JP4357983B2 - DELAY TIME ESTIMATION DEVICE, DELAY TIME ESTIMATION METHOD, DELAY TIME ESTIMATION SYSTEM, AND DELAY TIME ESTIMATION PROGRAM - Google Patents

Description

  The present invention relates to a delay time estimation device, a delay time estimation method, a delay time estimation method for estimating a delay time in a predetermined road section based on vehicle travel information measured by an in-vehicle device or a vehicle detector installed on a roadside or the like. The present invention relates to a time estimation system and a delay time estimation program.

  Conventionally, the delay time of each vehicle is calculated based on the stop time of the vehicle based on measurement information collected using a wireless communication infrastructure or the like from a vehicle called a probe car equipped with an in-vehicle device that measures a traveling state. A method (for example, Patent Document 1, Patent Document 2) or a method for calculating the total delay time of the link based on information by a vehicle detector such as AVI (Automatic Vehicle Identification) installed on the road side ( For example, Non-Patent Document 1) is presented.

  Here, the total delay time is the sum of the delay times of all vehicles that have stopped or traveled below the predetermined speed due to signal waiting, etc., and was obtained for any link or road network such as between intersections. It is used for the purpose of evaluation and traffic jam information.

  Japanese Patent Laid-Open No. 2004-151867 discriminates the staying position and factors of the vehicle based on travel information including position information obtained from a probe car, and if the staying factor is other than a traffic jam, the staying time is set as the vehicle passing time. A traffic information processing method for calculating the transit time of a vehicle is described.

  Patent Document 2 describes a traffic information estimation method for predicting or estimating a traffic jam situation in an untraveled area using probe information accumulated by a probe car from the past to the present.

Furthermore, Non-Patent Document 1 estimates the travel time of each vehicle by obtaining the passing time and plate number of each vehicle from a vehicle detector such as AVI and matching the vehicle between two points based on the plate number. A delay time calculation method for estimating the delay time from the travel time is described.
JP 2002-342893 A JP 2002-251698 A Miho Asano, Akira Nakajima, Ryota Horiguchi, Hiroyuki Koneyama, Masao Kuwabara "Delay time calculation method for real-time model reference signal control"

  However, in the traffic information processing method described in the above-mentioned Patent Document 1, an average of required time between predetermined points and passing speeds for each vehicle is obtained, and a total delay time is not obtained.

  Further, in the traffic information estimation method described in Patent Document 2, the delay time is estimated for each area by a statistical method, and therefore the delay time cannot be estimated for a predetermined road section such as individual links. There was a circumstance.

  Further, in the delay time calculation method described in Non-Patent Document 1, in the method using a vehicle detector such as AVI, the travel time of each vehicle is obtained based on the time passing through the vehicle detector, and the comparison is made. The delay time is calculated, that is, the delay time is calculated based on the time of the inflowing vehicle and the time of the outflowing vehicle between the vehicle detectors. Thus, there is a situation in which an accurate delay time based on waiting for a signal or the like in a predetermined road section cannot be estimated.

  The present invention has been made in view of the above circumstances, and is a delay time estimation device, a delay time estimation method, a delay time estimation system, and a delay time estimation that can estimate an accurate delay time in a predetermined road section. The purpose is to provide a program.

The delay time estimation device according to the present invention estimates a delay time obtained from a cumulative number of vehicles that have traveled below a predetermined speed and a time during which the vehicle has traveled below a predetermined speed in a predetermined road section. In the estimation device,
Arbitrary points in the predetermined road section in an arbitrary time zone from a travel information database in which travel information including vehicle position information, time information, speed information, and vehicle identification information measured at multiple points or multiple points in time is accumulated Passing vehicle extraction means for extracting travel information of the target vehicle that has passed through the vehicle,
Based on the travel information, an arrival state estimation means for estimating an arrival state including an arrival time and an arrival position, which is a time and a position when starting traveling at a predetermined speed or less for each of the target vehicles in the predetermined road section. When,
Departure state estimation means for estimating a departure state including a departure time and a departure position, which is a time and a position when starting traveling at the predetermined speed or higher after arrival for each of the target vehicles, based on the traveling information;
A delay time calculating means for calculating the delay time based on the arrival state and the departure state;
With
The departure state estimation means sequentially searches from the travel information after the target vehicle has passed the arbitrary point toward the past, compares the speed information with the predetermined speed, and when the target vehicle becomes equal to or lower than the predetermined speed The departure state is estimated on the basis of the speed information and the position information and the speed information and the position information at a time point searched before the time point when the speed becomes equal to or lower than the predetermined speed .

  With this configuration, the departure time and position of each target vehicle can be estimated quickly and efficiently.

  According to the present invention, it is possible to provide a delay time estimation device, a delay time estimation method, a delay time estimation system, and a delay time estimation program that can estimate an accurate delay time in a predetermined road section.

  FIG. 1 is a diagram illustrating an overall configuration of a delay time estimation system including a delay time estimation device according to an embodiment of the present invention, a vehicle, and the like.

