JP2023126340A - Information processing device, information processing method, program for information processing, and recording medium - Google Patents

Abstract

To enable information for assisting a moving vehicle to appropriately pass through a position on a movement path to which a signal apparatus corresponds to be provided, even when there is a difference in time between the manner of a change of a traffic signal indicated by signal information and the manner of an actual change of a traffic signal by the signal apparatus.SOLUTION: The present invention acquires difference information indicating a difference in time between the manner of a change of a traffic signal indicated by signal information that indicates the manner of a change of a traffic signal output by a signal apparatus and the manner of a change of a traffic signal output by the signal apparatus that is specified on the basis of imaging information obtained by imaging the signal apparatus, determines a range of speeds of a moving vehicle suitable for the moving vehicle passing through a position that the signal apparatus corresponds to, causes range information indicating the determined range of speeds to be output by an output unit, and narrows down the range to be narrower, the greater the difference indicated by the difference information.SELECTED DRAWING: Figure 1

Description

The present application relates to the technical field of an information processing device that processes information related to traffic lights and used to support driving of a mobile object.

Conventionally, communication devices such as optical beacons are installed along the road, and the communication devices inform vehicles traveling nearby that the timing and duration of the traffic signals output from the traffic lights are scheduled to change. Techniques are known for transmitting signal information indicating. The vehicle that has received this signal information provides information to support driving, for example, to the driver of the vehicle. For example, in Patent Document 1, the distance from a vehicle to an intersection where a traffic light is arranged is acquired, and based on the acquired distance and traffic light information, the vehicle can enter the intersection when the light color of the traffic light is green. A driver support device is disclosed that calculates a range of travel speeds and outputs the range of travel speeds.

JP2011-227761A

However, there is a possibility that the actual change mode of the traffic signal output by the traffic light may deviate in time from the change mode indicated by the signal information due to some factor. When such a deviation occurs, there is a fear that the driving of the vehicle cannot be appropriately supported.

This application has been made in view of the above points, and one example of the problem is the temporal difference between the manner in which the traffic signal changes indicated by the signal information and the manner in which the traffic signal actually changes due to the traffic light. An information processing device, an information processing method, and an information processing program capable of presenting information for supporting a mobile object to appropriately pass through a position corresponding to a traffic light on a travel route even if there is a difference. and to provide recording media.

One aspect of the present application is that the invention according to claim 1 is characterized in that the mode of change of the traffic signal indicated by signal information indicating the mode of change of the traffic signal output by the traffic signal, and the mode of change of the traffic signal outputted by the traffic signal, and an acquisition means for acquiring difference information indicating a temporal difference between a mode of change in a traffic signal output by the traffic light, which is specified based on the captured image information; determining means for determining a speed range suitable for a moving object passing through a position corresponding to the traffic light; and output control means for causing an output means to output range information indicating the determined speed range. The determining means is an information processing device that narrows the range as the difference indicated by the difference information increases.

Another aspect of the present application is an information processing method executed by a computer, in which a mode of change in the traffic signal indicated by signal information indicating a mode of change in the traffic signal outputted by a traffic light, and an image of the traffic signal are provided. an acquisition step of acquiring difference information indicating a temporal difference between a mode of change in a traffic signal output by the traffic signal and a change in the traffic signal output by the traffic signal, which is specified based on the obtained imaging information; a determination step of determining a speed range suitable for a moving object passing through a position corresponding to the traffic light based on the signal; and output control for causing an output means to output range information indicating the determined speed range. The determining step is characterized in that the larger the difference indicated by the difference information, the narrower the range.

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

Yet another aspect of the present application is a recording medium on which the information processing program is recorded in a computer-readable manner.

FIG. 1 is a block diagram illustrating an example of a schematic configuration of an information processing device according to an embodiment. FIG. 1 is a block diagram showing an example of a schematic configuration of a driving support system according to an embodiment. (a) is a block diagram showing an example of a schematic configuration of a server device according to an embodiment. (b) is a block diagram showing an example of a schematic configuration of a navigation device according to an embodiment. (a) is a diagram showing an example of how a traffic light is imaged from a vehicle. (b) is a diagram showing an example of a difference in green light start time between signal information and image data. (a) thru|or (d) are figures which show the example of a display of recommended driving speed range information. (a) is a diagram showing a display example of green light start timing information. (b) and (c) are diagrams showing examples of display timing of waiting time in green light start timing information. It is a figure showing an example of route search. FIG. 7 is a diagram illustrating an example of determining localization during a green light period and localization during a red light period. (a) is a diagram showing an example of specifying a green light period, and (b) is a diagram showing an example of specifying a red light period. It is a diagram showing an example of the state of an intersection. FIG. 6 is a diagram illustrating an example of the timing of correction of pseudo signal information. It is a flow chart which shows an example of server processing by a server device concerning an example. It is a flow chart which shows an example of signal information error judgment processing by a server device concerning an example. It is a flowchart which shows an example of the signal information correction process for sensitive traffic lights by the server apparatus based on an Example. It is a flow chart which shows an example of pseudo signal information generation processing by a server device concerning an example. It is a flow chart which shows an example of terminal processing by a navigation device concerning an example. It is a flow chart which shows an example of driving assistance information presentation processing by a navigation device concerning an example. It is a flow chart which shows an example of route search processing by a navigation device concerning an example. (a) thru|or (c) are figures which show an example of how a vehicle passes by the side of a traffic light. (a) thru|or (c) are figures which show an example of how two vehicles pass by the side of a traffic light. It is a flow chart which shows an example of server processing by a server device concerning a modification. It is a flow chart which shows an example of pseudo signal information generation processing by a server device concerning a modification. It is a flow chart which shows an example of terminal processing by a navigation device concerning a modification.

First, a mode for implementing the present application will be described using FIG. 1. FIG. 1 is a block diagram illustrating an example of a schematic 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 means 1, an imaging information acquisition means 2, and a determination means 3.

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

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

The determining means 3 determines the change in the traffic signal indicated by the signal information obtained by the signal information obtaining means 1 and the image information obtained by the image information obtaining means 2, which is specified based on the image information obtained by the image information obtaining means 2. It is determined whether there is a time difference between the manner in which the traffic signal changes.

As explained above, according to the operation of the information processing device D according to the embodiment, there is a time difference between the mode of change of the traffic signal indicated by the signal information and the mode of change of the traffic signal actually caused by the traffic light. It becomes possible to determine whether or not there is.

Next, specific examples corresponding to the above-described embodiments will be described using FIGS. 2 to 18. The embodiment described below is an embodiment in which the embodiment is applied to a device constituting a driving support system.

FIG. 2 is a block diagram showing an example of a schematic configuration of a driving support system according to an embodiment. FIG. 3A is a block diagram illustrating an example of a schematic configuration of a server device according to an embodiment. FIG. 3(b) is a block diagram showing an example of a schematic configuration of the navigation device according to the embodiment. FIG. 4A is a diagram showing an example of how a traffic light is imaged from a vehicle. FIG. 4(b) is a diagram illustrating an example of the difference in green signal start time between signal information and image data. FIGS. 5(a) to 5(d) are diagrams showing display examples of recommended travel speed range information. FIG. 6A is a diagram showing a display example of green light start timing information. FIGS. 6(b) and 6(c) are diagrams showing examples of display timing of waiting time in green light start timing information. FIG. 7 is a diagram illustrating an example of route search. FIG. 8 is a diagram illustrating an example of determining localization during a green light period and localization during a red light period. FIG. 9A is a diagram showing an example of specifying a green light period, and FIG. 9B is a diagram showing an example of specifying a red light period. FIG. 10 is a diagram showing an example of an intersection. FIG. 11 is a diagram illustrating an example of the timing of correction of pseudo signal information. FIG. 12 is a flowchart illustrating an example of server processing by the server device according to the embodiment. FIG. 13 is a flowchart illustrating an example of signal information error determination processing by the server device according to the embodiment. FIG. 14 is a flowchart illustrating an example of signal information correction processing for a sensitive traffic signal by the server device according to the embodiment. FIG. 15 is a flowchart illustrating an example of pseudo signal information generation processing by the server device according to the embodiment. FIG. 16 is a flowchart illustrating an example of terminal processing by the navigation device according to the embodiment. FIG. 17 is a flowchart illustrating an example of a driving support information presentation process by the navigation device according to the embodiment. FIG. 18 is a flowchart illustrating an example of route search processing by the navigation device according to the embodiment.
[1. Configuration of driving support system, server device, navigation device]
As shown in FIG. 2, the driving support 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 a network 40. Network 40 may be, for example, the Internet. Each navigation device 20 is mounted on a 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 processing for guiding the vehicle 30 to a destination, and outputs information to support driving of the vehicle 30. Details of the server device 10 are shown in FIG. 3(a), and 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 congestion information and traffic regulations, and also provides signal information of each of the plurality of traffic lights 60 via the plurality of roadside devices 70. Each traffic light 60 is a vehicle traffic light. Each traffic light 60 is installed at an intersection, a junction, a crosswalk, etc. Each traffic light 60 outputs traffic signals such as a green light (a signal indicating permission to proceed), a red signal (a signal indicating prohibition of proceeding), and a yellow signal (a signal indicating prohibition of proceeding in principle). Each roadside machine 70 is installed at a position corresponding to the road, such as above the road or beside the road. The roadside device 70 outputs signal information of the traffic light 60 using infrared rays, radio waves, or the like. For example, the roadside device 70 outputs signal information of a traffic light 60 located in the traveling direction of the vehicle along the road on which the roadside device 70 is installed. The traffic control center 50, each traffic light 60, and each roadside device 70 are connected to a network 80. The traffic control center 50 to the network 80 constitute 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 how the traffic signal output by the corresponding traffic signal 60 changes. In other words, the signal information indicates how the traffic signal changes over time. For example, the signal information indicates schedules such as start time and duration of each traffic signal. The signal information includes, for example, position information indicating the position of the intersection, etc. to which the traffic light 60 corresponds, the difference between the current time and the time when the signal information is generated, and the elapsed time from the time when the signal information is generated until the start of the cycle in which the traffic signal changes. , minimum and maximum values of cycle length, minimum and maximum values of green light start time, minimum and maximum values of green light end time, sensitive permission state, and the like. The green signal start time is the time that elapses from the start of the cycle until the output of the green signal starts. The green light end time is the time that elapses from the start of the cycle until the output of the green signal ends.

