JP2010033203A - Control system for nonstop traveling at intersection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a driver's mental burden and his or her burden related to driving skills for intersection green signal/nonstop travelling at a recommended travelling speed presented to the vehicle driver in a control syste for nonstop travelling at intersection. <P>SOLUTION: In a vehicle passing a specific point (P) in a road distance (D) upstream of an intersection (A) and travelling to the intersection (A), expected time of arrival at the intersection (A) is calculated at regular time intervals (T) in the case where the vehicle travels to the intersection (A) at a current travelling speed (v) after passing the specific point (P), and if the expected time of arrival at the intersection (A) is within the green signal period of the intersection (A), the vehicle continues to travel at the current travelling speed (v). If the expected time of arrival at the intersection (A) is not within the green signal period, a recommended travelling speed is calculated that allows the vehicle to arrive within the green signal period of the intersection (A) earliest by reducing the current travelling speed (v), and the vehicle travels at the recommended speed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention controls the traveling speed of a vehicle that travels from the upstream of the intersection to the intersection, thereby reducing the frequency of stopping at the intersection of the vehicle as much as possible and reducing the amount of fuel consumption and exhaust gas. The stop travel control system.

There is a “Signal Synchronized Speed Control System” as a system that aims to reduce the amount of exhaust gas and fuel consumption of a vehicle by reducing the frequency of deceleration, stop, start, and acceleration due to a red signal at the intersection of the vehicle.
In the above-mentioned “signal synchronous speed control system”, the signal change timing information at the intersection is transmitted from the road side to the vehicle, and the vehicle calculates and controls the traveling speed, and the vehicle speed is detected on the road side to calculate the traveling speed. , There is a method to transmit this to the vehicle and control, but in any method, the traffic volume is low, the travel speed can be adjusted, the cross traffic volume on the road is small, and the systematic control of the signal is possible It is said that application to roads between local cities is effective (Non-Patent Document 1).

On the other hand, an “intersection non-stop traveling control system” has been proposed as a system that solves the problems of the “signal synchronous speed control system” and can be applied to urban roads with heavy traffic.
This system detects the signal status of the intersection, the road distance information from the specific point to the intersection, and the maximum allowable traveling speed from the specific point to the intersection at a specific point upstream from the road intersection leading to the intersection. Information, and the vehicle's travel conditions for passing through an intersection from a specific point passing time, etc. without stopping, or various information necessary for calculating the travel conditions, are reported to the vehicle, Alternatively, the vehicle travels to the intersection under the traveling condition calculated in the vehicle, and passes through the intersection with a green light and no stop (Patent Document 1, Patent Document 2, Patent Document 3, and Patent Document 4).

Energy Conservation Center 1994 "Survey Report on Improvement of Fuel Consumption Efficiency" 1.2 Application Conditions and Effects of Energy Reduction Measures by Improving Driving Method JP 2006-031573 A JP 2006-058918 A JP 2006-251836 A JP2007-233962

  The invention of the present application reduces the psychological driving technical load for the recommended driving speed traveling for the vehicle driver's intersection non-stop traveling in the `` intersection non-stop traveling control system '', and ensures the safety of the vehicle traveling. The present invention relates to improvements in the calculation and presentation of recommended travel speeds.

First, an outline of the “intersection non-stop traveling control method” that is the basis of the present invention will be described below.
As shown in FIGS. 1 and 2, the basis of the “intersection non-stop traveling control method” is that a specific point P that is upstream of the road (vehicle traveling) distance D from the intersection A is one signal period Tp of the intersection A at times t1p to t3p. Vehicles C1, C2,... Cn passing through the vehicle at the specific point P so as to pass through the intersection A during the intersection A green signal period Tg from time t2a to t3a. ..Cn Presenting the driving conditions or various information necessary for calculating the driving conditions to the vehicle individually or for each passing point P of the vehicle, the vehicles C1, C2,. Under the conditions, the vehicle travels to intersection A and passes through intersection A without a green light and without stopping.