  In FIG. 1, a vehicle 1 is assumed to travel on a route including a road 2 and an intersection 3. In this embodiment, the intersection 3 is a downstream intersection (hereinafter referred to as a downstream intersection) in a predetermined road section such as a link whose estimation is a delay time. Here, the delay time of the present embodiment is the sum of the delay times of all the vehicles that have traveled below the predetermined speed in the predetermined road section, and the cumulative number of vehicles that have traveled below the predetermined speed and the vehicle has the predetermined speed. Hereinafter, the total delay time obtained from the travel time will be used.

  The vehicle 1 is equipped with an in-vehicle device 4 that measures traveling information such as speed and position and transmits information to the wireless communication device 6 through radio waves, infrared rays, and the like.

  The delay time estimation system of this embodiment includes a vehicle sensor 5, a wireless communication device 6, a travel information collection device 7, a travel information database 8, a delay time estimation device 9, and a monitor 14.

  The delay time estimation device 9 is a device for calculating the delay time of the vehicle 1 traveling on a predetermined road section. The passing vehicle extraction means 10, the traveling state estimation means 11, the delay time calculation means 12, and a storage means 13 such as a memory. have. Furthermore, the traveling state estimation unit 11 includes a departure time position estimation unit 11a, a departure time position function estimation unit 11b, an arrival time position estimation unit 11c, and an arrival time position function estimation unit 11d.

  Here, in this embodiment, a link will be described as an example of a road section. For example, this link is obtained by dividing a road section such as a road from an intersection to an intersection or a traffic light to a traffic light according to directions. However, the predetermined road section may be a fixed section, a road section delimited at an arbitrary interval, or an arbitrary point. Further, the delay time of the vehicle 1 traveling on the link is a delay time caused by stopping or traveling below a predetermined speed due to signal waiting, merging, lane change, traffic jam, etc. when the vehicle 1 passes the downstream intersection of the link. I mean.

  Next, the operation of the delay time estimation system of this embodiment will be described. As shown in FIG. 1, the vehicle 1 travels on a route including an intersection such as a road 2 and a downstream intersection 3. The in-vehicle device 4 is mounted for each vehicle 1 and measures traveling information of each vehicle 1 such as speed and position, and vehicle identification information such as an identification code assigned to each vehicle 1 in the measured traveling information, measurement time, and the like. The data including the data is transmitted to the wireless communication device 6 through radio waves or infrared rays.

  The vehicle detector 5 is provided on the road side of the road 2 at regular or arbitrary intervals, for example, and travel information such as the speed of the vehicle 1 and travel time by a method such as image, optical, and ultrasonic detection. Is measured, and each vehicle 1 is identified to obtain travel information of each vehicle 1. The travel information collection device 7 collects travel information such as the speed, position, identification code, and measurement time of each vehicle 1 from the wireless communication device 6 and the vehicle sensor 5 and stores the travel information in the travel information database 8.

  Here, the travel information collection device 7 may accumulate travel information from either the in-vehicle device 4 or the vehicle sensor 5 in the travel information database 8. In this case, any one of the vehicle-mounted device 4 and the wireless communication device 6 and the vehicle sensor 5 may be omitted, and the devices required for the delay time estimation system can be reduced. Further, the travel information from both the in-vehicle device 4 and the vehicle sensor 5 may be stored in the travel information database 8 and both of them may be used. In this case, more accurate travel information of the vehicle 1 can be used when estimating the delay time.

  The delay time estimation device 9 uses the travel information of the vehicle 1 stored in the travel information database 8 to execute a delay time estimation process, which will be described later, to estimate the travel state of the vehicle at the link, and The delay time of the vehicle 1 traveling on the road is calculated. The monitor 14 displays the delay time of the vehicle 1 at the link estimated by the delay time estimation device 9.

  Next, an outline of the operation of the delay time estimation device 9 of the present embodiment will be described. In the delay time estimation device 9, the passing vehicle extraction means 10 first identifies a target vehicle that is a target for calculating the delay time, and extracts travel information of the target vehicle from the travel information database 8.

  Next, in the traveling state estimating means 11, the time (hereinafter referred to as the departure time) and the position (hereinafter referred to as the departure position) at which the departure time position estimation unit 11a is determined to depart for each target vehicle specified by the passing vehicle extraction means 10 are described. .) Then, the departure time position function estimation unit 11b models the departure state of the vehicle 1 on the link with a function based on the departure time and position of each target vehicle.

  Further, the arrival time position estimation unit 11c estimates a time (hereinafter referred to as arrival time) and a position (hereinafter referred to as arrival position) that are determined to arrive for each target vehicle specified by the passing vehicle extraction means 10, and Next, the arrival time position function estimation unit 11d models the arrival state of the vehicle 1 at the link from the arrival time and position of each target vehicle by a function.

  Then, the delay time calculating means 12 includes a departure time position function indicating the departure state of the vehicle 1 at the link modeled by the departure time position function estimation unit 11b and a link at the link modeled by the arrival time position function estimation unit 11d. Based on the arrival time position function indicating the arrival state of the vehicle 1, the delay time of the vehicle 1 at the link including the downstream intersection 3 is estimated.

