JP4985216B2 - 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 related to driving support, and includes a speed information acquisition unit that acquires vehicle speed information, a distance information acquisition unit that acquires distance information about a distance between the vehicle and an intersection, and a plurality of vehicles. The green signal time is varied based on the vehicle group determination means for determining the presence or absence of the vehicle group to be operated, the distance between the vehicle in the vehicle group determined by the vehicle group determination means and the intersection, the speed of the vehicle group, and the signal information. A determination means for determining whether the vehicle group is in a traveling state determined by a stop condition for stopping the vehicle group before the intersection and an entry condition for entering the intersection, and a determination result of the determination means Based on Characterized by comprising calculating means for calculating an amount of change regarding green extension time and / or shortening the time, and output means for outputting the variation calculated in the calculated detection means.

  According to a second aspect of the present invention, there is provided the information providing apparatus according to the first aspect of the present invention, wherein the calculating means is an extension of a green light that allows the last vehicle in the vehicle group to enter the intersection when at least one vehicle in the vehicle group is in the traveling state. The present invention is characterized in that it is configured to calculate a fluctuation amount related to time.

  In the information providing apparatus according to a third invention, in the first invention or the second invention, the calculating means is configured such that when at least one vehicle in the vehicle group is in the traveling state, the first vehicle in the vehicle group is in front of the intersection. The present invention is characterized in that the fluctuation amount relating to the shortening time of the green light that can be stopped is calculated.

  An information providing apparatus according to a fourth aspect of the present invention includes a selection unit that selects a minimum amount of variation when a plurality of variation amounts are calculated by the calculation unit according to any one of the first to third aspects of the invention. The output means is configured to output the variation amount selected by the selection means.

  According to a fifth aspect of the present invention, in the information providing apparatus according to any one of the first to fourth aspects of the present invention, the determination means determines the vehicle group according to a stop condition and an entry condition at a predetermined time before the yellow signal start time. It is comprised so that it may be determined whether it is in the driving | running | working state to be performed.

  The information providing apparatus according to a sixth aspect of the present invention is the information providing apparatus according to any one of the first to fifth aspects, wherein the determination means is in a traveling state in which the vehicle group is 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.

  An information providing apparatus according to a seventh invention is characterized in that, in any one of the first invention to the sixth invention, the traveling state is a dilemma state and / or an optional state.

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

  An information providing apparatus according to a ninth invention is characterized in that, in any one of the first to eighth inventions, the information providing apparatus further comprises a transmitting means for transmitting the variation calculated by the calculating means to each vehicle in the vehicle group. To do.

  An information providing apparatus according to a tenth aspect of the present invention includes, in the ninth aspect, a grace time calculating means for calculating a grace time until a yellow signal start time based on the fluctuation amount calculated by the calculating means, wherein the transmitting means The grace time calculated by the grace time calculation means is configured to be transmitted to each vehicle in the vehicle group.

  The information providing method according to the eleventh 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 for providing information related to driving assistance, acquiring vehicle speed information, acquiring distance information about a distance between a vehicle and an intersection, determining the presence or absence of a vehicle group composed of a plurality of vehicles, Based on the distance between the vehicle in the determined vehicle group and the intersection, the speed of the vehicle group and the signal information, when the green light time is changed, the vehicle group enters the intersection and the stop condition for stopping before the intersection To determine whether or not the vehicle is in a driving state determined by the entry conditions for calculating, and based on the determination result, calculate a fluctuation amount related to the extension time and / or reduction time of the green light, and output the calculated fluctuation amount Special To.

  In the first invention and the eleventh invention, the information providing apparatus acquires speed information of a plurality of vehicles existing in a predetermined range on the road and information related to the distance between the vehicle and the intersection. In this case, the information regarding the distance between the vehicle and the intersection may be the distance between the vehicle and the intersection, or the position of the vehicle and the intersection. The information providing apparatus determines the presence or absence of a vehicle group based on the speed and position of a plurality of vehicles. Here, the vehicle group refers to, for example, a plurality of vehicles that travel in a cooperative manner in which the following vehicle follows the nearest preceding vehicle at an equivalent speed. Therefore, the vehicle group includes, for example, a plurality of vehicles whose head time or inter-vehicle time is equal to or smaller than a predetermined threshold value, or a plurality of vehicles whose head head distance or inter-vehicle distance is equal to or smaller than a predetermined threshold value.

