JP2022079501A - Information processing device, information processing method, program for information processing, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine whether or not there is temporal difference between a mode of change of traffic signals shown by signal information and a mode of actual change of the traffic signals by a traffic light.

SOLUTION: An information processing device acquires signal information showing a mode of change of traffic signals to be output from a traffic light, acquires imaging information obtained by imaging the traffic light, and determines whether or not there is temporal difference between a mode of change of the traffic signals shown by the acquired signal information and the mode of change of the traffic signals to be output by the traffic signals to be specified on the basis of the acquired imaging information.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present application relates to the technical field of an information processing apparatus that processes information used to support the operation of a moving body in relation to a traffic light.

Conventionally, a communication device such as an optical beacon is provided along the road, and for a vehicle traveling in the vicinity from this communication device, the change mode of the signal such as the start timing and duration of the traffic signal output from the traffic light is planned. Techniques for transmitting the indicated signal information are known. The vehicle that receives this signal information provides, for example, information to support driving to the driver of the vehicle. For example, in Patent Document 1, the distance from the vehicle to the intersection where the traffic light is arranged is acquired, and based on the acquired distance and the traffic light information, the vehicle can enter the intersection with the light color of the traffic light being blue. A driver support device that calculates a range of traveling speeds and outputs this range of traveling speeds is disclosed.

Japanese Unexamined Patent Publication No. 2011-227716

However, there is a possibility that the actual mode of change of the traffic signal output by the traffic light may be temporally different from the mode of change indicated by the signal information for some reason. When such a deviation occurs, there is a fear that the driving of the vehicle cannot be properly supported.

The present application has been made in view of the above points, and one example of the problem is temporality between the mode of change of the traffic signal indicated by the signal information and the mode of the change of the actual traffic signal by the signal. It is an object of the present invention to provide an information processing apparatus, an information processing method, an information processing program, and a recording medium capable of determining whether or not there is a difference.

In order to solve the above problems, one aspect of the present application is a signal information acquisition means for acquiring signal information indicating an aspect of a change in a traffic signal output by a traffic signal, and imaging information obtained by imaging the traffic signal. The image pickup information acquisition means for acquiring the image, the mode of the change of the traffic signal indicated by the acquired signal information, and the change of the traffic signal output by the traffic signal specified based on the acquired image pickup information. The information processing apparatus is characterized by comprising a determination means for determining whether or not there is a time difference between the above aspects.

Another aspect of the present application is a signal information acquisition step of acquiring signal information indicating an aspect of a change in a traffic signal output by a signal in an information processing method executed by a computer, and an image obtained by imaging the signal. The image pickup information acquisition step for acquiring the image pickup information, the mode of change of the traffic signal indicated by the acquired signal information, and the traffic signal output by the signal device specified based on the acquired image pickup information. It is characterized by including a mode of change of the above and a determination step of determining whether or not there is a time difference between the two.

Yet another aspect of the present application is an information processing program that causes a computer to function as the information processing apparatus.

Yet another aspect of the present application is a recording medium in which the information processing program is recorded so as to be readable by a computer.

It is a block diagram which shows an example of the outline structure of the information processing apparatus which concerns on embodiment. It is a block diagram which shows an example of the outline structure of the driving support system which concerns on Example. (A) is a block diagram showing an example of an outline configuration of a server device according to an embodiment. (B) is a block diagram showing an example of an outline configuration of a navigation device according to an embodiment. (A) is a diagram showing an example of a state in which a traffic light is imaged from a vehicle. (B) is a figure which shows an example of the difference of the green light start time between the signal information and image data. (A) to (d) are diagrams showing a display example of recommended traveling speed range information. (A) is a figure which shows the display example of the green light start timing information. (B) and (c) are diagrams showing an example of the display timing of the waiting time in the green light start timing information. It is a figure which shows an example of a route search. It is a figure which shows the determination example of the localization of a green light period and the localization of a red light period. (A) is a diagram showing a specific example of a green light period, and (b) is a diagram showing a specific example of a red light period. It is a figure which shows an example of the state of an intersection. It is a figure which shows an example of the timing of correction of pseudo signal information. It is a flowchart which shows an example of the server processing by the server apparatus which concerns on Example. It is a flowchart which shows an example of the signal information error determination processing by the server apparatus which concerns on embodiment. It is a flowchart which shows an example of the signal information correction processing for a sensitive traffic light by the server apparatus which concerns on embodiment. It is a flowchart which shows an example of the pseudo signal information generation processing by the server apparatus which concerns on embodiment. It is a flowchart which shows an example of the terminal processing by the navigation apparatus which concerns on embodiment. It is a flowchart which shows an example of the driving support information presentation processing by the navigation device which concerns on Example. It is a flowchart which shows an example of the route search process by the navigation apparatus which concerns on Example. (A) to (c) are diagrams showing an example of a vehicle passing by the side of a traffic light. (A) to (c) are diagrams showing an example of how two vehicles pass by the side of a traffic light. It is a flowchart which shows an example of the server processing by the server apparatus which concerns on a modification. It is a flowchart which shows an example of the pseudo signal information generation processing by the server apparatus which concerns on a modification. It is a flowchart which shows an example of the terminal processing by the navigation device which concerns on a modification.

First, a mode for carrying out the present application will be described with reference to FIG. FIG. 1 is a block diagram showing an example of an outline configuration of an information processing apparatus according to an embodiment.

As shown in FIG. 1, the information processing apparatus D according to the embodiment includes a signal information acquisition unit 1, an image pickup information acquisition unit 2, and a determination unit 3.

In this configuration, the signal information acquisition means 1 acquires signal information indicating the mode of change of the traffic signal output by the traffic light.

The imaging information acquisition means 2 acquires imaging information obtained by imaging a traffic light.

The determination means 3 is output by a traffic light, which is specified based on the mode of change of the traffic signal indicated by the signal information acquired by the signal information acquisition means 1 and the image pickup information acquired by the image pickup information acquisition means 2. It is determined whether or not there is a time difference between the mode of change in the traffic signal and the mode of change.

As described above, according to the operation of the information processing apparatus D according to the embodiment, there is a temporal difference between the mode of change of the traffic signal indicated by the signal information and the mode of change of the actual traffic signal by the traffic light. It is possible to determine whether or not there is.

Next, specific examples corresponding to the above-described embodiments will be described with reference to FIGS. 2 to 18. The embodiment described below is an example when the embodiment is applied to the device constituting the driving support system.

FIG. 2 is a block diagram showing an example of an outline configuration of the driving support system according to the embodiment. FIG. 3A is a block diagram showing an example of an outline configuration of the server device according to the embodiment. FIG. 3B is a block diagram showing an example of an outline configuration of the navigation device according to the embodiment. FIG. 4A is a diagram showing an example of a state in which a traffic light is imaged from a vehicle. FIG. 4B is a diagram showing an example of the difference in the green signal start time between the signal information and the image data. 5 (a) to 5 (d) are diagrams showing a display example of recommended traveling speed range information. FIG. 6A is a diagram showing a display example of green light start timing information. 6 (b) and 6 (c) are diagrams showing an example of the display timing of the waiting time in the green light start timing information. FIG. 7 is a diagram showing an example of a route search. FIG. 8 is a diagram showing an example of determining localization during the green light period and localization during the red light period. FIG. 9A is a diagram showing a specific example of the green light period, and FIG. 9B is a diagram showing a specific example of the red light period. FIG. 10 is a diagram showing an example of the state of an intersection. FIG. 11 is a diagram showing an example of the timing of correction of pseudo signal information. FIG. 12 is a flowchart showing an example of server processing by the server device according to the embodiment. FIG. 13 is a flowchart showing an example of signal information error determination processing by the server device according to the embodiment. FIG. 14 is a flowchart showing an example of signal information correction processing for a sensitive traffic light by the server device according to the embodiment. FIG. 15 is a flowchart showing an example of pseudo signal information generation processing by the server device according to the embodiment. FIG. 16 is a flowchart showing an example of terminal processing by the navigation device according to the embodiment. FIG. 17 is a flowchart showing an example of driving support information presentation processing by the navigation device according to the embodiment. FIG. 18 is a flowchart showing an example of the route search process by the navigation device according to the embodiment.
[1. Configuration of driver assistance system, server device, navigation device]
As shown in FIG. 2, the driver assistance system S according to the embodiment includes a server device 10 and a plurality of navigation devices 20. The server device 10 and each navigation device 20 are connected to the network 40. The network 40 may be, for example, the Internet. Each navigation device 20 is mounted on the vehicle 30. The server device 10 provides information for supporting the driving of the vehicle 30 to each navigation device 20. The navigation device 20 performs a process for guiding the vehicle 30 to a destination, and outputs information for supporting the operation of the vehicle 30. The details of the server device 10 are shown in FIG. 3 (a), and the details of the navigation device 20 are shown in FIG. 3 (b).

A traffic control center 50 is further connected to the network 40. The traffic control center 50 provides traffic information such as traffic congestion information and traffic regulation, and also provides signal information of each of the plurality of traffic lights 60 via a plurality of roadside machines 70. Each traffic light 60 is a traffic light for a vehicle. Each traffic light 60 is installed at an intersection, a confluence, a pedestrian crossing, or the like. Each traffic light 60 outputs a traffic signal such as a green signal (a signal indicating a progress permission), a red signal (a signal indicating a progress prohibition), and a yellow signal (a signal indicating a progress prohibition in principle). Each roadside machine 70 is installed at a position corresponding to the road, such as above the road or on the side of the road. The roadside machine 70 outputs the signal information of the traffic light 60 by infrared rays, radio waves, or the like. For example, the roadside machine 70 outputs the signal information of the traffic light 60 in the traveling direction of the vehicle along the road on which the roadside machine 70 is installed. The traffic control center 50, each traffic light 60, and each roadside unit 70 are connected to the network 80. The traffic control center 50 to the network 80 configure a system for utilizing the signal information of each traffic light 60. An example of such a system is TSPS (Traffic Signal Prediction System).

The signal information indicates the mode of change of the traffic signal output by the corresponding traffic light 60. In other words, signal information indicates how traffic signals change over time. For example, the signal information indicates a schedule such as a start time and a duration of each traffic signal. The signal information includes, for example, position information indicating the position of an intersection or the like corresponding to the traffic light 60, the difference between the current time and the signal information generation time, and the elapsed time from the signal information generation time to the start of the cycle in which the traffic signal changes. , The minimum and maximum values of the cycle length, the minimum and maximum values of the green light start time, the minimum and maximum values of the green light end time, the sensitivity permission state, and the like may be included. The green light start time is the time elapsed from the start of the cycle to the start of the output of the green light. The green light end time is the time elapsed from the start of the cycle to the end of the output of the green light.

As shown in FIG. 3A, the server device 10 includes a control unit 11, a storage unit 12, and a communication unit 13. The control unit 11 to the communication unit 13 are connected via the bus 14.

The control unit 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The CPU reads and executes various programs stored in the ROM and the storage unit 12, so that the control unit 11 executes each process described later.

The storage unit 12 is composed of, for example, a non-volatile memory such as a hard disk. The storage unit 12 stores various programs for performing various processes by the server device 10. The various programs may be read from a recording medium, for example, via a drive device (not shown), or may be downloaded from a predetermined server device via the network 40.

Further, map data is stored in the storage unit 12. The map data includes node information indicating the position of each point (node) such as an intersection, roads (links) connected to that point, and link information indicating the shape of each road and the position of a stop line corresponding to a traffic light. , Position information indicating the position of the traffic light, etc. may be included. The map data may be, for example, detailed data that can identify the area of the road or the area of each lane in the road.

The communication unit 13 controls communication with the vehicle 30 and the traffic control center 50 via the network 40. The server device 10 receives probe information and the like described later from the vehicle 30 and receives traffic information and the like from the traffic control center 50 via the network 40.

As shown in FIG. 3B, the navigation device 20 includes a control unit 21, a storage unit 22, a communication unit 23, a display 24, a speaker 25, an input unit 26, and an interface unit 27. The control unit 21 to the interface unit 27 are connected via the bus 28.

The control unit 21 includes a CPU, ROM, RAM, and the like. The CPU reads and executes various programs stored in the ROM and the storage unit 22, and the control unit 21 executes various processes described later.

The storage unit 22 is composed of a non-volatile memory such as a hard disk or a flash memory. Various programs for controlling the navigation device 20 are stored in the storage unit 22. The various programs may be read from a recording medium via a drive device (not shown), or may be downloaded from a server device 10 or the like via a network 40, for example.

Further, map data is stored in the storage unit 22. The map data may be stored in the storage unit 22 in advance, or a part or all of the map data may be downloaded from the server device 10 and the map data stored in the storage unit 22 may be updated as needed. ..

The communication unit 23 connects to the network 40 via a base station (not shown) by wireless communication to control communication with the server device 10, or controls vehicle-to-vehicle communication with another vehicle 30. Further, the communication unit 23 receives traffic information or the like from a radio wave beacon (not shown).

The display 24 is, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, or the like, and displays various information based on the control of the control unit 21. The speaker 25 outputs various sounds based on the control of the control unit 21. The input unit 26 is composed of, for example, a touch panel, buttons, switches, and the like, and outputs a signal indicating the operation content by the passenger of the vehicle 30 to the control unit 21.

