JP2007304715A - Vehicle deceleration judging system, in-vehicle device, roadside device, computer program and vehicle deceleration determining method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle deceleration judging system capable of safely judging whether passing a predetermined point on a road or stopping there, a roadside device and an in-vehicle device for constituting the vehicle deceleration judging system, a computer program for realizing the in-vehicle device, and a vehicle deceleration determining method. <P>SOLUTION: A control part, based on a received position information, calculates a distance L1 from its own vehicle to a stop line and a distance L2 from the own vehicle to a vehicle sensor 2. Moreover, the control part, based on received traffic signal information, calculates time Ta until a traffic signal color switches to red, the maximum time Tmax until the traffic light color switches to red, and time Tb for remaining time for a green arrow of the traffic light color, and the like. Based on the calculated distance L1, L2, time Ta, Tb, Tmax, predetermined deceleration d for the vehicle, a designated margin value α, and the like, the control part judges if the vehicle is allowed to safely pass an intersection or has to stop before the stop line. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle deceleration determination system that performs deceleration determination of a vehicle traveling on a road, an in-vehicle device and a roadside device that constitute the vehicle deceleration determination system, a computer program for realizing the in-vehicle device, and a vehicle deceleration determination method.

  In order to suppress traffic accidents or smooth traffic, a system that provides traffic information to vehicles traveling on the road is required. Especially, collisions between vehicles at or near intersections, vehicles and pedestrian crossings. A system that prevents a contact accident with a walking pedestrian has been proposed.

  For example, the color signal of the signal light transmitted by the traffic light at the intersection and the remaining time signal until the color signal is switched are received by the vehicle receiver, and the vehicle is moved to the intersection based on the received signal, the vehicle speed and acceleration, the inter-vehicle distance, etc. If it is determined that the vehicle is dangerous or safe, a warning is issued to the driver. If the driver does not perform braking, the automatic brake is activated to stop the vehicle. An operation system has been proposed (see Patent Document 1).

In addition, at intersections where there is a high demand for right turn traffic, a right turn dedicated lane is installed, and a vehicle traveling in the right turn dedicated lane is detected by the vehicle detector, so that a right turn dedicated blue arrow is displayed according to the amount detected by the right turn vehicle. A right turn sensitive control method for controlling time has been proposed (see Non-Patent Document 1).
JP-A-3-271999 Traffic Engineering Research Group, “Traffic Signal Guide”, 1st edition, issued in July 1994

  However, when the system of Patent Document 1 is used at an intersection to which right-turn sensitive control proposed in Non-Patent Document 1 is applied, the remaining time until the switching of the color signal of the signal lamp received by the vehicle receiver and the color signal Based on the signal or the like, it is determined whether the vehicle passes through the intersection or stops before the intersection. For example, the driver is warned to stop before the intersection. However, if the vehicle reaches the sensing area after the driver has been warned and decelerated to stop the vehicle, the blue display time will be extended and the signal will be blue but before the intersection. There was a risk that the vehicle would stop, causing a rear-end collision by the following vehicle.

  The present invention has been made in view of such circumstances, and includes vehicle position information, position information related to a detection area of a vehicle detector, position information related to a predetermined point on a road downstream from the detection area, and vehicle speed. The signal light information including the signal lamp color display time for the road is acquired from the roadside device, and based on the acquired vehicle speed and each position information and the received signal light information, before the vehicle reaches the predetermined point By determining whether or not the vehicle is to be decelerated to stop, it is possible to safely determine whether the vehicle passes a predetermined point on the road or stops before the predetermined point, and the vehicle deceleration It is an object of the present invention to provide an in-vehicle device and a roadside device constituting a determination system, a computer program for realizing the in-vehicle device, and a vehicle deceleration determination method.

  Another object of the present invention is to safely decelerate a vehicle by determining to decelerate the vehicle when the vehicle cannot pass a predetermined point while the signal light color is blue or yellow. An object of the present invention is to provide a vehicle deceleration determination system capable of performing the above.

  Another object of the present invention is to provide an extension means for extending the display time of blue when the signal light is blue when the vehicle detector senses the vehicle, and the signal light color is blue. If the vehicle cannot reach the sensing area in the meantime, the vehicle is judged to decelerate, so it is judged whether or not the blue display time of the signal light is extended, and the deceleration of the vehicle is judged more accurately. An object of the present invention is to provide a vehicle deceleration determination system that can do this.

  Another object of the present invention is to provide an extension means for extending the display time of blue when the signal light is blue when the vehicle detector senses the vehicle, and the signal light color is blue. If the vehicle reaches the sensing area in the meantime and the blue display time is extended, and the vehicle cannot pass through the specified point while the signal light color is blue or yellow, it is determined to decelerate the vehicle. Thus, even when the blue display time of the signal light is extended, the vehicle can be decelerated to reduce the possibility of a vehicle accident when the vehicle cannot safely pass through a predetermined point on the road. The object is to provide a deceleration determination system.

  Another object of the present invention is to provide an extension means for extending the display time of blue when the signal light is blue when the vehicle detector senses the vehicle, and the signal light color is blue. When the vehicle can reach the sensing area in the meantime, it can be safely passed through a predetermined point on the road when the blue display time of the signal light is extended by determining not to decelerate the vehicle. Another object of the present invention is to provide a vehicle deceleration determination system that can reduce the possibility of a vehicle accident without decelerating the vehicle.

  Another object of the present invention is to determine not to decelerate the vehicle when the vehicle can pass a predetermined point while the signal light color is blue or yellow when the blue display time is extended. Thus, when the blue display time of the signal light is extended and the vehicle can safely pass through a predetermined point on the road, the vehicle deceleration can reduce the possibility of a vehicle accident without decelerating the vehicle. It is to provide a determination system.

  Another object of the present invention is to determine a deceleration speed for decelerating the vehicle based on a predetermined distance between the predetermined point and the sensing area and a predetermined deceleration of the vehicle when it is determined to decelerate the vehicle. By calculating and outputting a signal for decelerating the vehicle below the calculated deceleration speed, when the other vehicle traveling ahead is detected by the vehicle detector and the blue display time is extended It is an object of the present invention to provide a vehicle deceleration determination system capable of stopping a vehicle before a predetermined point on a road and preventing a vehicle accident when the blue display time is not extended without stopping.

