JP2008217296A - Nonstop intersection traffic control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an optimum method for handling the differences between the running conditions presented to vehicles and actual running conditions in a nonstop intersection traffic control system. <P>SOLUTION: A vehicle receiving, at a particular point P, running conditions for passing through an intersection A without stop runs while measuring an elapsed time Δt and a running distance ΔD after passing through the point P, then determines running conditions every time the elapsed time Δt reaches a fixed time T, and if determined that in the current running conditions at a maximum allowable running speed Vmax, the intersection A cannot be reached within an initially expected green signal period of the intersection A, calculates a recommended running speed which is updated such that the intersection A will be reached within the next green signal period of the intersection A insted of the initially expected green signal period of the intersection A, and runs toward the intersection A at the updated recommended running speed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle-side response method to a traveling condition presented to a vehicle when passing a specific point in an intersection non-stop traveling control system (or a signal synchronous speed control system).

  “Intersection non-stop running control system” (or “Signal-synchronized speed control system”), which aims to significantly reduce vehicle emissions and fuel consumption by reducing the frequency of stops due to red traffic lights at vehicle intersections 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).

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

  The patent of the present application intends to provide a coping method when the actual traveling state of the vehicle has deviated significantly for some reason with respect to the traveling condition presented to the vehicle passing through the specific point.

The basic concept of this patent will be described with reference to FIGS.
However, FIG. 1 is a diagram illustrating the basic concept of the intersection non-stop traveling control method.
FIG. 2 is an explanatory view of the basic concept regarding the correction in the case where the traveling condition has shifted for some reason after being presented with the traveling condition in the intersection non-stop traveling control system,
FIG. 3 is an explanatory diagram of a basic concept regarding a method for coping with a case where the driving condition is greatly deviated for some reason after the driving condition is presented in the intersection non-stop driving control system.
It is.

  The basic of the intersection non-stop traveling control system is that the intersection non-stop is made by passing all the vehicles passing through the specific point P during the intersection one period Tp to the intersection A during the green light period Tg of the intersection A. Realizes traveling.

That is, in FIG.
.., Cn passing through a point P that is upstream from the intersection A by a distance D during one signal period Tp of the intersection A from time t1p to t2p. The intersection A green signal period Tg at time t2a to t3a The vehicle C0, C1, C2,... Cn individually presents the driving conditions at the point P so as to pass through the intersection A between the vehicles C0, C1, C2,. Travel to A and pass through intersection A without stopping.

However, the vehicle cannot run according to the presented driving conditions. As a measure for that, for example
When the vehicle passes the point P, the point P roadside device obtains the recommended travel time topt information between the point P and the intersection A, the travel distance D information between the point P and the intersection A, and the allowable maximum travel speed Vmax information between the point P and the intersection A. Further, the vehicle travels while counting the elapsed time Δt after passing through the point P and the travel distance ΔD after passing through the point P on the vehicle side, and the elapsed time Δt is updated from (Equation 1) every time the fixed time T elapses. The calculated recommended travel speed voptt is calculated, and the calculated / updated recommended travel speed voptt is displayed on the display device or input as a set speed of the cruise control device provided in the vehicle, and travels toward the intersection A.

(Equation 1)
voptt = (D−ΔD) / (topt−Δt) ≦ Vmax

here,
voptt: updated recommended travel speed,
D: mileage between point P and intersection A,
ΔD: vehicle travel distance after passing through point P,
topt: recommended travel time,
Δt: elapsed time after passing through point P,
Vmax: Maximum allowable traveling speed between point P and intersection A,
It is.

If the vehicle position is on the left side of time t3p-t3a in FIG. 1 even if the vehicle driving state deviates from the driving condition presented at point P during driving, the updated recommended driving of (Equation 1) It can be modified by the speed voptt.
That is, in this case, even at the worst, the vehicle can arrive at the intersection A within the green light period of the intersection A initially planned for traveling at the allowable maximum traveling speed Vmax.

  For example, in FIG. 2, even if the vehicle C0 that should arrive at the intersection A at the initial time t2a deviates and reaches a state Q during traveling, the updated recommended traveling speed voptt calculated at that time It is possible to travel and arrive at intersection A at time t2a.

  Further, in FIG. 2, even when the vehicle C1 travels and shifts to the state shown in FIG. 2R during the travel, the travel from the state R to the initial estimated arrival time ta1 at the intersection A is calculated at that time. The updated travel speed voptt is impossible because it exceeds the maximum allowable travel speed Vmax, but from that point on, it is possible to pass through the intersection A between times t2a and t3a toward the intersection A at the maximum allowable travel speed Vmax. It is.

  However, the traveling state of the vehicle C2 is significantly deviated from the traveling condition presented at the point P and on the right side of the line connecting the time t3p at the point P and the time t3a at the intersection A as shown in the state S in FIG. If this happens, the vehicle will not only travel to time ta2, which is the target time of arrival at intersection A, but also travel toward intersection green light extinction time t3a will exceed the maximum allowable traveling speed Vmax. It becomes impossible.