Here, the difference between the method shown in FIG. 1 and the method shown in FIG.
In FIG. 1, the relationship of the intersection A arrival time ta to the specific point P passing time tp of the vehicle is set so as to satisfy (Equation 1),
In FIG. 2, the setting is as shown in (Expression 2).

That is, in the system of FIG. 1, the ratio of the difference time (tp−t1p) from the time t1p of the passage time tp of the specific point P to the signal period Tp is the difference time from the time t2a of the arrival time ta to the intersection A. Whereas the intersection A arrival time ta is set to match the ratio of (ta −t2a) to the green light duration Tg,
In the system of FIG. 2, the intersection A arrival time ta is set so that the vehicle passing through the specific point P arrives at the intersection A in the shortest time within the range of the allowable maximum traveling speed Vmax or less.

(Equation 1)
(Tp -t1p) / (ta -t2a) = Tp / Tg

(Equation 2)
ta = t2a where tp <(t3p-Tg)
Or
t3a-ta = t3p-tp where (t3p-Tg) ≤ tp <t3p

  Therefore, the recommended travel time topt and the recommended travel speed vopt between the specific point P and the intersection A provided for the vehicle heading for the intersection A at the specific point P are the same as the numbers shown in FIG. 1 and the method shown in FIG. 3) and (Expression 4).

(Equation 3)
topt = ta − tp

(Equation 4)
vopt = D / topt ≤ Vmax

As described above, the vehicle is informed of the recommended travel time topt and the recommended travel speed vopt corresponding to the specific point P passing time tp of the vehicle from the roadside device provided at the specific point P, and the intersection in the reported travel condition. Although it runs toward A, in actual driving, there is a possibility of deviating from the reported driving conditions.
As a measure to solve this problem, the vehicle travels while counting the elapsed time Δt and the travel distance ΔD after passing through the specific point P, and every time the elapsed time Δt changes by a certain time T, the recommended correction required time toptt and the correction recommended The corrected traveling condition of the traveling speed voptt is calculated using (Equation 5) and (Equation 6), and the vehicle is sequentially updated to the latest modified traveling condition that is modified at this fixed time T, and the distance to the intersection A is calculated. Run.

  In the above, the corrected recommended required time toptt and the corrected recommended travel speed voptt are calculated every time the elapsed time Δt changes by a certain time T. Instead, these calculations are performed every time the travel distance ΔD reaches a certain value. There is also a way to do it. However, the following description is limited to a method of calculating the recommended correction required time toptt and the corrected recommended travel speed voptt every time the elapsed time Δt changes by a certain time T.

(Equation 5)
toptt = topt−n ・ T

(Equation 6)
voptt = (D−ΔD (nT)) / toptt ≦ Vmax

  As described above, the vehicle travels from the specific point P toward the intersection A while updating the recommended travel speed voptt every predetermined time T from the time when the specific point P passes, so that the intersection A corresponding to the travel environment change during the travel. A green light and non-stop passage are possible.

  That is, when the speed control device is mounted on the vehicle, the recommended travel speed vopt or the corrected recommended travel speed voptt is set to the speed control device when passing through the specific point P and every time after passing the specific point P Δt = n · T. By automatically inputting and updating the set speed to the vehicle, the vehicle can automatically drive toward the intersection A at the recommended travel speed vopt or the updated recommended travel speed voptt and pass through the intersection A without a green light and without stopping. .

However, when the vehicle is not equipped with a speed control device, the vehicle driver travels manually to the intersection while keeping the recommended travel speed, and the psychological and driving technical load is large.
The object of the present invention is to propose a driving condition calculation / presentation method for reducing the driver's load when the vehicle is not equipped with a speed control device.

  However, in the case of the method of FIG. 1 and the method of FIG. 2 described above, when a forward traveling vehicle is encountered while traveling toward the intersection A, it is necessary to keep following the forward traveling vehicle while maintaining a safe inter-vehicle distance. This is a common premise regardless of the presence or absence of a speed control device.

