JP2008197881A - Traffic system, vehicle and traffic light controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traffic system or the like providing an on-vehicle machine with information related to a green right turn light of a traffic light installed in an intersection controlled by right turn sensing. <P>SOLUTION: In this traffic system, right turn information related to a right turn is provided to the on-vehicle machine 6 of a vehicle C in the intersection controlled by the right turn sensing about a right turn arrow of a traffic light device 2Aa according to a vehicle sensing signal from a vehicle sensor 13 installed in a right turn lane. The on-vehicle machine 6 receiving the right turn information predicts extension or the like of the right turn arrow by a traffic light controller 1A based on the right turn information, and performs control or the like of the vehicle C based on the prediction. In the on-vehicle machine 6, by accurately predicting timing of an end of the right turn arrow, it can be accurately decided whether the right-turn vehicle C can turn to the right or not. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention provides a vehicle with information related to the display of the right turn blue arrow light at an intersection that executes right turn sensitive control for extending the display time of the right turn blue arrow light, and based on the information provided by the vehicle. It relates to operating traffic systems.

In traffic signal controllers installed at intersections where there are many vehicles waiting for a right turn for the purpose of facilitating traffic in urban areas, turn right to extend the display time of the right turn blue arrow light according to the queue in the right turn exclusive lane Sensitive control is often implemented.
In the right turn sensitive control, the display time of a right turn blue arrow light (hereinafter referred to as a right turn arrow) is shortened or extended based on a signal from a vehicle detector that detects the presence or absence of a vehicle in a right turn dedicated lane.

On the other hand, for the purpose of promoting traffic safety and preventing traffic accidents, a system that improves the safety of vehicles by receiving information from infrastructure devices installed on the road etc. and utilizing the information is being studied. .
As such a system, for example, a safe driving support system has been proposed in which a scheduled duration time of a green signal or the like is wirelessly transmitted to the vehicle, and the vehicle performs brake control according to the remaining display period of the green signal or the like ( Patent Document 1).

Japanese Patent No. 2806801

In order for the vehicle in the safe driving support system to perform brake control or the like based on the operation information of the traffic light received from the traffic signal controller or the like, at least the duration of the green light or the like included in the operation information is notified to the vehicle. Need to be finalized at this stage.
In particular, in order to determine whether or not a vehicle that is scheduled to make a right turn can pass through an intersection, it is desirable that the duration of the right turn arrow is fixed.

However, in the traffic signal controller that performs right turn sensitive control, the display period of the right turn arrow is extended as needed based on information obtained from vehicle detectors installed in the right turn dedicated lane, so the duration is fixed in advance. Without doing so, the duration of the right turn arrow included in the operation information is unknown.
For this reason, a vehicle scheduled to turn right may not be able to predict the display state of the signal light color when it passes the stop line in front of the traffic light installation point, and should be controlled so as to pass the stop line as it is or stop. There is a problem that it is not possible to determine whether to control, and it is not possible to perform appropriate brake control or the like.

  Therefore, the infrastructure device transmits right turn display information regarding the display of the right turn arrow to the vehicle instead of the signal light color duration or together with the signal light color duration, and based on the right turn display information provided by the vehicle. The purpose is to provide an operating transportation system.

  A traffic system according to a first aspect of the present invention is directed to a vehicle detector that senses the presence or absence of a vehicle in the right turn dedicated lane on a road having a right turn dedicated lane, and the vehicle detection for a display time of a right turn blue arrow light among signal lights. A traffic signal controller for executing right turn sensitive control based on a vehicle sensing signal from a device, right turn display information creating means for creating right turn display information regarding the display of the right turn blue arrow light, and the right turn display information on the road Transmitting means for transmitting to a predetermined area of the vehicle, and an in-vehicle device mounted on the vehicle for receiving the right turn display information in the predetermined region, wherein the on-vehicle device supports safe driving to the driver based on the right turn display information. A safe driving support control means for performing the operation is provided.

In the traffic system according to the first invention, the vehicle-mounted device of the vehicle approaching the intersection that executes the right turn sensitive control makes a right turn regarding the parameters used to execute the right turn sensitive control, the display period of the right turn arrow that is actually displayed, etc. Based on the display information, in order to create notification information for the driver and control the traveling speed of the vehicle, accurate safe driving support control can be performed after accurately predicting the operation of the traffic light at the intersection. it can.
For example, if it is predicted that the display of the right turn arrow has already ended when the vehicle approaches the intersection according to the present invention, it can be determined that the vehicle-mounted device needs to stop before the stop line, so it stops. As a premise, safe driving support control may be executed.

In this case, the vehicle-mounted device has preceding vehicle information acquisition means for acquiring preceding vehicle information related to the preceding vehicle, and at least one of the notification information creation means and the speed control means uses the acquired preceding vehicle information. It is preferable to operate (Claim 2).
As used herein, the preceding vehicle refers to a vehicle traveling forward in the same lane, and the preceding vehicle information includes, for example, information on whether or not a preceding vehicle exists, and if there is a preceding vehicle, the preceding vehicle Vehicle-to-vehicle distance information relating to the vehicle-to-vehicle distance, preceding vehicle position information relating to the position of the preceding vehicle, preceding vehicle traveling speed information relating to the traveling speed of the preceding vehicle, etc., and preferably including at least one of these (claim) Item 3).

By taking into account not only the right turn display information but also information related to the preceding vehicle, it is possible to more accurately predict the right turn sensitive control operation that can be executed in accordance with the preceding vehicle.
For example, if it is known that the preceding vehicle exists, it can be determined whether or not the extension of the right turn arrow according to the preceding vehicle is executed, and the inter-vehicle distance with the preceding vehicle, the traveling speed of the preceding vehicle, etc. If it is known, it is possible to accurately determine how to control the vehicle in relation to the preceding vehicle.

