JP5434863B2 - Vehicle group operation management device and program - Google Patents

Description

  The present invention relates to a vehicle group operation management device and a program.

  Conventionally, an in-vehicle control device that controls a traveling state of a vehicle by detecting a traveling guidance display body installed along the road, a roadside wireless device disposed along the road, and an in-vehicle wireless device mounted on the vehicle, An automatic travel support system has been proposed that includes a road-to-vehicle communication system that performs wireless communication between the vehicle and a road-side control device that exchanges information related to traveling with the vehicle via the road-to-vehicle communication system ( For example, see Patent Document 1). In the automatic driving support system of Patent Document 1, a traffic light is controlled by communication from a vehicle group, and control for preferentially passing the vehicle group is performed.

JP 2000-306194 A

  However, in the system of Patent Document 1 described above, only a vehicle group from one direction is assumed, and when this is applied to a vehicle group from both directions in the upward direction and the downward direction, each vehicle Every time a group passes an intersection, the traffic light at that intersection is controlled to turn green, so the blue display time on the secondary road may be very small, which may cause traffic congestion. There is a problem.

  The present invention has been made to solve the above problems, and provides a vehicle group operation management apparatus and program capable of realizing smooth vehicle group traveling even when a vehicle group from both directions is considered. The purpose is to do.

In order to achieve the above object, the vehicle group operation management device of the present invention is a plurality of intersections where a control target road and a secondary road intersect, and a blue display time and a non-blue display time at a predetermined period T. Among the plurality of intersections provided with a traffic light that repeats the above, the upstream vehicle group is between the synchronous intersections for allowing the upward vehicle group and the downward vehicle group of the controlled road to pass through in synchronization. Passes at time t _up , the vehicle group in the down direction passes at time t _down , and the time t _up and time t _down satisfy the expression “t _up + t _down = nT (where n is a natural number)”. wherein the speed determining means for determining the velocity v _downlink uplink vehicle group velocity v vehicle group of _uplink and the downlink, such as, on the basis of the traffic volume of the control target road and the Tsugumichi path, blue of the traffic Blue display time determination means for determining the display time, and the previous Control means for controlling the traffic light so as to repeat turning on and off of the blue signal for the blue display time determined by the blue display time determination means at the period T; the vehicle group in the upward direction and the vehicle in the downward direction The timing of flowing into the controlled road and the speed v _up and speed v _down determined by the speed determining means so that the group passes through the synchronous intersection synchronously, and the vehicle group in the up direction and the down direction And instructing means for instructing the vehicle group.

According to the vehicle group operation management device of the present invention, the speed determination means is a plurality of intersections where the control target road and the secondary road intersect, and the blue display time and the non-blue display time are determined at a predetermined period T. Among a plurality of intersections provided with repeated traffic lights, the upstream vehicle group passes the time t between the synchronous intersections for allowing the upstream vehicle group and the downstream vehicle group to pass through in synchronization. The vehicle passes in the _up direction, the vehicle group in the down direction passes at the time t _down , and the time t _up and the time t _down satisfy the expression “t _up + t _down = nT (where n is a natural number)”. It determines the speed v _edge of the vehicle group of the uplink of the vehicle group velocity v _uplink and the downlink. Further, the blue display time determining means determines the blue display time of the traffic lights based on the traffic volume of the control target road and the secondary road.

Then, the control means controls the traffic light so as to repeat turning on and off of the blue signal for the blue display time determined by the blue display time determination means at a cycle T, and the instruction means controls the up direction vehicle group and the down direction. So that the vehicle group in the direction passes through the synchronous intersection synchronously, and the speed v _up and the speed v _down determined by the speed determination means are determined in the up direction vehicle group and the down direction. Tell the car group.

  Thus, in order to control the speed of the traffic signal and the vehicle group so that the vehicle group in the upward direction and the vehicle group in the downward direction pass through the synchronous intersection synchronously, even when considering the vehicle group from both directions, Smooth vehicle group traveling can be realized.

In addition, the speed determination means includes a plurality of synchronous intersections, and the distance between the synchronous intersections is L _k (k = 1, 2, 3... M). Vehicle group at the time t _{k going up} , the vehicle group in the down direction passing at the time t _{k going down} , and the time t _{k going up} and the time tk going _down are expressed by the formula “t _{k up} + t _{k down} = p _{k T} (although, p _k is a natural number) that satisfies ", to determine the velocity v _{k downlink} of the uplink of the vehicle group velocity v _{k uplink} and the vehicle group of the downlink of each between the synchronous intersection can do.

Further, the _{p k,} can be determined by the formula _{"p k = ROUND (L k /} α) ". However, ROUND (x) is rounding function, alpha is the reference value speed is set to define the p _k to fit a certain range.

In addition, the speed determining means may reduce the distance L between the synchronous intersections when the plurality of synchronous intersections exist and the distance between the synchronous intersections is L _k (k = 1, 2, 3... M). The speed v of the _up direction vehicle group and the speed v of the _down direction vehicle group can be determined.

In addition, the speed determining means may reduce the distance L between the synchronous intersections when the plurality of synchronous intersections exist and the distance between the synchronous intersections is L _k (k = 1, 2, 3... M). The speed v of the _up direction vehicle group and the speed v of the _down direction vehicle group can be determined.

