JP2016115249A - Traffic signal control device, computer program, and traffic signal control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traffic signal control device that reduces unnecessary execution of priority control in consideration of a left-turn vehicle.SOLUTION: A traffic signal control device performs priority control to extend or shorten a prescribed signal display time in consideration of a left-turn vehicle in front of a public vehicle. The traffic signal control device comprises: an acquisition unit 302 that acquires positional information and speed information on a preceding vehicle in a prescribed range from an intersection and preceding vehicle flow-out destination information capable of determining the flow-out direction of the preceding vehicle at the intersection; and a determination unit 301 that performs first determination for determining whether or not there is a preceding vehicle on the flow-in path of the intersection which the public vehicle flows in on the basis of the positional information acquired by the acquisition unit, second determination for determining whether or not the speed of the preceding vehicle is a prescribed value or less on the basis of the speed information acquired by the acquisition unit, and third determination for determining whether or not the preceding vehicle is a left-turn vehicle that turns left at the intersection on the basis of the preceding vehicle flow-out destination information acquired by the acquisition unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a traffic signal control device, a computer program, and a traffic signal control method.

  In urban areas where there is a lot of traffic and intersections, as a public transportation priority system (PTPS), bus priority control that controls signals at intersections to smoothly run regular buses that are representative examples of public vehicles. It has been known. In this bus priority control, for example, when a route bus approaches an intersection, if the intersection is just before the end of the green light, the green signal display time is extended, and if it is a red signal, the red signal display time is shortened and the green signal is shortened quickly. By changing to, the route bus can pass through the intersection quickly (for example, see Non-Patent Document 1).

"Revised Traffic Signal Guide", page 76, published in July 2006, edited and published by: Japan Society for Traffic Engineering

In the route of a route bus, a bus-dedicated lane may be provided in a section where traffic congestion is likely to occur. The bus lane is a travel lane provided to ensure on-time travel of the route bus, and is often set as a travel lane on the sidewalk side in a time zone where traffic congestion is likely to occur during rush hours.
In the bus lane, only buses, emergency vehicles, motorbike bicycles and small special automobiles can run, and other general vehicles are prohibited in principle. However, when a bus-dedicated lane is provided on the inflow path at the intersection, even a general vehicle is permitted to travel on the bus-dedicated lane only for a left-turn vehicle that makes a left turn at the intersection.

However, when a left turn vehicle runs on a bus lane, if the left turn vehicle cannot stop turning due to a pedestrian crossing near the intersection, the route bus that runs behind the left turn vehicle passes through the intersection smoothly. You may not be able to.
Therefore, if the vehicle detector installed in the bus lane detects a left-turn vehicle that has stopped turning in front of a route bus traveling in the bus-only lane and cannot turn left due to a pedestrian crossing, Priority control has been devised to extend time and reduce pedestrian green time. According to the priority control in consideration of the left turn vehicle, the left turn vehicle stopped in the vicinity of the intersection can pass through the intersection smoothly, so that the route bus can pass through the intersection smoothly.

However, in the above priority control, a left turn vehicle is detected by the vehicle detector, and therefore it is determined whether the vehicle stopped in the bus lane near the intersection is a parked vehicle or a left turn vehicle. It is difficult. For this reason, there is a possibility that the above priority control may be performed even when a parked vehicle exists in a bus lane near the intersection.
Further, even when the left turn vehicle is stopped, it cannot be specified whether the cause of the stop is due to a crossing pedestrian or due to a clogging in the left turn direction. For this reason, when the left turn direction is a pre-clog, for example, when a route bus turns left in the left turn direction, the preceding vehicle and the public vehicle cannot turn left at the intersection unless the clog is eliminated. There is no point in doing.
In view of such circumstances, an object of the present invention is to prevent unnecessary priority control in consideration of a left turn vehicle.

  The traffic signal control device according to one aspect of the present invention is a priority control that extends or shortens a predetermined signal display time in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches the intersection. A traffic signal control device that performs position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and preceding vehicle outflow destination information capable of specifying an outflow direction of the preceding vehicle at the intersection. An acquisition unit to acquire, and a first determination to determine whether or not the preceding vehicle exists in an inflow path of the intersection into which the public vehicle flows based on the position information acquired by the acquisition unit, the acquisition unit A second determination for determining whether the speed of the preceding vehicle is equal to or less than a predetermined value based on the acquired speed information; and the preceding vehicle is determined based on the preceding vehicle outflow destination information acquired by the acquiring unit. Exchange The priority control, provided that the determination unit performs a third determination to determine whether the vehicle is a left-turn vehicle that turns left at a point, and the determination results of the first to third determinations by the determination unit are all positive. A traffic signal control device.

  The computer program according to one aspect of the present invention is configured to prioritize extending or shortening a predetermined signal display time at the intersection in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches the intersection. A computer program for causing a computer to execute control, wherein the computer can specify position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and an outflow direction of the preceding vehicle at the intersection Whether the preceding vehicle exists in the inflow path of the intersection where the public vehicle flows in, based on the position information acquired by the acquiring unit, and the intersection where the public vehicle flows in based on the position information acquired by the acquiring unit. First determination for determining whether or not the speed of the preceding vehicle is less than or equal to a predetermined value based on the speed information acquired by the acquisition unit A determination unit that performs a second determination and a third determination that determines whether the preceding vehicle is a left-turn vehicle that makes a left turn at the intersection based on the preceding vehicle outflow destination information acquired by the acquiring unit; and the determination It is a computer program for making it function as a control part which performs the said priority control on condition that all the determination results of the said 1st-3rd determination by a part are affirmative.

