JP2013003043A - Traffic light increase/decrease detection system, traffic light increase/decrease detection apparatus, traffic light increase/decrease detection method and computer program - Google Patents

Traffic light increase/decrease detection system, traffic light increase/decrease detection apparatus, traffic light increase/decrease detection method and computer program Download PDF

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JP2013003043A
JP2013003043A JP2011136245A JP2011136245A JP2013003043A JP 2013003043 A JP2013003043 A JP 2013003043A JP 2011136245 A JP2011136245 A JP 2011136245A JP 2011136245 A JP2011136245 A JP 2011136245A JP 2013003043 A JP2013003043 A JP 2013003043A
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branch point
guidance
guide
traffic light
road
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JP5716565B2 (en
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Yuji Sato
裕司 佐藤
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Aisin Aw Co Ltd
アイシン・エィ・ダブリュ株式会社
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Abstract

PROBLEM TO BE SOLVED: To provide a traffic light increase/decrease detection system, a traffic light increase/decrease detection method and a computer program in which an actual guided branch point is prevented from becoming different from a branch point specified by guide.SOLUTION: When a vehicle 3 is deviated from a guided route set to a navigation system 2 and rerouting occurs, information relating to a vehicle situation in the case where rerouting is performed, is transmitted to a probe center 4 as probe information. If it is determined that the vehicle is deviated from the guided route by entering a road connected along the road from the guided branch point, on the other hand, the probe center 4 which receives the probe information, detects that a traffic light has been removed (S33) on the basis of the received probe information. If it is determined that the vehicle is deviated from the guided route by entering a road connected in a different direction from the direction along with the route at a branch point different from the guided branch point, the probe center detects that a traffic light is provided newly (S37, S39).

Description

  The present invention relates to a traffic light increase / decrease detection system, a traffic light increase / decrease detection device, a traffic light increase / decrease detection method, and a computer program.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. The guidance route set based on the search result is displayed on the display screen, and when approaching a branch point (hereinafter referred to as a guidance branch point) for guidance such as turning left or right, a voice or display screen is displayed. By performing the guidance used, the user is surely guided to a desired destination. In recent years, some cellular phones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance branch point, it is necessary for the user to accurately identify the guidance branch point. And as one of the guidance methods for specifying such a guidance branch point, there is guidance using the number of traffic lights from the vehicle to the guidance branch point (or the number of branch points where traffic lights are installed). For example, when the guidance branch point is a branch point where a traffic signal is installed, the guidance branch point after the traffic signal at the branch point with a traffic light two before the guidance branch point disappears from the user's view. On the other hand, with the signal at the branching point with the signal on the near side remaining in the user's field of vision, guidance is given as “the second signal is to the left”. In addition, in order to perform guidance using the number of traffic lights from the vehicle to the guidance branch point, information on traffic lights (information on the installation position and direction of traffic lights, etc.) is required. As a part, it is obtained from storage means (for example, hard disk, DVD, memory card, server, etc.) (see, for example, JP-A-10-274544).

JP-A-10-274544 (4th page, 5th page, FIG. 4)

  Here, the installation status of the traffic light may change as time passes. For example, a new traffic signal may be installed at a branch point where no traffic signal is installed, or a traffic signal may be removed at a branch point where a traffic signal is installed. However, a certain period of time is required before such information regarding the increase or decrease of traffic lights is reflected in the map information.

  As a result, in the technique described in the above-mentioned Patent Document 1, when the guidance for specifying the guidance branch point is performed in the vicinity where the traffic signal has increased or decreased, the actual guidance branch point is different from the branch point specified by the guidance. There is a possibility that the user may erroneously recognize the guidance branch point.

  The present invention has been made to solve the above-described problems in the prior art, and it is possible to quickly detect the removal and installation of a traffic light based on the traveling mode of the moving body, from the moving body to the guide branch point. Even when guidance is performed using the number of traffic lights, a traffic light increase / decrease detection system, a traffic light increase / decrease detection device, a traffic light increase / decrease detection that prevent the actual guidance branch point from differing from the branch point specified by the guidance. It is an object to provide a method and a computer program.

In order to achieve the above object, the traffic light increase / decrease detection system (1) according to claim 1 of the present application includes a guide route (71, 81, 91) for guiding the movement of the moving body (3) and a guide branch point on the guide route. (72, 82, 92) and a guide route setting means (11, 33), and when the guide branch point is located in front of the moving body in the advancing direction, between the mobile body and the guide branch point. A branch point guide means (11, 33) for performing guidance for specifying the guide branch point using the number of traffic lights located at a position, and a position acquisition means (11, 33) for acquiring the position of the moving body at predetermined intervals. The traffic signal is removed when it is determined that the moving body has deviated from the guide route by entering the road connected in the direction of the road on the basis of the acquisition result of the position acquisition means. Traffic light to detect Based on the acquisition result of the small detection means (11, 33) and the position acquisition means, the moving body is connected in a direction different from the road direction at the first branch point which is a branch point different from the guide branch point. And a traffic light increase detection means (11, 33) for detecting that a traffic light is newly installed when it is determined that the vehicle has deviated from the guidance route by entering the road.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.
Further, the “number of traffic lights located between the moving body and the guidance branch point” may be the number of traffic lights in the branch point unit. That is, when a plurality of traffic lights are provided at the same branch point on a large road or the like, the plurality of traffic lights may be counted as one traffic light. In that case, the “branch point guiding means” according to the present invention uses the number of branch points (that is, signal intersections) where traffic lights located between the moving body and the guide branch point are used to guide the branch point. It corresponds to the structure which performs the guidance which specifies this. However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following claims.

  The traffic light increase / decrease detection system (1) according to claim 2 is the traffic light increase / decrease detection system according to claim 1, wherein the traffic light decrease detection means (11, 33) Detecting that the traffic light at the guidance branch point has been removed when the guidance branch point (72, 82, 92) has been removed from the guidance route by entering a road connected in the direction of the road. Features.

  The traffic light increase / decrease detection system (1) according to claim 3 is the traffic light increase / decrease detection system according to claim 1 or 2, wherein the traffic light increase detection means (11, 33) After the means (11, 33) provides guidance indicating that there is no traffic signal other than the guide branch point between the moving body (3) and the guide branch point (72, 82, 92), the movement When it is determined that the body has deviated from the guide route by entering a road connected in a direction different from the road direction at the first branch point, a traffic signal is newly installed at the first branch point. It is characterized by detecting.

  A traffic light increase / decrease detection system (1) according to claim 4 is the traffic light increase / decrease detection system according to any one of claims 1 to 3, wherein the traffic light increase detection means (11, 33) The branch point guide means (11, 33) performs guidance indicating that there are two or more traffic lights including the guide branch point between the moving body (3) and the guide branch point (72, 82, 92). When it is determined that the moving body has deviated from the guidance route by entering a road connected in a direction different from the road direction at the first branch point before the next guidance is performed. And detecting that a traffic signal is newly installed in a section from the second branch point on the departure side of the first branch point to the first branch point along the guide route.

  A traffic light increase / decrease detection system (1) according to claim 5 is the traffic light increase / decrease detection system according to any one of claims 1 to 4, and is set in the guide route (71, 81, 91). On-road lane judging means (11, 33) for judging whether or not there is an oncoming lane, the traffic light decrease detecting means (11, 33) and the traffic light increasing detection means (11, 33), The removal or new installation of the traffic light is detected in consideration of the determination result of the oncoming lane determination means.

  A traffic light increase / decrease detection system (1) according to claim 6 is the traffic light increase / decrease detection system according to any one of claims 1 to 5, and intersects the guide route (71, 81, 91). Crossing road acquisition means (11, 33) for acquiring the road type of the crossing road. The traffic light decrease detection means (11, 33) and the traffic light increase detection means (11, 33) are provided by the cross road acquisition means. In consideration of the acquired road type of the intersecting road, the removal or new installation of the traffic light is detected.

  A traffic light increase / decrease detection system (1) according to claim 7 is the traffic light increase / decrease detection system according to any one of claims 1 to 6, wherein the traffic light decrease detection means (11, 33) Counting means (11, 33) for counting the number of times the traffic signal has been removed, and when the count value of the removal count means exceeds a predetermined threshold, the traffic signal attribute of the branch point A map information deletion / updating means (11, 33) for updating the map information so as to delete, and a new number for counting the number of times a traffic signal is detected by the traffic light increase detecting means for each branch point and for each section. When the count value of the counting means (11, 33) and the newly-established counting means is equal to or greater than a predetermined threshold, the traffic signal attribute of the branch point or section is added. A map information additional updating means for updating the broadcast (11, 33), characterized by having a.