Further, the _{p k,} can be determined by the formula _{"p k = ROUND (L k /} α) ". However, ROUND (x) is rounding function, alpha is set to define the p _k, such as synchronization timing of said downlink of the vehicle group and upstream of the vehicle group passing through the synchronization intersection is appropriate This is the reference value.

In addition, the blue display time determining means determines the blue display time in a traffic signal at an asynchronous intersection other than the synchronous intersection, the speed v of the _up direction vehicle group determined by the speed determining means, and the down direction. vehicle group velocity v _downlink, and the vehicle group and the vehicle group of the downlink of the uplink direction obtained based on the timing of flows into the controlled object road is instructed to pass the non synchronous intersection by said instructing means When the blue display time of the asynchronous intersection determined by the blue display time determination means is longer than a first threshold, the instruction means moves from the asynchronous intersection to the control target road. The vehicle existing on the secondary road can be instructed to prohibit the inflow of the vehicle. If the blue display time of an asynchronous intersection is long, that is, if the blue display time to a secondary road is short, there is not enough time to flow from the secondary road to the controlled road. By prohibiting inflow from the road to the controlled road, safety can be ensured and smooth vehicle group traveling can be realized.

  In addition, when the blue display time of the asynchronous intersection determined by the blue display time determination means is shorter than the second threshold, the instruction means recommends that the asynchronous intersection flow into the controlled road. It is possible to set the recommended intersection as the recommended intersection and to instruct the vehicle existing on the secondary road with the information of the set recommended intersection. As a result, surrounding vehicles that have received the recommended intersection information can preferentially select a route that passes through the recommended intersection when selecting a route, and can mitigate congestion in the surrounding area of the controlled road.

In addition, when the instructing unit receives an inflow request to the control target road from a vehicle existing on the secondary road, the vehicle unit merges with the vehicle group of the control target road, so that the vehicle group length of the vehicle group There, it is determined whether more than a defined vehicle group length determined from the blue current示時and between the uplink of the vehicle group velocity v _up or the down direction of the vehicle group velocity v _downlink, if it exceeds, the The vehicle can be instructed to prohibit inflow to the controlled road. Thereby, the smooth vehicle group driving | running | working in a control object road can be maintained.

  Further, the instructing means may determine whether each vehicle has an intersection based on at least one of the traffic volume of the control target road and the secondary road, whether or not it is a synchronous intersection, and information on the surrounding environment including the control target road. An appropriate vehicle group length when passing the vehicle is calculated, and the vehicle group organization is changed to each vehicle forming the vehicle group so that the vehicle group length when passing the intersection becomes the appropriate vehicle group length. Can be directed to. Thereby, according to the surrounding environment of a control object road, smooth vehicle group driving | running | working can be implement | achieved more appropriately.

The vehicle group operation management program according to the present invention is a traffic signal that repeats a blue display time and a non-blue display time at a predetermined cycle T at a plurality of intersections where a controlled road and a secondary road intersect. Among the plurality of intersections provided by the vehicle, the upstream vehicle group travels _{up the} time t between synchronous intersections for allowing the upstream vehicle group and the downstream vehicle group to pass through in synchronization. in passing, through the vehicle group the downlink direction at time t _down, and the time t _up and the time t _down the expression "t _up + t _down = nT (where, n is a natural number)" to satisfy the Based on the speed determining means for determining the speed v of the _upward vehicle group and the speed v of the _downward vehicle group, and the traffic volume of the road to be controlled and the secondary road, the blue display time of the traffic light is determined. Blue display time determining means for determining, said Control means for controlling the traffic light so as to repeat the turning on and off of the blue signal for the blue display time determined by the display time determination means at the period T, and the vehicle group in the upward direction and the vehicle group in the downward direction The speed v going _up and the speed v going _down determined by the speed deciding means are determined so as to pass through the synchronous intersection synchronously, and the up direction vehicle group and the down direction This is a program for causing the vehicle group to function as instruction means.

  The storage medium for storing the program of the present invention is not particularly limited, and may be a hard disk or a ROM. Further, it may be a CD-ROM, a DVD disk, a magneto-optical disk or an IC card. Furthermore, the program may be downloaded from a server or the like connected to the network.

  As described above, according to the vehicle group operation management device and the program of the present invention, the traffic lights and the vehicle group are arranged so that the vehicle group in the upward direction and the vehicle group in the downward direction pass through the predetermined intersection in synchronization. In order to control the speed, even when a vehicle group from both directions is taken into consideration, an effect that smooth vehicle group traveling can be realized is obtained.

It is an image figure which shows the outline of the vehicle group traffic flow control system of this Embodiment. It is the schematic which shows the structure of the vehicle group traffic flow control system of 1st Embodiment. It is a block diagram which shows the structure of the vehicle group operation management apparatus of 1st Embodiment. It is a flowchart which shows the content of the operation pre-processing routine in 1st Embodiment. It is a figure for demonstrating the synchronization of a bidirectional vehicle group. It is a flowchart which shows the content of the operation pre-processing routine in 2nd Embodiment. It is a figure which shows an example of the determination of a synchronous intersection. It is a figure which shows an example of the determination of the passage time in a synchronous intersection. It is a figure which shows an example of the determination of the passage time in an asynchronous intersection. It is a figure which shows an example of a speed pattern. It is the schematic which shows the structure of the vehicle group traffic flow control system of 3rd Embodiment. It is a flowchart which shows the content of the operation pre-processing routine in 3rd Embodiment. It is a flowchart which shows the content of the process routine during operation in 4th Embodiment. It is the schematic which shows the structure of the vehicle group traffic flow control system of 5th Embodiment. It is a flowchart which shows the content of the operation pre-processing routine in 5th Embodiment. It is a figure for demonstrating the appropriate vehicle group length based on the environment of a surrounding area. It is a flowchart which shows the content of the process routine during operation in 5th Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings.