  The information providing device provides signal information including the distance from each vehicle in the vehicle group to the intersection, the speed of the vehicle group (each vehicle in the vehicle group), the yellow signal start time and the yellow signal time of the traffic light installed at the intersection. Based on the driving condition (for example, the dangerous driving condition, i.e., the vehicle) determined by the stop condition for the vehicle group to stop before the intersection and the entry condition for entering the intersection when the green light time is changed based on It is determined whether or not the vehicle is in a dangerous traveling area determined by the distance and speed to the intersection. The dangerous driving state includes, for example, a dilemma state (dilemma region) and an optional state (option region). The dilemma state is a state in which the vehicle (vehicle group) cannot stop before the intersection even if it tries to stop after the yellow signal is displayed, and cannot enter the intersection by the end of the yellow signal, and cannot stop or enter safely. is there. In addition, the optional state is a state where the vehicle (vehicle group) can stop before the intersection in order to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops due to the characteristics of the driver. It is an unstable state that is different depending on whether to enter or to enter. 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 fluctuation amount related to an extension time or a reduction time of a green light that can avoid a dangerous driving state (for example, an extension time based on a green light time when there is no extension or reduction, or Calculate (shortening time) 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, it is possible to obtain an optimal green signal time (extended time, shortened time, or no extension and shortening) that can avoid a dangerous driving state for a group of vehicles composed of a plurality of vehicles, and can be safely at an intersection. Information for stopping or passing can be provided.

  In the second invention, the information providing apparatus is configured such that when the vehicle group is in the dangerous driving state, that is, when at least one vehicle in the vehicle group is in the dangerous driving state, the last vehicle in the vehicle group is at the intersection. The amount of change related to the extension time of the green light that can enter is calculated. For example, when vehicles in the vehicle group are in the dilemma region, an intersection passing region that is an area outside the dangerous driving region (dilemma region) in which the state quantity (position, speed) of the vehicle at the end of the vehicle group is defined by the entry condition The extension time (extension amount) of the green light is calculated so as to enter. The intersection passing area is an area where the vehicle can safely enter (pass) the intersection, and all the vehicles in the vehicle group enter the intersection passing region, and the vehicle group can be avoided from the dangerous driving state. .

  In addition, when vehicles in the vehicle group are in the option region, an intersection passing region that is an area outside the dangerous traveling region (option region) in which the state quantity (position, speed) of the vehicle at the end of the vehicle group is defined by the stop condition The extension time (extension amount) of the green light is calculated so as to enter. The intersection passing area is an area that can safely enter (pass) the intersection regardless of the driver's characteristics, and all vehicles in the vehicle group will enter the intersection passing region, and the vehicle group is dangerous. It can be avoided from the running state.

  In the third invention, the information providing apparatus is configured such that when the vehicle group is in the dangerous driving state, that is, when at least one vehicle in the vehicle group is in the dangerous driving state, the leading vehicle in the vehicle group is at the intersection. The amount of change related to the shortening time of the green light that can be stopped is calculated. For example, when a vehicle in the vehicle group is in the dilemma region, an intersection stop region that is a region outside the dangerous traveling region (dilemma region) in which the state quantity (position, speed) of the first vehicle in the vehicle group is defined by the stop condition The shortening time (amount of shortening) of the green light is calculated so as to enter. The intersection stop area is an area where the vehicle can safely stop before the intersection, and all the vehicles in the vehicle group enter the intersection stop region, and the vehicle group can be avoided from the dangerous driving state.

  Further, when vehicles in the vehicle group are in the option region, an intersection stop region that is an area outside the dangerous traveling region (option region) in which the state quantity (position, speed) of the first vehicle in the vehicle group is defined by the entry condition The shortening time (amount of shortening) of the green light is calculated so as to enter. The intersection stop area is an area where you can safely stop before the intersection regardless of the driver's characteristics, and all the vehicles in the vehicle group will enter the intersection stop region, and the vehicle group will run dangerously. Can be avoided from the state.

  In the fourth aspect of the invention, the information providing apparatus can calculate the minimum fluctuation amount (that is, the minimum extension time or the minimum extension time) when a plurality of fluctuation amounts of extension or shortening of the green light that can avoid the dangerous driving state can be calculated. (Shortening time) and output the selected variation. 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.

  In the fifth invention, the information providing apparatus determines whether or not the vehicle group 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 each vehicle in the vehicle group.

  In the sixth invention, the information providing apparatus determines whether or not the vehicle group 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 multiple points in time, the amount of green signal fluctuation (extended time or shortened time) that the vehicle group can avoid a dangerous driving state is calculated each time, and the value when the fluctuation amount becomes stable is finally calculated. Can be determined as a variable amount. In addition, the state quantity of the vehicle group 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 seventh 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 eighth invention, 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. As a result, the traffic signal can be controlled so that the optimal green signal time is reached, so that the vehicle group can avoid a dangerous driving state.

