JP2010230561A - On-vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique for guiding a remaining time until a traffic signal is changed, to a vehicle occupant, even when a roadside machine is not installed. <P>SOLUTION: This on-vehicle device 1 includes a camera 19 for photographing the front of own vehicle, and acquires image data ahead of own vehicle through the camera 19. On the other hand, the on-vehicle device 1 specifies a position and a traveling direction of own vehicle, and specifies a signal ID of a signal reflected on the image data based on the specification result and a signal map showing an installation position of the signal. The on-vehicle device 1 calculates a display time from start until finish of lighting of a traffic signal of one of a blue signal, an yellow signal and a red signal, of the signal reflected on the image data, based on the image data. Then, the on-vehicle device 1 registers the calculated display time of each signal into a hard disk device, correlatively with the corresponding signal ID. Then the on-vehicle device 1 calculates and guides a blue signal remaining time and a red signal remaining time of the signal to be passed next by own vehicle, based on information of the display time of each signal registered in the hard disk device. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an in-vehicle device.

  2. Description of the Related Art Conventionally, an in-vehicle device that receives traffic signal information transmitted from a roadside device and performs vehicle control based on a lighting pattern of the traffic signal based on the traffic signal information is known (see, for example, Patent Document 1). Specifically, an in-vehicle device that performs brake control based on information on the remaining time of a green signal included in traffic signal information is known.

  In addition, an in-vehicle device that receives traffic signal information transmitted from a roadside device and guides the remaining time such as a green light to a vehicle occupant is also known.

JP 2008-276497 A

  However, in a conventional system in which traffic signal information is transmitted from a roadside device and vehicle control and guidance based on this traffic signal information are executed by an in-vehicle device, a huge number of roadside devices for transmitting traffic signal information to the vehicle are included. It is necessary to install near the intersection. For this reason, the prior art has a problem that it is difficult to put such a system into practical use.

  The present invention has been made in view of these problems. Even without receiving traffic signal information from a roadside machine, the present invention guides the remaining time until the traffic signal changes to the vehicle occupant, and changes the traffic signal. It is an object of the present invention to provide a technique capable of predicting and executing vehicle control.

  An in-vehicle apparatus according to the present invention made to achieve the above object includes video data acquisition means for acquiring video data representing a video ahead of the host vehicle, video data acquired by the video data acquisition means, and video data Analyzing means for deriving a specific signal display time that is a time from when the traffic light displayed on the traffic light starts to illuminate the specific color signal, and vehicle information for acquiring the position and traveling direction of the own vehicle as vehicle information Based on the vehicle information acquired by the vehicle information acquisition means, the acquisition means, the position specification means for specifying the installation position of each traffic signal displayed in the video data acquired by the video data acquisition means, and the specific signal derived by the analysis means And an analysis result storage means for storing the display time in association with information indicating the installation position of the corresponding traffic signal specified by the position specifying means.

  According to this in-vehicle device, the video data obtained by photographing the front of the host vehicle is analyzed, and the specific signal display time (for example, the green signal display time and the red signal display time) of the traffic signal displayed in the video data is derived. The information of the derived specific signal display time is stored in association with the information of the installation position that can identify the traffic signal corresponding to this information.

  Therefore, if this in-vehicle device is used, it is possible to know the specific signal display time of the next traffic signal that the host vehicle passes from the contents stored in the analysis result storage means without installing a roadside device. Based on the information, the remaining time of the green signal and the red signal can be guided to the vehicle occupant, or the vehicle control can be executed by predicting the change of the traffic signal.

  In this in-vehicle device, it is necessary to obtain information for deriving a specific signal display time through video data prior to executing the above-described guidance and vehicle control. Since the same road is often used every day, in such an environment, the above guidance and vehicle control can be executed without causing the user to feel inconvenience.

  By the way, the installation position of the traffic light can be specified from the position and direction of travel of the host vehicle, the position coordinates on the frame of the traffic signal displayed in the video data, and the traffic signal size. It may not be possible to specify the installation location. Therefore, it is preferable that the in-vehicle device is provided with a map storage means for storing a traffic signal map indicating the installation position of each traffic signal installed in a predetermined area (for example, the whole country of Japan).

  And the position specifying means is configured to specify the installation position of each traffic signal displayed in the video data acquired by the video data acquiring means based on the traffic light map and the vehicle information acquired by the vehicle information acquiring means. (Claim 2).

  According to this in-vehicle device, the installation position of each traffic signal displayed in the video data can be specified with high accuracy based on the traffic signal map, so that highly reliable information is stored in the analysis result storage means. Can do.

  The on-vehicle device includes: a next signal device specifying means for specifying a next signal device that is a signal device through which the host vehicle passes next based on the vehicle information and the traffic signal map; and a next signal device based on the video data acquired by the video data acquisition device. Start time detecting means for detecting that the next traffic light specified by the specifying means has started lighting of the specific color signal, and if the start time detecting means detects that the lighting of the specific color signal has started, the analysis result storage Output means for outputting information on the remaining time until the lighting of the specific color signal in the next traffic light is completed based on the specific signal display time of the next traffic light stored by the means. ).

  According to this in-vehicle device, even if no roadside device is installed, information on the remaining time until the lighting of the green light ends and the lighting of the red signal ends in the traffic signal that the vehicle passes next, This can be provided to a vehicle control device or a vehicle occupant.

  In addition, the on-vehicle device may be configured as follows. That is, the analysis means derives the specific signal display time for each of the traffic lights displayed in the video data, and is the difference in lighting start time of the specific color signal with the adjacent traffic lights on the upstream or downstream side of the vehicle course. The relative offset time may be derived, and the analysis result storage unit may be configured to store the relative offset time derived by the analysis unit in association with information indicating the installation position of the corresponding traffic signal together with the specific signal display time. (Claim 4).

  To the extent that the specific signal display time is known, it is necessary to observe the start of lighting of the specific color signal in this traffic light in order to derive the remaining time until the lighting of the specific color signal ends in the next traffic light. In other words, the remaining time cannot be derived without observing the start of lighting of the specific color signal in the next traffic light.

  On the other hand, if the in-vehicle device is configured to record the relative offset time, the lighting of the specific color signal in the next traffic light is started based on the time when the lighting of the specific color signal is started in the traffic signal upstream of the vehicle path. Time can be estimated. In other words, even if the start of lighting of a specific color signal is not observed in the next traffic light, in the situation where the start of lighting of a specific color signal is observed in the previous traffic light, the lighting of the specific color signal is completed in the next traffic light. The remaining time can be derived.

  In order to realize such a function, the in-vehicle device may be specifically configured as follows. That is, the in-vehicle device detects that the traffic light on the vehicle path displayed in the video data has started to turn on the specific color signal, sets the traffic light as the reference traffic light, and the traffic light is set to the specific color signal. The specific display start time, which is the time when the lighting of the lamp is started, is set to the reference time, the reference signal set by the reference setting means, the reference signal set by the reference setting means, and the next signal specified by the next signal specifying means. The next traffic light offset time, which is the difference between the lighting start times, is derived based on the relative offset time stored in the analysis result storage means, the next traffic light offset time deriving means, the reference time set by the reference setting means, and the next traffic light offset Based on the next traffic signal offset time derived by the time deriving device, the specific color in the next traffic signal identified by the next traffic signal identifying device Based on the video data acquired by the video data acquisition means and the start time estimation means for estimating the lighting start time of the signal, it is determined whether or not the next traffic light identified by the next traffic light identification means is lighting a specific color signal When the next traffic light is determined to be lighting the specific color signal by the state determination means and the state determination means, and the lighting start time of the specific color signal in the next traffic light is estimated by the start time estimation means, the start time Based on the lighting start time estimated by the estimation means and the specific signal display time of the next traffic light stored in the analysis result storage means, a remaining time derivation for deriving the remaining time until the lighting of the specific color signal in the next traffic light is completed. It is good to have a structure provided with a means and the output means which outputs the information of the remaining time derived | led-out by the remaining time deriving means (Claim 5).

  According to the vehicle-mounted device configured in this way, as described above, even when the lighting start of the specific color signal in the next traffic light is not observed, the remaining time of the specific color signal of the next traffic light is derived and this information is obtained. Can be output.

  Moreover, if only the specific signal display time and the relative offset time are recorded, the lighting start time of the next traffic light is not estimated using the lighting start time of the traffic light that is relatively close to the next traffic light on the vehicle path. There is a possibility that the lighting start time of a cycle that is not suitable for the current time among the lighting cycles repeatedly performed is estimated.

  Therefore, the analysis means derives the cycle length of the traffic light for each of the traffic lights displayed in the video data, and the analysis result storage means uses the cycle length derived by the analysis means to represent the installation position of the corresponding traffic light. It is good to make it the structure memorize | stored in relation to (Claim 6).

  Then, the start time estimating means uses the reference time set by the reference setting means and the next traffic light offset time deriving means when the state determination means determines that the next traffic light is lighting the specific color signal. Based on the derived next traffic light offset time and the cycle length of the next traffic light stored in the analysis result storage means, the time when the lighting of the specific color signal being lit in the next traffic light is started is configured. (Claim 7).

  According to the vehicle-mounted device configured as described above, an appropriate lighting start time corresponding to the current cycle can be obtained based on the cycle length, and the lighting start time of the specific color signal in the traffic signal located away from the next traffic light Based on the above, it is possible to appropriately obtain the remaining time until the lighting of the specific color signal ends in the next traffic light.

  The start time estimating means is derived by the reference time set by the reference setting means and the next traffic light offset time deriving means when the state determining means determines that the next traffic light is not lighting the specific color signal. Based on the next traffic signal offset time and the cycle length of the next traffic signal stored in the analysis result storage means, the lighting time of the specific color signal is started at the time when the next color signal starts to light in the nearest future from the present. The remaining time deriving means is determined by the state determining means to determine that the next traffic light is not lighting the specific color signal, and the start time estimating means estimates the lighting start time of the specific color signal in the next traffic light. Then, the remaining time until the lighting start time estimated by the start time estimating means may be derived (claim 8).

  According to the vehicle-mounted device configured in this manner, the remaining time until the lighting of the specific color signal is started in the next traffic light is appropriately set based on the lighting start time of the specific color signal in the traffic light at a position away from the next traffic light. Can be sought.

  In addition to this, the green signal display time, which is the time from when the traffic light projected on the video data starts lighting up to the end, and the traffic light projected on the video data starts lighting up the red signal and ends. For in-vehicle devices that derive the red signal display time, which is the time until the red signal display time, based on the traffic light map, the green signal display time of the traffic light that intersects the traffic light from which the red signal display time is derived is used as the red signal display time. It is preferable to provide a green signal display time estimation means for estimation based on the above.

  In addition, the analysis result storage means stores each of the green signal display time and the red signal display time derived by the analysis means in association with information indicating the installation position of the corresponding traffic light, and estimates by the green signal display time estimation means. Each of the displayed green signal display times may be stored in association with information indicating the installation position of the corresponding traffic light (claim 9).

  In the green light, the vehicle passes immediately through the traffic light without stopping before the traffic light. For this reason, the method of deriving the green signal display time by observing the change of the green signal is unlikely to be able to derive the green signal display time. Specifically, if the vehicle is moving slowly in front of the traffic light or if it is not a clear road due to traffic jams in front of the traffic light, the change in the green light is observed and the green traffic light is displayed. Time cannot be derived.