Note that the safe driving support operation (safe driving support control) mentioned here includes generating notification information for the driver and controlling the traveling speed of the vehicle for the purpose of supporting safe driving (claims). 4).
By providing accurate notification information to the driver and controlling the speed according to the situation, it is possible to support the driving of the driver and improve safety.
The notification information here refers to audio information for instructing the driver of an appropriate driving method, and image information such as characters and symbols related to a right turn arrow on the screen or head-up display of the car navigation device. In addition, the control of the traveling speed includes automatically controlling the brake to forcibly stop the vehicle before the stop line, and assisting the deceleration and acceleration of the vehicle.

The right turn display information includes an elapsed time after displaying the right turn blue arrow light, a minimum time for displaying the right turn blue arrow light, and a maximum extension time limit for displaying the right turn blue arrow light. (Claim 5).
By using these pieces of information, it is possible to accurately know the range of the display period of the right turn arrow, and the timing at which the right turn arrow is extended according to the relationship between the elapsed time from the display of the right turn arrow and the range. Can be accurately predicted.

Further, it is preferable that the right turn display information includes a unit extended green time for the right turn blue arrow light.
The unit extended blue time refers to a unit time for extending the right turn arrow after the vehicle detector detects passage of the vehicle. By grasping the unit extended green time, the vehicle-mounted device can accurately predict the display period when the right turn arrow is extended.

The right turn display information preferably includes installation position information related to the installation position of the vehicle detector.
By acquiring the installation position information regarding the installation position of the vehicle detector, it is possible to accurately grasp the timing when the vehicle itself or the preceding vehicle arrives at the installation position of the vehicle detector. Etc. can be accurately predicted.

In addition, it is preferable that the right turn display information includes information on the elapsed time of the unit extension operation of the right turn sensitive control executed in the traffic signal controller (claim 8).
The unit extension operation refers to the operation of sequentially extending the right turn arrow according to the passage after the vehicle detector detects the passage of the vehicle, and the elapsed time is the actual start of the unit extension operation. Refers to the time elapsed since
By acquiring the elapsed time, it is possible to accurately predict whether the unit extension operation has ended at the timing when the vehicle itself or the preceding vehicle arrives at the installation position of the vehicle detector. It becomes possible to grasp the operation in more detail.

  In addition, it is possible to accurately grasp the operation such as the extension of the right turn arrow by applying to the transportation system for the in-vehicle device used in the transportation system according to the first invention and the vehicle equipped with the in-vehicle device. (Claims 9 and 10).

  In addition, it is necessary for the vehicle-mounted device to predict the operation such as extending the right turn arrow by installing the traffic signal controller having the right turn display information creating means and the transmitting means in the traffic system according to the first invention. It becomes possible to provide the following information (claim 11).

As described above, according to the traffic system, the vehicle-mounted device, the vehicle, and the traffic signal controller of the present invention, the vehicle ends the display of the right turn arrow at the intersection where the right turn sensitive control is executed based on the right turn display information or the like. It is possible to accurately determine whether it is possible to make a right turn.
Further, by appropriately controlling the vehicle using the right turn display information, it is possible to increase the probability of making a right turn while the right turn arrow is displayed.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram showing an outline of equipment arrangement of a traffic system according to the present invention. A traffic signal controller 1A, a vehicle detector 3A, a signal controller 5, a vehicle C, and an in-vehicle device mounted on the vehicle C. 6 is included.
5 is a block diagram showing functional blocks of the traffic signal controller 1A, and FIG. 8 is a block diagram showing functional blocks of the signal control device 5. As shown in FIG.

[Overall system configuration]
On the road R connected to the intersection A, a stop line P is drawn before the intersection A, and there is a right turn exclusive lane for a right turn vehicle.
A traffic signal controller 1A is installed at the intersection A. One or a plurality of vehicles traveling toward the intersection A by turning on, turning off, and blinking the signal lamp colors of the signal lamps including the signal lamp 2Aa (see FIG. The right of traffic is displayed for the vehicle C in the middle).

The traffic signal controller 1A controls the signal lamp at the intersection A including the signal lamp 2Aa. The right turn blue arrow lamp of the signal lamp 2Aa performs right turn sensitive control that extends the display period.
This right turn sensitive control is a signal control method for determining the display period of the right turn blue arrow light as needed based on the vehicle detection signal from the vehicle detector 3A that detects the presence of the vehicle in the right turn exclusive lane. Will be described later.
As the vehicle detector 3A here, an ultrasonic detection type, an infrared detection type that passively detects infrared rays emitted from a detection target and senses the vehicle, an image processing type, etc. are adopted. be able to.

  The traffic signal controller 1A has a built-in transmitter 7 (FIG. 5) for wirelessly transmitting communication data to the vehicle, and communicates from the communication antenna 1Aa connected to the transmitter toward the road R. Data is sent. The vehicle C traveling on the road R can receive the communication data transmitted from the communication antenna 1Aa in the communication region Q (a range indicated by hatching in FIG. 1).

The communication data includes signal information related to the display lamp color of the signal lamp 2Aa controlled by the traffic signal controller 1A and the schedule of the duration.
The signal information here stores, for example, the duration of the currently displayed green signal, the display order of the yellow signal, the right turn arrow, the red signal, and the like to be displayed thereafter, the scheduled duration thereof, and the like.
The communication data includes road shape information related to the shape of the road such as the number of lanes and gradient of the road R, road surface state information for notifying the road surface state of the road R, and the like.

Further, the communication data includes right turn display information related to the display of the right turn arrow of the signal lamp 2Aa.
This right turn display information includes the minimum time and the maximum extension time limit for displaying the right turn arrow and the right extension arrow display when the right turn arrow is displayed. And the unit extended blue time when the right turn arrow is extended as needed according to the passing of the vehicle.