  A traffic light increase / decrease detection system (1) according to claim 8 is the traffic light increase / decrease detection system according to any one of claims 1 to 7, and is newly acquired by the position acquisition means (11, 33). When the position of the moved mobile body (3) deviates from the guide route, the guide route (71, 81, 91) and the guide branch point (72, 82) are based on the new position of the mobile body. , 92) is reset, and the traffic signal decrease detection means (11, 33) and the traffic signal increase detection means (11, 33) are the guide route reset means. When the guidance route and the guidance branch point are reset according to the above, the removal or new installation of a traffic signal is detected.

  Further, the traffic light increase / decrease detection device (1) according to claim 9 includes a guide route (71, 81, 91) for guiding the movement of the moving body (3) and a guide branch point (72, 82, 92) on the guide route. ) And the number of traffic lights located between the moving body and the guide branch point when the guide branch point is located in front of the moving body in the traveling direction. A branch point guide means (11, 33) for performing guidance for specifying the guide branch point using a position acquisition means (11, 33) for acquiring the position of the moving body at predetermined intervals, and Based on the acquisition result, when it is determined that the moving body has deviated from the guidance route by entering the road connected in the direction of the road at the guidance branch point, it is detected that the traffic signal has been removed. Traffic light decrease detection means (11, 33) Based on the acquisition result of the position acquisition means, the moving body enters the road connected in a direction different from the road direction at a first branch point that is a branch point different from the guide branch point. And a traffic light increase detection means (11, 33) for detecting that a traffic light is newly installed when it is determined that the light has come off from above.

  The traffic signal increase / decrease detection method according to claim 10 sets a guide route (71, 81, 91) for guiding the movement of the moving body (3) and a guide branch point (72, 82, 92) on the guide route. A guide route setting step, a branch point guide step for guiding the guide branch point when the guide branch point is located in front of the moving body, and a position for acquiring the position of the mobile body at a predetermined interval. Based on the acquisition step and the acquisition result of the position acquisition step, when it is determined that the moving body has deviated from the guide route by entering the road connected to the guide branch point in the road direction, Based on the acquisition result of the traffic signal decrease detection step for detecting that the traffic signal has been removed and the position acquisition step, the moving body is connected in a direction different from the road direction at a branch point different from the guide branch point. If it is determined the that deviates from the said guide path by entering the road, and having a traffic increase detection step of detecting that traffic has been established, the.

  Furthermore, the computer program according to claim 11 is a guide for setting a guide route (71, 81, 91) for guiding the movement of the moving body and a guide branch point (72, 82, 92) on the guide route to the computer. A route setting function, a branch point guide function for guiding the guide branch point when the guide branch point is located in front of the moving body, and a position acquisition function for acquiring the position of the mobile body at predetermined intervals And when it is determined that the moving body has deviated from the guide route by entering the road connected to the guide branch point in the road direction based on the acquisition result of the position acquisition function, A road in which the moving body is connected at a branch point different from the guide branch point in a direction different from the road direction based on the traffic light reduction detection function for detecting that the vehicle has been removed and the acquisition result of the position acquisition function If it is determined that deviates from the said guide path by entering, characterized in that the signal unit is to execute the a traffic increase detection function of detecting that it has been established.

  According to the traffic light increase / decrease detection system according to claim 1 having the above-described configuration, when it is determined that the moving body has deviated from the guide route by entering the road connected to the road at the guide branch point. , When it is detected that the traffic signal has been removed, and it is determined that the moving body has deviated from the guidance route by entering a road connected to a direction different from the direction of the road at a branch point different from the guide branch point. In addition, since it is detected that a traffic signal has been newly installed, it is possible to quickly detect the removal and new installation of the traffic signal based on the traveling mode of the moving body. As a result, even when performing guidance using the number of traffic lights from the moving body to the guidance branch point, it is possible to prevent the actual guidance branch point from being different from the branch point specified by the guidance. It becomes.

  In addition, according to the traffic light increase / decrease detection system according to the second aspect, it is possible to quickly detect that the traffic light at the guidance branch point has been removed, based on the traveling mode of the moving body.

  In addition, according to the traffic light increase / decrease detection system according to claim 3, it is quickly confirmed that a traffic signal at a branch point different from the guide branch point has been newly established based on the content of the guidance performed immediately before and the traveling mode of the moving body. Can be detected.

  In addition, according to the traffic light increase / decrease detection system according to claim 4, a traffic light (for example, a push button type traffic light) is newly established especially between the branch points based on the content of the guidance performed immediately before and the traveling mode of the moving body. It is possible to quickly detect that this has been done.

  Moreover, according to the traffic light increase / decrease detection system according to claim 5, it is possible to improve the reliability of detection related to removal and new installation of traffic signals by considering the presence or absence of the oncoming lane.

  In addition, according to the traffic light increase / decrease detection system according to claim 6, it is possible to improve the reliability of detection related to removal and new installation of traffic lights by considering the road type of the intersection road.

  In addition, according to the traffic light increase / decrease detection system according to claim 7, when the detection result relating to the removal and new installation of the traffic signal is highly reliable, the map information is updated based on the detection result. It is possible to quickly reflect the removal and new installation of the traffic lights on the map information. Further, it is possible to reduce the possibility that the map information is updated based on the erroneous detection result. As a result, various processes using the map information can be performed based on more accurate information.

  In addition, according to the traffic signal increase / decrease detection system according to claim 8, since the removal and new installation of the traffic signal is detected in response to the resetting of the guidance route and the guidance branch point, the moving body is removed from the guidance route. It becomes possible to detect the removal and new installation of the traffic light at the timing of detecting this. Accordingly, it is possible to quickly detect the removal and new installation of the traffic light.

  Further, according to the traffic light increase / decrease detection device according to claim 9, when it is determined that the moving body has deviated from the guidance route by entering the road connected to the road at the guidance branch point, the traffic light When it is determined that the mobile body has deviated from the guidance route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point, Since it is detected that the traffic signal is newly installed, it is possible to quickly detect the removal and new installation of the traffic signal based on the traveling mode of the moving body. As a result, even when performing guidance using the number of traffic lights from the moving body to the guidance branch point, it is possible to prevent the actual guidance branch point from being different from the branch point specified by the guidance. It becomes.

  In addition, according to the traffic light increase / decrease detection method according to claim 10, when it is determined that the moving body has deviated from the guidance route by entering the road connected to the road at the guidance branch point, the traffic light When it is determined that the mobile body has deviated from the guidance route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point, Since it is detected that the traffic signal is newly installed, it is possible to quickly detect the removal and new installation of the traffic signal based on the traveling mode of the moving body. As a result, even when performing guidance using the number of traffic lights from the moving body to the guidance branch point, it is possible to prevent the actual guidance branch point from being different from the branch point specified by the guidance. It becomes.

  Furthermore, according to the computer program according to claim 11, when it is determined that the moving body has deviated from the guidance route by entering the road connected to the road at the guidance branch point, the traffic light is removed. When the moving body is determined to have deviated from the guide route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point, Since it is detected that it has been newly installed, it is possible to quickly detect the removal of the traffic light and the new installation based on the traveling mode of the moving body. As a result, even when performing guidance using the number of traffic lights from the moving body to the guidance branch point, it is possible to prevent the actual guidance branch point from being different from the branch point specified by the guidance. It becomes.

It is the schematic block diagram which showed the traffic signal increase / decrease detection system which concerns on this embodiment. It is the block diagram which showed the structure of the traffic signal increase / decrease detection system which concerns on this embodiment. It is the figure which showed an example of reroute information among the probe information memorize | stored in probe information DB. It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the guidance phrase memory | storage table. It is a flowchart of the probe information collection processing program concerning this embodiment. It is a flowchart of the probe information statistical processing program according to the present embodiment. It is a flowchart of the sub process program of the traffic signal increase / decrease detection process which concerns on this embodiment. It is a figure explaining the example of a detection which detects that the traffic signal of the guidance branch point was removed. It is a figure explaining the example of a detection which detects that the signal apparatus of a reroute branch point was newly installed. It is the figure explaining the example of a detection which detects that the traffic signal was newly installed between the reroute branch point from the branch point one before the reroute branch point to the reroute branch point. It is a flowchart of the sub process program of the map information update process which concerns on this embodiment.

  DETAILED DESCRIPTION Hereinafter, a traffic light increase / decrease detection system and a traffic light increase / decrease detection device according to the present invention will be described in detail with reference to the drawings based on an embodiment that is embodied. First, a schematic configuration of the traffic light increase / decrease detection system 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic configuration diagram showing a traffic light increase / decrease detection system 1 according to the present embodiment. FIG. 2 is a block diagram showing the configuration of the traffic light increase / decrease detection system 1 according to the present embodiment.

  As shown in FIG. 1, a traffic light increase / decrease detection system 1 according to the present embodiment collects probe information from each vehicle 3 equipped with a navigation device 2 corresponding to the traffic light increase / decrease detection device, and collects probe information. It is basically composed of a probe center 4 that creates and distributes traffic information based on information.

