JP2008210066A - Control method for non-stop road traffic - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To further reduce fuel consumption and an exhaust gas amount by non-stop road traffic of an inflow vehicles into a route wherein a system type signal control is performed from a traffic lane intersecting it. <P>SOLUTION: In a crossing A comprising the route R wherein the system type signal control is performed and a route S intersecting it, it is possible to perform the non-stop road traffic by: setting and presenting a travel condition such that a vehicle arrives at a crossing B in next blue traffic signal lighting time in the crossing B one downstream of the crossing A to the vehicle flowing in the route R while a traffic signal on the route S side is blue and leaving for the crossing B; and making a vehicle passing the crossing A while a route R side traffic signal is blue leave for the crossing B at a travel speed Vadv according to the system type signal control as before; and performing following travel in a state that a safe inter-vehicle distance is maintained with a preceding travelling vehicle when all vehicles traveling along the route R meet the preceding travelling vehicle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention crosses the route R in a group of vehicles that pass through each intersection continuous on the route R without stopping by traveling on the route R controlled by the systematic signal control at a traveling speed corresponding to the systematic signal control. At the intersection A composed of the route S, the route S in which the route S is smoothly subjected to systematic signal control of a group of vehicles that flow into the route R by turning left or right from the route S while the route S side is a green light (and thus the route R side is a red signal). The present invention relates to an “intersection non-stop traveling control method” that joins a traveling vehicle group and causes each intersection downstream of the intersection A to travel without stopping.

  "Intersection non-stop running control system" (or "signal synchronous running control system"), which aims to significantly reduce vehicle emissions and fuel consumption by reducing the frequency of stops due to red traffic lights at intersections ) Has been proposed.

  This means that at a specific point upstream from the road intersection leading to the intersection, the vehicle signals the intersection from the signal status information of the intersection, the distance information, and the allowable maximum traveling speed information from the specific point to the intersection. Calculate the travel conditions from a specific point to the intersection to pass without stopping, that is, the recommended travel time topt and / or the recommended travel speed vopt, and based on the calculated recommended travel time topt and / or the recommended travel speed vopt Thus, the vehicle is allowed to travel between a specific point and an intersection to allow the intersection to pass through a green light without stopping (Patent Document 1, Patent Document 2, Patent Document 3, and Non-Patent Document 1).

  On the other hand, as a conventional traffic signal control method, systematic control is performed for a plurality of continuous intersection signals on a route with a large amount of vehicle traffic, that is, offset time control is performed for a traffic signal group having the same signal cycle (cycle length). There is a systematic signal control system that allows a group of vehicles traveling at a traveling speed specified on the route to travel without stopping at an intersection.

Patent No. 3859663 Japanese Patent Application No. 2006-356940 JP 2006-292553 Energy Saving Center 1994 "Intelligent Car Traffic and Energy Saving Effect"

  The present invention applies a concept of the intersection non-stop traveling control method to a vehicle that flows in from a line that intersects a line that performs the above-described systematic signal control, and travels in accordance with the systematic signal control. By joining the groups smoothly, as a result, the number of intersection stoppages is reduced to reduce the amount of exhaust gas and fuel consumption.

This will be described with reference to FIGS. 1, 2, and 3.
In FIG. 1, a route R is a route that performs systematic signal control, and a route that intersects the route R is defined as a route S, a route T, a route U, and intersections A, B, and C, respectively.
Further, the point immediately after passing through the intersection A is the point A, the point immediately after passing the intersection B is the point B, the point immediately after passing the intersection C is the point C, the distance between the point A and the intersection B is Dab, and the distance between the point B and the intersection C is Dbc. And