  In the traffic signal control method according to one aspect of the present invention, when a public vehicle approaches an intersection, a predetermined signal display time at the intersection is extended or shortened in consideration of a left turn vehicle existing in front of the public vehicle. A traffic signal control method for performing priority control, the position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and a preceding vehicle capable of specifying the outflow direction of the preceding vehicle at the intersection An acquisition step for acquiring outflow destination information, and a first determination for determining whether or not the preceding vehicle exists on an inflow path of the intersection where the public vehicle flows in based on the position information acquired in the acquisition step , Second determination for determining whether the speed of the preceding vehicle is equal to or lower than a predetermined value based on the speed information acquired in the acquisition step, and the preceding vehicle acquired in the acquisition step A determination step for performing a third determination for determining whether or not the preceding vehicle is a left-turn vehicle that makes a left turn at the intersection based on outflow destination information, and determination results of the first to third determinations in the determination step are all And a control step of performing the priority control on the condition that it is affirmative.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress that the priority control which considered the left turn vehicle is performed unnecessarily.

It is a road top view of the traffic signal control system concerning the embodiment of the present invention. It is a functional block diagram which shows the internal structure of a roadside communication apparatus. It is a functional block diagram which shows the internal structure of a traffic signal controller. It is a functional block diagram which shows the internal structure of a central apparatus. It is a flowchart which shows the processing content which the control part of a roadside communication apparatus performs. It is a flowchart which shows the processing content of the priority control which considered the left turn vehicle which the control part of a central apparatus performs.

[Description of Embodiment of the Present Invention]
First, the contents of the embodiment of the present invention will be listed and described.
(1) The traffic signal control apparatus according to the embodiment of the present invention extends or shortens a predetermined signal display time in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches the intersection. A traffic signal control apparatus for performing priority control, wherein the position information and speed information of a preceding vehicle existing within a predetermined range from the intersection and a preceding vehicle outflow destination capable of specifying the outflow direction of the preceding vehicle at the intersection An acquisition unit that acquires information, and a first determination that determines whether or not the preceding vehicle exists in an inflow path of the intersection where the public vehicle flows based on the position information acquired by the acquisition unit, A second determination for determining whether or not the speed of the preceding vehicle is equal to or lower than a predetermined value based on the speed information acquired by the acquisition unit, and the preceding vehicle based on the preceding vehicle outflow destination information acquired by the acquisition unit vehicle The priority is provided on the condition that a determination unit that performs a third determination to determine whether the vehicle is a left-turn vehicle that makes a left turn at the intersection, and that the determination results of the first to third determinations by the determination unit are all positive. A control unit that performs control.

According to the traffic signal control device configured as described above, based on the position information, speed information, and preceding vehicle outflow destination information of the preceding vehicle acquired by the acquiring unit, the leading vehicle is an inflow path at the intersection of public vehicles. The control unit takes into account the left turn vehicle on the condition that the speed of the preceding vehicle is equal to or lower than a predetermined value and the determination unit determines that the preceding vehicle is a left turn vehicle that turns left at the intersection. I do.
Thereby, for example, when the preceding vehicle is parked on the inflow path, the determination unit determines from the preceding vehicle outflow destination information acquired from the preceding vehicle that the preceding vehicle is not a left turn vehicle that turns left at the intersection. Priority control taking into account is not performed. Therefore, it is possible to suppress the unnecessary priority control considering the left turn vehicle.

(2) In the traffic signal control device, the acquisition unit can acquire position information and speed information of a left turn destination vehicle existing in a left turn direction of the preceding vehicle, and the determination unit includes the first to third units. If the determination results are all affirmative, a clogging determination is further performed to determine whether the left turn direction is a clogging based on the position information and speed information of the left turn destination vehicle acquired by the acquisition unit. Preferably, the control unit performs the priority control according to the determination result of the clogging determination.
In this case, the control unit can perform appropriate priority control when there is a leading jam in the left turn direction of the preceding vehicle and when there is no leading jam.

(3) In the traffic signal control device, it is preferable that the control unit extends the vehicle green time corresponding to the inflow path when the determination result of the clogging determination is negative.
In this case, if there is no clogging in the left turn direction of the preceding vehicle, the control unit extends the vehicle green time corresponding to the inflow route, so that the preceding vehicle waiting for a left turn on the inflow route smoothly turns left at the intersection. Can do. As a result, the public vehicle traveling behind the preceding vehicle can pass through the intersection smoothly.

(4) In the traffic signal control device, the acquisition unit can acquire priority crossing request information requesting that a pedestrian crossing the pedestrian crossing preferentially from a pedestrian crossing the pedestrian crossing at the left turn of the preceding vehicle. And when the said acquisition part has not acquired the said priority crossing request information, it is preferable that the said control part further shortens the pedestrian green time corresponding to the said pedestrian crossing as the said priority control.
In this case, since the control unit shortens the pedestrian green time corresponding to the pedestrian crossing at the left turn destination of the preceding vehicle, the preceding vehicle waiting for the left turn on the inflow path can pass through the intersection more smoothly. In addition, pedestrian crossing is given priority because pedestrians cross the pedestrian crossing because shortening of pedestrian time is performed when the acquisition unit has not acquired the priority crossing request information requesting that the pedestrian preferentially cross. It is possible to prevent the pedestrian green signal from being shortened even though it is requested to do so.

(5) In the traffic signal control device, the control unit preferably outputs a command to transmit information for calling attention to the pedestrian.
In this case, when shortening the pedestrian crossing time of the pedestrian crossing, the pedestrian can cross the pedestrian crossing carefully by alerting the pedestrian crossing the pedestrian crossing.

