JP2014149797A - Signal control system and traveling information extraction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a signal control system and a traveling information extraction device capable of reducing the tightness of a communication line.SOLUTION: Determination means determines whether or not acquired traveling information is the required traveling information of a vehicle which flows out of an intersection in a required outflow direction on the basis of road information related to an inflow route and the acquired location information of each vehicle. Signal information acquisition means acquires signal information related to a signal light for displaying passage permission in the required outflow direction. Specification means specifies the extraction start point of time of traveling information on the basis of acquired signal information. Extraction means extracts the determined required traveling information since the specified extraction start point of time until the lapse of an extraction time determined in accordance with the required outflow direction.

Description

  The present invention acquires a signal control device for controlling a signal lamp at an intersection and travel information including position information of a vehicle traveling on an inflow path to the intersection from a plurality of vehicles, and obtains the travel information of each acquired vehicle. The present invention relates to a signal control system including a travel information extraction device that extracts required travel information, and the travel information extraction device.

  The purpose of traffic signal control is to maintain smooth traffic for vehicles and pedestrians while maintaining smooth traffic by suppressing or mitigating traffic congestion. Various traffic signal control methods have been devised and realized. Has been. In these traffic signal control systems, signal control parameters (cycle length, split, offset, etc.) corresponding to the traffic conditions on the road are determined and the lamp color of the signal lamp is switched.

  For this reason, for example, a vehicle having a communication function for wireless communication between an in-vehicle device mounted on a vehicle and a traffic signal controller, and a vehicle entering the communication area of the traffic signal controller has its own position information, speed information, etc. The so-called probe information is transmitted to the traffic signal controller in real time. And the traffic signal controller can receive the transmitted probe information, and can determine a signal control parameter using the received probe information (refer patent document 1).

JP 2009-15817 A

  However, in the traffic signal control system of Patent Document 1, when probe information is transmitted from all the vehicles that have entered the communication area of the traffic signal controller, vehicle probes that are unnecessary for determining the signal control parameters are used. Information may also be included. This is the same when the probe information from the vehicle is received not by the traffic signal controller but by the road communicator. In addition, when the probe information of all the vehicles received by the traffic signal controller or the road communication device is transmitted to another device (for example, the road device or the central device), the amount of data to be communicated increases, and the communication line However, there is a possibility that the traffic signal control cannot be performed in a timely manner due to the tight communication.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a signal control system that can reduce the tightness of a communication line and a travel information extraction device that constitutes the signal control system.

  The signal control system according to the first aspect of the present invention acquires, from a plurality of vehicles, a signal control device for controlling a signal lamp at an intersection, and travel information including position information of a vehicle traveling on the inflow path to the intersection. And a travel information extraction device that extracts required travel information from the travel information of each vehicle, wherein the travel information extraction device includes road information about the inflow path and acquired position information of each vehicle. And determining means for determining whether or not the acquired travel information is the required travel information of the vehicle flowing out from the intersection in the required outflow direction, and the permission to pass in the required outflow direction is displayed. Signal information acquisition means for acquiring signal information related to the signal lamp, specification means for specifying the extraction start time of travel information based on the signal information acquired by the signal information acquisition means, and the specification means The extraction means for extracting the required travel information determined by the determination means and the travel information extracted by the extraction means are transmitted to the signal control device until the required extraction time elapses from the specified extraction start time. The signal control device is provided with a receiving means for receiving the signal information transmitted by the transmitting means, and controls the signal lamp using the traveling information received by the receiving means. It is characterized by.

  The signal control system according to a second aspect of the present invention is the signal control system according to the first aspect, wherein, when the required outflow direction is a right turn direction from the intersection, the determination means sends the acquired traveling information to the right turn lane of the inflow path. It is determined whether or not it is travel information of an existing vehicle or a lane adjacent to the right-turn exclusive lane and existing within a predetermined range upstream of the right-turn exclusive lane. Features.

  In the signal control system according to a third aspect of the present invention based on the second aspect, the specifying means specifies a time point a predetermined time before the start time point of the right turn blue arrow signal as the extraction start time point. Extraction time specifying means for specifying at least the time until the end point of the right turn blue arrow signal as the extraction time is provided.

  The signal control system according to a fourth aspect of the present invention is the signal control system according to the second or third aspect, wherein the signal control device controls the signal lamp at the intersection based on the traveling information received by the receiving means to perform right turn sensitive control. It is characterized by the above.

  The signal control system according to a fifth aspect of the present invention is the signal control system according to the first or second aspect, wherein when the required outflow direction is a straight-ahead direction from the intersection, the acquired travel information is obtained from the inflow path. It is characterized in that it is determined whether or not the vehicle travel information exists in a straight lane.

  The signal control system according to a sixth aspect of the present invention is the signal control system according to the fifth aspect, wherein the specifying means specifies a time point a predetermined time before the start time of the yellow signal as an extraction start time, and at least the extraction start time Extraction time specifying means for specifying the time until the end of the yellow signal as the extraction time is provided.

  A signal control system according to a seventh aspect of the present invention is the signal control system according to the fifth or sixth aspect, wherein the signal control device performs dilemma sensitive control by controlling the signal lamp at the intersection based on the traveling information received by the receiving means. It is characterized by the above.