The interface unit 27 is connected to a camera 31, a vehicle speed sensor 32, an acceleration sensor 33, a gyro sensor 34, a GNSS sensor 35, and a beacon receiver 36 mounted on the vehicle 30. The interface unit 27 performs interface processing between the navigation device 20 and the camera 31 to the beacon receiver 36.

The camera 31 is composed of, for example, a CCD (Charge Coupled Device) sensor or the like, captures an image of the surroundings of the vehicle 30 including the traveling direction of the vehicle 30, and outputs image data to the interface unit 27. This image data may be a still image or a moving image. The vehicle speed sensor 32 detects the traveling speed of the vehicle 30 and outputs speed information indicating the detected speed to the interface unit 27. The acceleration sensor 33 detects the acceleration of the vehicle 30 and outputs acceleration information indicating the detected acceleration to the interface unit 27. The gyro sensor 34 detects the angular velocity of the vehicle 30 and outputs the angular velocity information indicating the detected angular velocity to the interface unit 27. The GNSS sensor 35 uses a GNSS (Global Navigation Satellite System) to receive a signal transmitted from a navigation satellite (not shown), calculates the position of the vehicle 30 based on this signal, and indicates the calculated position. The current position information (for example, latitude, longitude, etc.) is output to the interface unit 27. The GNSS used may be, for example, GPS (Global Positioning System) or another system. The beacon receiver 36 receives the signal information transmitted from the roadside machine 70 and outputs the signal information to the interface unit 27.

The control unit 21 provides various driving support based on the signal information received by the beacon receiver 36. The control unit 21 outputs information that supports the driver of the vehicle 30, for example. For example, the control unit 21 displays recommended traveling speed range information indicating a speed range suitable for the vehicle 30 passing through a position such as an intersection or a stop line to which the traffic light 60 corresponds, based on the signal information, from the display 24 or the speaker 25. Output. This speed range is such that the vehicle 30 passes through an intersection, a stop line, or the like within the green light period. The green light period is the period during which the green light is output (the period during which the green light is lit). In other words, the green light period is the period from the start to the end of the green light output, or the period during which the green light output continues.

Further, the control unit 21 supports the timing of the start of travel of the vehicle 30 stopped on the road corresponding to the traffic light 60 by outputting the red signal by the traffic light 60 based on the signal information. The start support information is output from the display 24 or the speaker 25. The travel start support information may include at least one of green light start timing information and caution information. The green signal start timing information indicates the timing at which the traffic signal output by the traffic light 60 changes from the red signal to the green signal. Specifically, the green light start timing information may indicate the waiting time from the present time until the traffic signal changes from the red light to the green light. As a result, the waiting time decreases with the passage of time (the waiting time is counted down) while the green light start timing information is output. The caution information indicates a warning in the traveling direction of the vehicle 30. An example of caution information is a message such as "Please check ahead".

When the vehicle 30 is a vehicle capable of automatic driving, the automatic driving system mounted on the vehicle 30 may control the automatic driving with reference to the signal information.
[2. Functions of driver assistance system]
[2-1. Judgment of signal information error]
Since the signal information indicates the start time of each traffic signal of the traffic light 60 and the schedule of the duration, the signal information is between the mode of change of the traffic signal indicated by the signal information and the mode of change of the actual traffic signal of the traffic light 60. There may be a time lag. For example, in order to preferentially pass a specific vehicle, the duration of a red light or a green light by a traffic light may be changed to a duration different from the duration indicated by the signal information. In addition, it is conceivable that the traffic signal may be forcibly changed by the traffic control center in an emergency. Further, a trouble in the system composed of the traffic control center 50 to the network 80, a delay in transmitting signal information to the roadside machine 70, a secular change of the traffic light 60, and the like can be considered. Therefore, the driver assistance system S may determine this time difference based on the image pickup information obtained by imaging the traffic light 60 with the camera 31 mounted on the vehicle 30. Either the server device 10 or the navigation device 20 may determine the time difference.

First, as shown in FIG. 4A, the navigation device 20 causes the camera 31 to take an image of the traffic light 60. The navigation device 20 acquires image data acquired from the camera 31 by this imaging as imaging information. For example, the navigation device 20 specifies the current position of the vehicle, the road on which the vehicle 30 is located, the traveling direction of the vehicle, and the like, based on the information and the map data acquired from the vehicle speed sensors 32 to the GNSS sensor 35. Further, based on this information, the navigation device 20 determines that the vehicle 30 has entered within a predetermined range from the traffic light 60 in the traveling direction along the road where the vehicle 30 is currently located, and starts imaging by the camera 31. Let me.

When the server device 10 determines the time difference, the navigation device 20 indicates image data obtained by imaging by the camera 31, date and time information indicating the current date and time, current position information indicating the position of the vehicle 30, and traveling direction. Probe information including direction information, identification information of the navigation device 20, and the like is transmitted to the server device 10. Here, when the navigation device 20 receives the signal information of the traffic light 60 in the traveling direction along the road where the vehicle 30 is currently located from the roadside machine 70, the navigation device 20 transmits the probe information together with this signal information. .. For example, the navigation device 20 may transmit probe information and signal information at predetermined time intervals (for example, 0.1 second intervals, etc.). The navigation device 20 may recognize the traffic light 60 by pattern recognition from the image data and specify the color of the traffic signal output from the traffic light 60 (the color of the lit signal). Then, the navigation device 20 may transmit probe information including color information indicating the specified signal color as imaging information instead of the image data.

The server device 10 acquires the probe information and the signal information transmitted from the navigation device 20 via the network 40. Whether or not the server device 10 has a time difference between the mode of change of the traffic signal indicated by the signal information and the mode of the traffic signal specified based on the image pickup information included in the probe information. To judge. For example, the server device 10 specifies a green light start time or a red light start time based on the signal information. The green light start time is the time when the green light output starts, and the red light start time is the time when the red light output starts. The server device 10 identifies the signal color of the traffic light 60 by pattern recognition from the image data included in the probe information. The server device 10 identifies the actual green light start time or red light start time based on the signal color specified from the series of probe information acquired from the navigation device 20 and the date and time information included in the probe information. The server device 10 compares the green light start time or the red light start time indicated by the signal information with the green light start time or the red light start time obtained from the probe information. Then, the server device 10 determines whether there is a difference between the two. For example, as shown in FIG. 4B, the signal information indicates that the green light starts at time T1. On the other hand, from the image data captured by the vehicle 30, it was identified that the red light started at time T2. In this case, the difference between the times T1 and T2 becomes an error.

If the server device 10 determines that there is a time difference, the server device 10 may calculate the difference as an error in signal information. The server device 10 may calculate an error for one traffic light 60 using only a series of probe information obtained once from one vehicle 30, or may use probe information obtained from a plurality of vehicles 30 respectively. , The error may be calculated using the probe information obtained multiple times from one vehicle. For example, the server device 10 has a green signal start time or a red signal start time indicated by signal information for each of the green signal start time or the red signal start time specified from the probe information obtained from a plurality of vehicles or the probe information obtained a plurality of times. Calculate the error with time. The server device 10 may statistically process the error and calculate a representative value or the like of the error. Examples of representative values include mean, median, mode, and the like. Further, the server device 10 may generate accuracy information indicating the accuracy of the signal information based on the calculated error. For example, the server device 10 may calculate the mean value of the error, the standard deviation, and the like as the accuracy of the signal information. The server device 10 may calculate the level of accuracy based on the average value of the error, the standard deviation, and the like, and generate accuracy information indicating this level. For example, the level may be calculated so that the smaller the mean value, the higher the value, and the smaller the standard deviation, the higher the value. It can be said that the higher the accuracy indicated by the accuracy information, the smaller the time difference.

The server device 10 may store the determination information indicating the determination result of the presence or absence of the time difference and the difference information indicating the time difference in the storage unit 12 in association with the specific information of the corresponding traffic light 60. The difference information may be any of the calculated error, the error information indicating the representative value thereof, and the accuracy information. The specific information is the specific information of the traffic light 60. The specific information may be, for example, unique identification information previously given to the traffic light 60, or the position information indicating the position of the traffic light 60 or the position of the intersection corresponding to the traffic light 60, and the progress corresponding to the traffic light 60. It may be a combination with the direction information indicating the direction.

The server device 10 may transmit determination information or difference information to the vehicle 30. For example, the server device 10 may transmit to the vehicle 30 moving on the corresponding road by the traffic light 60, which is the target of generating the determination information or the difference information. The server device 10 may perform transmission in response to a request from the navigation device 20. For example, the navigation device 20 transmits an information request to the server device 10 periodically or at a predetermined timing. The information request includes, for example, position information indicating the position of the vehicle 30, direction information indicating the traveling direction, and the like. The server device 10 identifies the road on which the vehicle 30 is located and also identifies the traffic light 60 located in the traveling direction of the vehicle 30 along the road based on the information and the map data included in the information request. .. Then, the server device 10 may transmit the determination information or the difference information associated with the specified traffic light 60 and stored in the storage unit 12. The server device 10 may collectively transmit determination information or difference information about a plurality of traffic lights 60. For example, the server device 10 may collectively transmit information about a plurality of traffic lights 60 installed along the road where the vehicle 30 is located. Alternatively, the server device 10 may collectively transmit information about a plurality of traffic lights 60 within a predetermined range from the current position of the vehicle 30. Alternatively, when the movement route is set in the navigation device 20, the server device 10 may transmit information about the traffic light 60 corresponding to each of the partial or all roads on the movement route.

When the navigation device 20 determines the time difference, the navigation device 20 acquires the signal information received by the beacon receiver 36 from the roadside machine 70. The navigation device 20 specifies a green light start time or a red light start time based on the signal information. Further, the navigation device 20 specifies the signal color of the traffic light 60 from the image data obtained from the camera 31, and specifies the green light start time or the red light start time as the time when the actual traffic signal changes. Further, the navigation device 20 determines whether there is a time difference between the green signal start time or the red signal start time indicated by the signal information and the green signal start time or the red signal start time obtained based on the image data. do. The navigation device 20 may calculate the difference between the two as an error in the signal information. Further, the navigation device 20 may calculate a representative value of the error by statistically processing the error obtained for one traffic light 60 by the vehicle 30 passing through the same road a plurality of times. Further, the navigation device 20 may generate accuracy information based on the calculated error.

The navigation device 20 stores the determination information indicating the determination result of the presence / absence of an error, the error information indicating the calculated error or the representative value, or the accuracy information in the storage unit 22 in association with the specific information of the corresponding signal 60. May be good.

The navigation device 20 may transmit error information and specific information of the traffic light 60 to the server device 10. The server device 10 may statistically process the error information received from the plurality of vehicles 30 to calculate a representative value of the error or generate accuracy information. The server device 10 may store the error information or the accuracy information indicating the representative value of the error in the storage unit 12 in association with the specific information of the signal 60. The server device 10 may transmit error information or accuracy information to the navigation device 20.
[2-2. Determining the recommended running speed range based on the difference information]
The navigation device 20 provides difference information indicating a temporal difference between the mode of change of the traffic signal indicated by the signal information and the mode of the traffic signal specified based on the imaging information included in the probe information. Based on this, the recommended driving speed range may be determined. The recommended traveling speed range is a speed range suitable for the vehicle 30 passing through a position such as an intersection or a stop line to which the traffic light 60 corresponds.

The navigation device 20 acquires the difference information from the storage unit 22 or the server device 10. Then, the navigation device 20 determines the recommended traveling speed range based on the difference information and the signal information received from the roadside machine 70. Specifically, the navigation device 20 narrows the recommended traveling speed range as the time difference indicated by the difference information increases. As a result, even if there is an error in the signal information, the driver can drive the vehicle 30 so as to smoothly pass through the intersection or the like by traveling the vehicle 30 at a speed according to the recommended traveling speed range.

For example, the navigation device 20 specifies the green light period based on the signal information received from the roadside machine 70. The navigation device 20 may narrow the green light period according to the time difference indicated by the difference information. For example, the navigation device 20 determines the maximum value of the green light start time by shifting the green light start time indicating the start time of the green light period to the future as the time difference indicated by the difference information increases, and ends the green light period. The minimum value of the green light end time may be determined by shifting the green light end time indicating the time to the past as the time difference indicated by the difference information becomes larger. For example, the navigation device 20 calculates the maximum green light start time by adding the time length obtained by multiplying the error indicated by the error information by a predetermined coefficient to the green light start time, and calculates this time length from the green light end time. May be subtracted to calculate the maximum green light end time. The navigation device 20 may narrow the green light period based on the accuracy information. For example, the navigation device 20 may narrow the green light period as the accuracy indicated by the accuracy information is lower.

The navigation device 20 may determine the range of travel speed at which the vehicle 30 can pass the corresponding stop line of the traffic light 60 within the period indicated by the green light start time maximum value and the green light end time minimum value. For example, the navigation device 20 specifies the distance from the current position of the vehicle 30 to the corresponding stop line of the traffic light 60 based on the current position information acquired from the GNSS sensor 35 or the information received from the roadside machine 70. .. Further, the navigation device 20 calculates the first waiting time required from the present time to the maximum value of the green light start time and the second waiting time required from the present time to the minimum value of the green light end time. The navigation device 20 calculates the minimum value of the traveling speed passing through the distance to the stop line after the first waiting time has elapsed as the minimum value of the recommended traveling speed. At this time, the navigation device 20 determines the minimum value of the recommended traveling speed so as not to be less than the minimum regulated speed or the predetermined speed. Further, the navigation device 20 calculates the maximum value of the traveling speed that passes the distance to the stop line before the second waiting time elapses as the maximum value of the recommended traveling speed. At this time, the navigation device 20 determines the maximum value of the recommended traveling speed so as not to exceed the maximum regulated speed. Instead of calculating the range of the recommended traveling speed, the navigation device 20 is based on, for example, a table showing the recommended traveling speed in relation to the distance to the stop line, the error, the first waiting time, or the second waiting time. , The recommended running speed range may be determined.