(6) In the traffic signal control device, the acquisition unit can acquire public vehicle outflow destination information that can specify the outflow direction of the public vehicle at the intersection, and the control unit When the determination result is affirmative, it is preferable that the outflow direction of the public vehicle is specified based on the public vehicle outflow destination information acquired by the acquisition unit, and the priority control according to the outflow direction is performed.
In this case, the control unit can perform appropriate priority control according to the outflow direction at the intersection of public vehicles.

(7) If the left turn direction of the preceding vehicle is a clog and the outflow direction of the public vehicle is the same left turn direction as the preceding vehicle, the preceding vehicle and the public vehicle will be You cannot turn left at the intersection. For this reason, in the above cases, there is no point in extending the vehicle green time corresponding to the inflow path of the preceding vehicle and the public vehicle.
Therefore, when the left turn direction of the preceding vehicle is a clog, it is preferable that the control unit does not extend the vehicle green time corresponding to the inflow path when the outflow direction of the public vehicle is specified as the left turn direction. Thereby, it can further suppress that the priority control which considered the left turn vehicle is performed unnecessarily.

(8) In the traffic signal control apparatus, when the control unit specifies the outflow direction of the public vehicle as a straight traveling direction, it is preferable that the vehicle green time corresponding to the inflow path is extended as the priority control.
In this case, even if the preceding vehicle is waiting for a left turn on the inflow path of the intersection, the public vehicle can smoothly pass through the intersection by changing the lane.

(9) In the traffic signal control device, it is preferable that the control unit outputs a command for transmitting information that prompts the public vehicle to change lanes.
In this case, by urging the public vehicle to change the lane, it is possible to quickly grasp that the public vehicle can pass through the intersection by changing the lane.

  (10) The computer program of the present embodiment is a computer program for causing a computer to function as the above-described traffic signal control device. Therefore, the computer program of this embodiment has the same operation effect as the above-mentioned traffic signal control device.

  (11) The traffic signal control method of the present embodiment is a traffic signal control method executed in the above-described traffic signal control device. Therefore, the traffic signal control method of the present embodiment has the same effects as the traffic signal control device described above.

[Details of the embodiment of the present invention]
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
<Overall system configuration>
FIG. 1 is a road plan view of a traffic signal control system according to an embodiment of the present invention.
As shown in FIG. 1, the traffic signal control system of this embodiment includes a traffic signal controller 1, a signal lamp 2, a roadside communication device 3, a central device 4, and an in-vehicle device 6 mounted on a route bus (public vehicle) 5. Etc.
Note that the number of lanes and the like of the crossroad intersection (hereinafter simply referred to as “intersection”) C shown in FIG. 1 is an example, and the structure of the intersection C is not limited to that shown in FIG. In the following description, for the sake of convenience, among the roads intersecting at the intersection C, the road in the east-west direction is referred to as “main road”, and the road in the north-south direction is referred to as “secondary road”.

  In the present embodiment, on the inflow path of the main road west of the intersection C, a bus-only lane (hatched portion in the figure) is set on the side lane L1. In the bus lane L1, only route buses 5, emergency vehicles, motorbike bicycles, and small special vehicles (forklifts, construction vehicles, etc.) can run, and other general vehicles 8 are prohibited in principle. Has been. However, even the general vehicle 8 is permitted to travel on the bus-only lane L1 only for a left-turn vehicle that turns left at the intersection C.

The traffic signal controller 1 is connected to a plurality of signal lamps 2 installed at an intersection C through power lines. The signal lamp 2 includes a vehicle lamp 2A and a pedestrian lamp 2B.
The vehicle lamp 2A displays whether or not the vehicle including the route bus 5 or the like heading for the intersection C has a right of traffic in a light color. In the example of FIG. 1, a blue, yellow and red round light, a right turn blue arrow light, It is included.
The pedestrian lamp 2B displays whether or not the pedestrian crossing the intersection C has the right of passage with a light color and blinking.

The traffic signal controller 1 is connected to a central device 4 in a traffic control center via a communication line such as a telephone line.
The central device 4 constitutes a local area network (LAN) with the traffic signal controllers 1 of a plurality of intersections C in its own jurisdiction area. Accordingly, the central device 4 can communicate bidirectionally with the traffic signal controller 1, and the traffic signal controller 1 can also communicate bidirectionally with the same controller 1 at other intersections. The central device 4 may be installed on the road instead of the traffic control center.

The central device 4 controls the traffic signal controller 1 belonging to its own jurisdiction area with system control for adjusting a group of traffic signal controllers 1 on the same road, or wide area control (surface Control).
That is, the central device 4 calculates necessary traffic information for each predetermined period based on information acquired from various roadside sensors for each predetermined period (for example, one minute or one cycle), and calculates the calculated traffic information. Traffic sensitive control for setting signal control parameters (split, cycle length, offset, etc.) based on this can be performed.

The traffic sensitive control includes, for example, a plurality of types including MODERATO control, profile control, and the like. The central device 4 outputs a signal lamp 2 every predetermined time, which is an output of the result of the traffic sensitive control. Is transmitted to the traffic signal controller 1 every predetermined cycle (for example, 1.0 to 2.5 minutes).
Further, the central device 4 notifies each traffic signal controller 1 in the jurisdiction area of control type information including permission / inhibition of terminal sensitive control at the intersection C.

  The traffic signal controller 1 receives a signal control command, which is an output of the result of traffic sensitivity control by the central device 4, from the central device 4, and based on this signal control command, the blue, yellow, red and right turn blue of the signal lamp 2 Controls lighting, extinguishing and blinking of each signal lamp color such as an arrow. The traffic signal controller 1 is also connected to the roadside communication device 3 through a communication line.