  In the ninth invention, the information providing apparatus transmits the calculated fluctuation amount to each vehicle in the vehicle group. 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 tenth 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 each vehicle in the vehicle group. For example, if the yellow light start time is t1 due to the extension or shortening of the green light, each time period in the vehicle group is set as a grace time at a time before a predetermined margin time (for example, about 3 seconds) from the yellow light start time t1. Send to the vehicle. 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, it is possible to obtain an optimal green light time (extended time, shortened time, or no extension and shortening) that can avoid a dangerous driving state in a vehicle group composed of a plurality of vehicles, Information for safely stopping or passing at an 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 plurality of vehicles 20 traveling in a predetermined range (for example, 600 m from the stop line or the intersection) on the upstream side of the stop line. A plurality of vehicle detectors 30 capable of acquiring the above information (for example, vehicle speed, vehicle position, etc.) are installed. The vehicle sensor 30 includes, for example, an image sensor, an ultrasonic sensor, and the like, and can detect the speed and position of the vehicle 20. The predetermined range of the road is not limited to 600 m and can be set as appropriate.

  The information providing apparatus 10 acquires information on the vehicle 20 detected by the vehicle detector 30 and determines the presence or absence of a vehicle group including a plurality of vehicles 20 based on the acquired information on the vehicle 20. The vehicle group will be described later. The information providing apparatus 10 has an extension time or reduction time (no extension or reduction) of a green light that can avoid a dangerous driving state (dangerous driving region) described later in the vehicle group (that is, all the vehicles 20 in the vehicle group). (Including the case), information on the calculated extension time or shortening time (a fluctuation amount of the green light time) is transmitted to each vehicle 20 in the vehicle group, 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.

  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 information about the vehicle 20 detected by the vehicle detector 30, and the vehicle 20. There is a vehicle group composed of a plurality of vehicles 20 based on information of the narrow-area communication unit 13 that performs narrow-area communication, the mid-range communication unit 14 that performs mid-range communication with the vehicle 20, and the vehicle 20 information. Vehicle group determination unit 15 for determining whether or not, a traveling state determination unit 16 for determining whether or not the vehicle group (each vehicle 20 in the vehicle group) is in a dangerous traveling state, a signal control device or a traffic control device (not shown) ) And the like, a change amount calculation unit 18 for calculating a change amount of the green light time based on a result determined by the traveling state determination unit 16, and predetermined information The memory | storage part 19 etc. which memorize | store are provided.

  Under the control of the control unit 11, the vehicle information acquisition unit 12 outputs information such as the speed and position of the vehicle 20 detected by the vehicle detector 30 to the vehicle group determination unit 15 and the traveling state determination unit 16. 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 sensor 30 by including the image sensor and the ultrasonic sensor. As will be described later, when the information transmitted by the vehicle 20 is received and acquired by the narrow area communication unit 13, it is not necessary to acquire the information of the vehicle 20 by the vehicle information acquisition unit 12.

  Further, when the vehicle 20 transmits information (for example, the speed of the vehicle, the position of the vehicle, etc.), a receiving unit that receives information transmitted by the vehicle 20 may be installed on the road instead of the vehicle detector 30. In this case, the narrow area communication unit 13 establishes communication with the vehicle 20 via the reception unit when the vehicle 20 passes through a predetermined communication point, and receives and receives information transmitted by the vehicle 20. The information is output to the vehicle group determination unit 15 and the traveling state determination unit 16. In this case, the narrow area communication unit 13 may be configured as a separate device instead of the reception unit and installed on the road. Further, instead of the vehicle 20 transmitting the position, the position of the communication point can be handled as the position of the vehicle 20. In addition, the narrow area communication unit 13 transmits, to the vehicle 20, the amount of change in green light time obtained by the information providing device 10 when the vehicle 20 passes through the communication point. Since there are a plurality of target vehicles, a vehicle ID for identifying each vehicle 20 can be used. In this case, the information providing apparatus 10 may assign a provisional vehicle ID that is valid only when each vehicle 20 is within a predetermined range (for example, 600 m from a stop line or an intersection), and distinguish it from other vehicles 20. it can.