  The signal control system according to an eighth aspect of the present invention is the signal control system according to any one of the first to seventh aspects, other than the required travel information determined by the determination means until the extraction time elapses from the extraction start time. The vehicle is characterized by comprising stop means for stopping transmission of all or part of the traveling information to the signal control device.

  The signal control system according to a ninth aspect of the present invention is the traffic control information acquiring means for acquiring the traffic congestion information related to the traffic congestion level of the inflow path and the traffic congestion level of the inflow path is high in any one of the first to eighth aspects of the invention. A right turn direction from the intersection is selected as the required outflow direction, and when the degree of congestion is low, the selection means includes a selection unit that selects a straight direction from the intersection as the required outflow direction. Further, it is characterized in that it is determined whether or not the travel information of the vehicle flowing out in the outflow direction selected by the selection means.

  A travel information extraction device according to a tenth aspect of the present invention acquires travel information including position information of a vehicle traveling on an inflow path to an intersection from a plurality of vehicles, and extracts required travel information from the acquired travel information of each vehicle. A travel information extracting device for acquiring the travel information obtained from the intersection in the required outflow direction based on the road information on the inflow path and the acquired position information of each vehicle. Based on the signal information acquired by the determination means for determining whether or not, the signal information acquisition means for acquiring the signal information related to the signal lamp that displays the passage permission in the required outflow direction, and the signal information acquisition means, The specifying means for specifying the extraction start time of the travel information, and the required travel information by the determination means until the required extraction time elapses from the extraction start time specified by the specifying means. Characterized in that it comprises extraction means for extracting the boss was traveling information.

  In the first invention and the tenth invention, the determination means of the travel information extracting device determines that the acquired travel information is based on the road information about the inflow path and the acquired position information of each vehicle, and the required outflow direction from the intersection. It is determined whether or not the required traveling information of the vehicle flowing out to The required outflow direction is, for example, a right turn direction from an intersection, a straight direction, or the like. The required travel information is travel information transmitted by a vehicle traveling in the required outflow direction. The traveling information is so-called probe information (uplink information). The signal information acquisition means acquires signal information related to a signal lamp that displays a passage permission in a required outflow direction. The signal information is information including the switching timing of the signal lamp (signal lamp color) and the display time of the signal lamp. For example, when the required outflow direction is a right turn direction, the signal light that indicates permission to pass in the required outflow direction is a signal light that includes a right turn blue arrow, and when the required outflow direction is a straight direction. Is a signal light including blue.

  The specifying unit specifies the extraction start point of the travel information based on the acquired signal information. The extraction means extracts the required travel information determined by the determination means until the required extraction time elapses from the specified extraction start time. The transmission means transmits the extracted travel information to the signal control device. The extraction start time is a start time of processing for extracting travel information to be transmitted to the signal control device from travel information acquired by the travel information extraction device from a plurality of vehicles. That is, the travel information acquired until the extraction start time is not transmitted to the signal control device, but is acquired from the extraction start time until the extraction time elapses, and the required travel information determined by the determination means is the signal control device or the like. Will be sent to. The signal control device receives the signal information, and controls the signal lamp using the received traveling information.

  With the above-described configuration, it is possible to extract only the traveling information necessary for controlling the signal lamp switching timing for the vehicle traveling in the required outflow direction from the intersection. That is, instead of transmitting all the travel information acquired from all the vehicles in the communicable area with the vehicle to the signal control device as it is, from among all the vehicles, based on the road information and the vehicle position information, By identifying vehicles that travel in the required outflow direction, unnecessary vehicles can be excluded. Next, using the signal information related to the signal lamp that displays the permission to pass in the required outflow direction, the required time, that is, the extraction time from the extraction start time point, out of the travel information transmitted by the vehicle traveling in the required outflow direction. By further adding a time limit until the time elapses, it is possible to limit to travel information at a timing required for signal control. In this way, by using the vehicle position information and signal information to filter the travel information, it is possible to extract and transmit only the necessary travel information while avoiding unnecessary travel information transmission. The tightness of the line can be reduced. Further, since unnecessary travel information does not need to be received and processed, unnecessary processing in the signal control device can be reduced, and originally required processing speed can be improved.

  In the second invention, when the required outflow direction is the right turn direction from the intersection, the determination means is adjacent to the vehicle existing in the right turn lane of the inflow path or the right turn lane. It is determined whether or not the vehicle travel information is within a predetermined range upstream of the right-turn exclusive lane. If there is a right turn lane on the inflow route and the vehicle is in the right turn lane, the vehicle is likely to turn right at the intersection and drive in the right turn direction. The direction can be determined. In addition, vehicles that are adjacent to the right turn lane and are within a predetermined range upstream from the right turn lane may enter the right turn lane from the adjacent lane. The outflow direction can be determined to be the right turn direction. Thereby, the travel information of the vehicle traveling in the right turn direction can be extracted without omission as the required travel information.