The transmitter 7 may not be built in the traffic signal controller 1A. For example, an optical beacon or a radio beacon may be separately installed on the road R as the transmitter 7.
In this case, the traffic signal controller 1A may transmit the created signal information or the like to the transmitter 7 such as an optical beacon separately through a communication line or the like.
Further, the signal information or the like may be in any format. For example, the signal information and the right turn display information may be combined into one information, or conversely, the signal information or the like may be converted into two or more pieces of information. good.

On the other hand, a signal control device 5 is installed in the traffic control center, and exchanges information with the traffic signal controller 1A and the vehicle detector 3A through the router 4 and the communication lines 1 and 2.
The traffic signal controller 1A determines a signal control plan for each cycle based on the signal control command information from the signal control device 5, and each signal lamp such as the signal lamp 2Aa is determined based on the signal control plan determined at the start of the cycle. It has the function of lighting the color.
The signal control command information here includes, for example, information on the green light time to be assigned to each of the main road and the secondary road, or the ratio thereof, one cycle time, point sensitive control including right turn sensitive control (for example, bus sensitive control). Control, dilemma sensitive control, etc.) is stored.

The vehicle C traveling on the road R has a function of receiving the signal information and performing a safe driving support operation.
The safe driving support operation here is based on the signal information, road shape information, etc., and predicts the display state of the traffic light when the vehicle C passes the stop line P. When it is predicted that the vehicle is stopped, it means that the brake is automatically controlled to stop the vehicle before the stop line P, or that the driver is warned to stop.
Note that all the vehicles traveling on the road R do not have to have the function of the safe driving support operation, and the function may be stopped even if the vehicle has the function.

[Contents of communication data]
FIG. 2 shows an example of the signal information.
(A) is an example of the basic structure of signal information, and shows that it is composed of a header part, a data part, and a footer part.
(B) is an example which shows the detail of information.

The header portion stores the data size of the signal information and the number of lamp colors (04) to be provided to the vehicle by the traffic signal controller 1A, and displays each display lamp color in the subsequent area. The estimated number of seconds is stored for the number of lamp colors.
A CRC, SUM value, and the like are stored in the footer part.

Further, the data portion stores the scheduled number of seconds of lamp color display corresponding to the number of lamp colors stored in the header portion. In this example, the currently displayed signal lamp color is a blue signal (code “01”), the scheduled display time is 22 seconds (“16” in hexadecimal), and the yellow signal is displayed next to the blue signal. (Code “02”), the display scheduled number of seconds is 8 seconds (“08” in hexadecimal), and the right turn arrow (code “13”) is displayed next to the yellow signal, and the display scheduled number of seconds. The number is unknown (hexadecimal “FF”), the right turn arrow displays the red signal (code “03”), and the scheduled display time is 64 seconds (hexadecimal “40”). It shows that there is.
Note that the scheduled display seconds may be expressed in units of 100 ms or 10 ms, and an expression method when the scheduled display seconds are unknown may be used.

Next, FIG. 3 shows an example of the right turn display information.
(A) is an example of the basic structure of the right turn display information, and shows that it is composed of a header part, a data part, and a footer part.
(B) is an example which shows the detail of information.

The header portion stores the data size and the like of the right turn display information.
A CRC, SUM value, and the like are stored in the footer part.

In addition, the data section stores control parameters used for right turn sensitive control and information related to the display of the right turn arrow. In this example, right turn sensitive control is currently being executed (code “01”), the minimum time for displaying a right turn arrow is 10 seconds (“0A” in hexadecimal), and the maximum extension time limit for displaying a right turn arrow Is 35 seconds ("23" in hexadecimal), and the unit extended blue time when extending the right turn arrow is 3 seconds ("03" in hexadecimal). The distance from the vehicle detection area to the stop line is 30 m (hexadecimal “1E”).
In addition, although the elapsed time after starting the display of a right turn arrow is "FF", this has shown that the right turn arrow is not currently displayed. When a right turn arrow is actually displayed, the elapsed time from the start of display is stored. Further, the elapsed time after the display of the right turn arrow can be read from the signal information, and may be omitted if the signal information is transmitted simultaneously.
The data expression method may be in any format, and the unit for expressing time and distance may be smaller or larger.

[Basic operation of traffic signal controller]
Hereinafter, the basic operation of the traffic signal controller 1A will be described in detail.

First, at the start of the cycle, the signal control plan creating unit 101 creates a signal control plan that temporarily determines the display period of each signal lamp color.
FIG. 4 is a diagram showing a provisionally determined plan table 102 that stores display periods (set times) of the signal lamp colors that are provisionally determined at the start of the cycle.
According to FIG. 4, for example, the planned number of seconds in state 3 (right turn arrow on main road and red light on secondary road) is 20 seconds, and state 5 (red light on main road and blue light on secondary road) ) Is temporarily determined to be 46 seconds.

Here, it is assumed that an object whose display period is changed by the right turn sensitive control is state 3.
Note that the traffic signal controller 1 </ b> A stores in advance in a storage unit (not shown) such as a ROM as to which state is subjected to right turn sensitive control.

If the right turn sensitive control is not scheduled to be performed in the cycle at the start of the cycle, the duration of each signal display provisionally determined in the provisional decision plan table 102 is determined as it is.
In this case, since the signal information creating unit 121 creates signal information based on the determined duration of each signal lamp color, all the durations are determined for the portions related to the states 1 to 7 in the signal information. Yes.
Whether to perform right turn sensitive control in the cycle is determined based on an instruction from the signal control device 5 or a constant stored in the storage device such as a ROM in advance by the traffic signal controller 1A.