The navigation device 20 displays the recommended running speed range information indicating the determined recommended running speed range on the display 24, or outputs the recommended running speed range information by the speaker 25. The recommended traveling speed range information may be, for example, textual information or graphic information. 5 (a) and 5 (b) show an example of displaying the recommended traveling speed range information as character information on the display 24. For example, when the time difference is relatively small, “30 to 50 km / h” is displayed as the recommended traveling speed range information 110 as shown in FIG. 5 (a). On the other hand, when the time difference is relatively large, "30 to 45 km / h" is displayed as the recommended traveling speed range information 120 as shown in FIG. 5 (b).

The navigation device 20 may reduce the ease of recognizing the recommended traveling speed range information as the time difference increases. The ease of recognition means the visibility or the ease of hearing of information. When the recommended traveling speed range information is displayed on the display 24, the navigation device 20 may make the outline, color, etc. of the traveling speed range information lighter as the time difference becomes larger. When the recommended traveling speed range information is output from the speaker 25, the navigation device 20 may output the traveling speed range information by reducing the volume as the time difference increases. Alternatively, the navigation device 20 may change the content indicated by the output information according to the time difference. For example, the navigation device 20 may increase the degree of abstraction or ambiguity of the recommended traveling speed range as the time difference increases. The higher the degree of abstraction or ambiguity, the lower the ease of recognizing the recommended traveling speed range information. For example, as the recommended traveling speed range information, "~ 50 km / h" has a higher degree of abstraction or ambiguity than "30 to 50 km / h". For example, when the recommended running speed range information is a figure, the navigation device 20 indicates that the larger the time difference indicated by the difference information, the more the portion showing the maximum value and the minimum value of the recommended running speed range in this figure. The visibility of at least one of them may be reduced. Further, the navigation device 20 may display a figure so as to vaguely indicate at least one of the maximum value and the minimum value of the recommended traveling speed range as the time difference indicated by the difference information becomes larger. 5 (c) and 5 (d) show an example of displaying the recommended traveling speed range information as a bar graph on the display 24. For example, when the time difference is relatively small, a bar graph 130 with relatively high visibility is displayed, as shown in FIG. 5 (c). The outline of the bar graph 130 is clear. The bottom of the bar graph 130 is located at 30 km / h and the top is located at 50 km / h. On the other hand, when the time difference is relatively large, as shown in FIG. 5D, a bar graph 140 having a relatively low visibility is displayed. The bottom of the bar graph 140 is located at 30 km / h and the top is located at 50 km / h. However, the color and contour of the bar graph 140 become lighter as it approaches 50 km / h from around 45 km / h. This is because the maximum value of the recommended speed calculated from the green light period specified from the signal information is 50 km / h, whereas the recommended speed determined as a result of narrowing the green light period based on the difference information. The maximum value indicates that it is considerably smaller than 50 km / h. The navigation device 20 may widen the range in which the color or contour is thinned as the time difference is large, or may increase the degree in which the color or contour is thinned as the time difference is large.

As another example of changing the recognizability, the navigation device 20 outputs the recommended traveling speed range information when the time difference indicated by the difference information is less than or equal to the predetermined value, and when the time difference exceeds the predetermined value. , It is not necessary to output the recommended running speed range information.

The server device 10 may receive signal information from the navigation device 20 and determine the visibility of the recommended running speed range and the recommended running speed range information based on the signal information and the difference information. Then, the server device 10 may output the recommended traveling speed range information by the navigation device 20.
[2-3. Control of output of driving start support information based on difference information]
The navigation device 20 may control the output of travel start support information including green light start timing information based on the difference information. The travel start support information is displayed on the display 24 or output by the speaker 25. For example, as shown in FIG. 6A, the green light start timing information 200 is displayed.

The navigation device 20 acquires the difference information from the storage unit 22 or the server device 10. Then, for example, the navigation device 20 has a timing at which the output mode of the travel start support information is changed as the time difference indicated by the difference information is larger, and a timing at which the traffic signal is changed from the red signal to the green signal indicated by the signal information. The time between, may be lengthened. In this case, the output mode may be whether or not to output information, or which information is output and which information is not output.

For example, in the navigation device 20, the larger the time difference indicated by the difference information, the more the timing at which the output of the green signal start timing information indicating the timing at which the traffic signal changes from the red signal to the green signal ends and the timing at which the signal information indicates the traffic. The time between the timing at which the signal changes from the red light to the green light may be lengthened. As a result, the larger the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal, the earlier the driver can start the vehicle 30 without relying on the green light start timing information. Can be measured. Therefore, even if there is a time difference described above, the driver can smoothly start the running of the vehicle 30.

For example, when the time difference is relatively small, as shown in FIG. 6B, the waiting time countdown starts 20 seconds before the start of the green light indicated by the signal information and ends 5 seconds before the start of the green light. On the other hand, when the time difference is relatively large, as shown in FIG. 6C, the waiting time countdown starts 20 seconds before the start of the green light indicated by the signal information and ends 10 seconds before the start of the green light. It is desirable that the navigation device 20 determines the timing at which the green signal start timing information is terminated so that the output of the green signal start timing information is more likely to end before the traffic signal actually changes from the red signal to the green signal. ..

Further, for example, in the navigation device 20, the larger the time difference indicated by the difference information, the more the output timing of the caution information indicating the attention in the traveling direction of the vehicle 30 and the traffic signal indicated by the signal information from the red signal to the green signal. You may lengthen the time between the timing of the change to. As a result, the larger the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal, the earlier the driver's attention is directed to the traveling direction of the vehicle 30 and the vehicle 30 is started. It is possible to let the driver measure the timing to make it.

For example, when the time difference is relatively small, as shown in FIG. 6B, the caution information "Please check ahead" is output 5 seconds before the start of the green light indicated by the signal information. On the other hand, when the time difference is relatively large, caution information is output 10 seconds before the start of the green signal indicated by the signal information, as shown in FIG. 6 (c).

The navigation device 20 adjusts the time between the timing of changing the output mode of the travel start support information as described above and the timing of the traffic signal changing from the red signal to the green signal indicated by the signal information. In addition to changing or adjusting, the larger the temporal difference indicated by the difference information, the lower the recognizability of the green light start timing information may be. As a result, the larger the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal, the more the driver can measure the timing to start the vehicle 30 without relying on the green light start timing information. Can be done. For example, when the green signal start timing information is displayed on the display 24, the navigation device 20 may make the outline, color, etc. of the green signal start timing information lighter as the time difference increases. When the green signal start timing information is output from the speaker 25, the navigation device 20 may output the green signal start timing information by reducing the volume as the time difference increases. Alternatively, the navigation device 20 may change the content indicated by the output information according to the time difference. For example, the navigation device 20 may increase the degree of abstraction or ambiguity of the timing at which the traffic signal changes from the red light to the green light as the time difference becomes larger. The higher the degree of abstraction or ambiguity, the lower the ease of recognizing the green light start timing information. For example, as green signal start timing information, "8 to 12 seconds left" has a higher degree of abstraction or ambiguity than "10 seconds left", and "the signal is about to be blue" than "8 to 12 seconds left". The degree of abstraction or ambiguity is higher.

As another example of changing the recognizability, the navigation device 20 outputs green light start timing information when the time difference indicated by the difference information is less than or equal to a predetermined value, and when the time difference exceeds a predetermined value, the navigation device 20 outputs the green light start timing information. It is not necessary to output the green light start timing information. Further, when the time difference exceeds a predetermined value, the navigation device 20 may output only the caution information without outputting the green signal start timing information. When the time difference is equal to or less than a predetermined value, the navigation device 20 may or may not output caution information.

The server device 10 may receive signal information from the navigation device 20 and determine the timing at which the output of the green signal start timing information is terminated, the ease of recognition, and the like based on the signal information and the difference information. Then, the server device 10 may output the recommended traveling speed range information by the navigation device 20.
[2-4. Pathfinding based on difference information]
The driving support system S may perform a route search using the above-mentioned difference information. This route search may be performed by either the server device 10 or the navigation device 20. Hereinafter, a case where the navigation device 20 performs a route search will be described.

The navigation device 20 acquires the difference information from the storage unit 22 or the server device 10. Then, the navigation device 20 searches for a route with a higher priority as the traffic light 60 corresponding to the traffic light 60 having a smaller time difference indicated by the difference information has a corresponding road (link). As a result, when the driver drives the vehicle according to the recommended running speed range information and the running start support information output based on the signal information received from the roadside machine 70, there is a high possibility that the driver will smoothly pass through an intersection or the like. Is searched. In this case, the priority is such that the road of interest is preferentially selected as part of the route. For example, the navigation device 20 uses the travel cost of each road as the weight of the road, and uses the Dijkstra method or the like to set the travel cost to the predetermined order from the route that minimizes the total travel cost or the route that minimizes the travel cost. Search up to a small route. Examples of factors that determine the cost of travel include the distance of the road, whether or not the road is a toll road, the usage fee, and the congestion status of the road. The navigation device 20 calculates the travel cost in consideration of the difference information. For example, the navigation device 20 increases the travel cost as the time difference indicated by the difference information increases. FIG. 7 is a diagram showing an example of searching for a route. It is assumed that all the roads shown in FIG. 7 have the same factors that determine the travel cost other than the difference information. The driver of the vehicle 30 has set the point 310 as the destination. For roads 320 to 350, the temporal differences shown by the difference information are all small. When the vehicle 30 passes through these roads in the order of roads 320 to 350 and reaches the destination 310, the travel cost is minimized. Therefore, the navigation device 20 determines the route 360 including the roads 320 to 350 as the route to the destination 310.

The navigation device 20 may output at least one route searched by the above-mentioned route search from the display 24. The navigation device 20 receives an operation of selecting one of the output at least one routes from the passenger through the input unit 26. The navigation device 20 sets the route selected by the accepted operation as the movement route of the vehicle 30. The navigation device 20 performs a process for guiding the vehicle 30 to the destination along the set movement route. When the vehicle 30 is a vehicle capable of automatic driving, the automatic driving control system mounted on the vehicle 30 performs automatic driving along the searched movement route.

If the vehicle 30 is moving along the set movement route and the vehicle 30 stops, the navigation device 20 may re-execute the above-mentioned route search. The navigation device 20 may automatically set the route searched by re-execution of the route search as the movement route of the vehicle 30, or set the searched route as the movement route based on the passenger's selection. You may.

When the server device 10 performs a route search, the server device 10 acquires destination information indicating a destination from the navigation device 20, and is based on the destination information, the difference information stored in the storage unit 12, map data, and the like. Search for a route.
[2-5. Correction of signal information of sensitive signals]
In the case of a normal traffic light, the length of the green light period and the length of the red light period are generally fixed. Therefore, the length of the green signal period and the red signal period indicated by the signal information for such a traffic light is fixed (the minimum value and the maximum value included in the signal information are the same). However, the sensitive traffic light detects a vehicle and switches and outputs a plurality of traffic signals based on the presence or absence of the vehicle. Specifically, the sensitive traffic light changes the duration of at least one of a green light and a red light based on detecting a vehicle. Therefore, the lengths of the green light period and the red light period indicated by the signal information are set within a certain range (the minimum value and the maximum value included in the signal information are different). Therefore, there is a possibility that the signal information of the sensitive traffic light cannot appropriately support the driving of the vehicle 30.

Therefore, the server device 10 may change or correct the signal information of the sensitive traffic light based on the image pickup information obtained by imaging the traffic light 60 with the camera 31 mounted on the vehicle 30. Specifically, the server device 10 generates trend information indicating the tendency of the traffic signal to be changed by the traffic light 60 based on the image pickup information. The server device 10 may specify the tendency of the duration of the output of a predetermined traffic signal as the tendency of the change of the traffic signal. For example, the navigation device 20 transmits the probe information described above for the sensitive traffic light to the server device 10. The server device 10 identifies the localization of the green light period or the red light period of the sensitive traffic light based on the signal color recognized by the pattern recognition from the image data included in the probe information. The localization of the period indicates the length of the period and the position within the range of the length of the green light period or the red light period shown in the signal information. When the lengths of the plurality of green light periods and the lengths of the plurality of red light periods are obtained based on the probe information acquired from the plurality of vehicles 30, the server device 10 is based on these information and is a sensitive traffic light. Identify trends in localization during green and red light periods. For example, the server device 10 may calculate the average value and standard deviation of the length of the green light period and the length of the red light period as the localization tendency. Alternatively, the server device 10 calculates the maximum value of the period length by adding the time length obtained by multiplying the calculated standard deviation by a predetermined coefficient to the average value, and also obtains this time length from the average value. May be subtracted to calculate the minimum value of the length of the period, and the range from the calculated minimum value to the maximum value may be regarded as the tendency of localization. Alternatively, the server device 10 may calculate a representative value such as an average value, a median value, or a mode value of each of the length of the green light period and the length of the red light period as a tendency of localization. The server device 10 may store the tendency information indicating the localization tendency in the storage unit 12 in association with the information for identifying the sensitive traffic light.