The roadside communication device 3 is a wireless communication device that wirelessly transmits and receives various types of information to and from the in-vehicle device 6. The roadside communication device 3 of the present embodiment is a medium / wide area wireless communication device compliant with a wireless LAN, WiMAX (World Interoperability for Microwave Access), etc., assuming an ITS (Intelligent Transport Systems) wireless system. In the example of FIG. 1, the roadside communication device 3 can communicate with the in-vehicle device 6 of the route bus 5 traveling on the upstream side of the road flowing into the intersection C and the in-vehicle device 6 of the general vehicle 8.
The roadside communication device 3 can also be performed by a communication device such as an optical beacon, a radio wave beacon, or an FM system, or other communication means.

  The in-vehicle device 6 has a communication function for transmitting and receiving wirelessly with the roadside communication device 3. When the in-vehicle device 6 enters the communication area of the roadside communication device 3 (for example, the region from the intersection C to about 400 m upstream) while the route bus 5 and the general vehicle 8 are traveling toward the intersection C, the in-vehicle device 6 is in traffic. While receiving information etc., probe information etc. are transmitted to the roadside communication apparatus 3 with a predetermined | prescribed transmission period (for example, 100 milliseconds).

In the present embodiment, at the intersection C, the traffic signal controller 1 is used to allow an elderly person or a handicapped pedestrian to cross a pedestrian crossing more slowly than a normal pedestrian. When there is a request from, “pedestrian support control” is executed to change the pedestrian green time to a longer time than usual.
For this reason, a dedicated push button device 7 is installed near the entrance of each pedestrian crossing at intersection C to accept a pedestrian green time extension request from a pedestrian.

The push button device 7 is provided with a push button switch (not shown). When the pedestrian pushes the push button switch, the operation signal is transmitted to the traffic signal controller 1 through the communication line as priority crossing request information requesting that the pedestrian cross the crosswalk with priority.
In addition, instead of or in addition to the push button device 7 installed on the roadside, the priority crossing request information from the pedestrian is a small transmitter or a portable terminal (mobile phone) with a push button that is carried by an elderly person or a disabled person. , A smartphone, etc.) may be transmitted wirelessly.

<Configuration of roadside communication device>
FIG. 2 is a functional block diagram showing the internal configuration of the roadside communication device 3.
As shown in FIG. 2, the roadside communication device 3 of the present embodiment includes a control unit 301, a communication unit 302, and a storage unit 303. The control unit 301 includes one or more microcomputers, and is connected to the communication unit 302 and the storage unit 303 via an internal bus. The control unit 301 controls the operations of these hardware units.

The communication unit 302 has a function of performing wireless communication with the in-vehicle device 6 and performing wired communication with the traffic signal controller 1. The communication unit 302 receives traffic information and the like distributed by the central device 4 via the traffic signal controller 1 and transmits it to the in-vehicle device 6. In addition, the communication unit 302 transmits command information and determination result information for executing priority control described later to the central apparatus 4.
The communication unit 302 receives probe information of the route bus 5 and the general vehicle 8 from the in-vehicle device 6. The communication unit 302 receives the priority crossing request information from the traffic signal controller 1.

The probe information of the route bus 5 includes position information, speed information, vehicle type information, turn signal information, and the like of the route bus 5. The probe information of the general vehicle 8 includes position information, speed information, vehicle type information, turn signal information, and the like of the general vehicle 8.
The turn signal information of the route bus 5 and the general vehicle 8 includes information indicating the operation state (ON or OFF state) of the turn signal (direction indicator). Therefore, the blinker information is used as outflow destination information that can specify the outflow direction at the intersection of the information source vehicle.

In the present embodiment, turn signal information of the preceding vehicle 8A, which will be described later, is used as preceding vehicle outflow destination information that can specify the outflow direction at the intersection C of the preceding vehicle 8A. Further, the turn signal information of the route bus 5 is used as public vehicle outflow destination information that can specify the outflow direction at the intersection C of the route bus 5.
As described above, the communication unit 302 acquires the position information and speed information of the preceding vehicle 8A and the left turn destination vehicle 8B (described later), the preceding vehicle outflow destination information, the public vehicle outflow destination information, and the priority crossing request information. It functions as a part.

The storage unit 303 includes a hard disk, a semiconductor memory, and the like, and stores a computer program that executes first to third determinations and a clogging determination described later. The control unit 301 functions as a determination unit that performs first to third determinations and a clogging determination, which will be described later, by reading the computer program from the storage unit 303 and processing the computer program.
The storage unit 303 temporarily stores the determination result determined by the control unit 301, probe information acquired from the in-vehicle device 6, and the like.

<Configuration of traffic signal controller>
FIG. 3 is a functional block diagram showing the internal configuration of the traffic signal controller 1.
As shown in FIG. 3, the traffic signal controller 1 of the present embodiment includes a control unit 101, a lamp driving unit 102, a communication unit 103, and a storage unit 104. The control unit 101 includes one or more microcomputers, and is connected to the lamp driving unit 102, the communication unit 103, and the storage unit 104 via an internal bus. The control unit 101 controls operations of these hardware units.

  The control unit 101 normally generates the lamp color switching timing of the signal lamp device 2 according to the signal control command determined by the central device 4 based on the traffic sensitivity control. Moreover, the control part 101 produces | generates the lamp color switching timing of the signal lamp device 2 according to the result of the terminal sensitive control performed in an own apparatus, when the control classification information from the central apparatus 4 has permitted terminal sensitive control.

  The lamp driving unit 102 includes a semiconductor relay (not shown), and turns on / off the AC voltage (AC 100 V) or DC voltage supplied to each signal lamp of the signal lamp 2 based on the signal switching timing generated by the control unit 101. To do.

