JP2008242569A - Vehicle control system, in-vehicle device and vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control system for suppressing deterioration in a saturation flow rate due to starting wave delay. <P>SOLUTION: An on-road device 1 receives signal information relating to a current and future signal color and its duration from a traffic light 4, and transmits the signal information to the in-vehicle device 1. The in-vehicle device 1 loaded on a vehicle 3 receives the signal information. The in-vehicle device 1 judges whether or not the vehicle 3 stops, and judges whether or not a current signal light color is red based on the signal information. When judging that the vehicle stops, and that the signal light color is red, the in-vehicle device 3 controls the vehicle 3 so as to start advancing simultaneously when the signal light color is switched from red to blue. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle control system that controls start of a vehicle.

  If there is a signal waiting vehicle group that is stopped in front of a stop line, etc., when the signal changes from red to blue, the driver of the leading vehicle in the vehicle group starts after confirming that the signal has changed. Perform the operation. Then, the driver of the following vehicle follows the vehicle immediately before and performs a starting operation, and sequentially passes the stop line.

  On the other hand, a vehicle travel control device has been proposed that automatically starts following a preceding vehicle when it starts (see, for example, Patent Document 1). In the device described in Patent Document 1, the distance between the vehicle and the relative speed with the preceding vehicle is monitored, and when the preceding vehicle starts and the relative speed is greater than 0, the brake is released and the vehicle starts. The throttle is controlled so that the inter-vehicle distance from the preceding vehicle is kept at the target inter-vehicle distance.

JP-A-6-171482

  As described above, since the driver of the following vehicle in the signal waiting group starts the starting operation after confirming that the immediately preceding vehicle has started, the start timing of the following vehicle waits for the signal before the vehicle. The driver of all the vehicles that have been delayed will be delayed by the total time required for the start operation. This is called starting wave delay.

  For example, in the signal waiting vehicle group, the time delay required for the Nth vehicle counted from the stop line to actually start moving after the signal changes is represented by Delay = ΔT1 × N. Here, ΔT1 is the time from when the signal changes or the preceding vehicle starts moving forward until the driver performs a starting operation and the vehicle actually starts moving forward. In other words, due to the start wave delay, the time required for the Nth vehicle to pass the stop line is increased by the amount of delay compared to the case where the vehicle starts at the same time as the signal changes to blue. There is a problem that the saturation traffic flow rate (traffic capacity at an intersection) is reduced. It is known that ΔT1 is normally about 1 to several seconds. If the driver looks aside while operating the car navigation device or looking at a map or a magazine while stopped, it will be even larger. In seconds.

  In order to solve this problem, automatic driving of a vehicle has been proposed. In the device described in Patent Document 1 relating to the starting process, the above-described ΔT1 can be reduced. However, even with this device, it is detected that the relative speed with respect to the preceding vehicle is greater than 0, the throttle is controlled to start the start, and a certain amount of time is required for the vehicle to actually start moving forward. (Approximately 0.5 to several seconds), ΔT1 is also required for this time. Therefore, even with this apparatus, the problem that the saturated traffic flow rate decreases cannot be solved. In particular, in the case of a large vehicle, ΔT1 is considered to be about several seconds, so that the solution is difficult.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle control system that can suppress a decrease in saturated traffic flow rate due to a delayed start wave by making ΔT1 close to zero. To do.

  A vehicle control system according to a first aspect of the present invention is a road device that transmits signal information including information related to a schedule for switching a signal lamp color to a vehicle on a road, and is mounted on the vehicle, receives the signal information, A vehicle control system having an in-vehicle device for controlling the vehicle based on information, wherein the in-vehicle device is a blue change in which a signal lamp color displayed in the traveling direction of the vehicle is switched to blue based on the signal information Means for acquiring a time point, first determination means for determining whether or not the vehicle is stopped, and second determination means for determining whether or not the current signal lamp color is red based on the signal information When the first determination unit determines that the first determination unit is stopped and the second determination unit determines that the second determination unit is red, the vehicle is moved to start the vehicle at the time of the blue change. Vehicle control hand to control And having bets (claim 1).