  The vehicle 3 is a vehicle that travels on roads throughout the country, and constitutes a probe car system together with a probe center 4 described later as a probe car. Here, the probe car system is a system that collects information using a vehicle as a sensor. Specifically, the vehicle 3 includes the speed data and the operation status of each system such as the steering operation and the shift position together with the GPS position information. Hereinafter, it is a system in which data is transmitted to the probe center 4 via a communication module) and the collected data is reused as various information on the center side.

  In addition, the probe center 4 collects and accumulates probe information including the current time and travel information transmitted from each vehicle 3 traveling all over the country, and traffic information such as traffic jam information from the accumulated probe information. Distribution information such as traffic signal update information for newly reflecting the new installation and removal of the traffic signal in the map information of the navigation device 2 is generated, and the generated distribution information (hereinafter referred to as probe statistical information) is transmitted to the vehicle 3. An information distribution center for distribution. Further, in the traffic light increase / decrease detection system 1 according to the present embodiment, the vehicle status when the guide route is re-searched (hereinafter referred to as “reroute”) in the navigation device 2 mounted on the vehicle 3 is also acquired as probe information. To do. And the probe center 4 detects the new installation and removal of a traffic light based on the vehicle condition at the time of the acquired reroute being performed, and produces | generates above-mentioned traffic signal update information.

  A navigation device 2 is installed in the vehicle 3. The navigation device 2 displays a map around the vehicle position based on the stored map data, displays the current position of the vehicle on a map image, and searches and guides a route to a set destination. Machine. The navigation device 2 also guides traffic information such as traffic jam information received from the probe center 4 to the user. Furthermore, the navigation device 2 updates the map information (particularly information related to the traffic light) stored in the storage medium (HDD, memory card, etc.) based on the traffic light update information received from the probe center 4. The details of the navigation device 2 will be described later.

  Next, the configuration of the probe center 4 constituting the traffic light increase / decrease detection system 1 will be described in more detail with reference to FIG.

  As shown in FIG. 2, the probe center 4 includes a server 11, a probe information DB 12 as information recording means connected to the server 11, a probe statistical information DB 13, a center side map information DB 14, and a center communication device 15. Basically composed.

  The server 11 is an electronic control unit that performs various controls in the probe center 4. Then, in addition to the CPU 21 as an arithmetic device and a control device, the RAM 22 used as a working memory when the CPU 21 performs various arithmetic processes, a control program, a probe information collection processing program (FIG. 6) described later, probe information An internal storage device such as a ROM 23 storing a statistical processing program (FIGS. 7, 8, and 12) is provided.

  The probe information DB 12 is a storage unit that cumulatively stores probe information collected from each vehicle 3 traveling throughout the country. In the present embodiment, the probe information collected from the vehicle 3 includes information related to the vehicle status when the reroute is performed in the navigation device 2 mounted on the vehicle 3 (hereinafter referred to as reroute information). Here, the reroute information is set by (a) guidance contents performed by the navigation device 2 immediately before the reroute is performed, (b) coordinates of a guidance branch point that is a guidance target, and (c) the navigation device 2. (D) coordinates of a branch point where a traffic signal located on the guide route is installed, (e) coordinates of a branch point where the vehicle deviates from the guide route (hereinafter referred to as a reroute branch point), (f) This is information relating to the travel mode of the vehicle at the reroute branch point (whether the vehicle has entered a road connected in a road direction or a road connected in a direction different from the road direction). As information for specifying the branch point, the ID or name of the branch point may be used instead of the coordinates of the branch point. Further, the information of (d) may not be collected as probe information, and the probe center 4 may be generated based on the guide information of (c) and the map information stored in the center-side map information DB 14.

  Hereinafter, the reroute information in the probe information stored in the probe information DB 12 will be described in more detail with reference to FIG. FIG. 3 is a diagram showing an example of reroute information in the probe information stored in the probe information DB 12.

  As shown in FIG. 3, the reroute information collected as the probe information includes the time when the reroute corresponding to the vehicle 3 occurred, the vehicle ID for identifying the transmission source vehicle, and information on the above (a) to (f). Etc. are included. For example, the probe information shown in FIG. 3 indicates that a reroute has occurred in the vehicle 3 with ID “A” at 10:00: 00, and the navigation device 2 of the vehicle 3 “ “Two signals are in the right direction” is guided, the coordinates of the guidance branch point that was the guidance target are (x1, y1), and the guidance route set in the navigation device 2 is the link ID: The coordinates of the branch points where the traffic lights located on the guide route are (x11, y11), (x12, y12),... The coordinates of the reroute branch point where the vehicle deviates from the guide route is (x21, y21), and the vehicle travels at the reroute branch point and enters the road connected in the road direction. It has been stored. Similarly, other probe information is also stored.

  And the probe center 4 detects that the traffic signal was newly installed or removed for every branch point by statistics of the reroute information memorize | stored in probe information DB12. Specifically, the cause of the reroute in the vehicle 3 is estimated based on the reroute information, and when the new installation or removal of the traffic signal is predicted as the cause of the reroute, the new installation or removal of the traffic signal is detected. In addition, when the probe center 4 aggregates the detection results and it is estimated that there is a high possibility that the traffic signal is newly installed or removed, the probe center 4 updates the map information of the probe center 4 (newly installed or removed detected traffic signal). Reflect). Furthermore, the traffic signal update information for updating the map information of the navigation device 2 (reflecting the new installation or removal of the detected traffic signal) is distributed to the vehicle 3 as probe statistical information.

  The center-side map information DB 14 is registered based on externally input data and input operations, the above-described statistical results of probe information, and the like, and serves as a basis for updating the map information stored in the navigation device 2. It is a storage means for storing basic map data as data.

  The basic map data stored in the center-side map information DB 14 displays, for example, link data related to roads (links), node data related to node points, branch point data related to each branch point, point data related to points such as facilities, and maps. Map display data, search data for searching for a route, search data for searching for a point, and the like. In particular, the link data includes information regarding the type of link road (highway, general road, narrow street, etc.) and the presence or absence of an oncoming lane. Further, as branch point data, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), Signal information 16 and the like related to traffic signals installed between the periphery and the branch point are stored.

  The traffic signal information 16 is the direction in which the traffic light is installed (that is, the direction in which the traffic light is facing) for the traffic signals installed around and between the branch points (intersections) nationwide. Direction) and the position coordinates of the traffic light (hereinafter referred to as installation coordinates) are stored. Further, when a plurality of traffic lights are installed at one branch point, the installation direction and installation coordinates are stored for each of the traffic lights.

  The center communication device 15 is a communication device for communicating with the vehicle 3 or the VICS center via the network 17. In the present embodiment, probe information and probe statistical information are transmitted to and received from each vehicle 3 via the center communication device 15.

  Next, a schematic configuration of the navigation device 2 mounted on the vehicle 3 will be described with reference to FIG. FIG. 4 is a block diagram showing the navigation device 2 according to this embodiment.

  As shown in FIG. 4, the navigation device 2 according to the present embodiment includes a current position detection unit 31 that detects the current position of the vehicle 3 on which the navigation device 2 is mounted, and a data recording unit 32 that records various data. The navigation ECU 33 that performs various arithmetic processes based on the input information, the operation unit 34 that receives operations from the user, and the liquid crystal display 35 that displays a map around the vehicle and facility information related to the facility to the user. Between a speaker 36 that outputs voice guidance related to route guidance, a DVD drive 37 that reads a DVD as a storage medium, and an information center such as a probe center 4 or a VICS (registered trademark: Vehicle Information and Communication System) center. And a communication module 38 for performing communication.

Below, each component which comprises the navigation apparatus 2 is demonstrated in order.
The current position detection unit 31 includes a GPS 41, a vehicle speed sensor 42, a steering sensor 43, a gyro sensor 44, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 42 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 33. And navigation ECU33 calculates the rotational speed and moving distance of a driving wheel by counting the pulse which generate | occur | produces. In addition, it is not necessary for the navigation device 2 to include all the five types of sensors, and the navigation device 2 may include only one or a plurality of types of sensors.

  The data recording unit 32 includes an external storage device and a hard disk (not shown) as a recording medium, a navigation side map information DB 45, a guidance phrase storage table 46, a guidance history DB 47, a predetermined program, and the like recorded on the hard disk. A recording head (not shown), which is a driver for reading and writing predetermined data to the hard disk, is provided. The data recording unit 32 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the navigation-side map information DB 45 basically has the same configuration as the center-side map information DB 14. For example, link data related to roads (links), node data related to node points, and branch point data related to each branch point. , Point data regarding points such as facilities, map display data for displaying a map, search data for searching for a route, search data for searching for points, and the like. In particular, as the branch point data, signal information 48 and the like related to the traffic lights installed around and between the branch points are stored.

