JP2008299785A - Signal controller and signal control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a signal controller for inhibiting the display control of a signal light device by traffic actuated control from becoming an inadequate state. <P>SOLUTION: Since the signal controller 1 determines whether to stop the current display at that time and make the display of the signal light device 2 advance to the next step on the basis of the number of vehicles existing in an intersection, the signal controller 1 stops the current display at that time to make the display of the signal light device 2 advance to the next step when a vehicle can not advance into the intersection but stops in front of the intersection. Thus, the display control of the signal light device 2 is prevented from becoming an inadequate state. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a signal control device and a signal control method for controlling display of a signal lamp installed at an intersection of a road network.

Conventionally, a signal control device controls display of a signal lamp installed at an intersection of a road network based on a set signal control parameter. For example, in the signal control device that controls the display of signal lights installed at the intersection where the main road and the secondary road intersect with a general two-display 10-story,
(1) Time when the pedestrian signal lamp and vehicle signal lamp on the main road side are blue, and the pedestrian signal lamp and vehicle signal lamp on the secondary road side are red,
(2) Time when the pedestrian signal lamp on the main road side is flashing blue, the vehicular signal lamp on the main road side is blue, and the pedestrian signal lamp on the secondary road side and the vehicular signal lamp are red,
(3) Time when the pedestrian signal lamp on the main road side is red, the vehicular signal lamp on the main road side is blue, and the pedestrian signal lamp on the secondary road side and the vehicular signal lamp are red,
(4) The time when the pedestrian signal lamp on the main road side is red, the vehicular signal lamp on the main road side is yellow, and the pedestrian signal lamp on the secondary road side and the vehicular signal lamp are red,
(5) The pedestrian signal lamp and vehicle signal lamp on the main road side, and the pedestrian signal lamp and vehicle signal lamp on the secondary road side are all red.
(6) Time when the pedestrian signal lamp and the vehicle signal lamp on the main road side are red, and the pedestrian signal lamp and the vehicle signal lamp on the secondary road side are blue,
(7) Time when the pedestrian signal lamp on the main road side and the vehicle signal lamp are red, the pedestrian signal lamp on the secondary road is blinking blue, and the vehicle signal lamp on the secondary road side is blue.
(8) A time when the pedestrian signal lamp on the main road side and the vehicle signal lamp are red, the pedestrian signal lamp on the secondary road side is red, and the vehicle signal lamp on the secondary road side is blue,
(9) Time when the pedestrian signal lamp on the main road side and the vehicular signal lamp are red, the pedestrian signal lamp on the secondary road side is red, and the vehicular signal lamp on the secondary road side is yellow,
(10) The pedestrian signal lamp and vehicle signal lamp on the main road side, and the pedestrian signal lamp and vehicle signal lamp on the secondary road side are all red.
A signal control parameter that defines the above is set. The signal control device repeats the display display steps (1) to (10) in this order. In general, the total time of the above (1) to (10) is called a cycle.

  Regardless of the traffic volume at the intersection, traffic jams are likely to occur in the system in which the signal lamp display is fixedly controlled by the set signal control parameters. Therefore, the traffic volume is detected by the vehicle detector installed in front of the intersection, and the display time at that time (time (3) and (8) above) is shortened according to the detected traffic volume. Or extending it. Specifically, the time of (3) is extended if the traffic volume on the main road is large, and the time of (3) is shortened if the traffic volume on the main road is small. Similarly, the time of (8) is extended if the traffic volume of the secondary road is large, and the time of (8) is shortened if the traffic volume of the secondary road is low. This display control of the signal lamp is generally called sensitive control. In this sensitive control, the minimum time and the maximum time of the display according to the above (3) and (8) are included in the signal control parameter, and the above-mentioned between the minimum time and the maximum time is described above. Time is shortened and extended.

Further, a signal control device that changes the maximum time according to the traffic volume without using a fixed value has been proposed (see Patent Document 1).
Japanese Patent No. 3680815

  However, in the conventional sensitive control proposed in Patent Document 1 or the like, the traffic volume before the intersection is regarded as the traffic volume of the intersection, and the display time is shortened or extended. For this reason, depending on the traffic conditions around the intersection, the display control of the signal lamp may become inadequate. For example, the vehicle may stop in front of the intersection without being able to enter the intersection because the preceding vehicle has stopped near the exit of the intersection. In this case, it is better to discontinue the current display at that time and proceed to a display that gives the right of traffic to the vehicle traveling on the crossing road. However, in the conventional sensitive control, the vehicle that is stopped in front of the intersection is continuously detected by the vehicle detector, so the current display at that time is extended to the maximum time and traffic congestion is worsened. It was causing traffic jams on the road.