  In the third invention, the specifying means specifies a time point a predetermined time before the start time point of the right turn blue arrow signal as the extraction start time point. The extraction time specifying means specifies the time from the extraction start time to at least the end time of the right turn Aoya signal as the extraction time. The predetermined time is, for example, about several seconds to 10 seconds. The predetermined time is a margin time for extracting travel information without omission. Further, when the right turn blue arrow signal is extended, the end time of the right turn blue arrow signal can be set as the time when the extension time elapses. For example, when performing right turn sensitive control, it may be determined whether or not there is a vehicle that makes a right turn at an intersection in the time zone (including the extended time) in which the right turn blue arrow signal is displayed. Therefore, only the travel information acquired during the extraction time can be extracted from the travel information of the vehicle traveling in the right turn direction.

  In the fourth aspect of the invention, the signal control device performs the right turn sensitive control by controlling the signal lamp at the intersection based on the received travel information. The signal control device can receive only the travel information necessary for the right turn sensitive control.

  In the fifth invention, the determining means determines whether or not the acquired traveling information is traveling information of a vehicle existing in the straight traveling lane of the inflow path when the required outflow direction is a straight traveling direction from the intersection. Determine. When the vehicle is in a straight lane, the vehicle is likely to travel straight at the intersection, and the required outflow direction of the vehicle can be determined to be the straight direction. Thereby, the travel information of the vehicle traveling in the straight direction can be extracted as required travel information without omission.

  In the sixth invention, the specifying means specifies a time point a predetermined time before the start time of the yellow signal as the extraction start time point. The extraction time specifying means specifies the time from the extraction start time to at least the end time of the yellow signal as the extraction time. The predetermined time is, for example, about several seconds to 10 seconds. The predetermined time is a margin time for extracting travel information without omission. For example, when dilemma sensitive control (including optional sensitive control) is performed, is there a vehicle that passes straight through the intersection during the time period from the start of the yellow signal (end of the green signal) to the end of the yellow signal? What is necessary is just to determine. Therefore, only the travel information acquired during the extraction time can be extracted from the travel information of the vehicle traveling in the straight direction.

  In the seventh invention, the signal control device performs dilemma sensitive control by controlling the signal lamp at the intersection based on the received traveling information. The signal control device can receive only traveling information necessary for dilemma sensitive control.

  In the eighth invention, the stop means stops transmission of all or part of the travel information other than the required travel information to the signal control device until the extraction time elapses from the extraction start time. As a result, only necessary traveling information is transmitted and unnecessary traveling information is not transmitted, so that the tightness of the communication line can be reduced.

  In the ninth invention, the traffic jam information acquisition means acquires the traffic jam information related to the traffic jam degree of the inflow path. The degree of congestion can be classified according to categories such as quietness, near saturation, and supersaturation. The traffic jam information may be appropriate information such as the traffic volume as long as it indicates the degree of traffic jam. The selection means selects the right turn direction from the intersection as the required outflow direction when the congestion level of the inflow route is high (for example, near saturation or oversaturation), and when the congestion level is low (for example, quiet), the required outflow direction Select the straight direction from the intersection as. The determination means determines whether or not the required traveling information of the vehicle flowing out in the selected outflow direction. When the degree of traffic congestion is high, it is possible to alleviate the traffic congestion by performing the right turn sensitive control, so that it is possible to extract the travel information of the vehicle in the right turn direction as the required travel information. Further, when the degree of traffic congestion is low, a vehicle that falls into a dilemma state or an optional state may occur, so that traveling information of the vehicle in the traveling direction can be extracted as required traveling information. As a result, appropriate signal control can be preferentially performed in accordance with the congestion situation of the inflow path.

  According to the present invention, by using the vehicle position information and signal information to filter the travel information, it is possible to extract and transmit only the necessary travel information while avoiding unnecessary travel information transmission. , Communication line tightness can be reduced.

It is a block diagram which shows an example of a structure of the signal control system of this Embodiment. It is a schematic diagram which shows an example of the road around the intersection where the signal control by the signal control system of this Embodiment is performed. It is a block diagram which shows an example of a structure of the roadside communication apparatus of this Embodiment. It is a schematic diagram which shows an example of the method of extracting required traveling information with the positional information on a vehicle when a required outflow direction is a right turn direction. It is a schematic diagram which shows an example of the method of extracting required driving | running | working information by signal information, when a required outflow direction is a right turn direction. It is a schematic diagram which shows an example of a mode that only the required traveling information by a roadside communication apparatus is extracted and transmitted. It is a schematic diagram which shows an example of the method of extracting required traveling information with the positional information on a vehicle when the required outflow direction is a straight direction. It is a schematic diagram which shows an example of the method of extracting required traveling information with signal information, when a required outflow direction is a straight ahead direction. It is a schematic diagram which shows the other example of a mode that only the required driving information by a roadside communication apparatus is extracted and transmitted. It is explanatory drawing which shows an example of the priority of the signal control according to traffic congestion degree.