  On the other hand, the red signal display time can be easily observed in a vehicle waiting for a signal. Therefore, if the green signal display time of the crossing road is estimated from the red signal display time as in this in-vehicle device, the information on the green signal display time can be obtained even if no traffic jam occurs in front of the traffic light. That is, the information on the green light display time can be efficiently collected and stored.

  Further, the in-vehicle device is obtained by the next signal device identifying means for identifying the next signal device that is the next traffic signal through which the host vehicle passes based on the vehicle information and the traffic signal map obtained by the vehicle information obtaining device, and the image data obtaining device. Based on the video data, start time detecting means for detecting that the next traffic light identified by the next traffic light identifying means has started lighting either one of the blue signal and the red signal, and the next traffic light is detected by the start time detecting means. When it is detected that lighting of one of the signals has started, it is the specific signal display time of the next traffic light stored in the analysis result storage means, and the information of the specific signal display time for the signal that has started lighting And the output means for outputting the information of the remaining time until the lighting of the signal that has started lighting in the next traffic light ends. (Claim 10).

  According to the vehicle-mounted device configured as described above, the information on the remaining time until the lighting of the green light and the remaining time until the lighting of the red signal is completed can be obtained without providing the roadside unit. Can be provided to passengers.

2 is a block diagram illustrating a configuration of an in-vehicle device 1. FIG. It is a figure showing the structure of a traffic signal map. 4 is a flowchart illustrating an observation process executed by a control unit 21. It is a figure showing the structure of an observation history file. It is a flowchart showing the data analysis process which the control part 21 performs. It is a figure showing the structure of an offset time analysis table and a display time analysis table. It is a flowchart showing the display time analysis table edit process which the control part 21 performs. It is a flowchart showing the offset time analysis table edit process which the control part 21 performs. It is explanatory drawing regarding the update aspect of an offset time analysis table. It is a flowchart showing the display time statistical process which the control part 21 performs. It is a flowchart showing the display time statistical process which the control part 21 performs. It is a figure showing the structure of a traffic signal analysis database. It is a flowchart showing the offset time statistical process which the control part 21 performs. It is a flowchart showing the offset time statistical process which the control part 21 performs. It is a flowchart showing the guidance process which the control part 21 performs. It is a flowchart showing the guidance process which the control part 21 performs. It is a flowchart showing the guidance process which the control part 21 performs.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of an in-vehicle device 1 to which the present invention is applied. The in-vehicle device 1 of the present embodiment includes a position detector 11, an operation switch group 13, a display unit 15, an audio output unit 17, a camera 19, a control unit 21, and a hard disk device (HDD) 23. Prepare.

  The in-vehicle device 1 acquires information on the lighting pattern of the traffic light installed on the road through which the host vehicle passes through the camera 19 and accumulates the information in the hard disk device 23. Then, based on the information stored in the hard disk device 23, the remaining time of the green light of the traffic light that the host vehicle passes next (hereinafter referred to as “next traffic light”) is guided to the vehicle occupant.

  More specifically, the position detector 11 receives a radio wave transmitted from an artificial satellite for GPS (Global Positioning System) via a GPS antenna and detects a latitude / longitude of the current location, and an in-vehicle device. 1 is provided with a gyroscope 11b for detecting the magnitude of the rotational motion applied to the vehicle on which 1 is mounted, a distance sensor 11c for detecting the travel distance of the vehicle, and a geomagnetic sensor 11d for detecting the traveling direction of the vehicle from the geomagnetism, The detection signals of these units 11a to 11d are input to the control unit 21.

  On the other hand, the operation switch group 13 includes a mechanical key switch provided around the display unit 15, a touch panel integrally formed with the display unit 15, and the like, and functions as a user interface that can be operated by the user. The display unit 15 includes a liquid crystal monitor, and the audio output unit 17 includes a speaker and an amplifier, and outputs various guidance sounds based on an input signal from the control unit 21.

  The camera 19 is for photographing a traffic light in front of the vehicle, and is installed at a position where the vehicle front can be photographed in a vehicle on which the in-vehicle device 1 is mounted, and generates video data representing an image ahead of the host vehicle. To do.

  In addition, the control unit 21 includes a CPU 21a that executes various programs and a RAM 21b that is used as a work area when the CPU 21a executes the programs. The CPU 21a executes the various programs stored in the hard disk device 23. Thus, the vehicle-mounted device 1 as a whole is controlled in an integrated manner to realize various functions. For example, the control unit 21 specifies the position and traveling direction of the host vehicle based on the input signal from the position detector 11, and executes processing corresponding to the position and traveling direction of the host vehicle using the result.

  Further, the hard disk device 23 includes road map data representing road connection relations and a traffic signal map representing the installation position of traffic lights. FIG. 2 is an explanatory diagram showing the configuration of the traffic light map stored in the hard disk device 23. As shown in FIG. 2, the traffic signal map stored in the hard disk device 23 has detailed traffic signal data for each traffic signal installed in a predetermined area (for example, all over Japan).

  Specifically, the traffic light detailed data for each traffic light constituting the traffic light map has signal light installation information indicating the installation position and installation mode of the signal light, signal light type information indicating the type of the signal light installed, and peripheral signal equipment It has peripheral device information that is information.

  More specifically, the signal lamp installation information represents the latitude / longitude at which the signal lamp is installed, the height of the signal lamp from the ground, and the display direction (azimuth) of the signal lamp. The signal lamp type information is information indicating the lens diameter of the signal lamp, the arrangement type (vertical / horizontal) of each color lens, and the like.

This traffic light detailed data includes signal light installation information and signal light type information for a plurality of signal lights depending on circumstances.
That is, depending on the type of intersection, a plurality of signal lamps (main signal lamp and auxiliary signal lamp) may be installed for each approach route to the intersection (see the traffic light with ID = 123464 shown in FIG. 9). Specifically, taking into account the dangers of traffic signals being blocked by obstacles, two or more signal lights installed at different points and synchronized with a group of vehicles entering the intersection from the same route A signal may be displayed.

  In the present embodiment, such a set of signal lights that can be regarded as a single unit is handled as one signal device, and the above-mentioned signal device detailed data is generated. That is, the traffic light map has traffic light detailed data for each approach route where the traffic light is installed at each intersection, and each traffic light detailed data includes the traffic light installation information and the traffic light for each of the traffic lights handled as the single traffic light. Has type information.

  In the present embodiment, the information on the traffic signal ID is associated with each traffic signal detailed data configured as described above, and a unique ID is assigned to each traffic signal. The traffic signal ID is also used for road map data. In the road map data, the traffic signal ID of the traffic signal installed at each intersection (node) is registered in the node data of the corresponding intersection. Note that the node data is data representing the position of the corresponding intersection and the connection relationship with the road (link), similarly to the node data included in the known car navigation apparatus. More specifically, each traffic signal ID is registered in node data in association with information on an approach route (link) to the intersection where the corresponding traffic signal displays a traffic signal.

  In addition, the peripheral device information included in each traffic light detailed data corresponds to the synchronous traffic signal information indicating the traffic signal ID of the oncoming traffic signal that operates synchronously at the same intersection as the traffic signal corresponding to the traffic signal detailed data, and the traffic signal detailed data. It has traffic light information capable of estimating blue time and upstream traffic signal information indicating the traffic light ID of the traffic light installed at the same intersection where the green light display time can be estimated based on the red light display time of the traffic light.

  Here, the synchronous traffic signal information will be described in detail. Each traffic signal installed at the intersection usually operates so as to switch traffic signals at the same timing as the traffic signal installed in the opposite lane. In general, a set of traffic lights having the relationship is synchronized. More specifically, it is normal that the traffic signal with the traffic signal ID = 123451 and the traffic signal with the traffic signal ID = 123453 shown in the upper part of FIG. 9 operate synchronously with each other at a general intersection. The synchronous traffic signal information represents the traffic signal ID of such a traffic signal that operates in synchronization.

  In addition, in a set of traffic lights installed on roads that intersect each other, if the total red time when all the traffic lights in the intersection are red light is ignored, the red light display time of the road that intersects with the green light will be the same. Usually, lighting control is performed. That is, the traffic light information capable of estimating the green time represents the traffic signal ID of the traffic light that is controlled in the opposite phase on the intersection road.

  In addition, the upstream traffic signal information represents the traffic signal ID of the traffic signal that passes through the vehicle group that travels immediately before the “lane in which the traffic signal corresponding to the traffic signal detailed data including the upstream traffic signal information displays the traffic signal”. It is.

  Specifically, it is a traffic signal installed at an intersection (hereinafter referred to as an “upstream intersection”) adjacent to the upstream side of the vehicle course of the “lane in which the traffic signal corresponding to the traffic signal detailed data displays a traffic signal”. A traffic light (hereinafter referred to as an “upstream traffic light”) that displays a traffic signal for a group of vehicles traveling along a route that can be entered via an upstream intersection into a lane in which the traffic light corresponding to the traffic light detailed data displays the traffic signal. This represents the traffic signal ID.

  For example, when the traffic signal corresponding to the traffic signal detailed data is the traffic signal of ID = 123461 shown in FIG. 9, the upstream traffic signal is a group of vehicles traveling on a route in which the traffic signal of ID = 123461 can go straight to the lane displaying the traffic signal. ID = 123451 for displaying traffic signals and IDs for displaying traffic signals for a group of vehicles traveling on a route that allows the traffic lights of ID = 123461 to enter the lane displaying traffic signals by making a left turn = 123452 and ID = 123461 correspond to a traffic signal of ID = 123454 that displays a traffic signal for a group of vehicles traveling on a route that can be entered by turning right into a lane displaying a traffic signal.

Next, a process executed by the control unit 21 to guide the remaining time of the green signal of the next traffic light to the vehicle occupant will be described.
FIG. 3 is a flowchart showing an observation process that the control unit 21 repeatedly executes at regular intervals. The control unit 21 analyzes the video data output from the camera 19 by executing this observation process, specifies the display color of each traffic signal displayed in the video data, and stores this specification result in the RAM 21b. Hold.

  When the observation process shown in FIG. 3 is started, the control unit 21 first identifies the position and traveling direction of the host vehicle based on the input signal of the position detector 11 (S110). Based on the identification result and the traffic signal map stored in the hard disk device 23, the position coordinates and the shape in the video data are theoretically identified for the traffic signal that is captured by the camera 19 and displayed in the video data (S120). ). Specifically, the position coordinates at which the traffic signal is projected and the shape of the traffic signal are specified in the still image frame at the current time constituting the video data.

  As described above, the traffic light map has information indicating the shape of the traffic light such as the installation position of the signal light installed on the road and the lens diameter. In S120, based on the relationship between this information and the shooting area of the camera 19 derived from the position and traveling direction of the host vehicle, the position coordinates in the video data of the traffic signal shot by the camera 19 and displayed in the video data. And the shape is specified.

  When this processing is completed, the control unit 21 determines whether there is a theoretical signal that is displayed in the video data at the current position and traveling direction of the host vehicle based on the processing result in S120. (S130).