  An object of the present invention is to provide a signal control device and a signal control method that suppress the display control of the signal lamp device by the sensitive control from being in an inappropriate state.

  In order to solve the above-described problems and achieve the object, the present invention is configured as follows.

  A vehicle detection means processes the image which imaged the inside of an intersection, and detects the vehicle which exists in the said intersection. Based on the number of vehicles existing in the intersection detected by the vehicle detection means, the determination means determines whether or not to cancel the current indication. When the determination means determines that the current indication is to be terminated, the signal lamp display control means advances the display of the signal lamp installed at the intersection to the next floor, and terminates this indication. The determination means repeats the determination of whether or not to cancel the current display at predetermined time intervals until it is determined that the current display is canceled.

  In this way, since the current indication is discontinued and the determination of whether to advance the display of the signal lamp to the next floor is made based on the number of vehicles existing in the intersection, it is not possible to enter the intersection, When the vehicle is stopped before the intersection, the current display can be stopped and the display of the signal lamp can be advanced to the next floor. That is, it is possible to prevent the display control of the signal lamp from being in an inappropriate state.

  In addition, as for the number of vehicles in the intersection where the judging means decides whether or not to extend the current indication, the size of the intersection, the traffic capacity of the main and secondary roads, control measures, etc. are taken into consideration. Just decide.

  Further, the fixed time interval for determining whether or not the determination means discontinues the current indication may be set to a time in seconds, for example.

  Further, the vehicle detection means is configured to detect the moving direction of each vehicle present in the intersection, and the determination means is a vehicle present in the intersection detected by the traffic flow detection sensor. And it is good also as a structure which determines whether this indication is discontinued based on the number of the vehicles which are moving to the direction set about the indication at that time. In this way, based on the number of vehicles traveling in a specific direction such as upward or downward, the extension or discontinuation of the current indication can be determined, and depending on the traffic conditions around the intersection Sensitive control of the signal lamp is possible.

  According to the present invention, it is possible to suppress the display control of the signal lamp by the sensitive control from deteriorating the traffic jam or becoming an inappropriate state that causes the traffic on the road on the crossing side. Moreover, the sensitivity control can be performed with one camera.

  Hereinafter, a signal control apparatus according to an embodiment of the present invention will be described.

  FIG. 1 is a schematic diagram showing a signal control system to which a signal control apparatus according to an embodiment of the present invention is applied. This signal control system includes a signal control device 1, a signal lamp 2, and a central device 3. The signal control device 1 is provided at each intersection where the signal lamp 2 is installed. As is well known, the signal lamp 2 installed at the intersection includes a vehicle and a pedestrian. In FIG. 1, illustration of the pedestrian signal lamp is omitted.

  Here, the signal control device 1 that controls the signal lamp 2 (2a to 2h) installed at the intersection where the main road and the secondary road shown in FIG. I will explain. As shown in FIG. 2, at the intersection where the main road and the secondary road intersect, the main road side signal lights 2a and 2b, the main road side pedestrian signal lights 2e and 2f, the secondary road side vehicles Signal lamps 2c and 2d for pedestrians and signal lights 2g and 2h for pedestrians on the secondary road side are installed. Each signal control device 1 controls the display of each signal lamp 2 installed at the corresponding intersection. The signal control device 1 is connected to the central device 3 through a data communication line. The signal control device 1 notifies the central device 3 of the control state of the signal lamp 2. On the other hand, the central device 3 notifies each signal control device 1 of a signal control parameter used for display control of the signal lamp 2 installed at the intersection corresponding to the signal control device 1. The signal control device 1 controls the display of the signal lamp 2 based on the signal control parameter notified from the central device 3.