  In the first invention, the road device transmits signal information to the vehicle, and the in-vehicle device mounted on the vehicle receives the signal information. The signal information includes, for example, information on the current signal lamp color and its duration, the signal lamp color scheduled to be displayed thereafter, and its duration. Based on this signal information, the in-vehicle device acquires a blue change time point when the signal lamp color is switched to blue, and determines whether the current signal lamp color is red. Further, whether or not the vehicle is stopped is determined based on, for example, the vehicle speed. When it is determined that the vehicle is stopped and the current signal light color is red, the in-vehicle device controls the vehicle so that the vehicle starts moving forward at the time of blue change. As a result, the vehicle starts moving at the same time as the signal light color changes to blue, so that the above-described ΔT1 (the time required from the signal change or the start of advance of the preceding vehicle to the start of advance of the vehicle) can approach 0, As a result, the above-described Delay (the time required from the signal change until the vehicle starts moving forward) can be brought close to zero. Accordingly, it is possible to suppress a decrease in the saturated traffic flow rate due to the start delay.

  Further, the vehicle control system of the second invention is a vehicle control system including an in-vehicle device mounted on at least two vehicles continuous in the traveling direction, and the first in-vehicle device mounted on the preceding vehicle is The second in-vehicle device mounted on the succeeding vehicle has means for transmitting signal information including information related to a schedule for switching the signal lamp color, and the means for receiving the signal information and the signal information Based on the signal information, means for obtaining a blue change time point at which the signal lamp color displayed in the traveling direction of the following vehicle is switched to blue, whether or not the following vehicle is stopped, and the like And determining that the current signal lamp color is red, determining that the first determination unit is stopped, and determining that the second determination unit is red. If the blue change time That it has a vehicle control unit for controlling the rear row vehicle so as to start the advancement of the serial trailing vehicle wherein (claim 2).

  The in-vehicle device (second in-vehicle device) may receive the signal information from the in-vehicle device (first in-vehicle device) mounted on the preceding vehicle instead of receiving the signal information from the road device. Thus, even when the road device transmits signal information only to the in-vehicle device (first in-vehicle device) of a vehicle (for example, two or three vehicles existing in the vicinity of the stop line) existing in the predetermined area. As long as all the vehicles following these vehicles are equipped with the first in-vehicle device and the second in-vehicle device (the first in-vehicle device may also serve as the second in-vehicle device, The vehicle-mounted device may also serve as the first vehicle-mounted device), and the signal information can be transmitted to all the following vehicles by the bucket relay method. The in-vehicle device) can acquire signal information. Therefore, similarly to the first invention, it is possible to suppress a decrease in the saturated traffic flow rate due to the start delay.

  Further, the vehicle control system of the third invention is a vehicle control system including an in-vehicle device mounted on at least two vehicles continuous in the traveling direction, and the first in-vehicle device mounted on the preceding vehicle is When the preceding vehicle is stopped, first vehicle control means for controlling the preceding vehicle so as to start the advance of the preceding vehicle, and notification information including information on the advance start time of the preceding vehicle is transmitted. And a second vehicle-mounted device mounted on the following vehicle includes a means for receiving the notification information and the rear vehicle so as to start advancing of the following vehicle based on the notification information. And a second vehicle control means for controlling the traveling vehicle (claim 3).

  The in-vehicle device (second in-vehicle device) receives notification information including information on the advance start time of the preceding vehicle instead of receiving signal information from the in-vehicle device (first in-vehicle device) mounted on the preceding vehicle. You may do it. The vehicle-mounted device (second vehicle-mounted device) controls the vehicle so that the vehicle starts moving forward when the preceding vehicle starts to move forward, so that the above-described ΔT1 (from the preceding vehicle starting to the vehicle starting moving forward) Time required) can be made close to zero. If all the vehicles following the leading vehicle on the road (the vehicle stopped before the stop line) are equipped with the first in-vehicle device and the second in-vehicle device (the first in-vehicle device is the second in-vehicle device). Or the second in-vehicle device may also serve as the first in-vehicle device), and ΔT1 of all the following vehicles can be brought close to 0. As a result, the above-described Delay ( The time required from the signal change until the vehicle starts moving forward can be made close to zero. Accordingly, it is possible to suppress a decrease in the saturated traffic flow rate due to the start delay.