  FIG. 2 is a flowchart showing the processing procedure of the passing vehicle extraction means of the delay time estimation apparatus of this embodiment. FIG. 3 is a conceptual diagram showing an example of the processing contents of the passing vehicle extraction means of the present embodiment. As described above, before the processing is started by the delay time estimation device 9, the travel information database 8 already stores necessary travel information of the vehicle.

In the present embodiment, when the time zone of interest of the delay time calculation and T _b through T _e, the passing vehicle extraction unit 10 first vehicle which is measured in a time zone T _b through T _e at the downstream intersection or near The measurement time, travel position, and vehicle identification code (i = 1 to N) are extracted from the travel information database 8 (S201). In the present embodiment, to trace the travel locus of the extracted target vehicle as described below, to determine the delay time calculation target time period T _b through T _e running condition including delayed time of the target vehicle in the past than And

Next, the passing vehicle extracting means 10 sets the distance to the vehicle i as a reference from the position of the downstream intersection 3 of the link to be calculated as a target from the vehicle of i = 1 (S202). and _i, the vehicle position at time T _e is downstream of the downstream intersection 3, i.e. to determine the target vehicle as the d _i> 0 (S203). According to the determination processing of S203, the delay time calculation target time period T _b through T _e, it will identify the vehicle 1 that has passed through the downstream intersection 3.

The passing vehicle extraction means 10 stores the identification code of the vehicle i in the storage means 13 only when the vehicle i satisfies d _i > 0 (S204 “Yes”) (S204). 1 is added to i (S205), and then it is determined whether i> N, i.e., all 1 to N vehicles have been processed (S206). When all the vehicles 1 to N are not processed (S206 “No”), the passing vehicle extraction means 10 repeats the processing after S203, while when all the vehicles 1 to N are finished (S206 “Yes”). ”), The above processing is completed.

Treatment of passing vehicles extracting means 10 described above, during the delay time calculation target time period T _b through T _e, it is possible to extract a vehicle that has passed through the downstream intersection 3.

The processing contents of the passing vehicle extracting means 10 described above will be described with reference to the example of FIG. 3. As shown in FIG. 3, this time is set on a plane composed of the time t indicating the measurement time and the distance d from the downstream intersection 3. band T _b when through T _e to describe the running locus of the vehicle measured 1 to N, the distance d> 0 from the downstream intersection 3 between the target time period T _b through T _e of the delay time calculation indicated by hatching Vehicle, that is, a vehicle having travel trajectories 3b to 3d indicated by a solid line in FIG.

The passing vehicle extracting means 10 extracts the vehicles of the traveling trajectories 3b to 3d indicated by the solid line by the processing of the passing vehicle extracting means 10 shown in FIG. 2, while the vehicles of the traveling trajectories 3a, 3e, and 3f indicated by the broken lines are extracted. Not extracted. In other words, indicating that only vehicles traveling locus 3b~3d that has passed through the downstream intersection 3 between the delay time calculation target time period T _b through T _e indicated by hatching is extracted by the processing of the passing vehicle extracting means 10 Yes.

Incidentally, in FIG. 3, "◇" and "△" and indicates a measurement time of the travel information of the vehicle 1, "◇" is the delay time calculation target time period T _b ~T _e, "△" It shows it is outside the delay time calculation target time period T _b through T _e.

FIG. 4 is a flowchart showing a processing procedure of the departure time position estimation unit of the present embodiment. FIG. 5 is a conceptual diagram showing an example of processing contents of the departure time position estimation unit of the present embodiment. Incidentally, the number of vehicles that have been extracted by the passing vehicle extraction process shown in FIG. 2, N _BE.

Departure time position estimator 11a is directed to the vehicle a vehicle that has passed through the downstream intersection 3 between the delay time calculation target time period T _b through T _e extracted by the processing of the passing vehicle extracting means 10, for each of its target vehicle The measurement time after passing the downstream intersection 3, that is, the distance d> 0 from the downstream intersection 3, and the distance d is compared from the speed of the measurement time as small as possible to the past. Is estimated.

  In the case of a link including the downstream intersection 3, the vehicle travels from the upstream side (not shown), and the comparison is made from the speed at the measurement time after passing through the downstream intersection 3 to the past. This is because it is considered that the vehicle arrives three downstream before the traffic stop, etc. and stops or runs at a low speed, and then departs and passes the downstream intersection 3.

  Then, if the comparison is made from the speed of the measurement time after passing through the downstream intersection 3 toward the past, the departure time and position, and the arrival time and position can be easily obtained. Moreover, although the distance d from the downstream intersection 3 is greater than 0 and the distance d is as small as possible, the search for the speed starts from the speed of the measurement time toward the past. Since the comparison can be started from the speed close to the downstream intersection 3, that is, the speed at which the vehicle has just started, the departure time, position, and the like can be obtained easily and early.

Specifically, the departure time position estimation unit 11a first sets the vehicle extracted by the process of the passing vehicle extraction means 10 as the target vehicle i = 1 (S401), and is measured after the target vehicle i passes the downstream intersection 3. The measured time is t _pj (where j = 0 is initially set) (S402), and the speed V _pj at the measured time t _pj is read from the travel information database 8 (S403). Next, the speed V _pj is compared with a speed threshold V _thl for departure determination (for example, V _thl = 5 km / h), and whether or not the speed V _pj is equal to or _lower than the speed threshold V _thl for departure determination. Is determined (S404).

