JP5152262B2 - Road-to-vehicle communication system, signal control device, and in-vehicle device - Google Patents

Description

  The present invention relates to a road-to-vehicle communication system and an in-vehicle device that transmit and receive information by road-to-vehicle communication between a signal control device that controls a traffic signal and a vehicle traveling on a road.

  As a type of traffic signal installed at an intersection, a semi-sensitive traffic signal is known. Semi-sensitive traffic lights usually give the right of access to the main road at the intersection where the main road with a high traffic volume and the secondary road with a low traffic volume cross the main road, and pass through the intersection from the sub road side. Only when the vehicle to be detected is detected, control is performed to switch the right of traffic from the main road side to the secondary road side.

  And in the control of such semi-sensitive traffic lights, information on position and speed is received via wireless communication from the vehicle approaching the intersection from the secondary road side, and the time when the vehicle arrives at the intersection is predicted. A technique for switching signals according to the arrival time is known (for example, see Patent Document 1).

JP 2008-305084 A

  By the way, on main trunk roads with a lot of traffic flow, when the traffic control center etc. controls the traffic signals at multiple intersections in cooperation for the purpose of smoothing the traffic flow, etc. There is. When system control is implemented on the main road at the intersection where a semi-sensitive traffic signal is deployed, if the semi-sensitive traffic signal switches signals for its own convenience regardless of the system control of surrounding traffic signals, The following inconvenience may occur.

  As shown in FIG. 7, among traffic signals 1, 2, and 3 installed at three intersections 1, 2, and 3, respectively, where the main road and the secondary road intersect, traffic signals 1, 3 are switched as time elapses. It is assumed that system control is performed to link the pattern of the alternate signal, and the traffic signal 2 is performing semi-sensitive control. The traffic signals 1 and 3 give the right of passage to the main road side at the same time by system control. On the other hand, the traffic signal 2 is located between the traffic signals 1 and 3 on the main road, and usually gives the right of traffic to the main road side. As a result, the vehicle can pass continuously without stopping at the intersections 1, 2 and 3 in the time zone when the right of passage is given to the main road side by the system control.

  And at the intersection 2, only when the vehicle approaching from the secondary road side is detected, the right of traffic is switched from the main road side to the secondary road side. At this time, if traffic lights 1 and 3 are showing a green light on the main road side (with the right to pass), traffic light 2 will turn red on the main road side only for its own convenience (no right to pass). In this case, all the vehicles traveling on the main road are stopped at the intersection A against the intention of system control. In this case, local concentration of the vehicle is induced on the main road with a large traffic volume, which hinders smooth traffic flow.

  In order to avoid such inconvenience, it is necessary for the traffic signal 2 to give the right of passage to the secondary road only during the period when the traffic signals 1 and 3 show the red signal on the main road side. . In this way, even if it is a semi-sensitive traffic signal that can switch signals at a timing that reduces the waiting time of vehicles approaching from the secondary road side, it will cooperate with surrounding traffic signals to It is desirable to give the right of access to the subway so as not to disturb the smooth traffic flow on the road side. In the prior art, such a control has not been sufficiently studied.

  The present invention has been made in order to solve the above problems, and in a semi-sensitive traffic signal, the waiting time of a vehicle trying to pass an intersection from the secondary road side while considering cooperation with surrounding traffic signals is reduced. It is an object to provide a signal control method that can be reduced.

  The road-to-vehicle communication system according to claim 1 made to achieve the above object is mounted on a vehicle, a signal control device that performs semi-sensitive signal control at a signalized intersection where a main road and a secondary road intersect, It has an in-vehicle device which performs information communication by radio communication with a signal control device, and has the following features in particular.

  The signal control device includes sensing means, time zone information receiving means, setting means, and signal control means. The sensing means is for sensing an approaching vehicle traveling on a secondary road and approaching a signalized intersection. The time zone information receiving unit receives time zone information indicating an arrival time zone in which the approaching vehicle is predicted to reach the signalized intersection from the approaching vehicle sensed by the sensing unit. Then, the setting means includes a predetermined restriction condition regarding the linkage between the time zone in which the right of passage can be given to the secondary road and the signal display schedule of the traffic signal installed at the other specific signalized intersection, and the time Based on the time zone information acquired by the zone information receiving means, a right-of-way granting time zone for the secondary road is set that satisfies the constraint condition and reflects the arrival time zone indicated by the time zone information. The signal control means displays a signal that gives the right of passage to the secondary road according to the right-of-passage grant time zone set by the setting means.

On the other hand, the in-vehicle device includes vehicle information acquisition means, calculation means, and time zone information transmission means. The vehicle information acquisition means acquires vehicle information related to the position, speed, and speed change rate of the host vehicle. The calculation means predicts that the host vehicle reaches the signalized intersection based on the vehicle information acquired by the vehicle information acquisition means and the position information of the signalized intersection when traveling on the secondary road toward the signalized intersection. An arrival time zone having a range from the earliest arrival time to the latest arrival time is calculated. The time zone information transmitting unit transmits time zone information indicating the arrival time zone calculated by the calculating unit to the signal control device .

  According to the present invention configured as described above, when the semi-sensitive traffic signal grants the right of passage to the controlled slave road, it is possible to set a time zone in accordance with the restriction condition regarding the cooperation with the surrounding traffic signal device. This restriction condition is such that irregular switching of signals by semi-sensitive signal control performed outside the signal system control does not adversely affect the surrounding traffic flow. Therefore, the signal control apparatus of the present invention does not prevent smooth traffic flow around the signalized intersection by obeying the restriction condition when granting the right of passage to the controlled slave road. In addition, by considering the arrival time zone of the vehicle that is going to pass through the signalized intersection, a right-of-way granting time zone that suits the convenience of the vehicle (for example, can reduce the waiting time until the green light stops) Can be set.

  In addition, by predicting when the vehicle will reach the signalized intersection as a wide arrival time zone, it is possible to increase the time adjustable range when setting the right-of-granting time zone on the signal control device side. it can. For example, as long as the right-permitting time zone overlaps at least a part of the predicted arrival time zone, the vehicle can adjust the speed so that the vehicle can pass through the green signal without stopping at the signalized intersection. In the present invention, by adopting a wide arrival time zone, a right-of-way granting time zone suitable for the convenience of the vehicle side can be obtained compared to the case where the time when the vehicle reaches the signalized intersection is predicted as a time point with no width. The adjustment range for setting can be enlarged.

Or you may comprise this invention like the road-to-vehicle communication system of Claim 2.
Here, the signal control device includes sensing means, vehicle information receiving means, calculation means, setting means, and signal control means. The sensing means senses an approaching vehicle traveling on the secondary road and approaching the signalized intersection. The vehicle information receiving means receives vehicle information regarding the position, speed, and speed change rate of the approaching vehicle from the approaching vehicle sensed by the sensing means. The calculating means predicts that the approaching vehicle will reach the signalized intersection based on the vehicle information acquired by the vehicle information receiving means and the position information of the signalized intersection, from the earliest arrival time to the latest arrival time. Calculate a wide arrival time zone. The setting means is based on a predetermined restriction condition regarding the linkage between the time zone in which the right of passage can be given to the secondary road and the signal display schedule of the traffic signal installed at another specific signalized intersection, and the calculation means Based on the calculated arrival time zone, a passage right granting time zone for the secondary road side that satisfies the constraint condition and reflects the arrival time zone is set. The signal control means displays a signal that gives the right of passage to the secondary road according to the right-of-passage grant time zone set by the setting means.

  On the other hand, the in-vehicle device includes vehicle information acquisition means and vehicle information transmission means. The vehicle information acquisition means acquires vehicle information related to the position, speed, and speed change rate of the host vehicle. The vehicle information transmission means transmits the vehicle information acquired by the vehicle information acquisition means to the signal control device when traveling on the secondary road toward the signalized intersection.