  In FIG. 1, the outline of the application scene of the vehicle group traffic flow control system of this Embodiment is shown. A traffic signal is provided at an intersection where the main road (main car group control area) to be controlled by this system intersects the main road and the secondary road. Outside the entrance of the main car group control area is a car group formation area. Vehicles arriving at the entrance are grouped by a traffic light provided at the entrance of the main car group control area to form a car group. In one vehicle group formation area, an upward vehicle group A is formed, and in the other vehicle group formation area, a downward vehicle group B is formed. The traffic signal at the entrance of the main car group control area is controlled according to the cycle and the blue display time determined by the processing described later, and the inflow to the main car group control area with respect to the car group formed in the car group formation area. Instruct. The vehicle group that has flowed into the main line vehicle group control area is controlled so as to pass through all the traffic lights in the main line vehicle group control area with a green light by a process described later. At that time, the vehicle group A and the vehicle group B are controlled so as to pass through a predetermined synchronous intersection in synchronization.

  FIG. 2 shows a schematic diagram of the vehicle group traffic flow control system of the first embodiment. The vehicle group traffic flow control system according to the first embodiment is provided at a vehicle group operation management device 10 installed in a road management center or the like, and at each intersection and entrance of a main vehicle group control area. 10, and the vehicles 60 </ b> A and 60 </ b> B whose operation is controlled by instructions from the traffic signal 50 and the vehicle group operation management device 10.

  The vehicles 60 </ b> A and 60 </ b> B control the traveling speed of the own vehicle based on the communication unit 62 for performing communication between the vehicle group operation management device 10 and surrounding vehicles and the instructions from the vehicle group operation management device 10. And a traveling speed control unit 64. Note that a vehicle group is formed by the vehicle 60A and the vehicle 60B (a plurality of vehicles 60B are present), the vehicle 60A is a leading vehicle of the vehicle group, and the vehicle 60B is a following vehicle.

  As shown in FIG. 3, the vehicle group operation management device 10 includes a keyboard, a mouse, and the like, and an input unit 12 for inputting various information and a computer 14 that executes a process for controlling the vehicle group traffic flow. It is comprised including.

  The computer 14 includes a CPU 16 that controls the entire vehicle group operation management apparatus 10, a ROM 18 as a storage medium that stores various programs such as a vehicle group operation management program including pre-operation processing and in-operation processing described later, and a work area. Between a RAM 20 for temporarily storing data, a hard disk (HDD) 22 as a storage means for storing various information, an input / output port (I / O port) 24, and a vehicle forming a vehicle group. The communication unit 26 for performing communication, a network interface (network I / F) 28, and a bus connecting them are configured.

  Next, the operation of the vehicle group traffic flow control system of the first embodiment will be described.

  First, an operation pre-processing routine in the vehicle group operation management device 10 according to the first embodiment will be described with reference to FIG.

  In step 100, the intersection information in the main car group control area is acquired from an external device connected via the input unit 12 or the network I / F 28. The intersection information includes information such as an intersection name and a distance from one entrance of the main car group control area.

  Next, in step 102, based on the intersection information acquired in step 100, a synchronous intersection that allows the vehicle group A in the upward direction and the vehicle group B in the downward direction to pass synchronously is determined. For example, a main intersection or the like can be determined as a synchronous intersection.

  Next, in step 104, a signal period T is determined, which is composed of a blue display time when the traffic light turns on the blue light and a non-blue display time when the blue light is turned off. The period T of the signal can be determined arbitrarily, and can be 120 seconds, for example.

  Next, in step 106, the traffic volume data of the main road and the secondary road intersecting with the main road are acquired from the external device connected via the input unit 12 or the network I / F 28.

  Next, in step 108, based on the traffic volume data acquired in step 106, the blue display time of the traffic lights at the synchronous intersection is determined. For example, based on the ratio of the traffic volume on the main road and the traffic volume on the secondary road, the ratio of the blue display time and the non-blue display time in the period T determined in step 104 is determined, and the blue display time is determined. Can be determined.

Next, in step 110, based on the period T determined in step 104, the speed of the vehicle group traveling in the main vehicle group control area, and the vehicle group A and the vehicle group B pass through the synchronous intersection synchronously. The vehicle group A speed v going _up and the vehicle group B speed v going _down are determined. More specifically, the vehicle group A passes at the time t _up , the vehicle group B passes at the time t _down , and the time t _up and the time t _down are as follows: 1) The speed v going _up and the speed v going _down of the car group B are determined so as to satisfy the equation.

t _ascending + t _descending = nT (where n is a natural number) (1)

For example, if the distance between the synchronous intersections obtained based on the intersection information acquired in step 100 is L, the vehicle group A is in the case where the speed v _up of the vehicle group A and the speed v _down of the vehicle group B are constant. The speed v going _up and the speed v going _{down of the} vehicle group B are expressed by the following equation (2).

v _up = L / t _up , v _down = L / t _down (2)

Further, a case where v _up = v _down and n = 1 in the equation (1) will be described. As shown in FIG. 5, the positions of vehicle group A and vehicle group B at time t are taken. At this time, the vehicle group A and the vehicle group B overlap at the synchronous intersection A and the synchronous intersection B, that is, the vehicle group A and the vehicle group B pass through the synchronous intersection A and the synchronous intersection B synchronously. To do. What is necessary is just to light a green signal at every timing when the vehicle group A and the vehicle group B overlap on the synchronous intersection, and the next green signal lighting start time is one cycle T from the green signal lighting start time. Here, from the same figure, since t _up = t _down = T / 2, v _up and v _down can be determined as v _up = v _down = 2 L / T.