If the speed V _pj is not equal to or less than the speed threshold V _thl for departure determination (S404 “No”), the target vehicle i is still in the state after departure, so 1 is added to j and the process returns to the past by one measurement time. , The process of reading the speed V _{p-j + 1} from the travel information database 8 in S403 is repeated. On the other hand, when the speed V _pj becomes equal to or less than the speed threshold V _thl for departure determination (S404 “Yes”), the target vehicle i is stopped or driving at low speed due to traffic light waiting at the downstream intersection 3 or traffic jam. Therefore, the departure time of the target vehicle i is estimated by the process of the next step S405.

That is, _assuming that the measurement time at which the speed of the target vehicle i coincides with the speed threshold value V _thl is the departure time t _{i, l} , the departure time t _{i, l} and the speed V _pj are less than or equal to the speed threshold value V _thl for departure determination. time difference (t _p between the measurement time t time difference between _{pj (t i, l -t pj} ) and a measurement time t _{pj + 1} compared to the previous and the measurement time t _pj when _{-j + 1} -t _pj ) is a difference between the speed threshold V _thl and the speed difference (V _thl -V _pj ) between the speed V _{pj at} the measurement time t _pj and the measurement time t _p compared before that. _As equal to the ratio between the speed V _{p-j + 1 at −j + 1} and the speed difference (V _{p−j + 1} −V _pj ) between the speed V _{pj at} the measurement time t _pj , The departure time t _{i, l} is calculated and stored in the storage means 13 (S405).

Subsequently, the departure time position estimation unit 11a sets the vehicle position with reference to the downstream intersection 3 at the departure time t _{i, l} as d _{i, l,} and the measurement times t _pj and t _p before and after the departure time t _{i, l.} Based on the difference between the distance d _{pj at −j + 1} and d _{p−j + 1} , that is _, the vehicle position at the departure time t _{i, l} is less than d _{i, l} and the speed threshold V _thl for departure determination. distance difference between the vehicle position d _pj in the measurement time t _pj when (d _{i, l} -d _pj) and, vehicle position d _{pj + 1} at the measurement time t _{pj + 1} compared to the previous rate between and the ratio of the distance difference between the vehicle position d _pj and (d _{pj + 1} -d _pj) at the measurement time t _pj is, the velocity V _pj in speed threshold V _thl and the measured time t _pj the difference between (V _thl -V _pj), the speed difference between the speed V _pj in the velocity V _{pj + 1} and the measurement time t _pj at the measurement time t _{pj + 1} compared to the previous (V _{p- j + 1} - as equal to the ratio of _pj), vehicle position d _i, a _l calculated for example as the number 2, stored in the storage unit 13 (S406).

Then, the departure time position estimation unit 11a adds 1 to i to estimate the departure time t _{i, l} and the departure position d _{i, l} for the next target vehicle (S407), and then i> N _be, that is, the delay and it determines whether or not it is completed the above processes for all vehicle 1 to N _bE passing through the downstream intersection 3 between time calculation target time period T _b ~T _e (S408), and if not i> N _bE (S408 “No”), since the departure time and position are not calculated for all the vehicles 1 to N _be , the processing after S402 is repeated, while when i> N _be (T408 “Yes”). ”) Since the departure time and position have been calculated for all the vehicles 1 to N _be , the process is terminated.

By the above process, the starting time position estimating unit 11a, the total of 1 to N _BE passing through the downstream intersection 3 between the delay time calculation target time period T _b through T _e extracted by the processing of the passing vehicle extracting means 10 The departure time t _{i, l} and the departure position d _{i, l of the} vehicle can be estimated and stored in the storage means 13.

If the processing content of the departure time position estimation part 11a is demonstrated by the example of FIG. 5, FIG. 5 (a)-(c) will each be by the process of the above-mentioned passing vehicle extraction means 10, as shown in the example of FIG. The relationship between the vehicle measurement time t of the extracted travel tracks 3b to 3d and the speed V at that time is shown. Figure 5 (a) ~ (c), as shown by hatching in each diagram, a measurement time t _pj and velocity V _pj at that velocity V _pj is equal to or less than the speed threshold V _thl for determining the starting, from the comparison prior to the velocity V _{p-j + 1} arrives determination is speed threshold V _thl or more measurement time t _{p-j + 1} and its velocity V _{p-j + 1} Prefecture, the number 1, number 2 This indicates that the departure times t _{1, l} , t _{2, l} , t _{3, l} of the vehicles on the travel trajectories 3b to 3d can be estimated easily.

  Next, FIG. 6 is a flowchart showing a processing procedure of the departure time position function estimation unit of the present embodiment. FIG. 7 is a conceptual diagram illustrating an example of processing contents of the departure time position function estimation unit of the present embodiment.