A vehicle deceleration determination system according to a first invention includes a traffic light, a vehicle detector for sensing a vehicle traveling on a road and changing a signal light color display time of the traffic light, an in-vehicle device, and a roadside device. In the vehicle deceleration determination system that receives the predetermined information transmitted by the roadside device by the in-vehicle device and determines the deceleration of the vehicle, the roadside device displays the signal light information including the display time of the signal light color for the road. The vehicle-mounted apparatus acquires vehicle position information, position information related to the sensing area of the vehicle detector, position information related to a predetermined point on the road downstream from the sensing area, and vehicle speed. Based on the acquisition means, the reception means for receiving the signal light information transmitted by the roadside device, the speed and each position information of the acquired vehicle, and the received signal light information, the vehicle Determining means for determining whether to slow the vehicle in order to stop before reaching the predetermined point, and an outputting means for outputting a result of the determination by said determining means.

  In a vehicle deceleration determination system according to a second aspect based on the first aspect, the determination means decelerates the vehicle when the vehicle cannot pass the predetermined point while the signal lamp color is blue or yellow. It is characterized by being comprised so that it may determine.

  According to a third aspect of the present invention, there is provided a vehicle deceleration determination system according to the second aspect, wherein when the signal light is blue when the vehicle detector senses the vehicle, the traffic light includes an extension means for extending a blue display time. The determination means is configured to determine to decelerate the vehicle when the vehicle cannot reach the sensing area while the signal light color is blue.

  According to a fourth aspect of the present invention, there is provided a vehicle deceleration determination system according to the second aspect, wherein when the signal light is blue when the vehicle detector senses the vehicle, the traffic light includes extension means for extending a blue display time. And the determination means is configured such that when the vehicle reaches the sensing area while the signal lamp color is blue and the blue display time is extended, the vehicle detects the predetermined point while the signal lamp color is blue or yellow. When it cannot pass, it is comprised so that it may determine so that this vehicle may decelerate.

  According to a fifth aspect of the present invention, there is provided a vehicle deceleration determination system according to the first aspect, wherein the traffic light includes an extension means for extending a blue display time when the signal light is blue when the vehicle detector detects the vehicle. The determination means is configured to determine not to decelerate the vehicle when the vehicle can reach the sensing area while the signal light color is blue.

  The vehicle deceleration determination system according to a sixth aspect of the present invention is the vehicle deceleration determination system according to the fifth aspect, wherein when the blue display time is extended, the determination means allows the vehicle to pass the predetermined point while the signal lamp color is blue or yellow. In some cases, the vehicle is configured to determine not to decelerate the vehicle.

  In the vehicle deceleration determination system according to a seventh aspect of the present invention, in the third aspect of the invention, when the in-vehicle device determines to decelerate the vehicle, the predetermined distance and the separation distance of the sensing area and a predetermined vehicle deceleration are determined. On the basis of this, it is provided with a calculation means for calculating a deceleration speed for decelerating the vehicle, and a means for outputting a signal for decelerating the vehicle below the deceleration speed calculated by the calculation means.

  An in-vehicle device according to an eighth aspect of the present invention is an in-vehicle device that performs deceleration determination of a vehicle traveling on a road. The vehicle position information, the position information regarding the sensing area of the vehicle detector, and a predetermined point on the road downstream from the sensing area Based on the acquisition means for acquiring the position information and the speed of the vehicle, the reception means for receiving the signal light information transmitted by the roadside device, the vehicle speed and each position information acquired, and the received signal light information, the vehicle It is characterized by comprising determination means for determining whether or not the vehicle is decelerated to stop before reaching the predetermined point, and output means for outputting the determination result determined by the determination means.

  A roadside apparatus according to a ninth aspect is used in the vehicle deceleration determination system according to the first aspect.

A computer program according to a tenth aspect of the present invention is a computer program for causing a computer to make a deceleration determination of a vehicle traveling on a road, wherein the computer is a position information relating to vehicle position information and a sensing area of a vehicle detector provided on the road. Based on the information and position information regarding a predetermined point on the road downstream from the sensing area, a means for calculating a distance between the vehicle and the predetermined point and a distance between the vehicle and the sensing area, and a computer, Based on the signal light information including the speed of the vehicle and the display time of the signal light color for the road, the vehicle functions as a determination unit that determines whether the vehicle is to be decelerated to stop before reaching the predetermined point. It is characterized by that.

  A vehicle deceleration determination method according to an eleventh aspect of the present invention is the vehicle deceleration determination method for determining deceleration of a vehicle traveling on a road. The vehicle position information, the position information on the detection area of a vehicle detector provided on the road, and the detection area. The position information regarding the predetermined point of the road on the downstream side and the speed of the vehicle are acquired, the signal lamp information including the display time of the signal lamp color for the road is received, and the acquired vehicle speed and each position information and the received signal lamp information are received. Based on this, it is determined whether or not the vehicle is decelerated to stop before the vehicle reaches the predetermined point, and a determination result is output.

  In the first invention, the eighth invention, the tenth invention, and the eleventh invention, the in-vehicle device includes the vehicle position information, the position information related to the sensing area of the vehicle detector, and a predetermined point on the road downstream from the sensing area. Signal position information (for example, intersection stop line) and vehicle speed are acquired, and signal light information including the display time of the signal light color for the road transmitted by the roadside device (for example, the display time of the signal light color, the current signal light color, Receiving signal lamp color remaining display time, blue display time maximum extension time, etc.). The in-vehicle device determines whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point based on the acquired vehicle speed and each position information and the received signal light information. For example, the in-vehicle device is based on the distance between the vehicle and a predetermined point, the distance between the vehicle and the sensing area, the speed of the vehicle, the time until the signal light color becomes red, the remaining time of the blue display time, etc. It is determined whether the predetermined point can be safely passed during blue display or yellow display (whether it should not be decelerated) or should be stopped (decelerated) before the predetermined point. When determining that the vehicle is to be decelerated, the in-vehicle device outputs a determination result (for example, outputs a deceleration signal). Moreover, the said vehicle-mounted apparatus outputs a determination result (for example, does not output a deceleration signal), when it determines with not decelerating a vehicle. Accordingly, it is possible to safely determine whether the vehicle passes through a predetermined point on the road or stops before the predetermined point, and the vehicle can be decelerated.

  In the second invention, the determination means determines to decelerate the vehicle when the vehicle cannot pass the predetermined point while the signal light color is blue or yellow. For example, the in-vehicle device has a signal light color of blue or yellow based on the distance between the vehicle and a predetermined point, the speed of the vehicle, the time until the signal light color corresponding to the presence or absence of extension of the blue display time becomes red, and the like. It is determined whether the vehicle can safely pass through a predetermined point for a while. Thereby, for example, even when a vehicle detector for applying a right turn feeling or a vehicle detector for extending the blue display time is installed, the vehicle can be decelerated safely regardless of whether or not the blue display time is extended. be able to.