  In the road-to-vehicle communication system according to claim 2, the road-to-vehicle communication system according to claim 1 is that the arrival time zone in which the approaching vehicle is expected to reach the signalized intersection is calculated on the signal control device side instead of the vehicle side. And different. Even with such a configuration, the same effect as the road-to-vehicle communication system according to claim 1 can be obtained.

  By the way, as a restriction condition used by the setting means of the signal control device of the present invention for setting the right-of-passage granting time zone, the time zone in which the right-of-way can be given to the secondary road side and other specific points connected to the main road There is one that defines the cooperation condition with the signal display schedule on the main road side at the signalized intersection (Claim 3). By adopting such constraints, irregular signal switching based on semi-sensitive signal control by the signal control device of the present invention has an adverse effect on traffic flow in the range including signal intersections around the main road. It can be prevented.

  In addition, as for the signal display schedule (scheduled for the signal display timing) of other signalized intersections required as a constraint condition, the signal control device controls the traffic signals at those signalized intersections or those traffic signals. It may be configured to receive from an external center device to be controlled (claim 4). By doing in this way, it becomes possible to acquire the exact signal display schedule of other signalized intersections in real time.

  Alternatively, as a restriction condition used by the setting means of the signal control device of the present invention for setting the right-of-passage granting time zone, a time zone in which the right-of-way can be given to the secondary road side and other specific points where the main road connects A signal intersection that defines a cooperation condition with a signal display module based on semi-sensitive signal control performed on another secondary road connected to the signal intersection (Claim 5). By adopting such a restriction condition, it is possible to organize the signal switching timing by linking the semi-sensitive signal control performed at a plurality of signalized intersections, and to reduce the influence on the traffic flow on the main road side.

  Further, as in the road-to-vehicle communication system according to claim 6, when the signal control device senses a plurality of approaching vehicles by the sensing means, the setting means can reach each arrival time zone of the plurality of approaching vehicles. The configuration may be such that one traffic right granting time zone reflecting the above is set. By doing in this way, the right-of-passage granting time zone suitable for the circumstances of a plurality of approaching vehicles can be set. For example, in order to pass as many vehicles as possible with one grant of the right of passage, the right of passage right granting time zone may be adjusted so as to overlap the arrival time zones of a plurality of approaching vehicles.

  Further, the setting means of the signal control device sets the priority order of each approaching vehicle based on the order of arrival time zones of a plurality of approaching vehicles, and traffic that reflects the arrival time zones of approaching vehicles having higher priorities preferentially. A right granting time zone may be set (claim 7). By doing in this way, semi-sensitive signal control can be performed in a flexible manner according to various circumstances in managing traffic at signalized intersections.

  For example, by setting higher priority in order from the approaching vehicle with the earliest arrival time zone, and setting the access right granting time zone so that this vehicle does not need to stop, the stop waiting time for vehicles that arrive early at the signalized intersection Can be reduced with priority. Alternatively, a vehicle that arrives early by setting a high priority for approaching vehicles that have a slow arrival time within a range that satisfies the constraint conditions, and setting a time-permission granting time zone that allows this approaching vehicle to pass through the signalized intersection Although the stop waiting time of the vehicle becomes longer, it is possible to pass as many vehicles as possible by giving the right of traffic once.

  Furthermore, the right-of-passage granting time zone set on the signal control device side may be notified to the vehicle side as signal information so that driving support utilizing the signal information can be implemented on the vehicle side (claim 8). Specifically, the signal control device further includes signal information transmitting means for transmitting to the approaching vehicle signal information indicating the passage right granting time period set by the setting means. On the other hand, the vehicle-mounted device reaches the signalized intersection in a manner corresponding to the signal information receiving means for receiving the signal information from the signal control device and the right granting time zone indicated by the signal information received by the signal information receiving means. Driving assistance control means for executing predetermined driving assistance for the driving.

  By configuring in this way, the signal control device sets the right-of-passage granting time zone according to the constraints and the circumstances of the approaching vehicle, and in addition, the driver can drive the vehicle according to the right-of-way granting time zone Thus, driving assistance can be implemented on the vehicle side. Driving support here refers to a vehicle that allows a vehicle to pass through a signalized intersection without stopping at a red traffic light, or to reduce the waiting time for stopping by a red traffic light, according to the notified right-of-way granting time zone. Control (for example, automatic adjustment of speed), information notification (optimum speed guidance), and the like.

  By the way, it is important to calculate the arrival time zone of the approaching vehicle more accurately in order to accurately reflect the situation of the approaching vehicle in the passage right granting time zone set by the signal control device. Therefore, it is preferable to configure as described in claim 9. That is, the in-vehicle device further includes an allowable range setting unit that can artificially set an arbitrary quantity range as vehicle information for at least one of the speed until the host vehicle reaches the signalized intersection and the speed change rate. And a calculation means determines the width | variety of an arrival time slot | zone based further on the numerical value range shown by vehicle information.

  The arrival time zone in which the approaching vehicle is predicted to reach the signalized intersection may depend on the driver's driving preference with respect to the vehicle speed and speed change rate. And as an example of a driver | operator's driving preference, there exists a thing which feels stress to the driving | running | working which approaches an intersection at an excessively high speed or a low speed, or hates rapid acceleration / deceleration.

  Therefore, in order to be able to reflect such user's driving preference in the arrival time zone, the minimum speed and the maximum speed to be allowed, the maximum value of the speed change rate, etc. are arbitrarily set in advance by the user, and the value What is necessary is just to calculate the maximum and minimum values of the time required to reach the intersection from the road. In this way, an accurate arrival time zone that reflects the driver's driving preference can be calculated.

  Furthermore, as a further contrivance for calculating the arrival time zone of the approaching vehicle more accurately, it is conceivable to consider road-side conditions that may affect the traveling of the approaching vehicle. Therefore, in the case of a configuration in which the arrival time zone is calculated on the vehicle side, it may be configured as described in claim 10. In other words, the signal control device further includes intersection-specific information transmission means for holding the intersection-specific information regarding the traveling conditions of the secondary road leading to the signalized intersection and transmitting the intersection-specific information to the approaching vehicle. On the other hand, the in-vehicle device further includes an intersection specific information receiving unit that receives the intersection specific information from the signal control device. Then, the calculation means calculates the arrival time zone of the approaching vehicle by further reflecting the intersection specific information receiving means received by the intersection specific information receiving means in addition to the vehicle information and the signal intersection position information.

  Alternatively, in the case of a configuration in which the arrival time zone is calculated on the signal control device side, the configuration may be configured as described in claim 11. That is, the signal control device has the intersection specific information regarding the driving condition of the secondary road leading to the signalized intersection, and the calculation means further reflects the specific information in addition to the vehicle information and the position information of the signalized intersection, and approaches the approach. The arrival time zone of the vehicle is calculated.

  As the content of the intersection specific information here, for example, the width, inclination, road surface condition, weather condition, shape, etc. of the secondary road leading to the signalized intersection may affect the speed of the vehicle traveling on the secondary road Various conditions can be adopted. By reflecting the unique condition for each signalized intersection in the change in the speed of the approaching vehicle, the arrival time zone of the approaching vehicle can be predicted more accurately.

  Next, the in-vehicle device according to the twelfth to fifteenth aspects has the same configuration as the in-vehicle device constituting the road-vehicle communication system according to the first, second, eighth, ninth, and tenth aspects. When a vehicle equipped with this in-vehicle device passes through a signalized intersection where the signal control device according to the present invention is installed, the same effects as those described above in the road-to-vehicle communication system of the present invention can be obtained.

  Next, the in-vehicle device according to claims 16 and 17 has the same configuration as the signal control device that constitutes the road-vehicle communication system according to claims 1 and 2. When a vehicle equipped with the on-vehicle device according to the present invention passes through a signalized intersection where the signal control device is installed, the same effects as those described above in the road-to-vehicle communication system of the present invention can be obtained.