  The vehicle group length represented by the time required for the vehicle group to pass a certain point is determined based on the vehicle group speed determined in this step and the blue display time determined in step 108.

Next, in step 112, it is determined whether or not the blue display time for the secondary road, that is, the non-blue display time for the main road is sufficiently secured at the asynchronous intersection other than the synchronous intersection determined in step 102. . If there is not enough time for blue display on the secondary road, traffic will be caused when there are many vehicles trying to enter the main road from the secondary road. This is a determination for prohibiting the inflow of the vehicle. Specifically, the time when each of the vehicle group A and the vehicle group B passes over the asynchronous intersection is determined as the blue display time. For example, at the asynchronous intersection C at the position indicated by the broken line in FIG. 5, t _{B of the} period T can be the blue display time and t _R can be the non-blue display time. When the blue _display time t _B exceeds the predetermined threshold time t _Bth , it can be determined that sufficient blue _display time cannot be secured for the _secondary road. The threshold time t _Bth can be set to 20 seconds, for example. If sufficient blue display time on the secondary road cannot be secured, the process proceeds to step 114, and if secured, the process proceeds to step 116.

  In step 114, entry prohibition from the secondary road to the main road at the asynchronous intersection determined that the sufficient blue display time on the secondary road cannot be secured in step 112 is set, and the process proceeds to step 116. The entry prohibition setting may be set in stages such as a right turn prohibition from a secondary road, an entry prohibition from a secondary road, and a secondary road prohibition.

In step 116, the signal cycle T determined in step 104 and the blue display time information determined in step 110 are output to a traffic light control device (not shown). The traffic light control device outputs these information and reference time. Based on the above, the traffic light 50 at each intersection is controlled. Further, to the each of the leading vehicle 60A of the vehicle group A and the vehicle group B of the vehicle group forming area the velocity v _downlink speed v _upstream and vehicle group B of vehicle group A determined in step 110. Further, the entry prohibition information set in step 114 is transmitted to the vehicle existing on the secondary road, and the process is terminated.

  When the above-described operation pre-processing is completed and the operation in-service is started, the traffic light 50 receives the cycle T, the blue display time, and the reference time output from the vehicle group operation management device 10 by the traffic signal control device. Based on the information, it is controlled to repeat the turn-on and turn-off of the blue signal for the blue display time with a period T. Note that the traffic signal at the entrance of the main car group control area plays a role of instructing the timing at which the car group formed in the car group formation area flows into the main road.

Then, each of the leading vehicles 60A of the vehicle group A and the vehicle group B sets the speed v _ascending or the speed v _descending of the vehicle group transmitted from the vehicle group operation management device 10 in the traveling speed control unit 64, and the traveling speed. The controller 64 controls the _vehicle to travel at a speed v _up or speed v _down . The follower vehicle 60B travels at the speed v _ascending or _descending as the vehicle group by following the leading vehicle 60A. The vehicle group flows into the main vehicle group control area at the inflow timing instructed by the traffic signal at the entrance of the main vehicle group control area, and travels at a speed v _up or speed v _down , thereby causing a signal in the main vehicle group control area. Can all pass through with a green light.

  In addition, the vehicle existing on the secondary road can grasp the secondary road where entry prohibition is set by receiving the entry prohibition information from the vehicle group operation management device 10, so that it is about to flow into the main road. In such a case, it is possible to take a countermeasure such as selecting a secondary road for which entry prohibition is not set.

  As described above, according to the vehicle group traffic flow control system of the first embodiment, the vehicle group operation management device synchronizes the vehicle group in the upward direction and the vehicle group in the downward direction at the predetermined synchronous intersection. Since the traffic lights and the speed of the vehicle group are controlled so that the vehicle passes through, smooth vehicle group driving can be achieved even when two-way vehicle groups are considered, and the blue display time on the secondary road is also secured. Therefore, it is possible to alleviate traffic congestion around the main road.

  In the first embodiment, the case where the inflow timing to the main road is instructed by the traffic signal at the entrance of the main car group control area has been described. However, the inflow timing directly from the car group operation management device to the head vehicle in the car group is described. May be instructed.

  In the first embodiment, a case has been described in which the leading vehicle in the vehicle group is controlled by the traveling speed control unit to travel at a speed instructed by the vehicle group operation management device. Only the speed is presented to the leading vehicle, and each vehicle may travel at the speed presented by manual operation.

  In the first embodiment, a case has been described in which the following vehicle travels as a vehicle group by following the leading vehicle, but the inflow timing and speed are transmitted from the vehicle group operation management device to each vehicle. Thus, the vehicle may be controlled to travel as a vehicle group.