On the other hand, at the start of the cycle, if there is a plan to execute the right turn sensitive control in the cycle, the state 3 is indeterminate among the duration of each signal display provisionally determined in the provisional decision plan table 102.
That is, since the signal information creating unit 121 creates signal information based on the uncertain plan, the duration of the portion related to the state 3 in the signal information is unknown (“FF” in hexadecimal).
Even in such a case, the duration relating to states 1 and 2 that are not subject to the right turn sensitive control is determined.

The signal lamp control means 141 controls the signal lamp 2Aa and the like in the order of the states 1 to 7 in the provisional decision plan table 102, and turns on and off each signal lamp color.
In this case, switching of the signal lamp from the state 3 to the state 4 in which the right turn sensitive control is performed is performed according to the notification from the right turn sensitive control means 151.

[Operation of right turn sensitive control in traffic signal controller]
When the right turn sensitive control means 151 starts displaying the right turn arrow on the main road (state 3), the right turn sensitive control means 151 monitors the vehicle detection signal from the vehicle detector 3A and displays the right turn arrow according to the vehicle detection signal. The timing to terminate is determined and notified to the signal lamp control means 141. The signal lamp control means 141 controls the signal lamp 2Aa and the like so as to transition from the state 3 to the state 4 at the timing of receiving the notification.

FIG. 6 is a diagram illustrating an example of determining the display period of the right turn arrow in the right turn sensitive control. Here, four display patterns of right-turn arrows are illustrated (patterns A to D).
In each pattern, a display example of the signal lamp 2Aa is shown in the upper stage, an example of the vehicle detection signal in the vehicle detector 3A is shown in the middle stage, and an example of a unit extension operation by right turn sensitive control is shown in the lower stage.

The display of the upper signal lamp 2Aa shows the state of the signal lamp color from the display start of the right turn arrow to the display of the red signal to be displayed next.
The middle vehicle detection signal indicates the presence or absence of a vehicle in the vehicle detection area of the vehicle detector 3A after the right turn arrow display start time, and the detection signal rises when the vehicle enters the vehicle detection area. When the vehicle leaves (passes), the sensing signal falls.
The unit extension operation in the lower part shows how the unit extension blue time is measured by a timer counter or the like from the time when the exit (passage) of the vehicle is detected. The hatched arrow symbol in the figure indicates the unit extension operation. Refers to the unit extended blue hour.

Pattern A shows an example in which there is no passing vehicle between the start of displaying the right turn arrow and the minimum time has elapsed, so that the right turn arrow is aborted when the minimum time has elapsed without performing the unit extension operation.
In Pattern B, there is a passing vehicle between the start of the display of the right turn arrow and the elapse of the minimum time, and the unit extension operation was performed sequentially according to the passing of the vehicle, but the unit extension by the unit extension operation performed at the end An example is shown in which the passage of the next vehicle is not detected by the lapse of the blue time and the right turn arrow is censored when the minimum time has elapsed since the minimum time has elapsed.

In Pattern C, the vehicle continues to pass after the minimum time has elapsed, the unit extension operation is continuously executed, and the right turn arrow is displayed until the unit extension blue time by the vehicle has passed after the last vehicle has passed. An example is shown.
In Pattern D, the vehicle continuously passed from the minimum time elapsed until the maximum extension limit time was reached, and the unit extension operation was executed without interruption, so the right turn arrow continued to be displayed until the maximum extension limit time elapsed. An example is shown.

  However, at the time point after the minimum time elapses in the patterns C and D and before the maximum extension limit time elapses, as shown in FIG. 7, the time difference between the passing time of the preceding vehicle and the passing time of the subsequent vehicle immediately thereafter is the unit extension. When it becomes longer than the green time, the right turn arrow is cut off when the unit extended blue time by the preceding vehicle elapses.

[Operation of signal controller]
Next, the operation of the signal control device 5 will be described in detail.
The signal control device 5 transmits information to and from a plurality of traffic signal controllers including the traffic signal controller 1A and other traffic signal controllers (not shown) through a communication line by a transmission unit 501 and a reception unit 502. Sending and receiving.

The traffic condition acquisition unit 531 collects sensor information transmitted from one or more vehicle sensors (not shown) including the vehicle sensor 3 </ b> A and accumulates the sensor information in the traffic information database 532. Based on these sensor information, the traffic situation on the road where the vehicle sensor is installed and the surrounding area is grasped. In this case, the traffic condition is grasped at a cycle such as every 5 minutes or every traffic light cycle time. In grasping the traffic situation, indicators such as traffic volume, occupation time, average travel speed, queue length of a group of vehicles on each road are used.
For example, grasp the situation where the traffic volume ratio on the main road side and the secondary road side fluctuated significantly at a certain intersection, or the inflow traffic volume exceeded the saturation traffic flow rate at the intersection and reached saturation. .

Next, based on the traffic situation, a blue time, a cycle length, an offset, and the like assigned to the display of each intersection are determined, and the signal control command creating means 521 creates the signal control command information including these. And the instruction | indication regarding operation | movement of each traffic signal controller is given by transmitting the produced said signal control command information to each traffic signal controller at any time.
Each traffic signal controller that has received the signal control command information determines a signal control plan by the method described above.

[Basic operation of in-vehicle equipment]
Hereinafter, the basic operation of the in-vehicle device 6 will be described in detail.
FIG. 9 is a schematic diagram of the functional blocks of the vehicle unit 6 and the vehicle C equipped with the vehicle unit 6.

In addition to the in-vehicle device 6, the vehicle C is provided with an engine for advancing the vehicle C and a brake for braking. The engine and the brake can be controlled by a driver operating an accelerator pedal, a brake pedal, or the like, but can also be automatically controlled based on instructions or information from the in-vehicle device 6.
In addition, the vehicle C includes a display (head-up display, a display device for a car navigation device, etc.) for notifying a passenger of various types of information based on information from the in-vehicle device 6 by means of images, sounds, etc. A speaker is provided.

