JP4946717B2 - Information providing apparatus and information providing method - Google Patents

Description

  The present invention relates to an information providing apparatus and an information providing method for providing information for safely stopping or passing a vehicle at an intersection.

  For safe driving assistance of vehicles, a technology related to signal control that detects the traveling state (for example, speed, position, etc.) of a vehicle traveling on a road toward an intersection and changes the switching timing of the traffic signal at the intersection, or a signal Many technologies such as a technology related to dilemma control in consideration of the switching time are applied.

  For example, a vehicle detector is installed upstream of the intersection, the speed of the vehicle traveling on the road is detected, the arrival time of the vehicle at the intersection is calculated, and the green signal time of the traffic light is calculated based on the calculation result. A technique for shortening or extending is disclosed (see Patent Document 1).

Also, from the communication device installed upstream of the intersection, the signal switching timing information of the intersection and the distance to the stop line of the intersection (or the position information of the stop line) are acquired by the in-vehicle device, and the vehicle enters the dilemma zone. A safe speed providing method for providing a limit traveling speed for escape from the dilemma zone is disclosed (see Patent Document 2).
JP-A-4-163700 JP 2006-139707 A

  However, in the technique of Patent Document 1, since the speed of the vehicle is detected and it is determined whether or not the vehicle is in the dangerous driving area and the green light time is extended or shortened, other than the vehicle, When vehicles are present, the extended or shortened green light time is not necessarily optimal for other vehicles. That is, as a result of shortening or extending the green light time to avoid a dangerous driving area of a certain vehicle, a vehicle that was not originally in the dangerous driving area may enter the dangerous driving area. In addition, when signal control is performed on the ground system, the in-vehicle device side does not know in advance the time when the green light will be interrupted, and in future road-vehicle coordination systems, safe driving support control on the in-vehicle device side will be difficult. There is a case.

  Further, Patent Document 2 discloses a method of performing travel control that avoids a dilemma area or an optional area from a position sufficiently before an intersection. However, the technique of Patent Document 2 needs to be equipped with an in-vehicle device that performs driving support processing on the vehicle side, and there are not many vehicles equipped with such an in-vehicle device as a real problem. Therefore, it is the current situation that safe driving is left to the judgment of the driver, and it is becoming more important to provide accurate information for supporting safe driving for the driver.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an information providing apparatus and an information providing method capable of providing information for safely stopping or passing at an intersection.

The information providing apparatus according to the first invention is based on signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and information on a plurality of vehicles existing in a predetermined range on a road. An information providing device that provides information relating to driving support, and includes a passage information acquisition unit that acquires passage information including a passage time or the number of passages of a specific vehicle having a communication function and a general vehicle having no communication function; The receiving means for receiving the transmitted speed information of the specific vehicle and the distance information regarding the distance to the intersection, the passing information of the specific vehicle and the general vehicle acquired by the passing information acquiring means, and the specific vehicle received by the receiving means based on the speed information and the distance information generating means for generating distance information about the distance between the speed information and the intersection of the general vehicle, the specific vehicle and the one Distance between the intersection of the vehicle, based on the speed and signal information of the specific vehicle and general vehicles, when varying the green light time, stop condition and intersections for the particular vehicle and general vehicle stops before the intersection A determination means for determining whether or not the vehicle is in a dangerous driving state determined by an entry condition for entering the vehicle, and a fluctuation amount relating to the extension time and / or the reduction time of the green light is calculated based on the determination result of the determination means And calculating means for outputting the fluctuation amount calculated by the calculating means to an external device .

According to a second aspect of the present invention, there is provided the information providing apparatus according to the first aspect, wherein the generation means generates speed information and distance information of a general vehicle between the specific vehicles when there are a plurality of specific vehicles. It is characterized by that.

In the information providing apparatus according to a third aspect of the present invention, in the first or second aspect, the passage information acquisition unit is configured to acquire a passage time of the specific vehicle and the general vehicle, and the generation unit includes the Based on the speed information and distance information of the specific vehicle received by the receiving means and the passing time of the specific vehicle and the general vehicle acquired by the passage information acquiring means, the distance information of the general vehicle is generated. Features.

An information providing apparatus according to a fourth invention is the information providing apparatus according to any one of the first to third inventions, wherein the calculating means includes a specific vehicle or a general vehicle that is in a running state determined by a stop condition and an entry condition. The variation amount is calculated based on the number of vehicles that are not in the running state.

According to a fifth aspect of the present invention, there is provided an information providing apparatus according to any one of the first to third aspects, further comprising weighting means for weighting each specific vehicle and each general vehicle, wherein the calculation means is determined by a stop condition and an entry condition. When there is a specific vehicle or a general vehicle that is in a traveling state, the variation amount is calculated based on the weighting of the specific vehicle or the general vehicle that is not in the traveling state.

Information providing device according to a sixth invention is the fifth invention, wherein the weighting means, the speed of the specific vehicle and general vehicle, the distance between the following vehicle, the distance between the specific vehicle and general vehicles and intersections, vehicle length, and the particular The weighting is based on at least one of the degree of closeness between the running state of the vehicle and the general vehicle and the stop condition or the entry condition.

  According to a seventh aspect of the present invention, there is provided the information providing apparatus according to any one of the first to sixth aspects, further comprising a selection unit that selects a minimum variation amount when the calculation unit calculates a plurality of variation amounts, and the output The means is configured to output the fluctuation amount selected by the selection means.

  According to an eighth aspect of the present invention, there is provided the information providing apparatus according to any one of the first to sixth aspects, further comprising a selection unit that selects a variation amount related to the extension time of the green light when a plurality of variation amounts are calculated by the calculation unit. The output means is configured to output the fluctuation amount selected by the selection means.

The information providing device according to a ninth aspect of the present invention is the information providing apparatus according to any one of the first to eighth aspects, wherein the determining means determines that the specific vehicle and the general vehicle are in accordance with a stop condition and an entry condition at a time before a yellow signal start time. It is configured to determine whether or not the vehicle is in the determined traveling state.

An information providing apparatus according to a tenth aspect of the present invention is the information providing apparatus according to any one of the first to ninth aspects, wherein the determination means is in a traveling state in which the specific vehicle and the general vehicle are determined by a stop condition and an entry condition at a plurality of times. It is configured to determine whether or not, and the calculation means is configured to calculate a fluctuation amount based on determination results at a plurality of time points.

  In the information providing apparatus according to an eleventh aspect of the invention, in any one of the first to tenth aspects, the traveling state is a dilemma state and / or an optional state.

  According to a twelfth aspect of the present invention, there is provided the information providing apparatus according to any one of the first to eleventh aspects, further comprising a control unit that controls the signal based on the fluctuation amount calculated by the calculation unit.

An information providing apparatus according to a thirteenth aspect of the present invention is characterized in that, in any one of the first to twelfth aspects of the present invention, the information providing apparatus further comprises a transmission unit that transmits the variation calculated by the calculation unit to a specific vehicle and a general vehicle.

  An information providing apparatus according to a fourteenth aspect of the present invention is characterized in that, in any one of the first to twelfth aspects of the present invention, the information providing apparatus further comprises a transmission unit that transmits the fluctuation amount calculated by the calculation unit only to a specific vehicle.

  An information providing apparatus according to a fifteenth aspect of the present invention is the information providing apparatus according to the thirteenth or fourteenth aspect, further comprising a grace time calculating means for calculating a grace time until a yellow light start time based on the amount of variation calculated by the calculating means. The means is configured to transmit the grace time calculated by the grace time calculation means.