It is a block diagram which shows schematic structure of the road-to-vehicle communication system of embodiment. (A) is explanatory drawing which shows the condition around the signalized intersection where the road-to-vehicle communication system of embodiment is applied, (b) is explanatory drawing which shows an example of the restriction | limiting conditions at the time of granting a right of traffic to the secondary road side It is. It is a ladder chart which shows the procedure of a communication sequence. It is explanatory drawing which shows an example of the time slot | zone which grants a right of traffic to the secondary road side. It is a flowchart which shows the procedure of a traffic right grant time slot | zone setting process. It is explanatory drawing which shows the outline | summary of other embodiment of this invention. It is a figure for demonstrating the problem of a prior art.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment at all, and can be implemented in various aspects.
[Description of configuration of road-vehicle communication system]
First, the configuration of the road-to-vehicle communication system of the embodiment will be described based on FIG. The road-to-vehicle communication system is a semi-sensitive traffic light 2 installed at a signalized intersection where an in-vehicle device 1 mounted on a vehicle traveling on a road intersects a main road with a high traffic volume and a secondary road with a low traffic volume (patented) Equivalent to the signal control device in the claims).

The in-vehicle device 1 includes a position specifying unit 10, an external device connecting unit 11, a display unit 12, an audio output unit 13, a wireless communication unit 15, a control unit 16, and the like.
Among these, the position specifying unit 10 specifies the current location and traveling direction of the vehicle based on detection signals from the vehicle speed sensor 31, the acceleration sensor 32, a GPS receiver (not shown), and the like, and inputs the specified data to the control unit 16. Is to do. The external device connection unit 11 is an interface for communicating with various devices such as a vehicle speed sensor 31, an acceleration sensor 32, and an operation processing unit 33 mounted on the vehicle, such as other ECUs (Electronic Control Units). Yes, data of own vehicle information transmitted from each device is input to the control unit 16. The vehicle speed sensor 31 is a device for detecting the speed of the host vehicle. The acceleration sensor 32 is a device for detecting the speed change rate (acceleration, deceleration) of the host vehicle. The operation control unit 33 is a device for performing operation control of each unit (a controlled unit such as an accelerator and a brake) of the host vehicle.

  The display unit 12 is a display device having a display surface such as a liquid crystal panel for displaying images, and displays various driving assistance images based on control from the control unit 16. The display surface for displaying the image is disposed at a place where it can be seen from the driver's seat of the vehicle. The voice output unit 13 is a voice output device including a speaker or the like that outputs voice, and outputs various voice messages related to driving support based on control from the control unit 16.

  The wireless communication unit 15 is a communication device for performing bidirectional wireless communication (road-to-vehicle communication) with the semi-sensitive traffic signal 2 installed at a signalized intersection. As a communication mode used for this road-to-vehicle communication, for example, the technology of radio beacon and optical beacon used in narrow area communication (DSRC) used in ETC (registered trademark) system, VICS (registered trademark) or the like is used. Conceivable. Alternatively, in Japan, it may be possible to use 700 MHz band radio waves whose usage categories are scheduled to be reorganized after the end of 2011 (planned) analog television broadcasting. Since the 700 MHz band radio wave has a longer wavelength than that of the 5.8 GHz band radio wave used in DSRC, diffraction tends to occur. Therefore, in an urban area where buildings are densely packed, communication can be performed even from the shadow of the building.

  The control unit 16 is configured by a known computer device including a CPU, a ROM, a RAM, and the like, and comprehensively controls each unit of the in-vehicle device 1. This control part 16 performs the process regarding road-to-vehicle communication and driving assistance according to the program memorize | stored in ROM etc. In the present embodiment, processing for predicting the arrival time zone to reach the signalized intersection based on information acquired by road-to-vehicle communication with the semi-sensitive traffic signal 2 (details will be described later), and the semi-sensitive traffic signal 2 The process (it mentions later for details) which performs predetermined driving assistance based on the signal information containing the right-of-passage grant time slot received from No. 1 is performed.

On the other hand, the semi-sensitive traffic signal 2 includes a wireless communication unit 21, a signal control unit 22, a roadside communication unit 23, and a signal display unit 24.
Among these, the radio | wireless communication part 21 is a communication apparatus for performing two-way radio | wireless communication (road-to-vehicle communication) between the vehicle-mounted apparatuses 1 mounted in the vehicle which drive | works a road. The communication mode used for this road-to-vehicle communication is the same as that of the vehicle-mounted device 1 described above.

  The signal control unit 22 includes a known computer device including a CPU, a ROM, a RAM, and the like. The signal control unit 22 controls each part of the semi-sensitive traffic light 2 and displays a signal on a vehicle passing through a signalized intersection. It controls the turning on and off of each of the blue, yellow and red signal lamps provided in the signal display unit 24 which is a signal lamp device. The signal display unit 24 to be controlled is installed for each road connected to the signalized intersection (N in the case of signalized intersections where N roads intersect), and the signal control unit 22 Control lighting individually.

  The signal control unit 22 of this embodiment performs semi-sensitive signal control. The semi-sensitive signal control assumed here usually gives the right of access to the main road side for the intersecting main road and secondary road (main road: green traffic light, secondary road: Only when a vehicle approaching the intersection from the secondary road side is detected, the right of traffic is switched from the main road side to the secondary road side for a predetermined period (main road: red signal, secondary road: blue signal). Control.

  Further, the signal control unit 22 grants the right of passage to the secondary road based on the information received from the approaching vehicle detected by the road-to-vehicle communication and the predetermined restriction condition for the time zone for giving the right of passage to the secondary road. Processing for setting a time zone (details will be described later) is executed.

  The roadside communication unit 23 is connected to the traffic control center 4 which is an external organization that provides various traffic information and remotely controls traffic signals, and traffic signals 3b and 3c installed at other signalized intersections connected to the main road. It is a communication device for performing information communication via the communication line 100 between the two. The information communication by the roadside communication unit 23 may be wireless or wired. Information acquired by information communication with the traffic control center 4 and other traffic signals 3b and 3c includes signal display schedule information (constraint time information) of signalized intersections according to the above-mentioned constraint conditions.

[Description of operation of road-to-vehicle communication system]
Next, the operation of the entire road-vehicle communication system of the embodiment will be described. Here, a road configuration composed of three intersections A, B, and C as shown in FIG. 2A will be described as an example. The semi-sensitive traffic signal 2 of the present embodiment is installed at the intersection A where the main road passing in the left-right direction in FIG. The right of traffic is switched between the road side and the secondary road side. This semi-sensitive traffic light 2 normally gives the right of passage to the main road side, but only when the approaching vehicle traveling toward the intersection A on the secondary road is sensed, the right of passage to the secondary road side. Is switched. The approaching vehicle is detected based on information received by road-to-vehicle communication with the in-vehicle device 1 mounted on the vehicle.

  The main road is connected to another intersection B where the traffic signal 3b is installed on the left side of the intersection A, and is further connected to the intersection C where the traffic signal 3c is installed on the right side of the intersection A. The traffic signals 3b and 3c installed at these intersections B and C respectively sequentially switch signals at predetermined time intervals in accordance with a signal display schedule transmitted from the traffic control center 4. Further, the traffic signals 3b and 3c are system-controlled by the traffic control center 4 so that the signal patterns are interlocked, and the display periods of the signal lamp colors coincide with each other. The purpose of this system control is to smooth the traffic flow on the main road side.

  As described above, in the traffic signals 3b and 3c, system control for giving the right of passage to the main road side at the same timing is performed in order to smooth the traffic flow on the main road side. On the other hand, in the semi-sensitive traffic light 2, the traffic roads 3 b, 3 c are only for a certain period of time only during the time when the traffic lights 3 b, 3 c are showing a stop signal (red light) on the main road side. The right to pass can be given to the side. By doing this, avoiding the situation that hinders the smooth traffic flow on the main road side, such as the vehicle that has passed the intersections B and C on the main road side with a green light is stopped at the red light of the intersection A it can.