  The mid-range communication unit 14 has a wireless LAN function such as a UHF band or a VHF band, and performs communication with the vehicle 20 existing in a predetermined range (for example, 600 m from the stop line or the intersection) upstream of the intersection. . The mid-range communication unit 14 receives information (for example, vehicle speed, vehicle position, etc.) transmitted by the vehicle 20 and outputs the received information on the vehicle 20 to the vehicle group determination unit 15 and the traveling state determination unit 16. . In the example of FIG. 1, since it is not necessary to use the mid-range communication unit 14, a configuration in which the mid-range communication unit 14 is omitted may be used. An example of using the mid-range communication unit 14 will be described later with reference to FIG. Further, the mid-range communication unit 14 may monitor and acquire the communication contents between vehicles in the inter-vehicle communication without receiving the position and speed from the vehicle by direct communication between the road and the vehicle.

  The interface unit 17 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 17 acquires signal information (for example, yellow signal start time and yellow signal time) of a traffic light installed at the 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 17 transmits the fluctuation amount of the green light time obtained by the information providing device 10 to the signal control device, and the signal control device controls the traffic light. The current may be directly supplied to each signal lamp of the traffic light based on the fluctuation amount of the green light time obtained by the information providing device 10, or the control signal of the traffic light is generated based on the fluctuation amount of the green light time and the signal control is performed. You may output to an apparatus.

  The storage unit 19 stores necessary information in advance. The required information includes the signal information described above. The storage unit 19 stores information acquired from the vehicle information acquisition unit 12, the narrow area communication unit 13, and the mid range communication unit 14. Further, the storage unit 19 stores the determination result determined by the vehicle group determination unit 15, the determination result determined by the traveling state determination unit 16, the calculation result calculated by the fluctuation amount calculation unit 18, and the like.

  The vehicle group determination unit 15 determines whether there is a vehicle group including a plurality of vehicles 20 based on the positions, speeds, and the like of the plurality of vehicles 20. For example, the vehicle group refers to a plurality of vehicles in which a subsequent vehicle travels in a cooperative manner following the nearest preceding vehicle at an equivalent speed. Therefore, the vehicle group includes, for example, a plurality of vehicles whose head time or inter-vehicle time is equal to or smaller than a predetermined threshold value, or a plurality of vehicles whose head head distance or inter-vehicle distance is equal to or smaller than a predetermined threshold value. The vehicle group determination method will be described later.

  The traveling state determination unit 16 determines that the vehicle group (each vehicle 20 in the vehicle group) travels dangerously based on information on the vehicle group (information on each vehicle 20 in the vehicle group), signal information, a predetermined standard deceleration, and the like. It is determined whether it is in the 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 18 calculates a fluctuation amount (for example, an extension time or a reduction time of the green light) of the green signal time that allows the vehicle group (all the vehicles 20 in the vehicle group) to avoid the dangerous driving state. More specifically, the vehicle group (all the vehicles 20 in the vehicle group) is put in a dangerous driving state by changing the upper limit value of the extension time of the green light time and the upper limit value of the shortening time at predetermined time intervals. Based on the determination result of whether or not there is an optimum green light time fluctuation amount.

  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 an explanatory diagram showing an example of vehicle group determination. In the figure, the horizontal axis represents the position (distance) from the stop line, and the vertical axis represents the vehicle speed. As described above, the vehicle group refers to a plurality of vehicles in which the following vehicle travels in a cooperative manner at the same speed following the nearest preceding vehicle. Accordingly, a group of a plurality of vehicles having a vehicle head time or an inter-vehicle time being a predetermined threshold value or a group of a plurality of vehicles having a vehicle head distance or an inter-vehicle distance being a predetermined threshold value or less may be considered as a vehicle group. it can. The predetermined threshold depends on the speed of the vehicle group. Further, if there are two or more vehicles, they may be regarded as a vehicle group.

  More specifically, the vehicle group can be determined in consideration of the traffic volume. For example, when the traffic volume is about 800 (vehicles / hour / lane), if the vehicle head time or the inter-vehicle time is about 4 seconds or less, it can be determined that the vehicle constitutes a vehicle group. At this time, if the distance from the first vehicle to the last vehicle is about 200 m or less (the number of vehicles is about 20), it can be determined that the vehicle constitutes a vehicle group. Further, when the traffic volume is about 1200 (vehicles / hour / lane), if the vehicle head time or the inter-vehicle time is about 5 seconds or less, it can be determined that the vehicle constitutes a vehicle group. At this time, if the distance from the leading vehicle to the trailing vehicle is about 300 m or less (the number of vehicles is about 30), it can be determined that the vehicle constitutes a vehicle group.