Next, the basic concept of the present invention will be described below with reference to FIG.
Conventionally, in an intersection non-stop traveling control system, a recommended traveling speed or a corrected recommended traveling speed (hereinafter referred to as a recommended traveling speed and a corrected recommended traveling speed are collectively displayed at a certain time interval from the point of passage through a specific point P. (Referred to as recommended travel speed), and travels to the intersection at the calculated recommended travel speed and travels without intersection at the intersection.
In this case, in a vehicle that does not have a speed control device, the driver tries to maintain the recommended travel speed by manual operation.

The first method according to the present invention is as follows:
In a vehicle that is traveling toward the intersection A through the specific point P at the upstream road distance D of the intersection A,
Calculate the recommended travel speed vopt for passing through the intersection A without stopping at the green light every fixed time T from the time of passing the specific point P, and compare it with the vehicle travel speed v at that time,
If v> vopt, drive at the recommended speed vopt, and if v ≤ vopt, drive at the current speed.
This is done until the next recommended travel speed is calculated.

In the first method according to the present invention, when v> vopt, the vehicle travels at the recommended travel speed vopt, and when v ≦ vopt, the vehicle travels at the current travel speed. The reason why the green signal can pass is as follows. That is,
1. In general, a vehicle traveling on a road at a certain distance or more from an intersection usually travels at a so-called free traveling speed near the maximum allowable traveling speed Vmax. Accordingly, among the vehicles heading from the specific point P to the intersection A in FIG. 3, it is assumed that the vehicle passing through the specific point P at time t2p to t3p can pass through the intersection with a green light by maintaining the specific point P passing speed. 3, the vehicle passing through the specific point P from time t1p to t2p also travels at a speed close to the allowable maximum speed Vmax from the specific point P to the intersection A in the same manner as the vehicle passing through the specific point P from time t2p to t3p. As a result, the intersection A stops at a red light.
2. Therefore, the recommended travel speed vopt is calculated for each vehicle passing the specific intersection point P at a certain time T, and the result is compared with the current vehicle travel speed v.
If v> vopt, the vehicle (corresponding to the vehicle passing through the specific point P at the passage time t1p to t2p) may have to stop at the intersection A by continuing the current speed v driving. The vehicle speed v should be reduced below the recommended driving speed vopt,
If v ≦ vopt, the vehicle (corresponding to the vehicle passing through the specific point P at the passing time t2p to t3p) is likely to be able to pass through the intersection A with a green light at the current speed v. So as to drive toward intersection A while maintaining the current speed v
By instructing each of them, it is estimated that in the range where the traffic volume at the intersection A does not exceed the traffic capacity, a vehicle passing the specific point P and heading for the intersection A can pass a green signal with a probability of 90% or more. Therefore, as described above, it is possible to travel safely up to the intersection A by maintaining the current speed or instructing the traveling speed in the decelerating direction with respect to the current speed without passing through the simple speed corresponding to the current speed v of the vehicle. Thus, it is possible to greatly reduce the load of the driving while maintaining the recommended driving speed of the driver.

  Further, the second method according to the present invention calculates the intersection A scheduled arrival time ta when the vehicle travels at the vehicle traveling speed v at every certain time T after the passage of the specific point P as follows.

(Equation 7)
ta = (tp + n · T) + {D−ΔD (nT)} / v

When this calculation result is between the green light periods t2a to t3a of the intersection A (in the case of the vehicle X2 in FIG. 3), the vehicle driver continues to travel at the current traveling speed without giving any instruction to the vehicle driver. .
However, in the situation where the above calculation result is not within the green light period and ta satisfies the relationship of (Equation 8) (in the case of the vehicle X1 in FIG. 3), the vehicle intersection A arrival time ta satisfies (Equation 9). Use the recommended running speed (Equation 9)
Further, in a situation where ta satisfies the relationship of (Equation 11) (in the case of the vehicle X3 in FIG. 3), the recommended travel speed at which the vehicle intersection A arrival time ta satisfies (Equation 12) is set (Equation 13). Are used to instruct the travel toward the intersection A at the calculated recommended travel speed.