Then, the navigation ECU 33 specifies a guidance branch point ahead of the traveling direction of the vehicle based on each data stored in the navigation side map information DB 45 as will be described later, and performs guidance for identifying the guidance branch point. . Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 2 guides traveling according to the guidance route set in the navigation device 2 as described above. In this embodiment, guidance using the number of traffic signals located between the current position of the vehicle and the guidance branch point (hereinafter referred to as “traffic signal guidance”) is performed as guidance for specifying the guidance branch point.
Here, the “number of traffic lights located between the moving body and the guidance branch point” is preferably the number of traffic lights in the branch point unit. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, “traffic signal guidance” corresponds to guidance for specifying the guidance branch point using the number of branch points (ie, traffic signal intersections) where the traffic signal located between the moving body and the guidance branch point is installed. To do. However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.

The guidance phrase storage table 46 stores, for each guidance at the guidance branch point, the contents of the spoken phrase and the conditions for starting the guidance utterance in association with each other. FIG. 5 is a diagram showing an example of the guidance phrase storage table 46.
For example, in the case of guiding “the third signal is in the left (right) direction”, while the user can count three traffic lights before entering the guidance branch point, the guidance utterance Need to start. Therefore, as shown in FIG. 5, the guidance phrase “the third signal is in the left (right) direction” is a traffic signal three before the guidance branch point (note that a plurality of traffic lights are installed at the branch point). In the case where the vehicle is present, guidance is started on the condition that the vehicle has reached 5 m before the exit side traffic signal installed on the most exit side with respect to the traveling direction of the vehicle. Similarly, other guidance phrases are stored in the guidance phrase storage table 46. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point.

  In addition, the guidance history DB 47 is a DB in which the contents of guidance (guidance phrases, branch points targeted for guidance, etc.) that have been performed in the past in the navigation device 2 are cumulatively stored together with the time at which guidance was performed. . And navigation ECU33 acquires reroute information based on the history of guidance memorized by guidance history DB47 as mentioned below.

  On the other hand, the navigation ECU (Electronic Control Unit) 33 is an electronic control unit that controls the entire navigation device 2. The CPU 51 as an arithmetic device and a control device, and a working memory when the CPU 51 performs various arithmetic processes. Read out from the ROM 53 and the ROM 53 in which the RAM 52 storing the route data when the route is searched, the control program, the probe information collection processing program (FIG. 6) described later, and the like are recorded. And an internal storage device such as a flash memory 54 for storing the program. The navigation ECU 33 constitutes various means as processing algorithms together with the server 11 of the probe center 4. For example, the guidance route setting means sets a guidance route from a departure point (for example, the current position of the vehicle) to guide the movement of the vehicle (moving body) to a destination and a guidance branch point on the guidance route. The branch point guide means performs guidance for specifying the guide branch point using the number of traffic lights located between the vehicle and the guide branch point when the guide branch point is located in front of the traveling direction of the vehicle. The position acquisition unit acquires the position of the vehicle at a predetermined interval. The traffic light decrease detection means is based on the result of the position acquisition means, and when it is determined that the vehicle has deviated from the guidance route by entering the road connected in the direction of the road at the guidance branch point, Detects removal. Based on the acquisition result of the position acquisition means, the traffic signal increase detection means determines that the vehicle has deviated from the guidance route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point. If it is, it is detected that a traffic light has been newly installed. The oncoming lane determining means determines whether an oncoming lane exists on the road set as the guide route, and the cross road acquiring means acquires the road type of the cross road that intersects the guide route. The removal count means counts the number of times that the traffic light decrease detection means detects that the traffic light has been removed at each branch point, and the map information deletion update means has a count value of the removal count means equal to or greater than a predetermined threshold value. In this case, the map information is updated so as to delete the traffic signal attribute at the branch point. The new counting means counts the number of times the traffic signal increase detecting means detects that a new traffic signal is detected for each branch point and each section, and the map information additional updating means has a count value of the new counting means equal to or greater than a predetermined threshold value. When it becomes, the map information is updated so as to add the traffic signal attribute of the branch point or section. The guide route resetting means resets the guide route and the guidance branch point based on the new position of the vehicle when the newly acquired vehicle position deviates from the guide route.

  The operation unit 34 is operated when inputting a departure point as a travel start point and a destination point as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 33 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 34 can also be configured by a touch panel provided on the front surface of the liquid crystal display 35. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  Further, the liquid crystal display 35 has a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in the present embodiment, when the guidance branch point approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed.

  In addition, the speaker 36 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 33 and traffic information guidance. In particular, in the present embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, a voice guidance indicating that the predetermined guidance start timing based on the guidance content (for example, “the second signal is to the left”) In the case of outputting, the voice guidance at the guidance branch point is outputted at a timing 5 meters before (see FIG. 5) from the traffic light two before the guidance branch point.

  The DVD drive 37 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Then, based on the read data, music and video are reproduced, the navigation side map information DB 45 is updated, and the like.

  The communication module 38 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, traffic accident information, and the like transmitted from a traffic information center, for example, the VICS center or the probe center 4. For example, a mobile phone or DCM is applicable. It is also used for transmitting and receiving probe information and probe statistical information to and from the probe center 4.

  Next, a probe information collection processing program executed in the navigation apparatus 2 and the probe center 4 constituting the traffic light increase / decrease detection system 1 having the above configuration will be described with reference to FIG. FIG. 6 is a flowchart of the probe information collection processing program according to this embodiment. Here, the probe information collection processing program is a program that is executed after the ACC of the vehicle 3 is turned on and transmits the reroute information of the vehicle 3 to the probe center 4 as probe information. The programs shown in the flowcharts of FIGS. 6 to 8 and 12 below are stored in the RAM 52 and ROM 53 provided in the navigation ECU 33, the RAM 22 and ROM 23 provided in the server 11, and the like by the CPU 51 or CPU 21. Executed.

First, a probe information collection processing program executed in the navigation device 2 will be described.
In step (hereinafter abbreviated as S) 1, the CPU 51 acquires vehicle information related to the own vehicle. Here, the vehicle information acquired in S <b> 1 is information related to the current position and direction of the host vehicle and the guidance route set in the navigation device 2. The current position of the host vehicle is acquired based on the detection result of the current position detection unit 31. In addition, map matching processing for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using a high-precision location technique. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted. Further, the processing of S1 to S4 described below is repeatedly executed at a predetermined interval (for example, 200 msec).

  Next, in S2, the CPU 51 determines whether or not the host vehicle has deviated from the guide route set in the navigation device 2 based on the vehicle information acquired in S1.

  And when it determines with the own vehicle having deviated from the guidance route set to the navigation apparatus 2 (S2: YES), it transfers to S3. On the other hand, when it is determined that the own vehicle has not deviated from the guide route set in the navigation device 2 (S2: NO), the probe information collection processing program is terminated.

  In S3, the CPU 51 acquires reroute information. Here, the reroute information is information relating to the vehicle situation when the reroute is performed in the navigation device 2 mounted on the vehicle 3. As described above, the reroute information includes (a) guidance contents performed by the navigation device 2 immediately before the reroute is performed, (b) coordinates of a guidance branch point that has been a guidance target, and (c) a navigation device. (D) Coordinates of branch points where traffic lights located on the guide route are installed, (e) Coordinates of branch points where the vehicle deviates from the guide route (hereinafter referred to as reroute branch points) (F) The vehicle travels at the reroute branch point (whether it has entered a road connected in a road direction or a road connected in a direction different from the road direction). And CPU51 acquires the said reroute information based on the vehicle information acquired by said S1, the map information memorize | stored in navigation side map information DB45, and the guidance history memorize | stored in guidance history DB47.

  Subsequently, in S4, the CPU 51 transmits the reroute information acquired in S3 to the probe center 4 as probe information. Thereafter, the probe information collection processing program is terminated.

Next, a probe information collection processing program executed in the probe center 4 will be described.
First, in S11, the CPU 21 determines whether probe information is transmitted from each vehicle 3 traveling throughout the country.

  If it is determined that probe information is transmitted (S11: YES), the transmitted probe information is received (S12). Then, the CPU 21 cumulatively stores the received probe information in the probe information DB 12 (S13).

  On the other hand, when it is determined that no probe information is transmitted (S11: NO), the probe information reception processing program is terminated. The probe information received in S12 includes the above-described information (a) to (f) as reroute information together with “vehicle ID identifying the transmission source vehicle” and “reroute occurrence time” (FIG. 3).

  Next, a probe information statistical processing program executed in the probe center 4 constituting the traffic light increase / decrease detection system 1 will be described with reference to FIG. FIG. 7 is a flowchart of the probe information statistical processing program according to this embodiment. Here, the probe information statistical processing program is executed after the probe center 4 receives reroute information as probe information from the vehicle 3, detects the new installation and removal of the traffic light based on the reroute information collected from the vehicle 3, and the navigation device 2 and a program for updating the map information of the probe center 4.