  Further, it is preferable that the second vehicle control means is configured to start the advance of the succeeding vehicle when a predetermined time has elapsed from the advance start time of the preceding vehicle.

  As a result, the trailing vehicle starts moving forward with a margin of a predetermined time after the preceding vehicle starts moving forward, so that traveling safety is improved. Even in this case, if the predetermined time (ΔT2) is set sufficiently smaller than ΔT1 in the apparatus described in Patent Document 1, the delay becomes ΔT2 × N, which is sufficiently smaller than ΔT1 × N in the apparatus. Therefore, it is possible to suppress the decrease in the saturated traffic flow rate due to the start delay to the necessary limit.

  An in-vehicle device according to a fourth aspect of the invention is an in-vehicle device mounted on a vehicle, the means for receiving signal information including information relating to a schedule for switching signal lamp colors, and the traveling direction of the vehicle based on the signal information. Means for obtaining a blue change point at which the signal lamp color displayed in blue changes to blue, first determination means for determining whether or not the vehicle is stopped, and the current signal lamp color is red based on the signal information Second determination means for determining whether or not the first determination means is stopped, and when it is determined that the second determination means is red, the blue change time point is reached. Vehicle control means for controlling the vehicle so as to start the vehicle moving forward (claim 5).

  The in-vehicle device of the fourth invention is the in-vehicle device included in the vehicle control system of the first invention or the second in-vehicle device included in the vehicle control system of the second invention.

  An in-vehicle device according to a fifth aspect of the present invention is an in-vehicle device mounted on a vehicle, and information on a point in time when the preceding vehicle starts moving forward when the preceding vehicle is stopped from the preceding vehicle of the vehicle. And a vehicle control unit for controlling the vehicle to start advancing of the vehicle based on the notification information (claim 6).

  The in-vehicle device of the fifth invention is a second on-vehicle device included in the vehicle control system of the third invention.

  In addition, it is preferable that the above-described vehicle-mounted device further includes notification means for notifying the passenger of the vehicle that the vehicle starts moving forward before the vehicle starts moving forward (Claim 7).

  This makes it possible to alert the driver to pay attention to driving even when the driver is looking aside while operating the car navigation device while the vehicle is stopped. Can be increased.

  Moreover, the vehicle of 6th invention is a vehicle carrying said vehicle equipment (Claim 8).

  As described above, according to the present invention, the vehicle-mounted device that has received the signal information from the road-mounted device or the vehicle-mounted device mounted on the preceding vehicle predicts the time point when the signal switches to blue, and moves forward almost at the same time. Since the vehicle is controlled so that the vehicle can be started, it is possible to suppress a decrease in the saturated traffic flow rate due to the start wave delay.

Embodiment 1:
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing an outline of a vehicle control system including a road device, an in-vehicle device, and a vehicle according to the present invention. The vehicle control system includes a road device 1, an in-vehicle device 2, a vehicle 3, a traffic signal device 4, a central device 5, and the like. The central device 5 is a device that transmits a signal control command including information such as a split to the traffic signal device 4 and is installed in the traffic control center. The central device 5 may be installed on the road instead of being installed in the traffic control center. The traffic signal device 4 is a device for controlling traffic of vehicles on the road flowing into the intersection I, and is installed at each of the plurality of intersections I. The central device 5 and the plurality of traffic signals 4 are connected via a communication line. The road device 1 is a device capable of communicating with a vehicle on one road among a plurality of roads flowing into the intersection I, and is installed by the number of roads flowing into one intersection I. In the figure, only the road device 1 that can communicate with the vehicle 3 on the road R out of the four roads flowing into the intersection I is illustrated, and the road device 1 that can communicate with the vehicle on other roads is illustrated. Illustration is omitted. The traffic signal 4 and the plurality of road devices 1 are connected via a communication line.