The time change of the signal state at the intersection A, intersection B, and intersection C is shown in FIGS. However, in FIGS. 2 and 3 and the related description, the yellow signal period is ignored for the sake of simplicity.
2 and 3,
ta1 to ta2 and ta3 to ta4 are the red signal period of the route R side signal at the intersection A, that is, the green signal period of the route S side signal,
ta2 to ta3 and ta4 to ta5 are green signal periods of the route R side signal at the intersection A,
tb1 to tb2 and tb3 to tb4 are the red signal period of the route R side signal at the intersection B, that is, the blue signal period of the route T side signal,
tb2 to tb3 and tb4 to tb5 are green signal periods of the route R side signal at the intersection B,
tc1 to tc2 and tc3 to tc4 are the red signal period of the route R side signal at the intersection C, that is, the green signal period of the route U side signal,
tc2 to tc3 and tc4 to tc5 are green signal periods of the route R side signal at the intersection C,
It is.

  That is, the vehicle that has passed the intersection A between the time ta2 to ta3 during the green signal on the route R side travels at the traveling speed Vadv corresponding to the systematic signal control, and travels the intersection B at the route R side green signal period from the time tb2 to tb3. In addition, the vehicle can pass through the intersection C without stopping during the route R side green light period from the time tc2 to the time tc3.

  However, at intersection A, a vehicle that has flowed into route R due to a left turn or a right turn while the route S side from time ta1 to ta2 is a green signal (and therefore the route R side is a red signal) will be red at the next intersection B as shown in FIG. 2C1. It arrives in the period tb1 to tb2, and stops here and enters a signal waiting state.

  Alternatively, at intersection B, a vehicle that has flowed into route R due to a left or right turn while the route T side from time tb3 to tb4 is a green signal (and therefore the route R side is a red signal) will be red at the next intersection C as shown in FIG. 2C2. Arriving in the period tc3 to tc4, it stops here and enters a signal waiting state.

However, at the point A immediately after passing through the intersection A, the traveling condition is presented so that the arrival time of the intersection B is the time tb2 immediately after the intersection B route R side signal turns blue as shown in FIG.
Alternatively, at the point B immediately after passing through the intersection B, the traveling condition is presented so that the arrival time of the intersection C is the time tc4 immediately after the intersection C route R side signal turns blue as shown in FIG.
If the vehicle C1 or the vehicle C2 travels between the point A and the intersection B or between the point B and the intersection C according to the traveling condition, the intersection B or the intersection C is not stopped without encountering a red signal at the intersection B or the intersection C. You will be able to pass by.

  After that, the vehicle travels in the same manner as the vehicle group traveling at the traveling speed Vadv according to the other systematic signal control, that is, by traveling according to the systematic signal control. You can pass without stopping.

That is, for a vehicle that flows into a route R that performs systematic signal control from a route S that intersects it, a leading vehicle, for example, a vehicle that first flows into the route R between times ta1 and ta2, The vehicle is controlled to reach the intersection B at the next green light lighting time tb2, and the vehicle that has flowed into the route R following the leading vehicle during the time ta1 to ta2 is directed toward the intersection B at the traveling speed Vadv. Let it run.
Alternatively, traveling control is performed so that all vehicles flowing into the route R performing systematic signal control from the route S intersecting the route R arrive at the intersection B at the next green light lighting time tb2 at the intersection B.

  Furthermore, in any of the above cases, all vehicles passing through the intersection A between times ta2 and ta3 are directed to the intersection B at the traveling speed Vadv, and if a vehicle traveling ahead is encountered during traveling, the safe inter-vehicle distance is maintained. To follow the vehicle running ahead.

  The travel control is performed in the same manner as described above not only at the time ta1 to ta2 at the intersection A but also during the period when the signal on the route R side at each intersection is a red signal as shown in FIG.

  That is, for each vehicle group passing through the intersection between the green light extinguishing time on the route R side and the next green light extinguishing time at each intersection, the vehicle passes through the intersection during the corresponding green signal period of the one downstream intersection. To control the driving.

  By controlling as described above, not only a vehicle traveling on a route on which systematic signal control is performed, but also a vehicle that has flowed into the route R from a route intersecting with the route can be traveled without stopping from the next intersection.