The communication unit 103 is a communication interface that performs wired communication with the central device 4 and the roadside communication device 3. The communication unit 103 receives a signal control command from the central device 4 and sends it to the control unit 101 of its own device. In addition, the communication unit 103 transmits to the roadside communication device 3 various types of alerting information and information for prompting lane change to be described later.
The communication unit 103 receives probe information of the route bus 5 and the general vehicle 8 from the roadside communication device 3 almost in real time (for example, in a cycle of 0.1 to 1.0 seconds).

  The storage unit 104 includes a recording medium such as a hard disk or a semiconductor memory. The storage unit 104 temporarily stores various types of information (such as signal control commands) received by the communication unit 103. Further, the storage unit 104 stores a computer program for the control unit 101 to execute terminal sensitive control.

<Configuration of central unit>
FIG. 4 is a functional block diagram showing the internal configuration of the central device 4.
As shown in FIG. 4, the central device 4 of the present embodiment includes a control unit 401, a communication unit 402, and a storage unit 403.
The control unit 401 includes a workstation (WS), a personal computer (PC), and the like, and collects, processes (calculates) and records various traffic information from the traffic signal controller 1, the roadside communication device 3, and the like, and performs signal control and Provide information in an integrated manner. The control unit 401 is connected to the hardware units via an internal bus, and also controls the operations of these units.

The communication unit 402 is a communication interface connected to the LAN side via a communication line, and sends a signal control command related to the lamp color switching timing of the signal lamp device 2 at predetermined intervals (for example, 1.0 to 2). .5 minutes) to the traffic signal controller 1.
Further, the communication unit 402 receives the probe information of the route bus 5 acquired by the roadside communication device 3 necessary for the traffic sensitivity control (central response control) performed by the own device from the traffic signal controller 1, and receives a signal control command. And control type information are transmitted to the traffic signal controller 1.

The storage unit 403 includes a hard disk, a semiconductor memory, and the like, and stores a computer program that executes priority control described later. Further, the storage unit 403 stores information necessary for priority control, such as floor information including the signal lamp color for each floor (step), the number of seconds of the floor, and the like, and position information of the intersection C. Furthermore, the storage unit 403 temporarily stores the signal control command generated by the control unit 401, probe information acquired from the roadside communication device 3, and the like.
The control unit 401 reads out the computer program from the storage unit 403 and processes the signal so that when the route bus 5 approaches the intersection C, the left turn vehicle existing ahead of the route bus 5 is taken into consideration. Priority control for extending or shortening the signal display time of 2 is performed.

<Processing contents of roadside communication device>
FIG. 5 is a flowchart showing the processing contents executed by the control unit 301 of the roadside communication device 3. Hereinafter, the processing procedure executed by the control unit 301 will be described with reference to FIG.
The control unit 301 starts the process at the time when the probe information is acquired from the route bus 5 traveling toward the intersection C on the bus lane L1 (step S1). Whether the vehicle from which the probe information is transmitted is the route bus 5 traveling on the bus-dedicated lane L1 can be determined by the position information and the vehicle type information included in the probe information.

When the control unit 301 acquires the probe information from the route bus 5, the probe is probed from the preceding vehicle 8A (see FIG. 1) existing within a predetermined range from the intersection C (including the bus-dedicated lane L1 and the adjacent driving lane L2). Information is acquired (step S2).
Whether or not it is the probe information acquired from the preceding vehicle 8A existing in the predetermined range, for example, the predetermined range is set from the position information of the intersection C, and from the position information included in the probe information, The determination can be made based on whether or not the vehicle that is the transmission source is located within the predetermined range.

  Next, the control unit 301 performs a first determination for determining whether or not the preceding vehicle 8A exists in the bus dedicated lane L1 (step S3). This first determination can be made based on position information or the like included in the probe information of the preceding vehicle 8A.

When the determination result of step S3 is negative, the control unit 301 ends the process.
When the determination result of step S3 is affirmative, the control unit 301 next performs a second determination for determining whether or not the speed of the preceding vehicle 8A is equal to or lower than a predetermined value (step S4). This second determination can be made based on speed information included in the probe information of the preceding vehicle 8A.

When the determination result of step S4 is negative, the control unit 301 ends the process.
When the determination result of step S4 is affirmative, the control unit 301 next determines that the preceding vehicle 8A has set the intersection C based on the preceding vehicle outflow destination information that can specify the outflow direction at the intersection C of the preceding vehicle 8A. A third determination is made to determine whether the vehicle is a left-turn vehicle that turns left (step S5). This third determination is made based on the winker information as the preceding vehicle outflow destination information included in the probe information of the preceding vehicle 8A.

  Specifically, the control unit 301 first specifies the outflow direction at the intersection C of the preceding vehicle 8A from the blinker information. For example, if the turn signal information includes information indicating the on state of the right turn signal, the outflow direction of the preceding vehicle 8A is specified as the right turn direction, and the turn signal information includes information indicating the on state of the left turn signal. Then, the outflow direction of the preceding vehicle 8A is specified as the left turn direction. If the turn signal information includes information indicating that the turn signal is off, the outflow direction of the preceding vehicle 8A is specified as the straight traveling direction. Thereby, the control part 301 can determine whether the preceding vehicle 8A is a left turn vehicle from the specified outflow direction.

When the determination result of step S5 is negative, the control unit 301 ends the process.
If the determination result of step S5 is affirmative, the control unit 401 next performs a pre-clogging determination that determines whether there is a clogging in the left turn direction of the preceding vehicle 8A (step S6).