The server device 10 may specify the localization tendency of the green light period and the red light period for each time zone in which the traffic light is imaged, and generate trend information indicating these trends. Then, the server device 10 may store the tendency information in the storage unit 12 in association with the information for identifying the sensitive traffic light and the time zone. Thereby, it is possible to correspond to the traffic light 60 in which the tendency of at least one of the length of the green light period and the length of the red light period changes due to the change of the traffic volume depending on the time zone.

The server device 10 changes or corrects the signal information of the sensitive traffic light based on the generated tendency information. The server device 10 acquires the signal information of the sensitive traffic light to be corrected. For example, the server device 10 may acquire the signal information received by the navigation device 20 from the roadside machine 70 from the navigation device 20. The server device 10 acquires the tendency information corresponding to the signal information from the storage unit 12. At this time, the server device 10 may acquire the tendency information associated with the time zone when the navigation device 20 receives the signal information from the roadside machine 70.

The server device 10 changes the signal information so as to indicate the length of the period corresponding to the tendency indicated by the tendency information within the range of the length of the green light period or the red light period indicated by the signal information. For example, in the server device 10, the closer the localization indicated by the trend information as a tendency to the maximum value of the range of the period indicated by the signal information, the longer the corrected time or the range of the length is set from the maximum value. Even if it is determined and the localization indicated by the tendency information as a tendency is closer to the minimum value of the range of the period shown in the signal information, the length of the corrected time or the range of the corrected time is determined from the minimum value. good. For example, it is assumed that the localization of the green light period indicated by the trend information is closer to the maximum value than the minimum value, and the localization of the red light period indicated by the trend information is closer to the minimum value than the maximum value. In this case, as shown in FIG. 8, the position of the length or length range of the green light period is determined from the maximum value, and the length or length range of the red light period is determined from the minimum value. The server device 10 may determine the length or range of lengths of the period according to the localization indicated by the trend information as a trend.

The server device 10 has a minimum and maximum value of the cycle length included in the signal information, a minimum value of the start time of the green signal, and a minimum value of the cycle length included in the signal information so that the signal information indicates the length of the determined green light period and the red light period. Change the maximum value, the minimum value and the maximum value of the green light end time, and so on. For example, the minimum and maximum values of the start time of the green light and the minimum and maximum values of the end time of the green light are information indicating the range of the length of the green light period. For example, these information and the minimum and maximum values of the cycle length are information indicating the range of the length of the red light period.

The server device 10 transmits the corrected signal information to the vehicle 30. For example, the server device 10 may transmit the corrected signal information to the vehicle 30 that has transmitted the signal information as described above.

The navigation device 20 specifies the length of the red light period and the green light period based on the image data obtained by imaging, and the length of the period obtained by the vehicle 30 passing through the sensitive traffic light a plurality of times. Based on the above, the tendency of localization may be specified, and the signal information of the sensitive traffic light received from the roadside machine 70 may be corrected based on these tendencies. Alternatively, the navigation device 20 may receive the trend information generated by the server device 10, and the navigation device 20 may make corrections based on the received trend information.
[2-6. Generation of pseudo signal information]
The driving support system S may generate pseudo signal information based on the output status-related information related to the output status of the traffic signal by the traffic light 60 and the output status-related information detected in the vehicle 30. Pseudo-signal information is information that is an alternative to signal information. When the signal information transmitted from the roadside machine 70 is the first signal information, the pseudo signal information is the second signal information. The format of the pseudo signal information may be the same as the format of the signal information. The output status-related information may be imaging information. The image pickup information indicates the output status of the traffic signal by the traffic light 60. The pseudo signal information may be generated by either the server device 10 or the navigation device 20. Since it is possible to generate pseudo signal information even on a road to which signal information is not distributed, it is possible to support the operation of the vehicle 30 by providing the pseudo signal information to the vehicle 30 traveling on the road to which signal information is not distributed. It becomes.

When the server device 10 generates pseudo signal information, the probe information described in Section 2-1 is transmitted from the navigation device 20 to the server device 10. The navigation device 20 transmits probe information in real time (for example, at 0.1 second intervals). The server device 10 specifies a green light period and a red light period for each traffic light 60 based on the probe information. For example, the server device 10 identifies the time when the green light and the red light start, respectively, based on a series of probe information acquired from one vehicle 30, and the green light period or the red light period is based on the specified time. May be specified. For example, as shown in FIG. 9A, the signal color specified by pattern recognition from the image data changes from a red signal to a green signal at time T11, and then changes from a green signal to a red signal at time T12. .. Therefore, the green light period is the period from time T11 to T12. Similarly, as shown in FIG. 9B, the signal color specified from the image data changes from a green signal to a red signal at time T21, and then changes from a red signal to a green signal at time T22. Therefore, the red light period is the period from time T21 to T22. The navigation device 20 may specify a green light period or a red light period based on probe information acquired from a plurality of vehicles 30. For example, when a plurality of vehicles 30 are moving on the same road at a certain interval, a camera 31 mounted on a certain vehicle 30 takes an image of a traffic light 60 when a red light changes to a green light. After that, when the camera 31 mounted on another vehicle 30 changes from a green light to a red light, the traffic light 60 may be imaged. In this case, the green light period can be specified based on the probe information acquired from these vehicles 30.

The server device 10 generates pseudo signal information based on the specified green light period and red light period. For example, the server device 10 has the difference between the current time and the signal information generation time, the elapsed time from the signal information generation time to the start of the cycle in which the traffic signal changes, and the cycle length based on the green light period and the red light period. , Determines information such as the start time of the green light and the end time of the green light. The server device 10 may store the pseudo signal information including the determined information in the storage unit 12 in association with the specific information of the corresponding traffic light 60. When the server device 10 specifies a plurality of green light periods and red light periods based on the information acquired from the plurality of vehicles 30, the server device 10 statistically processes the green light period and the red light period, respectively, and includes each of them in the pseudo signal information. Information may be determined.

A road may have a plurality of lanes on one side thereof, and a traffic light 60 corresponding to these lanes may change a traffic signal for at least one of these lanes in a manner different from that of the other lanes. .. For example, on a road with three lanes on each side, the traffic light 60 may be provided with a right turn signal corresponding to only one lane on the right side. Therefore, the server device 10 may generate pseudo signal information for each of the at least one lane and the other lane. In the above example, pseudo signal information for the left two lanes and pseudo signal information for the right one lane are generated. Alternatively, the server device 10 may generate pseudo signal information for each lane. The server device 10 may store the generated pseudo signal information in the storage unit 12 in association with the information for identifying the corresponding traffic light 60 and the lane, respectively.

The server device 10 may transmit the generated pseudo signal information to the navigation device 20 mounted on the vehicle 30. The server device 10 may perform transmission in response to a request from the navigation device 20, for example. For example, the navigation device 20 transmits an information request as described in Section 2-1 to the server device 10. The server device 10 identifies a traffic light 60 corresponding to an intersection or the like ahead of the vehicle 30 based on an information request and map data, and is associated with the specified traffic light 60 and stored in a storage unit 12. Send pseudo signal information. The server device 10 may transmit pseudo signal information about a plurality of traffic lights 60. For example, the server device 10 may collectively transmit pseudo signal information about a plurality of traffic lights 60 installed along the road where the vehicle 30 is located. Alternatively, the server device 10 may transmit pseudo signal information about a plurality of traffic lights 60 within a predetermined range from the current position of the vehicle 30. Alternatively, when the movement route is set in the navigation device 20, the server device 10 may transmit pseudo signal information about the traffic light 60 corresponding to each of a part or all the roads on the movement route. When the vehicle 30 is located on the road where the signal information cannot be received from the roadside machine 70, the navigation device 20 that has received the pseudo signal information uses the pseudo signal information to use the recommended travel speed range information and the travel start. Processing that supports the operation of the vehicle 30, such as output of support information, may be executed. Further, the navigation device 20 may use the pseudo signal information for the route search. For example, the navigation device 20 estimates the time for the vehicle 30 to pass through the intersection or the like, and based on the estimated time and the pseudo signal information, determines the probability that the vehicle 30 will pass through the intersection or the like without stopping for each road. calculate. The navigation device 20 searches for a route by raising the priority as the road has a higher probability.

In the case of the traffic light 60 in which the mode of change of the traffic signal differs depending on the lane, the server device 10 may transmit, for example, pseudo signal information of all lanes to the vehicle 30. The navigation device 20 may specify the lane in which the vehicle 30 is located, for example, based on the image data obtained by the image taken by the camera 31. Alternatively, if the accuracy of the GNSS sensor 35 and the map data is high, the navigation device 20 may specify the lane in which the vehicle 30 is located based on the current position information and the map data acquired from the GNSS sensor 35. Alternatively, when the vehicle 30 is traveling along the route searched by the navigation device 20, the navigation device 20 estimates the traveling direction of the vehicle 30 from the intersection or the like based on the set route, and this traveling. Based on the direction, the lane in which the vehicle 30 is located may be estimated on the road entering the intersection or the like. When the server device 10 or the navigation device 20 stores the history of the travel route of the vehicle 30, the navigation device 20 estimates the traveling direction of the vehicle 30 from the intersection or the like based on the history of the travel route, and this Based on the traveling direction, the lane in which the vehicle 30 is located may be estimated on the road entering the intersection or the like. The navigation device 20 may execute a process of assisting the driving of the vehicle 30 by using the pseudo signal information for the specified or estimated lane.

When the navigation device 20 generates pseudo signal information, for example, based on the image data from the camera 31, the navigation device 20 specifies the green light period and the red light period in the same manner as in the case of the server device 10. In order to specify both the green light period and the red light period for one traffic light 60, it is usually necessary for the vehicle 30 to pass the same road a plurality of times. The navigation device 20 may store the generated pseudo signal information in the storage unit 22 in association with the specific information of the corresponding traffic light 60. Further, the navigation device 20 may transmit pseudo signal information to the vehicles 30 in the vicinity of the vehicle 30 on which the navigation device 20 is mounted by vehicle-to-vehicle communication. In the navigation device 20 of the vehicle 30 that has received the pseudo signal information, the vehicle 30 is traveling at a position away from the traffic light 60 or a position where the traffic light 60 cannot be visually recognized (for example, the traffic light 60 is at the end of a corner). Even in this case, since it is possible to acquire the pseudo signal information of the traffic light 60, it is possible to output information about the traffic signal output from the traffic light 60 (for example, "currently a red light") in advance. can. Further, as described above, the navigation device 20 can use the pseudo signal information for the route search.

In this embodiment, the driving support system S uses the signal information, but the pseudo signal information can be generated and used even in a system that does not use the signal information.
[2-7. Estimating the green light period or red light period for pseudo signal information generation]
By the way, even if a plurality of image pickup information is obtained for one traffic light 60, it may be difficult to specify a period during which the output of a predetermined signal continues. For example, when the red light is lit by the traffic light 60, the vehicle 30 is stopped. Therefore, the camera 31 mounted on the vehicle 30 changes the traffic signal from the green light to the red light and then changes from the red light to the green light. There are relatively many opportunities to image the situation. Therefore, it is relatively easy to specify the red light period. On the other hand, when the green light is lit by the traffic light 60, the vehicle 30 passes through the vehicle, so that the camera 31 has a relatively small chance of capturing the change of the traffic signal from the green light to the red light. Therefore, it is relatively difficult to specify the green light period. Especially in the case of a road with a small amount of traffic, it may be difficult to specify the green light period using the image pickup information obtained from the plurality of vehicles 30 as described above.

Here, there is a first road and a second road that intersect at a point such as an intersection, and a traffic light 60 corresponding to a vehicle traveling from the first road is used as the first traffic light at that point, and a second traffic light is used at this point. The traffic light 60 corresponding to the vehicle traveling from the road is used as the second traffic light. Then, consider generating pseudo signal information for the second traffic light. The server device 10 acquires the output status-related information related to the output status of the traffic signal by the first traffic light, and the output status-related information detected in the vehicle 30, as described in Section 2-6. .. For example, the server device 10 acquires image data obtained by capturing an image of a first traffic light from a vehicle 30 traveling on a first road. Further, the server device 10 sets a second period during which the output of the first signal (for example, the red signal) of either the green signal or the red signal is continued in the first traffic light based on the acquired output status related information. -Specify as explained in Section 6. Based on the specified period, the server device 10 estimates the period during which the output of the second signal (for example, the green signal) of either the green signal or the red signal continues at the second traffic light. Basically, when a red light is output from the traffic light 60 corresponding to a certain road, a green light is output from the traffic light 60 corresponding to the road intersecting the road. Therefore, the estimation as described above is possible.

The server device 10 may estimate the red light period of the first traffic light and estimate the green light period of the second traffic light based on this red light period. Further, the server device 10 may estimate the green light period of the first traffic light and estimate the red light period of the second traffic light based on this green light period. Further, the server device 10 may perform both of these.