  A further advantage of the “intersection non-stop traveling control method” according to the present method is that lane separation and travel speed adjustment, which are problems in the conventional “intersection non-stop traveling control system”, are facilitated.

  That is, at a specific point provided on a road that is a certain distance downstream from the intersection in a normal “intersection non-stop traveling control system”, for example, a green light extinguishing time at a time tb3 at an intersection B for a vehicle passing through the specific point near the time ta3. According to the present invention, a specific point is provided immediately after passing the intersection, and a green light extinguisher at the intersection immediately after passing time ta3 is separated from the vehicle that is directed to the green light lighting time at time tb4. Since it is time, it can be easily done automatically.

  That is, for vehicles passing through the intersection A at time ta3 according to the systematic signal control, at the time of intersection B green light extinction at time tb3, and for vehicles passing through the intersection A from the route S to the route R at time ta3. On the other hand, it is only necessary to go to the intersection B green light lighting time at time tb4, and the confusion due to vehicle separation at time ta3 is automatically resolved.

  In addition, the transition from the speed at the time of traveling on the route S to the speed after the inflow of the route R for the vehicle that wants to travel so as to pass the point A at the time ta3 and arrive at the intersection B at the time tb4 The speed at the time of passing through the point A is low because it has flowed into R by a left turn or a right turn. Therefore, the speed from the speed to the recommended travel speed becomes smooth.

  In other words, in order to carry out the intersection non-stop traveling control with high accuracy, the systematic signal control is performed on the main route such as the route R in the above description, and the branch lines such as the route S, the route T, and the route U as described above. It can be said that it is the best policy to add the intersection non-stop traveling control to the vehicle flowing in from the road.

  According to the present invention, it is also possible to perform the intersection non-stop traveling control for the vehicle flowing into the systematic signal control route from the intersecting route with the conventional systematic signal control remaining. Furthermore, “vehicle separation” and “speed adjustment”, which are one of the important problems in practical use of the “intersection non-stop traveling control system”, can be performed smoothly as described above, and the practical effect is great.

  The place where the driving condition is presented to the vehicle is a point immediately after passing the intersection where systematic signal control is performed, for example, the point A at the intersection A, and the next green signal extinction from the route R side green signal extinction time at the intersection. The vehicle is set with traveling conditions so that the vehicle passing through the intersection A during the light period, for example, the time ta1 to ta3, passes through the green signal period at the next downstream intersection B, during the time tb2 to tb3. Configure to report to

  FIG. 4 shows a configuration example of the roadside device of the “intersection non-stop traveling control system” according to the present invention installed at the point A immediately after passing the intersection A on the route R side in FIG.

In FIG.
41 stores in advance travel speed Vadv information corresponding to the system signal control performed on the route R, the distance Dab information between the point A and the intersection B, and the offset time Tab information between the intersection A and the intersection B, and the traffic signal A It has a clock function that ticks the time that coincides with the time, and also inputs and estimates the state information of the traffic light on the route R side at intersection A
While the route R signal at the intersection A is in red, that is, when the current time t is ta1 <t <ta2, the distance Dab information between the point A and the intersection B and the recommended travel time topt information between the point A and the intersection B Calculates and outputs the recommended travel speed vopt from
A road-side storage / calculation device that outputs a traveling speed Vadv to a vehicle that has passed the point A toward the intersection B while the route R-side signal is in the green light period, that is, when the current time t is ta2 <t <ta3. ,

However,
topt = tb2-t = (ta2 + Tab)-t
vopt = Dab / topt ≤ Vadv

here,
topt is the recommended travel time between point A and intersection B of the vehicle flowing into route R during the period when the route R side signal is red,
vopt is the recommended travel speed,
tb2 is the green light lighting time on the route R side of intersection B,
t is the current time (assuming ta1 <t <ta2),
ta1 is the green light extinction time on the R side of intersection R,
ta2 is the green lighting time at intersection R on the route R side,
Tab is intersection A-intersection B signal offset time,
Dab is the distance between point A and intersection B,
Vadv is the running speed corresponding to systematic signal control,

  42 is a road-side speed display device installed at a point A that displays the recommended travel speed vopt or the travel speed Vadv, which is the output of the road-side storage / calculation device 41, and notifies the vehicle driver passing the point A and heading for the intersection B. is there.

