JP5477080B2 - Congestion judgment device and computer program - Google Patents

Description

  The present invention relates to a traffic jam determination device that determines a traffic jam factor caused by a vehicle existing near an intersection, and a computer program for realizing the traffic jam determination device.

  At an intersection, traffic congestion occurs due to a decrease in processing capacity. Various signal control methods are used in order to optimize the processing capacity at the intersection.

  It is usually determined according to the amount of traffic flowing into the intersection at what time ratio the right of traffic is given to each inflow path at the intersection. Here, the right of traffic is shown and the time ratio is called split. The split corresponds to the ratio of the blue time of each display in the time of one display cycle of the signal lamp. The split is used to determine the lamp color switching timing of each signal lamp. Usually, the split is determined by an algorithm such as load factor ratio distribution.

  The load factor ratio distribution method is an algorithm that calculates the load factor obtained from the number of inflows, queues, and saturation traffic flow rate for each display, and allocates splits according to the load factor ratio. A signal control system has been disclosed (see Patent Document 1).

JP 2008-27024 A

  In the conventional signal control system such as Patent Document 1, in order to measure the number of inflows to the intersection, a vehicle sensor is usually installed at the upstream point of the intersection, and the signal sensed by the vehicle sensor. The number of inflows is measured based on However, in the case of an intersection where the right turn lane is branched off from the straight lane in front of the intersection, if the cause of traffic congestion at the upstream point of the intersection is not a straight vehicle but a right turn vehicle, Even if the green light time is extended, the processing capacity of the right turn vehicle is not improved, but there is a problem that the wasteful green light time is increased and the traffic is spurred. Moreover, the cause of the traffic jam could not be determined only by the measurement result measured by the vehicle detector.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a traffic jam judging device capable of judging a traffic jam factor near an intersection and a computer program for realizing the traffic jam judging device. .

A traffic jam determination device according to a first aspect of the present invention is a traffic jam determination device for determining a traffic jam factor caused by a vehicle existing in the vicinity of an intersection where a right turn exclusive lane is provided. Vehicle information acquisition for acquiring vehicle information relating to a running state including a vehicle position It means, and a vehicle determining means for determining another or right-turning vehicle or straight vehicle based on the vehicle information acquired by said vehicle information acquiring means, from the right turn vehicles both right turn only lane stopped state determined by said vehicle judgment means present on the upstream side, the case where the vehicle speed at the upstream side of the right turn only lane straight vehicle determined in the determination means is slower than the speed of the on-site have been straight lane to the right turn only lane, right turn by turn right vehicle It is characterized by comprising a traffic jam judging means for judging traffic jam.

  According to a second aspect of the present invention, there is provided a traffic jam judging apparatus according to the first invention, further comprising a signal control means for extending a green signal time for a right turn when the traffic jam judgment means judges a right turn traffic jam.

  According to a third aspect of the present invention, there is provided a traffic jam determination apparatus comprising: a specifying unit that specifies a position of a right-turn vehicle determined by the vehicle determination unit in the second invention; and the signal control unit is a right-turn vehicle that specifies a position by the specifying unit. Is configured to extend the green light time for right turn until the vehicle passes the intersection.

  According to a fourth aspect of the present invention, there is provided a traffic jam judging device according to the second invention, comprising counting means for counting the number of right-turn vehicles and straight-ahead vehicles judged by the vehicle judging means, and the signal control means is a number of cars counted by the counting means. Based on the above, it is configured to extend the green light time for right turn.

Traffic congestion detection apparatus according to a fifth aspect of the invention is present in any one of the first invention to fourth invention, turn right car both stop state determined by the vehicle determining means, upstream of the predetermined location upstream of the intersection If you that, characterized in that it comprises a starting means for starting the determination process of the traffic jam determination means.

  According to a sixth aspect of the present invention, there is provided a traffic jam judging apparatus according to any one of the first to fourth inventions, wherein the traffic jam judgment is performed when the speed in the intersection outflow region of the right turn vehicle judged by the vehicle judgment means is faster than a speed threshold. It has a starting means for starting the determination process of the means.