Departure time position function estimating unit 11b, is stored in the storage unit 13 according to the starting time position estimator 11a the vehicle i (= 1,2, ···, N be), i.e. the delay time calculation target time period T _b through T Departure times T _l = [t _{1, l} , t _{2, l} ,..., t _{Nbe, l} ] of all vehicles 1 to N _be that have passed the downstream intersection 3 during _e , and a departure position D _l = [D _{1, l} , d _{2, l} ,..., D _{Nbe, l} ] are read (S601).

Next, based on the distribution of the points (T ₁ , D ₁ ) on the plane having the measurement time t and the distance d from the downstream intersection 3 as an axis, the departure time T ₁ and the departure position D ₁ are calculated using a linear regression method. The coefficients α _l and β _l satisfying the departure time position function f _l (T _l = α _l · D _l + β _l ) representing the relationship are obtained (S602), and the obtained coefficients α _l and β _l are stored in the storage means 13. (S603), and the process ends.

If the processing content of the departure time position function estimation part 11b is demonstrated by the example of FIG. 7, FIG. 7 (a)-(c) will each be the example of FIG. 3 similarly to FIG. 5 (a)-(c). As shown, the relationship between the measurement time t of each vehicle i (= 1 to 3) of the travel trajectories 3b to 3d extracted by the processing of the passing vehicle extraction means 10 and the speed V at that time is shown. The time t when the speed V _becomes equal to the departure determination speed threshold V _thl by the position estimation unit 11a is the departure time T _l = [t _{1, l} , t _{2, l of} each vehicle i (= 1 to 3). , T _{3, l} ].

FIG. 7D shows the departure time T _{l of} each vehicle i (= 1 to 3) shown in FIGS. 7A to 7C on the plane having the time t and the distance d from the downstream intersection 3 as an axis. = [T _{1, l} , t _{2, l} , t _{3, l} ] and the starting position D _l = [d _{1, l} , d _{2, l} , d _{3, l} ] (T _l , D _l ) is described, and connecting the points (T _l , D _l ) indicating these values indicates that the departure time position function f _l (T _l = α _l · D _l + β _l ) is obtained. . The departure time position function estimation unit 11b uses a coefficient α _l that is a slope of the departure time position function f _l and a coefficient β _l that is a value of the departure time t _{i, l} when the departure position d _{i, l} is 0. They are seeking.

  Next, FIG. 8 is a flowchart showing a processing procedure of the arrival time position estimation unit of the present embodiment. FIG. 9 is a conceptual diagram showing an example of processing contents of the arrival time position estimation unit of the present embodiment.

Arrival time position estimation unit 11c, it passes through the downstream intersection 3 between departure time like the position estimation unit 11a, extracted by the processing of the passing vehicle extracting means 10 delay time calculation target time period T _b through T _e 1 Since the vehicle of ˜N _be is the target vehicle, first, the target vehicle i = 1 is set (S801), and the measurement time t _{pk at which} the speed of the target vehicle i is equal to or less than the speed threshold V _thl for departure determination (however, first K = j) (S802). Here, the initial value of k at the measurement time t _pk is set to k = j, as described above, the speed V _pj obtained for each target vehicle i by the departure time position estimation unit 11a is the speed threshold V for departure determination. _This is because the arrival time and position can be estimated reliably and efficiently if the judgment is made by going back to the past from the measurement time t _pj when it _becomes less than _thl .

Next, the arrival time position estimation unit 11c adds 1 to k, changes the measurement time _tpk to one measurement time before (S803), and reads the speed _{Vpk at} the measurement time _tpk from the speed information database 8. (S804), comparing the speed V _pk with the speed threshold V _tha for arrival determination (for example, V _tha is the same as the speed threshold V _thl for departure determination, and V _tha = V _thl = 5 km / h) Then, it is determined whether or not the speed V _pk is equal to or lower than the speed threshold V _tha for arrival determination (S805). Until the speed V _pk reaches the speed threshold V _tha for arrival determination (S805 “No”), the processing after S803 is repeated, and the speed V _pk becomes equal to or higher than the speed threshold V _tha for arrival determination. (S805 “Yes”), the arrival time t _{i, a} is calculated according to the following equation 3 and stored in the storage means 13 (S806).

That is, the arrival time position estimation unit 11c, arrived when the velocity V _pk is equal to the speed threshold V _tha for arrival determination time t _i, When _a time of arrival t _i, for the arrival determination _a and the speed V _pk The difference between the time difference (t _{i, a} −t _pk ) from the measurement time t _{pk that} is equal to or greater than the speed threshold V _tha and the measurement time t _{p-k + 1} and the measurement time t _pk compared before that (T _{p−k + 1} −t _pk ) is the difference between the speed threshold V _tha for arrival determination and the speed difference (V _tha −V _pk ) between the speed V _{pk at} the measurement time t _pk and before equal to the ratio of the velocity difference between the velocity V _pk and (V _{pk + 1} -V _pk) in the velocity V _{pk + 1} and the measured time t _pk at measurement time t _{pk + 1} in comparison to the As an example, the arrival time t _{i, a} is calculated according to Equation 3 (S806).