  Hereinafter, a signal control system and a travel information extracting device according to embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an example of the configuration of the signal control system of the present embodiment, and FIG. 2 is a schematic diagram showing an example of a road around an intersection where signal control is performed by the signal control system of the present embodiment. is there. As shown in FIG. 1, the signal control system includes a road communication device 100 as a travel information extraction device, a traffic signal controller 1 or a central device 4 as a signal control device, and the like. That is, the traffic light controller 2 may be controlled by the traffic signal controller 1 at the intersection, or may be performed by the central device 4 provided in a traffic monitoring center or the like. In the present embodiment, the traffic signal controller 1 will be described as controlling the signal lamp 2. Further, the signal control system can further include a signal lamp 2 and an information relay device 3 provided at the intersection.

  As shown in FIG. 2, the road communicator 100 is, for example, in a predetermined communicable area (a range schematically shown by a broken line in FIG. 2) of a road including the intersection 5 (referred to as a main road and a secondary road for convenience). It is possible to transmit / receive information to / from the vehicle 200. At the intersection 5, signal lights 2 are installed in the upward and downward directions of the main road (left and right directions in FIG. 2) and in the upward and downward directions of the secondary road (upward and downward directions in FIG. 2). The traffic signal controller 1 controls each signal lamp 2.

  The vehicle 200 is equipped with an in-vehicle device (not shown). The vehicle 200 accumulates information such as its position (position coordinate information) and the time at the position every predetermined cycle (for example, 0.1 second to 1 second). The plurality of vehicles 200 entering the communication range transmits the accumulated information to the road communication device 100 as travel information every predetermined time (for example, 0.1 second to 1 second).

  The roadside communication device 100 is, for example, a roadside communication device (base station) having a wireless communication function for ITS (Intelligent Transport Systems) that uses a frequency band of the UHF band. Can send and receive information to and from. That is, the roadside communication device 100 acquires travel information including position information of the vehicle from the vehicle 200 existing within the communication range. The traveling information is also referred to as so-called probe information or floating car data. The travel information may include vehicle ID, position coordinate information, time, speed, direction, vehicle operation information (for example, operation information on brakes, accelerators, blinkers, wipers, etc.).

  The road communicator 100 transmits the required travel information among the travel information acquired from each vehicle 200 to the traffic signal controller 1 via the information relay device 3. The roadside communication device 100 can also transmit the required travel information among the travel information acquired from each vehicle 200 to the central device 4 via the information relay device 3.

  FIG. 3 is a block diagram showing an example of the configuration of the roadside communication device 100 of the present embodiment. As shown in FIG. 3, the road communicator 100 includes a control unit 10, a communication unit 11, a storage unit 12, a vehicle position determination unit 13, an extraction time specification unit 14, a travel information extraction unit 15, an outflow direction selection unit 16, and the like. Prepare.

  The communication unit 11 acquires travel information from the vehicle 200. The communication unit 11 also has a function as a transmission unit that transmits required travel information to the traffic signal controller 1 and the central device 4 via the information relay device 3. Further, the communication unit 11 has a function as signal information acquisition means for acquiring signal information related to the signal lamp of the signal lamp device 2 from the traffic signal controller 1 or the central device 4. Details of the signal information will be described later.

  The storage unit 12 stores road information related to the inflow path (main road and secondary road) to the intersection 5. The road information includes position coordinates of road boundaries, position coordinates of lanes (for example, a right turn lane, a straight lane, etc.), and the like. For example, information such as the start position of the right turn exclusive lane, the position of the stop line, and the boundary position of each lane is included. Further, the storage unit 12 stores travel information of each vehicle 200 acquired through the communication unit 11, signal information of the signal lamp device 2, and the like.

  The vehicle position determination unit 13 determines whether the acquired travel information is the required travel information of the vehicle flowing out from the intersection 5 in the required outflow direction based on the road information regarding the inflow path and the acquired position information of each vehicle 200. Determine whether or not. The required outflow direction is, for example, the right turn direction from the intersection 5 when the travel information is used for right turn sensitive control. Further, the required outflow direction is, for example, a straight traveling direction from the intersection 5 when the travel information is used for dilemma sensitive control (including option sensitive control).

  As described above, the communication unit 11 acquires signal information related to a signal lamp that displays a passage permission in a required outflow direction. The signal information is information including the switching timing of the signal lamp (signal lamp color) and the display time of the signal lamp. For example, when the required outflow direction is a right turn direction, the signal light that indicates permission to pass in the required outflow direction is a signal light that includes a right turn blue arrow, and when the required outflow direction is a straight direction. Is a signal light including blue.

  The extraction time specifying unit 14 has a function as a specifying unit, and specifies the extraction start point of travel information based on the signal information acquired via the communication unit 11. The extraction start time is the start time of the process of extracting the travel information to be transmitted to the traffic signal controller 1 or the central device 4 from the travel information acquired by the road communicator 100 from the plurality of vehicles 200.

  The travel information extraction unit 15 has a function as an extraction unit, and the required travel determined by the vehicle position determination unit 13 from the extraction start time specified by the extraction time specification unit 14 until the required extraction time elapses. Extract information. The extraction time can be set according to the outflow direction, for example.

  The control unit 10 controls the travel information extracted by the travel information extraction unit 15 to be transmitted to the traffic signal controller 1 or the central device 4 via the communication unit 11 as required travel information.