  That is, in the example described here, “semi-sensitive traffic light 2 gives the right of passage to the secondary road side for a certain period only during the time when traffic lights 3b and 3c show the stop signal on the main road side. The content “can be given” corresponds to the restriction condition for the time zone in which the right of passage is given to the secondary road side. FIG. 2B shows the contents of the constraint conditions in a time chart.

  As shown in FIG. 2 (b), traffic signals 3b and 3c have the same signal display schedule in which a red signal is displayed for 25 seconds, a green signal is displayed for 60 seconds, and then a yellow signal is displayed for 3 seconds. It is assumed to be implemented at the timing of In response to this signal display schedule, the semi-sensitive traffic light 2 is on the side of the secondary road for 10 seconds within a range of 25 seconds from time A to time B when both traffic lights 3b and 3c display a red signal. It is specified that a green light can be displayed. It should be noted that within this 25-second range, the timing at which the green signal appears on the secondary road side is semi-sensitive depending on the arrival time zone in which the approaching vehicle currently sensed is expected to reach intersection A. It is determined on the type traffic light 2 side.

  Next, a communication sequence performed in the road-vehicle communication system according to the embodiment will be described based on a ladder chart of FIG. In the following description, the road configuration shown in FIG. 2 (a) and the constraint conditions shown in FIG. 2 (b) are assumed.

  When an approaching vehicle traveling on the secondary road toward the intersection A enters the wireless communication area of the semi-sensitive traffic light 2, the control unit 16 of the in-vehicle device 1 mounted on the approaching vehicle uses the wireless communication unit 15 to make a half The sensitive signal device 2 is notified of the start of road-to-vehicle communication. This notification includes position information indicating the current location of the host vehicle.

  The signal control unit 22 of the semi-sensitive traffic light 2 notified of the start of road-to-vehicle communication from the approaching vehicle determines whether or not the approaching vehicle is approaching the intersection A through the secondary road based on the notified position information. If the vehicle is confirmed, the approaching vehicle is identified as a vehicle to be sensed (sensed vehicle identification). In addition, when the vehicle which has notified the start of road-to-vehicle communication does not approach the intersection A through the secondary road, it is excluded from the sensing target. Further, when a plurality of vehicles continuously approach the intersection A, road-to-vehicle communication is performed in parallel with the plurality of vehicles at the same time to identify the sensing vehicle.

  Next, the signal control unit 22 of the semi-sensitive traffic signal 2 requests the sensed approaching vehicle to transmit the arrival time zone using the wireless communication unit 21. This request includes information indicating the position of the intersection A and intersection-specific information regarding the intersection A. The intersection specific information includes, for example, information indicating various conditions affecting the speed of the vehicle traveling on the secondary road, such as the width, slope, road surface condition, weather condition, and shape of the secondary road leading to the intersection A. included. For these intersection specific information, information registered in advance in the memory of the signal control unit 22 may be used, information acquired from outside by communication may be used as necessary, road surface sensors, weather sensors ( Information detected by itself (not shown) or the like may be used.

  The signal control unit 22 of the semi-sensitive traffic signal 2 makes a transmission request for the arrival time zone to the approaching vehicle, while using the road side communication unit 23 to obtain the time limit information from the traffic control center 4 or the traffic signals 3b and 3c. Receive. This restricted time information is information related to the time for identifying the most recent opportunity for the semi-sensitive traffic signal 2 to grant the right of passage to the secondary road. More specifically, the restricted time information It is the information which shows the future signal display schedule (namely, the future plan of the signal lamp color and the display period) in the traffic signals 3b and 3c.

  The control unit 16 of the in-vehicle device 1 requested to transmit the arrival time zone from the semi-sensitive traffic light 2 predicts that the host vehicle will reach the intersection A, and has a wide arrival from the earliest arrival time to the latest arrival time. Time zone is calculated (arrival time zone calculation). Then, information indicating the calculated arrival time zone is transmitted to the semi-sensitive traffic signal 2. This arrival time zone is calculated using the current location of the vehicle, the remaining distance to the intersection A, the current speed, the rate of change in speed (acceleration / deceleration), and the like.

  Furthermore, the arrival time zone may be calculated using an arbitrary quantity range for a preset speed and speed change rate based on the user's preference, or the intersection specific information received from the semi-sensitive traffic light 2. . For example, some drivers may feel stress in traveling approaching an intersection at an excessively high speed or a low speed, or dislike rapid acceleration / deceleration. Therefore, when calculating the arrival time zone, it is preferable to consider such a driver's preference.

Specifically, it is assumed that there is an approaching vehicle traveling at a position 400 m before intersection A at a speed of 60 km / h (about 16.7 m / s). Assuming that this approaching vehicle traveled while maintaining the same speed, it is predicted that the vehicle will reach the intersection A about 24 seconds after the current time. However, assuming that this approaching vehicle decelerates to 20 km / h (about 5.6 m / s) with a deceleration of 0.2 G (about 1.96 m / S ² ), and then travels while maintaining 20 km / h. It is predicted that it will take approximately 66 seconds from the current time to reach the intersection A. If acceleration is not performed until the intersection A is reached, the arrival time zone in this case is 24 to 66 seconds. The driver registers the deceleration of 0.2G used here and the minimum speed of 20 km / h in advance in the memory of the control unit 16 according to his / her driving preference, and the control unit 16 uses the values. An accurate arrival time zone can be predicted. Of course, an allowable upper limit value or maximum speed may be registered.

  Alternatively, the arrival time zone may be predicted by reflecting the road conditions peculiar to the intersection indicated by the intersection specific information in the change in the vehicle speed. For example, even if the driver is driving to maintain a constant speed, the speed may change due to various road conditions such as road width, slope, road surface condition, weather condition, and shape. . Therefore, a more accurate arrival time zone can be predicted by adding a speed change rate according to the road condition peculiar to the intersection indicated by the intersection specific information to the calculation of the vehicle speed.

  The signal control unit 22 of the semi-sensitive traffic signal 2 that has received the information indicating the arrival time zone from the approaching vehicle is based on the arrival time zone received from the approaching vehicle and the restriction time information received from the traffic control center 4 or the like. In accordance with the restriction conditions, a period for switching the secondary road signal to blue is set (traffic right granting time zone setting). Here, within the range satisfying the constraint conditions shown in FIG. 2B, the time zone in which the green signal is displayed on the secondary road (that is, the right-of-way granting time zone) is overlapped with the arrival time zone of the approaching vehicle as much as possible. Next, the signal switching time is adjusted. Further, when a plurality of approaching vehicles are heading for the intersection A at the same time, the signal switching time is adjusted so that the access right granting time zone overlaps the arrival time zone of as many approaching vehicles as possible.

  Here, as shown in FIG. 2A, a situation is assumed in which four approaching vehicles A, B, C, and D are traveling toward an intersection A on the secondary road at the same time. An example of the setting method of the right-of-passage grant time zone in this situation will be described based on FIG. FIG. 4 shows the restriction conditions under which the semi-sensitive traffic light 2 can grant the right of passage to the secondary road, the time of granting the right of passage, and the arrival time zones Ta, Tb, Tc of the approaching vehicles A, B, C, D. , Td together with the time chart.

  As shown in the time chart of FIG. 4, the time zone during which the semi-sensitive traffic light 2 can grant the right of passage to the secondary road is the time from the time A when the surrounding traffic traffic lights 3b and 3c are scheduled to display a red signal. Limited to 25 seconds until B. This time zone is called a restricted time zone. And the display period of the green light with respect to a secondary road is only 10 seconds in this restriction | limiting time slot | zone.

  At this time, among the approaching vehicles A, B, C, and D, the approaching vehicles B and C have the arrival time zone partially overlapping the restricted time zone of the times A to B. Even when the approaching vehicle A travels the slowest, the approaching vehicle A reaches the intersection A earlier than the restricted time zone. Further, even when the approaching vehicle D travels the earliest, the approaching vehicle D cannot reach the intersection A until the restricted time period is over.