  If it is determined that it does not exist (No in S130), the observation process is temporarily terminated. If it is determined that it exists (Yes in S130), the video data input from the camera 19 is acquired and analyzed (specifically, The current time still image frame is acquired and analyzed), and the position coordinates and shape of the traffic light image frame displayed in the video data are specified, and the position coordinates and shape specified by this operation are determined in S120. The traffic signal ID of each traffic signal displayed in the video data is specified by collating the position coordinates and shape of the traffic signal displayed in the specified theoretical frame (S140).

  Further, the control unit 21 specifies the display color of each traffic signal displayed in the video data (S150). In this embodiment, it is assumed that the arrow signal is ignored and the display color of the traffic light is blue, yellow, or red.

  Thereafter, the control unit 21 converts the information indicating the traffic signal ID specified in S140, the information indicating the display color specified in S150, and the analyzed video data (still image frame) for each traffic signal displayed in the video data. Generate observation data consisting of information on the corresponding shooting date and time.

  Then, the generated observation data for each traffic light is registered in the observation history file stored in the RAM 21b (S170), and the observation process is temporarily terminated. FIG. 4 is an explanatory diagram showing the configuration of the observation history file stored in the RAM 21b.

  Next, a data analysis process that the control unit 21 repeatedly executes at a constant period in parallel with the above observation process will be described. FIG. 5 is a flowchart showing this data analysis processing. The control unit 21 calculates the display time of each color signal in each traffic signal displayed in the video data based on the observation history file stored in the RAM 21b by executing the data analysis process shown in FIG. That is, for each color signal of the blue signal, the yellow signal, and the red signal, the time from the start to the end of lighting of the signal is calculated.

When the data analysis processing shown in FIG. 5 is started, the control unit 21 sets one of the traffic signal IDs indicated by the observation data group registered in the observation history file as the processing target ID (S210).
Then, the observation data registered in the observation history file and indicating the same traffic signal ID as the processing target ID is sequentially referred to in the past direction from the observation data with the latest shooting date and time, and the processing target ID is set. In the corresponding traffic light, the observation data at the time when the display color is switched at the past time closest to the current time is searched (S220).

  Specifically, in S220, observation data immediately after the display color of the traffic signal corresponding to the processing target ID is switched to the display color indicated by the latest observation data (hereinafter referred to as “immediate observation data”), and this Immediately after the observation data that is temporally adjacent in the past direction, the observation data immediately before the display color changes (hereinafter referred to as “immediate observation data”) in the observation data group of the processing target ID. Search from.

  Here, if the corresponding observation data can be found (Yes in S225), the control unit 21 proceeds to S230, and if the corresponding observation data cannot be found (No in S225), The process proceeds to S295.

  When the process proceeds to S230, the control unit 21 determines whether or not the display color indicated by the observation data immediately after is blue, and if the display color is blue (Yes in S230), the shooting date and time indicated by the observation data immediately after is determined. Is newly registered in the offset time analysis table stored in the hard disk device 23, with the signal ID of the traffic light (that is, the processing target ID) and the record indicating the green light display start date and time being recorded. (S235).

  FIG. 6A is an explanatory diagram showing the configuration of the offset time analysis table stored in the hard disk device 23. As shown in FIG. 6A, each record of the offset time analysis table includes a traffic signal ID, a green signal display start date and time, offset information (details will be described later), and statistical group information (details will be described later).

In S235, the offset information and statistical group information are set to null, and the new record is registered in the offset time analysis table. Thereafter, the process proceeds to S240.
On the other hand, when determining that the display color indicated by the observation data immediately after is not blue (No in S230), the control unit 21 proceeds to S240 without executing the process of S235.

After shifting to S240, the control unit 21 sets the immediately preceding observation data as the analysis target data, and sets the display color indicated by the immediately preceding observation data as the analysis target color (S245).
Further, the value of the parameter TE is set to the shooting date and time indicated by the next data (that is, the observation data immediately after) of the analysis target data. Thereby, the display end date and time of the color to be analyzed is stored and held in the parameter TE (S250).

  When the process in S250 is completed, the control unit 21 starts from the analysis object data set in S240 in the past direction with the observation data group of the process object ID registered in the observation history file. , The observation data immediately after the display color of the traffic signal corresponding to the processing target ID is switched to the analysis target color is searched (S260).

  If the corresponding observation data can be found (Yes in S265), the process proceeds to S270. If the corresponding observation data cannot be found (No in S265), the process proceeds to S290. .

  After shifting to S270, the control unit 21 sets the value of the parameter TS to the parameter TS by setting the value of the parameter TS to the shooting date and time indicated by the observation data immediately after switching to the analysis target color found as a result of the search in S260. The display start date and time of the analysis target color is stored and held.

  Based on the values of the parameters TE and TS, the display time TI of the color to be analyzed is calculated according to the arithmetic expression TI = TE−TS (S275). That is, the time TI from the start to the end of the color signal corresponding to the analysis target color is calculated.

  Thereafter, it is determined whether or not the calculated value TI in S275 is normal depending on whether or not the calculated value TI is within a predetermined upper limit value TI_MAX and lower limit value TI_MIN (S280). .

  The upper limit value TI_MAX and the lower limit value TI_MIN are for discarding the calculated value TI with low reliability as display time information, and are determined in advance at the design stage for each of blue, red, and yellow. 23 is stored and held. For example, it is clear that there is no common sense signal with a green light display time of 1 second. The upper limit value TI_MAX and the lower limit value TI_MIN are used to discard such an uncommon calculation value TI.

  When determining that the calculated value TI is abnormal (No in S280), the control unit 21 proceeds to S290, and when determining that the calculated value TI is normal (Yes in S280), the control unit 21 proceeds to S285.

  In S285, the display time analysis table stored in the hard disk device 23 stores the currently set processing target ID, the analysis target color, the value of the parameter TS indicating the display start date and time of the analysis target color, and the analysis target color. A record in which the value of the parameter TE indicating the display end date and time and the display time TI of the color to be analyzed is newly registered.

  FIG. 6B is an explanatory diagram showing the configuration of a display time analysis table stored in the hard disk device 23. As shown in FIG. 6B, the records registered in the display time analysis table include a traffic signal ID, a display color, a display start date / time of a color signal corresponding to the display color, a display end date / time, a display time, and a statistical group. It consists of information (details will be described later). However, in S285, the statistical group information is set to null, and the new record described above is registered in the display time analysis table. Thereafter, the process proceeds to S290.

  When the process proceeds to S290, the control unit 21 uses the observation history file with the observation data of the processing target ID that has a shooting date and time earlier than the currently set analysis target data as unnecessary observation data in the future. Delete from. However, in S290, the analysis target data itself is not deleted from the observation history file.

  When the processing in S290 is completed in this way, the control unit 21 assigns to the traffic signal ID group indicated by the observation data registered in the observation history file, the traffic signal that has not yet been set as the processing target ID in the current data analysis processing. It is determined whether or not the ID exists (S295). If the ID exists (Yes in S295), the process proceeds to S210, and one of the traffic signal IDs not yet set as the processing target ID is set as the processing target ID. Set and execute the processing from S220. On the other hand, when there is no traffic signal ID that is not yet set as the processing target ID (No in S295), the data analysis process is temporarily ended.

  By executing the data analysis process in this way, the control unit 21 detects the traffic signal that has started displaying the green signal in real time, registers the green signal display start date and time of the traffic signal in the offset time analysis table, and For a traffic light that can observe a transition from the start of lighting to the end of lighting with respect to any traffic signal of yellow signal and red signal, the display time of the corresponding color signal is registered in the display time analysis table.

  Next, a display time analysis table editing process executed by the control unit 21 each time the data analysis process is executed will be described with reference to FIG. FIG. 7 is a flowchart showing the display time analysis table editing process executed by the control unit 21.

  Note that the display time analysis table edit processing is performed when the lighting pattern of the traffic light that starts displaying the red signal again after the red signal once returned to the yellow signal due to the presence of the arrow signal is displayed in red. This is a process for editing a record that is regarded as a signal and registered in the display time analysis table. In this embodiment, since the arrow signal is excluded from the analysis target, the red signal display time of the traffic light with the arrow signal is derived by such a method.

  When the display time analysis table editing process shown in FIG. 7 is started, the control unit 21 displays the display time analysis table between the time when the previous display time analysis table editing process is executed and the time when the current display time analysis table editing process is executed. Referring to the newly registered record group, it is determined whether or not there is a record whose display color is yellow in the newly registered record group (S310).

  If it is determined that there is no record whose display color is yellow (No in S310), the process proceeds to S370. On the other hand, if it is determined that there is a record whose display color is yellow (Yes in S310), the process proceeds to S320.

  In S320, the control unit 21 sets one of the newly registered records whose display color is yellow as the processing target record, and is a record in which the same traffic signal ID as the processing target record is written. In the display time analysis table, a record having a red display color connected to the past is searched. That is, a record having the same signal ID that is temporally adjacent to the processing target record in the past direction and whose display color is red is searched in the display time analysis table. Note that the search target record is not limited to a newly registered record.

  If the corresponding record can be found (Yes in S335), the control unit 21 proceeds to S340. If the corresponding record cannot be found (No in S335), the control unit 21 proceeds to S365.

  When the process proceeds to S340, the control unit 21 regards the processing target record as a record whose display color is red, and the processing target record with respect to the record whose display color connected to the past from the processing target record obtained as a result of the search is red. Processing to incorporate the contents of.

  Specifically, the display end date and time indicated in the record with the red display color connected to the processing target record is updated to the display end date and time indicated by the processing target record, and the display color connected to the past from the processing target record is The display time described in the red record is updated to a value obtained by subtracting the display start date and time indicated by the record from the display end date and time after the update.

When this incorporation process is completed, the control unit 21 performs a process of deleting the process target record from the display time analysis table.
When the deletion of the processing target record is completed, the control unit 21 proceeds to S350, and the display color connected to the past from the processing target record in which the content of the processing target record is incorporated (hereinafter referred to as “set” A record having the same traffic signal ID as that of the “post-recording record” is searched for in the display time analysis table in the display time analysis table. That is, a record with the same signal ID that is temporally adjacent to the post-installation record in the future direction and whose display color is red is searched in the display time analysis table.

  Here, when the corresponding record can be found (Yes in S355), the control unit 21 proceeds to S360. When the corresponding record cannot be found (No in S355), the control unit 21 proceeds to S365. .

  In S360, the control unit 21 performs a process of incorporating the contents of the record whose display color is red that leads to the future from the post-incorporation record obtained as a result of the search into the post-incorporation record. That is, the display end date and time recorded in the post-incorporation record is updated to the display end date and time indicated by the record whose red display color is linked to the future from the post-incorporation record, and the display time described in the post-incorporation record is updated. The display start date / time is updated to a value obtained by subtracting the display end date / time after the update. Further, when this incorporation process is completed, a process for deleting a record with a red display color connected to the future from the post-installation record from the display time analysis table is performed.

  When the deletion of the record is completed, the control unit 21 proceeds to S365 and determines whether or not all newly registered records whose display color registered in the display time analysis table is yellow are selected as the processing target records. If all records are not selected as processing target records (No in S365), the process proceeds to S320, and one newly registered record whose display color is yellow is not yet selected as a processing target record. The target record is set, and the processes after S330 are executed.