The right turn display information etc. acquiring means 601 receives the signal information and the right turn display information transmitted from the communication antenna 1Aa by a predetermined communication method via a receiving antenna (not shown) mounted on the vehicle C or the like. get.
If an optical beacon or radio beacon that provides the right turn display information or the like is installed, the information may be received and acquired from these infrastructure devices.
Moreover, the method of acquiring from the preceding vehicle etc. which received the said right turn display information etc. by vehicle-to-vehicle communication etc. may be sufficient.

The preceding vehicle information acquisition unit 611 of the in-vehicle device 6 has a function of acquiring information related to a preceding vehicle that travels ahead of the vehicle C.
Here, the preceding vehicle information is constituted by the presence / absence of the preceding vehicle, if present, the position and traveling speed thereof, the inter-vehicle distance from the preceding vehicle, and the like.
Such information may be acquired by a sensor such as a millimeter wave radar sensor (not shown) attached to the vehicle C, or may be acquired from the preceding vehicle by inter-vehicle communication with the preceding vehicle. Further, a method of acquiring the information by communication from an infrastructure device or the like that holds the information may be used.

And based on the acquired right turn display information etc. and the preceding vehicle information, the notification information creating means 621 creates voice information for the passenger and reports it through a speaker, or creates image information and reports it through a display. To do.
Further, the speed control means 631 controls the engine and the brake based on the right turn display information and the like and the preceding vehicle information, and automatically brakes the vehicle C and assists the driving of the driver.
A method of operating based on the right turn display information and the preceding vehicle information will be described later.

[Driving support operation of in-vehicle device]
First, an outline of the driving support operation in the in-vehicle device 6 will be described.
FIG. 10 is an example of a processing flow showing an outline of the driving support operation in the in-vehicle device 6.

First, based on the acquired right turn display information and the own vehicle position and the like, it is determined whether or not the operation of the vehicle C can be determined regardless of whether a preceding vehicle or the like exists (step S601). Then, the subsequent processing is branched depending on the result of the situation determination. In the situation where the operation of the vehicle C can be determined regardless of the preceding vehicle or the like, the operation described in “Processing when the operation of the vehicle is determined regardless of the preceding vehicle or the like” to be described later is performed (“ 1 ").
In the first place, when you reach the stop line at the timing after the right turn arrow ends or when you arrive at the stop line at the timing immediately after the start of the right turn arrow display, control the vehicle C by analyzing the right turn sensitive control operation of the traffic light in detail. This is because there is no need to operate using preceding vehicle information or the like.

  If it is determined in step S601 that it is not related to the preceding vehicle or the like (when it is determined that the right turn sensitive control operation of the traffic light needs to be analyzed in detail), the presence or absence of the preceding vehicle is determined based on the acquired preceding vehicle information. Judgment is made (step S602). Then, the subsequent processing is branched depending on whether or not there is a preceding vehicle. When there is no preceding vehicle, the operation described in “Process when there is no preceding vehicle” described later is performed (“2” in the process flow diagram).

  Further, when it is determined in step S602 that there is a preceding vehicle, it is determined whether the preceding vehicle is before or after passing the vehicle detection area of the vehicle detector 3A (step S603). And a subsequent process is branched according to each of the case where a preceding vehicle passes the vehicle detection area, and the case after passing. If the vehicle has not yet passed, the operation described in “Process when the preceding vehicle has passed the vehicle detection area of the right-turn applied vehicle detector” described later is performed (“3” in the process flow diagram). The operation described in “Process when the preceding vehicle has passed the vehicle detection area of the right-turn application vehicle detector” described later is performed (“4” in the process flow diagram).

  As described above, the processing is divided according to the conditions of the preceding vehicle or the like. For the vehicle C, the unit extends operation by the preceding vehicle until the own vehicle arrives at the vehicle detection area of the right turn applied vehicle detector 3A. This is because it is important to predict in detail the operation of the right turn sensitive control, such as whether or not the operation is performed.

[Process for determining whether or not the vehicle C can determine the operation regardless of the preceding vehicle or the like]
First, in the in-vehicle device 6, it is determined whether or not the vehicle C can determine the operation regardless of the preceding vehicle or the like (step S601).
FIG. 11 is a plan view showing the positional relationship between the vehicle C on which the vehicle-mounted device 6 is mounted, the stop line P, and the vehicle detector 3A.
Here, it is assumed that the vehicle C is located in front of the distance Lcar from the stop line P, and similarly, the vehicle detection area of the vehicle detector 3A is located in front of the distance Ldet from the stop line P.
These distance information may be stored in advance in the storage unit of the in-vehicle device 6 or may be acquired by communication from another infrastructure device or the like. Further, instead of the distance information, the position of the vehicle C is specified by GPS or the like, and the position information such as the stop line P is acquired to calculate the distance.

The current traveling speed of the vehicle C is V1, the target speed at the target stop line P when the vehicle C reaches the stop line P is Vstop, the acceleration of the vehicle C is a, and the vehicle C reaches the stop line P. If the time required until Tstop is Tstop, the relationship of Equation 1 and Equation 2 is established between them.
The target speed Vstop when reaching the stop line P refers to an ideal speed on the stop line P at which the right turn operation that starts before and after passing through the stop line P can be performed safely and smoothly. This Vstop may also be stored in advance in the storage unit of the vehicle C, or may be acquired by communication from another infrastructure device or the like.

  From Equation 1 and Equation 2, Tstop becomes Equation 3. Similarly, assuming that the speed when the vehicle detector 3A reaches the vehicle detection area is Vdet, the time Tdet required to reach the vehicle detection area is expressed by Equation 4. Since the relationship of Formula 5 is established between Vdet and Tdet, Tdet can be obtained.