  Therefore, in the present embodiment, only approaching vehicles in which at least a part of the arrival time zone to the intersection A overlaps the restricted time zone are set as considerations when setting the right-of-access granting time zone. That is, of the approaching vehicles A, B, C, and D, the approaching vehicles B and C are subject to consideration of the right-of-access granting time zone, and the approaching vehicles A and D are excluded from consideration.

  Next, priorities are set for the approaching vehicles B and C that are the target vehicles. Here, a higher priority is assigned in order from the earliest arrival time zone. That is, vehicle B has a higher priority and vehicle C has a lower priority. First, a right-permission time zone is provisionally determined for the vehicle B with the higher priority. The setting of the right-of-granting time zone for the vehicle B is that of the right-of-granting time zone so that the right-of-way granting time zone overlaps with at least a part of the arrival time zone Tb of the vehicle B while satisfying the above-mentioned constraint conditions. A start time and an end time are determined.

  Next, the right-of-passage granting time zone is readjusted for the lower-priority vehicle C based on the right-of-way granting time zone set for the vehicle B as a reference. The setting of the right-of-granting time zone for the vehicle C satisfies the constraint condition and maintains the state where the right-of-granting time zone overlaps at least a part of the arrival time zone Tb of the vehicle B, while The start time and end time of the right-of-passage granting time zone are adjusted so that the right-of-way granting time zone overlaps at least a part of the arrival time zone Tc. As shown in the time chart of FIG. 4, the vehicles B and C can reach the intersection A during the green light display period by setting the 10 seconds from the time “a” to the time “b” in the right granting time zone. Become. Here, if the state where the access right granting time zone overlaps the arrival time zone Tb of the vehicle B and the state where the access right granting time zone overlaps the arrival time zone Tc of the vehicle C are not compatible, the priority is higher. The start time and the end time are determined with priority given to a state in which the right-of-passage grant time zone overlaps the arrival time zone Tb of a certain vehicle B.

  Here, a flowchart of the above-described right-of-passage grant time zone setting process will be described with reference to FIG. This process is repeatedly executed every predetermined time (for example, every 100 ms). First, the signal control unit 22 of the semi-sensitive traffic light 2 extracts a vehicle to be subjected to this processing from approaching vehicles that have transmitted the arrival time zone at the current time (S101). Here, an approaching vehicle in which at least a part of the arrival time zone overlaps the restriction time zone specified based on the constraint condition is selected as the target vehicle. Next, it is determined whether or not the target vehicle exists as a result of the process of S101 (S102). When the target vehicle exists (S102: YES), the process proceeds to S103, and when the target vehicle does not exist (S102: NO), this process ends.

  In S103, which proceeds when the target vehicle exists, the priority order is set according to the order of arrival time zones of the target vehicles. The priority is set higher in the target vehicle with the earlier arrival time zone. Next, the initial value of the traffic right granting time zone is set (S104). For this initial value, if this processing was executed last time, the relative positional relationship between the right-of-way granting time zone set at that time and the restricted time zone at that time was directly applied to this restricted time zone. Is used. If the right-of-granting time zone has not been set up to the previous time, the initial value is set so that the center of the right-of-way granting time zone is centered on the restricted time zone.

  The subsequent processes in S105 to S109 are loop processes that are repeatedly executed in descending order of priority for each target vehicle. First, in S105, based on the arrival time zone of the target vehicle that is the current processing target, it is determined whether or not the target vehicle can reach the signalized intersection during the currently set right granting time zone. To do. Here, whether or not the vehicle can be reached is determined based on whether or not at least a part of the arrival time zone of the target vehicle overlaps the current access right granting time zone. If the target vehicle can reach the signalized intersection during the current right-of-way granting time zone (S105: YES), the process proceeds to S109, and if not reachable (S105: NO), the process proceeds to S106.

  In S <b> 106, which proceeds when the target vehicle that is the current processing target cannot reach the signalized intersection during the right-of-way granting time zone, it is determined whether or not the current right-of-way granting time zone can be adjusted. Here, it is the current processing target while maintaining the state where the access right granting time period overlaps at least a part of the arrival time period of each target vehicle that satisfies the constraints and is currently registered in the passing vehicle list. It is determined whether or not the right-of-passage granting time zone can be adjusted to overlap at least a part of the arrival time zone of the target vehicle. When it is determined that the passage right granting time zone can be adjusted (S106: YES), the process proceeds to S107, and when it is determined that adjustment is not possible (S106: NO), the loop processing for this target vehicle is terminated.

  In S107, which proceeds when it is determined that the right-of-passage granting time zone can be adjusted, the arrival of all target vehicles that satisfy the constraint conditions and are currently registered in the passing vehicle list and the target vehicles that are currently processed The start time of the already set pass right granting time zone is adjusted so that the pass right granting time zone overlaps at least a part of the time zone. Similarly, the end time of the right-permitting time zone is adjusted (108). Subsequently, in S109, the target vehicle that is the current processing target is registered in the passing vehicle list provided on the RAM of the signal control unit 22. This passing vehicle list is a list of vehicles that are allowed to pass through the signalized intersection during the currently set traffic right granting time period among the target vehicles that have been processed in the loop processing of S105 to S109. After registering the target vehicle in the passing vehicle list in S109, the loop process for the target vehicle is terminated. And when there exists an unprocessed object vehicle, the process of S105-S109 is repeated again, and when there is no unprocessed object vehicle, this process is complete | finished.

  Returning to the description of the ladder chart of FIG. The signal control unit 22 of the semi-sensitive traffic light 2 sets a traffic right granting time zone, and then transmits signal information including information indicating the set traffic right granting time zone to the approaching vehicle. Further, by switching the signal lamp color of the signal display unit 24 at the timing along the set right-of-passage granting time zone, the right-of-way on the main road side is stopped and the right-of-way is given to the secondary road side. Moreover, when the right-of-passage granting time period ends, the right-of-way on the secondary road is stopped and the right-of-way is returned to the main road.

  On the other hand, the control unit 16 of the in-vehicle device 1 that has received the traffic signal information from the semi-sensitive traffic signal 2 performs predetermined driving assistance in accordance with a given access right granting time zone. For driving assistance in line with the right-of-granting time zone, the approaching vehicle can pass through the signalized intersection during the right-of-granting time zone without stopping at a red light, Examples include vehicle control and information notification for reducing the stop waiting time due to signals. Vehicle control includes automatic adjustment to the optimum speed. Information notification includes guidance on optimal speed, guidance on whether or not to pass in the latest access right granting time zone, and the like.

  Vehicle control is performed by controlling controlled parts such as an accelerator and a brake through the external device connection part 11 of the in-vehicle device 1. Information notification is performed by displaying an image on the display unit 12 of the in-vehicle device 1 or outputting a voice message by the voice output unit 13. Further, the automatic speed adjustment and the speed guidance may be performed in accordance with an arbitrary quantity range for a speed and a speed change rate set in advance based on the user's preference.

[Other Embodiments]
In the above embodiment, a case has been described in which the main road passing through the intersection A where the semi-sensitive traffic signal 2 is installed is connected to the signal display schedule at the other intersections B and C, which is a constraint condition. Hereinafter, as another embodiment, a case will be described in which constraint conditions different from those of the above embodiment are applied and the semi-sensitive traffic lights installed at a plurality of signalized intersections are linked and controlled. Here, a road configuration composed of two intersections A and B as shown in FIG. 6A will be described as an example.

  A semi-sensitive traffic light 2a is installed at the intersection A where the main road passing in the left-right direction in FIG. 6A intersects the secondary road passing in the up-down direction on the left side of the figure. The right of traffic with the road side is switched. In addition, a semi-sensitive traffic light 2b is installed at the intersection B where the main road intersects with the secondary road passing in the vertical direction on the right side of the figure, and the right of traffic between the main road side and the secondary road side is switched. Is going.