  According to a seventh aspect of the present invention, in the traffic jam judging device according to any one of the first to sixth inventions, the traffic jam judging means is a speed upstream of the right-turn exclusive lane of the straight-ahead vehicle judged by the vehicle judgment means. When the difference between the vehicle speed and the speed in the straight lane attached to the right turn exclusive lane is equal to or greater than the first threshold value, it is determined that a right turn traffic jam is caused by the right turn vehicle.

  According to an eighth aspect of the present invention, there is provided the traffic jam judging device according to any one of the first to sixth inventions, wherein the traffic jam judging means is a speed on the upstream side of the right turn lane of the straight-ahead vehicle judged by the vehicle judgment means. Is less than the second threshold, and when the speed in the straight lane attached to the right-turn exclusive lane is greater than or equal to the third threshold greater than the second threshold, it is determined that a right turn traffic jam is caused by a right turn vehicle. It is characterized by that.

A computer program according to a ninth aspect of the present invention is a computer program for causing a computer to execute a step of determining a traffic congestion factor due to a vehicle existing near an intersection provided with a right turn exclusive lane. determining another or right-turning vehicle or straight vehicle based on the vehicle status information, turn right car both stop state determined by said determining step is present upstream of the right turn only lane, determination is made in decision step And a step of determining a right turn traffic jam caused by a right turn vehicle when the speed on the upstream side of the right turn lane of the straight vehicle is slower than the speed in the straight lane attached to the right turn lane. And

  In the 1st invention and the 9th invention, the vehicle information about the running state including the position of the vehicle is acquired. Acquisition of vehicle information can acquire the vehicle information currently transmitted / received between vehicles by vehicle-to-vehicle communication, for example. The vehicle information includes, for example, a vehicle ID that is a unique identifier of the vehicle, a vehicle position and speed, a turn signal switch state (left or right turn signal on / off), an accelerator state (accelerator on / off), and a brake state. (Brake on / off). Whether the vehicle is turning right or straight is determined based on the acquired vehicle information. Whether the vehicle is turning right or straight may be determined by the state of the turn signal switch. Alternatively, road information including the position information of the straight lane near the intersection and the right turn lane is stored in advance, and the road information and the vehicle Depending on the position, it may be determined whether the vehicle is in a right turn lane. Also, based on the travel trajectory of the vehicle in the vicinity of the intersection (a plurality of vehicle positions at every predetermined time or every predetermined distance), it is determined to which outflow path the vehicle has traveled from the inflow path, and travels to the outflow path in the straight direction. It is also possible to determine that the vehicle that has traveled on the outflow path in the right turn direction is a straight-turn vehicle and the right-turn vehicle.

  If the stop position of the right turn vehicle is upstream from the right turn lane and the speed of the straight vehicle upstream from the right turn lane is slower than the speed in the straight lane attached to the right turn lane, turn right Judged as a right turn traffic jam. The upstream position of the right turn lane may be upstream from the branch point where the right turn lane branches from the straight lane. If there is a traffic jam upstream from the branch point, a traffic jam due to a right-turn vehicle or a vehicle traveling straight can be considered. Therefore, if the speed of the vehicle going straight upstream from the junction is slower than the speed of the vehicle going straight on the right turn lane and the straight lane, the straight vehicle on the right turn lane and the straight lane attached will be congested. Since it is considered that the vehicle is traveling without any traffic, it can be determined that the traffic jam is a right-turn traffic jam caused by a right-turn vehicle. As a result, it can be determined that the cause of the traffic jam caused by the vehicle traveling in the vicinity of the intersection is not a straight-ahead vehicle but a right-turn vehicle.

  In the second invention, when it is determined that there is a right turn traffic jam, the green signal time for the right turn is extended. If it is determined that the cause of the traffic jam is due to a right-turn traffic jam, the traffic jam can be resolved early without generating a wasteful green traffic time by extending the green signal time for the right turn.

  In the third invention, the position of the right-turn vehicle is specified, and it is determined whether the right-turn vehicle passes the stop line of the right-turn lane based on the specified position. And the green signal time for the right turn is extended until the right turn vehicle passes the stop line of the right turn lane. The position may be a single position or a traveling locus using a plurality of positions. For example, if there are multiple right-turn vehicles that are determined to turn right, the right-turn vehicles at the tail end of the right-turn lane stop line when the front-rear right-turn vehicles are within a predetermined distance and form a vehicle group Extend the green time for a right turn until you pass. A predetermined distance may be set in advance so that the subsequent right turn vehicle passes the stop line of the right turn lane even when one or several straight-ahead vehicles exist between the front and rear right turn vehicles. it can.