  That is, the travel information acquired from each vehicle 200 by the road communicator 100 before the extraction start time is not transmitted to the traffic signal controller 1 or the central device 4. On the other hand, of the travel information acquired from each vehicle 200 by the road communicator 100 from the start of extraction until the extraction time elapses, the travel information determined by the vehicle position determination unit 13 as the required travel information is , To the traffic signal controller 1 or the central device 4.

  With the above-described configuration, it is possible to extract only the travel information necessary for controlling the signal lamp switching timing for the vehicle 200 traveling in the required outflow direction from the intersection 5. That is, instead of transmitting all the travel information acquired from all the vehicles 200 within the communication area with the vehicle 200 to the traffic signal controller 1 or the central device 4 as it is, the road information and By identifying the vehicle 200 that travels in the required outflow direction based on the position information of the vehicle 200, unnecessary vehicles 200 can be excluded.

  Then, using the signal information related to the signal lamp that displays the passage permission in the required outflow direction, the required time, that is, the extraction time from the extraction start point in the travel information transmitted by the vehicle 200 traveling in the required outflow direction. By further adding a time limit until the time elapses, it is possible to limit to travel information at a timing required for signal control.

  In this way, by filtering the travel information using the position information and signal information of the vehicle 200, it is possible to extract and transmit only the necessary travel information while avoiding unnecessary travel information transmission. The tightness of the communication line can be reduced. In addition, since it is not necessary to receive and process unnecessary traveling information, unnecessary processing in the traffic signal controller 1 or the central device 4 can be reduced, and the originally required processing speed can be improved. .

  Next, a case where the travel information is used for right turn sensitive control (when the required outflow direction is a right turn direction) and a case where it is used for dilemma sensitive control (when the required outflow direction is a straight direction) will be described. First, in order to extract required travel information when performing right turn sensitive control, a specific description will be given of a method of screening travel information acquired from each vehicle 200 with vehicle position information and then screening with signal information. To do.

  FIG. 4 is a schematic diagram showing an example of a method for extracting required travel information from vehicle position information when the required outflow direction is a right turn direction. In FIG. 4, only the upward direction of the main road is illustrated as an inflow path to the intersection 5 for convenience, but the same applies to other inflow paths. As shown in FIG. 4, it is assumed that the inflow path is two lanes on one side, and the right turn lane is separated from the center lane from the required position before the intersection 5.

  In FIG. 4, a region S1 indicated by reference numeral S1 is a region in the right turn exclusive lane. Region S1 is a range from the downstream end (stop line position of intersection 5) of the right turn lane to the upstream end (start position of the right turn lane). An area S2 indicated by a reference sign S2 is a lane adjacent to the right-turn exclusive lane, and is an area in a predetermined range upstream of the right-turn exclusive lane. The upstream end of the predetermined range is, for example, a position about several tens of meters upstream from the stop line at the intersection 5.

  When the required outflow direction is the right turn direction from the intersection 5, the vehicle position determination unit 13 has the acquired travel information in the right turn lane of the inflow path (the vehicle existing in the region S1), or the right turn only. It is determined whether the lane is adjacent to the lane and is travel information of a vehicle (a vehicle existing in the region S2) that exists in a predetermined range upstream of the right-turn exclusive lane.

  If there is a right turn lane on the inflow path and the vehicle 200 is in the right turn lane, the vehicle 200 is likely to turn right at the intersection 5 and travel in the right turn direction. The direction can be determined to be the right turn direction. In addition, a vehicle 200 that is adjacent to the right-turn exclusive lane and is located within a predetermined range upstream of the right-turn exclusive lane may enter the right-turn exclusive lane from the adjacent straight lane. The required outflow direction of 200 can be determined to be the right turn direction. Thereby, the travel information of the vehicle 200 traveling in the right turn direction can be extracted as required travel information without omission.

  FIG. 5 is a schematic diagram showing an example of a method for extracting required traveling information with signal information when the required outflow direction is a right turn direction. The signal information (switching of signal lamps) shown in the upper part of FIG. 5 is for the inflow path illustrated in FIG. In the example of FIG. 5, the signal lamps are switched in the order of blue, yellow, blue arrows (in this case, red is straight), yellow, and red. The middle part of FIG. 5 shows a first example of the extraction time, and the lower part shows a second example of the extraction time.

  First, a first example of extraction time will be described. The extraction time specifying unit 14 specifies the time point before the predetermined time T1 from the start time point of the right turn blue arrow signal as the extraction start time point. The predetermined time T1 can be set to, for example, several seconds to about 10 seconds, and is a margin time for extracting the travel information of the vehicle traveling in the right turn direction without omission.

  The extraction time specifying unit 14 also functions as extraction time specifying means, and specifies the time from the extraction start time to at least the end time of the right turn blue arrow signal as the extraction time. In addition, when the right turn Aoya signal is extended, the end time of the right turn Aoya signal can be a time when the extension time elapses.