(Equation 8)
ta <t2a

(Equation 9)
ta '＝ t2a + Δta

(Equation 10)
vopt = {D−ΔD (nT)} / {(t2a + Δta) − (tp + n · T)}

(Equation 11)
ta> t3a

(Equation 12)
ta '＝ t4a + Δta

(Equation 13)
vopt = {D−ΔD (nT)} / {(t4a + Δta) − (tp + n · T)}

  As described above, when the vehicle cannot reach the intersection A within the green light period due to traveling at the current traveling speed v, the recommended traveling speed decelerated from the current traveling speed v is calculated and instructed so that the green signal at the intersection A of the vehicle In addition to non-stop passing, the risk of traveling due to acceleration during traveling is reduced, and the traveling load on the driver due to the recommended traveling speed instruction is also reduced.

As described above, the “intersection non-stop traveling control system” according to the present invention is the vehicle driver ’s load on “traveling while maintaining the recommended traveling speed”.
If you can drive through the intersection A with a green light and no stop if you keep running at the current speed, there will be no instructions.
In addition, when it is predicted that the vehicle cannot pass through the intersection A without stopping at the green light depending on the traveling at the current speed, by instructing the recommended traveling speed by decelerating the current traveling speed,
Each can be reduced, and the feasibility of the “intersection non-stop traveling control system” can be enhanced.

  An embodiment of the second method of the present invention will be described with reference to an “intersection non-stop traveling control system” vehicle side device configuration example shown in FIG. 4 and a vehicle side device configuration example arithmetic processing procedure diagram shown in FIG.

In FIG.
41, the specific point P passing time tp, the intersection A signal state transition information (time t2a, t3a, t4a,..., Etc. in FIG. 3), the specific point P− transmitted from the roadside device P provided at the specific point P. Road-to-vehicle communication vehicle-side device that receives the road distance Dp between the intersections A, the maximum allowable traveling speed Vmax between the specific point P and the intersection A, etc.,

  42 counts the elapsed time Δtp and the vehicle travel distance ΔDp after passing through the specific point P from various information received by the road-to-vehicle communication vehicle side device 41 and the own vehicle speed pulse having the travel speed information of the own vehicle. Every time when the elapsed time Δtp is equal to the predetermined value T, the vehicle's intersection A arrival time ta is predicted according to the above (Equation 7), and the vehicle continues to run at the current traveling speed according to the estimated intersection A arrival time, or the driving instruction at the recommended traveling speed is given. The recommended travel speed vopt and the vehicle travel speed v, which are output from the present computation device 42, are displayed on the display device 43, which will be described later, and input to the speed control device 44 as the set speed and the vehicle travel speed.

43 is a display device that displays and outputs the recommended traveling speed vopt and the vehicle traveling speed v, which are outputs of the arithmetic unit 42, to the vehicle driver,
44, the recommended traveling speed vopt, which is the output of the arithmetic unit 42, is input as the set speed and the vehicle traveling speed v is input as the vehicle traveling speed, and the vehicle traveling speed is controlled so that the vehicle traveling speed matches the set speed. Speed control device,
It is.
However, in the speed control device, when the recommended travel speed is not input as the set speed, or when there is a forward traveling vehicle in the vehicle, the traveling is performed by the driver's manual operation.

  Here, the vehicle travel speed v can be obtained, for example, from the own vehicle speed pulse number proportional to the propeller shaft rotation speed of the vehicle, and the vehicle travel distance ΔD can be obtained as an integral value of the pulse number proportional to the propeller shaft rotation speed.