  First, in S21, the CPU 21 reads the probe information (reroute information) acquired from the vehicle 3 immediately before from the probe information DB 12.

  Next, in S22, the CPU 21 navigates immediately before the reroute is performed based on “(a) Guidance contents performed by the navigation device 2 immediately before the reroute is performed” among the reroute information read out in S21. It is determined whether or not the guidance provided by the device 2 is “traffic signal guidance”. Note that the “traffic signal guide” is guidance for specifying a guidance branch point by using the number of traffic signals from the current position of the vehicle to the guidance branch point as described above.

  And when it determines with the guidance performed in the navigation apparatus 2 just before performing reroute being "traffic signal guidance" (S22: YES), it transfers to S23. On the other hand, when it is determined that it is not “traffic signal guidance” (S22: NO), that is, guidance of guidance branch points based on other than the number of traffic lights (for example, guidance of guidance branch points based on distance) is performed. If the guidance branch point guidance has not been performed immediately before, the probe information statistical processing program is terminated without detecting the new installation or removal of the traffic light.

  In S23, the CPU 21 performs a traffic signal increase / decrease detection process (FIG. 8) described later. The traffic signal increase / decrease detection process estimates the factor that caused the current reroute in the vehicle 3 based on the reroute information, and when it is predicted that the traffic signal will be newly installed or removed, between the specific branch points or between the branch points. This is a process for detecting that a traffic light is newly installed or removed.

  Thereafter, in S24, the CPU 21 determines whether or not a new or removed traffic signal is detected in the traffic signal increase / decrease detection process in S23.

  If it is determined in the signal signal increase / decrease prediction process of S23 that a new or removed signal is detected (S24: YES), the process proceeds to S25. On the other hand, if it is determined that no new or removed traffic signal has been detected in the traffic signal increase / decrease prediction process of S23 (S24: NO), the probe information statistical processing program is terminated.

  In S25, the CPU 21 performs map information update processing (FIG. 12) described later. In addition, the map information update process totals the detection results of new or removed traffic lights at each branch point or between the branch points, including the new detection result detected at S23, and as a result, When it is estimated that the possibility of removal is high, the map information of the navigation device 2 and the probe center 4 is updated (reflects the new installation or removal of the detected traffic signal). Thereafter, the probe information statistical processing program is terminated.

  Next, the sub process of the traffic signal increase / decrease detection process executed in S23 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program for traffic signal increase / decrease detection processing.

  In S31, the CPU 21 determines that the guide branch point is a reroute branch point based on “(f) Driving mode of the vehicle at the reroute branch point” in the reroute information read out in S21. It is determined whether or not the vehicle has deviated from the guide route by entering a road connected in the direction of the road.

  If it is determined that the guidance branch point is a reroute branch point and the vehicle has deviated from the guidance route by entering a road connected in the direction of the road at the guidance branch point (S31: YES), S32 Migrate to On the other hand, when it is determined that the vehicle has deviated from the guide route due to other driving modes (S31: NO), the process proceeds to S35.

  In S <b> 32, the CPU 21 uses the navigation device 2 immediately before the reroute is performed based on “(a) Guidance contents performed by the navigation device 2 immediately before the reroute is performed” among the reroute information read out in S <b> 21. Whether or not the guidance provided is a guidance that outputs a guidance phrase “Next signal is in the left (right) direction” indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction To determine. The guidance phrase “the next signal is in the left (right) direction” is output from the speaker 36 on the condition that the vehicle has reached 5 meters before the traffic light one before the guidance branch point as described above. (See FIG. 5).

  When it is determined that the guidance performed by the navigation device 2 immediately before the reroute is performed is a guidance that outputs a guidance phrase “the next signal is in the left (right) direction” (S32: YES). The process proceeds to S33. On the other hand, when it is determined that the guidance performed by the navigation device 2 immediately before the reroute is not a guidance that outputs a guidance phrase “the next signal is in the left (right) direction” (S32: If NO, the process proceeds to S34.

  In S33, the CPU 21 predicts that the vehicle has deviated from the guide route due to the removal of the traffic signal at the guidance branch point, and detects that the traffic signal at the guidance branch point has been newly removed. Then, the removal counter corresponding to the current approach direction of the vehicle at the guidance branch point is read and incremented by +1. A removal counter is provided for each branch point and for each entry direction, and is stored in the RAM 22 or the like. Then, as will be described later, the CPU 21 adds the values of the deletion counters in all entry directions at the branch point, and when the total value exceeds a predetermined threshold value, the map information indicates that the traffic light has been removed at the branch point. Reflect (see FIG. 12).

  On the other hand, in S34, the CPU 21 predicts that the vehicle has deviated from the guide route for reasons other than the new installation and removal of the traffic lights, and does not detect the new installation and removal of the traffic lights. Thereafter, the process proceeds to S24.

  Here, the reason for detecting that the traffic light at the guidance branch point has been newly removed in S33 will be described with reference to FIG. In addition, in FIG. 9, the case where the guidance route 71 is set and the traffic signal 73 at the guidance branch point 72 is removed will be described.

In the example shown in FIG. 9, in the traffic signal information 48 stored in the navigation side map information DB 45, since the removed traffic signal 73 is installed, the vehicle 74 traveling in front of the guidance branch point 72 On the other hand, even though there is no traffic light 73 at the guidance branch point 72, guidance is made that “the next signal is in the left direction”. As a result, the “next signal” being guided indicates not the traffic light at the guidance branch point 72 but the traffic signal 76 at the next branch point 75, and the user misrecognizes that the branch point 75 is the guidance branch point. Become. Then, the vehicle deviates from the guide route 71 by entering the road that is connected to the guide branch point 72 in the direction of the road.
Therefore, the car guidance branch point is a reroute branch point, and when the vehicle enters the road connected in the direction of the road at the guidance branch point, the vehicle is deviated from the guide route, and immediately before the reroute is performed, the navigation device 2 When the guidance is a guidance that outputs a guidance phrase "Next signal is in the left (right) direction" indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction It is highly likely that the traffic light at the guidance branch point has been newly removed.

  On the other hand, in S35, the CPU 21 has a branch point (first branch point) different from the guide branch point based on “(f) Driving mode of the vehicle at the reroute branch point” in the reroute information read out in S21. It is a reroute branch point, and it is determined whether or not the vehicle has deviated from the guide route by entering a road connected in a direction different from the road direction at the reroute branch point.

  Then, a branch point different from the guide branch point is a reroute branch point, and it is determined that the vehicle has deviated from the guide route by entering a road connected in a direction different from the road direction at the reroute branch point (S35: (YES), the process proceeds to S36. On the other hand, when it is determined that the vehicle has deviated from the guidance route due to other driving modes (for example, turning in the opposite direction to the guidance direction at the guidance branch point, entering the facility, etc.) (S35: NO) The process proceeds to S40.

  In S <b> 36, the CPU 21 uses the navigation device 2 immediately before the reroute is performed based on “(a) Guidance contents performed by the navigation device 2 immediately before the reroute is performed” among the reroute information read out in S <b> 21. Whether or not the guidance provided is a guidance that outputs a guidance phrase “Next signal is in the left (right) direction” indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction To determine. The guidance phrase “the next signal is in the left (right) direction” is output from the speaker 36 on the condition that the vehicle has reached 5 meters before the traffic light one before the guidance branch point as described above. (See FIG. 5).

  When it is determined that the guidance performed by the navigation device 2 immediately before the reroute is performed is a guidance that outputs a guidance phrase “the next signal is in the left (right) direction” (S36: YES). The process proceeds to S37. On the other hand, when it is determined that the guidance performed by the navigation device 2 immediately before the reroute is performed is not a guidance that outputs a guidance phrase “the next signal is in the left (right) direction” (S36: If NO, the process proceeds to S38.

  In S <b> 37, the CPU 21 predicts that the vehicle has deviated from the guide route due to the newly installed traffic signal at the reroute branch point, and detects that the traffic signal at the reroute branch point has been newly installed. Then, a new counter corresponding to the current vehicle approach direction at the reroute branch point is read and incremented by one. A new counter is provided for each branch point and for each approach direction, and is stored in the RAM 22 or the like. Then, as will be described later, the CPU 21 adds the values of the new counters in all the approach directions at the branch points, and when the total value exceeds a predetermined threshold, the map information indicates that a traffic signal is newly installed at the branch points. Reflect (see FIG. 12). Thereafter, the process proceeds to S24.

  Here, the reason why it is detected in S37 that a signal at the reroute branch point is newly installed will be described with reference to FIG. FIG. 10 illustrates a case where the guide route 81 is set and the traffic light 84 at the branch point 83 on the front side of the guide branch point 82 is newly provided.