  The signal control parameters include cycle, split, offset, time of each floor, and the like. The cycle is a parameter that defines the time for the display of the signal lamp 2 to make a round, that is, the time for the blue, yellow and red of the signal lamp 2 to make a round. The split is a time distribution allocated to each display within the time of one cycle. The offset is a parameter for prescribing the difference in the start time of the same display with the signal lamp at the intersection as a reference and smoothing the vehicle flow between the intersections. Further, in the case of an intersection controlled by a general two-display 10-story, the time is defined by the signal control parameter for each of the following (1) to (10).

(1) The pedestrian signal lights 2e and 2f and the vehicle signal lights 2a and 2b on the main road side are blue, and the pedestrian signal lights 2g and 2h and the vehicle signal lights 2c and 2d on the secondary road side are Red ladder,
(2) The pedestrian signal lamps 2e and 2f on the main road side are blinking blue, the vehicular signal lamps 2a and 2b on the main road side are blue, and the pedestrian signal lamps 2g and 2h on the secondary road side; The vehicle signal lamps 2c and 2d are red steps,
(3) Pedestrian signal lamps 2e, 2f on the main road side are red, the vehicular signal lamps 2a, 2b on the main road side are blue, and the pedestrian signal lamps 2g, 2h on the secondary road side, and the vehicle Signal lamps 2c and 2d for red are
(4) Pedestrian signal lamps 2e and 2f on the main road side are red, the vehicular signal lamps 2a and 2b on the main road side are yellow, and the pedestrian signal lamps 2g and 2h on the secondary road side, and the vehicle Signal lamps 2c and 2d for red are
(5) The pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side, and the pedestrian signal lamps 2g and 2h and the vehicle signal lamps 2c and 2d on the secondary road side are all red. ,
(6) The pedestrian signal lights 2e and 2f and the vehicle signal lights 2a and 2b on the main road side are red, and the pedestrian signal lights 2g and 2h and the vehicle signal lights 2c and 2d on the secondary road side are Blue ladder,
(7) The pedestrian signal lamps 2e and 2f and the vehicular signal lamps 2a and 2b on the main road side are red, the pedestrian signal lamps 2g and 2h on the secondary road side are blinking blue, and The vehicle signal lamps 2c and 2d are blue floors,
(8) Pedestrian signal lamps 2e and 2f on the main road side and vehicular signal lamps 2a and 2b are red, and the pedestrian signal lamps 2g and 2h on the secondary road side are red and the vehicle on the secondary road side Signal lamps 2c and 2d for blue are
(9) Pedestrian signal lamps 2e and 2f on the main road side and vehicular signal lamps 2a and 2b are red, and the pedestrian signal lamps 2g and 2h on the secondary road side are red and a vehicle on the secondary road side Signal lights 2c, 2d are yellow floors,
(10) The pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side, and the pedestrian signal lamps 2g and 2h and the vehicle signal lamps 2c and 2d on the secondary road side are all red. ,
In this embodiment, for the above (3) and (8), parameters that define the minimum time and the maximum time are included in the signal control parameters. For other floors, the time is defined by the signal control parameter. The signal control device 1 extends or shortens the time of the steps (3) and (8) according to the traffic volume at the intersection.

  FIG. 3 is a block diagram illustrating a configuration of a main part of the signal control apparatus. The signal control device 1 includes a control unit 11, an imaging unit 12, an image processing unit 13, a communication unit 14, a display control unit 15, and a storage unit 16. The control unit 11 controls the operation of each part of the main body. The imaging unit 12 has a high-sensitivity CCD camera that images the inside of the intersection. This CCD camera uses a wide-angle lens having a focal length of about 2 mm as an imaging lens in order to use the entire intersection as an imaging region. The CCD camera may be installed on the signal lamp 2 or on a support column. FIG. 4 is a captured image in an intersection captured by a CCD camera installed at a height of approximately 6 m.

  The image processing unit 13 processes the image picked up by the image pickup unit 12 and detects a vehicle existing in the intersection. Specifically, a difference image between an image when no vehicle is present in the intersection (hereinafter referred to as a background image) and a captured image is generated, and the difference image is present in the intersection. Detect the vehicle. The image processing unit 13 also detects a moving direction for each vehicle existing in the intersection using a plurality of temporally continuous frames captured by the imaging unit 12. The image processing unit 13 counts and outputs the number of vehicles existing in the intersection for each moving direction. For example, in the case of the intersection shown in FIG. 2, the number of straight-ahead vehicles, the number of right-turn vehicles, and the number of left-turn vehicles are counted and output for each approach path to the intersection. The image processing unit 13 captures captured images of the CCD camera of the imaging unit 12 at a constant time interval, for example, a time interval of about 100 ms to 1 s, and counts the number of vehicles existing in the intersection for each moving direction. Output.