As shown in FIG. 3A, the server device 10 includes a control section 11, a storage section 12, and a communication section 13. The control section 11 to the communication section 13 are connected via a 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 various processes to be described later.

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

Additionally, the storage unit 12 stores map data. The map data includes node information that shows the location of each point (node) such as an intersection and the roads (links) connected to that point, link information that shows the shape of each road and the location of stop lines corresponding to traffic lights, etc. , location information indicating the location of traffic lights, etc. may also be included. The map data may be detailed data that can specify, for example, the area of a road or the area of each lane within 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, which will be 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 section 21, a storage section 22, a communication section 23, a display 24, a speaker 25, an input section 26, and an interface section 27. The control section 21 to the interface section 27 are connected via a 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, so that the control unit 21 executes various processes to be described later.

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

Additionally, the storage unit 22 stores map data. The map data may be stored in advance in the storage unit 22, or part or all of the map data may be downloaded from the server device 10 as necessary to update the map data stored in the storage unit 22. .

The communication unit 23 connects to the network 40 via a base station (not shown) by wireless communication, and controls communication with the server device 10 and inter-vehicle communication with other vehicles 30. The communication unit 23 also receives traffic information and the like from a radio 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 under 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 comprised of, for example, a touch panel, buttons, switches, etc., and outputs a signal indicating the details of an operation by a passenger of the vehicle 30 to the control unit 21.

The interface section 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 beacon receiver 36.

The camera 31 is constituted by, for example, a CCD (Charge Coupled Device) sensor or the like, and images the surroundings of the vehicle 30 including the traveling direction of the vehicle 30, and outputs image data to the interface section 27. This image data may be a still image or a moving image. Vehicle speed sensor 32 detects the traveling speed of vehicle 30 and outputs speed information indicating the detected speed to interface section 27 . Acceleration sensor 33 detects the acceleration of vehicle 30 and outputs acceleration information indicating the detected acceleration to interface section 27 . Gyro sensor 34 detects the angular velocity of vehicle 30 and outputs angular velocity information indicating the detected angular velocity to interface section 27 . The GNSS sensor 35 uses 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. 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 signal information transmitted from the roadside device 70 and outputs it to the interface section 27.

The control unit 21 performs various types of 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, based on the signal information, the control unit 21 transmits, from the display 24 or the speaker 25, recommended driving 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. Output. This speed range is such that the vehicle 30 passes through an intersection, a stop line, etc. within the green light period. The green signal period is a period during which a green signal is output (a period during which the green signal is lit). In other words, the green signal period is a period from when the output of the green signal starts until it ends, or a period during which the output of the green signal continues.

Further, the control unit 21 is configured to perform a driving operation that supports timing of the start of traveling of the vehicle 30 that is stopped on the road corresponding to the traffic light 60 due to the red light being outputted by the traffic light 60 based on the signal information. 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 light start timing information indicates the timing at which the traffic signal output by the traffic light 60 changes from a red light to a green light. Specifically, the green light start timing information may indicate the waiting time from the current time until the traffic signal changes from a red light to a green light. As a result, while the green light start timing information is being output, the waiting time decreases as time passes (the waiting time is counted down). The caution information indicates a warning in the direction in which the vehicle 30 is traveling. An example of the caution information is a message such as "Please check ahead."

When the vehicle 30 is a vehicle capable of automatic driving, an automatic driving system mounted on the vehicle 30 may control automatic driving with reference to signal information.
[2. Driving support system functions]
[2-1. Determination of error in signal information]
Since the signal information indicates the scheduled start time and duration of each traffic signal of the traffic light 60, there is a difference between the manner of change of the traffic signal indicated by the signal information and the manner of change of the actual traffic signal of the traffic light 60. There may be a time difference. For example, in order to allow a specific vehicle to pass preferentially, a case may be considered in which the duration of a red light or green light by a traffic light is changed to a duration different from the duration indicated by the signal information. Furthermore, there may be cases where traffic signals are forcibly changed by a traffic control center in an emergency or the like. Further, troubles in the system comprised of the traffic control center 50 to the network 80, delays in transmitting signal information to the roadside device 70, deterioration of the traffic signal 60 over time, etc. can be considered. Therefore, the driving support system S may determine this temporal difference based on imaging information obtained by imaging the traffic light 60 with the camera 31 mounted on the vehicle 30. The determination of the time difference may be performed by either the server device 10 or the navigation device 20.

First, the navigation device 20 causes the camera 31 to take an image of the traffic light 60, as shown in FIG. 4(a). The navigation device 20 acquires the image data acquired from the camera 31 through this imaging as imaging information. For example, the navigation device 20 identifies the current position of the vehicle, the road on which the vehicle 30 is located, the direction of travel of the vehicle, etc. based on information acquired from the vehicle speed sensor 32 to GNSS sensor 35 and map data. Furthermore, when the navigation device 20 determines based on this information that the vehicle 30 has entered within a predetermined range from the traffic light 60 located in the direction of travel along the road where the vehicle 30 is currently located, it starts imaging by the camera 31. let

When the server device 10 determines a temporal difference, the navigation device 20 uses image data obtained by imaging with the camera 31, date and time information indicating the current date and time, current position information indicating the position of the vehicle 30, and the direction of travel. Probe information including direction information, identification information of the navigation device 20, etc. is transmitted to the server device 10. Here, if the navigation device 20 has received signal information of a traffic light 60 located in the traveling direction along the road on which the vehicle 30 is currently located from the roadside device 70, the navigation device 20 transmits 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, at 0.1 second intervals). Note that the navigation device 20 may recognize the traffic light 60 from the image data by pattern recognition, and identify 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 that includes color information indicating the specified signal color as imaging information instead of the image data.

The server device 10 acquires probe information and signal information transmitted from the navigation device 20 via the network 40. The server device 10 determines whether there is a time difference between the mode of change in 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. Determine. For example, the server device 10 specifies the green light start time or the red light start time based on the signal information. The green light start time is the time when the output of the green signal starts, and the red light start time is the time when the output of the red signal 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 specifies the actual green light start time or red light start time based on the signal color specified from the series of probe information obtained 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 red light start time indicated by the signal information with the green light start time or 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. 4(b), the signal information indicates that a green signal 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 times T1 and T2 becomes an error.

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

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

The server device 10 may transmit the determination information or the difference information to the vehicle 30. For example, the server device 10 may transmit the information to the vehicle 30 traveling on the road corresponding to the traffic light 60 for which the determination information or difference information is to be generated. The server device 10 may perform the transmission in response to a request from the navigation device 20. For example, the navigation device 20 sends 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. Based on the information and map data included in the information request, the server device 10 identifies the road on which the vehicle 30 is located, and also identifies the traffic light 60 located along the road in the direction of travel of the vehicle 30. . Then, the server device 10 may transmit the determination information or difference information stored in the storage unit 12 in association with the identified traffic light 60. The server device 10 may collectively transmit the determination information or difference information regarding the 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 a travel route is set in the navigation device 20, the server device 10 may transmit information about the traffic lights 60 corresponding to each of some or all of the roads on the travel route.

When the navigation device 20 determines the time difference, the navigation device 20 acquires signal information received by the beacon receiver 36 from the roadside device 70 . The navigation device 20 identifies a green light start time or a red light start time based on the signal information. Furthermore, the navigation device 20 identifies the signal color of the traffic light 60 from the image data obtained from the camera 31, and determines the green light start time or red light start time as the time when the actual traffic signal changes. The navigation device 20 also determines whether there is a time difference between the green light start time or red light start time indicated by the traffic light information and the green light start time or red light 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 a plurality of errors obtained for one traffic light 60 when the vehicle 30 passes the same road a plurality of times. Furthermore, the navigation device 20 may generate accuracy information based on the calculated error.

The navigation device 20 causes the storage unit 22 to store determination information indicating the determination result of the presence or absence of an error, error information indicating a calculated error or representative value, or accuracy information in association with specific information of the corresponding traffic light 60. Good too.

The navigation device 20 may transmit the error information and the 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 cause the storage unit 12 to store error information or accuracy information indicating a representative value of the error in association with the specific information of the traffic light 60. The server device 10 may transmit error information or accuracy information to the navigation device 20.
[2-2. Determination of recommended travel speed range based on difference information]
The navigation device 20 uses 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, a recommended travel speed range may be determined. The recommended travel 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. The navigation device 20 then determines the recommended travel speed range based on the difference information and the signal information received from the roadside device 70. Specifically, the navigation device 20 narrows the recommended travel speed range as the time difference indicated by the difference information increases. Thereby, even if there is an error in the signal information, by driving the vehicle 30 at a speed according to the recommended travel speed range, the driver can drive the vehicle 30 so that it passes through intersections etc. smoothly.