  On the other hand, if it is determined that all the records to be processed have been selected (Yes in S365), the process proceeds to S370, and there is a record whose display color is red in the newly registered record group registered in the display time analysis table. Judge whether or not.

  If it is determined that there is no record whose display color is red (No in S370), the display time analysis table editing process is terminated. If it is determined that a record whose display color is red exists (Yes in S370), the process proceeds to S375. Transition.

  When the process proceeds to S375, the control unit 21 sets one of the newly registered records whose display color is red as the processing target record, and the same traffic signal ID as that of the processing target record is described in the same manner as the processing in S330. A record having a red display color connected to the past from the processing target record is searched in the display time analysis table (S380).

  If the corresponding record can be found (Yes in S385), the process proceeds to S390. If the corresponding record cannot be found (No in S385), the process of S390 is not executed, and S395 is performed. Migrate to

  When the process proceeds to S390, the control unit 21 incorporates the contents of the processing target record into the record whose display color is red from the processing target record obtained as a result of the search in S380 and completes the incorporation. Later, processing for deleting the processing target record from the display time analysis table is performed. The specific processing content is the same as S340. Then, when the deletion of the processing target record is completed, the process proceeds to S395.

  Further, in S395, it is determined whether or not all newly registered records whose display color registered in the display time analysis table is red are selected as processing target records, and it is determined that all are not selected as processing target records. (No in S395), the process proceeds to S375, and one newly registered record whose display color is red, which has not yet been selected as a process target record, is set as a process target record, and the processes after S380 are executed. On the other hand, if it is determined that all the records to be processed have been selected (Yes in S395), the display time analysis table editing process ends.

  In this way, in this embodiment, in the traffic light with an arrow signal, the yellow signal record displayed when the arrow signal is extinguished is incorporated into the red signal record, and the display time analysis table is edited.

  Next, an offset time analysis table editing process executed by the control unit 21 each time the data analysis process is executed will be described with reference to FIG. FIG. 8 is a flowchart showing the offset time analysis table editing process executed by the control unit 21. The offset time analysis table editing process is a process for updating the offset information in each record registered in the offset time analysis table to valid information.

  When the offset time analysis table editing process is started, the control unit 21 newly registers in the offset time analysis table between the time when the previous offset time analysis table editing process is executed and the time when the current offset time analysis table editing process is executed. It is determined whether or not the recorded record exists (S410). If it is determined that it does not exist (No in S410), the offset time analysis table editing process is terminated. If it is determined that it exists (Yes in S410), the process proceeds to S420.

  When the process proceeds to S420, the control unit 21 refers to the newly registered record group registered in the offset time analysis table, and sets one of the traffic signal IDs indicated by the newly registered record group as the processing target ID. When this processing is completed, the control unit 21 proceeds to S425, refers to the traffic signal detailed data associated with the same traffic signal ID as the processing target ID in the traffic signal map, and is described as upstream traffic signal information in this traffic signal detailed data. One of the traffic signal IDs is set as the reference traffic signal ID.

  Then, the record of the reference signal ID (that is, the record indicating the green signal display start date and time of the signal corresponding to the reference signal ID) is searched in the offset time analysis table (S430), and the record can be found. In the case (Yes in S435), the process proceeds to S440, and when the corresponding record cannot be found (No in S435), the process proceeds to S460.

  In S440, the control unit 21 targets the newly registered record group of the processing target ID registered in the offset time analysis table and the record group of the reference traffic signal ID registered in the offset time analysis table. A combination of the date and time TB0 and the date and time TB1 that minimizes the difference Δ = | TB0−TB1 | between the green signal display start date and time TB0 indicated by the newly registered record of the processing target ID and the green signal display start date and time TB1 indicated by the record of the reference traffic signal ID. Identify.

  If the minimum value of the difference Δ is larger than the threshold value (No in S445), the process proceeds to S460. If the minimum value of the difference Δ is equal to or less than the threshold value (Yes in S445), the process proceeds to S450. The threshold value is for excluding the difference Δ that is inappropriate to be regarded as the relative offset time between the traffic lights from the processing target in S450, and is determined in advance by the designer in accordance with this gist.

  When the process proceeds to S450, the control unit 21 uses the combination of the date and time TB0 and the date and time TB1 that minimize the identified difference Δ as a reference to the traffic signal corresponding to the processing target ID based on the traffic signal corresponding to the reference traffic signal ID. The offset time TD = TB0−TB1 is calculated. Then, the information of the relative offset time TD and the reference signal device ID calculated in S450 is written as offset information for each newly registered record of the processing target ID in the offset time analysis table (S455).

  When this process is finished, the control unit 21 determines whether or not all of the traffic signal IDs described as the upstream traffic signal information in the traffic signal detailed data of the processing target ID are set as the reference traffic signal ID (S460). When it is determined that all the traffic signal IDs described as upstream traffic signal information are not set as the reference traffic signal ID (No in S460), the process proceeds to S425, and the traffic signal IDs that are not yet set as the reference traffic signal ID are A new reference traffic signal ID is set, and the processing after S430 is executed.

  On the other hand, if it is determined that all of the traffic signal IDs described as the upstream traffic signal information are set as the reference traffic signal ID (Yes in S460), the control unit 21 proceeds to S470 and is newly registered in the offset time analysis table. It is determined whether or not all the traffic signal IDs indicated by the registered record group have been set as processing target IDs.

  If it is determined that all the traffic signal IDs indicated by the new registration record group have not been set as processing target IDs (No in S470), the process proceeds to S420, and the new registration record group that has not yet been set as the processing target ID. Is set as a new processing target ID, and then the processing from S425 onward is executed.

On the other hand, if it is determined that all of the traffic signal IDs indicated by the newly registered record group have been set as processing target IDs (Yes in S470), the offset time analysis table editing process is terminated.
FIG. 9 is an explanatory diagram showing how the offset time analysis table is updated by the offset time analysis table editing process.

  Here, the update mode of the offset time analysis table by the offset time analysis table editing process will be specifically described with reference to FIG. First, as a premise, consider the case where the processing target ID is set to ID = 123461 in S420. As described above, the upstream traffic signal in this case is a traffic signal with ID = 123451, a traffic signal with ID = 112352, and a traffic signal with ID = 123454.

  Accordingly, in S425, first, the reference signal ID is set to ID = 123451, and the record of this reference signal ID is searched in the offset time analysis table. Here, when the own vehicle is moving straight ahead with respect to the lane in which the traffic light of ID = 123461 displays a traffic signal, the traffic light of ID = 123451 should be displayed in the past video data. . Therefore, after the traffic light with ID = 123451 is temporarily stopped with a red light and the host vehicle is going straight ahead when the display of the blue light is started, the green signal display start date and time of the traffic light corresponding to ID = 123451 is detected. In the offset time analysis table, a record for the traffic signal with ID = 123451 is registered.

  In S430, such a record is searched in the offset time analysis table, and if there is such a record, the relative offset time TD of the signal with ID = 123461 is calculated based on the signal with ID = 123451 by the above-described method. The relative offset time TD and “123451” as the reference traffic signal ID are written as offset information in the record of the traffic signal ID = 123461 as shown in FIG. 9 [1].

  Further, after this processing, the reference traffic signal ID is set to ID = 123452, and the record of the reference traffic signal ID is searched in the offset time analysis table. Here, when the own vehicle is going straight ahead with respect to the lane where the traffic signal of ID = 123461 displays a traffic signal, even if the corresponding record is not found or there is a corresponding record, the record is old Since this is a record, the minimum value of the difference Δ exceeds the threshold, and normally, offset information is not newly written to the record with the traffic signal ID = 123461.

  On the other hand, when the own vehicle is making a left turn with respect to the lane where the traffic light of ID = 123461 displays a traffic signal, the offset information is written by setting the reference traffic light ID to ID = 123452. become.

  In other words, when the own vehicle is making a left turn with respect to the lane in which the traffic light of ID = 123461 displays a traffic signal, the traffic light of ID = 123452 should be displayed in the past video data. Therefore, after the traffic light with ID = 123452 is temporarily stopped with a red light, when the host vehicle is turning to the left at the start of the display of the green light, the green signal display start date and time of the traffic light corresponding to ID = 123452 is detected, In the offset time analysis table, a record for the traffic signal with ID = 123452 is registered.

  In S430, such a record is searched in the offset time analysis table, and if there is a corresponding record, the relative offset time TD of ID = 123461 is calculated based on the traffic signal of ID = 123452 by the above-described method. As shown in FIG. 9 [2], “1233452” as the offset time TD and the reference traffic signal ID is written as offset information in the record of the traffic signal ID = 123461.

  Further, after this processing, the control unit 21 sets the reference signal ID to ID = 123454, and searches for the record of the reference signal ID in the offset time analysis table. Here, in the case where the own vehicle has entered the lane displaying the traffic signal with a traffic signal of ID = 123461 by going straight or turning left, even if the corresponding record is not found or there is a corresponding record, the record Since the record is an old record, the minimum value of the difference Δ exceeds the threshold, and normally, offset information is not newly written to the record with the traffic signal ID = 123461.

  On the other hand, when the own vehicle is making a right turn with respect to the lane where the traffic signal of ID = 123461 displays a traffic signal, the offset information is written by setting the reference traffic signal ID to ID = 123454. become.

  In other words, when the own vehicle is making a right turn with respect to the lane in which the traffic light of ID = 123461 displays the traffic signal, the traffic light of ID = 123454 should be displayed in the past video data. Therefore, after the traffic light with ID = 123454 is temporarily stopped with a red light, when the host vehicle is turning to the right with the start of displaying the blue light, the green signal display start date and time of the traffic light corresponding to ID = 123454 is detected, In the offset time analysis table, a record for the traffic signal with ID = 123454 is registered.

  In S430, such a record is searched in the offset time analysis table, and if there is a corresponding record, the relative offset time TD of ID = 123461 is calculated based on the traffic signal of ID = 123454 by the above-described method, and this relative As shown in FIG. 9 [3], “123454” as the offset time TD and the reference traffic signal ID is written as offset information in the record of the traffic signal ID = 123461.

In the offset time analysis table editing process, offset information is written in the record registered in the offset time analysis table in this way.
Subsequently, the display time statistical process executed by the control unit 21 each time the display time analysis table editing process is executed will be described with reference to FIGS. 10 and 11. 10 and 11 are flowcharts showing the display time statistical process executed by the control unit 21 after the display time analysis table editing process is executed. In this display time statistical processing, each record registered in the display time analysis table is statistically processed for each traffic light and for each time zone, and a plausible value for each color signal display time is obtained for each traffic light and time zone. Calculate every time.

  When the display time statistical processing shown in FIG. 10 and FIG. 11 is started, the control unit 21 first displays the display time analysis table between the time when the previous display time statistical processing is executed and the time when the current display time statistical processing is executed. It is determined whether or not there is a newly registered record (S510). If it is determined that the record does not exist (No in S510), the display time statistical process is terminated, and if it is determined that it exists (Yes in S510), S520 Migrate to

  In S520, the control unit 21 selects one of the new records registered in the display time analysis table as a process target record. Then, the processing target record is classified into one of the predefined statistical groups (S525).