  The communication unit 14 performs data communication with the central device 3. The communication unit 14 receives the signal control parameters transmitted from the central device 3 and transmits the control state of the signal lamp 2 to the central device 3. The display control unit 15 instructs the display display for each signal lamp 2. The storage unit 16 stores signal control parameters and the like transmitted from the central device 3.

  FIG. 5 is a diagram illustrating a cycle of displaying a signal lamp by the signal control device. Here, the display indications of the vehicle signal lamps 2a, 2b on the main road side are the same, and the display indications of the vehicle signal lamps 2c, 2d on the slave road side are also the same. In addition, the display of the pedestrian signal lamps 2e and 2f on the main road side is the same, and the display of the pedestrian signal lamps 2g and 2h on the secondary road side is the same. The signal control apparatus 1 repeats the steps A to J shown in FIG. 5 in this order.

  Floor A corresponds to (1) described above, Floor B corresponds to (2) above, Floor C corresponds to (3) above, Floor D corresponds to (4) above, and Floor E Corresponds to (5) above, the floor F corresponds to (6) above, the floor G corresponds to (7) above, the floor H corresponds to (8) above, and the floor I above. (9) corresponds to (9), and the level J corresponds to (10) described above. In addition, the times of the floors A to J are indicated here as TA to TJ. The time TA of the floor A and the time TB of the floor B are determined in consideration of the time required for the pedestrian to cross the main road. More specifically, the addition time of the time TA of the floor A and the time TB of the floor B is determined to be longer than the time required for the pedestrian to cross the main road. Further, the time TC of the floor C is a time that is fluctuated and controlled by the traffic volume in the intersection, and the minimum time and the maximum time are defined by the signal control parameter. The time TD of the floor D is a fixed time defined by the signal control parameter. The time TD of the floor D is determined in consideration of the time when the vehicle that cannot safely stop at the stop line before the intersection enters the intersection when the floor C ends. In addition, the time TE of the floor E is also a fixed time defined by the signal control parameter. The time TE of the floor E is determined in consideration of the time required for the vehicle existing in the intersection when the floor D is completed to get out of the intersection.

  Further, the time TF of the floor F and the time TG of the floor G are determined in consideration of the time required for the pedestrian to cross the secondary road. More specifically, the addition time of the time TF of the floor F and the time TG of the floor G is determined to be longer than the time required for the pedestrian to cross the main road. The time TH of the floor H is a time that is fluctuated and controlled by the traffic volume in the intersection, and the minimum time and the maximum time are defined by the signal control parameter. The time TI of the floor I is a fixed time defined by the signal control parameter. The time TI of the floor I is determined in consideration of the time when a vehicle that cannot safely stop at the stop line before the intersection enters the intersection when the floor H ends. The time TJ of the floor J is also a fixed time defined by the signal control parameter. The time TJ of the floor J is determined in consideration of the time required for the vehicle existing in the intersection when the floor I is completed to go out of the intersection.

  The signal control device 1 of this embodiment controls the timing of cutting off the level C or level H and proceeding to the next level based on the traffic volume in the intersection. That is, the signal control device 1 adjusts the time when the signal lights 2a and 2b on the main road side are blue and the time when the signal lights 2c and 2d on the secondary road are blue based on the traffic volume in the intersection. Perform sensitive control. 6 and 7 are flowcharts showing the sensitive control of the signal lamp in the signal control device. Here, the description will be made based on the start timing of the floor A. In the signal control device 1, the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side are blue, and the pedestrian signal lamps 2g and 2h on the secondary road side and the vehicle signal lamp 2c. When the floor A in which 2d is red is started (s1), the timer is reset (s2), and the elapsed time from the start of the floor A is measured by this timer. In s1, the signal control device 1 instructs the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side to display blue in the display control unit 15, and walks on the secondary road side. Red display is instructed to the signal lamps 2g and 2h for the passengers and the signal lamps 2c and 2d for the vehicles. When the elapsed time from the start of the floor A measured by the timer reaches TA, the signal control device 1 proceeds to the floor B (s3, s4). Further, the timer is reset (s5), and the elapsed time from the start of the floor B is measured with this timer. In s4, the signal control apparatus 1 instructs the display control unit 15 to blink blue on the pedestrian signal lamps 2e and 2f on the main road side. Further, the signal control device 1 continues the instruction of blue display to the vehicle signal lamps 2a and 2b on the main road side, and to the pedestrian signal lamps 2g and 2h and the vehicle signal lamps 2c and 2d on the slave road side. Continue to indicate red.