The information providing method according to the sixteenth aspect of the present invention is based on signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and information on a plurality of vehicles existing in a predetermined range on a road. An information providing method by an information providing device for providing information related to driving support, wherein the passage information acquisition means acquires passage information including a passage time or the number of passages of a specific vehicle having a communication function and a general vehicle having no communication function. The receiving means receives the speed information of the specific vehicle transmitted by the specific vehicle and the distance information regarding the distance to the intersection, and the acquired passing information of the specific vehicle and the general vehicle and the received speed information and distance information of the specific vehicle are received. based on the generating means the distance information about the distance between the speed information and the intersection of the general vehicle is generated, the distance between the intersection of the specific vehicle and the general vehicle Based on the speed and signal information of the specific vehicle and general vehicles, when varying the green light time, entry conditions for the particular vehicle and general vehicle enters the stop condition and intersections for stopping before the intersection The determination means determines whether or not the vehicle is in a dangerous driving state determined by the calculation means , and based on the determination result, the calculation means calculates a fluctuation amount related to the extension time and / or reduction time of the green light, and outputs the calculated fluctuation amount The means outputs to an external device .

In the first invention and the sixteenth invention, the information providing device provides passage information relating to the passage of a specific vehicle having a communication function and a general vehicle having no communication function (hereinafter, the specific vehicle and the general vehicle are also referred to as vehicles). get. The communication function included in the specific vehicle is a function for transmitting information such as the speed and position of the specific vehicle to the information providing apparatus. The passing information may be, for example, the passing time of each vehicle passing through a predetermined point, or the number of passing vehicles during a predetermined period. The information providing apparatus receives the speed information of the specific vehicle and information regarding the distance from the intersection from the specific vehicle within a predetermined range on the road. In this case, the information regarding the distance between the specific vehicle and the intersection may be the distance between the specific vehicle and the intersection, or may be the positions of the specific vehicle and the intersection. The information providing device generates speed information of the general vehicle and distance information regarding the distance to the intersection based on the previously acquired vehicle passage information and the received specific vehicle speed information and distance information. In this case, speed information of the general vehicle may be determined by the rate of the particular vehicle, the distance information of a general vehicle may be determined by transit time difference between the vehicle obtained based on passage information.

When the information providing device fluctuates the green signal time based on the signal information including the distance from the intersection of the specific vehicle and the general vehicle, the vehicle speed, the yellow signal start time and the yellow signal time of the traffic light installed at the intersection In addition, the driving condition determined by the stop condition for the vehicle to stop before the intersection and the entry condition for entering the intersection (for example, the dangerous driving condition, that is, the distance and speed to the intersection of the vehicle). It is determined whether or not the vehicle is in a dangerous driving area. The dangerous driving state includes, for example, a dilemma state (dilemma region) and an optional state (option region). The dilemma state is a state where even if the vehicle tries to stop after displaying the yellow signal, it cannot stop before the intersection and cannot enter the intersection before the end of the yellow signal, and cannot stop or enter safely. In addition, the optional state is a state where the vehicle can stop before the intersection to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops or enters depending on the characteristics of the driver. It is an unstable state that is different. Further, the green light time can be changed at predetermined time intervals between the limit values of the extension time and the reduction time.

  Based on the determination result, the information providing apparatus calculates and outputs a fluctuation amount related to the extension time and / or the reduction time of the green light. For example, the information providing apparatus may provide a variation amount related to an extension time or a reduction time of a green signal that can avoid a dangerous driving state for all target vehicles (for example, an extension time based on a green signal time when there is no extension or reduction). (Or shortened time) is calculated and output. It is also possible to target only the extension of the green signal or only the shortening of the green signal. As a result, even if there is a vehicle (general vehicle) that does not have a communication function among the target vehicles, the optimum green light time (extended time) in which all of the target vehicles can avoid the dangerous driving state , Shortening time, or no extension and shortening) and providing information for safely stopping or passing at the intersection.

In the second invention, when the information providing device receives speed information and distance information from a plurality of specific vehicles within a predetermined range on the road, the information providing device The speed information and distance information of the general vehicle (hereinafter also referred to as other vehicle ) are generated. Thus, even have one般車both such a communication function, estimates the state of general vehicles (generated) that can make a determination of whether the critical driving state, critical driving The optimal green light time (extended time, shortened time, or no extended and shortened time) that can avoid the situation can be determined, and information for safely stopping or passing at the intersection can be provided.

In the third aspect of the invention, the information providing apparatus acquires the passage time of the specific vehicle and the general vehicle. The information providing device generates the distance information of the general vehicle based on the received speed information and distance information of the specific vehicle and the vehicle passage time acquired in advance. For example, passing the time difference between the specific vehicle and general vehicles, it is considered to be proportional to the distance between the specific vehicle and general vehicles, it is possible to obtain the distance information of the general vehicle by speed information and distance information for a specific vehicle. Thus, even have one般車both such a communication function, estimates the state of general vehicles (generated) that can make a determination of whether the critical driving state, critical driving The optimal green light time (extended time, shortened time, or no extended and shortened time) that can avoid the situation can be determined, and information for safely stopping or passing at the intersection can be provided.

In the fourth aspect of the invention, the information providing apparatus calculates the fluctuation amount based on the number of vehicles not in the dangerous driving state when there are vehicles in the dangerous driving state among the specific vehicle and the general vehicle. For example, the green light time is changed at a predetermined time interval between the limit values to determine whether or not each vehicle is in a dangerous driving state. When there is a vehicle in the dangerous driving state, the green light time when the number of vehicles not in the dangerous driving state is the largest is obtained, and the extension or shortening time of the green light is calculated. As a result, even when there is no green signal time (extension or shortening) in which all of the vehicles can avoid the dangerous driving state, the amount of fluctuation of the green signal time can be obtained so that the largest number of vehicles can avoid the dangerous driving state. .

In the fifth aspect, the information providing apparatus calculates the variation amount based on the weighting of the vehicles that are not in the dangerous driving state when there are vehicles in the dangerous driving state among the specific vehicle and the general vehicle. The weighting of the vehicle can be set according to the state or type of the vehicle. For example, the green light time is changed at a predetermined time interval between the limit values to determine whether or not each vehicle is in a dangerous driving state. When there is a vehicle in the dangerous driving state, the weight of the vehicle not in the dangerous driving state is obtained, the green light time when the weight is the largest is obtained, and the extension or shortening time of the green light is calculated. As a result, even when there is no green signal time (extension or shortening) that can avoid a dangerous driving condition for all of the vehicles, a dangerous driving condition can be avoided by giving priority to a specific vehicle according to the state or type of the vehicle. The amount of fluctuation of the green light time can be obtained.

  In the sixth invention, based on at least one of the speed of the vehicle, the distance from the following vehicle, the distance between the vehicle and the intersection, the vehicle length, and the degree of proximity between the running state of the vehicle and the stop condition or the entry condition. And weight the vehicle. Thereby, the fluctuation amount of the green light time can be obtained so that the dangerous driving state can be avoided by giving priority to the state or type of the vehicle.

  In the seventh aspect of the invention, the information providing apparatus can calculate the minimum amount of change (that is, the minimum amount of change) when a plurality of amounts of extension or shortening of the green light that can avoid a dangerous driving state can be calculated. The extension time or the minimum shortening time) is selected and the selected fluctuation amount is output. As a result, the vehicle can be avoided from the dangerous driving state while suppressing the fluctuation of the green light time to the minimum.