  As a coping method in this case, it is considered that the arrival of the signal at the intersection A between the times t3a and t4a and waiting for a signal is acceptable because such a situation can occur only rarely. However, if possible, it is desirable for the purpose of the “intersection non-stop traveling control system” that this vehicle also arrives at the intersection A after the next green light lighting time t4a and passes through the intersection A without a green light stop.

  For that purpose, the recommended travel time topt information between the point P and the intersection A from the point P roadside device at the time of passing the point P, the travel distance D information between the point P and the intersection A, and the allowable maximum traveling speed Vmax between the point P and the intersection A. In addition to the information, the vehicle passing point P (time tp2 in the case of vehicle C2 in FIG. 3) and time t3p, t2a, t3a, t4a information are obtained, and before the calculation of (Equation 1) (Equation 2 ), And when the current time t does not satisfy the relationship of (Equation 2), the calculation result of (Equation 1) is updated as usual, and when it is satisfied, the operation result of (Equation 3) is updated. Used as travel speed.

(Equation 2)
t> tp3 + (ta3−tp3). (ΔD / D) = tp3 + (ΔD / Vmax)

(Equation 3)
voptt = (D−ΔD) / (topt′−Δt)
= (D−ΔD) / {(t4a−tp) −Δt} ≦ Vmax

here,
t: Current time,
ta3: Intersection A green light extinction time,
tp3: The vehicle that has passed the point P at this time passes the intersection A toward the intersection A at the traveling speed Vmax, and passes by the green light extinction time at the time t3a.
(Tp3 = ta3-D / Vmax)
topt ': newly set recommended travel time,
(Topt '= t4a-tp)
t4a: First green light lighting time after green light extinction at time t3a,
tp2: Time of passing point P of the vehicle,
(The vehicle in this example in FIG. 3 is C2, so tp = tp2),
Other symbols are the same as in (Equation 1).
It is.
(T4a-tp) is used as the newly set recommended travel time topt 'in (Equation 3) because the intersection A at the recommended travel time topt provided at the time of passing through the initial point P as the arrival time at the intersection A This is because the estimated arrival time at intersection A is t4a instead of the estimated arrival time ta2.

  By calculating the recommended traveling speed voptt updated as described above and using the result to travel to the intersection A, the intersection A is not stopped even if it deviates from the traveling condition presented at the traveling point P. You will be able to pass by.

  The patent of the present application makes it possible to pass through the intersection A without stopping at the green light even if the vehicle traveling to the intersection A after passing the specific point P deviates greatly from the traveling condition presented at the time of passing the point P. The control accuracy of the “stop traveling system” is greatly improved.

  In the intersection non-stop traveling control system of the present patent application, the accuracy of the traveling distance ΔD information after passing through the point P becomes a problem. In general, ΔD is counted by integrating the pulse output (own vehicle speed pulse) proportional to the rotation speed of the propeller shaft of the vehicle with time integration, and it is important to calibrate the own vehicle speed pulse so as to obtain a correct ΔD. It is.

  As a countermeasure to the updated travel speed voptt, the simplest method is to display the updated travel speed voptt on the vehicle side display device and the driver travels accordingly, but if possible, the updated travel speed voptt It is desirable as a measure to reduce the load on the driver that the vehicle is automatically input as the set speed of the cruise control device and the vehicle can travel at the automatically updated recommended travel speed voptt.

  FIG. 4 shows a roadside device configuration example of an “intersection non-stop traveling control system” according to the present patent installed at a point P, and FIG. 5 shows a roadside device configuration example of an “intersection non-stop traveling control system” according to the present patent patent. Each is shown.

In FIG.
41 has a clock function for prescribing the distance D information between the point P and the intersection A and the allowable maximum speed Vmax information between the intersection P and the intersection A, and having a time that coincides with the intersection A traffic light time. Input / estimate the status information of traffic light A, ie, green light extinguishing time t1a, green signal lighting time t2a, green signal extinguishing time t3a, green signal lighting time t4a, signal cycle Tp, green signal lighting period Tg information,
Roadside memory / calculation device that calculates the recommended travel time topt between point P and intersection A,
However, since the method for calculating the recommended travel time topt between the point P and the intersection A is described in the patent document, it is omitted here.

  42, from the road-side storage / calculation device 41, the recommended travel time topt information between the point P and the intersection A, the travel distance D information between the point P and the intersection A, the allowable maximum travel speed Vmax information between the point P and the intersection A, the current time Roadside-to-vehicle communication roadside device that transmits information (that is, vehicle point P passage time information) and time t3p, t2a, t3a, t4a information to the vehicle,

In FIG.
51, the recommended travel time topt between point P and intersection A sent from the road-to-vehicle communication roadside device 42, travel distance D information between point P and intersection A, allowable maximum travel speed Vmax information between point P and intersection A, current Road-to-vehicle communication vehicle side device that receives time information (that is, vehicle point P passage time information) and time t3p, t2a, t3a, t4a information,

  52 counts the various information received by the road-to-vehicle communication vehicle-side device 51, the elapsed time Δt after the vehicle passes the point P, and the travel distance ΔD after the vehicle passes the point P, and the elapsed time is a fixed time. A vehicle-side arithmetic unit that obtains the updated recommended traveling speed voptt information calculated and updated by using the (Equation 1), (Equation 2), and (Equation 3) every time T

  However, the travel distance ΔD after passing through the point P in the vehicle-side arithmetic unit 52 is counted by time-integrating the number of own vehicle speed pulses output in proportion to the propeller shaft speed of the vehicle.