  In the third invention, the traffic light extends the blue display time when the signal light color is blue when the vehicle detector senses the vehicle. The determination unit determines to decelerate the vehicle when the vehicle cannot reach the sensing area while the signal light color is blue. For example, the in-vehicle device can determine whether the vehicle can reach the sensing area while the signal lamp color is blue based on the distance between the vehicle and the sensing area, the speed of the vehicle, the remaining time of the blue display time, and the like. Determine whether. If the vehicle cannot reach the sensing area while the signal light color is blue, the blue display time is not extended, so the vehicle may pass through a predetermined point while the signal light color is blue or yellow. Unable to slow down the vehicle. As a result, the vehicle can be decelerated more accurately.

In the fourth invention, the traffic light extends the blue display time when the signal light color is blue when the vehicle detector detects the vehicle. When the vehicle reaches the sensing area while the signal light color is blue and the display time of blue is extended, when the signal light color is blue or yellow and the vehicle cannot pass the predetermined point, It is determined to decelerate the vehicle. For example,
While the on-vehicle device is based on the distance between the vehicle and a predetermined point, the speed of the vehicle, the remaining time when the blue display time is extended (for example, the maximum extension time), etc., the signal lamp color is blue or yellow. It is determined whether or not the vehicle can pass a predetermined point. As a result, when it is not possible to safely pass through a predetermined point on the road (for example, even if the preceding vehicle is detected by the vehicle detector and the blue display time is extended, the subsequent vehicle When the vehicle cannot safely pass through the predetermined point), the vehicle can be decelerated, for example, to prevent a collision with another vehicle entering from the crossing road and to reduce the possibility of a vehicle accident. .

  In the fifth aspect, the traffic light extends the blue display time when the signal light color is blue when the vehicle sensor detects the vehicle. The determination means determines not to decelerate the vehicle when the vehicle can reach the sensing area while the signal lamp color is blue, that is, when the blue display time of the signal lamp is extended. Thus, for example, even though the driver decelerates to stop the vehicle before the intersection, the vehicle is detected by the vehicle detector, the blue display time is extended, and the signal is blue, but before the intersection. The vehicle is stopped, for example, a rear-end collision by a subsequent vehicle can be prevented in advance, and the occurrence of a vehicle accident can be reduced.

  In the sixth invention, the determination means prevents the vehicle from decelerating when the vehicle can pass a predetermined point while the signal light color is blue or yellow when the blue display time of the signal light is extended. judge. For example, in the in-vehicle device, the signal lamp color is blue or yellow based on the distance between the vehicle and a predetermined point, the speed of the vehicle, the remaining time when the blue display time is extended (for example, the maximum extension time), and the like. In the meantime, it is determined whether or not the vehicle can pass a predetermined point. Thus, for example, even though the driver decelerates to stop the vehicle before the intersection, the vehicle is detected by the vehicle detector, the blue display time is extended, and the signal is blue, but before the intersection. The vehicle is stopped, for example, a rear-end collision by a subsequent vehicle can be prevented in advance, and the occurrence of a vehicle accident can be reduced.

  In the seventh invention, when it is determined that the vehicle is to be decelerated, the in-vehicle device is a deceleration for decelerating the vehicle based on the predetermined distance and the separation distance of the sensing area and the predetermined deceleration of the vehicle. A speed (for example, a speed at which the vehicle can be stopped between the predetermined point and the sensing area) is calculated, and a signal for decelerating the vehicle below the calculated deceleration speed is output. Thus, for example, when another vehicle traveling in advance is detected by the vehicle detector and the blue display time is extended, the road does not stop and the blue display time is not extended. The vehicle can be surely stopped before the predetermined point.

  In the ninth invention, the roadside apparatus is used in the vehicle deceleration determination system according to the first invention.

  In the present invention, the position information of the vehicle, the position information related to the sensing area of the vehicle detector, the position information related to a predetermined point on the road downstream from the sensing area, and the speed of the vehicle are acquired, and the signal lamp color is displayed on the road. Whether signal light including time is received from the roadside device, and the vehicle is decelerated to stop before the vehicle reaches the predetermined point based on the acquired vehicle speed and position information and the received signal light information. By determining whether or not, it can be safely determined whether the vehicle passes a predetermined point on the road or stops before the predetermined point.

Embodiment 1
Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of a vehicle deceleration determination system according to the present invention. The vehicle deceleration determination system according to the present invention includes a traffic light 1, a vehicle detector 2, a roadside device 3, an in-vehicle device 4, and the like. The traffic light 1 has a signal lamp 11
Are connected, and the vehicle detector 2 and the roadside device 3 are connected through the communication line 5. The in-vehicle device 4 is configured to be able to communicate with the roadside device 3.

  The traffic light 1 includes position information Y1 of a stop line (predetermined point) at the intersection C, position information of the vehicle detector 2 (more specifically, position information of a point upstream of the sensing area a1 of the vehicle detector 2) Y2, The position information of the roadside device 3, signal lamp information for controlling the display of the signal lamp 11, and the like are stored. The traffic light 1 transmits the stored position information and signal lamp information to the roadside device 3 at predetermined intervals. Note that the predetermined point is not limited to the stop line, and may be another point of the intersection C.

  The signal lamp 11 includes light sources for displaying blue, yellow, red, and blue arrows for turning right.

  The vehicle sensor 2 is, for example, an ultrasonic sensor, a loop coil sensor, a far-infrared sensor, an image sensor, or the like that can detect a vehicle, and is in the vicinity of the right turn lane a provided on the road A. (Upstream from the stop line at intersection C) The vehicle detector 2 senses a vehicle traveling in the sensing area a1 of the right turn exclusive lane a and outputs a sensing signal to the traffic light 1.

  The roadside device 3 is a communication device such as an optical beacon using infrared rays, and communicates with the in-vehicle device 4 of the vehicle traveling on the road A. The roadside device 3 stores each position information and signal light information transmitted from the traffic light 1, and when a vehicle equipped with the in-vehicle device 4 enters the communicable area A1 of the road A, each stored position information and signal light information Is transmitted to the in-vehicle device 4. Instead of an optical beacon, a communication device such as a radio wave beacon using a microwave, a wireless LAN, or a DSRC (Dedicated Short Range Communication) system may be used.

  When the vehicle position X reaches the communicable area A1, the in-vehicle device 4 receives each position information and signal light information transmitted from the roadside device 3, and receives the vehicle speed and position, each received position information and signal light information. Based on the above, a determination process of whether to decelerate the vehicle so as to pass the stop line of the intersection C or stop before the stop line is performed, and a determination result is output.