  When performing right turn sensitive control, it may be determined whether or not there is a vehicle that turns right at the intersection in the time zone (including the extended time) in which the right turn blue arrow signal is displayed. Therefore, by setting the extraction time as the time from the start time of the right turn Aoya signal to the end time of the right turn Aoya signal from the time before the predetermined time T1, from the traveling information of the vehicle traveling in the right turn direction, Furthermore, it is possible to extract only the travel information at the timing required for the right turn sensitive control as the required travel information.

  The extraction time is not limited to the first example. As shown in the second example of FIG. 5, all red (main road and Red for both secondary roads) It can also be the time to start. Thereby, the allowance time for extracting the travel information of the vehicle traveling in the right turn direction without omission can be extended.

  FIG. 6 is a schematic diagram illustrating an example of a state in which only required traveling information is extracted and transmitted by the roadside communication device 100. As shown in FIG. 6, the road communicator 100 includes travel information of each vehicle 200 in the communicable region (all vehicles 200 equipped with an in-vehicle device capable of transmitting travel information), that is, a vehicle on a secondary road. Travel information, travel information on vehicles traveling on the main road, travel information on vehicles traveling on the main road, and travel information on vehicles traveling on the secondary road are acquired. When the traffic signal controller 1 performs right turn sensitive control, the road communicator 100 extracts only the travel information of the right turn vehicle on the main road from the acquired travel information as the required travel information. Transmit to the controller 1.

  By filtering travel information using vehicle position information and signal information, it is possible to extract and transmit only necessary travel information while avoiding unnecessary travel information transmission. Can be reduced.

  The traffic signal controller 1 can receive only the required travel information extracted by the road communicator 100, and does not need to receive unnecessary travel information. The traffic signal controller 1 can perform right turn sensitive control by controlling the signal lamp 2 at the intersection 5 based on the received travel information. For example, when there is no right turn waiting vehicle at the end of the right turn Aoya, the right turn sensitivity control is terminated. On the other hand, when there is a vehicle waiting for a right turn at the end of the right turn Aoya, the right turn Aoya is extended by unit time. If there is a vehicle waiting for a right turn at the end of the extended right turn Aoya, the right turn Aoya is extended for a unit time. If there is no vehicle waiting for a right turn at the end of the extended right turn Aoya, the right turn Aoya is terminated at the end of the extension. Thereafter, the extension for each unit time is repeated, and if there is a vehicle waiting for a right turn even when the maximum extension time is reached, the right turn Aoya is terminated at that time.

  Next, in order to extract required traveling information when performing dilemma sensitive control, a method of screening traveling information acquired from each vehicle 200 with vehicle position information and then screening with signal information is specifically described. explain.

  FIG. 7 is a schematic diagram showing an example of a method for extracting required travel information from vehicle position information when the required outflow direction is a straight traveling direction. In FIG. 5, for the sake of convenience, only the upward direction of the main road is illustrated as the inflow path to the intersection 5, but the same applies to other inflow paths. As shown in FIG. 5, it is assumed that the inflow path has two lanes on one side, and the right turn lane is separated from the lane on the center side from the required position before the intersection 5.

  In FIG. 7, a region S3 indicated by reference numeral S3 is a region in the straight lane. The region S3 is a two-lane road on the main road, for example, a range from the position of the stop line at the intersection to a point several hundred meters upstream of the intersection 5.

  The vehicle position determination unit 13 determines whether or not the acquired travel information is travel information of the vehicle 200 existing in the straight lane of the inflow path when the required outflow direction is a straight direction from the intersection 5. . When the vehicle 200 exists in the straight lane, the vehicle 200 is likely to travel straight ahead at the intersection, and the required outflow direction of the vehicle 200 can be determined to be the straight direction. Thereby, the traveling information of the vehicle 200 traveling in the straight traveling direction can be extracted as required traveling information without omission.

  FIG. 8 is a schematic diagram showing an example of a method for extracting required traveling information with signal information when the required outflow direction is a straight traveling direction. The signal information (switching of signal lights) shown in the upper part of FIG. 8 is for the inflow path illustrated in FIG. In the example of FIG. 8, the signal lamps are switched in the order of blue, yellow, blue arrow (in this case, straight ahead is red), yellow, and red. The middle part of FIG. 8 shows a first example of the extraction time, and the lower part shows a second example of the extraction time.

  First, a first example of extraction time will be described. The extraction time specifying unit 14 specifies a time point a predetermined time T2 before the start point of the yellow signal as the extraction start time point. The predetermined time T2 is, for example, about several seconds to 10 seconds, and is a margin time for extracting travel information without omission.

  The extraction time specifying unit 14 specifies the time from the extraction start time to at least the end time of the yellow signal as the extraction time.

  When dilemma sensitive control (including optional sensitive control) is performed, whether or not there is a vehicle that passes straight through the intersection during the period from the start of the yellow signal (end of the green signal) to the end of the yellow signal Can be determined. Therefore, by setting the extraction time to the time from the time before the predetermined time T2 from the start time of the yellow signal to the end time of the yellow signal, the dilemma is further extracted from the travel information of the vehicle traveling in the straight ahead direction. Only the travel information at the timing required for the sensitive control can be extracted as the required travel information.