Next, in FIG.
Reference numeral 501 denotes various processing procedure start points in the “intersection non-stop traveling control system” vehicle-side device shown in FIG.
502 is a specific point P passage confirmation process for confirming whether or not a specific point P has passed;
Reference numeral 503 denotes various information from the roadside device P when passing the specific point P (specific point P passing time, signal status information of the intersection A, road distance D between the specific point P and the intersection A, and the maximum allowable between the specific point P and the intersection A) Information acquisition processing for acquiring travel speed Vmax, etc.)

504 is an elapsed time Δt after passing through the specific point P, Δt and ΔD counting start processing for starting counting of the travel distance ΔD,
505 is an initial value setting process of the order n for knowing how many times the elapsed time Δt after passing the specific point P has become a certain time T;

506 is a Δt determination process for determining whether or not the elapsed time Δt after passing the specific point P has reached n times the fixed time T;
If it is determined in step 506 that the elapsed time Δt after passing the specific point P has not reached n times the fixed time T, the travel distance ΔD from the specific point P at that time is very close to the intersection A. Intersection A approach processing for determining whether or not (that is, whether the road distance from the current vehicle position to intersection A is less than Do);

508, if it is determined in the process 506 that the elapsed time Δt from the passage of the specific point P is Δt = n · T, the own vehicle speed capturing process for capturing the vehicle running speed v at that time;
509 is the own vehicle speed v captured in the process 508, the road distance D between the specific point P and the intersection A captured in the process 503, and the vehicle travel distance ΔD after passing through the specific point P that starts counting from the point of passage through the specific point P. From ta calculation processing for calculating the estimated arrival time ta at the intersection A of the own vehicle according to (Equation 7),

510 is a ta determination process 1 that determines whether or not the estimated time ta at the intersection A of the subject vehicle calculated in the process 509 is between the intersection A green signal periods t2a to t3a;
511, when it is determined in the process 510 that the estimated time ta reaching the intersection A of the subject vehicle is between t2a to t3a, the recommended driving speed is not presented to the vehicle driver and the speed control device (ie, Current speed continuation process to continue driving at the current speed without any speed instruction)

512, when it is determined in process 510 that the estimated time ta at the intersection A of the host vehicle is not between t2a and t3a, ta determination process 2 for determining whether ta satisfies (Equation 8);
If it is determined in the process 512 that the scheduled arrival time ta of the own vehicle's intersection A satisfies (Equation 8), the estimated arrival time ta ′ of the own vehicle's intersection A is set to (Equation 9), and the intersection A Vopt calculation process 1 to calculate the recommended travel speed vopt up to (10)
If it is determined in the process 512 that the scheduled arrival time ta of the own vehicle's intersection A does not satisfy (Equation 8), that is, satisfies the (Equation 11), the estimated arrival time ta ′ of the own vehicle's intersection A is set to ( Vopt calculation processing 2 in which the recommended traveling speed vopt up to the intersection A is calculated from the above (Equation 13).

515 is a vopt display process for displaying the recommended travel speed vopt which is the calculation result of the process 513 or 514 on the display device 43 shown in FIG.

516 is a vopt setting process for inputting the recommended travel speed vopt which is the calculation result of the process 513 or 514 as the set speed of the speed control device 44 shown in FIG.
517 is an increment process of the order n to know how many times the elapsed time Δt after passing through the specific point P has become a certain time T;
It is.

  In the first embodiment, the “intersection non-stop traveling control system” is configured by the roadside device and the vehicle-mounted device installed on the roadside of the specific point, but instead of providing the roadside device for each upstream specific point of the intersection, A similar function can be provided by providing a center device that collectively holds signal state information of intersections and various types of information necessary for calculating the recommended travel speed, and connecting the center device and the in-vehicle device by wireless communication.