  The vehicle driver who passes the point A is presented with the recommended traveling speed vopt as well as the driver who is presented with the traveling speed Vadv by driving the vehicle toward the intersection B at the traveling speed calculated and displayed as described above. The driver can also pass through intersection B without a green light stop.

This will be described with reference to FIG.
The first embodiment is the simplest embodiment, but the road-side speed display device 42 in the first embodiment is replaced with a road-to-vehicle communication road-side device (not shown), and the road-to-vehicle communication road-side device in the case of the first embodiment is replaced. Instead of the recommended travel speed vopt, the distance Dab information between the point A and the intersection B and the recommended travel time topt information between the intersection A and the intersection B, and the distance Dab information between the point A and the intersection B and the intersection A instead of the travel speed Vadv. -Intersection B offset time Tab information is transmitted to each vehicle, on the vehicle side, the various information is received by the road-to-vehicle communication vehicle-side device 51 and input to the vehicle-side computing device 52,
The recommended traveling speed voptt updated by the following formula in the vehicle-side arithmetic device 52 is calculated every fixed time T, and the result is displayed and updated on the vehicle-side speed display device 53, and the ACC device is set as the set speed of the ACC device. There is also a method of traveling to intersection B while inputting / updating.

voptt = (Dab−ΔD) / (topt−Δt) ≦ Vadv
Or
voptt = (Dab−ΔD) / (Tab−Δt) ≦ Vadv

here,
voptt is the updated recommended travel speed,
Dab is the distance between point A and intersection B,
ΔD is a travel distance after passing through the point A, and is counted as a time integral value of the own vehicle speed pulse after passing through the point A that is input to the vehicle-side arithmetic unit 52.
Δt is an elapsed time after passing through the point A, and Δt = n · T (n: 1, 2, 3,...), That is, the voptt is calculated / updated every certain time T.
topt is the recommended travel time to the intersection B of the vehicle that flows into the route R while the route R signal is red,
Tab is an intersection A-intersection B signal offset time, that is, a recommended travel time for traveling between the intersection A and the intersection B at the traveling speed Vadv,
Vadv is the running speed corresponding to systematic signal control,
It is.

  In the second embodiment, on the vehicle side, the vehicle can travel while calculating the recommended traveling speed voptt obtained by feeding back the actual traveling result of the vehicle after passing through the point A every predetermined time T, and the vehicle traveling itself is also stabilized by the ACC device. Therefore, not only the traveling control accuracy is improved, the frequency of stopping at the intersection is reduced, but also the traveling between the intersections is stabilized, and a great effect can be exhibited by reducing the exhaust gas amount and the fuel consumption amount.

  Here, the ACC (Adaptive Cruise Control) device is a vehicle travel control device that travels following a distance between a forward traveling vehicle and a safe vehicle with the input set speed as an upper limit speed.

  According to the present invention, in addition to the conventional non-stop traveling of the vehicle traveling on the route R by the systematic signal control, the vehicle flowing into the route R from other routes is also red at the first intersection encountered after the route R enters. It is possible to pass without stopping by a signal, and the effect of reducing the amount of exhaust gas and fuel consumption is further increased.

  In addition, this system is an “intersection non-stop running control system”, but it is also an extension of the conventional “systematic signal control system”, and as a step-by-step procedure for the full-scale spread of the “intersection non-stop running control system” Is also effective.