  These semi-sensitive traffic lights 2a and 2b are systematically controlled by a common signal control unit 22 and usually give the right of passage to the main road side. Only when the approaching vehicle traveling toward the intersections A and B is detected, the right of passage is switched to the secondary road side. Furthermore, in this system control, when approaching vehicles are detected on the secondary roads at the intersections A and B, it is assumed that a restriction is imposed on the signals on both the secondary roads to be blue at the same timing.

  Further, it is assumed that the main road is connected to a signalized intersection (not shown) different from the intersections A and B. At this signal intersection, it is assumed that system control is performed in which signals are sequentially switched at predetermined time intervals in accordance with a signal display schedule transmitted from the traffic control center 4. Then, in the semi-sensitive traffic lights 2a and 2b at the intersections A and B, the red signal is shown on the main road side at the signal intersection so as not to hinder the system control at the other signal intersections on the main road side. Only in the belt, the right of passage can be given to the secondary road for a certain period.

  In other words, in the example described here, “semi-sensitive traffic lights 2a and 2b are connected to the secondary road only during the time period when the other traffic signal connected to the primary road shows a stop signal on the primary road side. "Semi-sensitive traffic lights 2a and 2b can give the right of traffic to each secondary road at the same time", and the passage to the secondary roads of both intersections A and B Corresponds to the restrictions on the time period for which rights are granted.

  Here, as shown in FIG. 6A, a situation is assumed in which approaching vehicles A and B are traveling toward the intersections A and B one by one on the secondary roads of the intersections A and B at the same time. An example of a method for setting the right-of-passage grant time zone in this situation will be described with reference to FIG. FIG. 6 (b) is a time chart showing a combination of the restrictive conditions under which the semi-sensitive traffic lights 2a, 2b can grant the right of passage to the respective secondary roads and the arrival time zones Ta, Tb of the approaching vehicles A, B. FIG.

  As shown in FIG. 6 (b), it is assumed that the restricted time zone in which the semi-sensitive traffic lights 2a and 2b can grant the right of passage to the secondary road is within the range from time A to time B. This restricted time zone corresponds to a time zone in which another traffic signal connected to the main road shows a stop signal on the main road side.

  In the semi-sensitive traffic lights 2a and 2b, it is stipulated that a green signal can be displayed on the side of the secondary road at the same time for a certain period within the restricted time zone. Note that the timing at which the green light is shown on the secondary road side within this restricted time zone is predicted when the approaching vehicles A and B currently sensed will reach the intersections A and B, respectively. It is determined by the signal control unit 22 according to the time zones Ta and Tb.

  At this time, the signal control unit 22 satisfies the above-mentioned restriction condition, and the right-of-passage granting time zone so that the right-of-passage granting time zone overlaps at least a part of the arrival time zones Ta, Tb of both approaching vehicles A, B. The start time and the end time of are determined. The procedure for receiving the arrival time zones Ta and Tb from the approaching vehicles A and B and the procedure for setting the right-of-passage granting time zone are the same as the procedures shown in FIGS.

  And as shown in FIG.6 (b), by setting the period from the time a to the time b to the right granting time slot | zone, the vehicles A and B can cross the intersections A and B, respectively, during the green light showing period. You can pass without stopping.

  In the above-described another embodiment, the example of the restriction condition that the semi-sensitive traffic lights 2a and 2b grant the right of passage to the secondary road at exactly the same timing has been described. In addition, for example, it is possible to employ a constraint condition that a certain time difference (for example, 5 seconds) is provided in a period during which the right of passage is given to the secondary road between the two semi-sensitive traffic lights 2a and 2b. In this case, for each of the two semi-sensitive traffic lights 2a and 2b, while satisfying the condition that a time difference of 5 seconds is provided, a right granting time zone corresponding to the arrival time zone of the approaching vehicle on each secondary road is set. Good.

[effect]
According to the road-to-vehicle communication system of the above embodiment, the following effects are obtained.
(1) When the semi-sensitive traffic light 2 grants the right of traffic to the secondary road, it is possible to set the right of traffic grant time zone in accordance with the restriction condition regarding the cooperation with the surrounding traffic signal. This restrictive condition is to prevent irregular switching of signals by semi-sensitive signal control performed outside the system control of the signal on the main road side from adversely affecting the surrounding traffic flow. When the sensitive traffic light 2 observes this restriction, smooth traffic flow around the signalized intersection is not hindered. In addition, by considering the arrival time zone of an approaching vehicle that is about to pass through the signalized intersection, it is possible to set a right-of-way granting time zone suitable for the convenience of the approaching vehicle. In addition, by predicting the time when the vehicle reaches the signalized intersection as a wide arrival time zone, it is possible to increase the time adjustable range when the semi-sensitive traffic light 2 sets the right-of-granting time zone. it can.

  (2) As a constraint condition, the cooperation condition between the time zone in which the right of passage can be given to the secondary road side and the signal display schedule on the main road side at other specific signalized intersections to which the main road connects is defined. Conditions can be adopted. Thereby, it is possible to prevent the irregular traffic signal switching by the semi-sensitive traffic signal 2 from adversely affecting the traffic flow in the range including signal intersections around the main road.

  (3) As a restriction condition, this is performed at a time zone in which the right of passage can be given to the secondary road and other specific signalized intersections to which the main road connects and other secondary roads connected to the signalized intersection. It is possible to adopt a condition that defines a cooperation condition with a signal display module based on semi-sensitive signal control. Thereby, the switching timing of signals can be arranged by linking the semi-sensitive signal control performed at a plurality of signalized intersections, and the influence on the traffic flow on the main road side can be reduced.

  (4) When the semi-sensitive traffic signal 2 senses a plurality of approaching vehicles, it is possible to set the right-permission time zone in consideration of the arrival time zones of the plurality of approaching vehicles. In addition, it is possible to set the priority order of each approaching vehicle based on the order of arrival time zones of a plurality of approaching vehicles, and set a right-of-access granting time zone that preferentially reflects the arrival time zones of approaching vehicles having a higher priority order. For example, when the priority is set higher in order from the approaching vehicle with the earliest arrival time zone, the stop waiting time of the vehicle that reaches the signalized intersection earlier can be reduced with priority. Alternatively, if the priority order of approaching vehicles with a slow arrival time within a range that satisfies the constraint conditions is set high, the waiting time for a vehicle that arrives early increases, but as many vehicles as possible can be granted with one pass. Can be passed.

  (5) By notifying the vehicle side as the traffic information granting time zone set by the semi-sensitive traffic signal 2 to the vehicle side, driving support utilizing the signal information can be implemented on the vehicle side. As a result, in addition to the effect that the semi-sensitive traffic light 2 can set a right-to-grant time zone adapted to the circumstances of the approaching vehicle, the vehicle side can allow the driver to drive the vehicle according to the right-right time zone. There is a double effect that driving assistance can be implemented.

  (6) An arbitrary quantity range can be set according to the driving preference of the driver for at least one of the speed until the vehicle reaches the signalized intersection and the speed change rate. And by having comprised so that an arrival time slot | zone may be calculated based on the quantity range, the exact arrival time slot | zone reflecting a driver | operator's driving preference can be calculated. Thereby, the right-of-passage granting time zone set by the semi-sensitive traffic signal 2 can be accurately reflected on the circumstances of the approaching vehicle.

  (7) As a further device for calculating the arrival time zone of the approaching vehicle more accurately, travel along the slave road, such as the width, slope, road surface condition, weather condition, and shape of the slave road to the signalized intersection. Intersection specific information, which is various conditions affecting the speed of the vehicle, can be taken into account.

[Modification]
In the above-described embodiment, the in-vehicle device 1 mounted on the vehicle calculates the arrival time zone in which the vehicle is predicted to reach the signalized intersection, and notifies the semi-sensitive traffic signal 2 of the arrival time zone. A configuration is adopted in which the semi-sensitive traffic light 2 sets a time-permission granting time zone based on the arrival time zone. On the other hand, it is also possible to adopt a configuration in which the arrival time zone in which the vehicle is predicted to reach the signalized intersection is calculated on the semi-sensitive traffic light 2 side.