  When the elapsed time from the start of the floor B measured by the timer reaches TB, the signal control device 1 proceeds to the floor C (s6, s7). Further, the timer is reset (s8), and the elapsed time from the start of the floor C is measured with this timer. In s7, the signal control apparatus 1 instructs the display control unit 15 to display red on the pedestrian signal lamps 2e and 2f on the main road side. Further, the signal control device 1 continues the instruction of the blue display to the vehicle signal lamps 2a and 2b on the main road side, and to the pedestrian signal lamps 2g and 2h and the vehicle signal lamps 2c and 2d on the slave road side. Continue to indicate red.

  When the elapsed time from the start of the floor C measured by the timer reaches the minimum time of the floor C defined by the signal control parameter (s9), the signal control device 1 exists in the intersection. The number of existing vehicles is detected (s10), and it is determined whether the number of detected vehicles is equal to or less than a certain number (for example, two) (s11). Since this fixed number is used as a level for determining whether or not the traffic volume on the main road is small, it may be determined in consideration of the size of the intersection, the traffic capacity of the main road and the secondary road, the control policy, and the like. In s10, the image processing unit 13 captures a captured image in the intersection captured by the image capturing unit 12 with one CCD camera, and generates a difference image between the captured captured image and the background image. The image processing unit 13 extracts a vehicle from the difference image generated here and detects the number of vehicles. When the signal control device 1 determines that the number of vehicles existing in the intersection is not less than a certain number in s11, the elapsed time from the start of the floor C measured by the timer is defined by the signal control parameter. It is determined whether or not the maximum time of a certain floor C has been reached (s12). If the signal control apparatus 1 determines that the maximum time has not been reached in s12, the signal control apparatus 1 returns to s10 and repeats the processes of s10 to s12 described above. The signal control device 1 determines that the number of vehicles existing in the intersection is equal to or less than a certain number in s11, or the elapsed time from the start of the floor C in s12 is defined by the signal control parameter. Until it is determined that the maximum time of C has been reached, the processing from s10 to s12 is repeated at regular intervals. The longer this fixed time, the higher the possibility that the floor C will be extended unnecessarily. If it is too short, the processing load on the main body will increase, so it is desirable to set the time interval to about 1 s.

  The signal control device 1 determines that the number of vehicles existing in the intersection is equal to or less than a certain number in s11, or the level C in which the elapsed time from the start of the level C is defined by the signal control parameter in s12. If it is determined that the maximum time is reached, the floor C is terminated and the process proceeds to the floor D (s13). In s13, the signal control apparatus 1 instructs the display control unit 15 to display yellow on the signal lamps 2a and 2b on the main road side. Further, the signal control device 1 continues the instruction of red display to the pedestrian signal lamps 2e and 2f on the main road side, and the pedestrian signal lamps 2g and 2h on the secondary road side and the vehicle signal lamps 2c and 2d. Continue instructing to display red. In addition, the signal control device 1 resets the timer (s14) and starts measuring the elapsed time from the start of the floor D by the timer. When the elapsed time from the start of the floor D reaches the time TD defined by the signal control parameter, the signal control device 1 proceeds to the floor E (s15, s16). In s <b> 16, the signal control device 1 instructs the display control unit 15 to display red on the vehicle signal lamps 2 a and 2 b on the main road side. Further, the signal control device 1 continues the instruction of red display to the pedestrian signal lamps 2e and 2f on the main road side, and the pedestrian signal lamps 2g and 2h on the secondary road side and the vehicle signal lamps 2c and 2d. Continue instructing to display red. The signal control device 1 resets the timer (s17), and starts measuring the elapsed time from the start of the floor E by the timer. When the elapsed time from the start of the floor E reaches the time TE defined by the signal control parameter, the signal control device 1 proceeds to the floor F (s18, s19). In s19, the signal control device 1 continues the red display on the main road side vehicle signal lamps 2a and 2b and the pedestrian signal lamps 2e and 2f in the display control unit 15, and the secondary road side vehicle signal lamps. A blue display is instructed to the devices 2c and 2d and the pedestrian signal lamps 2g and 2h.