Route diagram for explanation of the present invention, intersection layout diagram, The signal state of the route performing systematic signal control and the vehicle traveling state explanatory diagram corresponding thereto, FIG. 1 is a vehicle traveling state explanatory diagram after applying the present invention to a route performing systematic signal control shown in FIG. Example of roadside device configuration in one embodiment of "intersection non-stop traveling control system" according to the present invention, It is the example of composition of the vehicle side device in the “intersection non-stop traveling control system” and other embodiments according to the present invention.

Explanation of symbols

1, 2, and 3,
Dab: vehicle travel distance between point A and intersection B,
Dbc: vehicle travel distance between point B and intersection C,

2 and 3,
ta1 to ta2, ta3 to ta4: yellow or red signal period of the route R side signal at the intersection A,
ta2 to ta3, ta4 to ta5: green signal period of the route R side signal at the intersection A,
tb1 to tb2, tb3 to tb4: yellow or red signal period of the route R side signal at the intersection B,
tb2 to tb3, tb4 to tb5: green signal period of the route R side signal at the intersection B,
tc1 to tc2, tc3 to tc4: yellow or red signal period of the route R side signal at the intersection C,
tc2 to tc3, tc4 to tc5: green signal period of the route R side signal at the intersection C,

C1: A vehicle that has flowed from the route S to the route R at the intersection A between the times ta1 and ta2,
C2: a vehicle that flows into the route R from the route T during the time tb3 to tb4 at the intersection B,

In FIG.
41: Roadside memory / arithmetic unit,
42: Roadside speed display device,
In FIG.
51: Road-to-vehicle communication vehicle side device,
52: Car side arithmetic unit,
53: Vehicle side speed display device,
It is.

Claims (3)

At successive intersections A and B, the group of vehicles passing through the intersection A during the green light period from time ta2 to ta3 are systematically controlled so as to pass through the intersection B without interruption during the green signal period from time tb2 to tb3. On the route R
For a group of vehicles passing through the intersection A and heading to the intersection B during one signal cycle from the green light extinction time of the time ta1 to ta3 to the next green signal extinction time, the intersection B is set to the green signal period of the time tb2 to tb3. An intersection non-stop traveling control method, wherein the traveling control is performed so as to pass. A traffic signal on the route S side flows into the route R from the route S at the beginning of the green light period from the time ta1 to ta2 at the intersection A composed of the route R controlled by the systematic signal and the route S intersecting with the route R. For vehicle C1 heading for B, at the point A immediately after passing through the intersection A, setting and presenting the driving conditions so that the vehicle C1 reaches the intersection B at the next green light lighting time tb2 at the intersection B,
Further, for a vehicle group that flows into the route R from the route S following the vehicle C1, or a vehicle group in which the route R side signal passes through the intersection A during the green light period, the traveling speed Vadv corresponding to the systematic signal control is used. Presenting driving conditions to drive towards intersection B,
However, if a forward traveling vehicle is encountered when traveling on the route R under the above traveling conditions, follow the traveling vehicle while keeping the distance between the traveling vehicle and the safety vehicle,
The intersection non-stop traveling control method according to claim 1. A traffic signal on the route S side flows into the route R from the green light period route S at the time ta1 to ta2 and goes to the intersection B at the intersection A composed of the route R and the route S intersecting with it. Setting and presenting driving conditions for the vehicle group so that the vehicle group reaches the intersection B at the next green light lighting time tb2 at the intersection B at the point A immediately after passing through the intersection A;
In addition, for the vehicle group in which the route R side signal passes through the intersection A during the green light, the traveling condition is presented so that the vehicle travels toward the intersection B at the traveling speed Vadv corresponding to the systematic signal control.
However, if a forward traveling vehicle is encountered when traveling on the route R under the above traveling conditions, follow the traveling vehicle while keeping the distance between the traveling vehicle and the safety vehicle,
The intersection non-stop traveling control method according to claim 1.

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