  In the eighth aspect of the invention, the information providing apparatus selects a variation amount related to the extension time of the green signal when a plurality of variations of the extension or shortening of the green signal capable of avoiding a dangerous driving state can be calculated for all or a part of the vehicle. And output the selected variation. As a result, if there is both extension and reduction in the green signal time that can avoid the dangerous driving state of the vehicle, the extension is given priority over the reduction of the green signal time, and a margin is given when the vehicle performs the driving control. Is possible.

  In the ninth aspect, the information providing apparatus determines whether or not the vehicle is in a traveling state determined by the stop condition and the entry condition at a time point a predetermined time before the yellow signal start time point. Thus, a sufficient margin can be given in advance in consideration of the time required for processing, the communication delay time, or the time required for running control in the vehicle.

  In the tenth aspect, the information providing apparatus determines whether or not the vehicle is in a traveling state determined by the stop condition and the entry condition at a plurality of times. For example, based on the results determined at a plurality of points in time, the amount of fluctuation (extension time or shortening time) of the green light that can avoid the dangerous driving state of the vehicle is calculated a plurality of times, and the final value is obtained when the fluctuation amount is stabilized. The amount of variation can be determined. In addition, the state quantity of the target vehicle at the start of the yellow signal can be predicted based on the result of determination multiple times before the start of the yellow signal. As a result, it is possible to accurately determine whether or not the dangerous traveling area can be avoided, and it is possible to obtain an optimal amount of change in green light time.

  In the eleventh aspect of the invention, the traveling state is a dilemma state (dilemma region) and an optional state (option region), only a dilemma state (dilemma region), or only an optional state (option region). Thereby, information for avoiding the dilemma area and the option area can be provided.

  In the twelfth aspect, the information providing apparatus controls the signal based on the calculated variation amount of the green light time. In this case, the information providing apparatus can control the traffic light based on the fluctuation amount of the green light time, or outputs the fluctuation amount or control information (such as a control signal) to the signal control apparatus to control the signal. You can also. Thereby, the traffic light can be controlled so that the optimal green signal time is reached, and the vehicle can avoid the dangerous driving state.

In the thirteenth aspect, the information providing apparatus transmits the calculated fluctuation amount to the specific vehicle and the general vehicle. The vehicle can output information related to the driving operation so that the driver decelerates or accelerates based on the received fluctuation amount of the green light time, or performs automatic driving control based on the received fluctuation amount. You can also. Thereby, the driving control on the vehicle side can be performed based on the optimum value of the signal control performed on the ground system, and the road-vehicle cooperation system can be optimized.

  In the fourteenth aspect, the information providing apparatus transmits the calculated fluctuation amount only to the specific vehicle. The specific vehicle can output information related to the driving operation so that the driver decelerates or accelerates based on the received fluctuation amount of the green light time, or performs automatic driving control based on the received fluctuation amount. You can also. As a result, when transmitting information only to a specific vehicle, automatic driving control on the specific vehicle side can be performed based on the optimum value of signal control performed on the ground system, so that the specific vehicle reliably passes through the intersection. Can receive service. Furthermore, for example, by performing acceleration / deceleration in order to avoid dangerous driving areas in advance, vehicles other than the specific vehicle also perform acceleration / deceleration following the behavior of the specific vehicle. It is also possible to optimize the cooperative system.

  In the fifteenth aspect of the invention, the information providing apparatus calculates a grace time until the yellow signal start time based on the calculated fluctuation amount, and transmits the calculated grace time to the vehicle. For example, when the yellow signal start time is assumed to be ta due to the extension or shortening of the blue light, the time before the yellow signal start time ta by a predetermined grace time (for example, about 3 seconds) is transmitted to the vehicle as the grace time. In this case, the timing for transmitting the grace time may be before the grace time or may be transmitted when the grace time is reached. As a result, the vehicle can be operated so that the driver decelerates or accelerates with a margin at the received grace point, or automatic driving control can be performed with a margin. Thereby, the signal control performed in the ground system and the driving control on the vehicle side can be coordinated.

  In the present invention, even if there is a vehicle (general vehicle) that does not have a communication function among the target vehicles, an optimal green signal that can avoid a dangerous driving state for all of the target vehicles. Time (extended time, shortened time, or no extension and shortening) can be determined, and information for safely stopping or passing at the intersection can be provided.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of information provision using the information providing apparatus 10 according to the present invention, and FIG. 2 is a block diagram showing a configuration of the information providing apparatus 10 according to the present invention. As shown in FIG. 1, a stop line is provided in front of an intersection where a traffic light is installed, and a vehicle detector 30 installed at a predetermined point upstream from the stop line is used for a vehicle passing through a passing point R. Then, a provisional vehicle ID for distinguishing from other vehicles is assigned to each passing vehicle. Further, the vehicle detector 30 obtains passing information of passing vehicles (for example, passing times of each vehicle, that is, a list of vehicle IDs for each passing time, or the number of vehicles passing during a predetermined period, etc.). To do.

  The vehicle detector 30 can be realized by, for example, an optical beacon, and any vehicle can be used as long as it can detect the passage of a vehicle such as a radio beacon, a DSRC (Dedicated Short Range Communication), an ultrasonic sensor, and an image sensor. It may be a thing. The vehicle sensor 30 outputs the acquired passing information to the information providing apparatus 10.

  The information providing apparatus 10 has a communication function (for example, the speed, position, etc. of the own vehicle with respect to the information providing apparatus 10) that travels in a predetermined range (for example, 400 m from the stop line or intersection) upstream from the stop line. Information on the speed, position, etc. of the specific vehicle transmitted by the specific vehicle having the function of transmitting). In this case, the specific vehicle also transmits a provisional vehicle ID to the information providing apparatus 10 in order to distinguish it from other specific vehicles. Based on the received speed and position of the specific vehicle and the acquired passing information, the information providing apparatus 10 can detect the position of another vehicle (that is, a general vehicle that does not have a communication function) existing in a predetermined range of the road, and Estimate speed.

  The information providing apparatus 10 determines whether all the vehicles 20 are based on information (for example, vehicle speed, vehicle position, vehicle length, etc.) of all the vehicles (specific vehicle and general vehicle) 20 within a predetermined range of the road. Calculate the extension time or shortening time (including the case where there is no extension or shortening) of the green light that can avoid the dangerous driving state (dangerous driving area) described later, and information about the calculated extension time or shortening time (green signal time The fluctuation amount) is transmitted to the vehicle 20 (only the specific vehicle, or the specific vehicle and the general vehicle), and the traffic light is controlled. The driver of the vehicle 20 can perform a driving operation based on the provided information, for example, to gently decelerate and stop the vehicle 20 at the intersection, or to gently accelerate and pass the intersection. . Alternatively, automatic operation control such as deceleration, acceleration, or speed maintenance is performed on the in-vehicle device mounted on the vehicle 20 based on the fluctuation amount of the green light time so as to avoid the dangerous driving state. Note that the vehicle length can be obtained by, for example, adding the speed to the pulse length of each vehicle obtained by the vehicle detector 30. Note that the on-vehicle device may be a portable device such as a simple navigation or a mobile phone.