  The road device 1 is a wide-area communication device such as WiMAX (Worldwide interoperability for microwave access), and wirelessly communicates various types of information with the in-vehicle device 2 mounted on the vehicle 3 on the road R. The communication area Q (shaded area in FIG. 1) is set so that it can communicate with all the vehicles 3 on the road R. The on-road device 1 includes a communication unit 1a that communicates various information with the in-vehicle device 2, and a communication control device 1b that controls the communication unit 1a. The road device 1 receives signal information, which will be described later, from the traffic signal device 4 and transmits the signal information to the in-vehicle device 2.

  The traffic signal device 4 includes a traffic signal control device 4a and a plurality of signal lamps 4b. The traffic signal controller 4a receives a signal control command from the central device 5, and controls lighting, extinction and blinking of each signal lamp of the signal lamp device 4b based on this command. In addition, the traffic signal controller 4a, for each predetermined cycle (for example, 100 msec), the current signal color and the duration of each road flowing into the intersection I, and each signal color to be displayed in the future (for example, 1 Signal information relating to the cycle time) and its duration time is created and transmitted to each on-road device 1.

  FIG. 2 is an explanatory diagram showing an example of signal information on the road R. The item number indicates the order of each signal lamp color displayed after the present time, the signal lamp color indicates the lamp color of the signal lamp 4b displayed for vehicles traveling on the road R, and the duration is the number of seconds that each signal lamp color continues. Respectively. For example, the signal lamp color with the item number of 1, that is, the current signal lamp color is red, and the duration is 20 seconds. Further, for example, the signal lamp color whose item number is 2, that is, the signal lamp color displayed next to the current signal lamp color is blue, and the duration is 60 seconds.

  Next, the vehicle 3 and the in-vehicle device 2 mounted on the vehicle 3 will be described. FIG. 3 is a block diagram showing the configuration of the in-vehicle device and the vehicle according to the present invention. The communication unit 201 receives signal information from the road device 1. The vehicle speed acquisition unit 202 acquires the speed data of the vehicle 3 measured by the vehicle speed sensor 301 detecting the angular speed of the wheels. The inter-vehicle distance acquisition unit 203 acquires inter-vehicle distance data with the preceding vehicle measured by the inter-vehicle distance sensor 302. The inter-vehicle distance sensor 302 measures the distance to the target using, for example, millimeter waves. The storage unit 204 stores signal information received by the communication unit 201, speed data acquired by the vehicle speed acquisition unit 202, inter-vehicle distance data acquired by the inter-vehicle distance acquisition unit 203, and the like.

  The fuel control unit 205 issues an instruction to the fuel control device 303 based on the content instructed by the processing unit 209 in the vehicle control process described later. The fuel control device 303 supplies fuel based on the instruction from the fuel control unit 205 and the amount of depression of the accelerator pedal.

  The braking unit 206 issues an instruction to the speed reduction device 304 based on the content instructed by the processing unit 209 in the vehicle control process described later. The speed reducer 304 operates the brake based on the instruction from the brake unit 206 and the amount of depression of the brake pedal.

  The display unit 207 displays image data created by the processing unit 209 in a vehicle control process described later on the monitor 305. The sound output unit 208 outputs sound data created by the processing unit 209 in a vehicle control process described later from the speaker 306.

  The processing unit 209 includes one or a plurality of microcomputers, and executes a vehicle control process described below every predetermined time (for example, 100 msec). First, the processing unit 209 determines whether the vehicle 3 is stopped based on the vehicle speed of the vehicle 3. If it is determined that the vehicle is stopped (the vehicle speed is 0), the processing unit 209 determines whether the current signal light color is red based on the signal information received from the road device 1. If it is determined that the color is red, the processing unit 209 acquires the duration, and the vehicle 3 starts moving forward as soon as the duration has elapsed (that is, at the same time as the signal light color is switched from red to blue). Thus, the fuel control unit 205 and the braking unit 206 are instructed.