For example, as shown in FIG. 10A, it is assumed that traffic lights 60-1 to 60-4 are installed at a certain intersection. The traffic light 60-1 corresponds to a vehicle moving northward on the road 501 extending in the north-south direction, and the traffic light 60-2 corresponds to a vehicle moving southward. The traffic light 60-3 corresponds to a vehicle moving eastward on the road 502 extending in the east-west direction, and the traffic light 60-4 corresponds to a vehicle moving westward. Currently, the vehicle 30 is stopped in front of the corresponding stop line of the traffic light 60-1, and the camera 31 mounted on the vehicle 30 is photographing the traffic light 60-1. As shown in FIG. 10B, the red signal start time T31 and the green signal end time T32 were specified based on the image data from the camera 31, respectively. The green light period of the traffic lights 60-3 and 6-4 can be estimated based on the red light period of the traffic light 60-1 indicated by the times T31 and T32. For example, the server device 10 estimates the green signal start time T41 of the traffic light 60-3 based on the time T31, and estimates the green signal end time T42 of the traffic light 60-3 based on the time T32. The time T41 may be, for example, the same as the time T31 or a predetermined time after the time T31. The end time T42 may be, for example, the same as the time T32 or a predetermined time after the time T32.

The server device 10 generates pseudo signal information of the second traffic light based on the estimated period for the second traffic light. Specifically, the server device 10 acquires the output status-related information detected in the vehicle 30, which is the output status-related information related to the output status of the traffic signal by the second traffic light. Further, the server device 10 estimates the period during which the output of the first signal (for example, the red signal) continues in the second traffic light based on the acquired output status-related information. Then, the server device 10 is based on the estimated period during which the output of the first signal continues and the period during which the output of the second signal continues (that is, the green signal period and the red signal period), which is estimated for the second traffic light. Generates pseudo signal information for the traffic light of. When the period during which the output of the second signal continues is estimated based on the output status-related information of the second traffic light, the server device 10 may further use this estimated period to generate pseudo signal information. good.

The navigation device 20 may receive and use the pseudo signal information generated in this way from the server device 10 as described in Section 2-6. Further, the navigation device 20 may generate pseudo signal information. Further, the navigation device 20 may transmit pseudo signal information by vehicle-to-vehicle communication.
[2-8. Correction of pseudo signal information based on signal information]
In order to improve the accuracy of the pseudo signal information generated as described above, the navigation device 20 may correct the pseudo signal information based on the signal information.

For example, the navigation device 20 determines the elapsed time from the generation time of the signal information to the start of the cycle in which the traffic signal changes, the length of the cycle, the start time of the green signal, the end time of the green signal, and the like, which are included in the pseudo signal information. It may be rewritten with the information included in the signal information. The navigation device 20 can acquire both signal information and pseudo signal information at the timing when both signal information and pseudo signal information can be acquired, during a period during which both signal information and pseudo signal information can be acquired, or both signal information and pseudo signal information can be acquired. Corrections may be made at the end of the enabled period. The period during which signal information can be acquired is a period during which the vehicle 30 is located in a section in which signal information of the target signal can be received from the roadside unit 70. The period during which the pseudo signal information can be acquired is a period during which the pseudo signal information of the target traffic light is generated and the navigation device 20 can be connected to the server device 10 via the network 40. For example, as shown in FIG. 11, it is assumed that the vehicle 30 enters a section in which signal information can be received in a state where pseudo signal information can be received. The navigation device 20 may correct the pseudo signal information based on the signal information received from the roadside machine 70 at this time. After the vehicle 30 goes out of the section where the signal information can be received, the navigation device 20 performs a process of supporting the driving of the vehicle 30 by using the corrected pseudo signal.

The navigation device 20 may use the pseudo signal information corrected in this way as described in Section 2-6, or may transmit the pseudo signal information to another vehicle 30 by vehicle-to-vehicle communication.

Further, the server device 10 may correct the pseudo signal information. For example, the navigation device 20 transmits the signal information and the pseudo signal information to the server device 10 at the timing when the navigation device 20 can acquire both the signal information and the pseudo signal information. The server device 10 corrects the pseudo signal information acquired from the navigation device 20 based on the signal information acquired from the navigation device 20. Then, the server device 10 transmits the corrected pseudo signal information to the navigation device 20.
[3. Operation of driver assistance system]
Next, an operation example of the server device 10 and the navigation device 20 will be described. The processes shown in FIGS. 12 to 15 are executed by the server device 10, and the processes shown in FIGS. 16 to 18 are executed by the navigation device 20.

The server process shown in FIG. 12 starts execution when, for example, the power of the server device 10 is turned on. First, the control unit 11 determines whether or not both probe information and signal information have been received from any vehicle 30 (step S101). When the control unit 11 determines that both the probe information and the signal information have not been received (step S101: NO), the control unit 11 proceeds to the process in step S109. On the other hand, when the control unit 11 determines that both the probe information and the signal information have been received (step S101: YES), the control unit 11 proceeds to the process in step S102.

In step S109, the control unit 11 determines whether or not only probe information has been received from any vehicle 30. When the control unit 11 determines that the probe information has been received (step S109: YES), the control unit 11 advances the process to step S105. On the other hand, if the control unit 11 determines that the probe information has not been received (step S109: NO), the process proceeds to step S106.

In step S102, the control unit 11 determines whether or not the received signal information is a signal of a sensitive traffic light. For example, the determination can be made based on the sensitivity permission state included in the signal information or the information regarding the traffic light included in the map data. If the control unit 11 determines that the received signal information is not a signal of a sensitive traffic light (step S102: NO), the control unit 11 proceeds to the process in step S103.

In step S103, the control unit 11 executes the signal information error determination process. As shown in FIG. 13, in the signal information error determination process, the control unit 11 specifies the green signal start time or the red signal start time based on the image data and the date and time information included in the received probe information (step S201). ). Next, the control unit 11 compares the green signal start time or the red signal start time indicated by the received signal information with the green signal start time or the red signal start time specified based on the probe information in step S201 (step S202). .. Then, the control unit 11 determines whether or not there is a difference between the start time indicated by the signal information and the start time specified from the probe information (step S203). If the control unit 11 determines that there is a difference (step S203: YES), the control unit 11 advances the process to step S204. In step S204, the control unit 11 uses the difference between the green signal start time or red signal start time indicated by the signal information and the green signal start time or red signal start time specified based on the probe information in step S201 as an error. The calculation is performed and the process proceeds to step S205. On the other hand, if the control unit 11 determines that there is no difference (step S203: NO), the process proceeds to step S209. In step S209, the control unit 11 determines the error to be 0, and proceeds to the process in step S205.

In step S205, the control unit 11 stores the error information indicating the error calculated in step S204 or the error determined in step S209 in the storage unit 12 in association with the specific information of the traffic light 60 to which the signal information corresponds. Step S205).

Next, the control unit 11 determines whether or not the error information stored in association with the specific information of the above-mentioned traffic light 60 is equal to or more than a predetermined number (step S206). When the control unit 11 determines that the error information is not equal to or more than a predetermined number (step S206: NO), the control unit 11 ends the signal information error determination process. On the other hand, when the control unit 11 determines that the error information is equal to or more than a predetermined number (step S206: YES), the control unit 11 proceeds to the process in step S207.

In step S207, the control unit 11 calculates the accuracy of the signal information based on the stored error information. Then, the control unit 11 stores the calculated accuracy information in association with the specific information of the signal device 60 in the storage unit 12 (step S208), and ends the signal information error determination process.

In step S102 shown in FIG. 12, if the control unit 11 determines that the received signal information is the signal information of the sensitive traffic light (step S102: YES), the control unit 11 advances the process to step S104.

In step S104, the control unit 11 executes the signal information correction process for the sensitive traffic light. As shown in FIG. 14, in the signal information correction process for a sensitive traffic light, the control unit 11 specifies the localization of the green light period or the red light period based on the image data and the date and time information included in the received probe information. (Step S301). Next, the control unit 11 inputs the green signal localization information indicating the localization of the specified green signal period or the red signal localization information indicating the localization of the red signal period, the specific information of the sensitive signal corresponding to the received signal information, and the current time. Is stored in the storage unit 12 in association with the time zone corresponding to (step S302).

Next, the control unit 11 determines whether or not the total number of the green signal localization information and the red signal localization information stored in association with the specific information and the time zone corresponding to the current time is a predetermined number or more (step S303). ). When the control unit 11 determines that the total number is not equal to or more than a predetermined number (step S303: NO), the control unit 11 ends the signal information correction process for the sensitive signal. On the other hand, if the control unit 11 determines that the total number is equal to or greater than a predetermined number (step S303: YES), the control unit 11 proceeds to step S304.

In step S304, the control unit 11 determines the tendency of localization of each of the green light period and the red light period based on the green signal localization information and the red signal localization information stored in association with the specific information and the time zone corresponding to the current time. Identify. For example, the control unit 11 may calculate the mean value and standard deviation of the period length as the localization tendency, or calculate the range of the period length based on these mean values and standard deviation and the like. Alternatively, the representative value of the period may be calculated. Next, the control unit 11 stores the tendency information indicating the specified localization tendency in the storage unit 12 in association with the specific information and the time zone corresponding to the current time (step S305).

Next, the control unit 11 corrects the received signal information based on the tendency information stored in the storage unit 12 (step S306). For example, the control unit 11 may match the range of the lengths of the green light period and the red light period indicated by the signal information with the range of the length or the length of the green light period and the red light period indicated by the trend information as a tendency. good. The control unit 11 transmits the corrected signal information to the vehicle 30 that has transmitted the signal information before the correction (step S307), and ends the signal information correction process for the sensitive signal device.

As shown in FIG. 12, when the signal information error determination process (step S103) is completed, the signal information correction process for the sensitive signal (step S104) is completed, or only the probe information is received from the vehicle 30 (step S103). Step S109: YES), the control unit 11 executes the pseudo signal information generation process (step S105). As shown in FIG. 15, in the pseudo signal information generation process, the control unit 11 specifies the green signal period or the red signal period of the target traffic light based on the image data and the date and time information included in the received probe information (step). S401). The target traffic light is, for example, a traffic light 60 that is specified based on the position information and the direction information included in the probe information and is a target for generating pseudo signal information. Next, the control unit 11 stores the green light period information indicating the specified green light period or the red light period information indicating the red light period in the storage unit 12 in association with the specific information of the target traffic light (step S402).

Next, the control unit 11 identifies the traffic light installed at the intersection where the target traffic light is installed as the reference traffic light corresponding to the road that intersects with the road to which the target traffic light corresponds. The control unit 11 acquires the red light period information stored in association with the specific information of the reference traffic light (step S403). Next, the control unit 11 estimates the green light period of the target traffic light based on the acquired red light period information (step S404). Then, the control unit 11 generates green light period information indicating the estimated period.

Next, the control unit 11 acquires the green light period information stored in the storage unit 12 in association with the specific information of the reference signal (step S405). Next, the control unit 11 estimates the red light period of the target traffic light based on the acquired green light period information (step S406). Then, the control unit 11 generates red light period information indicating the estimated period.

Next, the control unit 11 describes the green light period information and the red light period information stored in the storage unit 12 in association with the specific information of the target traffic light, and the green light period information and the red light period information generated in steps S404 and S406. It is determined whether or not the total number is equal to or greater than a predetermined number (step S407). When the control unit 11 determines that the total number is not equal to or more than a predetermined number (step S407: NO), the control unit 11 ends the pseudo signal information generation process. On the other hand, if the control unit 11 determines that the total number is equal to or greater than a predetermined number (step S407: YES), the control unit 11 advances the process to step S408.

In step S408, the control unit 11 generates pseudo signal information based on the green signal period information and the red signal period information. For example, the control unit 11 sets the representative value of the green signal duration indicated by the green signal period information and the representative value of the red signal duration indicated by the red signal period information to the green signal duration and red signal indicated by the pseudo signal information. Calculated as duration. The representative value may be, for example, an average value, a median value, a mode value, or the like. Further, the control unit 11 determines the cycle length based on the calculated duration. Further, the control unit 11 estimates the cycle start time based on, for example, the green light start time indicated by the green light period information. The control unit 11 generates pseudo signal information indicating such information. The control unit 11 stores the generated pseudo signal information in the storage unit 12 in association with the specific information of the target traffic light (step S409), and ends the pseudo signal information generation process.

When the control unit 11 finishes the pseudo signal information generation process, as shown in FIG. 12, the control unit 11 determines whether or not an information request has been received from any vehicle 30 (step S106). If the control unit 11 determines that the information request has not been received (step S106: NO), the control unit 11 proceeds to the process in step S108. On the other hand, if the control unit 11 determines that the information request has been received (step S106: YES), the control unit 11 advances the process to step S107.

In step S107, the control unit 11 transmits at least one of the accuracy information and the pseudo signal information to the vehicle 30 in response to the information request. For example, the control unit 11 specifies at least one traffic light 60 to be transmitted information based on the map data and the position information included in the information request. When the accuracy information of the specified traffic light 60 is stored in the storage unit 12, the control unit 11 transmits this accuracy information. Further, when the pseudo signal information of the specified traffic light 60 is stored in the storage unit 12, the control unit 11 transmits the pseudo signal information.

Next, the control unit 11 determines whether or not the power of the server device 10 has been turned off (step S108). If the control unit 11 determines that the power supply has not been turned off (step S108: NO), the control unit 11 proceeds to the process in step S101. On the other hand, when the control unit 11 determines that the power is turned off (step S108: YES), the control unit 11 ends the server processing.

The terminal processing shown in FIG. 16 starts execution when, for example, the power of the navigation device 20 is turned on. First, the control unit 21 transmits an information request to the server device 10 (step S501). Next, the control unit 21 receives at least one of the accuracy information and the pseudo signal information transmitted from the server device 10 in response to the information request (step S502). Then, the control unit 21 stores the received information in the storage unit 22 (step S503).