  53 is a vehicle-side display device that inputs and displays the updated recommended travel speed voptt, which is the vehicle-side arithmetic device output. Further, the updated recommended travel speed voptt is input as a setting output to a cruise control device (not shown) to drive the vehicle at the set speed.

  By configuring and operating as described above, the “intersection non-stop traveling control system” according to the present patent is presented as much as possible even if the traveling state deviates from the traveling condition presented when passing the point P. If it is impossible to approach the recommended driving condition, or if it is impossible to approach the proposed driving condition, the driving condition is appropriately corrected in accordance with the original purpose of the “intersection non-stop driving system” and the non-intersection driving is performed. Therefore, it is possible to reduce the amount of exhaust gas and the amount of fuel consumption, which are the objectives.

Basic concept explanation diagram of intersection non-stop traveling control method, Basic concept explanation diagram 1 of the present invention in the intersection non-stop traveling control method, Basic concept explanatory diagram 2 of the present invention in the intersection non-stop traveling control method, `` Intersection non-stop traveling control system '' roadside device configuration example according to the present invention, 2 is an example of a configuration of a vehicle-side device according to the present invention “intersection non-stop traveling control system”

Explanation of symbols

1, 2, and 3,
D: vehicle travel distance between point P and intersection A,
Vmax: Maximum allowable traveling speed between point P and intersection A,
ta1: Intersection A green light extinction time,
ta2: Intersection A green light lighting time,
ta3: Intersection A green light extinction time,
ta4: Intersection A green light lighting time,

t3a-t1a = t3p-t1p = Tp: intersection A signal period,
t3a-t2a = t3p-t2p = Tg: Intersection A green light period,
tp3: The vehicle that has passed the point P at this time passes the intersection A toward the intersection A at the traveling speed Vmax, and passes by the green light extinction time at the time t3a.
(Tp3 = ta3-D / Vmax)

C0, C1, C2,..., Cn: a group of vehicles passing through point P during time t1p t3p,
t1p, tp1, tp2,..., tpn: times when vehicles C0, C1, C2,.
ta2, ta1, ta2,..., tan: vehicles C0, C1, C2,.

Q: Driving condition correction point for vehicle C0,
R: Driving condition correction point for vehicle C1,
S: Driving correction point for vehicle C2,
It is.

In FIG.
41: Roadside memory / arithmetic unit,
42: Roadside-to-vehicle communication roadside device,

In FIG.
51: Road-to-vehicle communication vehicle side device,
52: Car side arithmetic unit,
53: Vehicle side display device,
It is.

Claims (2)

The vehicle that has received the travel conditions for passing through the intersection A without stopping at the specific point P travels while counting the elapsed time Δt and the travel distance ΔD after passing the point P, and the elapsed time Δt is Check the driving state every time a certain time T has elapsed,
If it is determined that it is impossible to reach the intersection A within the green light period of the intersection A assumed at the time of passing through the initial point P even if the current state has an allowable maximum traveling speed Vmax, the intersection A assumed at the time of passing through the point P An intersection non-stop traveling control method comprising: calculating a recommended traveling speed updated so as to reach the intersection A during a green light period next to the green light period. A vehicle that has received a travel condition for passing through the intersection A without stopping at a specific point P travels while counting the elapsed time Δt and the travel distance ΔD after passing the point P, and the elapsed time Δt is constant. Every time T elapses, the current time is determined using the relationship (number A),
When the current time t does not satisfy the relationship of (number A), (number B) is used, and when the current time t satisfies the relationship of (number A), it is updated using (number C). An intersection non-stop traveling control method characterized by calculating a traveling speed voptt.
(Number A)
t> tp3 + (ΔD / Vmax)
(Number B)
voptt = (D−ΔD) / (topt−Δt) ≦ Vmax
(Number C)
voptt = (D−ΔD) / (topt′−Δt) ≦ Vmax
here,
t: Current time,
tp3: The vehicle that has passed the point P at this time travels toward the intersection A at the traveling speed Vmax and passes through the intersection A at the time when the green light is extinguished at the time t3a.
(Tp3 = ta3-D / Vmax)
ta3: Intersection A green light extinction time,
D: mileage between point P and intersection A,
ΔD: vehicle travel distance after passing through point P,
Vmax: Maximum allowable traveling speed between point P and intersection A,
voptt: updated recommended travel speed,
topt: recommended travel time,
Δt: elapsed time after passing through point P,
topt ': newly set recommended travel time,
(Topt '= t4a-tp)
t4a: First green light lighting time after green light extinction at time t3a,
tp: Time of passing point P of the vehicle,
It is.

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