  Further, the green signal time for the right turn may be extended until the right turn vehicle existing near the branch point of the right turn exclusive lane passes the stop line of the right turn lane. In this case, even if the vehicle that does not have the inter-vehicle communication function and the vehicle that is scheduled to turn right is present in front of the right-turn vehicle (downstream side), the vehicle that is scheduled to turn right can also pass the stop line of the right-turn lane. . Further, when the separation distance between the front and rear right turn vehicles is larger than a predetermined distance threshold, the right turn green signal time may be extended until the previous right turn vehicle passes the stop line of the right turn lane. As a result, it is possible to prevent a situation in which the green signal time for turning right is unnecessarily lengthened and to quickly eliminate traffic congestion.

  In the fourth aspect of the invention, the number of right-turn vehicles and straight-ahead vehicles is counted, and the green signal time for the right turn is extended based on the counted number. For example, using the ratio of the right turn vehicle to the congested vehicle and the ratio of the straight traveling vehicle, the green light time for straight traveling and the green light hour for right turn in the time for one display cycle of the signal lamp are calculated, and the green light time for right turn is calculated. Extend to the calculated time. In addition, the number of right-turn vehicles can be obtained based on the position of the right-turn vehicle and a predetermined vehicle head interval. In this case, even when a vehicle that does not have an inter-vehicle communication function and a vehicle that is scheduled to turn right exists between right-turn vehicles, the vehicle that is scheduled to turn right can also pass the stop line of the right-turn lane. As a result, it is possible to prevent a situation in which the green signal time for turning right is unnecessarily lengthened and to quickly eliminate traffic congestion.

  In the fifth aspect of the invention, when the stop position of the right turn vehicle is upstream of the predetermined position upstream of the intersection, the traffic jam determination process is started. The predetermined position can be, for example, a value obtained by integrating a saturated traffic flow rate, a green signal time (including straight driving and right turning), and an average vehicle head distance. Here, the saturated traffic flow rate is the traffic volume that flows at the maximum per lane / hour when the traffic light is always green, and is generally about one in 2 seconds. As a result, it is determined that a traffic jam has occurred when the number of vehicles exceeding the number that can flow out of the intersection during one green light time of the signal lamp is on the upstream side of the intersection. Since the determination process can be activated, it is possible to perform the determination process of the congestion factor only when there is a traffic jam, and the processing effort can be reduced.

  In the sixth aspect of the invention, when the speed of the right turn vehicle in the intersection outflow region is higher than the speed threshold (for example, 10 km / h), the process for determining the traffic jam is started. The intersection outflow area is an area of an intersecting road where a right-turn vehicle passes through the intersection and can be, for example, an area within a predetermined distance (for example, 20 m from the intersection). When the speed of the right turn vehicle at the intersection outflow area is faster than the speed threshold, it can be determined that there is no traffic jam (clogging) at the intersection's outflow destination. The traffic congestion factor can be determined based on the state, and the traffic congestion factor can be accurately determined.

  In the seventh invention, when the difference between the speed on the upstream side of the right turn lane of the straight vehicle and the speed on the straight lane attached to the right turn lane is equal to or greater than the first threshold, the right turn traffic jam caused by the right turn vehicle Is determined. If the difference between the speed of the vehicle going straight upstream from the junction and the speed of the vehicle going straight on the right turn lane and the straight drive lane is equal to or greater than the first threshold value, the right turn lane and the turn straight lane Since it is considered that the straight vehicle is traveling without traffic jam, it can be determined that the traffic jam is a right-turn traffic jam due to a right-turn vehicle. As a result, it can be determined that the cause of the traffic jam caused by the vehicle traveling in the vicinity of the intersection is not a straight-ahead vehicle but a right-turn vehicle.