  Specifically, the control unit 301 acquires probe information from a left turn destination vehicle 8B (see FIG. 1) existing in the left turn direction of the preceding vehicle 8A (here, a secondary road northward from the intersection C). Then, if the speed information included in the acquired probe information is less than a predetermined speed, the control unit 301 determines that there is a clog in the left turn direction, and if it is equal to or greater than the predetermined speed, there is no clog in the left turn direction. judge.

Next, the control part 301 outputs the command information which performs the priority control which considered the left turn vehicle to the communication part 302 with the pre-clogging information containing the determination result of the said clogging determination (step S7).
The communication unit 302 transmits the command information and the determination result information to the central device 4 via the traffic signal controller 1.

<Priority control considering left turn vehicle>
FIG. 6 is a flowchart showing processing contents of priority control in consideration of the left turn vehicle executed by the control unit 401 of the central device 4. Hereinafter, the priority control processing procedure executed by the control unit 401 will be described with reference to FIG.
First, the control unit 401 determines whether or not the left turn direction of the preceding vehicle 8A is a leading jam based on the leading jam information acquired from the roadside communication device 3 (step S21).

  If the determination result in step S21 is negative, that is, if there is no clogging in the left turn direction of the preceding vehicle 8A, the control unit 401 extends the vehicle green time corresponding to the bus-only lane L1 at the intersection C (step S21). S22). As a result, the preceding vehicle 8A waiting for a left turn can pass through the intersection C smoothly. Here, in this embodiment, “vehicle blue time” is the total time of the pedestrian blue blinking time and the pedestrian red time.

Next, the control unit 401 gives priority crossing request information requesting that a pedestrian crossing the pedestrian crossing at the left turn of the preceding vehicle 8A (the pedestrian crossing on the north side in FIG. 1) preferentially crosses the pedestrian crossing. Is determined by the communication unit 302 (step S23).
When the determination result is affirmative, the control unit 401 proceeds to step S26 described later.
When the determination result is negative, the control unit 401 shortens the pedestrian green time corresponding to the pedestrian crossing (step S24). As a result, the preceding vehicle 8A waiting for a left turn can pass through the intersection C more smoothly.

Next, the control unit 401 outputs, to the communication unit 402, a command to transmit information for alerting a pedestrian crossing the pedestrian crossing about shortening the pedestrian blue time (step S25).
The communication unit 402 wirelessly transmits the information to call attention to the portable terminal owned by the pedestrian via, for example, the traffic signal controller 1 and the roadside communication device 3 in accordance with the command.

The pedestrian's mobile terminal can reduce the pedestrian's green time by displaying the alerting information received from the roadside communication device 3 on the display of the mobile terminal or by voice guidance using the speaker of the mobile terminal, for example. Alert pedestrians about
In addition, although the control part 401 is transmitting the information to alert to the portable terminal of a pedestrian, it may be made to transmit and display the information to alert on the traffic information board installed in the intersection C. good.

  Next, the control unit 401 terminates the vehicle green time at the timing when the route bus 5 passes the intersection C (step S26), and ends the process. The timing at which the route bus 5 passes the intersection C can be determined based on, for example, the position information included in the probe information acquired in real time from the route bus 5 and the position information of the intersection C.

  On the other hand, if the determination result in step S21 is affirmative, that is, if there is a clog in the left turn direction of the preceding vehicle 8A, the control unit 401 can specify the outflow direction at the intersection C of the route bus 5. Based on the outflow destination information, the outflow direction at the intersection C of the route bus 5 is specified (step S27).

The outflow direction of the route bus 5 is specified based on the turn signal information as the public vehicle outflow destination information included in the probe information of the route bus 5. Since the specific specifying method is the same as the specifying method of the outflow direction of the preceding vehicle 8A performed in step S5 described above, detailed description thereof is omitted.
In addition, although the control part 401 uses the blinker information as public vehicle outflow destination information, you may use the operation route information including the operation route of the route bus 5. FIG.

When the control unit 401 specifies the outflow direction of the route bus 5 as the left turn direction (here, the secondary road northward from the intersection C) (step S28), the leading vehicle 8A and the route bus 5 are eliminated from the left turn direction. Unless this is done, it is impossible to make a left turn at the intersection C, so there is no point in extending the vehicle green time corresponding to the bus-only lane L1 at the intersection C. Therefore, the control unit 401 ends the process without extending the vehicle green time.
Moreover, since the control part 401 does not need to consider the left turn vehicle when the outflow direction of the route bus 5 is specified as a right turn direction (in the case of No in step S29), it complete | finishes a process.

  On the other hand, when the control unit 401 identifies the outflow direction of the route bus 5 as the straight direction (in this case, the main road east of the intersection C) (Yes in step S29), the route bus 5 is adjacent to the bus dedicated lane L1. If the lane is changed to the traveling lane L2, the vehicle can pass through the intersection C. Therefore, the vehicle green time corresponding to the traveling lane L2 (bus exclusive lane L1) at the intersection C is extended (step S30).

Next, the control unit 401 outputs to the communication unit 402 a command for transmitting information that prompts the route bus 5 to change the lane to the traveling lane L2 (step S31).
The communication unit 402 wirelessly transmits the information for prompting the lane change to the in-vehicle device 6 of the route bus 5 via, for example, the traffic signal controller 1 and the roadside communication device 3 in accordance with the command.

The in-vehicle device 6 of the route bus 5 displays the information for prompting the lane change received from the roadside communication device 3 on, for example, an in-vehicle display, or by voice guidance with an in-vehicle speaker, so that the passenger on the route bus 5 travels to the driving lane. Encourage lane change to L2.
In addition, although the control part 401 is transmitting the information which prompts the said lane change to the vehicle-mounted apparatus 6 of the route bus 5, it transmits the information which prompts the said lane change to the traffic information board installed on the road side, and displays it. Anyway.