  Specifically, the processing may be performed according to the following procedure. The signal control unit 22 of the semi-sensitive traffic signal 2 requests transmission of vehicle information to the detected approaching vehicle. The control unit 16 of the in-vehicle device 1 requested to transmit the vehicle information from the semi-sensitive traffic light 2 uses the information indicating the current location of the host vehicle, the current speed, the speed change rate (acceleration / deceleration), and the like as vehicle information. A response is made to the sensitive signal device 2. Moreover, you may make it also transmit the arbitrary quantity ranges about the speed and speed change rate preset based on a user preference as vehicle information.

  The signal control unit 22 of the semi-sensitive traffic light 2 that has received the vehicle information from the approaching vehicle predicts that the approaching vehicle will reach the signalized intersection based on the received vehicle information, from the earliest arrival time to the latest arrival time The arrival time zone with a wide range is calculated. At this time, the arrival time zone may be calculated using an arbitrary quantity range set in advance based on the user's preference on the vehicle side or the intersection specific information held by the semi-sensitive traffic light 2. Then, according to the calculated arrival time zone and constraint conditions, a right-of-way granting time zone for the secondary road is calculated.

[Correspondence between Configuration of Embodiment and Configuration described in Claims]
Correspondence between the configuration of each part of the road-to-vehicle communication system of the above embodiment and the configuration described in the claims is as follows. The position specifying unit 10 and the external device connecting unit 11 of the in-vehicle device 1 correspond to vehicle information acquisition means in the claims. The wireless communication unit 15 and the control unit 16 correspond to a time zone information transmission unit, a vehicle information transmission unit, an intersection specific information reception unit, and a signal information reception unit. The control unit 16 corresponds to a calculation unit, an allowable range setting unit, and a driving support control unit on the in-vehicle device side.

  On the other hand, the wireless communication unit 21 and the signal control unit 22 of the semi-sensitive traffic signal 2 are the sensing means, time zone information receiving means, vehicle information receiving means, intersection specific information transmitting means, and signal information transmitting means in the claims. It corresponds to. The signal control unit 22 corresponds to setting means, signal control means, and calculation means on the signal control device side. In addition, the signal control unit 22 and the roadside communication unit 23 correspond to a restricted time information receiving unit.

  DESCRIPTION OF SYMBOLS 1 ... In-vehicle apparatus, 10 ... Position specification part, 11 ... External apparatus connection part, 12 ... Display part, 13 ... Audio | voice output part, 15 ... Wireless communication part, 16 ... Control part, 2 ... Semi-sensitive signal apparatus, 21 ... Wireless Communication unit, 22 ... Signal control unit, 23 ... Roadside communication unit, 24 ... Signal display unit, 3b, 3c ... Traffic traffic signal controlled by system, 31 ... Vehicle speed sensor, 32 ... Acceleration sensor, 33 ... Operation control unit, 4 ... Traffic control center, 100 ... communication line.

Claims (17)