  As shown in FIG. 4, based on the speeds and positions of a plurality of vehicles, a group of vehicles whose inter-vehicle distance or vehicle head distance is equal to or less than a predetermined threshold at the same speed is determined as vehicle group A and vehicle group B. Can do. Further, since the inter-vehicle distance or the head distance between the last vehicle in the vehicle group A and the first vehicle in the vehicle group B is equal to or greater than the threshold value, the vehicle groups A and B can be determined as separate vehicle groups. Furthermore, it is possible to determine that a vehicle traveling in front of the leading vehicle group A and traveling at a speed faster than the speed of the vehicle group A is a vehicle outside the vehicle group. Further, it is possible to determine that a vehicle traveling behind the vehicle group B and traveling at a speed slower than the speed of the vehicle group B is a vehicle outside the vehicle group.

  Note that the vehicle group can be determined by predicting the vehicle group configuration at the time when the signal lamp color fluctuates according to the speed of the vehicle. That is, for example, in the example of FIG. 4, when the speed of a vehicle outside the vehicle group traveling in front of the vehicle group A is traveling at a speed slower than the speed of the vehicle group A, When it can be predicted that the vehicle will be added, it can be determined that the vehicle outside the vehicle group is also a vehicle in the vehicle group A. Similarly, when the vehicle outside the vehicle group traveling behind the vehicle group B is traveling at a speed faster than the vehicle group B, when it can be predicted that the vehicle will be added to the vehicle group B at the time of signal light color switching, It can be determined that the vehicle outside the vehicle group is also a vehicle in the vehicle group B.

  FIG. 5 is an explanatory diagram showing another example of vehicle group determination. In the figure, the horizontal axis represents the speed of the vehicle group, and the vertical axis represents the threshold time for vehicle group determination. A braking condition is defined by the same formula as the stop condition C, with the distance that can be safely stopped as a break of the vehicle group, and the vehicle group is defined by the braking condition according to the traveling speed of the vehicle group (vehicles in the vehicle group). FIG. 5 shows the time required to stop when the vehicle is decelerated at a standard deceleration with respect to an arbitrary traveling speed, and is created based on the braking condition. From FIG. 5, for example, a vehicle group (vehicle) traveling at 100 km / h takes about 7 seconds to stop, so vehicles having an inter-vehicle distance or head-to-head distance corresponding to this 7 seconds constitute a vehicle group. Can be determined. In addition, since a vehicle group (vehicle) traveling at 60 km / h takes about 4 seconds to stop, it is determined that vehicles having an inter-vehicle distance or head-to-head distance corresponding to 4 seconds constitute a vehicle group. can do.

  The amount of change in the green light time (extended time, shortened time, etc.) for avoiding the vehicle group from the dangerous driving area is the state quantity (position, speed) at the start time of the yellow signal of the vehicle group (each vehicle in the vehicle group). Predict and determine whether each vehicle in the vehicle group may enter the dangerous driving area at the start of the yellow signal, and if the green signal time fluctuates at a predetermined time interval, the vehicle group Can be avoided, the fluctuation amount of the green light time at that time is calculated.

  If there is a possibility that even one vehicle in the vehicle group may enter the dangerous driving area, the extension time or shortening time of the green light is calculated by any of the following methods. That is, when at least one vehicle in the vehicle group is in a dangerous driving state, the amount of change related to the extension time of the green light that allows the last vehicle in the vehicle group to enter the intersection is calculated. For example, when a vehicle in the vehicle group is in the dilemma area, an intersection that is an area outside the dangerous driving area (dilemma area) in which the state quantity (position, speed) of the vehicle at the end of the vehicle group is defined by the entry condition The extension time (extension amount) of the green light is calculated so as to enter the passing area. The intersection passing area is an area where vehicles can safely enter (pass) the intersection, and all the vehicles in the vehicle group will enter the intersection passing region, and the vehicle group can be avoided from a dangerous driving state. it can.

  When a vehicle in the vehicle group is in the option region, an intersection passing region that is a region outside the dangerous driving region (optional region) where the state quantity (position, speed) of the vehicle at the end of the vehicle group is defined by the stop condition The extension time (extension amount) of the green light is calculated so as to enter. The intersection passing area is an area that can safely enter (pass) the intersection regardless of the driver's characteristics, and all vehicles in the vehicle group will enter the intersection passing region, and the vehicle group is dangerous. It can be avoided from the running state.