  Next, a second embodiment will be described. 2nd Embodiment demonstrates the case where the speed of a vehicle group is adjusted between intersections. In addition, since the schematic structure of the vehicle group traffic flow system of 2nd Embodiment is the same as that of 1st Embodiment, description is abbreviate | omitted.

  Here, with reference to FIG. 6, the operation pre-processing routine executed by the computer 14 of the vehicle group operation management device 10 of the vehicle group traffic flow system according to the second embodiment will be described. In addition, about the process same as the operation pre-process of 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  In step 100, the intersection information in the main car group control area is acquired, and then in step 102, a synchronous intersection is determined. For example, a plurality of synchronous intersections (◎ in the figure) are determined using intersection information as shown in FIG.

Next, in step 104, a signal period T (for example, 120 seconds) is determined. Next, in step 106, the traffic data of the main road and the secondary road is acquired. Next, in step 108, the blue display time (for example, 72 seconds) of the traffic light at the synchronous intersection is determined. In step 110, speed of the vehicle group a v determines the speed v _downlink of the _uplink and the vehicle group B.

Next, in step 200, the time at which the vehicle group A in the upward direction and the vehicle group B in the downward direction pass through the synchronous intersection determined in step 102 is determined. For example, the passage time can be determined as the elapsed time from the reference time 0 with the reference time set to 0. As shown in FIG. 8, the passage time at the synchronous intersection is set to be n times half of the period T. n is an arbitrary integer and can be determined according to the distance from the entrance of the main line group control area. In the case where the velocity v _downlink speed v _upstream and vehicle group B of the vehicle group A are different, the passage time of the synchronization intersection may not be n times half of the period T.

Next, in step 202, as shown in FIG. 9, the passage time of the asynchronous intersection is provisionally determined based on the distance to the synchronous intersection and the vehicle group passage time of the synchronous intersection. Here, the non-blue indication time of the asynchronous intersection, that is, the blue indication time (secondary road occupation time) for the secondary road is obtained, and when the secondary road occupation time is shorter than the predetermined threshold time t _Sth , the asynchronous intersection is obtained. The time when the vehicle group A and the vehicle group B pass is finely adjusted. At that time, the time required for passing through the section before and after the intersection is set within a certain range.

Next, in step 204, based on the passing time of each intersection determined in steps 200 and 202 and the distance between the intersections, as shown in FIG. 10, the vehicle group when traveling between the intersections (links), as shown in FIG. The speed pattern in which the speed v _up and v _down are arranged in the link order is calculated.

  Next, at step 116, it is determined that the traffic light 50 at each intersection is controlled based on the information on the signal period T and the blue display time, and the passage time of each intersection determined at the above steps 200 and 202. Output information. Further, the speed pattern of the vehicle group calculated in step 204 is transmitted to the leading vehicle 60A in the vehicle group formation area, and the process is terminated.

  When the above-described pre-operation processing is completed and in-operation processing is started, the traffic light 50 is controlled based on information output from the vehicle group operation management device 10 by the traffic signal control device.

  The leading vehicle 60A of the vehicle group sets the speed pattern of the vehicle group transmitted from the vehicle group operation management device 10 in the travel speed control unit 64, and travels at the speed pattern set by the travel speed control unit 64. To be controlled. The following vehicle 60B travels in a speed pattern set as a vehicle group by following the leading vehicle 60A. The vehicle group flows into the main vehicle group control area at the inflow timing instructed by the traffic signal at the entrance of the main vehicle group control area, and travels with the set speed pattern so that all signals in the main vehicle group control area are transmitted. You can pass with a green light.

  As described above, according to the vehicle group traffic flow control system of the second embodiment, the vehicle group operation management device finely adjusts the time of passing through the asynchronous intersection, and the vehicle group traffic control system is based on this passing time. To calculate the speed pattern and control the speed pattern of the traffic light and the vehicle group so that the vehicle group in the upward direction and the vehicle group in the downward direction pass through a predetermined synchronous intersection in synchronization, Even in consideration of the above, it is possible to realize smooth vehicle group traveling and to ensure the blue display time on the secondary road, so that it is possible to alleviate traffic congestion in the surrounding area of the main road.

As in the second embodiment, even when the synchronization intersection there are a plurality, _L 1 distance _{L k} is the order of the synchronizing _{intersections,} L _2, L 3, · · ·, in the case of _{L m} is the following equation (3) so as to pass between synchronization intersection meet at time t _{k uplink} and t _{k down} and determines the required transit time t _{k down} the required transit time t _{k uplink} and downlink upstream each section .

t _{k up} + t _{k down} = p _k T (3)

Then, based on the determined required transit time for each section, the upstream speed v _k and the downstream speed v _k may be determined for each section. p _k may determine the combination that falls within a certain range the speed of the vehicle group in any way. For example, according to the following equation (4), it is possible to determine the _{p k.}

p _k = ROUND (L _k / α) (4)

  Here, ROUND (x) is a function for rounding a positive real number x to a natural number by a method such as rounding off, rounding down or rounding up. Α is an arbitrarily set reference value, and can be determined, for example, by the following equation (5).

α = min (L ₁ , L ₂ , L ₃ ,..., L _m ) (5)

Similarly to the above, when the distance L _k between the synchronous intersections is L ₁ , L ₂ , L ₃ ,..., L _m in order, the distance L between the synchronous intersections is set as shown in the following equation (6). Thus, the speed of the vehicle group may be determined by the same processing as in the first embodiment.