  In the in-vehicle device 1 of the present embodiment, a statistical group for each time zone is defined for each traffic signal registered in the traffic signal map at the design stage or by a setting operation by the user. That is, in S525, the statistical group corresponding to the traffic signal ID indicated by the processing target record and the time group to which the display start date and time indicated by the processing target record belongs is specified, and the statistical group information is included in this processing target record. As described above, the record to be processed is classified into the specified statistical group by writing an identification code representing the specified statistical group.

  For example, as shown in FIG. 12, the first time zone from 0:00 to 7:00, the second time zone from 7:00 to 10:00, the third time zone from 10:00:00 to 12:00, The fourth time zone from 00 to 13:00, the fifth time zone from 13: 0 to 17:00, the sixth time zone from 17:00 to 20:00, and the seventh time zone from 20:00 to 24:00 Consider a case where a statistical group corresponding to each time zone is defined, and a record of traffic signal ID = 123451 shown in FIG. 6B is set as a processing target record.

  In this case, in S525, it is specified that the statistical group corresponding to the processing target record is a statistical group corresponding to the second time zone with ID = 123451, and the processing target record includes, for example, “123451/2”. A statistical group identification code composed of a traffic signal ID and a code representing a time zone is written as statistical group information.

  When the processing in S525 is completed in this way, the control unit 21 sets the display color indicated by the processing target record to the statistical processing target color (S530), and the processing target record registered in the display time analysis table. The display processing time of the statistical processing target color described in the same statistical group record (that is, the record having the same statistical group information as the processing target record) is evaluated for variation (S535).

  In S535, for example, the variance for the display time that is the record group of the same statistical group as the processing target record and the display color is recorded in the record group of the statistical processing target color is calculated. It is evaluated that the variation is large, and if the variance is less than the threshold value, it is evaluated that the variation is small. If there is only one sample (corresponding record), it may be evaluated that the variation in form is large or small.

  If it is evaluated that the variation is small (Yes in S540), the statistical processing target is based on the record group of the same statistical group as the processing target record and the display color is the statistical processing target color. Color display time statistics are calculated (S550).

  Here, a frequency distribution is obtained for the display time indicated by each of the record groups of the same statistical group as the processing target record and the display color is the statistical processing target color, and the mode value in this frequency distribution, that is, The display time with the largest number of samples may be calculated as the display time statistical value of the statistical processing target color, or the record group is the same statistical group as the processing target record, and the display color is the statistical processing target color record group The median display time indicated by each of the above may be calculated as the display time statistical value.

  When the calculation of the display time statistical value is completed, the control unit 21 proceeds to S560, and the hard disk device 23 stores the calculated display time statistical value as the display time statistical value of the statistical processing target color in the statistical group. Registered in the traffic signal analysis database. FIG. 12 is an explanatory diagram showing the configuration of a traffic signal analysis database that the hard disk device 23 has.

  As shown in FIG. 12, the traffic signal analysis database has statistical data associated with the traffic signal ID of each traffic signal registered in the traffic signal map, and the statistical data associated with each traffic signal ID is a time zone. Each has statistical data for each time zone including a display time statistical value of a blue signal, a yellow signal, and a red signal, a cycle length statistical value, and a relative offset time statistical value. That is, the traffic signal analysis database is configured to have the above-mentioned statistical data for each time zone for each statistical group.

  In S560, in the traffic light analysis database configured as described above, among the display time statistical values of the blue signal, the yellow signal, and the red signal indicated by the statistical data for each time zone corresponding to the statistical group of the processing target record, The corresponding display time statistical value is updated to the calculated display time statistical value.

  When this process is finished, the control unit 21 proceeds to S570, refers to the statistical data for each time zone corresponding to the statistical group of the processing target record, and in this statistical data for each time zone, It is determined whether all of the red light display time statistics are valid values.

  By this determination, in S570, it is determined whether or not the cycle length statistical value of the statistical group can be calculated by adding the display time statistical values of these color signals. In addition, in each time zone statistical data constituting the traffic signal analysis database, each display time statistical value, cycle length statistical value, and relative offset time statistical value are set to null in the initial state, and valid values are set. Not shown.

  In other words, in S570, by determining whether or not all the display time statistical values of each color signal indicated by the statistical data for each time zone corresponding to the statistical group of the processing target record have been updated from null to valid values. The display time statistics of these color signals are added together to determine whether or not the cycle length statistics of the statistics group can be calculated.

  If it is determined that the cycle length statistical value can be calculated (Yes in S570), the control unit 21 proceeds to S575, and the blue signal and the yellow signal indicated by the time-series statistical data corresponding to the statistical group of the processing target record The cycle time statistical value is calculated by adding the display time statistical values of the red signal and the red signal, and the cycle length statistical value indicated by the statistical data for each time zone is updated to this calculated value. Thereafter, the process proceeds to S580. On the other hand, if it is determined that the cycle length statistical value cannot be calculated (No in S570), the process proceeds to S580 without executing the process in S575.

  In S580, the control unit 21 determines whether the statistical processing target color is red. If the color is not red (No in S580), the control unit 21 proceeds to S620. On the other hand, if the statistical processing target color is red (Yes in S580), the process proceeds to S585.

  In S585, the traffic signal detailed data of the traffic signal ID indicated by the record to be processed is referred to, and the traffic signal ID of the traffic signal capable of estimating the green signal display time is described in the traffic signal detailed data as the green signal estimable signal information. Determine whether or not.

  If it is determined that the corresponding traffic signal ID is not written and the green time estimable traffic signal information is null (No in S585), the control unit 21 proceeds to S620, and the corresponding traffic signal ID is written. In the case (Yes in S585), the process proceeds to S590.

  When the process proceeds to S590, the control unit 21 sets one of the traffic signal IDs described as the green time estimable signal information in the traffic light detailed data as the blue time estimation target ID and corresponds to the blue time estimation target ID. Display of the green signal indicated by the time zone statistical data with reference to the time zone statistical data of the time zone corresponding to the display start date and time described in the processing target record, which is the traffic data time zone statistical data It is determined whether or not the time statistic value is null (S595).

  If it is determined to be null (Yes in S595), the process proceeds to S600 to calculate a value obtained by subtracting the total red time from the display time statistical value of the red signal calculated in S550. It is written as a display time statistical value of a green signal in the time-zone statistical data of the time zone corresponding to the time estimation target ID.

  In this way, in S600, based on the red signal display time of the traffic light corresponding to the record to be processed, the green signal display time of the traffic light controlled to be turned on in reverse phase at the same intersection as the traffic light is estimated. Thereafter, the process proceeds to S610. It should be noted that the total red time when all the traffic lights in the intersection are red signals may be stored in the hard disk device 23 as a fixed value in advance.

On the other hand, if it is determined that it is not null (No in S595), the process proceeds to S610 without executing the process of S600.
When the process proceeds to S610, the control unit 21 sets all of the traffic signal IDs described as the green time estimable signal information in the traffic signal detailed data of the traffic signal ID indicated by the processing target record as the blue time estimation target ID. If all of the traffic signal IDs are not set as the blue time estimation target IDs (No in S610), the process proceeds to S590 and is described as the traffic signal information capable of estimating the blue time. Of the traffic signal IDs, one of the traffic signal IDs that have not yet been set as the blue time estimation target ID is set as a new blue time estimation target ID, and the processes after S595 are executed.

On the other hand, when all the traffic signal IDs are set as the blue time estimation target ID (Yes in S610), the process proceeds to S620.
In addition, in S620, it is determined whether or not all newly registered records registered in the display time analysis table have been set as processing target records, and when all of the newly registered records have not been set as processing target records. (No in S620), the process proceeds to S520, and one of the newly registered records that has not yet been set as the process target record is set as a new process target record, and the processes after S525 are executed.

  In S535, if it is evaluated that the variation is large, the control unit 21 makes a negative determination in S540, and displays the statistical processing target color display time statistics described in the statistical data for each time zone of the statistical group corresponding to the processing target record. The value and cycle length statistics are cleared (S545). That is, in the statistical data for the corresponding time zone, the display time statistical value and the cycle length statistical value of the statistical processing target color are set to the initial value null. Thereafter, the process proceeds to S620.

  When it is determined that all the new registration target records are set as processing target records and the processing from S525 is executed (Yes in S620), the control unit 21 ends the display time statistical processing.

  In this way, in the display time statistical processing, based on the record in the display time analysis table, the statistical value for the display time is obtained and registered in the traffic signal analysis database stored in the hard disk device 23.

  Next, the offset time statistical process executed by the control unit 21 each time the offset time analysis table editing process is executed will be described with reference to FIGS. 13 and 14. 13 and 14 are flowcharts showing the offset time statistical process executed by the control unit 21 after the offset time analysis table editing process is executed.

  In this offset time statistical processing, each record registered in the offset time analysis table is statistically processed for each traffic light and for each time zone, and a plausible value is calculated for each traffic light and time for the relative offset time between traffic lights. Calculate for each band.

  When this offset time statistical process is started, the control unit 21 firstly records newly registered in the offset time analysis table between the time of the previous offset time statistical process and the current time of the offset time statistical process. Is present (S710). If it does not exist (No in S710), the offset time statistical processing is terminated. If it exists (Yes in S710), the process proceeds to S720.

  In S720, the control unit 21 selects one of the new records registered in the offset time analysis table as a processing target record, and classifies the processing target record into one of the predefined statistical groups ( S725). The classification method is the same as the processing in S525 described above. That is, based on the green signal display start date and time indicated by the processing target record, the time zone is determined, the statistical group corresponding to the processing target record is specified, and the specified statistical group is stored in the processing target record as the statistical group information. By writing the identification code to be represented, this processing target record is classified into the specified statistical group.

  When the process in S725 is completed, the control unit 21 determines whether or not the offset information registered in the processing target record is null. If the offset information is null (Yes in S730), the process proceeds to S790. If it is not null (No in S730), the process proceeds to S740.

  In S740, one of the traffic signal IDs registered as offset information in the processing target record is set as the evaluation target ID. For example, when the record to be processed is the record of the traffic signal ID = 123461 shown in FIG. 9 [1], the traffic signal ID = 123451 of the upstream traffic signal registered as the offset information is set as the evaluation target ID.

  Further, when the evaluation target ID is set, the control unit 21 adds the same statistical group record (that is, the record having the same statistical group information as the processing target record) to the processing target record registered in the offset time analysis table. Based on the relative offset time associated with the evaluation object ID indicated by the offset information of these record groups, the magnitude of variation is evaluated (S750).

  Here, as in S535, for example, the variance for the relative offset time associated with the evaluation target ID indicated by the offset information of the record group is calculated, and if the variance is greater than or equal to the threshold, the variance is evaluated to be large. If the variance is less than the threshold value, it is evaluated that the variation is small. As in S535, when there is only one sample (corresponding record), it may be evaluated that the variation in form is large or small.

  If it is evaluated that the variation is small (Yes in S760), the relative offset associated with the evaluation target ID is based on the record group of the same statistical group as the processing target record registered in the offset time analysis table. A relative offset time statistic that is a statistic for time is calculated (S770).