  FIG. 2 is a block diagram showing the configuration of the traffic light 1. The traffic light 1 includes a control unit 15 including a CPU that performs various arithmetic processes. An interface unit 12, a transmission / reception unit 13, a storage unit 14, and the like are connected to the control unit 15 via an internal bus, and the control unit 15 controls operations of these hardware units.

  The interface unit 12 outputs a control signal for controlling the signal display of the signal lamp 11. Thereby, for example, the signal lamp 11 repeats lighting in order of blue, yellow, blue arrow, and red.

  The storage unit 14 stores signal lamp information 141 used for controlling the signal display of the signal lamp 11, stop information at the intersection C, the vehicle detector 2, and position information 142 such as the roadside device 3. The signal light information 141 is stored as separate data for each road that intersects the intersection C. In the following description, data for the road A will be described.

  The signal light information 141 sets each display time (present time) of the signal light 11 such as blue, yellow, blue arrow and red according to the date, day of the week, time zone, traffic volume of the intersection C, and the like. In addition, the display plan of the display lamp color of the signal lamp 11 is stored together with the time. The signal lamp information 141 indicates, for example, how many seconds later the signal lamp color is switched to, based on an arbitrary time.

  The transmission / reception unit 13 transmits / receives data to / from the vehicle detector 2 and the roadside device 3 through the communication line 5. For example, the transmission / reception unit 13 receives a detection signal from the vehicle detector 2 and outputs the received detection signal to the control unit 15. Further, the transmission / reception unit 13 transmits the signal light information 141 and the position information 142 stored in the storage unit 14 to the roadside device 3 at predetermined intervals under the control of the control unit 15.

  When the control unit 15 receives the detection signal and the display of the signal lamp 11 is a blue arrow, the display time of the blue arrow is within the range of the maximum extension time according to the number of detection signals for each unit extension time. The signal light information 141 is updated to reflect the display plan after the extension. In addition, when receiving the sensing signal, the control unit 15 does not extend the display time of the blue arrow when the display of the signal lamp 11 is other than the blue arrow.

  FIG. 3 is a block diagram showing the configuration of the roadside device 3. The roadside device 3 includes a control unit 31 including a CPU that performs various arithmetic processes. A transmission / reception unit 32, a storage unit 33, and the like are connected to the control unit 31 via an internal bus.

  The transmission / reception unit 32 transmits predetermined data to the in-vehicle device 4 when the vehicle passes through the communicable area A1 of the roadside device 3.

  The transmission / reception unit 32 is connected to the communication line 5 and receives the signal lamp information 141 and the position information 142 transmitted from the traffic light 1. The received signal light information 141 and position information 142 are stored in the storage unit 33.

  When detecting that the vehicle passes through the communicable area A <b> 1, the control unit 31 transmits the signal light information 141 and the position information 142 stored in the storage unit 33 to the in-vehicle device 4.

  FIG. 4 is a block diagram showing the configuration of the in-vehicle device 4. The in-vehicle device 4 includes a control unit 41 including a CPU that performs various arithmetic processes. The control unit 41 is connected to a reception unit 42, a storage unit 43, a RAM 44, an input / output unit 45, a display unit 46, an operation unit 47, and the like via an internal bus.

  When the vehicle passes through the communicable area A <b> 1 of the roadside device 3, the receiving unit 42 communicates with the roadside device 3 and receives the signal light information 141 and the position information 142 transmitted from the roadside device 3. . The received signal light information 141 and position information 142 are stored in the storage unit 43.

  The input / output unit 45 is provided in the vehicle, and exchanges signals with a vehicle control unit (not shown) that controls traveling of the vehicle. For example, the input / output unit 45 acquires a signal indicating the speed of the vehicle from the vehicle control unit. The input / output unit 45 outputs a deceleration signal for decelerating the vehicle to the vehicle control unit based on the determination result of the deceleration determination process performed by the control unit 41. The input / output unit 45 repeatedly acquires the position of the vehicle based on information from the GPS. Thereby, the vehicle-mounted apparatus 4 can acquire the position of a vehicle at any time, when the vehicle is drive | working.

  The display unit 46 includes, for example, a liquid crystal display panel and a speaker. When notifying the driver of a warning under the control of the control unit 41, the display unit 46 displays the content of the warning in characters and outputs a voice. For example, “You can go straight ahead at the intersection”, “You can turn right at the intersection ahead”, “Please stop before the intersection”, “Slow down to stop before the intersection”, etc. Can be displayed or output by voice.

The operation unit 47 includes various operation panels and functions as a user interface between the driver and the in-vehicle device 4. For example, the operation of the in-vehicle device 4 can be started or stopped by the operation of the driver.

  The control unit 41 acquires the position of the host vehicle based on the position information 142 received through the receiving unit 42. That is, the control unit 41 can acquire the position of the host vehicle as the position of the roadside device 3 when the position of the roadside device 3 is acquired.

  The control unit 41 acquires the vehicle speed V and the vehicle position through the input / output unit 45. Further, the control unit 41 determines the distance L1 from the own vehicle to the stop line, the distance from the own vehicle to the vehicle detector 2 (more specifically, based on the position information 142 received through the receiving unit 42 and the acquired position of the vehicle. The distance L2 from the own vehicle to the upstream point of the sensing area a1 of the vehicle detector 2 is calculated.

  The control unit 41 receives the signal light information 141 from the roadside device 3 through the reception unit 42, so that the signal light color of the traffic light 1, the remaining display time of the signal light color, and the display time of the blue arrow at the time of reception (that is, current time). By specifying the extension time (including the maximum extension time), the time Ta until the signal lamp color turns red, the maximum time Tmax until the signal lamp color turns red, the remaining time Tb of the blue arrow of the signal lamp color, etc. Is calculated. The configuration may be such that the time Ta until the signal lamp color turns red, the maximum time Tmax until the signal lamp color turns red, the remaining time Tb of the blue arrow of the signal lamp color, and the like are received from the roadside device 3.

  The control unit 41 determines according to the calculated distances L1, L2, times Ta, Tb, Tmax, a preset vehicle deceleration d, a predetermined margin value α (the distance the vehicle travels during the time required for the alarm, etc.). To determine whether or not the vehicle should be decelerated by determining whether the vehicle can safely pass the intersection or should stop before the stop line (deceleration determination processing) .

  The control unit 41 starts the above-described deceleration determination process from the time when the signal light information 141 and the position information 142 are received from the roadside device 3, and repeats the process at a predetermined interval (for example, every 0.1 second). The control unit 41 starts deceleration when the deceleration determination process described above is repeated a predetermined number of times, when it is repeated for a predetermined time, when the vehicle reaches the vehicle detector 2, or because the vehicle stops at the stop line. If so, the process ends. In addition, when the deceleration determination process described above is repeated, the control unit 41 calculates the distance traveled by the vehicle during that time.