  In addition, when at least one vehicle in the vehicle group is in a dangerous driving state, a fluctuation amount related to the shortening time of the green light that can stop the leading vehicle in the vehicle group at the intersection is calculated. For example, when a vehicle in the vehicle group is in the dilemma region, an intersection stop region that is a region outside the dangerous traveling region (dilemma region) in which the state quantity (position, speed) of the first vehicle in the vehicle group is defined by the stop condition The shortening time (amount of shortening) of the green light is calculated so as to enter. The intersection stop area is an area where the vehicle can safely stop before the intersection, and all the vehicles in the vehicle group enter the intersection stop region, and the vehicle group can be avoided from the dangerous driving state.

  When vehicles in the vehicle group are in the option area, the intersection stop area is an area outside the dangerous driving area (option area) in which the state quantity (position, speed) of the first vehicle in the vehicle group is defined by the entry conditions The shortening time (amount of shortening) of the green light is calculated so as to enter. The intersection stop area is an area where you can safely stop before the intersection regardless of the driver's characteristics, and all the vehicles in the vehicle group will enter the intersection stop region, and the vehicle group will run dangerously. Can be avoided from the state.

  The upper limit of the extension time or shortening time of the green signal is set in advance, and a system that allows only the extension of the blue signal or only the shortening of the blue signal may be used. In any of the above methods, when the calculated extension time or shortening time of the green light exceeds the upper limit, the extension or shortening of the green light can be prevented. In addition, in the implementation of the extension or shortening of the green light as described above, vehicles outside the vehicle group are not considered, but the vehicles outside the vehicle group have a sufficient inter-vehicle distance and the possibility of multiple accidents due to rear-end collisions is low. It is important to give priority to avoiding the entire vehicle in the vehicle group from the dangerous traveling region as compared to the vehicle outside the group. It is also effective in reducing the average delay time.

  FIG. 6 is an explanatory diagram showing an example of calculating the amount of fluctuation of the green light time for avoiding the vehicle group from the dangerous driving area. In FIG. 6, 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. Moreover, in the example of FIG. 6, although the vehicle which comprises a vehicle group is demonstrated as five units, the number of vehicles in a vehicle group is not limited to this.

  Points A1 to A5 indicate the prediction results of the state quantities (position, speed) at the yellow signal start time for five vehicles in the vehicle group. It is considered that the speed of each vehicle in the vehicle group is traveling at substantially the same speed, and the speed of each vehicle (the speed of the vehicle group) is Vy. Vy may be an average speed of each vehicle 20. Among the vehicles in the vehicle group, the vehicles of the state quantities indicated by the points A1 and A2 are in the dangerous traveling region, and the vehicle group is in the dangerous traveling region. In the example of FIG. 6, a dilemma area will be described as a dangerous driving area.

  When the green signal time is not extended or shortened, the time from the current time to the start of the yellow signal is t, the margin time is Ta, the yellow signal time is Ty, the amount of fluctuation of the green signal time to be obtained (in the case of extension, positive or shortened) Is negative, and 0) if there is no extension or shortening, Δt is the upper limit, Tmax is the upper limit of the extension time, and Tmin is the upper limit of the shortening 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 traveling region of the vehicle group is between a point on the curve of the stop condition C with respect to the speed Vy (position XCy) and a point on the straight line of the entry condition L (position XLy). In this case, the amount of variation Δt (extension of the green signal) of the green signal time such that the vehicle at the end of the vehicle group enters the intersection passing region at the yellow signal start time satisfies Expression (7). Therefore, the condition of Δt is expressed by equation (8).

  Further, the variation Δt (shortening of the green light) of the green light time such that the first vehicle in the vehicle group enters the intersection stop area at the yellow light start time satisfies the equation (9). Therefore, the condition of Δt is expressed by equation (10). By obtaining Δt that satisfies Equation (6) and Equation (8) or Equation (10), the amount of fluctuation of the green light time can be calculated. Further, when the dangerous traveling area is an optional area, XLy and XCy may be exchanged in Expressions (7) to (10).

  When calculating the fluctuation amount Δt of the green light time, 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 for each divided time (for example, −Tmin = Δt1 <Δt2 <. It can be determined whether or not the vehicle group is in the dangerous traveling region when <Δtn−1 <Δtn = Tmax).

  As a result, it is possible to obtain a fluctuation amount (extended time, shortened time) of the green light time that allows the vehicle group (each vehicle in the vehicle group) to avoid the dangerous driving state.

  The process of determining whether or not the vehicle group is in a dangerous driving area and calculating the amount of fluctuation of the green light time can be performed at least a predetermined margin time (for example, 3 seconds) before the yellow light start time. . 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 addition, the state quantity of each vehicle in the vehicle group is acquired a plurality of times, the state quantity at the yellow signal start time is predicted from the temporal change of the state quantity (position, speed), and the predicted state quantity is used for danger. It is also possible to perform a process for determining whether or not the vehicle is in the traveling region and a process for calculating the amount of variation in green light time.