  Note that the extraction time is not limited to the first example, and as shown in the second example of FIG. 8, from the time before the predetermined time T2 from the start time of the yellow signal to the time T3 after the start time of the right turn blue arrow. It can also be the time to the point in time. Thereby, the traveling information to be extracted can be further screened, and the tightness of the communication line can be further reduced.

  FIG. 9 is a schematic diagram showing another example of how only the required traveling information is extracted and transmitted by the roadside communication device 100. As shown in FIG. 9, the road communicator 100 includes travel information of each vehicle 200 in the communicable region (all vehicles 200 equipped with an in-vehicle device capable of transmitting travel information), that is, a vehicle on a secondary road. Travel information, travel information on vehicles traveling on the main road, travel information on vehicles traveling on the main road, and travel information on vehicles traveling on the secondary road are acquired. When the traffic signal controller 1 performs the dilemma sensitive control, the road communicator 100 extracts only the travel information of the straight-ahead vehicle on the main road from the acquired travel information as the traffic signal. Transmit to the controller 1.

  By filtering travel information using vehicle position information and signal information, it is possible to extract and transmit only necessary travel information while avoiding unnecessary travel information transmission. Can be reduced.

  The traffic signal controller 1 can receive only the required travel information extracted by the road communicator 100, and does not need to receive unnecessary travel information. The traffic signal controller 1 can perform dilemma sensitive control by controlling the signal lamp 2 at the intersection 5 based on the received travel information.

  In the dilemma sensitive control, first, it is determined whether a vehicle traveling toward the intersection 5 is in a dilemma traveling state or an optional traveling state. In the dilemma driving state, even if the vehicle tries to stop after starting the yellow signal, it cannot stop before the stop line (intersection) and cannot enter the stop line before the end of the yellow signal and cannot stop or enter safely. It is. In addition, the optional driving state is a state where the vehicle can stop before the stop line in an attempt to stop after the start of the yellow signal and can enter the stop line by the end of the yellow signal, and the vehicle stops due to the characteristics of the driver. It is an unstable state that differs depending on whether it enters or enters. In the following description, the dilemma traveling state and the optional traveling state are collectively referred to as a dilemma state.

  In the dilemma sensitive control, for example, it is determined whether or not the vehicle is in a dilemma state at the start of the yellow signal (or a predetermined time before the start of the yellow signal). . At the signal switching timing after the extension, it is determined whether or not the vehicle is in the dilemma state. If the vehicle is in the dilemma state, blue is further extended by unit time. If the vehicle goes out of dilemma by extending blue, the blue will be discontinued when the extension time ends. Thereafter, the extension is repeated every unit time, and if the vehicle is in a dilemma state even when the maximum extension time is reached, blue is discontinued when the maximum extension time has elapsed.

  The control unit 10 has a function as a stopping unit, and transmits all or part of the travel information other than the required travel information to the traffic signal controller 1 until the extraction time elapses from the extraction start time. Stop. As a result, only necessary traveling information is transmitted and unnecessary traveling information is not transmitted, so that the tightness of the communication line can be reduced.

  In the above-described example, priority is given to the position of the vehicle that is the distance axis from the stop line of the intersection, that is, the region where the right turn vehicle is likely to exist and the region where the straight vehicle is likely to exist. Thus, the right turn sensitive control and the dilemma sensitive control can be selectively performed according to the priority order in the traffic signal controller 1. Similarly, by giving priority to the switching timing of signal information that is a time axis, right-turn sensitive control and dilemma sensitive control are selectively performed according to the priority order in the traffic signal controller 1. be able to.

  Further, depending on the degree of traffic congestion, the signal control in the traffic signal controller 1 can be selectively performed according to the priority order, right turn sensitive control and dilemma sensitive control. Hereinafter, this point will be described.

  FIG. 10 is an explanatory diagram illustrating an example of priority of signal control according to the degree of congestion. The communication unit 11 acquires traffic jam information related to the traffic jam level of the inflow path of the intersection 5 from an external device (not shown) that can determine the traffic jam level. The degree of congestion can be classified according to categories such as quietness, near saturation, and supersaturation. The traffic jam information may be appropriate information such as a traffic volume as long as it indicates the degree of traffic jam.

  The outflow direction selection unit 16 has a function as a selection unit, and selects a right turn direction from the intersection as a required outflow direction when the degree of congestion of the inflow path is high (for example, near saturation or oversaturation). On the other hand, the outflow direction selection unit 16 selects the straight direction from the intersection as the required outflow direction when the degree of congestion is low (for example, quiet).

  The vehicle position determination unit 13 determines whether the traveling information of the vehicle that flows in the outflow direction selected by the outflow direction selection unit 16 is required.

  As shown in FIG. 10, when the degree of traffic congestion is high, it is possible to alleviate the traffic congestion by performing right turn sensitive control, so that it is possible to extract the travel information of the vehicle in the right turn direction as the required travel information. it can. Further, when the degree of traffic congestion is low, a vehicle that falls into a dilemma state or an optional state may occur, so that traveling information of the vehicle in the traveling direction can be extracted as required traveling information. As a result, appropriate signal control can be preferentially performed in accordance with the congestion situation of the inflow path.