  The deceleration determination process described above can also be realized by a procedure indicated by a computer program. For example, a computer program indicating the procedure of the deceleration determination process is stored in advance in the storage unit 43. When the CPU of the control unit 41 loads the computer program stored in the storage unit 43 into the RAM 44, the control unit 41 performs a deceleration determination process according to the processing procedure indicated by the computer program.

The storage unit 43 stores the deceleration d of the vehicle when the brake is applied. For example, the deceleration d of a normal vehicle is 3.0 m / s ² , and the deceleration d of a large vehicle is 2.0 m / s ² . The storage unit 43 stores a predetermined margin value α.

FIG. 5 is an explanatory diagram showing an example of a right-turn sensitive signal lamp display. The upper part of the figure shows the length of the signal lamp display time, and the lower part of the figure shows the sensing signal. As shown in FIG. 5A, when a vehicle is not detected by the vehicle detector 2 while the signal light is a blue arrow, the blue arrow is displayed for a minimum time, and then the display is switched to red. Further, as shown in FIG. 5B, when a vehicle is detected by the vehicle detector 2 while the signal light is a blue arrow, the unit extension time continues corresponding to the detection signal and the display time of the blue arrow is continued. Is extended. Further, as shown in FIG. 5C, when a vehicle is detected by the vehicle detector 2 while the signal light is a blue arrow, the unit extension time continues corresponding to the detection signal and the display time of the blue arrow is continued. Will be extended, but when the extension time reaches the maximum extension time, the blue arrow will turn red.

  Next, a processing procedure of the in-vehicle device 4 constituting the vehicle deceleration determination system according to the embodiment of the present invention will be described. 6 and 7 are flowcharts showing the procedure of the deceleration determination process when the current signal lamp color is a blue arrow. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the position information 142 and the signal lamp information 141 from the roadside device 3 (S11). Based on the received position information 142, the control unit 41 calculates a distance L1 to the stop line (S12), and calculates a distance L2 to the vehicle detector 2 (S13).

  The control unit 41 acquires the speed V of the vehicle (S14), and calculates the time Ta until the signal lamp color turns red based on the received signal lamp information 141 (S15). The control unit 41 determines whether or not L1 ≦ V · Ta is satisfied (S16). Thereby, the control part 41 determines whether a stop line can be passed during the time Ta until a signal lamp color turns red.

  When L1 ≦ V · Ta is not satisfied (NO in S16), that is, when the stop line cannot be passed during the time Ta until the signal lamp color becomes red, the control unit 41 determines the maximum time until the signal lamp color becomes red. Tmax is calculated (S17). The maximum time Tmax is a time until the signal lamp color becomes red when the display time of the blue arrow of the signal lamp color is extended to the maximum extension time.

  The control unit 41 determines whether or not L1 ≦ V · Tmax is satisfied (S18). Thereby, the control part 41 determines whether a stop line can be passed during the maximum time Tmax until a signal lamp color turns red when a blue arrow is extended to the maximum extension time. When L1 ≦ V · Tmax (YES in S18), that is, when the vehicle can pass the stop line when the blue arrow is extended by the maximum extension time, the control unit 41 determines the remaining time of the blue arrow of the signal lamp color. Tb is calculated (S19).

The control unit 41 determines whether or not L2 ≦ V · Tb is satisfied (S20). Accordingly, the control unit 41 determines whether or not the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is the blue arrow. When L2 ≦ V · Tb is not satisfied (NO in S20), that is, when the vehicle cannot reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is a blue arrow, the control unit 41 satisfies L1 ≧ V It is determined whether or not ² / 2d + α (S21). As a result, if the deceleration of the vehicle when the brake is applied is d, the control unit 41 has a distance of V ² / 2d until the vehicle at the speed V stops. It is determined whether or not it is possible to stop before this.

  If L1 ≦ V · Tmax is not satisfied in step S18 (NO in S18), that is, if the vehicle cannot pass the stop line when the blue arrow is extended for the maximum extension time, the control unit 41 performs the process of step S21. Do.

If L1 ≧ V ² / 2d + α is not satisfied (NO in S21), that is, if the vehicle cannot afford to stop before the stop line with a margin, the control unit 41 decelerates a signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S22). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line. The control unit 41 can also output a warning in text or voice through the display unit 46 when outputting the deceleration signal.

The control unit 41 determines whether or not the process can be terminated based on a predetermined process termination condition (S23).
When the process cannot be completed (NO in S23), the position of the vehicle is acquired (S24), and the processes after step S12 are continued. Thereby, each time the determination process is completed, the position of the vehicle is acquired, and the distance L1 from the vehicle to the stop line and the distance L2 from the vehicle to the vehicle detector 2 are calculated again. When the process can be ended (YES in S23), the control unit 41 ends the process.

  On the other hand, if L1 ≦ V · Ta in step S16 (YES in S16), that is, if the stop line can be passed during the time Ta until the signal lamp color turns red, the control unit 41 ends the process. To do.

  In step S20, if L2 ≦ V · Tb (YES in S20), that is, if the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is a blue arrow, control is performed. The unit 41 ends the process.

In step S21, if L1 ≧ V ² / 2d + α (YES in S21), that is, if the vehicle can be stopped before the stop line with a margin, the control unit 41 ends the process. .

  FIG. 8 is a flowchart showing the procedure of the deceleration determination process when the current signal lamp color is other than a blue arrow (for example, red). The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the position information 142 and the signal lamp information 141 from the roadside device 3 (S31). The control unit 41 calculates the distance L1 to the stop line based on the received position information 142 (S32), and acquires the vehicle speed V (S33).

The control unit 41 determines whether or not L1 ≧ V ² / 2d + α is satisfied (S34). If L1 ≧ V ² / 2d + α is not satisfied (NO in S34), that is, if the vehicle cannot afford to stop before the stop line with a margin, the control unit 41 decelerates the deceleration signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S35). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line.

The control unit 41 determines whether or not the process can be terminated based on a predetermined process termination condition (S36). If the process cannot be terminated (NO in S36), the position of the vehicle is acquired (S37), and after step S32 Continue processing. If the process can be ended (YES in S36), the control unit 41 ends the process. On the other hand, if L1 ≧ V ² / 2d + α in step S34 (YES in S34), that is, if the vehicle can be stopped before the stop line with a margin, the control unit 41 ends the process. .