  As shown in FIG. 2, the information providing apparatus 10 includes a control unit 11 that controls the entire information providing apparatus 10, a vehicle information acquisition unit 12 that acquires passage information of the vehicle 20 input from the vehicle detector 30, The state of estimating (generating) the speed and position of other vehicles (general vehicles) excluding the specific vehicle based on the mid-range communication unit 13 that performs mid-range communication between the vehicle, the position and speed of the specific vehicle, and passage information The signal information of the traffic lights is exchanged with the quantity generation unit 14, the traveling state determination unit 15 that determines whether or not the vehicle 20 is in a dangerous traveling state, a signal control device or a traffic control device (not shown), and the like. Interface unit 16, a fluctuation amount calculation unit 17 that calculates a fluctuation amount of green light time based on a result determined by the traveling state determination unit 15, a storage unit 18 that stores predetermined information, and the like.

  The vehicle information acquisition unit 12 outputs the passing information of the vehicle 20 detected by the vehicle sensor 30 to the state quantity generation unit 14 under the control of the control unit 11. In the example of FIG. 1, the vehicle detector 30 is configured separately from the information providing device 10 and installed on the road. However, the present invention is not limited to this, and the vehicle information acquisition unit 12 is a separate device. The vehicle information acquisition unit 12 may be installed on the road instead of the vehicle detector 30. In this case, the information providing apparatus 10 can assign a temporary provisional vehicle ID that is effective only when each vehicle 20 is within a predetermined range (for example, 400 m from a stop line or an intersection), and can be distinguished from other vehicles 20. it can.

  The mid-range communication unit 13 has a wireless LAN function such as a UHF band or a VHF band, and performs communication with a specific vehicle existing in a predetermined range (for example, 400 m from the stop line or the intersection) upstream of the intersection. . For example, the mid-range communication unit 13 transmits a request signal for vehicle information to a specific vehicle existing in a predetermined range at a predetermined time. The mid-range communication unit 13 receives information (for example, vehicle speed, vehicle position, etc.) transmitted by the specific vehicle, and outputs the received information on the specific vehicle to the state quantity generation unit 14 and the traveling state determination unit 15. . The mid-range communication unit 13 repeatedly transmits a request signal to the specific vehicle. The transmission timing for repeated transmission can be appropriately set according to the traffic volume. In addition, the specific vehicle that has received the request signal may repeatedly transmit the vehicle state quantity at a predetermined transmission timing. Further, the information may be acquired by monitoring the content transmitted by the vehicle at a time slot interval to which information including the position, speed, vehicle length, etc. of the own vehicle is assigned to the roadside or another vehicle. . Further, the mid-range communication unit 13 may not transmit a request signal, and the specific vehicle may spontaneously transmit a state quantity such as the own vehicle position at a predetermined assigned timing.

  Based on the passing information of each vehicle 20 input from the vehicle information acquisition unit 12 and the information (position, speed, etc.) of the specific vehicle input from the mid-range communication unit 13, the state quantity generation unit 14 A state quantity (position, speed, etc.) of another vehicle (general vehicle) existing in a predetermined range is generated (estimated). The state quantity generation unit 14 outputs the generated state quantity of the general vehicle to the traveling state determination unit 15.

  The interface unit 16 has a wireless or wired communication function with an external device such as a signal control device or a traffic control device. The interface unit 16 acquires signal information (for example, a yellow signal start time and a yellow signal time) of a traffic signal installed at an intersection from an external device, and stores the acquired signal information under the control of the control unit 11. To remember. Further, the interface unit 16 transmits the amount of fluctuation of the green light time obtained by the information providing device 10 or information for control (such as a control signal) to the signal control device to control the traffic light. Note that the traffic light may be controlled by directly outputting the fluctuation amount of the green light time obtained by the information providing apparatus 10 to the traffic light.

  The storage unit 18 stores necessary information in advance. The required information includes the signal information described above. The storage unit 18 stores information acquired from the vehicle information acquisition unit 12 and the mid-range communication unit 13. Further, the storage unit 18 stores the state quantity of the general vehicle generated by the state quantity generation unit 14, the determination result determined by the traveling state determination unit 15, the calculation result calculated by the fluctuation amount calculation unit 17, and the like.

  The traveling state determination unit 15 is a state quantity (position, speed, etc.) of a specific vehicle input from the mid-range communication unit 13, a state quantity of a general vehicle input from the state quantity generation unit 14, and signal information stored in advance. Based on the predetermined standard deceleration and the like, it is determined whether or not all the vehicles 20 existing in the predetermined range on the road are in the dangerous driving area.

The standard deceleration merely indicates a change in the speed of the vehicle 20, and is independent of the operation content of the braking operation or the operation timing. The standard deceleration is, for example, when the vehicle 20 starts to be braked instead of a yellow signal, after a time (for example, 2 seconds or more) sufficiently longer than the reflection reaction (0.5 seconds) has elapsed since the stop determination time. This means the deceleration seen when performing a deceleration operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

  The fluctuation amount calculation unit 17 calculates the fluctuation amount of the green light time (for example, the extension time or the shortening time of the green light) that allows all the target vehicles 20 to avoid the dangerous driving state. More specifically, whether or not each of the target vehicles 20 is in a dangerous driving state is varied at a predetermined time interval between the upper limit value of the extension time of the green light time and the upper limit value of the reduction time. Based on the determination result, an optimum amount of variation in green light time is obtained. It is also possible to target only the extension of the green signal or only the shortening of the green signal.

  FIG. 3 is an explanatory diagram showing the concept of the dangerous driving area. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The dangerous driving area is an area in which the fact that the vehicle is in a dangerous driving state (within the dangerous driving area) can be expressed by the speed of the vehicle and the distance to the stop line. The dangerous driving area includes a dilemma area and an option area. In the dilemma area, even if the vehicle tries to stop after the yellow signal is displayed, it cannot stop before the stop line (intersection) and cannot enter the stop line by the end of the yellow signal and cannot stop or enter safely. is there. In addition, the option area is a state where the vehicle can stop before the stop line in order to stop after the yellow signal is displayed, and can enter the stop line before the end of the yellow signal, and whether the vehicle stops due to the characteristics of the driver. Or, it is an unstable state where the approach is different.

  In FIG. 3, the current position of the vehicle with reference to the stop line is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). If the vehicle speed does not change (Vy = V), the position Xy of the vehicle at the yellow signal start time can be obtained by Expression (1). Expression (1) is a determination condition E based on the current traveling state of the vehicle.

  On the other hand, a stop condition C in which the vehicle stops safely before the stop line and waits for a signal can be obtained by Expression (2). Here, g is a standard deceleration of the vehicle, and α is a time delay until the driver steps on the brake after the yellow signal. That is, the stop condition C is a curve indicating the limit of the vehicle speed at which the vehicle can stop at the stop line and the distance to the stop line if the vehicle decelerates at the standard deceleration at the start of the yellow signal.

  The entry condition L in which the vehicle enters the stop line at the end of the yellow signal and does not meet the signal waiting can be obtained by Expression (3). Here, Ty is the yellow signal time. In other words, the entry condition L is defined as the vehicle speed and the distance to the stop line that can reach the stop line within the yellow signal time (before the red signal) when the vehicle turns yellow. It is a straight line indicating the limit.

  The dilemma region is a region that does not satisfy both of the equations (2) and (3), and the option region is a region that satisfies both of the equations (2) and (3). In the figure, the lower area of the dangerous driving area is an intersection stop area, which can be safely stopped before the stop line. In addition, the upper area of the dangerous traveling area is an intersection passing area, and is an area where the user can safely enter (pass) the stop line.