Subsequently, arrival time t _i, and the vehicle position relative to the downstream intersection 3 in _a d _i, and _a, arrival time t _{i, a} respective measurement time t _pk before and after the vehicle position in the t _{pk + 1} d Based on the difference between _pk and d _{p−k + 1} , for example, the vehicle position d _{i, a} is calculated according to the following equation 4 and stored in the storage means 13 (S807). That is, the arrival time position estimation unit 11c determines the vehicle position d at the measurement time t _pk when the vehicle position d _{i, a} and the speed V _pk at the arrival time t _{i, a} are equal to or higher than the speed threshold V _tha for arrival determination. distance difference between _{pk (d i, a -d pk} ) and, vehicle position d _pk at the vehicle position d _{pk + 1} and the measured time t _pk at measurement time t _{pk + 1} in comparison to the previous The ratio with the distance difference (d _{p−k + 1} −d _pk ) is the speed difference (V _tha −V _pk ) between the speed threshold V _tha for arrival determination and the speed V _{pk at} the measurement time t _pk . When, with the velocity difference between the velocity _{V pk (V pk + 1 -V} pk) in the velocity V _{pk + 1} and the measurement time t _pk at measurement time t _{pk + 1} in comparison to the previous For example, the vehicle position d _{i, a} is calculated according to the following equation 4 and stored in the storage means 13 as being equal to the ratio.

Then, the arrival time position estimation unit 11c adds 1 to i in order to estimate the arrival time t _{i, a} and the arrival position d _{i, a} for the next target vehicle (S808), i> N _be, that is, delay time calculation and it determines whether or not it is completed the above processes for all vehicle 1 to N _bE passing through the downstream intersection 3 between the target time period T _b ~T _e (S809), and when not, i> N _{be (} S809 “No”), the processing from S802 onward is repeated. On the other hand, if i> N _be (S809 “Yes”), the above processing is completed for all vehicles 1 to N _be. Terminate the process.

If the processing content of the arrival time position estimation part 11c is demonstrated by the example of FIG. 9, Fig.9 (a)-(c) will respectively show arrival time t _{i, a} and arrival position di, by the arrival time position estimation part 11c. It shows the relationship between the measurement time t of each vehicle i (= 1 to 3) where a is estimated and the speed V at that time. FIGS. 9A to 9C are respectively compared with the measurement time t _pk when the shaded speed V _pj is equal to or higher than the arrival determination speed threshold V _tha and the speed V _pk at that time. from the speed V _{p-k + 1} is equal to or less than the speed threshold V _tha for arrival determination measurement time t _{p-k + 1} and its velocity V _{p-k + 1} Tokyo, Equation 3, simply the arrival time by the number 4 This shows that t _{1, a} , t _{2, a} and t _{3, a} can be estimated.

  FIG. 10 is a flowchart showing a processing procedure of the arrival time position function estimation unit of the present embodiment. FIG. 11 is a conceptual diagram illustrating an example of processing contents of the arrival time position function estimation unit according to the present embodiment.

The arrival time position function estimation unit 11d firstly has the vehicle i (= 1, 2,..., N _be ) stored in the storage means 13 by the arrival time position estimation unit 11c, that is, the delay time calculation target time zone T _b. through T _e arrival time T _a = the total vehicle 1 to N _bE passing through the downstream intersection 3 between _{[, t 1 a, t 2a} , ···, t Nbe, a] and the arrival position D _a = [D _{1, a} , d _{2, a} ,..., D _{Nbe, a} ] are read (S1001). Then, based on the distribution of the points (T _a , D _a ) on the plane having the time and the distance as axes, the arrival time position function f _a (T _a = T _a = representing the relationship between the time and the position using the linear regression method). The coefficients α _a and β _a of α _a · D _a + β _a ) are obtained (S1002), the obtained α _a and β _a are stored in the storage means 13 (S1003), and the process is terminated.

If the processing content of the arrival time position function estimation part 11d is demonstrated using the example of FIG. 11, FIG. 11 (a)-(c) will be FIG. 5 (a)-(c) and FIG. Similarly to c), as shown in the example of FIG. 3, the relationship between the vehicle measurement time t of the travel trajectories 3b to 3d extracted by the processing of the passing vehicle extraction means 10 and the speed V at that time is shown. arrival time of the time t is each vehicle i when the velocity V is equal to the speed threshold V _tha for arrival determination by the arrival time position estimator _{11c (= 1~3) T a =} [t 1, a, t 2 _{, a} , t _{3, a} ].

FIG. 11D shows the arrival time T _{a of} each vehicle i (= 1 to 3) shown in FIGS. 11A to 11C on the plane having the measurement time t and the distance d from the downstream intersection 3 as an axis. = [T _{1, a} , t _{2, a} , t _{3, a} ] and the arrival point D _a = [d _{1, a} , d _{2, a} , d _{3, a} ] (t _{i, a} , D _{i, a} ) and connecting the points (T _a , D _a ) indicated by these values, the arrival time position function f _a (T _a = α _a · D _a + β _a ) is obtained. Show. The arrival time position function estimation unit 11d calculates a coefficient α _a that is the slope of the arrival time position function f _a and a coefficient β _a that is the value of the arrival time t _{i, a} when the arrival position d _{i, a} is 0. They are seeking.

  FIG. 12 is a flowchart showing the processing procedure of the delay time calculation means of this embodiment. FIG. 13 is a conceptual diagram showing the processing contents of the delay time calculating means of this embodiment.