Embodiment 2
In the first embodiment, the in-vehicle device 4 is configured to receive, as position information, the position related to the sensing area a1 of the vehicle detector 2 and the position of the stop line at the intersection C from the roadside device 3. The distance from the roadside device 3 to the sensing area a1 of the vehicle detector 2 and the distance between the vehicle and the stop line at the intersection C may be used. The second embodiment acquires the distance from the roadside device 3 to the sensing area a1 of the vehicle detector 2, the distance between the vehicle and the stop line of the intersection C, and based on the travel distance of the vehicle from the time of acquisition, This is an example of calculating the distance L1 between the vehicle and the stop line and the distance L2 between the vehicle and the sensing area a1.

  9 and 10 are flowcharts showing the processing procedure of the deceleration determination process when the current signal lamp color is the blue arrow in the second embodiment. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the signal light information 141 from the roadside device 3 (S61), receives the distance L1 to the stop line (S62), and receives the distance L2 to the vehicle detector 2 (S63).

  The control unit 41 acquires the speed V of the vehicle (S64), and calculates the time Ta until the signal lamp color turns red based on the received signal lamp information 141 (S65). The control unit 41 determines whether or not L1 ≦ V · Ta is satisfied (S66). Thereby, the control part 41 determines whether a stop line can be passed during the time Ta until a signal lamp color turns red.

  When L1 ≦ V · Ta is not satisfied (NO in S66), that is, when the stop line cannot be passed during the time Ta until the signal lamp color becomes red, the control unit 41 determines the maximum time until the signal lamp color becomes red. Tmax is calculated (S67). The maximum time Tmax is a time until the signal lamp color becomes red when the display time of the blue arrow of the signal lamp color is extended to the maximum extension time.

  The control unit 41 determines whether or not L1 ≦ V · Tmax is satisfied (S68). Thereby, the control part 41 determines whether a stop line can be passed during the maximum time Tmax until a signal lamp color turns red when a blue arrow is extended to the maximum extension time. When L1 ≦ V · Tmax (YES in S68), that is, when the vehicle can pass the stop line when the blue arrow is extended by the maximum extension time, the control unit 41 determines the remaining time of the blue arrow of the signal lamp color. Tb is calculated (S69).

The control unit 41 determines whether or not L2 ≦ V · Tb is satisfied (S70). Accordingly, the control unit 41 determines whether or not the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is the blue arrow. When L2 ≦ V · Tb is not satisfied (NO in S70), that is, when the vehicle cannot reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is a blue arrow, the control unit 41 satisfies L1 ≧ V It is determined whether or not ² / 2d + α (S71). As a result, if the deceleration of the vehicle when the brake is applied is d, the control unit 41 has a distance of V ² / 2d until the vehicle at the speed V stops. It is determined whether or not it is possible to stop before this.

  In step S68, if L1 ≦ V · Tmax is not satisfied (NO in S68), that is, if the vehicle cannot pass the stop line when the blue arrow is extended for the maximum extension time, the control unit 41 performs the process of step S71. Do.

If L1 ≧ V ² / 2d + α is not satisfied (NO in S71), that is, if the vehicle cannot be stopped in front of the stop line with a margin, the control unit 41 decelerates a signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S72). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line. The control unit 41 can also output a warning in text or voice through the display unit 46 when outputting the deceleration signal.

  The control unit 41 determines whether or not the process can be ended based on a predetermined process end condition (S73). If the process cannot be ended (NO in S73), the vehicle travel distance during one determination process is calculated. (S74), the distance L1 to the stop line is calculated by subtracting the travel distance from the distances L1 and L2 received from the roadside device 3 (S75), and the distance L2 to the vehicle detector 2 is calculated (S76). The processing after step S64 is continued. If the process can be ended (YES in S73), the control unit 41 ends the process.

  On the other hand, if L1 ≦ V · Ta in step S66 (YES in S66), that is, if the stop line can be passed during the time Ta until the signal lamp color turns red, the control unit 41 ends the processing. To do.

In step S70, if L2 ≦ V · Tb (YES in S70), that is,
When the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is the blue arrow, the control unit 41 ends the process.

If L1 ≧ V ² / 2d + α in step S71 (YES in S71), that is, if the vehicle can be stopped before the stop line with a margin, the control unit 41 ends the process. .

  FIG. 11 is a flowchart showing the procedure of the deceleration determination process when the current signal lamp color is other than the blue arrow (for example, red) in the second embodiment. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the signal light information 141 from the roadside device 3 (S81), receives the distance L1 to the stop line (S82), and acquires the vehicle speed V (S83).

The control unit 41 determines whether or not L1 ≧ V ² / 2d + α is satisfied (S84). If L1 ≧ V ² / 2d + α is not satisfied (NO in S84), that is, if the vehicle cannot afford to stop before the stop line with a margin, the control unit 41 decelerates the deceleration signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S85). Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line.

Based on a predetermined process end condition, the control unit 41 determines whether or not the process can be ended (S86). If the process cannot be ended (NO in S86), the vehicle travel distance during one determination process is calculated. (S87), the distance L1 to the stop line is calculated by subtracting the travel distance from the distance L1 received from the roadside device 3 (S88), and the processing after step S83 is continued. When the process can be ended (YES in S86), the control unit 41 ends the process. On the other hand, if L1 ≧ V ² / 2d + α in step S84 (YES in S84), that is, if the vehicle can be stopped before the stop line with a margin, the control unit 41 ends the process. .

Embodiment 3
In the first and second embodiments, when the vehicle can reach the sensing area of the vehicle detector 2 during the remaining time of the blue arrow and the display time of the blue arrow is extended, the vehicle is safely stopped. When the vehicle can pass through, the vehicle is not decelerated, but the display time of the blue arrow may be extended by another vehicle traveling ahead of the host vehicle. In the third embodiment, even in such a case, a vehicle accident can be prevented in advance. Note that the configuration of the vehicle deceleration determination system is the same as that of the first embodiment, and thus description thereof is omitted.

  12 and 13 are flowcharts showing the processing procedure of the deceleration determination process when the current signal lamp color is the blue arrow in the third embodiment. The current time is, for example, the time when the in-vehicle device 4 receives the signal light information 141. The control unit 41 receives the position information 142 and the signal lamp information 141 from the roadside device 3 (S41). Based on the received position information 142, the control unit 41 calculates a distance L1 to the stop line (S42), and calculates a distance L2 to the vehicle detector 2 (S43).

  The control unit 41 acquires the speed V of the vehicle (S44), and calculates the time Ta until the signal lamp color turns red based on the received signal lamp information 141 (S45). The control unit 41 determines whether or not L1 ≦ V · Ta (S46). Thereby, the control part 41 determines whether a stop line can be passed during the time Ta until a signal lamp color turns red.