However, in this case, the in-vehicle device has a specific point specifying function, and when the vehicle passes through the specific point, notifies the center device of the vehicle traveling speed at that time along with the specific point passing. In addition to the following information, the signal state information of the intersection to be passed next to the vehicle, the passing time of the specific point of the vehicle, the road distance between the specific point and the intersection, and the allowable maximum traveling speed information between the specific point and the intersection are used. Predict time. In addition, the travel distance information ΔD is obtained from the vehicle side every time a specific time passes after passing through the specific point, the intersection arrival time is estimated again, the recommended travel speed is calculated as necessary, and the vehicle is notified.
By configuring and functioning as described above, the vehicle driver can obtain the same effects as in the first embodiment.

  The invention of the present application reduces the driver's psychological and driving technical problem of driving between a specific point and an intersection while maintaining the recommended traveling speed, which is one of the major problems of the “intersection non-stop traveling control system”. The practicality of the system is improved.

Basic concept explanation diagram of "Intersection Non-stop Traveling Control System" Part 1, Basic concept explanation diagram of “Intersection Non-stop Driving Control System” Part 2, Basic concept explanation diagram of the "intersection non-stop traveling control system" according to the present invention In-vehicle device configuration example of "intersection non-stop traveling control system" according to the present invention, It is explanatory drawing of the operation | movement procedure in the vehicle-mounted apparatus in the example of this invention structure shown in FIG.

Explanation of symbols

1, 2, 3, (Equation 1) to (Equation 6),
t1a: Intersection A green light extinction time,
t2a: intersection A green light lighting time,
t3a: Intersection A green light extinction time,
t4a: intersection A green light lighting time,
t5a: Intersection A green light extinction time,
tp: the passing time of the specific point P of the vehicle,
ta: Vehicle A arrival (planned) time,
Tp: Intersection A signal period,
Tp = t3a-t1a = t3p-t1p
Tg: Intersection A green light period,
Tg = t3a-t2a = t3p-t2p
Tn = Tp-Tg = t2a-t1a = t2p-t1p

D: vehicle travel distance between specific point P and intersection A,
Vmax: Maximum allowable traveling speed between specific point P and intersection A,
C1, C2,..., Cn: a group of vehicles that pass through point P between times t1p and t3p,
X1, X2, X3: vehicle group for explaining the present invention,
tp1, tp2,..., tpn: times when vehicles C1, C2,.
ta1, ta2, .., tan: Vehicles C1, C2,..., Cn each arrive at intersection A,
T: fixed time,
ΔD (nT): a vehicle travel distance during which Δt = n · T has elapsed since the passage time Δt after passing through the specific point P,
topt: The recommended time between the specific point P and the intersection A calculated when passing through the specific point P,
vopt: Recommended travel speed between specific point P and intersection A calculated when passing through specific point P,
toptt: updated recommended time,
voptt: updated recommended travel speed,

In FIG. 3, (Equation 7) to (Equation 13),
ta ': Scheduled arrival time at intersection A after correction,
Δta: Marginal time with respect to estimated time t2a, t4a
X1, X2, X3: Vehicle traveling examples for explaining the present invention,
It is.

Claims (2)

In a vehicle that is traveling toward the intersection A through the specific point P at the upstream road distance D of the intersection A,
Calculate the recommended travel speed vopt for passing through the intersection A without stopping at the green light every fixed time T from the time of passing the specific point P, and compare it with the vehicle travel speed v at that time,
If v> vopt, drive at the recommended speed vopt,
If v ≤ vopt, run at the current running speed v,
An intersection non-stop traveling control method, which is performed until the next recommended traveling speed is calculated. When a vehicle that is traveling toward the intersection A through the specific point P at the upstream road distance D of the intersection A is traveling to the intersection A at the current traveling speed v every certain time T from the point of passage through the specific point The intersection A scheduled arrival time is calculated, and when the intersection A scheduled arrival time is within the green light period of the intersection A, the vehicle travels toward the intersection A at the current traveling speed v.
Further, when the intersection A scheduled arrival time is not within the green light period, the recommended traveling speed that reaches the earliest within the green light period of the intersection A by the deceleration from the current traveling speed v is calculated, and traveling at that speed is performed. An intersection non-stop traveling control method characterized by the above.