  In the above-described embodiment, the required travel information can include information that can be used to determine a right turn and a dilemma such as a vehicle direction, a speed (deceleration), and blinker information. Alternatively, the road communicator 100 may determine the possibility of a vehicle turning right or the possibility of entering a dilemma state, and the determination result may be transmitted to the traffic signal controller 1 or the central device 4.

  In the above-described embodiments, priority vehicles such as emergency vehicles and public vehicles can be given higher priority than right-turn waiting vehicles or straight-ahead vehicles in right turn sensitive control and dilemma sensitive control.

  In the above-described embodiment, when the road communicator 100 transmits the required travel information, the information required by the traffic signal controller 1 is transmitted to the traffic signal controller 1 and the information required by the central device 4 May be transmitted to the central device 4. In addition, the road communicator 100 can select necessary travel information for the road communicator 100 based on the traffic situation that changes from moment to moment by remote control by an controller or an operator. The selected required travel information may be transmitted to the traffic signal controller 1 or the central device 4 at a required timing.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Traffic signal controller 4 Central apparatus 100 Roadside communication device 10 Control part 11 Communication part 12 Storage part 13 Vehicle position determination part 14 Extraction time specific part 15 Traveling information extraction part 16 Outflow direction selection part

Claims (10)

A signal control device for controlling a signal lamp at an intersection and travel information including position information of a vehicle traveling on the inflow path to the intersection are acquired from a plurality of vehicles, and the required travel information of each acquired vehicle is obtained. A signal control system comprising a travel information extraction device that extracts travel information,
The travel information extraction device includes:
Determination means for determining whether the acquired travel information is the required travel information of the vehicle flowing out from the intersection in the required outflow direction based on the road information regarding the inflow route and the acquired position information of each vehicle. When,
Signal information acquisition means for acquiring signal information relating to a signal lamp that displays a permission to pass in the required outflow direction;
Based on the signal information acquired by the signal information acquisition means, specifying means for specifying the extraction start time of travel information;
Extraction means for extracting the required travel information determined by the determination means from the extraction start time specified by the specification means until the required extraction time elapses;
Transmission means for transmitting the travel information extracted by the extraction means to the signal control device,
The signal control device includes:
Receiving means for receiving signal information transmitted by the transmitting means;
A signal control system characterized in that the signal lamp is controlled using the traveling information received by the receiving means. The determination means includes
When the required outflow direction is a right turn direction from the intersection, the acquired travel information is a vehicle existing in the right turn lane of the inflow path or a lane adjacent to the right turn lane, and the right turn only 2. The signal control system according to claim 1, wherein it is determined whether or not the vehicle travel information exists within a predetermined range upstream of the lane. The specifying means is:
The point of time before the start of the right turn Aoya signal is specified as the extraction start point,
The signal control system according to claim 2, further comprising an extraction time specifying unit that specifies, as the extraction time, a time from the extraction start time to at least an end time of the right turn blue arrow signal. The signal control device includes:
The signal control system according to claim 2 or 3, wherein a right turn sensitive control is performed by controlling a signal lamp at the intersection based on traveling information received by the receiving means. The determination means includes
When the required outflow direction is a straight-ahead direction from the intersection, it is determined whether or not the acquired travel information is a travel information of a vehicle existing in a straight lane of the inflow path. The signal control system according to claim 1, wherein the signal control system is a signal control system. The specifying means is:
The point of time before the start of the yellow signal is specified as the extraction start point,
6. The signal control system according to claim 5, further comprising extraction time specifying means for specifying, as the extraction time, a time from the extraction start time to at least the end time of the yellow signal. The signal control device includes:
7. The signal control system according to claim 5, wherein dilemma sensitive control is performed by controlling a signal lamp at the intersection based on traveling information received by the receiving means.   Stop means for stopping transmission of all or part of the travel information other than the required travel information determined by the determination means to the signal control device until the extraction time elapses from the extraction start time. The signal control system according to claim 1, wherein: Traffic information acquisition means for acquiring traffic information on the traffic congestion degree of the inflow path;
Selection means for selecting a right turn direction from the intersection as the required outflow direction when the congestion degree of the inflow path is high, and selecting a straight direction from the intersection as the required outflow direction when the congestion degree is low And
The determination means includes
The signal according to any one of claims 1 to 8, wherein it is determined whether or not the travel information is information on a vehicle flowing out in the outflow direction selected by the selection means. Control system. A travel information extraction device that acquires travel information including position information of a vehicle traveling on an inflow path to an intersection from a plurality of vehicles, and extracts required travel information from the travel information of each acquired vehicle,
Determination means for determining whether the acquired travel information is the required travel information of the vehicle flowing out from the intersection in the required outflow direction based on the road information regarding the inflow route and the acquired position information of each vehicle. When,
Signal information acquisition means for acquiring signal information relating to a signal lamp that displays a permission to pass in the required outflow direction;
Based on the signal information acquired by the signal information acquisition means, specifying means for specifying the extraction start time of travel information;
An extraction means for extracting travel information determined by the determination means as the required travel information from the extraction start time specified by the specification means until the required extraction time elapses. Travel information extraction device.

Images