  FIG. 4 is a time chart showing an example of vehicle passage information. As shown in FIG. 4, the vehicle with vehicle ID1 passes the passing point R at time t1, the vehicle with vehicle ID2 passes through the passing point R at time t2, and the vehicle with vehicle ID5 passes at time t5 in the same manner. Passing through point R. Actually, the number of passing vehicles is not limited to five. As shown in FIG. 4, the passing information indicates the arrangement of vehicle IDs for each passing time.

  FIG. 5 is an explanatory diagram illustrating an example of estimating the presence of a general vehicle, and FIG. 6 is an explanatory diagram illustrating an example of generating a state quantity of the general vehicle. As shown in FIG. 5, it is assumed that the information providing apparatus 10 receives state quantities (position X1, speed V1) and (position X5, speed V5) from specific vehicles ID1 and ID5 within a predetermined range on the road, respectively. . The information providing apparatus 10 has three (ID2, ID3, ID4) general vehicles running between specific vehicles with vehicle IDs ID1 and ID5 based on previously acquired passage information (for example, see FIG. 4). Can be estimated. Note that the association between the ID of the passing information and the specific vehicle, that is, the association between the ID number of the detection signal of the vehicle detector 30 and the specific vehicle is, for example, the time of the vehicle state quantity transmitted by the specific vehicle. By referring to and the position and associating the sensor position with the sensing time corresponding to or similar to each other, it is possible to determine (estimate) whether each sensing signal is a specific vehicle or a general vehicle.

  As shown in FIG. 6, the state quantities of the three general vehicles traveling between the specific vehicles ID1 and ID5 are (position X2, speed V2), (position X3, speed V3), (position X4, speed V4), respectively. And Further, as shown in FIG. 6, the difference in position between vehicles (distance between vehicles) is expressed as X12, X23, X34, X45, and X15. For example, the distance X12 between the specific vehicle ID1 and the following general vehicle (ID2) is considered to be proportional to the passage time difference t12 shown in FIG. Accordingly, the position X2 of the general vehicle (ID2) can be obtained by X2 = X1 + X12 = X1 + X15 · t12 / t15. Similarly, the position X3 of the general vehicle (ID3) can be obtained by X3 = X2 + X23 = X2 + X15 · t23 / t15. Further, the position X4 of the general vehicle (ID4) can be obtained by X4 = X3 + X34 = X3 + X15 · t34 / t15.

  Similarly, the speeds of the general vehicles (ID2, ID3, ID4) can be obtained by proportional distribution based on the speed difference between the speed V1 of the specific vehicle ID1 and the speed V5 of the specific vehicle ID5 and the passage time difference. it can. Alternatively, the speed of the general vehicle may be an average value of the speeds of the specific vehicles ID1 and ID5, or may be any speed (V1 or V5) of the specific vehicles ID1 and ID5.

  FIG. 7 is an explanatory diagram showing another example of estimating the presence of a general vehicle. In the example of FIG. 5, when there are two specific vehicles, the general vehicle between the specific vehicles is estimated. However, when there is only one specific vehicle, it is similarly within a predetermined range on the road. General vehicles can be estimated. As shown in FIG. 7, it is assumed that the information providing apparatus 10 receives a state quantity (position X2, speed V2) from a specific vehicle ID2 within a predetermined range on the road. The information providing apparatus 10 is configured so that one vehicle (ID1) travels before the vehicle ID is ID2 and the vehicle ID is behind ID2 based on previously acquired passage information (for example, see FIG. 4). It can be estimated that three (ID3, ID4, ID5) general vehicles are traveling. In this case, when a general vehicle with a vehicle ID of ID1 has passed through a predetermined range due to a difference in traveling conditions of the vehicle, or when a general vehicle with a vehicle ID of ID5 has not yet entered the predetermined range. There is also a possibility. In this case, it is assumed that the speed of the general vehicle is equivalent to the speed of the specific vehicle, and the position of the general vehicle can be obtained based on the speed of the vehicle and the passage time difference.

  FIG. 8 is an explanatory diagram showing another example of vehicle passage information. In this case, the passage information is not the arrangement of the vehicle IDs for each passage time, but the number of vehicles passing through the passage point R every predetermined period T (for example, 30 seconds, 1 minute, etc.). In the example of FIG. 8, it is shown that 10 vehicles pass at a certain cycle T and 15 vehicles pass at the next cycle T. If the communication times with the specific vehicles ID11 and ID22 are t11 and t22, respectively, from the start time of the cycle T, the number of general vehicles traveling between the specific vehicles ID11 and ID22 is 10 · (T−t11). / T + 15 · t22 / T, and the position of the general vehicle can be estimated on the assumption that the general vehicle is uniformly distributed between the specific vehicle IDs 11 and 22. Also in this case, the speed of the general vehicle may be an average value of the speeds of the specific vehicles ID11 and ID22, or may be any speed of the specific vehicles ID11 and ID22.

  FIG. 9 is an explanatory diagram illustrating an example of calculating a variation amount of the green light time for avoiding the dangerous driving area. In FIG. 9, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The entry condition L, the stop condition C, and the determination condition E are the same as the example of FIG. 3 although specific numerical values may be different. In the example of FIG. 9, the target vehicle is assumed to be five, but the number of target vehicles is not limited to this.

  In FIG. 9, points A <b> 1 to A <b> 5 indicate the prediction results of the state quantities (position, speed) at the yellow signal start time for five vehicles. In addition, when there is no extension or shortening of the green light time, the time from the current time to the start of the yellow light is t, the grace time is Ta, the yellow light time is Ty, and the amount of fluctuation of the green light time to be obtained (positive or shortened in the case of extension) In this case, it is negative, and 0) when there is no extension or shortening, Δt is the maximum, Tmax is the upper limit of the extension time, and Tmin is the upper limit of the reduction time. In this case, first, when both the extension and reduction of the green light time are possible, the equations (4) and (6) are assumed. Further, when there is only an extension of the green light time (no shortening control), Equations (5) and (6) are assumed.

  The dangerous driving area of each vehicle is between the point (XC1 to XC5) on the curve of the stop condition C for the speeds V1 to V5 and the point (XL1 to XL5) on the straight line of the approach condition L. The condition of Δt to be entered can be expressed by Expression (7) to Expression (11).

  When Expressions (7) to (11) are obtained for Δt, Expressions (12) to (16) are obtained.

  Therefore, by obtaining Δt that satisfies the equation (6) and does not satisfy all of the equations (12) to (16), the fluctuation amount of the green light time when all five vehicles can avoid the dangerous driving area is obtained. Can be calculated.

  When calculating the fluctuation amount Δt of the green light time, for example, the upper limit Tmin of the shortening time and the upper limit Tmax of the extension time are divided into a plurality of predetermined time intervals, and every divided time (−Tmin = Δt1 <Δt2 <. It may be determined that <Δtn−1 <Δtn = Tmax) satisfies Expression (6) and does not satisfy all of Expressions (12) to (16).

  When a plurality of fluctuation amounts of the green light time can be calculated when all five vehicles can avoid the dangerous driving area, the fluctuation amount having the minimum absolute value can be selected. Thereby, it is possible to avoid the target vehicle from the dangerous driving state while suppressing the fluctuation of the green light time to the minimum. When at least one of the five vehicles cannot avoid the dangerous driving area, that is, when Δt that satisfies Equation (6) and does not satisfy all of Equations (12) to (16) cannot be obtained. The following method can be used.