  When the signal control device 1 proceeds to the floor F, the signal control device 1 resets the timer (s20), and measures the elapsed time from the start of the floor F with this timer. When the elapsed time from the start of the floor F measured by the timer reaches TF, the signal control device 1 proceeds to the floor G (s21, s22). Further, the timer is reset (s23), and the elapsed time from the start of the floor G is measured with this timer. In s22, the signal control apparatus 1 instructs the display control unit 15 to display blue blinking on the pedestrian signal lamps 2g and 2h on the secondary road side. Further, the signal control device 1 continues the instruction of blue display to the vehicle signal lamps 2c and 2d on the secondary road side, and to the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side. Continue to indicate red.

  When the elapsed time from the start of the floor G measured by the timer reaches TG, the signal control device 1 proceeds to the floor H (s24, s25). Further, the timer is reset (s26), and the elapsed time from the start of the floor H is measured with this timer. In s25, the signal control apparatus 1 instructs the display control unit 15 to display red on the pedestrian signal lamps 2g and 2h on the secondary road side. Further, the signal control device 1 continues the instruction of blue display to the vehicle signal lamps 2c and 2d on the secondary road side, and to the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side. Continue to indicate red.

  When the elapsed time from the start of the floor H measured by the timer reaches the minimum time of the floor H defined by the signal control parameter (s27), the signal control device 1 exists in the intersection. The number of existing vehicles is detected (s28), and it is determined whether or not the number of detected vehicles is equal to or less than a certain number (for example, two) (s29). Since this fixed number is used as a level for determining whether or not the traffic volume on the secondary road is small, it may be the same as or different from the number used for the determination of s11 described above. s28 is the same as s10 described above. When the signal control device 1 determines that the number of vehicles existing in the intersection is not less than a certain number in s29, the elapsed time from the start of the floor H measured by the timer is defined by the signal control parameter. It is determined whether or not the maximum time of a certain floor H has been reached (s30). If the signal control apparatus 1 determines that the maximum time has not been reached in s30, the signal control apparatus 1 returns to s28 and repeats the processes of s28 to s30 described above. The signal control device 1 determines that the number of vehicles existing in the intersection is equal to or less than a certain number in s29, or the elapsed time from the start of the floor H in s30 is defined by the signal control parameter. Until it is determined that the maximum time of H has been reached, the processing from s28 to s30 is repeated at regular intervals. As the fixed time is increased, the possibility that the floor H is extended unnecessarily increases. If the fixed time is too short, the processing load on the main body increases, so it is desirable to set the time interval to about 1 s.

  The signal control device 1 determines that the number of vehicles existing in the intersection is equal to or less than a certain number in s29, or the level H in which the elapsed time from the start of the level H is defined by the signal control parameter in s30. If it is determined that the maximum time is reached, the floor H is cut off and the process proceeds to the floor I (s31). In s31, the signal control device 1 instructs the display control unit 15 to display yellow on the secondary road signal lights 2c and 2d. Further, the signal control device 1 continues the instruction of the red display for the pedestrian signal lamps 2g and 2h on the secondary road side, and the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side. Continue instructing to display red. Further, the signal control device 1 resets the timer (s32), and starts measuring the elapsed time from the start of the floor I by the timer. When the elapsed time from the start of the floor I reaches the time TI specified by the signal control parameter, the signal control device 1 proceeds to the floor J (s33, s34). In s34, the signal control device 1 instructs the display control unit 15 to display red to the vehicular signal lamps 2c and 2d on the secondary road side. Further, the signal control device 1 continues the instruction of red display to the pedestrian signal lamps 2e and 2f on the secondary road side, and the pedestrian signal lamps 2e and 2f and the vehicle signal lamps 2a and 2b on the main road side. Continue instructing to display red. The signal control device 1 resets the timer (s35), and starts measuring the elapsed time from the start of the floor J by the timer. When the elapsed time from the start of the floor J reaches the time TJ defined by the signal control parameter (s36), the signal control device 1 returns to s1 and starts the above-described floor A.