Here, when any of the following (I) or (II) is applicable, the vehicle C can determine the operation regardless of the preceding vehicle or the like.
(I) When the vehicle C has reached the stop line P and has already passed the maximum extension limit time Tmax of the right turn arrow.
(II) When the vehicle C arrives at the vehicle detection area of the vehicle detector 3A and before the minimum time Tmin has elapsed since the display of the right turn arrow is still started.
It is assumed that the minimum time of the right turn arrow is Tmin, the maximum extension limit time is Tmax, the unit extension blue time is Tuni, and the elapsed time after starting to display the right turn arrow is Tcur. Tcur is a negative value before the display of the right turn arrow is started. These values can be obtained from the right turn display information.

In the case of (I), no matter how the right turn sensitive control is performed and how the display time of the right turn arrow is determined, the right turn arrow is cut off when the vehicle C reaches the stop line P, and the red signal Should be displayed. That is, the vehicle C must stop before the stop line P regardless of the presence or absence of the preceding vehicle.
On the other hand, in the case of (II), the vehicle C can normally complete the right turn while the right turn arrow is displayed. However, even if the time point when the vehicle C arrives at the vehicle detection area of the vehicle detector 3A corresponds to the time when the minimum time Tmin has elapsed since the start of the display of the right turn arrow, the unit is extended by the passage of the vehicle C. This is because the operation is executed and the display time of the right turn arrow sufficient for the vehicle C to complete the right turn is ensured. That is, the vehicle C can turn right regardless of the presence or absence of a preceding vehicle.
In the case of (I), Expression 6 is satisfied, and in the case of (II), Expression 7 is satisfied. Therefore, the in-vehicle device 6 determines whether or not these conditions are met based on the calculated Tdet and Tstop. Can be judged.

  If the right turn display information does not include information on the position of the vehicle detection area of the vehicle detector 3A, and the vehicle-mounted device 6 cannot grasp the distance to the vehicle detection area of the vehicle detector 3A, The condition (II) may be changed to “when the vehicle C arrives at the stop line P and before the minimum time Tmin has elapsed since the start of the right turn arrow display yet”.

[Process when the vehicle C can determine the operation regardless of the preceding vehicle, etc.]
As a result of the above determination, when it is determined that the vehicle C can determine the operation regardless of the preceding vehicle or the like, the following processing is performed ("1" in the processing flow diagram 10).
In the case of (I), the notification information creating means 621 creates voice notification information for the driver such as “It should stop before the stop line” and also creates image notification information for displaying these as characters and symbols. The driver is informed to stop safely before the stop line P. Then, the speed control means 631 controls the brake to brake the vehicle C so as to stop before the stop line P, or assists the driver's brake operation.

On the other hand, in the case of (II), the notification information creating means 621 "is in a state where it can safely turn right while displaying a right turn arrow as it is", or "should not perform sudden acceleration / deceleration", etc. The voice notification information for the driver is generated, and the image notification information for displaying these as characters and symbols is generated. The speed control means 631 controls the traveling of the vehicle so that there is no significant acceleration / deceleration.
Since vehicle C can safely turn right unless there is a special circumstance such as another vehicle changing lanes and interrupting ahead, safety is enhanced by notifying the driver to drive.
In any case, only one or both of the notification to the driver and the brake control may be executed. Further, the information to be notified may be notified simultaneously with sound and image, or only one of them. In addition, the notification to the driver may be performed only in a state where a right turn arrow is displayed, for example, and when it is determined that it falls under (II), the driver's attention is not distracted. In the first place, the notification may not be performed.

[Process for determining whether or not there is a preceding vehicle ahead of vehicle C]
Next, it is determined whether or not there is a preceding vehicle ahead of the vehicle C (step S602).
This determination is made based on the acquired preceding vehicle information.
Here, the preceding vehicle information includes information that can be used to determine whether or not a preceding vehicle exists, the traveling speed and acceleration of the preceding vehicle, the position and planned course of the preceding vehicle, the information on the distance between the preceding vehicle and the vehicle C, and the like. Is included.

  For example, information that can be held by the preceding vehicle itself, such as the traveling speed, acceleration, position, and planned route of the preceding vehicle, can be acquired by inter-vehicle communication using millimeter waves or the like. In addition, when the infrastructure device acquires such information from the preceding vehicle by road-to-vehicle communication, or when the speed or distance between vehicles can be measured by a sensor installed on the roadside, such information is transmitted through the infrastructure device. It can also be acquired. Further, if a radar sensor or the like is mounted on the vehicle C, the traveling speed and acceleration of the preceding vehicle based on the difference between the traveling speed and position of the vehicle C by continuously acquiring the inter-vehicle distance from the preceding vehicle, It is also possible to acquire the position and the like.

The vehicle C can determine whether or not there is a preceding vehicle by acquiring all or part of the preceding vehicle information.
Here, if it is determined that there is no preceding vehicle, the right turn arrow is cut off before the vehicle C reaches the stop line P.
If there is no preceding vehicle, the following process is executed ("2" in the process flow diagram 10).

Since the vehicle C needs to stop before the stop line P, the speed control means 631 of the vehicle-mounted device 6 may control the brake so that the vehicle C can stop before the stop line P to brake the vehicle C. In addition, the notification information creation means 621 creates voice notification information for the driver such as “It should stop before the stop line” or “Right turn arrow is cut off”, and displays these as characters and symbols Create broadcast information.
As mentioned above, if a right turn arrow is displayed with a wide field of view where there is no preceding vehicle, there is a psychology that somehow wants to complete the right turn before the right turn arrow is cut off, the driver performs an unreasonable acceleration, etc. There is a possibility of unsafe driving. In such a case, informing the driver of appropriate information or executing speed control based on the right turn display information is very useful for promoting traffic safety.