In this case, the passage of the up direction vehicle group and the down direction vehicle group between the synchronous intersections is not completely synchronized, but the distance difference between L ₁ , L ₂ , L ₃ ,..., L _m When is small, it can be substantially synchronized. Moreover, since the vehicle group travels at the same speed in all sections, acceleration / deceleration does not occur, which has a positive effect on the environment.

  Further, the speed of the vehicle group may be determined by obtaining the distance L as in the following formula (7) and performing the same processing as in the first embodiment.

Here, p _k is a natural number, from the combinations of all p _k, sets the combination synchronization timing between the vehicle group and the downstream of the vehicle group in the uplink direction to pass through the synchronization intersection is suitable. Incidentally, _{p k} can be determined by equation (4) and (5).

  Next, a third embodiment will be described. In the third embodiment, a case will be described in which information obtained by the vehicle group operation management device is used when a surrounding vehicle selects a route.

  FIG. 11 shows a schematic diagram of a vehicle group traffic flow control system according to the third embodiment. Unlike the first embodiment, each of the vehicles 60A and 60B includes a route selection unit 66 configured by a car navigation device or the like.

  Next, with reference to FIG. 12, an operation pre-processing routine executed by the computer 14 of the vehicle group operation management device 310 of the vehicle group traffic flow control system according to the third embodiment will be described.

In step 300, a synchronous intersection, a signal period T, a blue display time, and a vehicle group speed v _up and speed v _down are obtained by the same processing as steps 100 to 110 of the pre-operation processing in the first embodiment. The determination process to be determined is executed.

  Next, in step 112, it is determined whether or not the blue display time for the secondary road is sufficiently secured. If it can be secured, the process proceeds to step 302, and if it cannot be secured, the process proceeds to step 116.

  In step 302, the asynchronous intersection determined to be able to secure sufficient blue display time on the secondary road in step 112 is set as a recommended intersection that recommends inflow and crossing from the secondary road to the main road. Then, various information including information on the recommended intersection set in step 302 is output and transmitted, and the process is terminated.

  In the vehicles 60 </ b> A and 60 </ b> B around the main road, the recommended intersection information transmitted from the vehicle group operation management device 310 is received and set in the route selection unit 66. The route selection unit 66 preferentially selects a route passing through the recommended intersection when selecting a route including inflow and crossing to the main road.

  As described above, according to the third embodiment, an intersection where a blue display time to a secondary road is sufficiently secured is set as a recommended intersection for inflow and crossing, and this recommended intersection of each vehicle is set. By selecting a route using information, it is possible to alleviate traffic congestion on surrounding roads including trunk roads.

  Next, a fourth embodiment will be described. In the fourth embodiment, a case will be described in which whether or not to join the subway road to the main road vehicle group is determined based on the vehicle group length. In addition, since the schematic structure of the vehicle group traffic flow system of 4th Embodiment is the same as that of 1st Embodiment, description is abbreviate | omitted.

  Here, with reference to FIG. 13, a processing routine during operation executed by the computer 14 of the vehicle group operation management device 10 of the vehicle group traffic flow control system according to the fourth embodiment will be described.

  In step 400, it is determined whether or not an inflow request has been received from a vehicle that is about to flow into the main road from the secondary road (hereinafter referred to as a vehicle scheduled to flow in). The inflow request includes information on a secondary road (intersection name) where a vehicle to be inflow exists, and whether the vehicle is going to flow in an upward lane or a downward lane. If an inflow request is received, the process proceeds to step 402. If not received, the determination in this step is repeated until it is received.

  In step 402, position information of each vehicle forming the vehicle group in the main line vehicle group control area is acquired, and a vehicle group suitable for joining the vehicles scheduled to flow in is searched. For example, a vehicle group approaching an intersection with a secondary road where a vehicle that is scheduled to flow in can be searched as a vehicle group suitable for joining.

Next, in step 404, the vehicle group length of the vehicle group searched in step 402 is determined from the blue display time of the signal at the intersection of the inflow point and the vehicle group speed v _up or speed v _down. Determine if it is shorter. If the vehicle group length of the vehicle group exceeds the specified vehicle group length by joining the vehicles scheduled to flow into the vehicle group, the vehicle group must pass through the intersection in the main vehicle group control area with a green light. In some cases, it is necessary to avoid merging in such a vehicle group. If the vehicle group length of the searched vehicle group is shorter than the specified vehicle group length, the process proceeds to step 406. If the vehicle group length exceeds the specified vehicle group length, the process returns to step 402 to search for the next vehicle group.

In step 406, based on the timing at which the vehicle group determined to be shorter than the specified vehicle group length in step 404 approaches or passes the intersection with the secondary road on which the inflowing vehicle is present. Information of inflow permission is transmitted to the vehicle scheduled to flow in. In addition, when the vehicle scheduled to flow in is merged in front of the vehicle group, the vehicle is scheduled to flow into the main road based on the timing when the vehicle group approaches the intersection, and the speed v until the vehicle merges with the vehicle group. A speed pattern in which the vehicle travels at _ascending speed or _descending at a speed of v or less and, after joining the vehicle group, travels at a speed of v _ascending or _descending at a speed of v is also indicated. In addition, when the vehicle scheduled to flow in is merged behind the vehicle group, the vehicle is scheduled to flow into the main road based on the timing when the vehicle group passes the intersection, and the speed v until the vehicle merges with the vehicle group. traveling at _up or speed v higher _downlink, after merging with the vehicle group instructs together also speed pattern so that the vehicle travels at a velocity v _up or speed v _downlink.