Next, the control unit 21 determines whether or not signal information has been received from any of the roadside machines 70 (step S504). If the control unit 21 determines that the signal information has not been received (step S504: NO), the process proceeds to step S511. In step S511, the control unit 21 transmits probe information including image data acquired from the camera 31 to the server device 10, and advances the process to step S512. On the other hand, when the control unit 21 determines that the signal information has been received (step S504: YES), the control unit 21 proceeds to the process in step S505.

In step S505, the control unit 21 stores the received signal information in the storage unit 22. Next, the control unit 21 transmits the probe information and the received signal information to the server device 10 (step S506).

Next, the control unit 21 determines whether or not the corrected signal information has been received from the server device 10 (step S507). If the control unit 21 determines that the signal information has not been received (step S507: NO), the control unit 21 proceeds to the process in step S509. On the other hand, when the control unit 21 determines that the signal information has been received (step S507: YES), the control unit 21 stores the received signal information in the storage unit 22 (step S508), and proceeds to the process in step S509.

In step S509, the control unit 21 determines whether or not it is the timing when both the signal information and the pseudo signal information can be received for the same traffic light 60. When the control unit 21 determines that it is not the timing when both the signal information and the pseudo signal information can be received (step S509: NO), the control unit 21 proceeds to the process in step S512. On the other hand, when the control unit 21 determines that it is the timing when both the signal information and the pseudo signal information can be received (step S509: YES), the control unit 21 corrects the pseudo signal information based on the signal information. (Step S510), the process proceeds to step S512.

In step S512, the control unit 21 executes the driving support information presentation process. As shown in FIG. 17, in the driving support information presentation process, the control unit 21 moves the vehicle 30 in the traveling direction along the road on which the vehicle 30 is located, based on the current position and the traveling direction of the vehicle 30 and the map data. Among the located traffic lights 60, the traffic light 60 closest to the vehicle 30 is specified as the target traffic light. Then, the control unit 21 determines whether or not the signal information of the target traffic light is received (step S601). When the control unit 21 determines that the signal information has not been received (step S601: NO), the control unit 21 proceeds to the process in step S610. On the other hand, when the control unit 21 determines that the signal information has been received (step S601: YES), the control unit 21 proceeds to the process in step S602.

In step S602, the control unit 21 determines whether or not the vehicle 30 is stopped within a predetermined range from the target traffic light because the target traffic light is outputting a red signal. For example, the control unit 21 may determine whether or not the target traffic light is outputting a red signal based on the signal information of the target traffic light. Further, the control unit 21 may determine whether or not the vehicle 30 is stopped within a predetermined distance from the stop line corresponding to the target traffic light, based on the current position and the traveling speed of the vehicle 30. When the control unit 21 determines that the vehicle 30 is not stopped because the target traffic light is outputting a red signal (step S602: NO), the control unit 21 proceeds to the process in step S606. On the other hand, when the control unit 21 determines that the vehicle 30 is stopped because the target traffic light is outputting the red signal (step S602: YES), the control unit 21 proceeds to the process in step S603.

In step S603, the control unit 21 specifies the green signal start time of the target traffic light based on the signal information. Regarding the signal information of the sensitive signal, the control unit 21 may specify the green signal start time so that the length of the green signal start time is minimized within the range of the period indicated by the signal information. Next, the control unit 21 determines the time to end the display of the green signal start timing information based on the green signal start time and the accuracy information about the target traffic light (step S604). For example, the reference time is set to a predetermined time before the green light start time. The reference time is the time to end the display of the green signal start timing information when the accuracy of the signal information is the highest. The control unit 21 determines a larger correction value as the accuracy indicated by the accuracy information is lower. For example, when the accuracy information includes the mean value and the standard deviation of the error, the control unit 21 calculates the maximum value of the error by adding the time length obtained by multiplying the standard deviation by a predetermined coefficient to the mean value. Also, even if this time length is subtracted from the average value to calculate the minimum error value, and the absolute value of the maximum error within the range from the calculated minimum value to the maximum value is determined as the correction value. good. The control unit 21 subtracts this correction value from the reference time to calculate the time for ending the green signal start timing information. Next, the control unit 21 displays the green light start timing information on the display 24 for the determined time, and ends the driving support information presentation process.

In step S606, the control unit 21 determines whether or not the vehicle 30 is traveling based on the traveling speed of the vehicle 30. When the control unit 21 determines that the vehicle 30 is not running (step S606: NO), the control unit 21 ends the driving support information presentation process. On the other hand, when the control unit 21 determines that the vehicle 30 is running (step S606: YES), the control unit 21 advances the process to step S607.

In step S607, the control unit 21 specifies the green light period of the target traffic light based on the signal information. Next, the control unit 21 determines the recommended traveling speed range based on the green light start time and the green light end time specified from the green light period and the accuracy information about the target traffic light (step S608). For example, the lower the accuracy indicated by the accuracy information, the more the control unit 21 shifts the green signal start time to the future to determine the green signal start time maximum value, and shifts the green signal end time to the past to determine the green signal end time minimum value. decide. For example, the control unit 21 determines the correction value by the same method as the method for determining the correction value in step S604, and by adding the correction value to the green signal start time, the green signal start time maximum value is determined and the green signal ends. The minimum green light end time may be determined by subtracting the correction value from the time. The control unit 21 determines the speed range in which the vehicle 30 passes the stop line corresponding to the target signal in the period from the maximum value of the green signal start time to the minimum value of the green signal end time. Next, the control unit 21 displays the recommended traveling speed range information indicating the determined speed range on the display 24 (step S609), and ends the driving support information presentation process.

In step S610, the control unit 21 causes the display 24 to display green signal start timing information or recommended traveling speed range information based on the pseudo signal information of the target traffic light. For example, when the vehicle 30 is stopped because the target signal outputs a red signal, the control unit 21 calculates the reference time from the green signal start time indicated by the pseudo signal information. The control unit 21 displays the green light start timing information on the display 24 until the current time reaches the reference time. Further, when the vehicle 30 is traveling, the control unit 21 determines the speed range in which the vehicle 30 passes the stop line corresponding to the target signal within the green signal period indicated by the pseudo signal information. The control unit 21 displays the recommended traveling speed range information indicating the determined speed range on the display 24. When the control unit 21 finishes step S610, the control unit 21 ends the driving support information presentation process.

When the driving support information presentation process is completed, as shown in FIG. 16, the control unit 21 determines whether or not the power of the navigation device 20 is turned off (step S513). If the control unit 21 determines that the power supply has not been turned off (step S513: NO), the control unit 21 proceeds to step S501. On the other hand, when the control unit 21 determines that the power is turned off (step S513: YES), the control unit 21 ends the terminal processing.

The route search process shown in FIG. 18 is started when the navigation device 20 receives an operation for searching for a destination from the passenger. First, the control unit 21 sets the destination based on the operation from the passenger (step S701). Next, the control unit 21 searches for a route to the destination (step S702). Specifically, the control unit 21 acquires accuracy information about the traffic light 60 corresponding to the direction of the road for each road to be followed for the route search. The control unit 21 calculates the travel cost of the road based on the distance of the road, the congestion situation, the accuracy information, and the like. At this time, the higher the accuracy indicated by the accuracy information, the lower the movement cost. Then, the control unit 21 identifies the route that minimizes the total travel cost. Next, the control unit 21 displays information indicating the route that minimizes the total travel cost on the display 24 (step S703), and ends the route search process.

As described above, according to the operation according to the embodiment, the signal information is acquired, the image pickup information is acquired, the mode of the change of the traffic signal indicated by the acquired signal information, and the traffic specified based on the image pickup information. When determining whether or not there is a time difference with the mode of change in the signal, the mode of change of the traffic signal indicated by the signal information and the mode of change of the actual traffic signal by the signal 60 are used. It is possible to determine whether or not there is a time difference.

Further, when calculating the time difference, it is possible to grasp how much the time difference is.

Further, when the difference information indicating the calculated time difference is transmitted to the vehicle 30 moving on the corresponding road by the traffic light 60, the traffic light 60 is appropriately used in the vehicle 30 using the signal information based on the difference information. Can provide appropriate support for passing through.

Further, when the difference information about each of the plurality of traffic lights 60 installed along the road is collectively transmitted to the vehicle 30, support for the vehicle 30 to appropriately pass the plurality of traffic lights 60 along the road is provided. It can be carried out.

Further, when the signal 60 transmits the calculated accuracy information to the vehicle 30 moving on the corresponding road, the vehicle 30 using the signal information appropriately passes through the traffic light 60 based on the accuracy information. Can provide appropriate support for this.

Further, when the accuracy information about each of the plurality of traffic lights 60 installed along the road is collectively transmitted to the vehicle 30, support for the vehicle 30 to appropriately pass the plurality of traffic lights 60 along the road is provided. It can be carried out.

In addition, the recommended running speed range is determined based on the signal information and the difference information by acquiring the difference information, and the recommended running speed range is determined by narrowing the recommended running speed range as the time difference indicated by the difference information is larger. When the recommended traveling speed range information indicating the determined range is output by the display 24 or the speaker 25, the change mode of the traffic signal is narrowed even if there is a time difference between the signal information and the actual signal 60. When the driver drives the vehicle 30 at a speed within the specified range, the possibility that the vehicle 30 can smoothly pass the position corresponding to the signal 60 on the road is increased. Therefore, the vehicle is located at the position corresponding to the signal 60. Information can be presented to assist 30 in passing properly.

Further, when the time difference indicated by the difference information is larger, the recognizability of the recommended traveling speed range information is lowered, the time difference between the signal information and the actual signal 60 regarding the change mode of the traffic signal. The larger the value, the more the driver will drive the vehicle 30 without relying on the recommended traveling speed range information, so that the determination of the traveling speed can be left to the driver.

Further, the recommended running speed range information including the figure showing the recommended running speed range is displayed on the display 24, and the larger the time difference shown by the difference information, the more the portion showing the maximum value of the recommended running speed range in this figure and the portion showing the maximum value of the recommended running speed range. When reducing the visibility of at least one of the parts showing the minimum value, the larger the time difference between the signal information and the actual signal 60 regarding the change mode of the traffic signal, the more the visibility in the recommended traveling speed range. Since the driver will drive the vehicle 30 without relying on the information of at least one of the maximum value and the minimum value of the speed corresponding to the portion where the speed is lowered, it is possible to leave the judgment of the traveling speed to the driver. can.

Further, when the recommended traveling speed range information is not output when the time difference indicated by the difference information exceeds a predetermined value, the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal is considerable. If the degree is large, the driver can be left to judge the traveling speed.

Further, the difference information is acquired, and the running start support information including the green signal start timing information is output by the display 24 or the speaker 25 based on the signal information and the difference information. When the time between the timing when the output of the green signal start timing information ends and the timing when the traffic signal changes from the red signal to the green signal is lengthened, the change mode of the traffic signal is between the signal information and the actual signal 60. The larger the time difference, the earlier the timing for the driver to pay attention to the traveling direction of the vehicle 30 and confirm whether the traffic signal has changed to the green light without relying on the green light start timing information. Green light start timing information can be appropriately presented.

Also, the larger the time difference indicated by the difference information, the longer the time between the timing when the output of the caution information starts and the timing when the traffic signal changes from the red signal to the green signal, the change in the traffic signal. The larger the time difference between the signal information and the actual traffic light 60, the more the driver pays attention to the traveling direction of the vehicle 30 and confirms whether the traffic signal has changed to a green light. The timing can be advanced.

Further, the difference information is acquired and the running start support information including the green signal start timing information is output by the display 24 or the speaker 25. The larger the time difference indicated by the difference information, the easier the recognition of the green signal start timing information. When it is lowered, the larger the time difference between the signal information and the actual signal 60 regarding the change mode of the traffic signal, the more the driver is made to measure the timing to start the vehicle 30 without relying on the green light start timing information. Therefore, it is possible to appropriately present information regarding the timing at which the traffic signal output from the signal 60 changes from the red signal to the green signal.

Further, when the green signal start timing information is not output when the time difference indicated by the difference information exceeds a predetermined value, the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal is considerable. If it is large, the driver can confirm whether the traffic signal has changed to a green light without relying on the green light start timing information.

Further, when the caution information is output when the time difference indicated by the difference information exceeds a predetermined value, the time difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal is considerably large. With the caution information, the driver's attention can be directed to the traveling direction of the vehicle 30, and the driver can confirm whether the traffic signal has changed to a green light.

Further, when the difference information is acquired and the search process for searching the route on which the vehicle 30 travels is executed by raising the priority as the road has a smaller time difference indicated by the difference information, the searched movement route is determined. Since there is a high probability that the traffic light 60 includes a road corresponding to the mode of change in the traffic signal indicated by the signal information and the mode of change in the actual traffic signal by the traffic light 60. It is possible to search for a route that allows the vehicle 30 to move smoothly based on the signal information.

Further, if the vehicle 30 is moving along the route searched by the search process and the vehicle 30 is stopped, when the search process is re-executed, the appropriate route is searched when the vehicle 30 is stopped. Can be done.

In addition, when performing automatic driving along the searched route, the vehicle 30 can automatically move smoothly along the route.

Further, at least one searched route is output, an operation of selecting one of the output at least one routes is accepted, and the route selected by the accepted operation is set as the route on which the vehicle 30 moves. In this case, it is possible to set a route on which the vehicle 30 can move smoothly.