At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, A signal control device that performs semi-sensitive signal control that gives the right of passage to the secondary road side for a predetermined period, and performs wireless information communication with a vehicle traveling on the road;
A road-vehicle communication system having an in-vehicle device mounted on a vehicle and performing information communication by wireless communication with the signal control device,
The signal control device includes:
Sensing means for sensing an approaching vehicle traveling on the secondary road and approaching the signalized intersection;
Time zone information receiving means for receiving time zone information indicating an arrival time zone in which the approaching vehicle is predicted to reach the signalized intersection from the approaching vehicle sensed by the sensing means;
Predetermined constraints regarding the linkage between a time zone in which the right of passage can be given to the secondary road and a signal display schedule of a traffic signal installed at another specific signalized intersection, and the time zone information receiving means Based on the time zone information acquired by the setting means for setting the passage right granting time zone for the secondary road side, which satisfies the constraints and reflects the arrival time zone indicated by the time zone information;
Signal control means for displaying a signal for giving the right of passage to the secondary road according to the right-of-way grant time zone set by the setting means;
The in-vehicle device is
Vehicle information acquisition means for acquiring vehicle information related to the position, speed, and speed change rate of the host vehicle;
Based on the vehicle information acquired by the vehicle information acquisition means and the position information of the signalized intersection when traveling along the secondary road toward the signalized intersection, it is predicted that the host vehicle will reach the signalized intersection. A calculating means for calculating a wide arrival time zone from the earliest arrival time to the latest arrival time ;
A road-to-vehicle communication system, comprising: time zone information transmission means for transmitting time zone information indicating the arrival time zone calculated by the calculation means to the signal control device. At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, A signal control device that performs semi-sensitive signal control that gives the right of passage to the secondary road side for a predetermined period, and performs wireless information communication with a vehicle traveling on the road;
A road-vehicle communication system having an in-vehicle device mounted on a vehicle and performing information communication by wireless communication with the signal control device,
The signal control device includes:
Sensing means for sensing an approaching vehicle traveling on the secondary road and approaching the signalized intersection;
Vehicle information receiving means for receiving vehicle information related to the position, speed, and speed change rate of the approaching vehicle from the approaching vehicle sensed by the sensing means;
Based on the vehicle information acquired by the vehicle information receiving means and the position information of the signalized intersection, the approaching vehicle is predicted to reach the signalized intersection, and has a range from the earliest arrival time to the latest arrival time. A calculation means for calculating the arrival time zone;
Predetermined restrictions on the linkage between the time zone in which the right of passage can be given to the secondary road and the traffic signal signal display schedule installed at other specific signalized intersections, and calculated by the calculation means Based on the arrival time zone, setting means for satisfying the constraint condition and reflecting the arrival time zone, and setting a passage right granting time zone for the secondary road side;
Signal control means for displaying a signal for giving the right of passage to the secondary road according to the right-of-way grant time zone set by the setting means;
The in-vehicle device is
Vehicle information acquisition means for acquiring vehicle information related to the position, speed, and speed change rate of the host vehicle;
Vehicle information transmission means for transmitting vehicle information acquired by the vehicle information acquisition means to the signal control device when traveling on the secondary road toward the signalized intersection. Inter-vehicle communication system. In the road-vehicle communication system according to claim 1 or claim 2,
The restriction condition used by the setting means of the signal control device for setting the right-of-passage granting time zone is that the specific road is connected to a time zone in which the right-of-way can be given to the secondary road and the main road. A road-to-vehicle communication system characterized by prescribing conditions for cooperation with the signal display schedule on the main road side at an intersection. In the road-vehicle communication system according to claim 3,
In the signal control device,
Furthermore, information on the main road side signal display schedule at the other specific signalized intersection according to the constraint condition is received from the traffic signal at the other signalized intersection or an external center device. A road-to-vehicle communication system comprising: means. In the road-vehicle communication system according to claim 1 or claim 2,
The restriction condition used by the setting means of the signal control device to set the right-of-access granting time zone is a time zone in which the right-of-way can be given to the secondary road side, and other specific conditions to which the main road is connected. A road-to-vehicle communication system characterized in that it is a signalized intersection and defines a cooperation condition with a signal display module based on semi-sensitive signal control performed on another secondary road connected to the signalized intersection. In the road-to-vehicle communication system according to any one of claims 1 to 5,
In the signal control device,
When a plurality of approaching vehicles are sensed by the sensing means, the setting means sets one of the right-of-access granting time zones reflecting the arrival time zones of the plurality of approaching vehicles. Road-to-vehicle communication system. In the road-vehicle communication system according to claim 6,
In the signal control device,
The setting means sets the priority order of each approaching vehicle based on the order of arrival times of arrival vehicles of a plurality of approaching vehicles, and the access right grant time that preferentially reflects the arrival time zones of the approaching vehicles having a higher priority order A road-to-vehicle communication system characterized by setting a belt. In the road-to-vehicle communication system according to any one of claims 1 to 7,
In the signal control device,
Furthermore, it comprises signal information transmitting means for transmitting signal information indicating the right-of-passage granting time zone set by the setting means to the approaching vehicle,
In the in-vehicle device,
Further, signal information receiving means for receiving the signal information from the signal control device,
Driving assistance control means for executing predetermined driving assistance for driving to reach the signalized intersection in a mode corresponding to the right-of-passage grant time zone indicated by the signal information received by the signal information receiving means; A road-to-vehicle communication system characterized by comprising: The road-to-vehicle communication system according to any one of claims 1 to 8,
In the in-vehicle device,
Furthermore, with respect to at least one of the speed until the own vehicle reaches the signalized intersection or the rate of change in speed, an allowable range setting means capable of artificially setting an arbitrary quantity range as the vehicle information is provided,
The road-to-vehicle communication system characterized in that the calculation means provided in the in-vehicle device or the signal control device further determines the width of the arrival time zone based on a numerical range indicated by the vehicle information. In the road-to-vehicle communication system according to claim 1 or any one of claims 3 to 9 that cites claim 1,
In the signal control device,
Has intersection-specific information regarding the driving conditions of the secondary road leading to the signalized intersection,
Furthermore, an intersection specific information transmitting means for transmitting the intersection specific information to the approaching vehicle,
In the in-vehicle device,
Furthermore, an intersection specific information receiving means for receiving the intersection specific information from the signal control device,
The calculation means further calculates the arrival time zone of the approaching vehicle by further reflecting the intersection specific information receiving means received by the intersection specific information receiving means in addition to the vehicle information and the position information of the signalized intersection. A road-vehicle communication system characterized by the above. In the road-to-vehicle communication system according to claim 2 or any one of claims 3 to 9 that cites claim 2,
In the signal control device,
Has intersection-specific information regarding the driving conditions of the secondary road leading to the signalized intersection,
The roadway-to-vehicle communication system, wherein the calculating means calculates the arrival time zone of the approaching vehicle by further reflecting the unique information in addition to the vehicle information and the position information of the signalized intersection. At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, An in-vehicle device that performs information communication by wireless communication with a signal control device that performs semi-sensitive signal control that gives a right of passage to the secondary road side for a predetermined period of time,
Vehicle information acquisition means for acquiring vehicle information related to the position, speed, and speed change rate of the host vehicle;
Based on the vehicle information acquired by the vehicle information acquisition means and the position information of the signalized intersection when traveling along the secondary road toward the signalized intersection, it is predicted that the host vehicle will reach the signalized intersection. A calculating means for calculating a wide arrival time zone from the earliest arrival time to the latest arrival time ;
Time zone information transmitting means for transmitting time zone information indicating the arrival time zone calculated by the calculating means to the signal control device;
The signal control device that has received the time zone information transmitted by the time zone information transmission means is a signal of a traffic signal installed at a time zone that can give the right of passage to the secondary road side and another specific signal intersection The secondary road set based on a predetermined restriction condition related to cooperation with the current schedule and the time zone information, and satisfying the restriction condition and reflecting the arrival time zone indicated by the time zone information Signal information receiving means for receiving signal information indicating a right-of-way granting time zone for the side from the signal control device;
Driving assistance control means for executing predetermined driving assistance for driving to reach the signalized intersection in a mode corresponding to the right-of-passage grant time zone indicated by the signal information received by the signal information receiving means; A vehicle-mounted device characterized by comprising. At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, An in-vehicle device that performs information communication by wireless communication with a signal control device that performs semi-sensitive signal control that gives a right of passage to the secondary road side for a predetermined period of time,
Vehicle information acquisition means for acquiring vehicle information related to the position, speed, and speed change rate of the host vehicle;
Vehicle information transmission means for transmitting vehicle information acquired by the vehicle information acquisition means to the signal control device when traveling along the secondary road toward the signalized intersection;
The time zone information signal control apparatus receiving the vehicle information transmitted by the transmitting means, based on the position information of the signalized intersection and the vehicle information, predicts that the vehicle reaches the signalized intersection, arriving earliest A traffic signal that is installed at a time zone that can give a right of passage to the secondary road side and other specific signalized intersections, with a calculation means that calculates a wide arrival time zone from the time to the latest arrival time The secondary road side, which is set to satisfy the restriction condition and reflect the arrival time zone based on the predetermined restriction condition regarding the linkage with the signal display schedule and the calculated arrival time zone Signal information receiving means for receiving from the signal control device signal information indicating a right-of-passage granting time zone,
Driving assistance control means for executing predetermined driving assistance for driving to reach the signalized intersection in a mode corresponding to the right-of-passage grant time zone indicated by the signal information received by the signal information receiving means; A vehicle-mounted device characterized by comprising. In the in-vehicle device according to claim 12 or claim 13,
Furthermore, with respect to at least one of the speed until the vehicle reaches the signalized intersection or the rate of change in speed, an allowable range setting means capable of artificially setting an arbitrary quantity range as the vehicle information is provided,
The calculation means further determines the width of the arrival time zone based on a numerical range indicated by the vehicle information. In the in-vehicle device according to claim 14 which quotes claim 12 or claim 12,
Furthermore, an intersection specific information receiving means for receiving, from the signal control device, intersection specific information related to a traveling condition of a secondary road leading to the signalized intersection,
The calculation means further calculates the arrival time zone of the approaching vehicle by further reflecting the intersection specific information receiving means received by the intersection specific information receiving means in addition to the vehicle information and the position information of the signalized intersection. In-vehicle device characterized by At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, A signal control device that performs semi-sensitive signal control that gives the right of passage to the secondary road for a predetermined period, and performs wireless information communication with a vehicle traveling on the road,
Sensing means for sensing an approaching vehicle traveling on the secondary road and approaching the signalized intersection;
From the approaching vehicle sensed by the sensing means, receive time zone information indicating a wide arrival time zone from the earliest arrival time to the latest arrival time, which is predicted that the approaching vehicle will reach the signalized intersection Time zone information receiving means;
Predetermined constraints regarding the linkage between a time zone in which the right of passage can be given to the secondary road and a signal display schedule of a traffic signal installed at another specific signalized intersection, and the time zone information receiving means Based on the time zone information acquired by the setting means for setting the passage right granting time zone for the secondary road side, which satisfies the constraints and reflects the arrival time zone indicated by the time zone information;
A signal control device comprising: signal control means for displaying a signal for giving the right of passage to the secondary road in accordance with the right of passage grant time set by the setting means. At the signalized intersection where the main road and the secondary road intersect, usually the right of access is given to the main road side, and only when a vehicle traveling on the secondary road and approaching the signalized intersection is detected, A signal control device that performs semi-sensitive signal control that gives the right of passage to the secondary road for a predetermined period, and performs wireless information communication with a vehicle traveling on the road,
Sensing means for sensing an approaching vehicle traveling on the secondary road and approaching the signalized intersection;
Vehicle information receiving means for receiving vehicle information related to the position, speed, and speed change rate of the approaching vehicle from the approaching vehicle sensed by the sensing means;
Based on the vehicle information acquired by the vehicle information receiving means and the position information of the signalized intersection, the approaching vehicle is predicted to reach the signalized intersection, and has a range from the earliest arrival time to the latest arrival time. A calculation means for calculating the arrival time zone;
Predetermined restrictions on the linkage between the time zone in which the right of passage can be given to the secondary road and the traffic signal signal display schedule installed at other specific signalized intersections, and calculated by the calculation means Based on the arrival time zone, setting means for satisfying the constraint condition and reflecting the arrival time zone, and setting a passage right granting time zone for the secondary road side;
A signal control device comprising: signal control means for displaying a signal for giving the right of passage to the secondary road in accordance with the right of passage grant time set by the setting means.