Next, the control unit 401 alerts the vehicle 8C (see FIG. 1) that travels the lane change destination (the travel lane L2) of the route bus 5 that the route bus 5 changes the lane to the travel lane L2. A command for transmitting information is output to communication unit 402 (step S32).
The communication unit 402 wirelessly transmits the alerting information to the in-vehicle device 6 of the vehicle 8C via the traffic signal controller 1 and the roadside communication device 3, for example, according to the command.

The in-vehicle device 6 of the vehicle 8C displays the alerting information received from the roadside communication device 3 on, for example, an in-vehicle display or provides voice guidance with an in-vehicle speaker so that the route bus 5 changes the lane to the driving lane L2. It alerts the passenger of the vehicle 8C to do.
In addition, although the control part 401 has transmitted the information to alert | report to the vehicle-mounted apparatus 6 of the vehicle 8C, it may be made to transmit and display the information to alert on the traffic information board installed in the roadside. good.

  Next, the control unit 401 proceeds to step S26, and stops the vehicle blue time at the timing when the route bus 5 passes the intersection C as described above, and ends the process.

<About effects>
As described above, according to the present embodiment, the preceding vehicle 8A enters the inflow path (bus dedicated lane L1) at the intersection C of the route bus 5 based on the position information, speed information, and preceding vehicle outflow destination information of the preceding vehicle 8A. Only when the speed of the preceding vehicle 8A is equal to or lower than a predetermined value and it is determined that the preceding vehicle 8A is a left turn vehicle that turns left at the intersection C, priority control considering the left turn vehicle is performed.
Thereby, for example, when the preceding vehicle 8A is parked on the inflow path, it is determined from the preceding vehicle outflow destination information acquired from the preceding vehicle 8A that the preceding vehicle 8A is not a left turn vehicle that turns left at the intersection C. Priority control considering the vehicle is never performed. Therefore, it is possible to suppress the unnecessary priority control considering the left turn vehicle.

In addition, it is determined whether or not the left turn direction of the preceding vehicle 8A is pre-clogged, and priority control is performed according to the determination result, so that when there is a pre-clog and when there is no clog, respectively Appropriate priority control can be performed.
Also, if there is no clogging in the left turn direction of the preceding vehicle 8A, the vehicle green time corresponding to the inflow path is extended, so the preceding vehicle 8A waiting for a left turn on the inflow path can turn left at the intersection C smoothly. it can. Thereby, the route bus 5 traveling behind the preceding vehicle 8A can pass through the intersection C smoothly.

  Further, since the pedestrian green time corresponding to the pedestrian crossing at the left turn destination of the preceding vehicle 8A is shortened, the preceding vehicle 8A waiting for the left turn on the inflow path can pass through the intersection C more smoothly. In addition, the reduction of pedestrian green time is limited to the case where the priority crossing request information requesting that the pedestrian preferentially cross is not acquired. It is possible to prevent the pedestrian green light from being shortened even when requested.

Moreover, when shortening the pedestrian pedestrian time of a pedestrian crossing, a pedestrian can cross the pedestrian crossing carefully by alerting the pedestrian crossing the pedestrian crossing.
Further, when there is a clogging in the left turn direction of the preceding vehicle 8A, priority control is performed according to the outflow direction at the intersection C of the route bus 5, and therefore appropriate priority control is performed according to the outflow direction of the route bus 5. It becomes possible.

  Further, when the left turn direction of the preceding vehicle 8A is a clogging and the outflow direction of the route bus 5 is the same left turn direction as the preceding vehicle 8A, the preceding vehicle 8A and the route bus are not used unless the clogging in the left turn direction is resolved. 5 cannot turn left at intersection C. For this reason, in the above cases, there is no point in extending the vehicle green time corresponding to the inflow path of the intersection C of the preceding vehicle 8A and the route bus 5. In this embodiment, in such a case, since the process is terminated without extending the vehicle green time, it is possible to further suppress unnecessary priority control in consideration of a left turn vehicle.

Further, when the outflow direction of the route bus 5 is specified as the straight direction, the vehicle green time corresponding to the inflow route of the route bus 5 is extended, so the preceding vehicle 8A waits for a left turn on the inflow route of the intersection C. However, the route bus 5 can pass through the intersection C smoothly by changing lanes.
Moreover, since the information prompting the lane change is transmitted to the route bus 5, it is possible to quickly grasp that the route bus 5 can pass through the intersection C by the lane change.

<Other variations>
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
For example, in the above-described embodiment, the side lane L1 on the sidewalk on which the route bus 5 travels is set with a bus-only lane, but can also be applied when no bus-only lane is set. Moreover, although the route bus is illustrated as a public vehicle in the said embodiment, it can be applied also to another public vehicle.

  Moreover, in the said embodiment, although the control part 301 of the roadside communication apparatus 3 functions as a determination part which performs 1st-3rd determination etc., the information which the roadside communication apparatus 3 acquired is the central apparatus 4 or traffic signal control. By transmitting to the machine 1, the control unit 401 of the central device 4 or the control unit 101 of the traffic signal controller 1 may function as the determination unit. In addition, two or more control units among these control units 301, 401, and 101 may function in cooperation with each other as the determination unit.

Moreover, in the said embodiment, although the control part 401 of the central apparatus 4 is performing priority control, the control part 101 of the traffic signal controller 1 may perform priority control, and both control parts 401 and 101 are sufficient. May perform priority control in cooperation.
In the above-described embodiment, the “vehicle blue time” is the total time of the pedestrian blue blinking time and the pedestrian red time. However, the present invention is not limited to this. For example, the pedestrian blue time may be further included. . However, in the case where the pedestrian green time is further included in the “vehicle green time”, when the pedestrian green time is shortened in the priority control step S24 in consideration of the left turn vehicle shown in FIG. The pedestrian green time is excluded from the vehicle blue time extension targets executed in step S22.