  FIG. 7 is an explanatory diagram showing a method of 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 speed of the vehicle group (each vehicle in the vehicle group) is acquired at times t1, t2, and t3 indicating the time difference from the yellow signal start time (t = 0), and the speed is monotonously decreasing or increasing, The speed of the vehicle at the yellow signal start time can be predicted by a method such as a regression line on the time axis. In FIG. 7, when there is an extension or shortening of the green signal, the last time t3 for obtaining the vehicle speed to obtain the predicted value is the margin time Ta and the upper limit Tmin of the shortening time from the yellow signal start time. The time must be before the combined time. Similarly, when there is only an extension of the green signal, the time t3 needs to be a time before the margin time Ta from the yellow signal start time.

  FIG. 8 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 speed and position of each vehicle in the vehicle group are acquired at times t1, t2, and t3 indicating the time difference from the yellow signal start time (t = 0), and the vehicle state quantities (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 a plurality of variation amounts of extension or shortening of the green light that can avoid the dangerous driving state of the vehicle group can be calculated, the variation amount relating to the extension time of the green light can be selected and the selected variation amount can be output. As a result, when there is both extension and reduction in the green light time that the vehicle group can avoid the dangerous driving state, the extension is prioritized over the reduction of the green light time, and the traveling control is performed on each vehicle in the vehicle group. It is possible to give a margin.

  When the speed of the vehicle group is within a predetermined range, the information providing apparatus 10 determines whether the vehicle group is in a dangerous driving state. For example, a vehicle group 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 driving state, and a predetermined distance In the case of a vehicle group traveling at a relatively high speed (for example, 100 km / h) within a range, a predetermined speed threshold, for example, a regulated speed or a regulated speed + α (for example, 10 km / h) is set. If the vehicle speed is within the specified range, it may be considered that there is less possibility of entering the dangerous driving state because it is safe to pass through the intersection. To determine the amount of fluctuation in the green light time. If at least the speed limit is exceeded, acceleration control is not instructed and deceleration stop control is performed. A vehicle with an abnormally high speed is considered to have some reason such as urgency or runaway vehicle. Not applicable. As a result, vehicles that do not require determination of the dangerous driving state can be excluded, and the processing load can be reduced.

  FIG. 9 is a schematic diagram showing another example of an outline of information provision using the information provision apparatus 10. In the example of FIG. 9, in the information providing apparatus 10, the mid-range communication unit 14 is used instead of the vehicle information acquisition unit 12 and the narrow-range communication unit 13. In addition, the plurality of vehicles 20 repeatedly transmit information such as the position and speed 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.

  10 and 11 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.

  When it is a predetermined time before the yellow signal start time (YES in S11), the apparatus 10 acquires the positions and speeds of a plurality of vehicles traveling within a predetermined range (S12), and determines the presence or absence of a vehicle group (S13). ). When there is no vehicle group (NO in S13), the apparatus 10 performs the process of step S11. Information about the vehicle can be acquired from any of the vehicle information acquisition unit 12, the narrow communication unit 13, or the mid-range communication unit 14.

  When there is a vehicle group (YES in S13), the apparatus 10 acquires signal information including the originally scheduled yellow signal start time and yellow signal time (S14). The apparatus 10 calculates the dangerous driving area of the vehicle group (S15), and changes the green light time to the upper limit range of extension shortening 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 the vehicle group enters the dangerous traveling area with all the solutions (S18). If the vehicle group does not enter the dangerous driving region in all solutions (NO in S18), that is, if the vehicle group can avoid the dangerous driving region, the device 10 generates a blue signal that allows the vehicle group to avoid the dangerous driving region. The extension time or shortening time is extracted (S19), and it is determined whether there are a plurality of solutions (a plurality of fluctuation amounts) (S20).

  When there are a plurality of solutions (YES in S20), the apparatus 10 selects the extension time or shortening time (variation amount) of the green light having the smallest absolute value (S21). 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. The apparatus 10 transmits the extension time or shortening time of the selected green light to each vehicle in the vehicle group (S22). When there are no multiple solutions (NO in S20), that is, when there is only one variation amount of the green light time selected, the apparatus 10 performs the process of step S22.