In the example shown in FIG. 10, the traffic light information 48 stored in the navigation side map information DB 45 does not include information regarding the newly established traffic light 84, so that the vehicle 85 traveling in front of the guidance branch point 82 is In the state where the traffic light 84 in front of the traffic light 86 at the guidance branch point 82 is visible, the guidance “the next signal is to the left” is performed. As a result, the “next signal” being guided indicates the traffic signal 84 at the previous branch point 83 instead of the traffic signal 86 at the guide branch point 82, and the user misrecognizes the branch point 83 as the guide branch point. It becomes. Then, the vehicle deviates from the guide route 81 by entering a road connected to a branch point (reroute branch point) 83 before the guide branch point 82 in a direction different from the road direction (left direction in FIG. 10).
Therefore, a branch point different from the guide branch point is a reroute branch point, and the vehicle is deviated from the guide route when the vehicle enters a road connected in a direction different from the road direction at the reroute branch point, and immediately before the reroute is performed. The guidance performed by the navigation device 2 outputs a guidance phrase “the next signal is in the left (right) direction” indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction. In the case of guidance, there is a high possibility that a traffic signal at a branch point (reroute branch point) deviating from the guide route has been newly removed.

  On the other hand, in S38, the CPU 21 determines that the navigation device immediately before the reroute is performed based on “(a) Guidance contents performed by the navigation device 2 immediately before the reroute is performed” among the reroute information read in S21. The guidance phrase “The second signal is in the left (right) direction” indicating that there are two traffic lights including the guidance junction between the vehicle and the guidance junction. It is determined whether or not the guidance is to be output. The guidance phrase “the second signal is in the left (right) direction” is, as described above, from the speaker 36 on the condition that the vehicle has reached 5 meters before the traffic light two before the guidance branch point. Is output (see FIG. 5). Therefore, in S38, a guidance phrase “the second signal is in the left (right) direction” indicating that there are two traffic lights including the guidance junction between the vehicle and the guidance junction is output. Before the next guidance phrase “next signal is in the left (right) direction” is output, it is determined whether or not the vehicle has deviated from the guidance route.

  When it is determined that the guidance performed by the navigation device 2 immediately before the reroute is performed is a guidance that outputs a guidance phrase “the second signal is in the left (right) direction” (S38: (YES), the process proceeds to S39. On the other hand, when it is determined that the guidance performed by the navigation device 2 immediately before the reroute is performed is not the guidance that outputs the guidance phrase “the second signal is in the left (right) direction” ( In S38: NO), the process proceeds to S40.

  In S39, the CPU 21 sets a traffic light (for example, a push button type) between the reroute branch point (second branch point) immediately before the reroute branch point (first branch point) along the guide route and the reroute branch point. It is predicted that the vehicle has deviated from the guide route due to the newly established traffic signal), and it is detected that the traffic signal between the branch points has been newly established. Then, the section new counter corresponding to the branch point is read and incremented by +1. The section new counter is provided for each branch point (that is, for each link) and stored in the RAM 22 or the like. Then, as will be described later, when the value of the section new counter between the branch points exceeds a predetermined threshold, the CPU 21 reflects in the map information that the traffic signal is newly installed between the branch points (see FIG. 12).

  On the other hand, in S40, the CPU 21 predicts that the vehicle has deviated from the guide route for reasons other than the new installation and removal of the traffic lights, and does not detect the new installation and removal of the traffic lights. Thereafter, the process proceeds to S24.

  Here, with reference to FIG. 11, the reason why it is detected in S39 that a traffic signal is newly established between the reroute branch point from the branch point just before the reroute branch point on the departure side along the guide route will be described. . In FIG. 11, a case will be described in which a guide route 91 is set and a push button type traffic signal 95 is newly provided between the branch point 93 and the branch point 94 on the front side of the guide branch point 92.

In the example shown in FIG. 11, the traffic signal information 48 stored in the navigation side map information DB 45 does not include information on the newly established traffic signal 95, so the vehicle 96 traveling in front of the guidance branch point 92 is In the state where the traffic signal 95 and the traffic signal 98 in front of the traffic signal 97 at the guidance branch point 92 are visible, the guidance “the second signal is to the left” is performed. As a result, the “second signal” being guided indicates the traffic signal 98 at the front branch point 94 instead of the traffic signal 97 at the guide branch point 92, and the user misrecognizes that the branch point 94 is the guide branch point. Will be. The vehicle deviates from the guide route 91 by entering a road connected to a branch point (reroute branch point) 94 before the guide branch point 92 in a direction different from the road direction (left direction in FIG. 11).
Therefore, a branch point different from the guide branch point is a reroute branch point, and the vehicle is deviated from the guide route when the vehicle enters a road connected in a direction different from the road direction at the reroute branch point, and immediately before the reroute is performed. The guidance provided by the navigation device 2 indicates that there are two traffic lights including the guidance branch point between the vehicle and the guidance branch point. The second signal is in the left (right) direction. In the case of a guidance that outputs a phrase, there is a high possibility that a traffic light is newly removed between the reroute branch point and the reroute branch point one point before the reroute branch point along the guide route. It becomes.

When detecting the installation or removal of traffic lights at S33, S37, or S39, information on the presence or absence of oncoming traffic lanes on the road set as the guide route and the information on the road type of the intersecting road that intersects the guide route are displayed. It is desirable to perform detection in consideration of the acquired information acquired from the DB.
Specifically, if there is an oncoming lane on the road around the guidance or reroute branch of the road set as the guide route, the traffic condition of the vehicle traveling on the oncoming lane will also be considered. Detect new establishments and removals. For example, the car guidance branch point is a reroute branch point, and when the vehicle departs from the guide route by entering a road connected in the direction of the road at the guidance branch point, the navigation device 2 performs the operation immediately before the reroute is performed. When the guidance is a guidance that outputs a guidance phrase "Next signal is in the left (right) direction" indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction Is determined whether or not the same traveling condition can be confirmed even in a vehicle traveling on the opposite lane, and if it can be confirmed, it is detected that the traffic light has been removed at the guidance branch point (S33).
In addition, if the road type of the intersection road that intersects at the guidance branch point or reroute branch point is other than a narrow street (general road, etc.), the traffic situation of the vehicle traveling on the intersection road will be taken into consideration, and a new traffic light will be installed. And detect removal. For example, a branch point different from the guide branch point is a reroute branch point, and the vehicle is deviated from the guide route when the vehicle enters a road connected in a direction different from the road direction at the reroute branch point, and immediately before the reroute is performed. The guidance performed by the navigation device 2 outputs a guidance phrase “the next signal is in the left (right) direction” indicating that there is no traffic signal other than the guidance junction between the vehicle and the guidance junction. If it is guidance, it is determined whether the same traveling situation can be confirmed even on a vehicle traveling on the intersection road at the reroute branch point. If it can be confirmed, it is detected that a traffic signal is newly installed at the reroute branch point (S37). .

  Next, the sub-process of the map information update process executed in S25 will be described with reference to FIG. FIG. 12 is a flowchart of a sub-processing program for map information update processing.

  In S41, the CPU 21 determines whether or not the removal counter has increased in the traffic light increase / decrease detection process (FIG. 8) performed immediately before, that is, whether or not the traffic light at the guidance branch point has been newly removed. To do.

  If it is determined that the removal counter has increased, that is, it has been newly detected that the traffic light at the guidance branch point has been removed (S41: YES), the process proceeds to S42. On the other hand, when it is determined that the removal counter has not increased (S41: NO), the process proceeds to S47.

  In S42, the CPU 21 determines the value of the removal counter from all approach directions (four directions if a crossroad) at the branch point newly detected that the traffic light has been removed in the traffic light increase / decrease detection process (FIG. 8) performed immediately before. Are read from the RAM 22 and added together.

  Thereafter, in S43, the CPU 21 determines whether or not the total value calculated in S42 is equal to or greater than a predetermined threshold (for example, 100).

  If it is determined that the total value is equal to or greater than the predetermined threshold (S43: YES), the CPU 21 estimates that there is a high possibility of removal of the traffic light (ie, the reliability of the detection result is high), and S44. Migrate to On the other hand, when it is determined that the total value is less than the predetermined threshold (S43: NO), the CPU 21 estimates that the possibility of removing the traffic light is low (that is, the reliability of the detection result is low). The process ends without updating the map information.

  In S44, the CPU 21 updates the map information stored in the center-side map information DB 14 in order to reflect the detected removal of the traffic signal in the map information of the probe center 4. Specifically, the traffic signal attribute of the corresponding branch point is deleted, and the traffic signal information 16 that stores information related to the traffic signal is deleted regarding the traffic signal for which removal has been detected.

  Next, in S45, the CPU 21 generates traffic signal update information in order to reflect the detected removal of the traffic signal in the map information of the navigation device 2. The traffic signal update information is difference update information for updating information related to the corresponding traffic signal in the map information of the navigation device 2.