For example, the navigation device 20 identifies the green light period based on the signal information received from the roadside device 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 is larger, and the end of the green light period. The minimum value of the green light end time may be determined by shifting the green light end time indicating time further into the past as the time difference indicated by the difference information is larger. For example, the navigation device 20 calculates the maximum value of the 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 the maximum value of the green light start time from the green light end time. The maximum green light end time may be calculated by subtracting . 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 travel speed range in which the vehicle 30 can pass the stop line to which the traffic light 60 corresponds within the period indicated by the maximum green light start time and the minimum green light end time. For example, the navigation device 20 identifies the distance from the current position of the vehicle 30 to the stop line corresponding to the traffic light 60 based on current position information acquired from the GNSS sensor 35 or information received from the roadside device 70. . The navigation device 20 also calculates a first waiting time required from the current time to the maximum green light start time, and a second waiting time required from the current time to the minimum green light end time. The navigation device 20 calculates the minimum value of the travel speed that passes the distance to the stop line after the first waiting time has elapsed as the minimum value of the recommended travel speed. At this time, the navigation device 20 determines the minimum value of the recommended travel speed so that the speed does not become lower than the minimum regulation speed or a predetermined speed. Furthermore, the navigation device 20 calculates the maximum value of the travel speed at which the vehicle passes the distance to the stop line before the second waiting time elapses as the maximum value of the recommended travel speed. At this time, the navigation device 20 determines the maximum value of the recommended travel speed so as not to exceed the maximum regulation speed. Note that instead of calculating the recommended travel speed range, the navigation device 20 calculates the recommended travel speed based on a table that shows the recommended travel speed in association with, for example, the distance to the stop line, the error, the first waiting time, or the second waiting time. , a recommended travel speed range may be determined.

The navigation device 20 displays recommended travel speed range information indicating the determined recommended travel speed range on the display 24 or outputs it through the speaker 25. The recommended running speed range information may be, for example, text information or a graphic. FIGS. 5(a) and 5(b) show an example in which recommended running speed range information is displayed on the display 24 as text information. For example, if the time difference is relatively small, "30 to 50 km/h" is displayed as the recommended travel speed range information 110, as shown in FIG. 5(a). On the other hand, if the time difference is relatively large, "30 to 45 km/h" is displayed as the recommended travel speed range information 120, as shown in FIG. 5(b).

The navigation device 20 may lower the ease of recognition of the recommended travel speed range information as the time difference increases. Recognizability refers to the visibility or audibility of information. When the recommended running speed range information is displayed on the display 24, the navigation device 20 may make the outline, color, etc. of the running speed range information lighter as the time difference is larger. When the recommended running speed range information is output from the speaker 25, the navigation device 20 may output the running speed range information by decreasing the volume as the time difference becomes larger. Alternatively, the navigation device 20 may change the contents of the output information depending on the time difference. For example, the navigation device 20 may increase the degree of abstraction or ambiguity of the recommended travel speed range as the time difference increases. The higher the degree of abstraction or ambiguity, the lower the ease of recognition of the recommended travel speed range information. For example, as recommended travel speed range information, "~50 km/h" has a higher degree of abstraction or ambiguity than "30~50 km/h". For example, when the recommended travel speed range information is a graphic, the navigation device 20 determines that the larger the time difference indicated by the difference information, the larger the portion of the graphic that indicates the maximum value and the portion of the recommended travel speed range that is the minimum value. The visibility of at least one of them may be reduced. Furthermore, the navigation device 20 may display the figure in such a way that the greater the time difference indicated by the difference information, the more vaguely at least one of the maximum value and minimum value of the recommended travel speed range is indicated. FIGS. 5(c) and 5(d) show an example in which the recommended travel speed range information is displayed 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 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, a bar graph 140 with relatively low visibility is displayed as shown in FIG. 5(d). The bottom of the bar graph 140 is located at 30 km/h, and the top is located at 50 km/h. However, as the speed approaches 50 km/h from around 45 km/h, the color and outline of the bar graph 140 become lighter. This is because the maximum value of the recommended speed calculated from the green light period specified from the traffic light information is 50 km/h, but the recommended speed determined as a result of narrowing the green light period based on the difference information. The maximum value is considerably smaller than 50 km/h. The navigation device 20 may widen the range in which the color or outline is made thinner as the temporal difference is larger, or may increase the extent to which the color or outline is made thinner as the temporal difference is larger.

As another example of changing the ease of recognition, the navigation device 20 outputs recommended travel speed range information when the time difference indicated by the difference information is less than a predetermined value, and when the time difference exceeds a predetermined value. , it is not necessary to output the recommended running speed range information.

Note that the server device 10 may receive signal information from the navigation device 20 and determine the recommended travel speed range and the visibility of the recommended travel speed range information based on this signal information and difference information. Then, the server device 10 may cause the navigation device 20 to output the recommended travel speed range information.
[2-3. Control of output of driving start support information based on difference information]
The navigation device 20 may control the output of driving start support information including green light start timing information based on the difference information. The driving start support information is displayed on the display 24 or output from the speaker 25. For example, as shown in FIG. 6(a), 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. For example, the larger the time difference indicated by the difference information, the more the navigation device 20 determines the timing at which to change the output mode of driving start support information and the timing at which a traffic signal changes from a red light to a green light, which is indicated by the signal information. The time between , may be lengthened. The output mode in this case may be whether or not to output the information, or which information is to be outputted and which information is not to be outputted.

For example, the larger the time difference indicated by the difference information, the more the navigation device 20 determines the timing at which the output of green light start timing information indicating the timing at which a traffic signal changes from a red light to a green light ends, and The time between the timing when the signal changes from red to green 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. It can be measured. Therefore, even if there is the above-mentioned time difference, the driver can smoothly start driving the vehicle 30.

For example, when the time difference is relatively small, the wait time countdown starts 20 seconds before the start of the green signal indicated by the signal information and ends 5 seconds before the start of the green signal, as shown in FIG. 6(b). On the other hand, when the time difference is relatively large, as shown in FIG. 6C, the wait time countdown starts 20 seconds before the start of the green signal indicated by the signal information and ends 10 seconds before. It is desirable that the navigation device 20 determines the timing to end the green light start timing information so that there is a high probability that the output of the green light start timing information will end before the traffic signal actually changes from a red light to a green light. .

For example, the larger the time difference indicated by the difference information, the more the navigation device 20 determines the output timing of caution information indicating a caution in the direction of travel of the vehicle 30 and the change of the traffic signal indicated by the signal information from a red light to a green light. The time between the timing of the change to and the timing of the change may be lengthened. As a result, the larger the time difference between the traffic signal information and the actual traffic signal 60, the earlier the driver's attention is directed to the direction of travel of the vehicle 30, and the vehicle 30 is started. The driver can time the timing.

For example, when the time difference is relatively small, as shown in FIG. 6(b), caution information "Please check ahead" is output 5 seconds before the start of the green signal indicated by the signal information. On the other hand, when the time difference is relatively large, the 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 at which the output mode of driving start support information is changed and the timing at which the traffic signal changes from a red light to a green light, as indicated by the signal information, as described above. In addition to changing or adjusting, the greater the time difference indicated by the difference information, the lower the ease of recognizing the green light start timing information. As a result, the larger the time difference between the traffic signal information and the actual traffic light 60 regarding the change mode of the traffic signal, the more the driver can time the start of the vehicle 30 without relying on the green light start timing information. I can do it. For example, when the green light start timing information is displayed on the display 24, the navigation device 20 may make the outline, color, etc. of the green light start timing information lighter as the time difference is larger. When the green light start timing information is output from the speaker 25, the navigation device 20 may output the green light start timing information by decreasing the volume as the time difference becomes larger. Alternatively, the navigation device 20 may change the contents of the output information depending on the time difference. For example, the navigation device 20 may increase the degree of abstraction or ambiguity of the timing at which a traffic light changes from a red light to a green light as the time difference increases. The higher the level of abstraction or ambiguity, the lower the ease of recognizing the green light start timing information. For example, as green light start timing information, "8 to 12 seconds left" has a higher level of abstraction or ambiguity than "10 seconds left," and "The light is almost green" than "8 to 12 seconds left." ” has a higher level of abstraction or ambiguity.

As another example of changing the ease of recognition, 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, It is not necessary to output the green light start timing information. Furthermore, when the time difference exceeds a predetermined value, the navigation device 20 may output only the caution information without outputting the green light start timing information. When the time difference is less than or equal to a predetermined value, the navigation device 20 may or may not output the caution information.

Note that the server device 10 may receive signal information from the navigation device 20 and determine the timing to end the output of the green light start timing information, the ease of recognition, etc. based on this signal information and difference information. Then, the server device 10 may cause the navigation device 20 to output the recommended travel speed range information.
[2-4. Route search based on difference information]
The driving support system S may perform 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. Below, a case will be described in which the navigation device 20 performs a route search.