[Process to determine whether or not the preceding vehicle has passed through the vehicle detection area of the right turn feeling applied vehicle detector]
Next, it is determined whether or not the preceding vehicle ahead of the vehicle C has passed through the vehicle detection area of the right turn feeling applied vehicle detector 3A (step S603).
This determination is also made based on the acquired preceding vehicle information.
For example, when the distance between the preceding vehicle and the stop line P can be acquired, if the distance is larger than the distance Ldet between the stop line P and the vehicle detection area of the vehicle detector 3A, it is before passing and is small. You can see that it is after passing.
Further, if the inter-vehicle distance Lcc between the vehicle C and the preceding vehicle can be acquired, the vehicle passes if the inter-vehicle distance Lcc is smaller than the distance (Lcar-Ldet) from the vehicle C to the vehicle detection area of the vehicle detector 3A. It can be seen that it is before and if it is large, it is after passing.
In addition, if the position of the preceding vehicle and the position of the vehicle detection area of the vehicle detector 3A can be specified based on accurate latitude and longitude, it is also possible to determine whether or not the vehicle is before passing from the relative positional relationship between them. it can.

[Processing when the preceding vehicle is not passing the vehicle detection area of the right turn feeling applied vehicle detector]
Processing contents when it is determined that the preceding vehicle ahead of the vehicle C has passed through the vehicle detection area of the right turn applied vehicle detector 3A based on the above determination will be described ("3" in the process flow diagram 10).
FIG. 12 is a plan view showing the positional relationship between the vehicle C and the stop line P before the preceding vehicle passes through the vehicle detection area of the vehicle detector 3A.

  If the preceding vehicle has not yet passed through the vehicle detection area of the vehicle detector 3A, the unit extension operation by the preceding vehicle is still in a state before being executed, and therefore the vehicle C is a unit that will be executed by the preceding vehicle. It is only necessary to arrive at the vehicle detection area of the vehicle detector 3A before the extension operation is completed. In this case, since the unit extension operation is executed again in response to the detection of the vehicle C, the vehicle C can turn right.

  The time T2 until the preceding vehicle reaches the vehicle detection area of the vehicle detector 3A can be calculated by the following equation 8 assuming that the preceding vehicle maintains the traveling speed V2.

The vehicle C may arrive at the vehicle detection area of the vehicle detector 3A after the preceding vehicle passes the vehicle detection area of the vehicle detector 3A and before the unit extended blue time Tuni elapses. That is, it is sufficient that Tdet calculated by Expression 4 is smaller than (T2 + Tuni).
If it is determined that Tdet is larger than (T2 + Tuni), the speed control unit 631 may control the planned acceleration a so as to be larger than (T2 + Tuni). Further, the notification information creating unit 621 may create notification information that prompts “to reduce the inter-vehicle distance”.
However, when it is determined that the vehicle is unsafe with a significant change in acceleration, the speed control unit 631 may brake the vehicle C so as to stop safely before the stop line P. The creation means 621 may create notification information that prompts “stop before the stop line”.

If the preceding vehicle cannot reach the vehicle detection area of the vehicle detector 3A by the end of the unit extension operation by the preceding vehicle located further forward than the preceding vehicle, the vehicle C cannot turn right in the first place. .
When it is desired to determine whether or not this is the case, for example, a method may be used in which information on the preceding vehicle is separately acquired and the status of the unit extension operation by the preceding vehicle is grasped, or a right turn display is performed. The information may include information on the elapsed time Tx from the start of the unit extension operation for the unit extension operation currently being executed. If the Tx can be obtained, the total value of the time T2 until the preceding vehicle arrives at the vehicle detection area of the vehicle detector 3A and the Tx is compared with the unit extended blue time Tuni, so that the unit extending operation by the preceding vehicle can be performed. It can be determined whether or not the preceding vehicle can reach the vehicle detection area of the vehicle detector 3A by the end.

[Processing when the preceding vehicle is after passing the vehicle detection area of the right turn feeling applied vehicle detector]
On the other hand, the processing content when it is determined that the preceding vehicle ahead of the vehicle C has already passed through the vehicle detection area of the right turn feeling applied vehicle detector 3A will be described ("4" in the processing flow diagram 10).
FIG. 13 is a plan view showing the positional relationship between the vehicle C, the stop line P, and the like after the preceding vehicle has passed through the vehicle detection area of the vehicle detector 3A.

  If the preceding vehicle has passed through the vehicle detection area of the vehicle detector 3A, the unit extension operation by the preceding vehicle has already started, and therefore the vehicle C performs the unit extension operation performed by the preceding vehicle. If it does not arrive at the vehicle detection area of the vehicle detector 3A before the end, the display of the right turn arrow is terminated.

The elapsed time T3 after the preceding vehicle has passed the vehicle detection area of the vehicle detector 3A can be calculated by the following equation 9 assuming that the preceding vehicle has traveled while maintaining the traveling speed V2. .
In addition, when the information on the elapsed time Tx since the start of the unit extension operation is included in the right turn display information, since the Tx can be regarded as T3, it is not necessary to calculate on the in-vehicle device side.

The vehicle C must arrive at the vehicle detection area of the vehicle detector 3A after the preceding vehicle passes the vehicle detection area of the vehicle detector 3A and before the unit extended blue time Tuni elapses. That is, Tdet calculated by Equation 4 must be smaller than (Tuni−T3).
If it is determined that Tdet is larger than (Tuni-T3), the speed control means 631 controls to increase the planned acceleration a so as to be smaller than (Tuni-T3). Just do it. Further, the notification information creating unit 621 may create notification information that prompts “to reduce the inter-vehicle distance”.
However, when it is determined that the vehicle is unsafe with a significant change in acceleration, the speed control unit 631 may brake the vehicle C so as to stop safely before the stop line P. The creation means 621 may create notification information that prompts “stop before the stop line”.