In addition, the image pickup information obtained by imaging the sensitive signal is acquired, and based on the acquired image information, the sensitive signal generates trend information indicating the tendency of the change of the traffic signal, and the signal of the sensitive signal is generated. When the information is changed based on the generated tendency information, the mode of change of the traffic signal indicated by the signal information for the sensitive signal that switches and outputs a plurality of traffic signals based on the detection result of the vehicle, and the sensitive expression. The signal information can be appropriately changed in consideration of the time difference from the mode of change of the actual traffic signal by the traffic light.

Further, the signal information includes range information indicating the range of time for which the output of the predetermined traffic signal continues, and generates trend information indicating the tendency of the time for which the output of the predetermined traffic signal continues, and the range of time indicated by the range information. When the range information is changed so as to indicate the time corresponding to the tendency indicated by the tendency information, the signal information can reflect the time when the output of the predetermined traffic signal actually continues.

Further, trend information is generated for each time zone in which the traffic light 60 is imaged, and the signal information of the sensitive traffic light is changed from the roadside unit 70 based on the tendency information corresponding to the time zone received by the vehicle 30. In this case, the signal information can be appropriately changed for the sensitive traffic light corresponding to the road whose traffic volume changes according to the time zone.

Further, when the output status related information is acquired and the pseudo signal information is generated based on the acquired output status related information, this traffic is used for the vehicle 30 traveling on the road where the signal information cannot be provided. Pseudo-signal information can be generated as information in place of signal information indicating the original schedule of signal changes.

In addition, the output status-related information of the traffic signal by the first traffic light corresponding to the vehicle traveling from the first road at the intersection of the first road and the second road is acquired, and based on this output status-related information. Then, the period during which the output of the first signal continues is specified in the first traffic light, and based on the specified period, the second traffic light corresponding to the vehicle traveling from the second road to the above-mentioned point is the second traffic light. When estimating the duration of signal output and generating pseudo signal information of the second traffic light based on the estimated period, the output that can specify the duration of the output of the second signal of the second traffic light can be specified. Even when it is difficult to obtain situation-related information, it is possible to appropriately generate pseudo signal information in place of signal information indicating the original schedule of changes in the traffic signal.

In addition, the output status-related information of the second traffic light is acquired, and based on this output status-related information, the period during which the output of the first signal by the second traffic light continues is specified, and the estimated output of the first signal is output. When the pseudo signal information of the second traffic light is generated based on the duration of the second signal and the duration of the output of the specified second signal, the pseudo signal information can be appropriately generated.

Further, when the output status related information is acquired from each of the plurality of vehicles 30 for one traffic light 60 and the acquired plurality of output status related information is statistically processed to generate the pseudo signal information, more appropriate pseudo signal information is obtained. Can be generated.

Further, when the imaging information obtained by imaging the traffic light 60 from the vehicle 30 is acquired as the output status related information, the output status of the traffic signal can be specified from the imaging information, so that highly accurate pseudo signal information is generated. can do.

In addition, for at least one lane of a plurality of lanes, for a traffic signal that changes a traffic signal in a manner different from the other lanes of the plurality of lanes, signal information is provided for each of the at least one lane and the other lane. When generating, signal information can be appropriately generated for a traffic light whose mode of change of a traffic signal differs depending on the lane.

Further, when the signal information is acquired, the pseudo signal information is acquired, and the pseudo signal information is corrected based on the signal information, the accuracy of the pseudo signal information can be improved.

In addition, it is possible to acquire both signal information and pseudo signal information at the timing when both signal information and pseudo signal information can be acquired, during the period when both signal information and pseudo signal information can be acquired, or both signal information and pseudo signal information can be acquired. When the pseudo signal information is corrected at least at any timing at the end of the period, the pseudo signal information can be corrected when both the signal information and the pseudo signal information can be acquired.

Further, when the server device 10 generates or corrects pseudo signal information and transmits the generated or corrected signal information to the vehicle 30, the pseudo signal information can be provided to a plurality of vehicles 30.

Further, when the navigation device 20 generates or corrects pseudo signal information and executes a process of supporting the operation of the vehicle 30 based on the generated or corrected pseudo signal information, the pseudo signal is executed even in a system that does not use the network. Information-based driving support is possible.

Further, when the navigation device 20 transmits the generated or corrected pseudo signal information to another vehicle 30 in the vicinity of the vehicle 30 equipped with the navigation device 20, the pseudo signal information is also transmitted to the other vehicle 30. It is possible to use the driving support.
[4. Modification example of generation of pseudo signal information]
Next, a modification of the generation of pseudo signal information described in Sections 2-6 and 2-7 will be described with reference to FIGS. 19 to 23.

19 (a) to 19 (c) are views showing an example of a vehicle passing by the side of a traffic light. 20 (a) to 20 (c) are views showing an example of how two vehicles pass by the side of a traffic light. FIG. 21 is a flowchart showing an example of server processing by the server device according to the modified example. FIG. 22 is a flowchart showing an example of pseudo signal information generation processing by the server device according to the modified example. FIG. 23 is a flowchart showing an example of terminal processing by the navigation device according to the modified example.

Imaging information was used as output status-related information for the generation of the pseudo signal information described in Section 2-6. However, as the output status related information, the movement status information indicating the movement status of the vehicle 30 detected in the vehicle 30 may be used. The movement status of the vehicle 30 may be affected by the output status of the traffic signal or may reflect the output status of the traffic signal. For example, when the red light is output from the traffic light 60, the vehicle 30 stops traveling, and when the green signal is output, the vehicle 30 travels and passes through the intersection or the like corresponding to the traffic light 60. The movement state is indicated by, for example, the position, speed, acceleration, angular velocity, traveling direction, etc. of the vehicle 30. For example, the probe information transmitted from the navigation device 20 to the server device 10 includes date and time information indicating the current date and time, current position information indicating the position of the vehicle 30, speed information indicating the speed, acceleration information indicating the acceleration, and information indicating the angular velocity. , Direction information indicating the traveling direction, identification information of the navigation device 20, and the like may be included. The navigation device 20 may always transmit probe information to the server device 10 in real time. The server device 10 uses this probe information as movement status information.

The server device 10 estimates the green light period and the red light period for each traffic light 60 based on the probe information acquired from the vehicle 30. In this modification, it is possible to estimate using a series of probe information obtained once for one traffic light, but since it does not directly specify the green light period and the red light period, one traffic light. It is desirable to statistically process the probe information obtained from the plurality of vehicles 30 to estimate the green light period and the red light period.

The server device 10 estimates the red light start time and the green light start time, respectively, based on a series of probe information acquired from, for example, one vehicle 30, and estimates the red light period based on the estimated time. May be good. For example, when the probe information indicates the stop of the vehicle 30 within a predetermined range according to the traffic light 60 and the start of movement of the vehicle 30 after the stop, the server device 10 is based on the period from this stop to the start of movement. The red light period may be estimated. The predetermined range according to the traffic light 60 may be, for example, a range within a predetermined distance from the stop line corresponding to the traffic light 60. Then, the server device 10 may generate pseudo signal information based on the estimated red light period.

For example, as shown in FIG. 19A, the vehicle 30 is traveling toward a traffic light 60 that outputs a green light. After that, as shown in FIG. 19B, the traffic signal changed to a red light, so that the vehicle 30 stopped at the stop line. After that, as shown in FIG. 19 (c), the traffic signal changed to a green light, and the vehicle 30 started. Therefore, the server device 10 may estimate the time when the vehicle 30 stops as the red light start time and the time when the vehicle 30 starts as the green light start time. Then, the server device 10 may estimate the period from the stop of the vehicle 30 to the start of the vehicle 30 as the red light period.

The server device 10 estimates the green light start time and the red light start time, respectively, based on the probe information acquired from, for example, two vehicles 30 or three or more vehicles 30, respectively, and the green light period is based on the estimated time. May be estimated. For example, in the server device 10, the probe information starts moving within a predetermined range according to the traffic light 60, and after the start of the movement, another within a predetermined range according to the traffic light 60. When indicating the movement stop of the second moving body, the green light period may be estimated based on the period from the movement start to the movement stop. Then, the server device 10 may generate pseudo signal information based on the estimated green light period.

For example, as shown in FIG. 20A, since the traffic light 60 outputs a red signal, the vehicle 30-1 is stopped at the stop line. After that, as shown in FIG. 20 (b), the traffic signal changed to a green light, and the vehicle 30-1 started. On the other hand, the vehicle 30-2 has traveled toward the traffic light 60. After that, as shown in FIG. 20 (c), the traffic signal changed to a red light, so that the vehicle 30-2 stopped at the stop line. Therefore, the server device 10 may estimate the time when the vehicle 30-1 starts as the time when the green light starts, and the time when the vehicle 30-2 stops as the time when the red light starts. Then, the server device 10 may estimate the period from the start of the vehicle 30-1 to the stop of the vehicle 30-2 as the green light period. In addition, it may be specified from the probe information that the vehicle 30-2 has stopped traveling after a considerable time has elapsed since the vehicle 30-1 started. In this case, there is a possibility that the traffic signal has changed by at least one cycle or more between the time when the vehicle 30-1 starts and the time when the vehicle 30-2 stops traveling after a considerable time has elapsed. Therefore, the server device 10 does not have to use the probe information for which the time from the start of the vehicle 30-1 to the stop of the vehicle 30-2 exceeds a predetermined time for estimating the green light period. The server device 10 may generate pseudo signal information based on the estimated red and green signal periods.

The server device 10 may estimate the green light period and the red light period by the same method as described in Section 2-7. That is, the server device 10 estimates the period during which the output of the first signal continues in the first traffic light based on the probe information about the first traffic light, and based on this period, the second traffic light has a second. Estimate how long the signal output will continue.

A road may have a plurality of lanes on one side thereof, and a traffic light 60 corresponding to these lanes may change a traffic signal for at least one of these lanes in a manner different from that of the other lanes. .. Therefore, the server device 10 may generate pseudo signal information for each of the at least one lane and the other lane. Alternatively, the server device 10 may generate pseudo signal information for each lane. The server device 10 needs to specify the lane in which the vehicle 30 that has transmitted the probe information has traveled. For example, the server device 10 may estimate what lane the vehicle 30 has traveled based on the movement status of the vehicle 30 indicated by the probe information. For example, the lane may be divided according to the direction of travel from the intersection. Therefore, it is possible to estimate the lane in which the vehicle 30 has traveled by specifying in what direction the vehicle 30 has traveled at the intersection. Further, for example, when the navigation device 20 searches for a movement route to a destination, the vehicle 30 may have traveled according to the searched movement route. Therefore, the server device 10 may acquire information indicating a movement route from the navigation device 20 and estimate the lane in which the vehicle 30 has traveled based on this information. Alternatively, when the accuracy of the GNSS sensor 35 and the map data is high, the server device 10 can identify the lane in which the vehicle 30 has traveled based on the current position information and the map data acquired from the GNSS sensor 35. ..

Even if the vehicle 30 stops within a predetermined range corresponding to the traffic light 60, there is a possibility that the vehicle 30 has stopped due to a factor other than the output of the red signal by the traffic light 60. Therefore, the server device 10 does not have to use the probe information when the vehicle 30 may have stopped due to a factor other than the output of the red signal to generate the pseudo signal information.

For example, the server device 10 may acquire traffic information from the traffic control center 50. Then, the server device 10 does not have to use the probe information detected in the vehicle 30 while the road on which the vehicle 30 is moving is congested based on the traffic information to generate the pseudo signal information. If the navigation device 20 determines that the vehicle 30 is located on a congested road based on the traffic information, it is not necessary to transmit the probe information to the server device 10.

Further, for example, the server device 10 may estimate whether or not the vehicle 30 may have stopped due to a factor other than the output of the red light, based on the movement status of the vehicle 30 indicated by the probe information. Then, the server device 10 does not have to use the probe information when it is estimated that the vehicle 30 has stopped due to a factor other than the output of the red signal to generate the pseudo signal information.

For example, the server device 10 does not have to use the probe information indicating that the vehicle 30 has started within a predetermined time after the vehicle 30 has stopped at a deceleration exceeding a predetermined value for generating pseudo signal information. .. If the vehicle 30 starts immediately after suddenly stopping, it is possible that the driver has performed a driving operation to avoid danger such as avoiding a pedestrian who has jumped out onto the road.

Further, for example, the server device 10 does not have to use the probe information indicating that the vehicle 30 has stopped near the end of the road and started after a relatively short time has elapsed for generating the pseudo signal information. In such a case, the driver may have stopped the vehicle 30 so as not to prevent the emergency vehicle from traveling for an urgent purpose. The server device 10 only determines that a predetermined number or more of the vehicles 30 have traveled as described above based on the probe information obtained from the plurality of vehicles 30 traveling on the same road at the same time. , The probe information obtained from these vehicles 30 may not be used to generate pseudo signal information.

Further, for example, in the server device 10, the plurality of vehicles 30 travel on tracks that are clearly different from normal, and the plurality of vehicles 30 travel on tracks that are similar to each other, based on probe information obtained from the plurality of vehicles 30. It is not necessary to use this probe information for generating pseudo signal information. Examples of traveling on an unusual trajectory include one-sided alternating traffic and a plurality of vehicles 30 detouring at one location. In such a case, there is a possibility that construction is being carried out on the road on which the vehicle 30 is located, and that traffic is restricted accordingly.