  Subsequently, in S <b> 46, the CPU 21 distributes the traffic signal update information generated in S <b> 45 to the vehicle 3. And the vehicle 3 which received traffic signal update information updates the map information memorize | stored in navigation side map information DB45 of the navigation apparatus 2 using the received traffic signal update information. As a result, the removal of the detected traffic signal is reflected in the map information of the navigation device 2. Specifically, the traffic signal attribute of the corresponding branch point is deleted, and the traffic signal information 48 that stores information related to the traffic signal is deleted regarding the traffic signal for which removal has been detected.

  On the other hand, in S47, the CPU 21 has detected whether or not the newly installed counter has increased in the traffic signal increase / decrease detection process (FIG. 8) performed immediately before, that is, whether or not the traffic signal at the reroute branch point has been newly installed. To determine.

  If it is determined that the newly installed counter has increased, that is, it has been newly detected that the traffic signal at the reroute branch point has been removed (S47: YES), the flow proceeds to S48. On the other hand, when it is determined that the new counter has not increased (S47: NO), that is, when it is determined that the section new counter has increased, the process proceeds to S53.

  In S48, the CPU 21 determines the value of the new counter from all approach directions (four directions if a crossroad) at the branch point newly detected that the traffic signal is newly installed in the traffic signal increase / decrease detection process (FIG. 8) performed immediately before. Are read from the RAM 22 and added together.

  Thereafter, in S49, the CPU 21 determines whether or not the total value calculated in S48 is equal to or greater than a predetermined threshold (for example, 100).

  When it is determined that the total value is equal to or greater than the predetermined threshold value (S49: YES), the CPU 21 estimates that there is a high possibility of newly installing a traffic light (that is, the reliability of the detection result is high), and S50. Migrate to On the other hand, when it is determined that the total value is less than the predetermined threshold (S49: NO), the CPU 21 estimates that the possibility of newly installing a traffic light is low (that is, the reliability of the detection result is low). The process ends without updating the map information.

  In S <b> 50, the CPU 21 updates the map information stored in the center-side map information DB 14 in order to reflect the detected new traffic signal in the map information of the probe center 4. Specifically, the traffic signal attribute of the corresponding branch point is added, and information (installation position, installation direction, etc.) related to the traffic signal in which the new installation is detected is added to the traffic signal information 16 storing the information related to the traffic signal.

  Next, in S51, the CPU 21 generates traffic signal update information in order to reflect the detected new traffic signal in the map information of the navigation device 2. The traffic signal update information is difference update information for updating information related to the corresponding traffic signal in the map information of the navigation device 2.

  Subsequently, in S52, the CPU 21 distributes the traffic signal update information generated in S51 to the vehicle 3. And the vehicle 3 which received traffic signal update information updates the map information memorize | stored in navigation side map information DB45 of the navigation apparatus 2 using the received traffic signal update information. As a result, the detected new traffic signal is reflected in the map information of the navigation device 2. Specifically, the traffic signal attribute of the corresponding branch point is added, and information related to the traffic signal in which the new installation is detected is added to the traffic signal information 48 storing the information related to the traffic signal.

  On the other hand, in S53, the CPU 21 reads from the RAM 22 the value of the section new counter corresponding to the point between the branch points (link) newly detected that the traffic signal is newly installed in the traffic signal increase / decrease detection process (FIG. 8) performed immediately before.

  Thereafter, in S54, the CPU 21 determines whether or not the value read in S53 is equal to or greater than a predetermined threshold (for example, 100).

  If it is determined that the read value is equal to or greater than the predetermined threshold (S54: YES), the CPU 21 estimates that there is a high possibility of newly installing a traffic light (ie, the reliability of the detection result is high). Then, the process proceeds to S55. On the other hand, when it is determined that the read value is less than the predetermined threshold value (S54: NO), the CPU 21 has a low possibility of newly installing a traffic light (that is, the reliability of the detection result is low). The process is terminated without updating the map information.

  In S <b> 55, the CPU 21 updates the map information stored in the center-side map information DB 14 in order to reflect the detected new traffic signal in the map information of the probe center 4. Specifically, the traffic signal attribute between the corresponding branch points (specifically, the attribute of the push button type traffic signal) is added, and the traffic signal information 16 storing the information related to the traffic signal is information regarding the traffic signal in which the new installation is detected. (Installation position, installation direction, etc.) are added.

  Next, in S56, the CPU 21 generates traffic signal update information in order to reflect the detected new traffic signal in the map information of the navigation device 2. The traffic signal update information is difference update information for updating information related to the corresponding traffic signal in the map information of the navigation device 2.

  Subsequently, in S57, the CPU 21 distributes the traffic signal update information generated in S56 to the vehicle 3. And the vehicle 3 which received traffic signal update information updates the map information memorize | stored in navigation side map information DB45 of the navigation apparatus 2 using the received traffic signal update information. As a result, the detected new traffic signal is reflected in the map information of the navigation device 2. Specifically, the traffic signal attribute between the corresponding branch points is added, and information related to the traffic signal in which the new installation is detected is added to the traffic signal information 48 storing the information related to the traffic signal.

As described above in detail, according to the traffic signal increase / decrease detection system 1, the traffic signal increase / decrease detection method using the traffic signal increase / decrease detection system 1, and the computer program executed by the traffic signal increase / decrease detection system 1, the vehicle 3 is navigated. When a reroute occurs outside the guide route set in the device 2, information regarding the vehicle status when the reroute is performed is transmitted to the probe center 4 as probe information (S4). On the other hand, when the probe center 4 that has received the probe information determines that the vehicle has deviated from the guidance route by entering the road connected to the road at the guidance branch point based on the received probe information. In addition, it is detected that the traffic light has been removed (S33), and it is determined that the vehicle has deviated from the guide route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point. In this case, since it is detected that the traffic signal is newly installed (S37, S39), it is possible to quickly detect the removal and the new installation of the traffic signal based on the traveling mode of the vehicle. As a result, even when performing guidance using the number of traffic lights from the vehicle to the guidance branch point, it is possible to prevent the actual guidance branch point from being different from the branch point specified by the guidance. Become.
Further, when the vehicle deviates from the guidance route by entering the road connected in the direction of the road at the guidance branch point, it is detected that the traffic light at the guidance branch point has been removed (S33). Based on the traveling mode of the vehicle, it is possible to quickly detect that the traffic light at the guidance branch point has been removed.
In addition, after guidance indicating that there is no traffic signal other than the guidance branch point between the vehicle and the guidance branch point, the vehicle enters a road connected in a direction different from the road direction other than the guidance branch point. When it is determined that the vehicle has deviated from the guidance route, it is detected that a traffic signal is newly installed at the reroute branch point (S37). Therefore, based on the content of the guidance performed immediately before and the traveling mode of the vehicle, In particular, it is possible to quickly detect that a traffic signal at a branch point different from the guide branch point is newly installed.
In addition, after the guidance indicating that there are two or more traffic lights including the guidance branch point between the vehicle and the guidance branch point, before the next guidance is performed, the vehicle becomes a road other than the guidance branch point. A section from the branch point on the departure side of the reroute branch point to the reroute branch point along the guide route when it is determined that the road is connected to the road connected in a direction different from the direction. Since a new traffic signal is detected (S39), a traffic signal (for example, a push button traffic signal, etc.) has been newly established, particularly between the branch points, based on the content of the guidance performed immediately before and the driving mode of the vehicle. This can be detected quickly.
In addition, if there are oncoming lanes on the roads around the guidance and reroute junctions among the roads set as the guide route, the traffic conditions of vehicles traveling on the opposite lanes will be taken into account Since the removal is detected, it becomes possible to improve the reliability of the detection relating to the removal and new installation of the traffic light.
In addition, if the road type of the intersection road that intersects at the guidance branch point or reroute branch point is other than a narrow street (general road, etc.), the traffic situation of the vehicle traveling on the intersection road will be taken into consideration, and a new traffic light will be installed. Since the removal is detected, it is possible to improve the reliability of detection related to the removal and new installation of the traffic light.
Further, for each branch point, the number of times the traffic signal has been removed is counted (S33), and the map information is deleted so that the traffic signal attribute at the branch point is deleted when the count value exceeds a predetermined threshold value. Is updated (S44), and the number of times that a new traffic signal is detected is counted for each branch point and each section (S37, S39), and when the count value exceeds a predetermined threshold value, Since the map information is updated so as to add the traffic signal attribute of the point or section (S50, S55), when the detection result relating to the removal and new installation of the traffic signal is highly reliable, the map is based on the detection result. Since the information is updated, it is possible to quickly reflect the removal and new installation of the detected traffic signal in the map information. Further, it is possible to reduce the possibility that the map information is updated based on the erroneous detection result. As a result, various processes using the map information can be performed based on more accurate information.
In addition, since the removal and new installation of the traffic signal is detected in response to the resetting (reroute) of the guidance route and the guidance branch point, the removal and new installation of the traffic signal is detected at the timing when the vehicle is deviated from the guidance route. Can be detected. Accordingly, it is possible to quickly detect the removal and new installation of the traffic light.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, the guidance branch point guidance by the navigation device 2 is output by voice guidance from the speaker 36, but the guidance may be performed by displaying text on the liquid crystal display 35.