  Specifically, here, based on the record group of the same statistical group as the processing target record and having the relative offset time information associated with the evaluation target ID as the offset information, each of these record groups The frequency distribution for the relative offset time associated with the evaluation target ID indicated by the above is obtained, and the mode value in the frequency distribution is calculated as the relative offset time statistical value. In addition, the median value of the relative offset time associated with the evaluation object ID indicated by each of these record groups may be calculated as the relative offset time statistical value.

  When this process is finished, the control unit 21 proceeds to S775, and writes the calculated relative offset time statistical value to the statistical data for each time zone of the statistical group corresponding to the processing target record. Specifically, as shown in FIG. 12, the calculated relative offset time statistical value is written into the statistical data for each time zone together with information on the evaluation target ID, which is the traffic signal ID of the upstream upstream traffic signal. If the relative offset time statistical value corresponding to the evaluation target ID has already been written in the statistical data by time zone, the process of updating the relative offset time statistical value is performed in S775.

  When the processing in S775 is completed, the control unit 21 proceeds to S780, determines whether or not all of the traffic signal IDs registered as offset information in the processing target record have been set as evaluation target IDs. If it is determined that all of the IDs are not set as evaluation target IDs (No in S780), the process proceeds to S740, and one of the traffic signal IDs that have not been set as evaluation target IDs is newly evaluated. The target ID is set, and the processes after S750 are executed.

  In addition, when it is evaluated that the variation is large in S750 (No in S760), it is a relative offset time statistical value included in the statistical data for each time zone of the statistical group corresponding to the processing target record, and is associated with the evaluation target ID. The relative offset time statistical value is deleted from the statistical data for each time zone (S765). Thereafter, the process proceeds to S780.

  If it is determined that all the relevant signal IDs have been set as evaluation target IDs (Yes in S780), the process proceeds to S790, and all new registration records registered in the offset time analysis table have been set as processing target records. Judge whether or not. If not all of the new registration records are set as processing target records (No in S790), the process proceeds to S720, and if all of the new registration records are set as processing target records (Yes in S790). Then, the offset time statistical processing is terminated.

  In this way, in the offset time statistical processing, a statistical value for the relative offset time is obtained based on the record in the offset time analysis table and registered in the traffic signal analysis database.

  Next, the guidance process executed by the control unit 21 will be described. 15 to 17 are flowcharts illustrating the guidance process executed by the control unit 21. In this guidance process, based on the contents of the traffic signal analysis database, the remaining green signal time and the remaining red signal time of the next traffic signal are guided to the vehicle occupant.

  When this guidance process is started, the control unit 21 next enters the host vehicle based on the position and traveling direction of the host vehicle specified by the input signal of the position detector 11 and the traffic light map and road map data. A traffic signal ID of a traffic signal installed at an intersection and passing next by the host vehicle (next traffic signal) is specified (S810).

  When this process is completed, the control unit 21 refers to the observation data newly registered in the observation history file to determine whether or not the camera 19 can observe the start of the green signal display of the next traffic light ( S820).

  Specifically, in S820, for the observation data group newly registered by the observation process, the observation data indicating the traffic signal ID of the next traffic light and having the display color “blue” is searched for the corresponding observation data. If there is no signal, it is determined that the camera 19 has not observed the start of the green signal display of the next traffic light.

  On the other hand, if there is corresponding observation data, the observation data refers to the observation data of the next traffic signal temporally adjacent in the past direction, and if the display color of the referenced observation data is “red”, It is determined that the start of the green signal display of the next traffic light can be observed by the camera 19, and if it is not “red”, it is determined that the start of the green signal display of the next traffic light cannot be observed by the camera 19.

  When it is determined that the start of the blue signal display of the next traffic light can be observed (Yes in S820), the display start date and time indicated by the observation data immediately after the display color is switched to "blue" is set as the offset time calculation reference date and time. This date and time is temporarily stored in the RAM 21b together with the traffic signal ID of the next traffic light (S821).

  When this process is finished, the control unit 21 determines whether or not the display time statistical value of the green light indicates a valid value in the time-zone statistical data in the time zone corresponding to the current time associated with the traffic signal ID of the next traffic light. (Whether it is not null) (S823).

  If it is determined that the effective value is indicated (Yes in S823), the green signal display start date and time (that is, offset time calculation reference date and time) of the next traffic light that can be observed and the current time associated with the traffic light ID of the next traffic light Based on the display time statistical value for the green signal indicated by the time zone statistical data of the time zone corresponding to, the remaining time until the display (lighting) of the green signal ends is calculated in the next traffic light according to the following equation (S825). .

Green signal remaining time = Green signal display start date / time + Green signal display time statistic value−Current date / time Then, the remaining time countdown display through the display unit 15 and audio output of the remaining time through the audio output unit 17 are started (S827). ). Thus, the remaining time is sequentially guided to the user. Note that the remaining time of voice output can be realized by, for example, outputting the remaining time information through the voice output unit 17 at predetermined time intervals. In this manner, when the countdown display or the like is started in S827, the process proceeds to S840 while continuing the process.

  On the other hand, in S820, when it is determined that the start of the green signal display of the next traffic light could not be observed by the camera 19 (No in S820), the control unit 21 refers to the observation data newly registered in the observation history file, so that It is determined whether or not the red light display start of the traffic light can be observed by the camera 19 (S830).

  Specifically, in S830, for the observation data group newly registered in the observation history file, the observation data indicating the traffic signal ID of the next traffic signal and having the display color “red” are searched for the corresponding observation data. If there is no data, it is determined that the camera 19 has not been able to observe the red signal display start of the next traffic light.

  On the other hand, if there is corresponding observation data, the observation data refers to the observation data of the next traffic signal temporally adjacent in the past direction, and if the display color of the referenced observation data is “yellow”, It is determined that the red signal display start of the next traffic light can be observed by the camera 19, and if it is not “yellow”, it is determined that the red signal display start of the next traffic light cannot be observed by the camera 19.

  If it is determined that the red signal display start of the next traffic light has not been observed (No in S830), the process proceeds to S810. On the other hand, if it is determined that the red signal display start of the next traffic light can be observed (Yes in S830), the process proceeds to S833, and the statistical data by time zone corresponding to the current time associated with the traffic signal ID of the next traffic light. In step S833, it is determined whether or not the display time statistical value of the red signal indicates a valid value (whether it is not null).

  If it is determined that the effective value is indicated (Yes in S833), the red signal display start date and time of the next traffic light that can be observed (that is, the display indicated by the observation data immediately after the display color is switched to "red") Start time) and the display time statistical value of the red signal indicated by the time zone statistical data of the time zone corresponding to the current time associated with the traffic signal ID of the next traffic signal. The remaining time until the lighting is finished is calculated (S835).

Red signal remaining time = red signal display start date / time + red signal display time statistical value−current date / time Further, when this process is completed, the control unit 21 starts countdown display and audio output of the remaining time in the same manner as in S827. In this way (S837), the remaining time of the red signal is sequentially notified to the user. Thus, when the countdown display or the like is started in S837, the process proceeds to S840 while continuing the process.

  If transfering to S840, the control part 21 will perform the process similar to S810, pinpoints the newest position and traveling direction of the own vehicle, and sets the signal ID of the traffic signal (next traffic signal) through which the own vehicle passes next. Identify.

  Then, when the traffic signal ID of the identified next traffic signal is switched from the previous value (Yes in S841), it is considered that the vehicle has passed the traffic signal identified as the next traffic signal last time, and the countdown display of the remaining time started in S827 or S837 Then, the audio output ends (S842), and the process proceeds to S850.

  On the other hand, if it is determined that the traffic signal ID of the next traffic signal is the same as the previous value (No in S841), the control unit 21 determines whether or not the remaining time that started the countdown in S827 or S837 has become zero (S843). ). If it is determined that the remaining time becomes zero (Yes in S843), the remaining time countdown display and audio output are terminated (S844), and the process proceeds to S840. In addition, if the remaining time is not zero (No in S843), the process proceeds to S845.

  In the guidance process, since the process proceeds to S840 after the process of S844, the determination of S843 may be performed in a state where the countdown display of remaining time and the audio output have already been completed. In this embodiment, in this case, it is formally determined No in S843, and the process proceeds to S845.

  When the process proceeds to S845, the control unit 21 renews one of the red signal display start and the blue signal display start of the next traffic light based on the observation data newly registered in the observation history file, similarly to the process in S820 and S830. Judge whether or not it was observable.

  Note that the observation data registered in the observation history file until the previous execution of the processing of S820, S830, and S845 is not newly registered observation data. In S845, these observation data are excluded, and the red signal It is determined whether one of the display start and the green signal display start has been newly observed.

  If it is determined that neither the red signal display start nor the blue signal display start can be newly observed (No in S845), the process proceeds to S840, or the signal ID of the next traffic light is switched, or the red signal display of the next traffic light is displayed. The above-described processing is repeated until either one of the start and the start of green signal display is newly observed.

  When either the red signal display start or the blue signal display start of the next traffic light is newly observed (Yes in S845), the countdown display and audio output of the remaining time are finished (S847), and the process proceeds to S849.

  In S849, it is determined whether or not the newly observed signal display start event is the start of green signal display. If it is determined that the green signal display is started (Yes in S849), the process proceeds to S821, and the RAM 21b stores the signal. The offset time calculation reference date and time is updated to the newly observed green light display start date and time.

  If the offset time calculation reference date / time is not stored in the RAM 21b, the newly observed green signal display start date / time is set as the offset time calculation reference date / time, and the traffic signal ID of the next traffic light is set together with this date / time. Temporarily stored in the RAM 21b. Thereafter, the processing after S823 is executed.

  On the other hand, if it is determined that the newly observed signal display start event is not the green signal display start but the red signal display start (No in S849), the control unit 21 proceeds to S833. After S835, a red signal remaining time countdown display is performed based on the newly observed red signal display start date and time.

  In this way, the control unit 21 counts down the remaining green signal time or the remaining red signal time based on the date and time each time one of the red signal display start and the blue signal display start of the next traffic light is newly observed. Start display etc.

  On the other hand, when the next traffic light is switched and the process shifts to S850, the control unit 21 estimates the green signal display start date and time of the next traffic light based on the date and time set as the current offset time calculation reference date and time. Based on this, a process of guiding the remaining green signal time or the remaining red signal time of the next traffic light is performed (S850 to S985).

  More specifically, in S850, it is determined whether or not the offset time calculation reference date and time has been set and stored in the RAM 21b by the processing so far. If it is determined that the offset time calculation reference date is not set (No in S850), the process proceeds to S810.

  On the other hand, if it is determined that the offset time calculation reference date / time is set (Yes in S850), the current time is specified based on the traffic signal corresponding to the traffic signal ID stored in the RAM 21b in association with the offset time calculation reference date / time. In order to calculate the offset time of the next traffic signal, the parameter T0 is cleared to zero (S860). Thereafter, the traffic signal ID of the next traffic signal identified in the immediately preceding S840 is set as the main inspection target ID (S861), and the parameter i is set to the value “1” (S865).