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 by giving higher priority to a road (link) to which a traffic light 60 with a smaller time difference indicated by the difference information corresponds. As a result, when the driver drives the vehicle according to the recommended travel speed range information and travel start support information output based on the signal information received from the roadside device 70, a route with a high possibility of passing through intersections etc. smoothly is created. is explored. The priority in this case is the degree to which the road of interest is preferentially selected as part of the route. For example, the navigation device 20 uses Dijkstra's method or the like to set the travel cost of each road as the weight of that road, and calculates the travel cost to a predetermined time from the route that minimizes the total travel cost or the route that minimizes the travel cost. Explore even small routes. Examples of factors that determine travel costs include the distance of the road, whether or not the road is a toll road and its usage fee, and the congestion status of the road. The navigation device 20 calculates the movement cost by considering 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 route search. It is assumed that the elements determining the travel cost other than the difference information are the same for all roads shown in FIG. 7 . The driver of vehicle 30 has set point 310 as the destination. Regarding roads 320 to 350, all the time differences indicated by the difference information are small. When the vehicle 30 passes through roads 320 to 350 in order and reaches the destination 310, the travel cost is minimized. Therefore, the navigation device 20 determines a route 360 including roads 320 to 350 as the route to the destination 310.

The navigation device 20 may cause the display 24 to output at least one route searched by the route search described above. The navigation device 20 receives an operation from the passenger through the input unit 26 to select one of the at least one output route. The navigation device 20 sets the route selected by the accepted operation as the travel route of the vehicle 30. The navigation device 20 performs processing for guiding the vehicle 30 to a destination along a set travel route. When the vehicle 30 is a vehicle capable of automatically driving, the automatic driving control system installed in the vehicle 30 performs automatic driving along the searched travel route.

If the vehicle 30 stops while moving along the set travel route, the navigation device 20 may re-execute the route search described above. The navigation device 20 may automatically set the route searched by re-executing the route search as the travel route of the vehicle 30, or set the searched route as the travel 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 the destination from the navigation device 20, and based on this destination information, difference information stored in the storage unit 12, map data, etc. to search for a route.
[2-5. Correction of signal information of sensitive signals]
In the case of ordinary traffic lights, the length of the green light period and the length of the red light period are generally fixed. Therefore, the lengths of the green light period and the red light period indicated by the signal information regarding such traffic lights are fixed (the minimum value and the maximum value included in the signal information are the same). However, a sensitive traffic signal detects a vehicle and outputs a plurality of traffic signals by switching between them 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 maximum value included in the signal information are different). Therefore, the signal information of the sensitive traffic signal may not be able to appropriately support the driving of the vehicle 30.

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

The server device 10 may identify trends in localization during green light periods and red light periods for each time period in which the traffic light is imaged, and generate trend information indicating these trends. Then, the server device 10 may cause the storage unit 12 to store the trend information in association with the information for identifying the sensitive traffic light and the time period. This makes it possible to cope with a traffic light 60 in which at least one of the length of the green light period and the length of the red light period changes as the traffic volume changes depending on the time of day.

The server device 10 changes or corrects the signal information of the sensitive traffic light based on the generated trend information. The server device 10 acquires signal information of a sensitive traffic light to be corrected. For example, the server device 10 may acquire, from the navigation device 20, signal information that the navigation device 20 receives from the roadside device 70. The server device 10 acquires trend information corresponding to the signal information from the storage unit 12. At this time, the server device 10 may acquire trend information associated with the time period in which the navigation device 20 receives the signal information from the roadside device 70.

The server device 10 changes the signal information to indicate the length of the period according to the trend indicated by the trend information, within the length of the green light period or the red light period indicated by the signal information. For example, the closer the localization indicated by the trend information to the maximum value of the period range indicated by the signal information, the more the server device 10 determines the corrected time length or length range from the maximum value. The closer the localization determined and shown as a trend by the trend information to the minimum value of the period range shown in the signal information, the more the corrected time length or length range is determined based on that minimum value. good. For example, assume that the localization of a green light period indicated as a trend by the trend information is closer to the maximum value than the minimum value, and the localization of a red light period indicated as a trend by the trend information is closer to the minimum value than the maximum value. In this case, as shown in FIG. 8, the length or length range of the green light period is determined based on the maximum value, and the length or length range of the red light period is determined based on the minimum value. The server device 10 may determine the length of the period or the range of length according to the localization indicated by the trend information as a trend.

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

Server device 10 transmits the corrected signal information to 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.

Note that the navigation device 20 identifies the length of the red light period and the green light period based on the image data obtained by imaging, and determines the length of the period obtained by the vehicle 30 passing through the sensitive traffic light multiple times. Based on this, localization trends may be identified, and the signal information of the sensitive traffic signal received from the roadside device 70 may be corrected based on these trends. Alternatively, the navigation device 20 may receive the trend information generated by the server device 10, and the navigation device 20 may perform correction 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 situation related information detected in the vehicle 30, which is related to the output situation of the traffic signal by the traffic light 60. Pseudo signal information is information that is a substitute for signal information. When the signal information transmitted from the roadside device 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 imaging 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 roads where signal information is not distributed, it is possible to support the driving of the vehicle 30 by providing pseudo signal information to the vehicle 30 traveling on the road where signal information is not distributed. 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 identifies 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 times when a green light and a red light start, respectively, based on a series of probe information acquired from one vehicle 30, and determines whether a green light period or a red light period starts based on the specified times. may be specified. For example, as shown in FIG. 9(a), the signal color identified from the image data by pattern recognition changes from a red light to a green light at time T11, and then from a green light to a red light at time T12. . Therefore, the green signal period is the period from time T11 to time 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 from a red signal to a green signal at time T22. Therefore, the red light period is the period from time T21 to time T22. The navigation device 20 may identify 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 certain intervals, the camera 31 mounted on a certain vehicle 30 may image the traffic light 60 when the light changes from red to green. Then, a camera 31 mounted on another vehicle 30 may image the traffic light 60 when the light changes from green to red. 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 identified green light period and red light period. For example, the server device 10 determines, based on the green light period and the red light period, 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. , determines information such as the start time of a green light, the end time of a green light, etc. The server device 10 may cause the storage unit 12 to store the pseudo signal information including the determined information in association with the specific information of the corresponding traffic light 60. When the server device 10 identifies a plurality of green light periods and a plurality of red light periods based on information acquired from a plurality of vehicles 30, the server device 10 statistically processes the green light periods and the red light periods, and calculates each of the green light periods and the red light periods included in the pseudo signal information. Information may be determined.

A road has a plurality of lanes on one side, and the traffic light 60 corresponding to these lanes may change the traffic signal for at least one of these lanes in a manner different from that for 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 two lanes on the left and pseudo signal information for one lane on the right are generated. Alternatively, the server device 10 may generate pseudo signal information for each lane. The server device 10 may cause the storage unit 12 to store the generated pseudo signal information in association with information for identifying the corresponding traffic light 60 and lane.

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 the 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. Based on the information request and the map data, the server device 10 identifies a traffic light 60 corresponding to an intersection, etc. ahead of which the vehicle 30 is proceeding, and stores the traffic light 60 in association with the identified traffic light 60 in the storage unit 12. Send pseudo signal information. The server device 10 may transmit pseudo signal information regarding 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 location of the vehicle 30. Alternatively, when a travel route is set in the navigation device 20, the server device 10 may transmit pseudo signal information about the traffic lights 60 corresponding to each of some or all of the roads on the travel route. When the vehicle 30 is located on a road where signal information cannot be received from the roadside device 70, the navigation device 20 that has received the pseudo signal information uses this pseudo signal information to determine the recommended driving speed range information and the start of driving. Processing to support driving of the vehicle 30, such as outputting support information, may be executed. Furthermore, the navigation device 20 may use pseudo signal information for route searching. For example, the navigation device 20 estimates the time it takes the vehicle 30 to pass through an intersection, etc., and calculates the probability that the vehicle 30 will pass through the intersection, etc. without stopping for each road based on the estimated time and pseudo signal information. calculate. The navigation device 20 searches for a route by giving priority to a road with a higher probability.

In the case of a traffic signal 60 in which the traffic signal changes differently depending on the lane, the server device 10 may transmit pseudo signal information for all lanes to the vehicle 30, for example. The navigation device 20 may specify the lane in which the vehicle 30 is located based on image data obtained by photographing with the camera 31, for example. Alternatively, if the accuracy of the GNSS sensor 35 and 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 map data acquired from the GNSS sensor 35. Alternatively, when the vehicle 30 is traveling along a route searched by the navigation device 20, the navigation device 20 estimates the direction of travel of the vehicle 30 from an intersection etc. based on the set route, and Based on the direction, the lane in which the vehicle 30 is located on the road entering this intersection or the like may be estimated. 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 direction of travel of the vehicle 30 from the intersection etc. based on the history of the travel route, and Based on the traveling direction, the lane in which the vehicle 30 is located on the road entering this intersection or the like may be estimated. The navigation device 20 may perform processing to support driving of the vehicle 30 using pseudo signal information for the identified or estimated lane.

When the navigation device 20 generates pseudo traffic light information, the navigation device 20 identifies green light periods and red light periods in the same manner as the server device 10, based on image data from the camera 31, for example. In order to identify both the green light period and the red light period for one traffic light 60, the vehicle 30 usually needs to pass through the same road multiple 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. Furthermore, the navigation device 20 may transmit the pseudo signal information to vehicles 30 around the vehicle 30 in which the navigation device 20 is mounted through vehicle-to-vehicle communication. The navigation device 20 of the vehicle 30 that has received the pseudo signal information determines that the vehicle 30 is traveling in a position away from the traffic light 60 or in a position where the traffic light 60 cannot be seen (for example, the traffic light 60 is at the end of a corner). Since it is possible to obtain pseudo signal information for the traffic light 60 even in the case of a traffic light 60, it is possible to output information regarding the traffic signal output from the traffic light 60 (for example, "The light is currently red") in advance. can. Further, as described above, the navigation device 20 can use pseudo signal information for route searching.