  As described above, according to the fourth embodiment, there is a vehicle flowing into the main road from the secondary road by joining the vehicles scheduled to flow into the vehicle group whose vehicle group length is shorter than the specified vehicle group length. Even in this case, smooth vehicle group traveling can be realized.

  Next, a fifth embodiment will be described. In the fifth embodiment, a description will be given of a case where an appropriate vehicle group length when passing through an intersection is calculated for each intersection, and the organization of the vehicle group is changed so as to pass through each intersection with the appropriate vehicle group length. To do.

  In FIG. 14, the schematic of the vehicle group traffic flow control system of 5th Embodiment is shown. Unlike the first embodiment, each of the vehicles 60A and 60B includes a travel control unit 68 that controls a travel state including the speed, acceleration, and steering angle of the vehicle.

  Next, an operation pre-processing routine executed by the computer 14 of the vehicle group operation management device 510 of the vehicle group traffic flow control system according to the fifth embodiment will be described with reference to FIG. In addition, about the process same as the pre-operation process of 1st and 3rd embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

In step 300, a synchronous intersection, a signal period T, a blue display time, and a vehicle group speed v _up and speed v _down are obtained by the same processing as steps 100 to 110 of the pre-operation processing in the first embodiment. The determination process to be determined is executed.

  Next, at step 500, the intersections for which the appropriate vehicle group length is calculated are listed. For example, a list of asynchronous intersections other than the synchronous intersection determined in step 102 above, a list of intersections with a large amount of traffic based on the traffic volume data acquired in step 106 above, It is possible to obtain surrounding environment information such as a list of intersections that correspond to boundaries between suburbs and urban areas. As shown in FIG. 16, in the case of a main road entering the city area from the suburbs, the distance between the intersections is long in the suburbs, and the distance between the intersections is short in the city areas, so the vehicle group length is short in the city areas and long in the suburbs. Is suitable.

  Next, in step 502, an appropriate vehicle group length is calculated for each intersection listed in step 500. For example, the appropriate vehicle group length can be calculated by multiplying the prescribed vehicle group length by a predetermined coefficient. The predetermined coefficient can be a value corresponding to the traffic volume if the intersection is listed based on the traffic volume data.

  In step 116, various information including information on the appropriate vehicle group length calculated in step 502 is output and transmitted, and the process ends.

  Next, with reference to FIG. 17, a processing routine during operation executed by the computer 14 of the vehicle group operation management device 510 of the vehicle group traffic flow control system according to the fifth embodiment will be described.

  In step 550, position information of each vehicle forming the vehicle group in the main line vehicle group control area is acquired. Next, in step 552, it is determined whether or not the vehicle group length of the vehicle group approaching the intersection where the appropriate vehicle group length is determined exceeds the appropriate vehicle group length. If so, the process proceeds to step 554.

  In step 554, the vehicle group length is determined so that the vehicle group length does not exceed the appropriate vehicle group length for each vehicle constituting the vehicle group determined to exceed the appropriate vehicle group length in step 552. Send instructions to change organization. For example, the inter-vehicle distance can be shortened, or the parallel number can be increased from two-row running to three-row running. Specifically, a speed pattern, an acceleration pattern, a steering pattern, and the like for realizing the change in the vehicle group formation as described above are transmitted to the target vehicle.

  Further, the vehicle group length may be substantially shortened by moving a vehicle leaving the main road at the nearest intersection to the rear of the vehicle group. Further, it is also preferable to move a vehicle leaving the right turn from an intersection without a right turn lane or a vehicle leaving the crowded secondary road to the rear of the vehicle group.

  As described above, according to the fifth embodiment, the appropriate vehicle group length corresponding to the situation of each intersection is calculated, and the vehicle group is organized so that the vehicle group length does not exceed the appropriate vehicle group length. Therefore, it is possible to realize smooth vehicle group driving control corresponding to the surrounding environment including the main road.

  In each of the above embodiments, the case where the traffic light blue display time is determined based on the acquired traffic volume data has been described. However, when there is little demand on the main road, the traffic light is displayed on the main road. It may be cut off earlier than the set blue display time, or the blue display time may not be performed. For example, when the vehicle group has actually passed, the greening can be stopped, or when there is no vehicle group traveling on the main road in a certain cycle, the blue display can be disabled. .