  When this process is finished, the control unit 21 proceeds to S870 and sets the traffic signal ID of the traffic signal that has passed i times before as the sub-inspection target ID. For example, if i = 1, the signal ID of the traffic signal that passed last time is set as the sub-inspection ID, and if i = 2, the signal ID of the traffic signal that passed the previous time is set as the sub-inspection ID. Set to. In the in-vehicle device 1 of the present embodiment, it is assumed that the identification result of the next traffic light in S810 and S840 is stored in the RAM 21b for a certain period.

  When the process in S870 is finished, the control unit 21 is the statistical data by time zone associated with the currently set main examination target ID, and the statistical data by time zone in the time zone corresponding to the current time. In this statistical data for each time zone, a relative offset time statistic value indicating a relative offset time of a traffic signal corresponding to the main inspection target ID is registered with reference to a traffic light corresponding to the currently set sub inspection target ID. It is determined whether it has been performed (S871).

  If it is determined that it is not registered (No in S871), the process proceeds to S810. On the other hand, if it is determined that it is registered (Yes in S871), the registered relative offset time statistical value is set to the addition value TA to the parameter T0, and the parameter T0 is updated (S873). That is, the parameter T0 is updated to a value obtained by adding the value TA to the current value (T0 ← T0 + TA).

  When the processing in S873 is completed, the control unit 21 proceeds to S875, compares the traffic signal ID stored in the RAM 21b together with the offset calculation reference date and the sub-inspection target ID, and determines whether or not they match. Judging. If it is determined that they match (Yes in S875), the process proceeds to S880, and the green signal display start date / time of the next traffic light is estimated to a value obtained by adding the parameter T0 to the offset time calculation reference date / time stored in the RAM 21b. Thereafter, the process proceeds to S890.

Green light display start date and time = offset time calculation reference date and time + T0
On the other hand, if it is determined that they do not match in S875, the control unit 21 proceeds to S876, determines whether the parameter i is equal to or less than a predetermined upper limit value, and determines that the parameter i exceeds the upper limit value ( If NO in S876, the process proceeds to S810, and if it is determined that the value is equal to or less than the upper limit value (Yes in S876), the process proceeds to S878.

  The upper limit value may be determined at the design stage or may be determined by a user setting operation. However, the larger the upper limit value is, the more the accuracy of estimating the green signal display start date and time in S880 is degraded.

  When the process proceeds to S878, the control unit 21 updates the main inspection target ID to the traffic signal ID of the traffic signal that has passed i times before, and after adding 1 to the parameter i (S879), the process proceeds to S870, and the sub inspection target The ID is updated to a signal ID one upstream from the signal corresponding to the main inspection target ID.

Then, by executing the processing after S871, if there is a corresponding relative offset time statistical value, the parameter T0 is updated. If not, the processing proceeds to S810.
In this way, in S870 to S879, the travel route of the host vehicle is traced in the past direction, and the relative offset time statistical value between the traffic signals that the host vehicle has passed is added to be associated with the offset time calculation reference date and time. Based on the traffic signal corresponding to the traffic signal ID, an offset time (a time difference of the green signal display start operation) of the traffic signal through which the host vehicle passes next is calculated.

  Then, by adding the value of the parameter T0 representing the calculation result to the offset time calculation reference date and time, the green signal display start date and time of the next traffic light is estimated as described above (S880).

  Further, when the process proceeds to S890, the observation data of the next traffic light that is currently specified in the observation data group newly registered in the observation history file, and the observation data whose display color is “blue” or “red” are included. Determine if it exists. In the present embodiment, this processing detects that the next traffic light is currently displaying one of the blue signal and the red signal.

  If the display color of the next traffic light is “yellow” or if the observation data of the next traffic light is not newly registered in the observation history file because the vehicle is located away from the next traffic light, in S890 A negative determination is made, and it is determined whether or not the vehicle is off the route toward the next traffic light (S895). If it is determined that it is off (Yes in S895), the process proceeds to S810.

  On the other hand, if the vehicle is not off the route to the next traffic light (No in S895), the process proceeds to S890, and the observation history file includes the observation data of the next traffic light and the display color is “blue” or “ Wait until the “red” observation data is registered.

  If the observation data of the next traffic light and the display color “blue” or “red” is registered in the observation history file, whether the display color indicated by the observation data is “blue” or not (S900) and if it is “blue” (Yes in S900), the process proceeds to S910, and the subsequent processing is executed to start the countdown display of the remaining time of the green light. On the other hand, if it is “red” (No in S900), the process proceeds to S950, and the subsequent processing is executed to start the countdown display of the remaining red signal time.

  More specifically, when the process proceeds to S910, the control unit 21 refers to the time zone statistical data associated with the traffic signal ID of the next traffic signal, and refers to the time zone statistical data of the time zone corresponding to the current time. Then, it is determined whether or not the display time statistical value BS for the green light described in the statistical data by time zone is a valid value (whether it is not null).

  If it is determined that the display time statistical value BS is an effective value (Yes in S910), the process proceeds to S920. If it is determined that the display time statistical value BS is not an effective value (No in S910), the process proceeds to S840.

  In S920, the control unit 21 sets the green signal display start date and time TG0 of the next traffic light estimated in S880 to the green signal display start date and time estimated value TG, and the green signal corresponding to the elapsed time after the start of the green signal display. The time difference between the display start date / time estimated value TG and the current date / time TN is calculated according to the following equation.

Time difference = current date and time TN-green signal display start date and time estimated value TG
Then, it is determined whether or not the calculated time difference is greater than or equal to zero and less than the display time statistical value BS (S925). If it is determined that 0 ≦ TN−TG <BS (Yes in S925), the control unit 21 proceeds to S940.

  On the other hand, when a negative determination is made in S925, the control unit 21 proceeds to S930, where the statistical data by time zone associated with the traffic signal ID of the next traffic signal, and the statistical data by time zone of the time zone corresponding to the current time is obtained. Referring to it, it is determined whether or not the cycle length statistical value CS written in the time-based statistical data is a valid value (whether it is not null).

  If it is determined that the value is not valid (No in S930), the process proceeds to S840, and if it is determined that the value is valid (Yes in S930), the green signal display start date / time estimated value is based on the cycle length statistical value CS. The green signal display start date and time estimated value TG is corrected so that the time difference TN−TG between the TG and the current date and time TN satisfies the conditional expression 0 ≦ TN−TG <BS (S935).

  Specifically, the green signal display start date and time estimated value TG is corrected to a value TG0 + n · CS obtained by adding an integer multiple n · CS of the cycle length statistical value CS to the green signal display start date and time TG0 of the next traffic light estimated in S880. Thus, the time difference TN−TG between the corrected green signal display start date / time estimated value TG = TG0 + n · CS and the current date / time TN is set to satisfy the conditional expression 0 ≦ TN−TG ≦ BS. The parameter n is a positive or negative integer.

  If the green signal display start date / time estimated value TG can be corrected so as to satisfy the conditional expression (Yes in S937), the process proceeds to S940, and the green signal display start date / time estimated value TG is set so as to satisfy the conditional expression. If it cannot be corrected (No in S937), the process proceeds to S840.

  In S940, the control unit 21 subtracts the current date and time TN from the addition value TG + BS of the corrected green signal display start date and time estimated value TG and the display time statistical value BS for the green signal. The remaining time until the display (lighting) of the green light ends is calculated.

Green signal remaining time = Green signal display start date / time estimated value + Green signal display time statistic value−Current date / time Thereafter, the remaining time is counted down through the display unit 15 and the remaining time through the audio output unit 17 in the same manner as in S827. Time audio output is started (S945), and the process proceeds to S840.

  On the other hand, when the process proceeds to S950, the control unit 21 refers to the time zone statistical data associated with the traffic signal ID of the next traffic signal, and refers to the time zone statistical data of the time zone corresponding to the current time, It is determined whether or not the display time statistical value RS for the red signal described in the time-based statistical data is a valid value (whether it is not null).

  When it is determined that the display time statistical value RS is an effective value (Yes in S950), the process proceeds to S960. When it is determined that the display time statistical value RS is not an effective value (No in S950), the process proceeds to S840.

In S960, the control unit 21 sets the green signal display start date and time TG0 of the next traffic light estimated in S880 to the green signal display start date and time estimated value TG, the current date and time TN corresponding to the red signal remaining time, and the current time and date TN. The time difference from the green signal display start date / time estimated value TG is expressed by the following formula: time difference = green signal display start date / time estimated value TG−current date / time TN
Calculate according to

  Then, it is determined whether or not the calculated time difference is greater than zero and not greater than the display time statistical value RS (S965). If it is determined that 0 <TG−TN ≦ RS (Yes in S965), the control unit 21 proceeds to S980.

  On the other hand, if a negative determination is made in S965, the control unit 21 proceeds to S970, where the statistical data by time zone associated with the traffic signal ID of the next traffic signal, the statistical data by time zone in the time zone corresponding to the current time, is obtained. Referring to it, it is determined whether or not the cycle length statistical value CS written in the time-based statistical data is a valid value (whether it is not null).

  If it is determined that the value is not valid (No in S970), the process proceeds to S840, and if it is determined that the value is valid (Yes in S970), the red signal remaining time is handled based on the cycle length statistical value CS. The green signal display start date / time estimated value TG is corrected so that the time difference TG−TN between the current date / time TN and the green signal display start date / time estimated value TG satisfies the conditional expression 0 <TG−TN ≦ RS (S975).

  Specifically, the time difference TG−TN between the current date and time TN and the corrected green signal display start date and time estimated value TG = TG0 + n · CS satisfies the conditional expression 0 <TG−TN ≦ RS as in the process at S935. Thus, the green light display start date and time estimated value TG is corrected.

  If the green signal display start date / time estimated value TG can be corrected so as to satisfy the conditional expression (Yes in S977), the process proceeds to S980, and the green signal display start date / time estimated value TG is set so as to satisfy the conditional expression. If it cannot be corrected (No in S977), the process proceeds to S840.

  In S980, the control unit 21 subtracts the current date / time TN from the corrected green signal display start date / time estimated value TG (in other words, estimated value of the red signal display end date / time). The remaining time until the red signal display (lighting) ends is calculated.

Red signal remaining time = green signal display start date and time estimated value TG-current date and time TN
Thereafter, similarly to the processing in S837, the remaining time countdown display through the display unit 15 and the remaining time audio output through the audio output unit 17 are started (S985), and the process proceeds to S840.

In this way, in the present embodiment, the remaining green signal remaining time and the remaining red signal remaining time of the next traffic signal are estimated based on the relative offset time between the traffic signals and guided to the vehicle occupant.
Although the configuration of the in-vehicle device 1 has been described above, according to the present embodiment, the lighting pattern of the traffic signal installed on the road on which the vehicle travels is observed through the camera 19, so that the lighting pattern of the traffic signal is as in the prior art. Without providing a roadside device for transmitting information on the vehicle to the vehicle, it is possible to guide the vehicle occupant (driver) of the remaining green signal time, the remaining red signal time, etc. of the traffic signal (next traffic signal) that the vehicle passes next . Therefore, according to the present embodiment, it is possible to construct a system capable of guiding the remaining green light time and the remaining red light time to the vehicle occupant at low cost.

  In this embodiment, the display time, cycle length, and relative offset time in each traffic light are estimated by statistically processing observation data obtained from video data. The lighting pattern of the traffic light can be predicted.