In this embodiment, the driving support system S uses signal information, but even a system that does not use signal information can generate and use pseudo signal information.
[2-7. Estimation of green light period or red light period for generation of pseudo traffic signal information]
Incidentally, even if a plurality of pieces of imaging information are obtained for one traffic light 60, it may be difficult to specify a period during which a predetermined signal continues to be output. For example, when a red light is turned on by the traffic light 60, the vehicle 30 is stopped, so the camera 31 mounted on the vehicle 30 shows how the traffic signal changes from green to red, and then from the red light to green. There are relatively many opportunities to take pictures of the situation. Therefore, identifying the red light period is relatively easy. On the other hand, since the vehicle 30 passes when the green light is turned on by the traffic light 60, there are relatively few opportunities for the camera 31 to capture an image of the traffic light changing from green to red. Therefore, it is relatively difficult to specify the green light period. Particularly in the case of a road with low traffic volume, it may be difficult to specify the green light period using the imaging 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, a traffic light 60 corresponding to a vehicle proceeding from the first road at that point is the first traffic light, and a second road is set at this point. A traffic light 60 corresponding to a vehicle proceeding from the road is defined as a 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, which is 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, based on the acquired output status related information, the server device 10 sets the period during which the output of either a green light or a red light (for example, a red light) continues at the first traffic light to a second signal. – Identify as described in Section 6. Based on the specified period, the server device 10 estimates the period during which the output of the other of the green signal and the red signal (for example, the green signal) continues at the second traffic light. Basically, when the traffic light 60 corresponding to a certain road is outputting a red signal, the traffic lights 60 corresponding to the roads intersecting that road are outputting green signals. Therefore, 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 operations.

For example, as shown in FIG. 10(a), assume that traffic lights 60-1 to 60-4 are installed at a certain intersection. The traffic light 60-1 corresponds to a vehicle moving north on the road 501 extending in the north-south direction, and the traffic light 60-2 corresponds to a vehicle moving south. The traffic light 60-3 corresponds to a vehicle moving east on the road 502 extending in the east-west direction, and the traffic light 60-4 corresponds to a vehicle moving west. Currently, the vehicle 30 is stopped in front of the stop line to which the traffic light 60-1 corresponds, and the camera 31 mounted on the vehicle 30 is capturing an image of the traffic light 60-1. As shown in FIG. 10(b), based on the image data from the camera 31, a red light start time T31 and a green light end time T32 were respectively specified. Based on the red light periods of the traffic light 60-1 indicated by times T31 and T32, the green light periods of the traffic lights 60-3 and 6-4 can be estimated. For example, the server device 10 estimates the green light start time T41 of the traffic light 60-3 based on the time T31, and estimates the green light 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 second 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 for the second traffic light based on the estimated period for the second traffic light. Specifically, the server device 10 acquires output status related information related to the output status of the traffic signal by the second traffic light, which is detected in the vehicle 30. Furthermore, the server device 10 estimates the period during which the output of the first signal (for example, a red light) continues at the second traffic light based on the acquired output status related information. Then, the server device 10 generates a second traffic light based on the period during which the output of the first signal continues and the period during which the output of the second signal continues (i.e., the green light period and the red light period), which are estimated for the second traffic light. Generate pseudo signal information for traffic lights. 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 the pseudo signal information generated in this way from the server device 10 and use it, as described in Section 2-6. Alternatively, the navigation device 20 may generate pseudo signal information. Furthermore, the navigation device 20 may transmit the pseudo signal information through vehicle-to-vehicle communication.
[2-8. Correction of pseudo signal information based on signal information]
In order to increase 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 includes 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 light, the end time of the green light, etc., which are included in the pseudo signal information. It may be rewritten with information included in the signal information. The navigation device 20 determines 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 when both signal information and pseudo signal information can be acquired. Corrections may be made at the end of the allowed period. The period during which signal information can be acquired is a period during which the vehicle 30 is located in a section where signal information of a target traffic signal can be received from the roadside device 70. The period during which the pseudo signal information can be obtained is a period during which the pseudo signal information of the target traffic light is generated and the navigation device 20 is connectable to the server device 10 via the network 40. For example, as shown in FIG. 11, assume 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 device 70 at this time. After the vehicle 30 moves out of the area where signal information can be received, the navigation device 20 performs processing to support the driving of the vehicle 30 using the corrected pseudo signal.

The navigation device 20 may use the thus corrected pseudo signal information as described in Section 2-6, or may transmit it to another vehicle 30 through 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 a 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 obtained from the navigation device 20 based on the signal information obtained from the navigation device 20. Then, the server device 10 transmits the corrected pseudo signal information to the navigation device 20.
[3. Operation of driving support system]
Next, an example of the operation 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 is started, for example, when the server device 10 is powered on. First, the control unit 11 determines whether 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 process proceeds to 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 process proceeds to step S102.

In step S109, the control unit 11 determines whether only probe information has been received from any vehicle 30. If 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 control unit 11 advances the process to step S106.

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

In step S103, the control unit 11 executes signal information error determination processing. As shown in FIG. 13, in the signal information error determination process, the control unit 11 specifies a green light start time or a red light start time based on the image data and date and time information included in the received probe information (step S201 ). Next, the control unit 11 compares the green light start time or red light start time indicated by the received signal information with the green light start time or red light start time specified based on the probe information in step S201 (step S202). . Then, the control unit 11 determines whether 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), it advances the process to step S204. In step S204, the control unit 11 sets the difference between the green light start time or red light start time indicated by the signal information and the green light start time or red light start time specified based on the probe information in step S201 as an error. After calculation, 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 control unit 11 advances the process to step S209. In step S209, the control unit 11 determines the error to be 0, and advances the process to step S205.

In step S205, the control unit 11 causes the storage unit 12 to store error information indicating the error calculated in step S204 or the error determined in step S209 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 there is a predetermined number or more of error information stored in association with the specific information of the traffic light 60 described above (step S206). If the control unit 11 determines that there is no error information equal to or greater than the predetermined number (step S206: NO), the control unit 11 ends the signal information error determination process. On the other hand, if the control unit 11 determines that there is a predetermined number or more of error information (step S206: YES), the control unit 11 advances the process to 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 accuracy information indicating the calculated accuracy in the storage unit 12 in association with the specific information of the traffic light 60 (step S208), and ends the signal information error determination process.

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

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

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

In step S304, the control unit 11 determines localization trends in the green light period and the red light period, based on the specific information and the green light localization information and red light localization information stored in association with the time zone corresponding to the current time. Identify. For example, the control unit 11 may calculate the average value, standard deviation, etc. of the length of the period as the localization tendency, or calculate the range of the length of the period based on these average values, standard deviation, etc. Alternatively, a representative value for the period may be calculated. Next, the control unit 11 causes the storage unit 12 to store trend information indicating the identified localization tendency in association with the specific information and the time period corresponding to the current time (step S305).

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

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

Next, the control unit 11 specifies, as a reference traffic light, a traffic light installed at the intersection where the target traffic light is installed, corresponding to a road that intersects the road to which this target traffic light corresponds. The control unit 11 acquires 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 each 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 traffic light (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 stores the green light period information and 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 red light period information generated in steps S404 and S406. It is determined whether the total number is greater than or equal to a predetermined number (step S407). If the control unit 11 determines that the total number is not equal to or greater than the 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 greater than or equal to the 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 light period information and the red light period information. For example, the control unit 11 converts the representative value of the green light duration indicated by the green light period information and the representative value of the red light duration indicated by the red light duration information into the representative value of the green light duration indicated by the pseudo signal information and the representative value of the red light duration 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. Furthermore, the control unit 11 determines the cycle length based on the calculated duration time. 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 these pieces of 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.

After finishing the pseudo signal information generation process, the control unit 11 determines whether an information request has been received from any vehicle 30, as shown in FIG. 12 (step S106). If the control unit 11 determines that the information request has not been received (step S106: NO), the control unit 11 advances the process to 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 accuracy information and pseudo signal information to the vehicle 30 in response to the information request. For example, the control unit 11 identifies at least one traffic light 60 to which information is to be transmitted, based on the map data and the position information included in the information request. If 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, if the pseudo signal information of the specified traffic light 60 is stored in the storage section 12, the control section 11 transmits this pseudo signal information.

Next, the control unit 11 determines whether the server device 10 is powered off (step S108). When the control unit 11 determines that the power is not turned off (step S108: NO), the control unit 11 advances the process to step S101. On the other hand, if the control unit 11 determines that the power is turned off (step S108: YES), it ends the server processing.

The terminal processing shown in FIG. 16 is started, for example, when 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 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 signal information has been received from any roadside machine 70 (step S504). If the control unit 21 determines that the signal information has not been received (step S504: NO), the control unit 21 advances the process 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, if the control unit 21 determines that the signal information has been received (step S504: YES), the control unit 21 advances the process to step S505.

In step S505, the control unit 21 causes the storage unit 22 to store the received signal information. 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 advances the process to 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 advances the process to step S509.

In step S509, the control unit 21 determines whether or not it is the timing when both signal information and 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 process proceeds to step S512. On the other hand, if the control unit 21 determines that the timing has come 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 advances to step S512.

In step S512, the control unit 21 executes a 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 traveling direction of the vehicle 30, and map data. Among the located traffic lights 60, the one closest to the vehicle 30 is specified as the target traffic light. Then, the control unit 21 determines whether signal information of the target traffic signal has been received (step S601). If the control unit 21 determines that the signal information has not been received (step S601: NO), the control unit 21 advances the process to step S610. On the other hand, if the control unit 21 determines that the signal information has been received (step S601: YES), the control unit 21 advances the process to step S602.