  FIG. 10 is an explanatory diagram illustrating an example in which the amount of change in green light time is calculated based on the number of vehicles. As shown in FIG. 10, the fluctuation amount of the green light time is divided at a predetermined time interval, for example, −Tmin = Δt1 <Δt2 <... <Δtn-1 <Δtn = Tmax, and dangerous driving is performed for each divided time. Find the number of vehicles that can avoid the area. In the example of FIG. 10, for example, when the fluctuation amount of the green light time is Δt1 (= −Tmin), the number of vehicles is one, and when the fluctuation amount is Δt2, the number of vehicles is two. In the example of FIG. 10, it is shown that the maximum number of vehicles that can avoid the dangerous traveling area is four at the time of the fluctuation amount Δtp. Therefore, in this case, the variation amount of the green light time is Δtp.

  As a result, even when the fluctuation amount (extended time, shortened time) of the green light time that can avoid the dangerous driving state is avoided for all the target vehicles, the most vehicles can avoid the dangerous driving state. The amount of fluctuation of the green light time can be obtained.

  FIG. 11 is an explanatory diagram showing an example in which the amount of variation in green light time is calculated by weighting the vehicle. The weighting of the vehicle can be performed, for example, according to characteristics such as the state relating to the traveling of the vehicle, the length of the vehicle, and the like. In the example of FIG. 11, a vehicle with a high speed, a vehicle with a short inter-vehicle distance with a succeeding vehicle, a vehicle with a short distance to the stop line at the yellow signal start time, a vehicle with a long vehicle length, a boundary line of a dangerous driving area (stop The fluctuation amount of the green light time is obtained so that a vehicle having a long distance to the condition or the entry condition) is preferentially avoided from the dangerous driving area.

  For example, the weighting can be set in five stages. As shown in FIG. 11, 1 is set if the vehicle speed is 20 km / h or less, 2 is set if it is 20 km / h to 40 km / h or less, and if it is 40 km / h to 60 km / h or less. 3 is set, 4 is set if it is 60 km / h to 80 km / h or less, and 5 is set if it exceeds 80 km / h.

  In addition, if the maximum distance from the boundary line of the dangerous driving area is L, 1 is set if the vehicle state quantity (speed, position) and the distance to the boundary line are L / 5, and L / 5 to 2L If 2/5 or less, set 2; if 2L / 5-5L / 5 or less, set 3; if 3L / 5-5L or less, set 4; if 4L / 5 is exceeded Sets 5. In this case, the distance may be a shorter distance when the perpendicular is lowered with respect to the boundary line, or may be a sum of distances in the horizontal or vertical direction. In any case, what is necessary is just to be able to evaluate the degree of proximity to the boundary line.

  Thus, a vehicle with a high speed, a vehicle with a short inter-vehicle distance from the following vehicle, a vehicle with a short distance to the stop line at the yellow signal start time, a vehicle with a long vehicle length, a boundary line of a dangerous driving area (a stop condition or By giving more weight to vehicles with a long distance to the entry condition), a green light can be extended to avoid the dangerous driving area with priority given to the vehicles that are considered to be high in the dangerous driving state. By performing the shortening, it is possible to reduce the degree of danger of the entire target vehicle.

  Note that the above weighting is an example, and the present invention is not limited to this. Moreover, the weighting of the vehicle does not need to cover all the conditions in FIG. 11 and can be variously selected according to the situation, and one or a plurality of conditions (for example, the boundary line between the vehicle speed and the dangerous traveling area) It is also possible to select only (such as the distance to). In addition, weighting may be set to give priority to vehicles that comply with traffic laws as well as when the degree of danger is considered high, and is set according to the purpose of avoiding dangerous driving areas be able to.

  This gives priority to a specific vehicle according to the state or type of the vehicle, even when the amount of fluctuation in green light time (extended time, shortened time) that can avoid a dangerous driving state is not required for all target vehicles. Thus, the fluctuation amount of the green light time can be obtained so that the dangerous driving state can be avoided.

  The process of determining whether or not the target vehicle is in a dangerous driving area and calculating the fluctuation amount of the green light time is performed at least a predetermined grace period (for example, 3 seconds) from the start time of the yellow light can do. However, since the green light time may be shortened as a result of the processing, it is desirable to perform processing at an earlier time point. Thus, a sufficient margin can be given in advance in consideration of the time required for processing, the communication delay time, or the time required for running control in the vehicle. Further, the process of calculating the fluctuation amount of the green light time can be performed once at an appropriate time, or can be performed a plurality of times.

  For example, when the calculated amount of green light time is arranged in time series every time it is executed multiple times and the calculated amount of fluctuation is stable, that is, when the same or approximate amount of fluctuation is repeatedly determined, this is finalized. Can be determined as a typical variation.

  In the examples of FIGS. 3 and 9, the speed at the current time point is used, but the state quantity of the target vehicle is acquired a plurality of times, and the yellow signal starts from the temporal change of the state quantity (position, speed). It is also possible to predict the state quantity at the time, use the predicted state quantity to determine whether or not the vehicle is in the dangerous driving area, and calculate the amount of fluctuation in the green light time.

  FIG. 12 is an explanatory diagram showing a method for predicting a state quantity on the time axis. In the figure, the horizontal axis represents time, and the vertical axis represents vehicle speed. When the vehicle speed is acquired at times t01, t02, and t03 indicating the time difference from the yellow signal start time (t = 0), and the speed is monotonously decreasing or increasing, a method such as a regression line on the time axis is used. The vehicle speed at the yellow signal start time can be predicted. In FIG. 12, when the blue signal is extended or shortened, it is necessary to satisfy t03> Ta + Tmin. That is, the last time t03 for obtaining the vehicle speed in order to obtain the predicted value needs to be before the time obtained by adding the grace time Ta to the upper limit Tmin of the green signal shortening time. Similarly, when there is only an extension of the green signal, t03> Ta needs to be satisfied.

  FIG. 13 is an explanatory diagram showing a method of predicting the state quantity in the dangerous driving area. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The vehicle speed and position are acquired at times t01, t02, and t03, and a predicted value of the vehicle state quantity (speed and position) at the yellow signal start time can be obtained.

  Further, when the vehicle state quantity is acquired a plurality of times, it may be determined whether or not the vehicle is in the dangerous driving area each time, and the amount of fluctuation of the green light time may be calculated. It is also possible to determine whether or not the vehicle is in a dangerous driving area using the value, and calculate the amount of fluctuation of the green light time. As a result, it is possible to accurately determine whether or not the dangerous traveling area can be avoided, and it is possible to obtain an optimal amount of change in green light time.

  When all or a part of the target vehicle can calculate multiple variations of extension or shortening of the green light that can avoid dangerous driving conditions, it is possible to select the amount of variation related to the extension time of the green light and output the selected variation . By using the predicted value of speed as described above, when there is both extension and reduction in the green light time that can avoid the dangerous driving state of the target vehicle, the extension is prioritized over the reduction of the green light time, and the target is selected. It is possible to provide a margin when performing traveling control with the vehicle.

  When the speed of the target vehicle is within a predetermined range, the information providing apparatus 10 determines whether or not the vehicle is in a traveling state determined by the stop condition and the entry condition. For example, a vehicle traveling at a relatively low speed (for example, 20 km / h) can be safely stopped at an intersection and is unlikely to enter a dangerous traveling state. Vehicles traveling at a relatively high speed (eg, 100 km / h) can safely pass through the intersection and are unlikely to enter a dangerous driving state, or emergency It is considered that the vehicle should be excluded from the determination of the dangerous driving condition because it is a characteristic vehicle or a runaway vehicle, etc., so when the vehicle speed is within the predetermined range, the dangerous driving condition is determined and the green light time Is calculated. As a result, vehicles that do not require determination of the dangerous driving state can be excluded, the target vehicles can be restricted, and the processing load can be reduced.