  In the present embodiment, the information about all the traffic lights arranged around the branch point is stored as the traffic signal information 16 and 48. However, only the information about the traffic signal on the most exit side for each exit direction from the branch point. May be stored. Moreover, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light. Even if a stop line is used instead of a traffic light, it is desirable that the guidance be performed using the traffic light.

  In the present embodiment, in S38, the vehicle from the guidance indicating that there are two traffic lights including the guidance junction between the vehicle and the guidance junction until the next guidance is performed. It is configured to determine whether or not the vehicle has deviated from the guidance route, but the next guidance will be given after guidance indicating that there are three or more traffic lights including the guidance branch point between the vehicle and the guidance branch point. It may be configured to determine whether or not the vehicle has deviated from the guide route before being performed. In this case, it is detected that two or more traffic lights are newly installed between the branch points.

  Further, in the present embodiment, when updating the map information stored in the center side map information DB 14 or the navigation side map information DB 45, the difference update for updating only the corresponding part of the map information is used. All updates that update all information may be used.

  In the present embodiment, the addition or removal of the traffic signal is reflected in the map information when the sum or value of the removal counter, the new counter, or the section new counter exceeds a predetermined threshold. It is good also as a structure which reflects the new installation or removal of a traffic signal in map information, when the ratio by which removal is detected becomes more than a predetermined ratio.

  Each step of the probe information collection processing program (FIG. 6) and the probe information statistical processing program (FIGS. 7, 8, and 12) may be performed by either the probe center 4 or the navigation device 2. For example, in the present embodiment, the processing of S22 and S23 is configured to be executed by the probe center 4, but may be configured to be executed by the navigation device 2.

  Furthermore, in the present embodiment, the probe center 4 collects the traveling conditions at the time of reroute occurrence from a plurality of vehicles 3, and the new information and the removal of the traffic signal are detected by statistics of the information collected by the probe center 4. It is good also as a structure which memorize | stores the driving | running | working condition when reroute generate | occur | produces in the own vehicle, and detects the new installation and removal of a traffic signal only from the information regarding the accumulated own vehicle. That is, the navigation apparatus 2 may be configured to perform all the processes corresponding to the probe information collection processing program (FIG. 6) and the probe information statistical processing program (FIGS. 7, 8, and 12). In that case, the probe center 4 becomes unnecessary. Moreover, it is good also as a structure which transmits / receives the driving | running | working condition at the time of reroute generation | occurrence | production by vehicle-to-vehicle communication not via a probe center.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described probe information collection processing program (FIG. 6) and probe information statistical processing program (FIG. 7, FIG. 8, FIG. 12) can be implemented by either a server or a portable terminal. good. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

DESCRIPTION OF SYMBOLS 1 Traffic signal increase / decrease detection system 2 Navigation apparatus 3 Vehicle 4 Probe center 11 Server 14 Center side map information DB
33 Navigation ECU
45 Navi side map information DB
71, 81, 91 Guide route 72, 82, 92 Guide branch

Claims (11)

  1. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
    A branch point that performs guidance for specifying the guide branch point using the number of traffic lights located between the mobile body and the guide branch point when the guide branch point is located in front of the moving body in the traveling direction. Guidance means;
    Position acquisition means for acquiring the position of the moving body at predetermined intervals;
    Based on the acquisition result of the position acquisition means, when it is determined that the moving body has deviated from the guide route by entering the road connected in the direction of the road at the guide branch point, the traffic light is removed. A traffic light decrease detecting means for detecting
    Based on the acquisition result of the position acquisition means, the moving body enters the road connected in a direction different from the road direction at the first branch point that is a branch point different from the guide branch point. A traffic light increase / decrease detection system, comprising: a traffic light increase detection means for detecting that a traffic light is newly installed when it is determined that the traffic light has come off.
  2.   The traffic light decrease detection means is that the traffic signal at the guidance branch point has been removed when the moving body deviates from the guidance route by entering the road connected in the direction of the road at the guidance branch point. The traffic light increase / decrease detection system according to claim 1, wherein:
  3.   The traffic signal increase detection means is configured to provide guidance indicating that there is no traffic signal other than the guide branch point between the moving body and the guide branch point by the branch point guide means. Detecting that a traffic signal is newly installed at the first branch point when it is determined that the road has been deviated from the guide route by entering a road connected in a direction different from the road direction at the one branch point. The traffic light increase / decrease detection system according to claim 1 or 2,
  4.   The traffic signal increase detection means performs the next guidance after guidance indicating that there are two or more traffic lights including the guidance branch point between the moving body and the guidance branch point by the branch point guidance means. If it is determined that the moving body has deviated from the guide route by entering a road connected in a direction different from the road direction at the first branch point before 4. The apparatus according to claim 1, wherein a new traffic signal is detected in a section from the second branch point on the departure side of the first branch point to the first branch point. 5. Traffic signal increase / decrease detection system.
  5. An oncoming lane determining means for determining whether an oncoming lane exists on the road set in the guide route;
    5. The traffic light decrease detection means and the traffic light increase detection means detect removal or addition of a traffic light in consideration of a determination result of the oncoming lane determination means. Signal traffic increase / decrease detection system described.
  6. Cross road acquisition means for acquiring the road type of the cross road that intersects the guide route;
    The traffic light decrease detection means and the traffic light increase detection means detect the removal or new installation of a traffic light in consideration of the road type of the intersection road acquired by the intersection road acquisition means. The traffic light increase / decrease detection system according to claim 5.
  7. For each branch point, a removal counting means for counting the number of times that the traffic light has been removed by the traffic light reduction detecting means, and
    Map information deletion updating means for updating map information so as to delete the traffic signal attribute at the branch point when the count value of the removal counting means is equal to or greater than a predetermined threshold;
    New counting means that counts the number of times that the traffic signal increase detection means detects that a traffic signal is newly installed for each branch point and each section;
    Map information addition and update means for updating the map information so as to add the traffic signal attribute of the branch point or section when the count value of the newly provided count means becomes a predetermined threshold value or more. The traffic light increase / decrease detection system according to any one of claims 1 to 6.
  8. A guide route for resetting the guide route and the guide branch point based on the new position of the moving body when the position of the moving body newly acquired by the position acquisition means deviates from the guide route. Having resetting means,
    The traffic light decrease detection means and the traffic light increase detection means detect the removal or new installation of a traffic light when the guidance route and the guidance branch point are reset by the guidance route resetting means. The traffic signal increase / decrease detection system according to any one of claims 1 to 7.
  9. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
    A branch point guide means for guiding the guide branch point when the guide branch point is located in front of the moving body in the traveling direction;
    Position acquisition means for acquiring the position of the moving body at predetermined intervals;
    Based on the acquisition result of the position acquisition means, when it is determined that the moving body has deviated from the guide route by entering the road connected in the direction of the road at the guide branch point, the traffic light is removed. A traffic light decrease detecting means for detecting
    Based on the acquisition result of the position acquisition means, it is determined that the moving body has deviated from the guide route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point. And a traffic signal increase / decrease detecting means for detecting that the traffic signal is newly installed.
  10. A guidance route for guiding the movement of the moving body, and a guidance route setting step for setting a guidance branch point on the guidance route;
    A branch point guide step for guiding the guide branch point when the guide branch point is located in front of the moving body in the traveling direction;
    A position acquisition step of acquiring the position of the moving body at a predetermined interval;
    Based on the acquisition result of the position acquisition step, when it is determined that the moving body has deviated from the guide route by entering the road connected to the guide branch point in the road direction, the traffic light is removed. A traffic light decrease detection step for detecting
    Based on the acquisition result of the position acquisition step, it is determined that the moving body has deviated from the guide route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point. A traffic signal increase / decrease detection method for detecting that a traffic signal is newly installed.
  11. On the computer,
    A guidance route for guiding the movement of the moving body, a guidance route setting function for setting a guidance branch point on the guidance route,
    A branch point guide function for guiding the guide branch point when the guide branch point is located in front of the moving body in the traveling direction;
    A position acquisition function for acquiring the position of the moving body at predetermined intervals;
    Based on the acquisition result of the position acquisition function, when it is determined that the moving body has deviated from the guide route by entering the road connected to the guide branch point in the road direction, the traffic light is removed. A traffic light decrease detection function to detect
    Based on the acquisition result of the position acquisition function, it is determined that the moving body has deviated from the guide route by entering a road connected in a direction different from the road direction at a branch point different from the guide branch point. In the case, the traffic signal increase detection function to detect that the traffic signal is newly installed,
    A computer program for executing
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