In step S602, the control unit 21 determines whether the vehicle 30 is stopped within a predetermined range from the target traffic light because the target traffic light is outputting a red light. For example, the control unit 21 may determine whether 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 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 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 light (step S602: NO), the control unit 21 advances the process to step S606. On the other hand, if the control unit 21 determines that the vehicle 30 is stopped because the target traffic light is outputting a red light (step S602: YES), the control unit 21 advances the process to step S603.

In step S603, the control unit 21 specifies the green light start time of the target traffic light based on the signal information. Regarding the signal information of the sensitive traffic light, the control unit 21 may specify the green light start time so that the length of the green light start time is the minimum within the length of the period indicated by the signal information. Next, the control unit 21 determines the time to end displaying the green light start timing information based on the green light start time and the accuracy information about the target traffic light (step S604). For example, the reference time is a predetermined time before the green light start time. The reference time is the time at which the display of the green light start timing information is ended 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 average value and 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 average value. , or by subtracting this time length from the average value to calculate the minimum value of the error, and determining the absolute value of the maximum error within the range from the calculated minimum value to the maximum value as the correction value. good. The control unit 21 subtracts this correction value from the reference time to calculate the time to end the green light start timing information. Next, the control unit 21 displays 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 the vehicle 30 is traveling based on the traveling speed of the vehicle 30. If the control unit 21 determines that the vehicle 30 is not running (step S606: NO), it ends the driving support information presentation process. On the other hand, if the control unit 21 determines that the vehicle 30 is traveling (step S606: YES), the control unit 21 advances the process to step S607.

In step S607, the control unit 21 identifies the green light period of the target traffic light based on the signal information. Next, the control unit 21 determines a recommended travel speed range based on the green light start time and 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 light start time further into the future to determine the maximum value of the green light start time, and also shifts the green light end time further into the past to determine the minimum value of the green light end time. decide. For example, the control unit 21 determines the correction value in the same manner as the correction value determination method in step S604, determines the maximum value of the green light start time by adding the correction value to the green light start time, and determines the maximum value of the green light start time. 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 to which the target signal corresponds during the period from the maximum green light start time to the minimum green light end time. Next, the control unit 21 displays recommended travel 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 light start timing information or recommended travel 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 is outputting a red light, the control unit 21 calculates the reference time from the green light start time indicated by the pseudo signal information. The control unit 21 displays green light start timing information on the display 24 until the current time reaches the reference time. Further, when the vehicle 30 is running, the control unit 21 determines the speed range in which the vehicle 30 passes the stop line to which the target signal corresponds within the green light period indicated by the pseudo signal information. The control unit 21 displays recommended travel speed range information indicating the determined speed range on the display 24. After completing step S610, the control unit 21 ends the driving support information presentation process.

When the driving support information presentation process is finished, as shown in FIG. 16, the control unit 21 determines whether or not the navigation device 20 is powered off (step S513). When the control unit 21 determines that the power is not turned off (step S513: NO), the control unit 21 advances the process to step S501. On the other hand, if the control unit 21 determines that the power is turned off (step S513: YES), it ends the terminal processing.

The route search process shown in FIG. 18 is started when the navigation device 20 receives an operation from the passenger to search for a destination. First, the control unit 21 sets a destination based on an operation from a passenger (step S701). Next, the control unit 21 searches for a route to the destination (step S702). Specifically, the control unit 21 acquires, for each road to be followed for route search, accuracy information about the traffic light 60 corresponding to the direction in which the road is to be followed. The control unit 21 calculates the travel cost of the road based on the distance, congestion status, accuracy information, etc. of the road. 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 with the minimum total travel cost. Next, the control unit 21 displays information indicating the route with the minimum total travel cost on the display 24 (step S703), and ends the route search process.

As explained above, by the operation according to the embodiment, signal information is acquired, imaging information is acquired, and the mode of change in the traffic signal indicated by the acquired signal information and the traffic signal identified based on the imaging information are determined. When determining whether there is a time difference between the manner in which the traffic signal changes, it is determined whether there is a time difference between the manner in which the traffic signal changes indicated by the signal information and the manner in which the traffic signal actually changes due to the traffic light 60. It is possible to determine whether there is a time difference.

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

Furthermore, when transmitting the difference information indicating the calculated time difference to the vehicle 30 moving on the road to which the traffic light 60 corresponds, the vehicle 30 using the signal information can appropriately transmit the traffic light 60 based on the difference information. Appropriate support can be provided to help students pass the exam.

Furthermore, 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 through the plurality of traffic lights 60 along the road is provided. It can be carried out.

Furthermore, when transmitting accuracy information indicating the calculated accuracy to a vehicle 30 traveling on a road corresponding to the traffic light 60, the vehicle 30 using the signal information appropriately passes through the traffic light 60 based on the accuracy information. Appropriate support can be provided for this purpose.

In addition, when 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, difference information is acquired, and a recommended travel speed range is determined based on the signal information and difference information, and the recommended travel speed range is determined by narrowing the recommended travel speed range as the time difference indicated by the difference information is larger. , when outputting the recommended driving speed range information indicating the determined range from the display 24 or the speaker 25, even if there is a time difference between the signal information and the actual traffic signal 60 regarding the change mode of the traffic signal, the narrowing When the driver drives the vehicle 30 at a speed within the specified speed range, the possibility that the vehicle 30 will be able to smoothly pass the position corresponding to the traffic light 60 on the road increases. 30 can be presented with information to assist in passing properly.

In addition, if the larger the time difference indicated by the difference information is, the easier it is to recognize the recommended travel speed range information, the time difference between the signal information and the actual traffic 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 travel speed range information, so it is possible to leave the judgment of the travel speed to the driver.

In addition, recommended driving speed range information including a figure showing the recommended driving speed range is displayed on the display 24, and the larger the time difference indicated by the difference information, the larger the portion of the figure indicating the maximum value of the recommended driving 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 traffic signal 60 regarding the change mode of the traffic signal, the lower the visibility in the recommended driving speed range. Since the driver drives the vehicle 30 without relying on information on at least one of the maximum value and minimum value of the speed corresponding to the portion where the speed has decreased, it is possible to leave the judgment of the traveling speed to the driver. can.

In addition, if the recommended travel 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 signal 60 regarding the change mode of the traffic signal is considerable. If the problem is large, it is possible to leave the judgment of the traveling speed to the driver.

Further, the difference information is acquired, and based on the signal information and the difference information, driving start support information including green light start timing information is outputted from the display 24 or the speaker 25, and the larger the time difference indicated by the difference information, the more When increasing the time between the timing at which the output of the green light start timing information ends and the timing at which the traffic signal changes from a red light to a green light, the difference between the signal information and the actual traffic light 60 regarding the change mode of the traffic signal is determined. The larger the time difference, the earlier the driver can turn his attention to the direction of travel of the vehicle 30 and check whether the traffic light has changed to green without relying on the green light start timing information. Green light start timing information can be appropriately presented.

In addition, the larger the time difference indicated by the difference information, the longer the time between the timing at which the output of the caution information starts and the timing at which the traffic signal changes from red to green. Regarding aspects, the larger the time difference between the signal information and the actual traffic light 60, the more the driver pays attention to the direction of travel of the vehicle 30 based on the caution information and checks whether the traffic light has changed to a green light. You can speed up the timing.

Further, the difference information is acquired, and driving start support information including the green light start timing information is outputted by the display 24 or the speaker 25, and the greater the time difference indicated by the difference information, the easier the green light start timing information is to be recognized. When lowering the traffic signal, the larger the time difference between the traffic signal information and the actual traffic light 60, the more the driver is forced to time the start of the vehicle 30 without relying on the green light start timing information. Therefore, information regarding the timing at which the traffic signal output from the traffic light 60 changes from a red light to a green light can be appropriately presented.

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

In addition, when the time difference indicated by the difference information exceeds a predetermined value, caution information is output, and when the time difference between the signal information and the actual traffic signal 60 is considerably large regarding the change mode of the traffic signal. By using the caution information, it is possible to direct the driver's attention to the direction in which the vehicle 30 is traveling and to make the driver check whether the traffic light has changed to green.

When difference information is acquired and a search process is performed to search for a route for the vehicle 30 by giving higher priority to roads with smaller time differences indicated by the difference information, the travel route to be searched is , since there is a high probability that the road to which the traffic signal 60 corresponds is included, where the time difference is relatively small between the manner in which the traffic signal changes indicated by the signal information and the manner in which the traffic signal actually changes due to the traffic signal 60. It is possible to search for a route on which the vehicle 30 can move smoothly based on the signal information.

Further, if the vehicle 30 is moving along the route searched by the search process and this vehicle 30 stops, and if this search process is re-executed, an appropriate route is searched at the time the vehicle 30 stops. I can do it.

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

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

In addition, the imaging information obtained by imaging the sensitive traffic signal is acquired, and based on the acquired imaging information, the sensitive traffic signal generates trend information indicating the trend of changes in the traffic signal. When changing the information based on the generated trend information, for a sensitive traffic signal that switches and outputs multiple traffic signals based on the vehicle detection result, the mode of change in the traffic signal indicated by the signal information and the sensitive formula The signal information can be changed appropriately by taking into consideration the time difference between the manner in which the traffic signal actually changes due to the traffic light.