The method for excluding probe information in which the vehicle 30 may stop due to the emergency vehicle traveling for an urgent purpose is not limited to the method described above. For example, the server device 10 does not have to use the probe information when the navigation device 20 detects that the emergency vehicle travels for an urgent purpose to generate pseudo signal information. As an example of a method of detecting that an emergency vehicle is traveling for an emergency purpose, it is conceivable that the emergency vehicle transmits information indicating the emergency vehicle to surrounding vehicles by vehicle-to-vehicle communication, and the navigation device 20 receives this information. .. Further, for example, the navigation device 20 analyzes the sound collected by the microphone (not shown) mounted on the vehicle 30 in order to collect the external sound of the vehicle 30, and the sound of the siren of the emergency vehicle is collected. It may be determined whether or not it is. When the navigation device 20 receives the information indicating the emergency vehicle or determines that the sound of the siren has been collected, the navigation device 20 may add the information indicating the emergency vehicle to the probe information and transmit it to the server device 10. The server device 10 does not have to use the probe information to which the information indicating the emergency vehicle is added to generate the pseudo signal information. Alternatively, when it is detected that the emergency vehicle travels for an urgent purpose, the navigation device 20 does not have to transmit to the probe information server device 10.

The navigation device 20 may receive and use the pseudo signal information generated as described above from the server device 10 as described in Section 2-6. Further, the navigation device 20 may generate pseudo signal information. In this case, it is desirable that the navigation device 20 statistically process the probe information obtained a plurality of times for one traffic light 60 to generate pseudo signal information. Further, the navigation device 20 may transmit pseudo signal information by vehicle-to-vehicle communication.

Next, an operation example of the server device 10 and the navigation device 20 will be described. The processes shown in FIGS. 21 and 22 are executed by the server device 10, and the processes shown in FIG. 23 are executed by the navigation device 20.

In the server process shown in FIG. 21, the control unit 11 determines whether or not probe information has been received from any vehicle 30 (step S801). If the control unit 11 determines that the probe information has not been received (step S801: NO), the control unit 11 proceeds to step S805. On the other hand, when the control unit 11 determines that both the probe information and the signal information have been received (step S801: YES), the control unit 11 proceeds to the process in step S802.

In step S802, the control unit 11 stores the received probe information in the storage unit 12. Next, the control unit 11 identifies the traffic light 60, which is the target of the pseudo signal information, as the target traffic light, based on the current position information and the direction information included in the probe information stored in step S802. Then, the control unit 11 determines whether or not there is a predetermined number or more of probe information stored in the storage unit 12 for the target traffic light (step S803). When the control unit 11 determines that the probe information is not equal to or more than a predetermined number (step S803: NO), the control unit 11 proceeds to the process in step S805. On the other hand, when the control unit 11 determines that the probe information is equal to or more than a predetermined number (step S803: YES), the control unit 11 proceeds to the process in step S804.

In step S804, the control unit 11 executes the pseudo signal information generation process. As shown in FIG. 22, in the pseudo signal information generation process, the control unit 11 acquires probe information of a vehicle that has passed the road corresponding to the target traffic light from the storage unit 12 (step S901).

Next, the control unit 11 noise processing is executed. In the noise processing, among the probe information acquired in step S901, the probe information in which the vehicle 30 may have stopped due to a factor other than the output of the red signal by the target traffic light is used as noise to generate pseudo signal information. Excluded from information. For example, the control unit 11 acquires traffic information from the traffic control center 50. Based on the traffic information, the control unit 11 excludes the probe information in which the road corresponding to the target traffic light is congested at the date and time indicated by the date and time information included in the probe information. Further, the control unit 11 excludes probe information in which the vehicle 30 may have stopped due to a factor other than the output of the red signal due to the movement status indicated by the probe information. For example, the control unit 11 may indicate a stop for avoiding danger by using probe information indicating that the vehicle 30 has started within a predetermined time after the vehicle 30 has stopped at a deceleration exceeding a predetermined value. Exclude as probe information indicating that there is. Further, when the control unit 11 has a predetermined number or more of probe information indicating that a predetermined number or more of the vehicles 30 have stopped near the end of the road at the same date and time, the emergency vehicle urgently uses these probe information. Exclude as probe information indicating that it may indicate a stop due to passing for the purpose. Further, when the control unit 11 has a predetermined number or more of probe information indicating that a predetermined number or more of the vehicles 30 are performing one-sided alternating traffic or detouring at one place, the control unit 11 uses these probe information at the construction site. It is excluded as probe information indicating that it may indicate the trajectory of the vehicle 30 for avoidance.

Next, the control unit 11 extracts probe information indicating that the vehicle 30 has stopped near the corresponding stop line of the target traffic light and then started from the noise-processed probe information. Then, the control unit 11 estimates the time from the stop of the vehicle 30 to the start of the extracted probe information as the red light period of the target traffic light (step S903).

Next, the control unit 11 starts from the noise-processed probe information in the vicinity of the stop line to which the target traffic light corresponds, and then another second vehicle starts from the stop line. Extract a combination of probe information indicating that the vehicle has stopped in the vicinity. Then, the control unit 11 estimates, for each of the extracted combinations, the time from the start of the first vehicle to the stop of the second vehicle as the green light period of the target traffic light (step S904).

Next, the control unit 11 identifies the traffic light installed at the intersection where the target traffic light is installed as the reference traffic light corresponding to the road that intersects with the road to which the target traffic light corresponds. The control unit 11 acquires the probe information of the reference signal from the storage unit 12 (step S905). Next, the control unit 11 executes noise processing of the probe information acquired in step S905 in the same manner as in step S902 (step S906).

Next, the control unit 11 extracts probe information indicating that the vehicle 30 has stopped near the corresponding stop line of the reference traffic light and then started from the probe information for which noise processing has been performed in step S906. Then, the control unit 11 estimates the time from the stop of the vehicle 30 to the start of the extracted probe information as the red light period of the reference traffic light (step S907).

Next, the control unit 11 estimates the green light period of the target traffic light based on each red light period estimated in step S907 (step S908). For example, the control unit 11 estimates that the green signal start time of the target traffic light is after a predetermined time of the red light start time of the reference traffic light, and estimates that the green light end time of the target traffic light is before the predetermined time of the red light end time of the reference traffic light. You may.

Next, the control unit 11 starts from the probe information for which noise processing was performed in step S906, a first vehicle starts near the stop line corresponding to the target traffic light, and then another second vehicle. Extract a combination of probe information indicating that the vehicle has stopped near the stop line. Then, the control unit 11 estimates, for each of the extracted combinations, the time from the start of the first vehicle to the stop of the second vehicle as the green light period of the reference traffic light (step S909).

Next, the control unit 11 estimates the red light period of the target traffic light based on each green light period estimated in step S909 (step S910). For example, the control unit 11 estimates that a predetermined time before the green signal start time of the reference signal is the red signal start time of the target traffic light, and estimates that the red signal end time of the target signal is after the predetermined time of the green signal end time of the reference signal. You may.

Next, the control unit 11 generates pseudo signal information based on the green light period estimated in steps S904 and S908 and the red light period estimated in steps S903 and S910 (step S911). The method of generating the pseudo signal information is the same as that of step S408 shown in FIG. The control unit 11 stores the generated pseudo signal information in the storage unit 12 in association with the specific information of the target traffic light (step S912), and ends the pseudo signal information generation process.

When the control unit 11 finishes the pseudo signal information generation process, as shown in FIG. 21, the control unit 11 determines whether or not an information request has been received from any vehicle 30 (step S805). If the control unit 11 determines that the information request has not been received (step S805: NO), the control unit 11 proceeds to the process in step S807. On the other hand, if the control unit 11 determines that the information request has been received (step S805: YES), the control unit 11 proceeds to step S806.

In step S806, the control unit 11 transmits pseudo signal information to the vehicle 30 in response to the information request. The method of determining the pseudo signal information to be transmitted is the same as in step S107 of FIG. Next, the control unit 11 determines whether or not the power of the server device 10 has been turned off (step S807). If the control unit 11 determines that the power supply has not been turned off (step S807: NO), the control unit 11 proceeds to step S801. On the other hand, when the control unit 11 determines that the power is turned off (step S807: YES), the control unit 11 ends the server processing.

In FIG. 23, the same processing as in FIG. 16 is designated by the same reference numerals. In the terminal processing shown in FIG. 23, the control unit 21 transmits an information request to the server device 10 (step S501), receives pseudo signal information transmitted from the server device 10 (step S1001), and receives the pseudo signal information. The signal information is stored in the storage unit 22 (step S1002).

Next, the control 21 executes step S505 according to the determination result of step S504. Next, the control unit 21 transmits probe information indicating the movement status of the vehicle 30 to the server device 10 (step S1003). Next, the control unit 21 executes step S508 according to the determination result in step S507.

Next, the control unit 21 is the closest traffic light to the vehicle 30 among the traffic lights 60 located in the traveling direction of the vehicle 30 along the road where the vehicle 30 is located, based on the current position and the traveling direction of the vehicle 30 and the map data. 60 is specified as a target traffic light. Then, the control unit 21 determines whether or not the signal information of the target traffic light is received (step S1004). If the control unit 21 determines that the signal information has been received (step S1004: YES), the control unit 21 advances the process to step S1005. In step S1005, the control unit 21 causes the display 24 to display green signal start timing information or recommended traveling speed range information based on the signal information of the target traffic light. In step S1005, the processing content is the same as in step S610 shown in FIG. 17, except that signal information is used. On the other hand, when the control unit 21 determines that the signal information has not been received (step S1004: NO), the control unit 21 proceeds to the process in step S1006. In step S1006, the control unit 21 causes the display 24 to display green signal start timing information or recommended traveling speed range information based on the pseudo signal information of the target traffic light, similarly to step S610 shown in FIG.

When step S1005 or step S1006 is completed, the control unit 21 advances the process to step S501 or ends the terminal process based on the determination result of step S511.

As described above, according to the operation according to the modification, the probe information indicating the movement status of the vehicle 30 is acquired as the output status-related information, and the pseudo signal information is generated based on the acquired probe information. Pseudo-signal information can be generated as information in lieu of this signal information in order to provide the vehicle 30 traveling on the road where the information cannot be provided.

Further, when the probe information indicates the movement stop of the vehicle 30 within the predetermined range corresponding to the traffic light 60 and the movement start after the movement stop, the red light period is set based on the period from the movement stop to the movement start. Since the pseudo signal information is generated based on the estimation and the estimated red light period, it is possible to generate appropriate pseudo signal information for the red light period.

Further, probe information is acquired from each of the first vehicle and the second vehicle, and these probe information are used to start the movement of the first vehicle within the predetermined range corresponding to the traffic light 60, and the traffic light after the movement start. When 60 indicates a stoppage of movement of the second vehicle within the corresponding predetermined range, a green light period is estimated based on the period from the start of movement to the stoppage of movement, and a pseudo red light period is estimated based on the estimated red light period. Since the signal information is generated, it is possible to generate appropriate pseudo signal information for the green light period.

Further, if traffic information is acquired and the probe information detected in the vehicle 30 while the road is congested is not used for generating pseudo signal information based on the traffic information, the vehicle 30 may stop due to the congestion. Since the probe information detected in a certain situation can be excluded, the accuracy of the pseudo signal information can be improved.

Further, based on the probe information, it is estimated by the traffic light 60 whether or not the vehicle 30 has stopped due to a factor other than the output of the red signal, and when it is estimated that the vehicle 30 has stopped due to a factor other than the output of the red signal. When the probe information is not used to generate the pseudo signal information, it is possible to exclude the probe information in which the cause of the vehicle 30 stop may not be due to the output of the red signal, so that the accuracy of the pseudo signal information can be improved. Can be enhanced.

Further, when the probe information when the vehicle 30 detects that the emergency vehicle moves around the vehicle 30 for an urgent purpose is not used for generating pseudo signal information, the driver in order to give way to the emergency vehicle. It is possible to exclude the probe information detected in the situation where the vehicle 30 may stop, so that the accuracy of the pseudo signal information can be improved.

In the above embodiment and the modified example, the navigation device was used as a device for supporting the driving of the vehicle 30 based on at least one of the signal information and the pseudo signal information. However, the device that provides such driving support is not limited to the navigation device.

Further, in the above-described embodiment and the modified example, the moving body of the embodiment is a vehicle. However, the moving body may be a motorcycle, a bicycle, a ship, or the like.

1 Signal information acquisition means 2 Imaging information acquisition means 3 Judgment means D Information processing device 10 Server device 11 Control unit 12 Storage unit 13 Communication unit 20 Navigation device 21 Control unit 22 Storage unit 23 Communication unit 24 Display 25 Speaker 26 Input unit 27 Interface Part 31 Camera 32 Vehicle speed sensor 33 Acceleration sensor 34 Gyro sensor 35 GNSS sensor 36 Beacon receiver 50 Traffic control center 60 Signal 70 Roadside unit 40 Network S Driving support system

Claims (1)

A signal information acquisition means for acquiring signal information indicating a change mode of a traffic signal output by a traffic light, and a signal information acquisition means.
An imaging information acquisition means for acquiring imaging information obtained by imaging the traffic light, and
Temporal between the mode of change of the traffic signal indicated by the acquired signal information and the mode of change of the traffic signal output by the traffic light specified based on the acquired image pickup information. A judgment means for determining whether or not there is a difference, and
An information processing device characterized by being equipped with.

Images