The delay time calculation means 12 includes the departure time T _l and the coefficients α _l and β _{l of} the departure time T _l and departure position D _l estimated by the departure time position function estimation section 11b and stored in the storage means 13, and the arrival time position function estimation section 11d. The arrival time T _a and the coefficients α _a and β _{a of the} arrival position D _a estimated and stored in the storage means 13 are read (S1201).

Then, as shown in FIG. 13 (a), on the plane having the measurement time t and the distance d from the downstream intersection 3 as an axis, based on the coefficients α _l and β _l of the departure time T _l and the departure position D _l. departure time t _{i, l} starting position d _i, the starting time position function f _l by _l, arrival time T _a and the position arrival D coefficient of _{a α a, β a} based on arrival time t _{i, a} and position arrival d _i, draw the arrival time position function f _a by _a, as shown in FIG. 13 (b), obtaining these two functions f _l, and f _a, the area surrounded by the axial distance d = 0 ( S1202).

  Next, the delay time calculating means 12 divides the distance d by the average vehicle head interval H based on the average vehicle head interval H at the time of stop estimated from the vehicle type composition ratio (for example, H = 7 m), The area on the plane with the time t and distance d obtained in S1202 as an axis is converted into the area by the measurement time t and the number of vehicles m as shown by the shaded area in FIG. 13B (S1203). The calculated area is calculated as the link delay time (S1204).

  According to the delay time estimation device 9, the delay time estimation method, and the delay time estimation system according to the embodiment of the present invention, the travel of the target vehicle measured by the in-vehicle device 4 or the vehicle sensor 5 installed on the road side. Based on the information, the departure time and position of the target vehicle on the link, the arrival time and the running state of the position can be estimated, and the accurate delay time on the link can be estimated based on the estimated running state. Therefore, it is possible to easily obtain information necessary for evaluating signal control and providing traffic information.

Further, the passing vehicle extraction unit 10, since the the delay time calculation target time period T _b through T _e only vehicle that has passed through the downstream intersection and the target vehicle, the link to the delay time calculation target time period T _b through T _e The vehicle parked in the vehicle is less likely to calculate a delay time as a target vehicle, and an accurate delay time due to waiting for a signal or the like on the link can be estimated.

  Further, when estimating the departure time and position of the target vehicle, the search is performed from the measurement time after passing through the downstream intersection 3 toward the past, so that the departure time and position of each target vehicle can be easily estimated. .

  In addition, since the departure time position function indicating the relationship between the departure time and the departure position of each target vehicle is estimated as the departure state, the departure state of the vehicle waiting for a signal at the downstream intersection 3 of the link is easily and accurately modeled. can do.

  In addition, when estimating the arrival time and position of the target vehicle, the search is made from the departure time and the position as a reference, and the arrival time and position of the target vehicle are estimated from there. The position can be estimated easily and efficiently.

  Since the arrival time position function indicating the relationship between the arrival time and the arrival position of each target vehicle is estimated as the arrival state, the arrival state of the vehicle waiting for a signal at the downstream intersection 3 of the link can be modeled easily and accurately. Can be

  In addition, since the departure time position function that models the departure state and arrival state of the vehicle waiting for the signal at the downstream intersection 3, the arrival time position function, and the average vehicle head distance, the delay time in the link is calculated. It is possible to estimate an accurate delay time of a vehicle waiting for a signal at the downstream intersection 3 in the link.

  In the description of the present embodiment, the delay time estimation device 9 is configured by hardware such as the passing vehicle extraction means 10, the traveling state estimation means 11, the delay time calculation means 12, the storage means 13, and the like. In the present invention, not limited to this, the delay time estimation device 9 is configured by software, that is, although not shown, the processing of the passing vehicle extraction means 10, the running state estimation means 11, and the delay time calculation means 12 is performed by the CPU. Of course, a program ROM storing a program to be executed, a CPU for executing the program, and a RAM may be used. Thus, even if it is configured by software by a program or the like, the same effect as the delay time estimation device 9 of the present embodiment can be obtained.

In the description of the present embodiment, the passing vehicle extraction means 10 is provided in the delay time estimation device 9. However, the present invention is not limited to this, and the passing vehicle extraction means 10 is not limited to the delay time estimation device 9. there may be, short, as a delay time estimation device 9 is the target vehicle the vehicle only that has passed through the downstream intersection extracted delay time calculation target time period T _b through T _e by passing vehicles extracting unit 10, the delay time Can be estimated.

In the description of this embodiment, the departure determination speed threshold value V _thl and the arrival determination speed threshold value V _tha are set to the same value. However, in the present invention, these speed threshold values are set to different values. Of course, both threshold values may be changed according to the time zone.

In the description of the present embodiment, the departure time, the arrival time, and their positions are determined by comparing the speed V of the target vehicle with the speed threshold V _thl for departure determination and the speed threshold V _tha for arrival determination. However, the present invention is not limited to this. For example, the waveform of the waveform diagram showing the relationship between the speed V of the target vehicle and the measurement time t, etc. Of course, the position may be determined. In short, it is only necessary to be able to determine the departure time and arrival time due to waiting for a signal at the downstream intersection 3 of the link and the position thereof from data such as the speed V measured for the target vehicle.