Further, the signal information includes range information indicating a range of time during which the output of the predetermined traffic signal continues, generates trend information indicating a trend of the time during which the output of the predetermined traffic signal continues, and generates trend information indicating a time range during which the output of the predetermined traffic signal continues, and the range of time indicated by the range information. If the range information is changed to indicate the time according to the trend indicated by the trend information, the signal information can reflect the time during which the output of the predetermined traffic signal actually continues.

In addition, trend information is generated for each time period in which the traffic light 60 is imaged, and the signal information is changed based on the trend information corresponding to the time period in which the vehicle 30 receives the signal information of the sensitive traffic signal from the roadside device 70. In this case, the signal information can be appropriately changed for a sensitive traffic signal corresponding to a road where the traffic volume changes depending on the time of day.

Furthermore, when obtaining output situation related information and generating pseudo signal information based on the obtained output situation related information, this traffic Pseudo signal information can be generated as information in place of signal information indicating the original schedule of signal changes.

Further, information related to the output status of a traffic signal from a first traffic light corresponding to a vehicle proceeding from the first road to a point where the first road and the second road intersect is acquired, and based on this output status related information, specifying a period during which the output of the first signal continues at the first traffic light, and based on the specified period, outputting the second signal at the second traffic light corresponding to the vehicle proceeding from the second road to the aforementioned point. When estimating the period during which the output of the signal continues and generating pseudo signal information of the second traffic light based on the estimated period, an output that can specify the duration of the output of the second signal of the second traffic light. Even if 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 traffic signal changes.

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

In addition, when output situation related information is acquired from a plurality of vehicles 30 for one traffic light 60 and pseudo signal information is generated by statistically processing the obtained plurality of output situation related information, more appropriate pseudo signal information is generated. can be generated.

In addition, when acquiring imaging information obtained by imaging the traffic light 60 from the vehicle 30 as output situation related information, the output situation of the traffic signal can be specified from the imaging information, so highly accurate pseudo signal information can be generated. can do.

Further, regarding a traffic signal that changes a traffic signal in at least one of the plurality of lanes in a manner different from that of the other lanes, signal information is provided for each of the at least one lane and the other lane. In the case of generation, it is possible to appropriately generate signal information for traffic lights whose change mode differs depending on the lane.

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

Also, the timing when it becomes possible to acquire both signal information and pseudo signal information, during the period when it becomes possible to obtain both signal information and pseudo signal information, or when it becomes possible to obtain both signal information and pseudo signal information. When correcting the pseudo signal information 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 processing to support driving of the vehicle 30 based on the generated or corrected pseudo signal information, even in a system that does not use a network, the pseudo signal Information-based driving support becomes possible.

Further, when the navigation device 20 transmits the generated or corrected pseudo signal information to other vehicles 30 in the vicinity of the vehicle 30 equipped with the navigation device 20, the other vehicles 30 also transmit the pseudo signal information. It becomes possible to provide driving support using
[4. Modified example of generation of pseudo signal information]
Next, modified examples of generating the pseudo signal information described in Sections 2-6 and 2-7 will be described using FIGS. 19 to 23.

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

Imaging information was used as output situation related information to generate the pseudo signal information described in Section 2-6. However, movement situation information detected in the vehicle 30 and indicating the movement situation of the vehicle 30 may be used as the output situation related information. The movement status of the vehicle 30 may be affected by or reflect the traffic signal output status. For example, when a red signal is output from the traffic light 60, the vehicle 30 stops traveling, and when a green signal is output, the vehicle 30 runs and passes through the intersection, etc. to which the traffic light 60 corresponds. The moving situation 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 speed, acceleration information indicating acceleration, and information indicating angular velocity. , direction information indicating the direction of travel, identification information of the navigation device 20, and the like. 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 a green light period and a 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 it does not directly specify the green light period and red light period, so It is desirable to estimate the green light period and the red light period by statistically processing probe information obtained from a plurality of vehicles 30.

For example, the server device 10 estimates a red light start time and a green light start time based on a series of probe information acquired from one vehicle 30, and estimates a red light period based on the estimated times. Good too. For example, when the probe information indicates that the vehicle 30 has stopped within a predetermined range according to the traffic light 60 and that the vehicle 30 has started moving after this stop, the server device 10 may The red light period may also be estimated. The predetermined range corresponding to the traffic light 60 may be, for example, a range within a predetermined distance from the stop line to which the traffic light 60 corresponds. The server device 10 may then generate pseudo signal information based on the estimated red light period.

For example, as shown in FIG. 19(a), the vehicle 30 is traveling toward a traffic light 60 that is outputting a green signal. After that, as shown in FIG. 19(b), the traffic light changes to red, so the vehicle 30 stops at the stop line. After that, as shown in FIG. 19(c), the traffic light changes to green, so the vehicle 30 starts moving. 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. The server device 10 may estimate the period from when the vehicle 30 stops until it starts as the red light period.

The server device 10 estimates a green light start time and a red light start time, respectively, based on probe information respectively acquired from two vehicles 30 or three or more vehicles 30, and determines a green light period based on the estimated times. may be estimated. For example, the server device 10 may be configured such that the probe information indicates the start of movement of a certain first mobile object within a predetermined range according to the traffic light 60, and the start of movement of a certain first mobile object within a predetermined range according to the traffic light 60 after the start of movement. When indicating that the second moving body stops moving, the green light period may be estimated based on the period from the start of movement to the stop of movement. Then, the server device 10 may generate pseudo signal information based on the estimated green light period.

For example, as shown in FIG. 20(a), the traffic light 60 is outputting a red light, so the vehicle 30-1 is stopped at the stop line. After that, as shown in FIG. 20(b), the traffic light changes to green, so the vehicle 30-1 starts moving. On the other hand, vehicle 30-2 was traveling toward traffic light 60. After that, as shown in FIG. 20(c), the traffic light changes to red, so the vehicle 30-2 stops 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 when the vehicle 30-1 starts to when the vehicle 30-2 stops as the green light period. Note that the probe information may identify that the vehicle 30-2 has stopped running after a considerable amount of time has passed since the vehicle 30-1 started. In this case, there is a possibility that the traffic signal changes at least one cycle or more before the vehicle 30-2 stops traveling after a considerable amount of time has passed since the vehicle 30-1 started. Therefore, the server device 10 does not need to use probe information in which the time from when the vehicle 30-1 starts to when the vehicle 30-2 stops exceeds a predetermined time to estimate the green light period. The server device 10 may generate pseudo signal information based on the estimated red light period and green light period.

The server device 10 may estimate the green light period and the red light period using a method similar to the method described in Section 2-7. That is, the server device 10 estimates the period during which the output of the first signal continues at the first traffic light based on the probe information about the first traffic light, and based on this period, the server device 10 estimates the period during which the output of the first signal continues at the first traffic light. Estimate the period during which the signal output continues.

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

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

For example, the server device 10 may acquire traffic information from the traffic control center 50. Based on the traffic information, the server device 10 does not need to use the probe information detected in the vehicle 30 while the road on which the vehicle 30 is moving is congested to generate the pseudo signal information. Note that if the navigation device 20 determines that the vehicle 30 is located on a congested road based on the traffic information, the probe information does not need to be transmitted to the server device 10.

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

For example, the server device 10 does not need to use probe information indicating that the vehicle 30 started for less than a predetermined time after the vehicle 30 stopped with deceleration exceeding a predetermined value to generate the pseudo signal information. . If the vehicle 30 starts immediately after coming to a sudden stop, there is a possibility that the driver performed a driving operation to avoid danger, such as avoiding a pedestrian who jumped out onto the road.

For example, the server device 10 does not need to use probe information indicating that the vehicle 30 stopped near the edge of the road and started after a relatively short period of time to generate 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 emergency purposes. Only when the server device 10 determines that a predetermined number or more of vehicles 30 have traveled as described above based on probe information obtained from multiple vehicles 30 traveling on the same road at the same time. , it is not necessary to use the probe information obtained from these vehicles 30 to generate pseudo signal information.

For example, the server device 10 may determine whether the plurality of vehicles 30 are traveling on trajectories that are clearly different from normal and the plurality of vehicles 30 are traveling on trajectories that are similar to each other, based on the probe information obtained from the plurality of vehicles 30. If it is determined that the probe information is present, the probe information does not need to be used to generate pseudo signal information. Examples of traveling on a trajectory different from normal include alternate one-way traffic and multiple vehicles 30 detouring around one location. In such a case, there is a possibility that construction is being carried out on the road where the vehicle 30 is located, and traffic regulations are being implemented as a result.

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

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

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

In the server process shown in FIG. 21, the control unit 11 determines whether 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 advances the process to step S805. On the other hand, if the control unit 11 determines that both the probe information and the signal information have been received (step S801: YES), the process proceeds to step S802.

In step S802, the control unit 11 causes the storage unit 12 to store the received probe information. Next, the control unit 11 identifies the traffic light 60 that is the target of the pseudo signal information as the target traffic light, based on the current position information and direction information included in the probe information stored in step S802. Then, the control unit 11 determines whether there is a predetermined number or more of probe information stored in the storage unit 12 regarding the target traffic light (step S803). If the control unit 11 determines that there is no probe information equal to or greater than the predetermined number (step S803: NO), the control unit 11 advances the process to step S805. On the other hand, if the control unit 11 determines that there is a predetermined number or more of probe information (step S803: YES), the control unit 11 advances the process to step S804.