When L1 ≦ V · Ta is not satisfied (NO in S46), that is, when the stop line cannot be passed during the time Ta until the signal lamp color becomes red, the control unit 41 determines the maximum time until the signal lamp color becomes red. Tmax is calculated (S47). The maximum time Tmax is a time until the signal lamp color becomes red when the display time of the blue arrow of the signal lamp color is extended to the maximum extension time.

  The control unit 41 determines whether or not L1 ≦ V · Tmax is satisfied (S48). Thereby, the control part 41 determines whether a stop line can be passed during the maximum time Tmax until a signal lamp color turns red when a blue arrow is extended to the maximum extension time. When L1 ≦ V · Tmax (YES in S48), that is, when the vehicle can pass the stop line when the blue arrow is extended by the maximum extension time, the control unit 41 determines the remaining time of the blue arrow of the signal lamp color. Tb is calculated (S49).

  The control unit 41 determines whether or not L2 ≦ V · Tb is satisfied (S50). Accordingly, the control unit 41 determines whether or not the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is the blue arrow. If L2 ≦ V · Tb is not satisfied (NO in S50), that is, if the vehicle cannot reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is a blue arrow, the control unit 41 reduces the deceleration speed √ (2d (L1-L2)) is calculated (S51). Thereby, the control part 41 calculates the speed | rate which can stop a vehicle between the distance from the vehicle sensor 2 to a stop line.

  The control unit 41 outputs a deceleration signal to the vehicle control unit so that the vehicle speed becomes equal to or less than the deceleration speed (S52). The control unit 41 determines whether or not the process can be terminated based on a predetermined process termination condition (S53). If the process cannot be terminated (NO in S53), the control unit 41 obtains the position of the vehicle (S54). Continue processing. If the process can be ended (YES in S53), the control unit 41 ends the process.

In step S48, if L1 ≦ V · Tmax is not satisfied (NO in S48), that is, if the vehicle cannot pass the stop line when the blue arrow is extended for the maximum extension time, the control unit 41 determines that L1 ≧ V ² / It is determined whether or not 2d + α (S55). As a result, if the deceleration of the vehicle when the brake is applied is d, the control unit 41 has a distance of V ² / 2d until the vehicle at the speed V stops. It is determined whether or not it is possible to stop before this.

If L1 ≧ V ² / 2d + α is not satisfied (NO in S55), that is, if the vehicle cannot be stopped in front of the stop line with a margin, the control unit 41 decelerates the deceleration signal to stop the vehicle at the deceleration d. Is output to the vehicle control unit (S56), and the processing after step S53 is continued. Thereby, the control part 41 controls so that a vehicle can stop reliably before the stop line. The control unit 41 can also output a warning in text or voice through the display unit 46 when outputting the deceleration signal.

If L1 ≧ V ² / 2d + α (YES in S55), that is, if the vehicle can be stopped before the stop line with a margin, the control unit 41 ends the process.

  On the other hand, if L1 ≦ V · Ta in step S46 (YES in S46), that is, if the stop line can be passed during the time Ta until the signal lamp color turns red, the control unit 41 ends the process. To do.

  In step S50, if L2 ≦ V · Tb (YES in S50), that is, if the vehicle can reach the sensing area a1 of the vehicle detector 2 while the signal lamp color is a blue arrow, control is performed. The unit 41 ends the process. Note that the processing procedure of the deceleration determination process in the case where the current signal lamp color shown in FIG. 8 is other than the blue arrow (for example, red) is the same as that in the first embodiment, and thus the description thereof is omitted.

  In the third embodiment, the in-vehicle device 4 is configured to receive from the roadside device 3 the position information related to the sensing area a1 of the vehicle detector 2 and the position of the stop line at the intersection C as the position information. The distance from the roadside device 3 to the sensing area a1 of the vehicle detector 2 and the distance between the vehicle and the stop line at the intersection C may be used as in the second embodiment. In this case, the distance from the roadside device 3 to the sensing area a1 of the vehicle detector 2 and the distance between the vehicle and the stop line at the intersection C are acquired, and the vehicle is stopped based on the travel distance of the vehicle from the acquired time. The distance L1 between the line and the distance L2 between the vehicle and the sensing area a1 can be calculated.

  As described above, according to the present invention, it is possible to safely determine whether the vehicle passes through the stop line at the intersection or stops before the stop line, and the vehicle can be decelerated safely. Even if the vehicle traveling ahead is detected by the vehicle detector and the display time of the blue arrow is extended, if the following vehicle cannot safely pass the stop line, Can reduce the risk of a vehicle accident. In addition, even though the driver decelerated to stop the vehicle before the intersection, the vehicle is detected by the vehicle detector, the display time of the blue arrow is extended, and the signal is a blue arrow, but before the intersection The possibility of stopping the vehicle can be prevented, and the occurrence of vehicle accidents can be reduced. Further, when it is determined that the vehicle is to be decelerated, for example, another vehicle traveling ahead is detected by the vehicle sensor by calculating a required deceleration speed and decelerating to a speed equal to or less than the calculated deceleration speed. Thus, when the display time of the blue arrow is extended, the vehicle can be surely stopped before the stop line without stopping and when the blue display time is not extended. As described above, according to the present invention, it is possible to perform a determination process for safely decelerating the vehicle and to decelerate the vehicle safely. In addition, it has excellent effects such as prevention of vehicle collision and rear-end collision at a point where there is a high possibility of a vehicle accident such as before an intersection.

  In the above-described first to third embodiments, the case of right turn sensitive control has been described as an example. However, the present invention is not limited to right turn sensitive control, and a blue display time is detected by detecting a vehicle traveling straight at an intersection. It can also be applied to extended gap sensitivity control. Therefore, in the present invention, the blue color of the signal lamp includes a blue arrow for turning right in addition to the literal blue signal.

  In the first to third embodiments described above, the position information is received from the roadside device 3. However, the present invention is not limited to this. Instead of the configuration in which the position information is received from the roadside device 3, the vehicle-mounted device is used. However, the position information may be stored in advance, and the above-described determination process may be performed based on the stored position information. Further, when the in-vehicle device stores map data or the like in advance, acquires the position of the own vehicle from time to time by information from GPS or the like, and travels toward an intersection, the above determination is made when a predetermined distance is passed. It is also possible to repeat the process.

  In the above-described first to third embodiments, the signal device 1 controls the signal lamp 11 and performs communication between the vehicle detector 2 and the roadside device 3. However, a signal control device separate from the signal device 1 is used. The structure to provide may be sufficient.

