicle to a virtual position that becomes a preceding vehicle traveling in the same direction on the same lane as a relatively non-prioritized vehicle. Necessary when decelerating the non-priority vehicle with the predetermined position before the intersection as the target stop position so that a predetermined inter-vehicle distance (margin / margin distance) is ensured for the priority vehicle after coordinate conversion. Find the degree of deceleration that will be. In this case, the necessary deceleration is the amount of deceleration required for the non-priority vehicle.

  When the calculated deceleration amount for each vehicle calculated in this way is transmitted, deceleration control for satisfying the requested deceleration amount is executed in each vehicle as described above. Each time the vehicle passes through the intersection, the priority is incremented by one, and the requested deceleration amount received from the intersection control device 103 in order from the vehicle with the highest priority at that time becomes zero, that is, the priority becomes the first. Then, the deceleration control for allowing other vehicles having a relatively high priority to go first is released, and the intersection passing according to the driver's operation is allowed.

  On the other hand, when the vehicle detection unit 102 does not respond to the request from any of the vehicles detected to have entered the area inside the intersection from the vehicle detector 102 installation position (“NO” in S402) )), The main control unit 303 determines that the control method for assigning priorities such as S403 to S404 cannot be executed, and transmits the fact to the in-area approaching vehicle via the road-to-vehicle communication unit 301. (S405).

  In the case where the intersection control due to the priority assignment is canceled, predetermined alternative control that is determined in advance is executed. As an alternative control, for example, a right priority or a left priority control in which a vehicle positioned relatively to the right or left is given priority can be considered.

  As described above, according to the present embodiment, at an intersection where no vehicle traffic signal is installed, priority is given to each vehicle having the possibility of crossing at the intersection, and each vehicle sequentially turns the intersection according to this priority. In addition to the vehicle with the highest priority, the vehicle is allowed to pass deceleration one by one so that each vehicle can safely pass through the intersection without relying on fixed traffic control such as a traffic signal for the vehicle. The priority vehicle can also be reduced to the minimum necessary speed, and there is no need to temporarily stop waiting for a signal, and the vehicle can pass through the intersection relatively smoothly. Therefore, the traffic at the intersection can be made safe and smooth.

  In addition, according to the present embodiment, the vehicle status of each vehicle is also taken into account when priority is given, and if there is a vehicle that is difficult to perform deceleration control, the vehicle is designated as the highest priority vehicle that does not require deceleration control. Therefore, smooth intersection control can be realized in a situation where a broken vehicle is included in the intersection approaching vehicle.

  Furthermore, according to the present embodiment, when there is a vehicle that does not respond to road-to-vehicle communication even though it has been detected that the vehicle has entered the predetermined area from the intersection, in order to stop the control by giving priority, Safety is ensured even when a vehicle having a problem in the road-to-vehicle communication function or a vehicle having no road-to-vehicle communication function enters the predetermined area from the intersection.

  In the above embodiment, the main control has been described between vehicles entering from a direction substantially perpendicular to the crossroad intersection as shown in FIG. 1, but as will be apparent to those skilled in the art, this control is performed. The example is not limited to this situation, and can be applied naturally when there is a possibility of crossing a right-turn vehicle and a straight-ahead vehicle at a crossroad intersection, or when entering or joining a relatively large road from a relatively thin road. It is.

  INDUSTRIAL APPLICABILITY The present invention can be used for an intersection control system and apparatus using road-to-vehicle communication. The size of the intersection, the number of intersection roads, and the appearance, weight, size, traveling performance, etc. of the vehicle to be controlled are not limited.

It is the schematic of the intersection control system which concerns on one Example of this invention. It is a schematic block diagram of the vehicle control apparatus which concerns on one Example of this invention. It is a schematic block diagram of the intersection control apparatus which concerns on one Example of this invention. It is a flowchart which shows the flow of the intersection control process by the intersection control system which concerns on one Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Intersection control system 101 Vehicle control apparatus 102 Pedestrian traffic signal 103 Intersection control apparatus 201 Road-to-vehicle communication part 202 Own vehicle position detection part 203 Vehicle speed detection part 204 Accelerator pedal reaction force control part 205 Braking force control part 206 Main control part 301 Road Inter-vehicle communication unit 302 Storage unit 303 Main control unit

Claims (8)

An intersection control system that is disposed at a road intersection where a traffic signal for vehicles is not installed and controls intersection traffic,
A vehicle detection device for detecting a vehicle that has entered a predetermined distance range from the intersection;
A vehicle deceleration control device mounted on a vehicle passing through an intersection,
Obtaining position information and vehicle state information from each vehicle in which entry into the predetermined distance range is detected by the vehicle detection device;
Determine the possibility of crossing at the intersection of each vehicle based on the position information,
For each vehicle determined to have the possibility of crossing, set a priority for the passage of the intersection based on the position information and vehicle state information,
An intersection control system that causes the vehicle deceleration control device to execute vehicle deceleration control so that vehicles determined to have the possibility of crossing pass through the intersections in descending order of priority. The intersection control system according to claim 1,
When the vehicle state information indicating that the vehicle state is incapable of vehicle deceleration control from any of the vehicles determined to have the possibility of crossing, the priority of the vehicle is set to the highest. A traffic control system characterized by that. The intersection control system according to claim 1 or 2,
When the position information or the vehicle state information is not acquired from any of the vehicles whose entry into the predetermined distance range is detected by the vehicle detection device, it is determined that the vehicle has the possibility of crossing. An intersection control system, comprising: causing the vehicle deceleration control device to execute vehicle deceleration control so that the vehicle passes through the intersection based on a predetermined criterion different from the priority. An intersection control system according to claim 3,
The intersection control system according to claim 1, wherein the predetermined reference is a reference that a vehicle positioned relatively to the right or left is given priority. An intersection control device that is disposed at a road intersection where no traffic signal for vehicles is installed and controls traffic at the intersection,
Vehicle detection means for detecting a vehicle that has entered a predetermined distance range from the intersection;
Information acquisition means for acquiring position information and vehicle state information from each vehicle in which entry into the predetermined distance range is detected by the vehicle detection means using communication;
Priority on intersection of each vehicle based on the position information and vehicle state information is determined based on the position information and the vehicle state information for each vehicle determined to have intersection possibility based on the position information. Priority setting means for setting the degree;
Vehicle control that causes each vehicle to execute deceleration control using communication so that the vehicle determined to have the possibility of crossing passes through the intersection in descending order of the priority set by the priority setting means Means for controlling an intersection. The intersection control device according to claim 5,
When the vehicle state information indicating that the priority setting unit is in a vehicle state in which vehicle deceleration control is not possible from any of the vehicles determined to have the possibility of crossing is acquired by the information acquisition unit The traffic control device is characterized in that the highest priority is set for the vehicle. The intersection control device according to claim 5 or 6,
In the vehicle control means, the position information or the vehicle state information has not been acquired by the information acquisition means from any of the vehicles whose entry into the predetermined distance range has been detected by the vehicle detection means. Intersection control, wherein each vehicle is subjected to deceleration control so that the vehicle determined to have the possibility of crossing passes through the intersection based on a predetermined criterion different from the priority. apparatus. The intersection control device according to claim 7,
The intersection control device according to claim 1, wherein the predetermined reference is a reference that a vehicle positioned relatively to the right or left is given priority.

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