10, 310, 510 Vehicle group operation management device 12 Input unit 14 Computer 16 CPU
18 ROM
20 RAM
22 HDD
26 Communication unit 50 Traffic light 60A, 60B Vehicle

Claims (11)

Among a plurality of intersections where a control target road and a subordinate road intersect, and among a plurality of intersections provided with traffic lights that repeat a blue display time and a non-blue display time at a predetermined period T, the control target road The up direction vehicle group passes at time t _up and the down direction vehicle group passes at time t _down between synchronous intersections for passing the up direction vehicle group and the down direction vehicle group in synchronization. Speed determining means for determining the speed v _up of the vehicle group in the up direction and the speed v _down of the vehicle group in the down direction such that the time t _up and the time t _down satisfy the following formulas:
t _ascending + t _descending = nT (where n is a natural number)
A blue display time determining means for determining a blue display time of the traffic light based on the traffic volume of the control target road and the secondary road;
Control means for controlling the traffic light so as to repeat turning on and off the blue signal for the blue display time determined by the blue display time determination means at the period T;
Wherein as the vehicle group in the uplink direction of the vehicle group and the downlink passes in synchronization with the synchronization intersections, the timing of flowing into the control target road, and the speed determining unit velocity v _upstream and speed v is determined by and instruction means for instructing a _downlink to the vehicle group and the vehicle group of the downlink of the uplink,
Vehicle group operation management device. The speed determination means includes a plurality of synchronous intersections, and when the distance between the synchronous intersections is L _k (k = 1, 2, 3. Between the synchronous intersections, such that a group passes at time t _{k up} , the down direction vehicle group passes at time t _{k down} and the time t _{k up} and time t _{k down} satisfy the following equation: The vehicle group operation management device according to claim 1, wherein a speed v _{k up} of the vehicle group in the upward direction and a speed v _{k down} of the vehicle group in the down direction are determined for each.
t _{k up} + t _{k down} = p _k T (where p _k is a natural number) The vehicle group operation management device according to claim 2, wherein the _pk is determined by the following equation.
p _k = ROUND (L _k / α)
However, ROUND (x) is rounding function, alpha is the reference value speed is set to define the p _k to fit a certain range. The speed determining means, when there are a plurality of synchronous intersections and the distance between the synchronous intersections is L _k (k = 1, 2, 3... M), The vehicle group operation management device according to claim 1, wherein the vehicle group operation management device determines the speed v going _up and the speed v going _down of the down direction vehicle group.

The speed determining means, when there are a plurality of synchronous intersections and the distance between the synchronous intersections is L _k (k = 1, 2, 3... M), The vehicle group operation management device according to claim 1, wherein the vehicle group operation management device determines the speed v going _up and the speed v going _down of the down direction vehicle group.

The vehicle group operation management device according to claim 5 , wherein the _pk is determined by the following equation.
p _k = ROUND (L _k / α)
However, ROUND (x) is rounding function, alpha is set to define the p _k, such as synchronization timing of said downlink of the vehicle group and upstream of the vehicle group passing through the synchronization intersection is appropriate This is the reference value. The blue current示時between determining means, between blue current示時in traffic of asynchronous intersection other than the synchronization intersection, the speed determining means and said uplink vehicle group velocity v _uplink determined by, the vehicle group of the downlink velocity v _edge of, and in time for the vehicle group and the vehicle group of the downlink of the uplink direction obtained based on the timing of flows into the control target road instructed passes through the asynchronous intersection by said instructing means Based on
The instruction means prohibits the inflow from the asynchronous intersection to the controlled road when the blue indication time of the asynchronous intersection determined by the blue indication time determination means is longer than a first threshold. The vehicle group operation management device according to any one of claims 1 to 6, wherein an instruction is given to a vehicle existing on a secondary road.   If the blue display time of the asynchronous intersection determined by the blue display time determination means is shorter than the second threshold, the instruction means recommends that the asynchronous intersection be introduced into the controlled road. The vehicle group operation management device according to claim 7, wherein the vehicle group operation management device is set as an intersection and instructs the set information on the recommended intersection to a vehicle existing on the secondary road. When the instructing means receives an inflow request to the control target road from a vehicle existing on a secondary road, the vehicle unit length of the vehicle group is merged with the vehicle group of the control target road, determining whether more than a defined vehicle group length determined from the blue current示時and between the uplink of the vehicle group velocity v _up or the down direction of the vehicle group velocity v _downlink, if it exceeds, the control target The vehicle group operation management device according to any one of claims 1 to 8 , wherein the vehicle is instructed to prohibit inflow to a road.   Based on at least one of the traffic volume of the control target road and the subordinate road, whether or not it is a synchronous intersection, and information on the surrounding environment including the control target road, the vehicle group passes through each intersection. Calculate the appropriate vehicle group length at the time, and instruct each vehicle that forms the vehicle group to change the vehicle group organization so that the vehicle group length when passing the intersection will be the appropriate vehicle group length The vehicle group operation management device according to any one of claims 1 to 9. Computer
Among a plurality of intersections where a control target road and a subordinate road intersect, and among a plurality of intersections provided with traffic lights that repeat a blue display time and a non-blue display time at a predetermined period T, the control target road The up direction vehicle group passes at time t _up and the down direction vehicle group passes at time t _down between synchronous intersections for passing the up direction vehicle group and the down direction vehicle group in synchronization. Speed determining means for determining the speed v _up of the vehicle group in the up direction and the speed v _down of the vehicle group in the down direction such that the time t _up and the time t _down satisfy the following formulas:
t _ascending + t _descending = nT (where n is a natural number)
A blue display time determining means for determining a blue display time of the traffic light based on the traffic volume of the control target road and the secondary road;
Control means for controlling the traffic light so as to repeat turning on and off of the blue signal for the blue display time determined by the blue display time determination means at the period T, and the up direction vehicle group and the down direction The timing of entering the controlled road and the speed v _up and speed v _down determined by the speed determining means so that the vehicle group passes through the synchronous intersection in synchronism with each other. A vehicle group operation management program for functioning as an instruction means for instructing a vehicle group in the direction.

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