  Thereby, since the vehicle 3 starts moving forward at the same time when the signal light color changes to blue, the above-described ΔT1 (the time required from the signal change or the advancement of the preceding vehicle to the start of advancement of the vehicle 3) can be brought close to zero. As a result, the above-described Delay (the time required from the signal change until the vehicle 3 starts to advance) can be brought close to zero. Accordingly, it is possible to suppress a decrease in the saturated traffic flow rate due to the start delay.

  The processing unit 209 notifies the driver of the fact with an image and sound before the vehicle 3 starts moving forward. Specifically, the processing unit 209 creates image data including characters such as “start attention!” And sound data such as “please note that we will start soon” and the vehicle 3 starts moving forward. The image data is displayed on the monitor 305 and the audio data is output from the speaker 306 before a predetermined time (for example, 3 seconds). As a result, even when the driver is operating a car navigation device (not shown) or looking at a map or magazine while looking at the driver, he / she should pay attention to driving. It can be aroused and driving safety can be improved.

  When the processing unit 209 determines that the vehicle 3 is not stopped (the vehicle speed is greater than 0), the inter-vehicle distance from the preceding vehicle is a target inter-vehicle distance corresponding to the vehicle speed (for example, when the vehicle speed is 10 km / h). 3m, and 20m when the vehicle speed is 40km / h, the fuel control unit 205 and the braking unit 206 are instructed. Note that the processing unit 209 controls the fuel so that the vehicle 3 stops when the inter-vehicle distance with the preceding vehicle becomes a predetermined threshold (for example, 2 m) or less in order to prevent a collision with the preceding vehicle. The unit 205 and the braking unit 206 may be instructed.

  In the above-described embodiment, the road device 1 and the traffic signal controller 4a are configured to be housed in separate housings. However, the present invention is not limited to this, and the road device 1 and the traffic signal controller. 4a may be housed in one housing.

  The roadside device 1 is not limited to a wide-area communication device such as WiMAX, but may be a narrow-area communication device such as an optical beacon, a radio beacon, or a DSRC (Dedicated Short Range Communication). In this case, since the communication area Q is very narrow, the in-vehicle device 2 can receive the signal information only once while the vehicle 3 passes through the communication area Q. Therefore, every time after the signal information is received, the in-vehicle device 2 updates the signal information by subtracting the elapsed time from the duration of the current signal lamp color included in the signal information. preferable.

Embodiment 2:
This embodiment is different from the above-described first embodiment in that the road device 1 can communicate only with the vehicle 3 closest to the stop line P on the road R, and can communicate signal information between adjacent vehicles 3. It is.

  FIG. 4 is a schematic diagram showing an outline of a vehicle control system including a road device, an in-vehicle device, and a vehicle in the second embodiment. The communication area Q (shaded portion) of the road device 1 is set to be communicable only with the vehicle 3 closest to the stop line P on the road R. Moreover, the vehicle-mounted apparatus 2 mounted in the adjacent vehicle 3 can communicate with each other.

  Next, the in-vehicle device 2 and the vehicle 3 will be described. A block diagram showing configurations of the in-vehicle device 2 and the vehicle 3 is the same as that in FIG.

  The communication unit 201 receives signal information from the on-vehicle device 2 mounted on the road device 1 or the preceding vehicle 3. When the communication unit 201 receives the signal information, the communication unit 201 transmits the signal information to the in-vehicle device 2 mounted on the succeeding vehicle 3. Thereby, even when the signal information is transmitted only to the vehicle 3 closest to the stop line P on the road R, the signal information can be transmitted to the subsequent vehicle 3 by the bucket relay method. All the vehicles 3 can receive signal information. In FIG. 4, the second and third vehicles 3 from the head of the road R receive signal information from both the road device 1 and the preceding vehicle 3. In this case, The signal information received from the device 1 may be prioritized and the signal information received from the preceding vehicle 3 may be discarded. Further, instead of the signal information, information on the duration of the red signal lamp color may be transmitted to the subsequent vehicle 3.