  In the above-described first to third embodiments, the case has been described in which another road including the road A intersects the intersection C in a cross shape, but the intersection of the roads at the intersection is not limited to this. For example, the present invention can be applied even to an intersection such as a three-way intersection where three roads intersect at an angle of about 120 degrees.

  In the above-described embodiment, the in-vehicle device 4 is configured to receive the signal light information 141 and the position information 142 from the roadside device 3 only once, but is not limited thereto, and by using a wireless LAN or the like, The configuration may be such that each piece of information is received a plurality of times within a required range of the road.

It is a schematic diagram which shows the outline | summary of the vehicle deceleration determination system which concerns on this invention. It is a block diagram which shows the structure of a signal apparatus. It is a block diagram which shows the structure of a roadside apparatus. It is a block diagram which shows the structure of a vehicle-mounted apparatus. It is explanatory drawing which shows the example of the signal light display of a right turn response. It is a flowchart which shows the process sequence of the deceleration determination process in case the present signal lamp color is a blue arrow. It is a flowchart which shows the process sequence of the deceleration determination process in case the present signal lamp color is a blue arrow. It is a flowchart which shows the process sequence of the deceleration determination process in case the present signal light color is other than a blue arrow (for example, red). 12 is a flowchart illustrating a processing procedure of deceleration determination processing when the current signal lamp color is a blue arrow in the second embodiment. 12 is a flowchart illustrating a processing procedure of deceleration determination processing when the current signal lamp color is a blue arrow in the second embodiment. 12 is a flowchart showing a processing procedure of deceleration determination processing when the current signal lamp color in Embodiment 2 is other than a blue arrow (for example, red). 14 is a flowchart showing a processing procedure of deceleration determination processing when the current signal lamp color is a blue arrow in the third embodiment. 14 is a flowchart showing a processing procedure of deceleration determination processing when the current signal lamp color is a blue arrow in the third embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traffic light 2 Vehicle detector 3 Roadside apparatus 4 In-vehicle apparatus 5 Communication line 11 Signal light 12 Interface part 13, 32 Transmission / reception part 14, 33, 43 Memory | storage part 31, 41 Control part 42 Reception part 44 RAM
45 Input / output unit 46 Display unit 47 Operation unit

Claims (11)

A traffic signal, a vehicle detector for sensing a vehicle traveling on the road and changing the signal light color display time of the traffic signal, an in-vehicle device, and a roadside device, the roadside device transmits predetermined information In the vehicle deceleration determination system that receives the vehicle-mounted device and determines vehicle deceleration,
The roadside device is
Comprising a transmission means for transmitting signal lamp information including a display time of a signal lamp color for a road to the in-vehicle device,
The in-vehicle device is
Acquisition means for acquiring vehicle position information, position information relating to the sensing area of the vehicle detector, position information relating to a predetermined point on the road downstream from the sensing area, and vehicle speed;
Receiving means for receiving the signal light information transmitted by the roadside device;
Determining means for determining whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point based on the acquired vehicle speed and position information and the received signal light information;
And a vehicle deceleration determination system comprising: output means for outputting a determination result determined by the determination means. The determination means includes
The vehicle deceleration according to claim 1, wherein when the vehicle cannot pass the predetermined point while the signal light color is blue or yellow, it is determined to decelerate the vehicle. Judgment system. The traffic light is
When the signal light is blue when the vehicle sensor detects a vehicle, the vehicle detector includes an extending means for extending the display time of blue,
The determination means includes
3. The vehicle deceleration determination system according to claim 2, wherein when the vehicle cannot reach the sensing area while the signal light color is blue, the vehicle deceleration determination system is configured to determine that the vehicle is decelerated. 4. The traffic light is
When the signal light is blue when the vehicle sensor detects a vehicle, the vehicle detector includes an extending means for extending the display time of blue,
The determination means includes
When the vehicle reaches the sensing area while the signal light color is blue and the display time of blue is extended, the vehicle cannot pass the predetermined point while the signal light color is blue or yellow. The vehicle deceleration determination system according to claim 2, wherein the vehicle deceleration determination system is configured to determine that the vehicle is decelerated. The traffic light is
When the signal light is blue when the vehicle sensor detects a vehicle, the vehicle detector includes an extending means for extending the display time of blue,
The determination means includes
2. The vehicle deceleration determination system according to claim 1, wherein when the vehicle can reach the sensing area while the signal light color is blue, the vehicle deceleration determination system is configured not to decelerate the vehicle. The determination means includes
When the blue display time is extended and the vehicle can pass the predetermined point while the signal light color is blue or yellow, the vehicle is configured to determine not to decelerate the vehicle. The vehicle deceleration determination system according to claim 5. The in-vehicle device is
A calculation means for calculating a deceleration speed for decelerating the vehicle based on a predetermined distance between the predetermined point and the sensing area and a predetermined deceleration of the vehicle when it is determined to decelerate the vehicle;
The vehicle deceleration determination system according to claim 3, further comprising: means for outputting a signal for decelerating the vehicle below the deceleration speed calculated by the calculation means. In an in-vehicle device that determines deceleration of a vehicle traveling on a road,
Acquisition means for acquiring vehicle position information, position information relating to the sensing area of the vehicle detector, position information relating to a predetermined point on the road downstream from the sensing area, and vehicle speed;
Receiving means for receiving the signal light information transmitted by the roadside device;
Determining means for determining whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point based on the acquired vehicle speed and position information and the received signal light information;
An in-vehicle device comprising: output means for outputting a determination result determined by the determination means.   A roadside device used in the vehicle deceleration determination system according to claim 1. In a computer program for causing a computer to determine deceleration of a vehicle traveling on a road,
Based on the position information of the vehicle, the position information about the sensing area of the vehicle detector provided on the road, and the position information about the predetermined point on the road downstream from the sensing area, Means for calculating a distance between the vehicle and the sensing area;
Based on the signal light information including the calculated distance, the speed of the vehicle, and the display time of the signal light color for the road, whether the vehicle is to be decelerated to stop before reaching the predetermined point. A computer program which functions as a determination means for determination. In a vehicle deceleration determination method for determining deceleration of a vehicle traveling on a road,
Obtaining vehicle position information, position information relating to a sensing area of a vehicle detector provided on the road, position information relating to a predetermined point on the road downstream from the sensing area, and vehicle speed;
Receiving signal light information including the display time of the signal light color for the road;
Based on the acquired vehicle speed and each position information and the received signal light information, determine whether to decelerate the vehicle to stop before the vehicle reaches the predetermined point,
A vehicle deceleration determination method characterized by outputting a determination result.