  The device 10 notifies the signal control device of an instruction to extend or shorten the green light time (S23). In this case, the traffic light is controlled by the signal control device. However, the device 10 can directly extend or shorten the green light time by passing a current directly through each signal light of the traffic light.

  The apparatus 10 determines whether or not there is an instruction to end the process (S24). If there is no instruction (NO in S24), the process continues from step S11. If there is an instruction (YES in S24), the process ends. . In step S18, if the vehicle group enters the dangerous driving area with all solutions (YES in S18), that is, if there is no solution of the fluctuation amount of the green light time for avoiding the vehicle group from the dangerous driving area, the device 10 performs the process of step S24.

  Each vehicle 20 in the vehicle group receives the extension time or shortening time (variation amount) of the green signal transmitted by the information providing device 10 and, for example, the driver can drive safely based on the received variation amount of the green signal time. The required information 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.

  Further, the information providing apparatus 10 can calculate a grace time until the yellow signal start time based on the calculated fluctuation amount, and can transmit the calculated grace time to each vehicle 20. For example, if the yellow signal start time is t1 due to the extension or shortening of the blue signal, the time before the yellow signal start time t1 by a predetermined margin time (for example, about 3 seconds) is transmitted to each vehicle 20 as a grace point. To do. 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. Thereby, in each vehicle 20, it can drive | operate so that a driver may decelerate or accelerate with a margin by the received grace time point, or automatic driving control can also 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, the optimum green light time (extended time, reduced time, or no extended or shortened time) in which a vehicle group composed of a plurality of vehicles can avoid a dangerous driving state. And can provide information for safely stopping or passing at an intersection.

  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. Further, when the running state of the vehicle does not form a vehicle group, there is no problem even if the method is switched to a known variation amount determination method for a single vehicle.

  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 explanatory drawing which shows an example of vehicle group determination. It is explanatory drawing which shows the other example of vehicle group determination. It is explanatory drawing which shows the example which calculates the variation | change_quantity of the green light time for making a vehicle group avoid from a dangerous driving | running | working area | region. 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 Narrow area communication part 14 Middle area communication part 15 Vehicle group determination part 16 Running condition determination part 17 Interface part 18 Fluctuation amount calculation part 19 Storage part

Claims (11)

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
Speed information acquisition means for acquiring speed information of the vehicle;
Distance information acquisition means for acquiring distance information regarding the distance between the vehicle and the intersection;
Vehicle group determination means for determining the presence or absence of a vehicle group composed of a plurality of vehicles;
Based on the distance between the vehicle in the vehicle group determined by the vehicle group determination means and the intersection, the speed of the vehicle group, and the signal information, when the green light time is changed, the vehicle group is stopped before the intersection. Determination means for determining whether or not the vehicle is in a traveling state determined by the stop condition and the entry condition for entering the 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. The calculating means includes
The configuration is such that, when at least one vehicle in the vehicle group is in the traveling state, a fluctuation amount relating to an extension time of a green light at which a vehicle at the end of the vehicle group can enter the intersection is calculated. 1. The information providing apparatus according to 1. The calculating means includes
When at least one vehicle in the vehicle group is in the traveling state, the variation amount relating to the shortening time of the green light that can stop the vehicle at the head of the vehicle group before the intersection is calculated. The information providing apparatus according to claim 1 or 2. 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 claim 1, wherein the information providing apparatus is configured to output a variation amount selected by the selection unit. The determination means includes
The vehicle is configured to determine whether or not the vehicle group 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. 4. The information providing device according to any one of 4. The determination means includes
It is configured to determine whether the vehicle group is 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 claim 1, wherein the information providing apparatus is configured to calculate a fluctuation amount based on determination results at a plurality of time points. 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 variation amount calculated by the calculation unit.   The information providing apparatus according to claim 1, further comprising: a transmission unit that transmits the fluctuation amount calculated by the calculation unit to each vehicle in the vehicle group. 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
The information providing apparatus according to claim 9, wherein the grace time calculated by the grace time calculation means is configured to be transmitted to each vehicle in the vehicle group. An information providing method for providing 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
Get vehicle speed information,
Get distance information about the distance between the vehicle and the intersection,
Determine the presence or absence of a group of vehicles
Based on the distance between the vehicle in the determined vehicle group and the intersection, the speed of the vehicle group and the signal information, when the green light time is changed, the vehicle group enters the intersection and the stop condition for stopping before the intersection To determine whether the vehicle is in a driving state determined by the entry conditions for
Based on the determination result, calculate the amount of fluctuation related to the extension time and / or reduction time of the green light,
An information providing method characterized by outputting the calculated fluctuation amount.

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