  Further, the communication unit 201 may transmit information of a time point when the vehicle 3 starts to advance (hereinafter referred to as advance start time) to the subsequent vehicle instead of the signal information. In this case, if the processing unit 209 determines that the vehicle 3 is stopped and determines that the current signal light color is red, has the information on the forward start time been received from the preceding vehicle 3? Alternatively, it is determined whether the signal information is received from the road device 1 without receiving the information of the forward start time from the preceding vehicle 3. If it is determined that the signal of the forward start time is not received from the preceding vehicle 3 and the signal information is received from the road device 1, the vehicle 3 is determined to be the leading vehicle on the road R, and the red signal light color is displayed. The continuation time is acquired, the continuation time is set as the forward start time, and information on the forward start time is transmitted to the succeeding vehicle 3 via the communication unit 201. On the other hand, when it is determined that the information on the forward start time has been received from the preceding vehicle 3, it is determined that the vehicle 3 is not the leading vehicle on the road R, and ΔT2 seconds (for example, 0.2 seconds) are received at the received forward start time. ) Is set as the forward start time, and information on the forward start time is transmitted to the subsequent vehicle 3 via the communication unit 201. The processing unit 209 instructs the fuel control unit 205 and the braking unit 206 so that the vehicle 3 starts moving forward at the time when the vehicle starts moving forward.

  Here, it is determined whether or not the vehicle 3 is the leading vehicle on the road R depending on whether or not the information about the start of advance is received. For example, the inter-vehicle distance acquired by the inter-vehicle distance acquisition unit 203 is It is determined whether or not it is equal to or greater than a predetermined value (for example, 10 m). If it is equal to or greater than the predetermined value, there is no other vehicle in front of the vehicle 3, that is, the vehicle 3 is the leading vehicle on the road R. If it is determined that there is not a predetermined value or more, it may be determined that there is another vehicle in front of the vehicle 3, that is, the vehicle 3 is not the leading vehicle. In addition, the position of the vehicle 3 is acquired by position detection means (not shown) such as GPS that detects the position of the vehicle 3, and information on the position of the stop line P written on the road R is acquired. Whether or not the vehicle 3 is the leading vehicle may be determined based on the relative relationship between the position of the vehicle and the position of the stop line P.

  In this way, the leading vehicle 3 on the road R starts moving at the same time as the signal color changes from blue to red, the next vehicle 3 starts moving forward after ΔT 2 seconds, and the next vehicle 3 further The forward movement is started after the lapse of ΔT2 seconds. Accordingly, since all the vehicles 3 on the road R start moving forward with a margin of ΔT2 seconds after the preceding vehicle starts moving forward, the traveling safety is improved. Even in this case, the delay in the Nth vehicle 3 is ΔT2 × N, which is smaller than ΔT1 × N in the apparatus described in Patent Document 1, so that the reduction of the saturated traffic flow rate due to the start delay is limited to the necessary limit. Can be suppressed.

  In the above embodiment, the signal information includes the signal lamp color and its duration, but is not limited to this, and includes the signal lamp color and the time when the display ends. Also good. Similarly, the information on the advance start time includes the time until the vehicle 3 starts to advance, but is not limited to this, and includes the time at which the vehicle 3 starts to advance. There may be.