  When the unit extension operation is not performed by the preceding vehicle (when the preceding vehicle cannot reach the vehicle detection area of the vehicle detector 3A by the end of the unit extension operation by the preceding vehicle, etc.), FIG. Since the display of the right turn arrow has already ended and the red signal is displayed at the time, the vehicle C may be controlled to stop before the stop line P in the same manner as before.

[Processing when the distance of the vehicle detection area, etc. of the stop line P or right turn feeling applied vehicle detector is unknown]
In addition, when the distance between the stop line P and the vehicle detection area of the right turn feeling applied vehicle detector is unknown, or when the distance between the own vehicle and the stop line P is unknown, A method of controlling the vehicle C according to only the positional relationship may be used.
That is, the unit extension operation executed by the preceding vehicle is terminated before the vehicle C by traveling so that the time required to travel the inter-vehicle distance Lcc with the preceding vehicle is always equal to or less than the unit extended blue time Tuni. Can be avoided. In this case, the vehicle C can be controlled if at least the unit extended blue time in the right turn sensitive control is acquired.

  Note that the vehicle detector, traffic signal controller, signal control device, and the like in the present invention may be realized by a single casing or may be realized by a plurality of casings. Each of these may be realized by one computer or may be realized by combining a plurality of computers.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a schematic diagram which shows the outline | summary of apparatus arrangement | positioning of the traffic system which concerns on this invention. (A) is a figure which shows an example of the format of the signal information which concerns on this invention, (b) is a figure which shows an example of signal information. (A) is a figure which shows an example of the format of the right turn display information which concerns on this invention, (b) is a figure which shows an example of the right turn display information. It is a figure which shows an example of the signal control plan provisionally determined. It is a figure which shows an example of the functional block structure of 1 A of traffic signal controllers. It is a figure which shows the example of the operation | movement pattern of right turn sensitive control. It is a figure which shows the example of the pattern in which the right turn arrow is cut off in right turn sensitive control. 3 is a diagram illustrating an example of a functional block configuration of a signal control device 5. FIG. It is a figure which shows an example of a functional block structure of the vehicle equipment. It is a figure which shows an example of the processing flow which shows the outline | summary of the process of the vehicle equipment. It is a top view which shows the positional relationship of the vehicle C, the stop line P, and the vehicle detector 3A. It is a top view which shows the positional relationship of the vehicle C, the stop line P, etc. before a preceding vehicle passes the vehicle detection area of 3 A of vehicle detectors. It is a top view which shows the positional relationship of the vehicle C, the stop line P, etc. after a preceding vehicle passes the vehicle detection area | region of 3 A of vehicle detectors.

Explanation of symbols

1A Traffic signal controller 1Aa Communication antenna 2Aa Signal lamp 3A Vehicle detector 4 Router 5 Signal controller 6 On-board unit 7 Transmitter 101 Signal control plan creation means 102 Temporary decision plan table 121 Signal information creation means 131 Right turn display information creation means 141 Signal lamp control means 151 Right turn sensitive control means 501 Transmission means 502 Reception means 521 Signal control command creation means 531 Traffic condition acquisition means 532 Traffic information database 601 Right turn display information etc. acquisition means 611 Preceding vehicle information acquisition means 621 Notification information creation means 631 Speed Control means

Claims (11)

In a road having a right turn lane, a vehicle detector for detecting the presence or absence of a vehicle in the right turn lane,
A traffic signal controller for executing right turn sensitive control based on a vehicle detection signal from the vehicle detector for a display time of a right turn blue arrow light among signal lights,
A right turn display information creating means for creating right turn display information relating to the display of the right turn blue arrow light;
Transmitting means for transmitting the right turn display information to a predetermined area on the road;
A vehicle-mounted device that is mounted on a vehicle and receives the right turn display information in the predetermined area,
The in-vehicle device has a safe driving support control means for performing a safe driving support operation for a driver based on the right turn display information. The in-vehicle device is
Having preceding vehicle information acquisition means for acquiring preceding vehicle information regarding the preceding vehicle;
The traffic system according to claim 1, wherein the safe driving support control means performs safe driving support to a driver using the acquired preceding vehicle information. In the preceding vehicle information,
Information regarding whether or not there is a preceding vehicle, if there is a preceding vehicle, information on the inter-vehicle distance with respect to the preceding vehicle, information on the preceding vehicle regarding the position of the preceding vehicle, and the traveling speed of the preceding vehicle The traffic system according to claim 2, wherein at least one of the preceding vehicle traveling speed information is included. The safe driving support control means includes
Including at least one of notification information creating means and speed control means,
The notification information creating means creates notification information to the driver based on the right turn display information,
The traffic system according to any one of claims 1 to 3, wherein the speed control means controls a traveling speed of the vehicle based on the right turn display information. In the right turn display information,
Elapsed time after displaying the right turn blue arrow light,
Minimum time to display the right turn blue arrow light,
The traffic system according to any one of claims 1 to 4, wherein a maximum extension time limit for displaying the right turn blue arrow light is included. In the right turn display information,
The traffic system according to any one of claims 1 to 5, characterized in that unit extended blue hours for the right turn blue arrow light are included. In the right turn display information,
The traffic system according to any one of claims 1 to 6, further comprising installation position information related to an installation position of the vehicle detector. In the right turn display information,
The traffic system according to any one of claims 1 to 7, further comprising information on an elapsed time of a unit extension operation of right turn sensitive control executed in the traffic signal controller.   An in-vehicle device that is used in the traffic system according to any one of claims 1 to 8.   A vehicle equipped with the vehicle-mounted device according to claim 9.   9. A traffic signal controller having the right turn display information creating means and the transmitting means, and used for the traffic system according to claim 1.

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