  Moreover, the information provision apparatus 10 can obtain | require the optimal value of the extension time or shortening time of a green light only using the state quantity (a position, speed, etc.) of the object vehicle obtained by communication.

  FIG. 14 is a schematic diagram showing another example of an outline of information provision using the information provision apparatus 10. In the example of FIG. 14, the information providing apparatus 10 sets only a specific vehicle having a communication function as a determination target of the dangerous driving area. Moreover, the information provision apparatus 10 transmits the variation | change_quantity of the green light time based on the determination result with respect to a specific vehicle. In the example of FIG. 14, in the information providing apparatus 10, the mid-range communication unit 13 is used instead of the vehicle information acquisition unit 12. Further, the vehicle 20 repeatedly transmits information such as the position, speed, and vehicle length of the vehicle to the information providing apparatus 10. The transmission timing for repeated transmission may be changed from moment to moment according to the distance between the vehicle and the intersection, the speed of the vehicle, and the like. Moreover, in order to identify many vehicles, vehicle ID provided for every vehicle can be used.

  15 and 16 are flowcharts showing the processing procedure of the information providing apparatus 10. The information providing apparatus 10 (hereinafter referred to as the apparatus 10) determines whether or not it is a predetermined time before the yellow signal start time (S11), and if it is not a predetermined time before the yellow signal start time (NO in S11), step The process of S11 is continued and waits until a predetermined time before the yellow signal start time.

  If it is a predetermined time before the yellow signal start time (YES in S11), the apparatus 10 receives the position and speed of the specific vehicle (S12), and the vehicle passage information of the passing point R obtained in advance, the initial schedule Signal information including the yellow signal start time and the yellow signal time is acquired (S13). The apparatus 10 generates the position and speed of other vehicles (general vehicles) excluding the specific vehicle based on the state quantity (position, speed) of the specific vehicle, vehicle passage information, and the like (S14).

  The device 10 calculates the dangerous driving area of the vehicle (S15), and changes the green light time to a maximum extension / shortening range around 0 at a predetermined time interval (S16). The apparatus 10 determines whether or not the in-range variation has ended (S17). If the in-range variation has not ended (NO in S17), the apparatus 10 continues the processing from step S15.

  When the variation within the range is completed (YES in S17), the apparatus 10 determines whether or not there is a vehicle that enters the dangerous traveling area with all the solutions (S18). If there is a vehicle that enters the dangerous driving area in all solutions (YES in S18), the apparatus 10 determines whether there is one or more vehicles that can avoid the dangerous driving area (S19) and can avoid the vehicle. If there is more than one (YES in S19), the system is determined (S20). In the system determination, when even one of the target vehicles cannot avoid the dangerous driving area, it is determined whether to avoid the dangerous driving area based on the number of vehicles or to avoid the dangerous driving area based on the weight of the vehicle. It is to be determined and can be set in advance.

  When the method is the number of vehicles (the number of vehicles in S20), the device 10 selects the extension time or the shortening time (variation amount) of the green light with the largest number of vehicles that can avoid the dangerous driving area (S21). On the other hand, when the method is weighting (weighting in S20), the apparatus 10 selects the extension time or shortening time (variation amount) of the blue signal having the largest weighting (S22).

  The apparatus 10 determines whether or not there are a plurality of selection numbers (S23), and when there are a plurality of selection numbers (YES in S23), selects the extension time or reduction time (variation amount) of the green light with the smallest absolute value. (S24). The device 10 transmits the selected green signal to all vehicles targeted for extension time or reduction time (S25). When there are not a plurality of selections (NO in S23), that is, when there is only one variation amount of the green light time selected, the apparatus 10 performs the process of step S25.

  The device 10 notifies the signal control device of an instruction to extend or shorten the green light time (S26). In this case, the traffic light is controlled by the signal control device, but the device 10 can directly transmit the control signal to the traffic light to extend or shorten the green light time.

  When there is no vehicle that enters the dangerous driving area in all solutions (NO in S18), that is, when all the vehicles can avoid the dangerous driving area, the device 10 determines that all the target vehicles are in the dangerous driving area. The extension time or shortening time of the avoidable green light is extracted (S27), and the processing after step S23 is performed. When one or more vehicles that can avoid the dangerous traveling area are not present (NO in S19), the apparatus 10 performs a process of step S28 described later.

  The apparatus 10 determines whether or not there is an instruction to end the process (S28). If there is no instruction (NO in S28), the process from step S11 is continued, and if there is an instruction (YES in S28), the process ends. .

  Each vehicle 20 receives the extension time or shortening time (variation amount) of the green signal transmitted by the information providing device 10, and based on the received variation amount of the green signal time, for example, necessary information so that the driver can drive safely. Can be displayed or output as audio. As an example of such information provision, for example, “You can pass through the intersection because the green light time will be extended for XX seconds.” Or “You will stop at the intersection because the green light time will be shortened for XX seconds. . "

  When the vehicle 20 is equipped with an in-vehicle device capable of traveling control, the in-vehicle device acquires the extension time or reduction time (variation amount) of the green signal transmitted by the information providing device 10 and receives the received green signal time. Depending on the amount of change, the vehicle can be slowly decelerated and stopped before the intersection, or the vehicle can be slowly accelerated to pass the intersection. Thereby, the driving control on the vehicle side can be performed based on the optimum value of the signal control performed on the ground system, and the road-vehicle cooperation system can be optimized.

  Moreover, the information provision apparatus 10 can calculate the grace time until the yellow signal start time based on the calculated fluctuation amount, and can transmit the calculated grace time to the vehicle. For example, when the yellow signal start time is assumed to be ta due to the extension or shortening of the blue light, the time before the yellow signal start time ta by a predetermined grace time (for example, about 3 seconds) is transmitted to the vehicle as the grace time. In this case, the timing for transmitting the grace time may be before the grace time or may be transmitted when the grace time is reached. As a result, the vehicle can be operated so that the driver decelerates or accelerates with a margin at the received grace point, or automatic driving control can be performed with a margin. Thereby, the signal control performed in the ground system and the driving control on the vehicle side can be coordinated.

  As described above, in the present invention, even when a target vehicle includes a vehicle (general vehicle) that does not have a communication function, all of the target vehicles avoid a dangerous driving state. The optimal green light time (extended time, shortened time, or no extended and shortened time) that can be determined can be determined, and information for safely stopping or passing at the intersection can be provided.

  In the above-described embodiment, the stop condition C and the entry condition L are used in order to avoid the dangerous driving area. However, the present invention is not limited to this, so that the dangerous driving area can be avoided with a margin. It is also possible to preliminarily set the dangerous traveling area. For example, the yellow signal time Ty can be intentionally reduced. Further, the dangerous traveling region can be set wider by apparently changing the yellow signal start time or the yellow signal end time. In addition, the above-mentioned dangerous driving area may be determined in advance as a target speed range, may be a dilemma area only, or may be an option area only.

  In the above-described embodiment, information provision can take various forms. For example, digital data corresponding to voice may be transmitted as it is from the information providing device to the vehicle, or a number corresponding to the content of information to be provided based on an interface specification set in advance with the vehicle, A symbol or the like may be transmitted. In addition, as a result of determining whether or not the vehicle is in a dangerous driving area, providing information indicating which area (dilemma area, option area, intersection passing area, intersection stopping area, etc.), intersection passing and intersection stopping It is also possible to provide a difference between the target speed and the target speed for avoiding the dangerous driving area.