  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 the vehicle control system containing the road apparatus, vehicle equipment, and vehicle which concern on this invention. It is explanatory drawing which shows the example of signal information. It is a block diagram which shows the structure of the vehicle equipment and vehicle which concern on this invention. It is a schematic diagram which shows the outline | summary of the vehicle control system containing the road apparatus in Embodiment 2, a vehicle-mounted apparatus, and a vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Road apparatus 1a Communication part 1b Communication control apparatus 2 Car-mounted apparatus 201 Communication part 202 Vehicle speed acquisition part 203 Inter-vehicle distance acquisition part 204 Storage part 205 Fuel control part 206 Braking part 207 Display part 208 Audio | voice output part 209 Processing part 3 Vehicle 301 Vehicle speed sensor 302 Inter-vehicle distance sensor 303 Fuel control device 304 Deceleration device 305 Monitor 306 Speaker 4 Traffic signal device 4a Traffic signal control device 4b Signal lamp 5 Central device I Intersection P Stop line Q Communication area R Road

Claims (8)

A road device for transmitting signal information including information related to a schedule for switching the signal lamp color to a vehicle on the road;
A vehicle control system mounted on the vehicle, receiving the signal information and controlling the vehicle based on the signal information;
The in-vehicle device is
Based on the signal information, means for obtaining a blue change time point when the signal lamp color displayed in the traveling direction of the vehicle switches to blue,
First determination means for determining whether or not the vehicle is stopped;
Second determination means for determining whether the current signal lamp color is red based on the signal information;
When it is determined that the first determination means is stopped and the second determination means is red, the vehicle is controlled to start the vehicle moving forward at the time of the blue change. A vehicle control system comprising vehicle control means. A vehicle control system including an in-vehicle device mounted on at least two vehicles continuous in a traveling direction,
The first in-vehicle device mounted on the preceding vehicle has means for transmitting signal information including information related to a schedule for switching the signal lamp color,
The second in-vehicle device mounted on the following vehicle is
Means for receiving the signal information;
Based on the signal information, means for obtaining a blue change time point when the signal lamp color displayed in the traveling direction of the succeeding vehicle switches to blue;
First determination means for determining whether or not the succeeding vehicle is stopped;
Second determination means for determining whether the current signal lamp color is red based on the signal information;
If it is determined that the first determination unit is stopped and the second determination unit is red, the following vehicle is started so that the following vehicle starts to advance at the time of the blue change. A vehicle control system comprising vehicle control means for controlling the vehicle. A vehicle control system including an in-vehicle device mounted on at least two vehicles continuous in a traveling direction,
The first in-vehicle device mounted on the preceding vehicle is
First vehicle control means for controlling the preceding vehicle so as to start the advancement of the preceding vehicle when the preceding vehicle is stopped;
Means for transmitting notification information including information on the forward start time of the preceding vehicle,
The second in-vehicle device mounted on the following vehicle is
Means for receiving the notification information;
A vehicle control system comprising: second vehicle control means for controlling the succeeding vehicle so as to start the advance of the succeeding vehicle based on the notification information.   The said 2nd vehicle control means is comprised so that the advance of the said following vehicle may be started when the predetermined time passes since the advance start time of the said preceding vehicle. Vehicle control system. An in-vehicle device mounted on a vehicle,
Means for receiving signal information including information relating to a schedule for switching the signal lamp color;
Based on the signal information, means for obtaining a blue change time point when the signal lamp color displayed in the traveling direction of the vehicle switches to blue,
First determination means for determining whether or not the vehicle is stopped;
Second determination means for determining whether the current signal lamp color is red based on the signal information;
When it is determined that the first determination means is stopped and the second determination means is red, the vehicle is controlled to start the vehicle moving forward at the time of the blue change. A vehicle-mounted device comprising vehicle control means. An in-vehicle device mounted on a vehicle,
Means for receiving notification information from the preceding vehicle of the vehicle when the preceding vehicle is stopped, including information on a point in time when the preceding vehicle starts moving forward;
An in-vehicle device comprising: vehicle control means for controlling the vehicle so as to start the vehicle moving forward based on the notification information.   The in-vehicle device according to claim 5, further comprising a notifying unit that notifies a passenger of the vehicle that the vehicle starts moving forward before the vehicle starts moving forward.   A vehicle equipped with the in-vehicle device according to claim 5.

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