  As described above, the signal control device 1 repeats the processes of s10 to s12, and based on the number of vehicles existing in the intersection, the signal control device 1 is a floor that is a display that gives a right of passage to vehicles traveling on the main road. Decide when to close C. Since the number of vehicles in the intersection detected in s10 is the number of vehicles entering the intersection from the main road, the sensitive control of the signal lamp 2 according to the traffic volume on the main road can be performed. In addition, since the signal control device 1 determines whether or not to cancel the floor C based on the number of vehicles in the intersection, when the vehicle is stopped before the intersection without entering the intersection, The display of the signal lamp 2 can be advanced to the next floor D. That is, the display control of the signal lamp device 2 can be prevented from being in an inappropriate state. As a result, the display that gives the right of traffic to the vehicle traveling on the main road is not unnecessarily extended, and the display control of the signal lamp 2 becomes in an inappropriate state that causes the traffic on the secondary road on the crossing side. It can be suppressed. Moreover, since the signal control apparatus 1 performs the process of s28-s30, it can suppress that the sensitive type control of the signal lamp device 2 according to traffic volume also becomes an inappropriate state also about a secondary road.

  In the above explanation, the processing for determining the timing to terminate the display of giving the right of traffic according to the traffic volume is performed on both the main road side and the secondary road side. Only semi-sensitive control may be performed. For example, the process of s28 to s30 in the above-described example is replaced with a process of proceeding to the level I when the elapsed time from the start of the level H reaches the time TH defined by the signal control parameter. Semi-sensitive control for controlling the display of the signal lamp 2 according to the traffic volume on the road side can be performed. On the other hand, the processing of s10 to s12 in the above-described example is replaced with processing that proceeds to the level D when the elapsed time from the start of the level C reaches the time TC defined by the signal control parameter. Thus, semi-sensitive control for controlling the display of the signal lamp 2 according to the traffic volume on the secondary road side can be performed.

Further, the standard times TC and TH of the floor C and the floor H may be defined by signal control parameters, and the semi-sensitive control shown in FIGS. 8 and 9 may be used. FIG. 8 and FIG. 9 are flowcharts showing semi-sensitive control for controlling the display of the signal lamp according to the traffic volume on the main road side. In FIG. 8 and FIG. 9, the same processing as that in FIG. 6 and FIG. 7 is given the same step number (s **). When the signal control device 1 executes the processes related to s1 to s14 described above and starts measuring the elapsed time from the start of the floor D by the timer in s14, the signal control apparatus 1 calculates the truncation time TH ′ of the next floor H (s41). ). In s41, using the actual duration TC ′ of the previous floor C, the standard time TC of the floor C, and the standard time TH of the floor H,
TH ′ = TH− (TC′−TC)
Calculated by That is, the cutoff time TH ′ for the next floor H is a time obtained by subtracting the difference between the actual duration TC ′ at the previous floor C and the standard time TC. In addition, if the cutoff time TH ′ of the next floor H calculated in s41 is negative, TH ′ is set to 0.

  When the signal control apparatus 1 calculates the next floor H cutoff time TH 'in s41, the signal control apparatus 1 performs the processes of s15 to s26. Then, instead of s27 to s30, it is determined whether the elapsed time from the start of the floor H has reached the cutoff time TH 'calculated in s41 (s42). When the signal control device 1 determines that the elapsed time from the start of the floor H has reached the cutoff time TH ′ calculated in s41 in s42, the signal control device 1 executes the above-described processing after s31.

  Therefore, the difference between the time TC ′ when the floor C is actually continued and the standard time TC of the floor C is absorbed by the time during which the floor H is continued. For this reason, the fluctuation | variation of the cycle of the signal lamp device 2 is suppressed, As a result, the shift | offset | difference of offset with the signal lamp device 2 of a peripheral intersection is suppressed.