  In particular, according to the present embodiment, the observation data is statistically processed for each time zone, and the display time, cycle length, and relative offset time are estimated for each time zone. The green traffic remaining time and the red traffic remaining time of the next traffic light can be guided to the vehicle occupant in an appropriate manner corresponding to the advanced traffic system that adjusts the offset time and the like.

  Further, in this embodiment, the relative offset time between the traffic lights is obtained, the green signal lighting start date and time observed by the upstream traffic lights, and the information on the relative offset time are estimated, and the green light lighting start timing of the next traffic light is estimated. Based on this estimation result, the in-vehicle device 1 is configured to guide the remaining time of the green signal and the remaining time of the red signal to the vehicle occupant.

  Therefore, according to the present embodiment, it is possible to appropriately guide the remaining time of the green light and the remaining time of the red light to the vehicle occupant even in a situation where the start of the green light lighting and the red light lighting start of the next traffic light is not observed.

  Further, according to the present embodiment, since the green signal display time of the intersection road is obtained based on the red signal display time, the information on the green signal display time can be efficiently collected, and as a result, the green signal of each road is appropriately obtained. The remaining time and red light remaining time can be guided.

  The correspondence between each means described in “Claims” and the in-vehicle device 1 is as follows. That is, the video data acquisition unit corresponds to the operation of the camera 19 and the control unit 21 that acquires video data input from the camera 19.

  The analysis means is realized by the operation of the control unit 21 that generates observation data from the video data, and further calculates a display time statistical value, a cycle length statistical value, and a relative offset time statistical value based on the observation data. ing. Specifically, the specific signal display time derived by the analysis means corresponds to display time statistics for the blue signal and the red signal.

  The vehicle information acquisition means is realized by the operation of the control unit 21 that specifies the position and traveling direction of the host vehicle based on the input signal from the position detector 11, and the position specification means is executed by the control unit 21 in S <b> 140. It is realized by processing.

  In addition, the analysis result storage means writes the display time statistic value, cycle length statistic value, and relative offset time statistic value in the traffic signal analysis database in association with the traffic signal ID information specified by the processing of S140. The operation and the hard disk device 23 are implemented.

Further, the next traffic light specifying means is realized by the processing of S810 and S840 executed by the control unit 21, and the start time detecting means is realized by the processing of S820 and S830.
In addition, the reference setting means is realized by the processing of S820 and S821 executed by the control unit 21, and the offset time deriving means is realized by the processing of S860 to S879 executed by the control unit 21. Specifically, the reference time corresponds to the offset time calculation reference date and time, and the reference signal setting operation is realized by an operation of temporarily storing the corresponding signal ID together with the offset time calculation reference date and time. The next traffic light offset time corresponds to the value of the parameter T0 at the time of shifting to S880.

  Further, the state determination unit is realized by the processes of S890 and S900 executed by the control unit 21, and the start time estimation unit is realized by the processes of S880, S935 and S975 executed by the control unit 21.

  In addition, the remaining time deriving means is realized by the processes of S940 and S980, and the output means is realized by the processes of S827, S837, S945, and S985 executed by the display unit 15, the audio output unit 17, and the control unit 21. Yes. Further, the green signal display time estimation means is realized by the processing of S580 to S610 executed by the control unit 21.

  Further, the present invention is not limited to the above-described embodiments, and can take various forms. For example, the traffic volume also changes depending on the "day type" such as weekdays, Saturdays, Sundays, and holidays, and accordingly, the traffic signal cycle length and relative offset time also change. The statistical value and the relative offset time statistical value may be calculated for each “day type” as well as the time zone.

  Moreover, the vehicle-mounted apparatus 1 may be configured to perform a brake control and an idling stop control by predicting a lighting pattern of the traffic light based on statistical data stored in the traffic signal analysis database.

DESCRIPTION OF SYMBOLS 1 ... Vehicle-mounted apparatus, 11 ... Position detector, 11a ... GPS receiver, 11b ... Gyroscope, 11c ... Distance sensor, 11d ... Geomagnetic sensor, 13 ... Operation switch group, 15 ... Display part, 17 ... Audio | voice output part, 19 ... Camera, 21 ... Control unit, 21a ... CPU, 21b ... RAM, 23 ... Hard disk device

Claims (10)

Video data acquisition means for acquiring video data representing the video ahead of the vehicle;
Analyzing the video data acquired by the video data acquisition means, and deriving a specific signal display time that is a time from when the traffic light displayed in the video data starts to end when the specific color signal is turned on Means,
Vehicle information acquisition means for acquiring the position and traveling direction of the host vehicle as vehicle information;
Based on the vehicle information acquired by the vehicle information acquisition means, a position specifying means for specifying an installation position of each traffic signal displayed in the video data acquired by the video data acquisition means;
An analysis result storage means for storing the specific signal display time derived by the analysis means in association with information indicating an installation position of the corresponding traffic signal specified by the position specifying means;
A vehicle-mounted device comprising: Map storage means for storing a traffic signal map indicating the installation position of each traffic signal installed in a predetermined area;
The position specifying unit specifies an installation position of each traffic signal displayed in the video data acquired by the video data acquisition unit based on the traffic signal map and the vehicle information acquired by the vehicle information acquisition unit. The in-vehicle device according to claim 1. Based on the vehicle information acquired by the vehicle information acquisition means and the traffic light map, a next traffic light specifying means for specifying a next traffic light that is a traffic light that the host vehicle passes next;
Based on the video data acquired by the video data acquisition means, start time detection means for detecting that the next traffic light specified by the next traffic light specifying means has started lighting of the specific color signal;
When it is detected by the start time detection means that the lighting of the specific color signal is started, the specific color signal in the next traffic light is based on the specific signal display time of the next traffic light stored in the analysis result storage means. Output means for outputting information of the remaining time until the lighting of
The in-vehicle device according to claim 2, further comprising: The analyzing means derives the specific signal display time for each of the traffic lights displayed in the video data, and difference in lighting start time of the specific color signal from an adjacent traffic light upstream or downstream of the vehicle course Is configured to derive the relative offset time,
The analysis result storage unit stores the relative offset time derived by the analysis unit in association with the information indicating the installation position of the corresponding traffic signal together with the specific signal display time. Item 4. The on-vehicle device according to any one of Items 3 to 4. The analysis means derives the specific signal display time for each of the traffic lights displayed in the video data, and the difference in lighting start time of the specific color signal from the adjacent traffic lights upstream or downstream of the vehicle course And derive the relative offset time
The in-vehicle apparatus according to claim 2, wherein the analysis result storage unit stores the relative offset time derived by the analysis unit in association with the information indicating the installation position of the signal device together with the specific signal display time. ,
Based on the vehicle information acquired by the vehicle information acquisition means and the traffic light map, next traffic light specifying means for specifying the next traffic light through which the host vehicle passes next;
Based on the video data acquired by the video data acquisition means, it is detected that the traffic light on the own vehicle path projected in the video data has started to turn on the specific color signal, and this traffic light is used as a reference traffic light. And a reference setting means for setting a specific display start time, which is a time when the traffic light starts to light the specific color signal, as a reference time,
The analysis result storage means stores a next traffic light offset time which is a difference in lighting start time of the specific color signal between the reference traffic light set by the reference setting means and the next traffic light specified by the next traffic light specifying means. A next traffic light offset time deriving means for deriving based on the relative offset time;
The specific color signal in the next traffic light specified by the next traffic light specifying means based on the reference time set by the reference setting means and the next traffic light offset time derived by the next traffic light offset time deriving means Start time estimating means for estimating the lighting start time of
Based on the video data acquired by the video data acquisition means, state determination means for determining whether or not the next traffic light identified by the next traffic light identification means is lighting the specific color signal;
When the state determination means determines that the next traffic light is lighting a specific color signal and the start time estimation means estimates the lighting start time of the specific color signal in the next traffic light, the start time Based on the lighting start time estimated by the estimation means and the specific signal display time of the next traffic light stored in the analysis result storage means, the remaining time until the lighting of the specific color signal in the next traffic light is completed. A remaining time deriving means for deriving;
Output means for outputting information on the remaining time derived by the remaining time deriving means;
A vehicle-mounted device comprising: The analyzing means is further configured to derive a cycle length of the traffic light for each of the traffic lights displayed in the video data,
The analysis result storage means further stores the cycle length derived by the analysis means in association with information indicating the installation position of the corresponding traffic light. The in-vehicle device described in 1. The analysis means further derives the cycle length of the traffic light for each of the traffic lights displayed in the video data,
The in-vehicle apparatus according to claim 5, wherein the analysis result storage unit further stores the cycle length derived by the analysis unit in association with information indicating an installation position of the corresponding traffic signal.
The start time estimating means, when the state determination means determines that the next traffic light is lighting the specific color signal, the reference time set by the reference setting means and the next traffic light offset Based on the next traffic light offset time derived by the time deriving means and the cycle length of the next traffic light stored in the analysis result storage means, the lighting of the specific color signal being lit in the next traffic light is started. An in-vehicle device, characterized in that the time is estimated as a lighting start time of the specific color signal. The start time estimation means derives the reference time set by the reference setting means and the next traffic light offset time when the state determination means determines that the next traffic light is not lighting the specific color signal. On the basis of the next traffic signal offset time derived by the means and the cycle length of the next traffic signal stored in the analysis result storage means, the lighting of the specific color signal is started in the nearest future from the present time in the next traffic light. Is estimated as the lighting start time of the specific color signal,
The remaining time deriving means determines that the next traffic light is not lighting a specific color signal by the state determining means, and estimates a lighting start time of the specific color signal in the next traffic light by the start time estimating means. The vehicle-mounted device according to claim 7, wherein the on-vehicle device is configured to derive a remaining time until the lighting start time estimated by the start time estimating means. The specific color signal is a blue signal and a red signal,
The analyzing means includes a green signal display time, which is a time from when the traffic signal projected on the video data starts to end after the lighting of the green signal ends, and the traffic signal projected on the video data, as the specific signal display time Is configured to derive the red signal display time, which is the time from the start of lighting of the red signal to the end thereof,
Further, the in-vehicle device estimates the green signal display time of the traffic light that intersects the traffic light from which the red light display time is derived by the analyzing means based on the traffic light map based on the red signal display time. With means,
The analysis result storage means stores the green signal display time and the red signal display time derived by the analysis means in association with information indicating the installation position of the corresponding traffic light, and the green signal display time estimation means. The vehicle-mounted device according to claim 2, wherein each of the green signal display times estimated by the information is stored in association with information indicating an installation position of the corresponding traffic light. Based on the vehicle information acquired by the vehicle information acquisition means and the traffic light map, a next traffic light specifying means for specifying a next traffic light that is a traffic light that the host vehicle passes next;
Based on the video data acquired by the video data acquisition means, start time detection means for detecting that the next traffic light identified by the next traffic light identification means has started lighting either one of the blue signal and the red signal;
When it is detected by the start time detection means that the next traffic light has started to turn on one of the blue signal and the red signal, the specific signal display time of the next traffic light stored in the analysis result storage means Based on the information on the specific signal display time for the signal that has started lighting, output means for outputting information on the remaining time until the lighting of the signal that has started lighting in the next traffic light,
The vehicle-mounted device according to claim 9, comprising:

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