DESCRIPTION OF SYMBOLS 1 Traffic signal controller 2 Signal lamp 2A Vehicle lamp 2B Pedestrian lamp 3 Roadside communication machine 4 Central apparatus 5 Route bus (public vehicle)
6 on-vehicle device 7 push button device 8 general vehicle 8A preceding vehicle 8B left turn destination vehicle 8C lane change destination vehicle 101 control unit 102 lamp drive unit 103 communication unit 104 storage unit 301 control unit (determination unit)
302 Communication unit (acquisition unit)
303 Storage Unit 401 Control Unit 402 Communication Unit 403 Storage Unit C Intersection L1 Bus Dedicated Lane L2 Traveling Lane

Claims (11)

A traffic signal control device that performs priority control for extending or shortening a predetermined signal display time in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches an intersection,
An acquisition unit for acquiring position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and preceding vehicle outflow destination information capable of specifying an outflow direction at the intersection of the preceding vehicle;
Based on the position information acquired by the acquisition unit, a first determination for determining whether or not the preceding vehicle exists in the inflow path of the intersection where the public vehicle flows in, the speed information acquired by the acquisition unit A left-turn vehicle in which the preceding vehicle turns left at the intersection based on a second determination based on whether or not the speed of the preceding vehicle is equal to or less than a predetermined value based on the information and the preceding vehicle outflow destination information acquired by the acquisition unit A determination unit that performs a third determination to determine whether or not
A traffic signal control device comprising: a control unit that performs the priority control on condition that the determination results of the first to third determinations by the determination unit are all positive. The acquisition unit can acquire position information and speed information of a left turn destination vehicle that exists in a left turn direction of the preceding vehicle,
When the determination results of the first to third determinations are all affirmative, the determination unit is clogged in the left turn direction based on the position information and speed information of the left turn destination vehicle acquired by the acquisition unit. Is a further step of determining whether or not clogging occurs.
The traffic signal control device according to claim 1, wherein the control unit performs the priority control according to a determination result of the clogging determination.   The traffic signal control device according to claim 2, wherein the control unit extends the vehicle green time corresponding to the inflow path when the determination result of the clogging determination is negative. The acquisition unit is capable of acquiring priority crossing request information for requesting to preferentially cross the pedestrian crossing from a pedestrian crossing the pedestrian crossing of the left turn of the preceding vehicle,
The traffic signal control device according to claim 3, wherein, when the acquisition unit has not acquired the priority crossing request information, the control unit further shortens a pedestrian green time corresponding to the pedestrian crossing as the priority control. .   The traffic signal control device according to claim 4, wherein the control unit outputs a command to transmit information for calling attention to the pedestrian. The acquisition unit is capable of acquiring public vehicle outflow destination information capable of specifying the outflow direction at the intersection of the public vehicle,
When the determination result of the clogging determination is affirmative, the control unit specifies the outflow direction of the public vehicle based on the public vehicle outflow destination information acquired by the acquisition unit, and responds to the outflow direction. The traffic signal control device according to claim 2, wherein the priority control is performed.   The traffic signal control device according to claim 6, wherein when the outflow direction of the public vehicle is specified as a left turn direction, the control unit does not extend a vehicle green time corresponding to the inflow path.   The traffic signal control device according to claim 6 or 7, wherein when the outflow direction of the public vehicle is specified as a straight traveling direction, the control unit extends a vehicle green time corresponding to the inflow path as the priority control. .   The traffic signal control device according to claim 8, wherein the control unit outputs a command to transmit information that prompts the public vehicle to change lanes. A computer program for causing a computer to execute priority control for extending or shortening a predetermined signal display time of the intersection in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches the intersection There,
An acquisition unit for acquiring position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and preceding vehicle outflow destination information capable of specifying an outflow direction at the intersection of the preceding vehicle;
A first determination for determining whether or not the preceding vehicle exists in an inflow path of the intersection where the public vehicle flows in based on the position information acquired by the acquisition unit; A second determination for determining whether the speed of the preceding vehicle is equal to or less than a predetermined value based on the acquired speed information; and the preceding vehicle is determined based on the preceding vehicle outflow destination information acquired by the acquiring unit. A determination unit that performs a third determination to determine whether the vehicle is a left-turn vehicle that makes a left turn at an intersection;
The computer program for functioning as a control part which performs the said priority control on condition that all the determination results of the said 1st-3rd determination by the said determination part are affirmative. A traffic signal control method for performing priority control for extending or shortening a predetermined signal display time at the intersection in consideration of a left turn vehicle existing in front of the public vehicle when the public vehicle approaches the intersection. And
An acquisition step of acquiring position information and speed information of a preceding vehicle existing within a predetermined range from the intersection, and preceding vehicle outflow destination information capable of specifying an outflow direction at the intersection of the preceding vehicle;
Based on the position information acquired in the acquisition step, a first determination for determining whether or not the preceding vehicle exists in the inflow path of the intersection where the public vehicle flows in, the speed information acquired in the acquisition step A left-turn vehicle in which the preceding vehicle turns left at the intersection based on a second determination based on whether or not the speed of the preceding vehicle is less than or equal to a predetermined value based on the preceding vehicle outflow destination information acquired in the acquisition step A determination step for performing a third determination to determine whether or not
And a control step of performing the priority control on condition that the determination results of the first to third determinations in the determination step are all positive.

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