In step S804, the control unit 11 executes pseudo signal information generation processing. 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 through the road corresponding to the target traffic light from the storage unit 12 (step S901).

Next, the control unit 11 executes noise processing. In the noise processing, among the probe information acquired in step S901, probe information in which the vehicle 30 may have stopped due to a factor other than the output of a red light by the target traffic light is treated as noise and is used as a probe for generating 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 probe information indicating that 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. Furthermore, the control unit 11 excludes probe information in which the movement status indicated by the probe information indicates that the vehicle 30 may have stopped due to a factor other than the output of a red light. For example, the control unit 11 may transmit probe information indicating that the vehicle 30 started for less than a predetermined time after the vehicle 30 stopped at a deceleration exceeding a predetermined value to a possibility that the vehicle 30 has stopped to avoid danger. Exclude it as probe information indicating that it exists. In addition, when there is a predetermined number or more of probe information indicating that a predetermined number or more of vehicles 30 have stopped near the edge of the road on the same date and time, the control unit 11 uses these probe information to indicate that an emergency vehicle is in an emergency situation. Exclude as probe information indicating that there is a possibility of a stoppage due to passing the target. Further, when there is a predetermined number or more of probe information indicating that a predetermined number or more of vehicles 30 are passing alternately on one side or detouring around one place, the control unit 11 transmits these probe information to the construction site. It is excluded as probe information indicating that there is a possibility of indicating a trajectory of the vehicle 30 to be avoided.

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

Next, the control unit 11 determines from the noise-processed probe information that a certain first vehicle starts near the stop line corresponding to the target traffic light, and then another second vehicle starts near the stop line corresponding to the target traffic light. Extract the combination of probe information that indicates that the probe has stopped nearby. Then, for each extracted combination, the control unit 11 estimates the time from when the first vehicle starts to when the second vehicle stops as the green light period of the target traffic light (step S904).

Next, the control unit 11 specifies, as a reference traffic light, a traffic light installed at the intersection where the target traffic light is installed, corresponding to a road that intersects the road to which this target traffic light corresponds. The control unit 11 acquires the probe information of the reference traffic light from the storage unit 12 (step S905). Next, the control unit 11 performs noise processing on the probe information acquired in step S905 using the same method as in step S902 (step S906).

Next, the control unit 11 extracts probe information indicating that the vehicle 30 stopped near the stop line corresponding to the reference traffic light and then started from the probe information subjected to noise processing in step S906. Then, for each piece of extracted probe information, the control unit 11 estimates the time from when the vehicle 30 stops until it starts 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 a predetermined time after the red light start time of the reference traffic light as the green light start time of the target traffic light, and estimates a predetermined time before the red light end time of the reference traffic light as the green light end time of the target traffic light. It's okay.

Next, the control unit 11 determines, from among the probe information subjected to noise processing in step S906, that a certain first vehicle starts near the stop line to which the target traffic light corresponds, and that another second vehicle then starts. A combination of probe information indicating that the vehicle has stopped near the stop line is extracted. Then, for each of the extracted combinations, the control unit 11 estimates the time from the start of the first vehicle until 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 a predetermined time before the green light start time of the reference traffic light as the red light start time of the target traffic light, and estimates a predetermined time after the green light end time of the reference traffic light as the red light end time of the target traffic light. It's okay.

Next, the control unit 11 generates pseudo signal information based on the green light periods estimated in steps S904 and S908 and the red light periods estimated in steps S903 and S910 (step S911). The method for generating pseudo signal information is the same as step S408 shown in FIG. 15. 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.

After finishing the pseudo signal information generation process, the control unit 11 determines whether an information request has been received from any vehicle 30, as shown in FIG. 21 (step S805). If the control unit 11 determines that the information request has not been received (step S805: NO), the control unit 11 advances the process to step S807. On the other hand, if the control unit 11 determines that an information request has been received (step S805: YES), the control unit 11 advances the process 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 for determining the pseudo signal information to be transmitted is the same as step S107 in FIG. 12. Next, the control unit 11 determines whether the server device 10 is powered off (step S807). If the control unit 11 determines that the power is not turned off (step S807: NO), the control unit 11 advances the process to step S801. On the other hand, if the control unit 11 determines that the power is turned off (step S807: YES), it ends the server processing.

In FIG. 23, the same processes as in FIG. 16 are given 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 received 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 selects the traffic light closest to the vehicle 30 among the traffic lights 60 located in the traveling direction of the vehicle 30 along the road on which the vehicle 30 is located, based on the current position and traveling direction of the vehicle 30 and the map data. 60 is specified as the target traffic light. Then, the control unit 21 determines whether signal information of the target traffic signal has been 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 light start timing information or recommended travel speed range information based on the signal information of the target traffic light. In step S1005, the processing contents are the same as in step S610 shown in FIG. 17, except that signal information is used. On the other hand, if the control unit 21 determines that the signal information has not been received (step S1004: NO), the control unit 21 advances the process to step S1006. In step S1006, similarly to step S610 shown in FIG. 17, the control unit 21 causes the display 24 to display green light start timing information or recommended travel speed range information based on the pseudo signal information of the target traffic light.

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

As explained above, according to the operation according to the modified example, probe information indicating the movement status of the vehicle 30 is acquired as output status related information, and pseudo signal information is generated based on the acquired probe information, so that the signal Pseudo signal information can be generated as information in place of this signal information to provide to the vehicle 30 traveling on roads where information cannot be provided.

Further, when the probe information indicates that the vehicle 30 has stopped moving within a predetermined range corresponding to the traffic light 60 and that the vehicle 30 has started moving after this movement stop, the red light period is determined based on the period from this movement stop to the start of movement. Since the pseudo signal information is generated based on 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 detect the start of movement of the first vehicle within a predetermined range corresponding to the traffic light 60 and the traffic light after the start of movement. 60 indicates a stoppage of movement of the second vehicle within the corresponding predetermined range, the green light period is estimated based on the period from the start of movement to the stoppage of movement, and the pseudo-green light period is estimated based on the estimated red light period. Since signal information is generated, appropriate pseudo signal information can be generated for the green signal period.

Furthermore, if traffic information is acquired and, based on this traffic information, probe information detected in the vehicle 30 during a traffic jam is not used to generate pseudo signal information, there is a possibility that the vehicle 30 will stop due to the traffic jam. Since probe information detected in a certain situation can be excluded, the accuracy of pseudo signal information can be increased.

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

Furthermore, if the probe information obtained when the vehicle 30 detects that an emergency vehicle is moving for emergency purposes around the vehicle 30 is not used to generate pseudo signal information, the driver may be required to give way to the emergency vehicle. Since probe information detected in a situation where there is a possibility of stopping the vehicle 30 can be excluded, the accuracy of the pseudo signal information can be increased.

In the embodiments and modifications described above, a navigation device is used as a device that provides driving support for the vehicle 30 based on at least one of signal information and pseudo signal information. However, devices that provide such driving support are not limited to navigation devices.

Furthermore, in the above embodiments and modifications, the moving object of the embodiment was a vehicle. However, the moving object 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 section 12 Storage section 13 Communication section 20 Navigation device 21 Control section 22 Storage section 23 Communication section 24 Display 25 Speaker 26 Input section 27 Interface Section 31 Camera 32 Vehicle speed sensor 33 Acceleration sensor 34 Gyro sensor 35 GNSS sensor 36 Beacon receiver 50 Traffic control center 60 Traffic light 70 Roadside device 40 Network S Driving support system

Claims (7)

The mode of change in the traffic signal indicated by the signal information indicating the mode of change in the traffic signal output by the traffic signal, and the mode of change in the traffic signal output by the traffic signal, which is specified based on the imaging information obtained by imaging the traffic signal. an acquisition means for acquiring difference information indicating a temporal difference between the mode of change of the traffic signal and the time difference between the two;
determining means for determining, based on the signal information and the difference information, a speed range suitable for a moving object passing through a position corresponding to the traffic light;
output control means for causing the output means to output range information indicating the determined speed range;
Equipped with
The information processing apparatus is characterized in that the determining means narrows the range as the difference indicated by the difference information becomes larger. The information processing device according to claim 1,
The information processing device is characterized in that the output control means lowers the ease of recognition of the range information as the difference indicated by the difference information becomes larger. The information processing device according to claim 2,
The output means is means for displaying the range information,
The output control means causes the output means to display the range information including a figure indicating the range, and the larger the difference indicated by the difference information, the larger the part of the figure indicating the maximum value of the range and the range. An information processing device characterized in that the visibility of at least one of the portions showing the minimum value of is reduced. The information processing device according to claim 2 or 3,
The information processing device is characterized in that the output control means does not output the range information when the difference indicated by the difference information exceeds a predetermined value. In an information processing method performed by a computer,
The mode of change in the traffic signal indicated by the signal information indicating the mode of change in the traffic signal output by the traffic signal, and the mode of change in the traffic signal output by the traffic signal, which is specified based on the imaging information obtained by imaging the traffic signal. an acquisition step of acquiring difference information indicating a time difference between the mode of change of the traffic signal and the time difference between the changes in the traffic signal;
a determining step of determining, based on the signal information and the difference information, a speed range suitable for a moving object passing through a position corresponding to the traffic light;
an output control step of causing an output means to output range information indicating the determined speed range;
including;
The information processing method is characterized in that, in the determining step, the larger the difference indicated by the difference information, the narrower the range is. An information processing program that causes a computer to function as the information processing apparatus according to any one of claims 1 to 4. A recording medium on which the information processing program according to claim 6 is recorded in a computer-readable manner.

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