  Further, in the present embodiment, the description has been made on the assumption that all the vehicles stop within a predetermined road section. However, for example, after S404 of the departure time position estimation process in FIG. 4 becomes No and 1 is added to j. When this j reaches a predetermined value, that is, when the target vehicle continues to run at a speed equal to or higher than the threshold speed within a predetermined time before passing through the downstream intersection, the vehicle i is stored and the departure time and position are stored. The process proceeds to S407 without calculation, and such processing of the vehicle i may be omitted in the arrival time position estimation processing of FIG.

  As described above, the delay time estimation device, the delay time estimation method, the delay time estimation system, and the delay time estimation program according to the present invention have an effect of being able to estimate an accurate delay time in a predetermined road section, This is useful for signal control systems and traffic information provision systems.

1 is a diagram illustrating an overall configuration of a delay time estimation system including a delay time estimation device and a vehicle according to an embodiment of the present invention. The flowchart which shows the process sequence of the passing vehicle extraction means of the delay time estimation apparatus of embodiment of this invention. The conceptual diagram which shows an example of the processing content of the passing vehicle extraction means of embodiment of this invention The flowchart which shows the process sequence of the departure time position estimation part of embodiment of this invention. The conceptual diagram which shows an example of the processing content of the departure time position estimation part of embodiment of this invention The flowchart which shows the process sequence of the departure time position function estimation part of embodiment of this invention. The conceptual diagram which shows an example of the processing content of the departure time position function estimation part of embodiment of this invention The flowchart which shows the process sequence of the arrival time position estimation part of embodiment of this invention. The conceptual diagram which shows an example of the processing content of the arrival time position estimation part of embodiment of this invention The flowchart which shows the process sequence of the arrival time position function estimation part of embodiment of this invention. The conceptual diagram which shows an example of the processing content of the arrival time position function estimation part of embodiment of this invention The flowchart which shows the process sequence of the delay time calculation means of embodiment of this invention. The conceptual diagram which shows the processing content of the delay time calculation means of embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Road 3 Intersection 4 Car-mounted device 5 Vehicle detector 6 Wireless communication device 7 Travel information collection device 8 Travel information database 9 Delay time estimation device 10 Passing vehicle extraction means 11 Travel state estimation means 11a Departure time position estimation unit 11b Departure time Position function estimation unit 11c Arrival time position estimation unit 11d Arrival time position function estimation unit 12 Delay time calculation means 13 Storage means 14 Monitor

Claims (5)

In a delay time estimation device that estimates a delay time obtained from a cumulative number of vehicles that have traveled below a predetermined speed in a predetermined road section and a time during which the vehicle has traveled below a predetermined speed,
Arbitrary points in the predetermined road section in an arbitrary time zone from a travel information database in which travel information including vehicle position information, time information, speed information, and vehicle identification information measured at multiple points or multiple points in time is accumulated Passing vehicle extraction means for extracting travel information of the target vehicle that has passed through the vehicle,
Based on the travel information, an arrival state estimation means for estimating an arrival state including an arrival time and an arrival position, which is a time and a position when starting traveling at a predetermined speed or less for each of the target vehicles in the predetermined road section. When,
Departure state estimation means for estimating a departure state including a departure time and a departure position, which is a time and a position when starting traveling at the predetermined speed or higher after arrival for each of the target vehicles, based on the traveling information;
A delay time calculating means for calculating the delay time based on the arrival state and the departure state;
With
The departure state estimation means sequentially searches from the travel information after the target vehicle has passed the arbitrary point toward the past, compares the speed information with the predetermined speed, and when the target vehicle becomes equal to or lower than the predetermined speed A delay time estimation device, wherein the departure state is estimated based on the speed information and position information of the vehicle and speed information and position information at a time point searched before the time point when the speed becomes equal to or less than the predetermined speed . The delay time estimation device according to claim 1, wherein the departure state estimation unit estimates a departure state function indicating a relationship between a departure time and a departure position of the target vehicle based on the departure state. The arrival state estimation means sequentially searches from the time point when the target vehicle becomes equal to or lower than the predetermined speed toward the past, compares the speed information with the predetermined speed, and determines when the target vehicle is equal to or higher than the predetermined speed. The delay time estimation apparatus according to claim 2, wherein the arrival state is estimated based on speed information and position information, and speed information and position information at a time point searched before the time point when the speed exceeds the predetermined speed. 4. The delay time estimation device according to claim 3, wherein the arrival state estimation unit estimates an arrival state function indicating a relationship between an arrival time and an arrival position of the target vehicle based on the arrival state. The delay time calculating means calculates the area of the region surrounded by the departure state function, the arrival state function, and the time axis on a plane of an orthogonal coordinate system having time and distance as axes, and a predetermined vehicle head distance. 5. The delay according to claim 4 , wherein the calculated area is converted into an area on a plane of an orthogonal coordinate system having time and the number of vehicles as axes, and the converted area is calculated as a delay time in the predetermined road section. Time estimation device.

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