  Although detailed description is omitted here, the time TH when the floor H is actually continued is the semi-sensitive control for controlling the display of the signal lamp 2 according to the traffic volume on the secondary road side. The difference between 'and the standard time TH of the floor H may be processed so as to be absorbed by the time to continue the floor C.

  Moreover, the process concerning s41 may be performed at any timing as long as it is a timing until the floor F is started.

  Furthermore, even in the all-sensitive control shown in FIGS. 6 and 7, it is possible to suppress the shift of the cycle with the signal lamp 2 at the peripheral intersection. For example, the difference between the actual duration TC ′ of the floor C, which is the result of the extension / reduction of the floor C by the above-described processing, and the standard time TC of the floor C is obtained as the next floor H or the floor of the next cycle. What is necessary is just to absorb with C. Further, the difference between the actual duration TH ′ of the floor H, which is the result of extending / shortening the floor H by the above-described processing, and the standard time TH of the floor H is obtained as the next floor C or the floor of the next cycle. What is necessary is just to absorb with H.

  In the above embodiment, it is determined whether or not the floor C or the floor H is to be discontinued based on the number of vehicles present in the intersection. This determination may be made based on the number of vehicles, the number of left turn vehicles, and the like. As described above, the image processing unit 13 can detect the number of vehicles existing in the intersection for each traveling direction of the vehicle.

  Furthermore, the present invention can also be applied to control of the signal lamp 2 at the intersection where the indication of the right turn arrow is displayed, the signal lamp 2 at the time difference type intersection, and the like.

  The signal control parameter may be in a format other than the above as long as the above-described processing can be executed.

1 is a schematic diagram showing a signal control system to which a signal control apparatus according to an embodiment of the present invention is applied. It is the schematic which shows an intersection. It is a figure which shows the structure of the principal part of the signal control apparatus which is embodiment of this invention. It is a figure which shows the captured image of an intersection. It is a figure explaining the cycle of a signal lamp. It is a flowchart which shows the signal control process in a signal control apparatus. It is a flowchart which shows the signal control process in a signal control apparatus. It is a flowchart which shows the signal control process in a signal control apparatus. It is a flowchart which shows the signal control process in a signal control apparatus.

Explanation of symbols

1-signal control device 2 (2a to 2d) -signal lamp 3-central device 11-control unit 12-imaging unit 13-image processing unit 14-communication unit 15-display control unit 16-storage unit

Claims (5)

In the signal control device that controls the display indication of the signal lamp installed at the intersection,
Vehicle detection means for processing an image captured inside the intersection and detecting a vehicle existing in the intersection;
A determination means for determining whether or not to cancel the current indication based on the number of vehicles existing in the intersection detected by the vehicle detection means;
A signal lamp display control means for moving the display display of the signal lamp installed at the intersection to the next floor when the determination means determines that the current display is discontinued;
The signal control device is a signal control device, wherein the determination means repeats the determination as to whether or not to cancel the current display at a predetermined time interval until it is determined that the current display is terminated. A storage means for storing the minimum time for the indication for determining whether or not the determination means is terminated,
The determination means is means for starting determination of whether or not to cancel the display after the elapsed time from the start of the display reaches the minimum time stored for the display by the storage means. The signal control device according to claim 1. The storage means is means for storing the maximum time for the indication for determining whether or not the determination means is terminated,
3. The determination means according to claim 2, wherein when the elapsed time from the start of the display reaches a maximum time stored in the storage means for the display, the display is determined to be terminated. The signal control apparatus as described. The vehicle detection means is means for detecting the number of vehicles existing in an intersection for each movement direction of the vehicle,
The determination means is based on the number of vehicles existing in the intersection detected by the traffic flow detection sensor and moving in the direction set for the current indication. The signal control device according to claim 1, wherein the signal control device is a means for determining whether or not to cancel the indication. In the signal control method for controlling the display indication of the signal lamp installed at the intersection,
The vehicle detection means processes the image in the intersection imaged by the imaging device, detects the vehicle existing in the intersection,
Based on the number of vehicles existing in the intersection detected by the vehicle detection means, the determination means determines whether or not to cancel the current indication until it is determined to cancel the current indication. Repeated at regular intervals,
A signal control method in which the signal lamp display control means advances the display display of the signal lamp installed at the intersection to the next level when the determination means determines that the current display is discontinued.

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