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

It is a schematic diagram which shows the outline | summary of the information provision using the information provision apparatus which concerns on this invention. It is a block diagram which shows the structure of the information provision apparatus which concerns on this invention. It is explanatory drawing which shows the concept of a dangerous driving | running | working area | region. It is a time chart which shows an example of the passage information of a vehicle. It is explanatory drawing which shows the example which estimates presence of a general vehicle. It is explanatory drawing which shows the example which produces | generates the state quantity of a general vehicle. It is explanatory drawing which shows the other example which estimates presence of a general vehicle. It is explanatory drawing which shows the other example of the passage information of a vehicle. It is explanatory drawing which shows the example which calculates the variation | change_quantity of the green light time for avoiding a dangerous driving | running | working area | region. It is explanatory drawing which shows the example which calculates the variation | change_quantity of green light time by the number of vehicles. It is explanatory drawing which shows the example which calculates the variation | change_quantity of green light time by weighting of a vehicle. It is explanatory drawing which shows the prediction method of the state quantity on a time axis. It is explanatory drawing which shows the prediction method of the state quantity in a dangerous driving | running | working area | region. It is a schematic diagram which shows the example of the outline | summary of the information provision using an information provision apparatus. It is a flowchart which shows the process sequence of an information provision apparatus. It is a flowchart which shows the process sequence of an information provision apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Information provision apparatus 11 Control part 12 Vehicle information acquisition part 13 Middle area | region communication part 14 State quantity production | generation part 15 Running condition determination part 16 Interface part 17 Fluctuation amount calculation part 18 Memory | storage part 30 Vehicle detector

Claims (16)

An information providing device that provides information related to driving support based on signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and information on a plurality of vehicles existing in a predetermined range on a road Because
Passage information obtaining means for obtaining passage information including passage time or number of passages of a specific vehicle having a communication function and a general vehicle having no communication function ;
Receiving means for receiving the speed information of the specific vehicle transmitted by the specific vehicle and the distance information regarding the distance to the intersection;
Based on the passing information of the specific vehicle and the general vehicle acquired by the passing information acquisition means and the speed information and the distance information of the specific vehicle received by the receiving means, the speed information of the general vehicle and the distance information regarding the distance to the intersection Generating means for generating
The specific vehicle and the distance between the intersections of the general vehicle, based on the speed and signal information of the specific vehicle and general vehicles, when varying the green light time, the specific vehicle and general vehicle stops before the intersection Determining means for determining whether or not the vehicle is in a dangerous driving state determined by a stop condition for entering and an entry condition for entering an intersection;
Calculation means for calculating a fluctuation amount related to the extension time and / or the reduction time of the green light based on the determination result of the determination means;
An information providing apparatus comprising: output means for outputting the fluctuation amount calculated by the calculating means to an external device. The generating means includes
The information providing apparatus according to claim 1, wherein when there are a plurality of specific vehicles, the speed information and the distance information of a general vehicle between the specific vehicles is generated. The passage information acquisition means includes
It is configured to acquire the passage time of specific vehicles and general vehicles,
The generating means includes
Based on the speed information and distance information of the specific vehicle received by the receiving means and the passing time of the specific vehicle and the general vehicle acquired by the passing information acquisition means, the distance information of the general vehicle is generated. The information providing apparatus according to claim 1, wherein: The calculating means includes
When there is a specific vehicle or a general vehicle that is in a traveling state determined by the stop condition and the entry condition, the variation amount is calculated based on the number of vehicles that are not in the traveling state. The information providing device according to any one of claims 1 to 3. Weighting means for weighting specific vehicles and general vehicles,
The calculating means includes
When there is a specific vehicle or a general vehicle in a running state determined by the stop condition and the entry condition, the variation amount is calculated based on the weight of the specific vehicle or the general vehicle not in the running state. The information providing apparatus according to claim 1, wherein the information providing apparatus is an information providing apparatus. The weighting means is
At least the speed of the specific vehicle and the general vehicle, the distance from the following vehicle, the distance between the specific vehicle and the general vehicle and the intersection, the vehicle length, and the degree of proximity between the running state of the specific vehicle and the general vehicle and the stop condition or the entry condition The information providing apparatus according to claim 5, wherein weighting is performed based on one. In the case where a plurality of fluctuation amounts are calculated by the calculation means, a selection means for selecting a minimum fluctuation amount is provided.
The output means includes
The information providing apparatus according to any one of claims 1 to 6, wherein the information providing apparatus is configured to output a variation amount selected by the selecting means. When a plurality of fluctuation amounts are calculated by the calculation means, the selection means includes a selection means for selecting a fluctuation amount related to the extension time of the green light,
The output means includes
The information providing apparatus according to any one of claims 1 to 6, wherein the information providing apparatus is configured to output a variation amount selected by the selecting means. The determination means includes
2. The system according to claim 1, wherein it is configured to determine whether or not the specific vehicle and the general vehicle are in a traveling state determined by the stop condition and the entry condition at a time point a predetermined time before the yellow signal start time point. The information providing apparatus according to claim 8. The determination means includes
It is configured to determine whether or not the specific vehicle and the general vehicle are in a traveling state determined by the stop condition and the entry condition at a plurality of times,
The calculating means includes
The information providing apparatus according to any one of claims 1 to 9, wherein a variation amount is calculated based on determination results at a plurality of points in time. The running state is
The information providing apparatus according to claim 1, wherein the information providing apparatus is in a dilemma state and / or an optional state.   The information providing apparatus according to claim 1, further comprising a control unit that controls a signal based on a fluctuation amount calculated by the calculation unit. The information providing apparatus according to any one of claims 1 to 12, further comprising a transmission unit configured to transmit the fluctuation amount calculated by the calculation unit to a specific vehicle and a general vehicle.   The information providing apparatus according to any one of claims 1 to 12, further comprising a transmission unit configured to transmit the fluctuation amount calculated by the calculation unit only to a specific vehicle. Grace time calculation means for calculating a grace time until the yellow light start time based on the amount of fluctuation calculated by the calculation means,
The transmission means includes
15. The information providing apparatus according to claim 13, wherein the grace time calculated by the grace time calculation means is transmitted. An information providing device that provides information related to driving support based on signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and information on a plurality of vehicles existing in a predetermined range on a road Providing information by :
The passage information acquisition means acquires passage information including the passage time or the number of passages of a specific vehicle having a communication function and a general vehicle having no communication function ,
The receiving means receives the speed information of the specific vehicle transmitted by the specific vehicle and the distance information regarding the distance to the intersection,
Based on the acquired passing information of the specific vehicle and the general vehicle and the received speed information and distance information of the specific vehicle, the generating means generates the speed information of the general vehicle and the distance information regarding the distance to the intersection,
The specific vehicle and the distance between the intersections of the general vehicle, based on the speed and signal information of the specific vehicle and general vehicles, when varying the green light time, the specific vehicle and general vehicle stops before the intersection The determination means determines whether or not the vehicle is in a dangerous driving state determined by the stop condition for entering and the entry condition for entering the intersection,
Based on the determination result, the calculation means calculates the amount of variation related to the extension time and / or reduction time of the green light,
An information providing method, wherein the output unit outputs the calculated fluctuation amount to an external device .

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