  In the eighth invention, when the speed on the upstream side of the right turn dedicated lane of the straight vehicle is equal to or lower than the second threshold, and the speed in the straight lane attached to the right turn dedicated lane is equal to or higher than the third threshold, It is determined that there is a right turn traffic jam due to a right turn vehicle. Here, the second threshold value <the third threshold value. If the speed of the straight-ahead vehicle upstream from the junction is less than or equal to the second threshold and the speed of the straight-ahead vehicle in the right-turn dedicated lane and the straight-ahead lane is greater than or equal to the third threshold, Since it is considered that a straight vehicle on a straight lane is traveling without traffic jam, it can be determined that the traffic jam is a right-turn traffic jam due to a right-turn vehicle. As a result, it can be determined that the cause of the traffic jam caused by the vehicle traveling in the vicinity of the intersection is not a straight-ahead vehicle but a right-turn vehicle.

  According to the present invention, it can be determined that the traffic congestion factor near the intersection is due to a right turn vehicle.

It is a schematic diagram of the traffic congestion factor determination of the intersection by the traffic determination apparatus which concerns on this Embodiment. It is explanatory drawing which shows an example of vehicle-to-vehicle communication. It is a schematic diagram which shows an example of the intersection which performs traffic jam determination with the traffic jam determination apparatus of this Embodiment. It is a block diagram which shows an example of a structure of the traffic congestion determination apparatus which concerns on this Embodiment. It is a schematic diagram which shows an example of the right turn traffic jam determination by the traffic jam determination apparatus of this Embodiment. It is a schematic diagram which shows the other example of the right turn traffic jam determination by the traffic jam determination apparatus of this Embodiment. It is a schematic diagram which shows the other example of the right turn traffic jam determination by the traffic jam determination apparatus of this Embodiment. It is a flowchart which shows the procedure of the traffic congestion determination process of the traffic congestion determination apparatus of this Embodiment.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram of traffic jam factor determination at an intersection by the traffic jam determination device 10 according to the present embodiment. The traffic congestion determination device 10 determines the traffic congestion factor of an intersection by acquiring vehicle information transmitted and received by vehicle-to-vehicle communication performed by vehicles traveling within a communication range S in a required range including the intersection. When it is determined that the traffic congestion factor is a right-turn traffic jam caused by a right-turn vehicle at the intersection, the traffic congestion determination device 10 attempts to eliminate the traffic congestion by extending the green light time for the right turn at the intersection.

  FIG. 2 is an explanatory diagram showing an example of inter-vehicle communication. In vehicle-to-vehicle communication, vehicle information can be transmitted to and received from surrounding vehicles traveling in front of or behind the vehicle. The vehicle information is information relating to the running state of the vehicle. For example, the vehicle ID, which is a unique identifier of the vehicle, the position and speed of the vehicle, the blinker switch state (left / right blinker on / off), the accelerator state (accelerator state) On / off), brake state (brake on / off) and other information.

  FIG. 3 is a schematic diagram showing an example of an intersection where a traffic jam determination is performed by the traffic jam determination device 10 of the present embodiment. As shown in FIG. 3, there is a lane branch point B where the right turn exclusive lane R branches from the straight lane upstream of the intersection. Between the intersection and the lane branch point B is a straight lane F attached to the right turn exclusive lane R. On the upstream side of the lane branch point B, a predetermined point A is provided as a reference for determining whether or not there is a traffic jam. The predetermined point A can be, for example, a value obtained by integrating a saturated traffic flow rate, a green signal time (including straight driving and right turning), and an average vehicle head distance. Here, the saturated traffic flow rate is the traffic volume that flows at the maximum per lane / hour when the traffic light is always green, and is generally about one in 2 seconds.

  Moreover, the signal lamp 1 with respect to the straight lane F and the right turn exclusive lane R is provided. The signal lamp 1 can display a signal lamp color such as straight blue and blue right turn. An intersection outflow area C is provided on the road on which the right turn vehicle that has traveled in the right turn exclusive lane R passes through the intersection. The intersection outflow area C is an area within a predetermined distance (for example, about 20 m) from the intersection. The intersection outflow area C is an area for determining whether or not a right-turn vehicle that has made a right turn at the intersection is congested (clogged up) at the outflow destination of the intersection. In the example of FIG. 3, for the sake of simplification, the right turn exclusive lane R is provided on one of the four intersecting roads. However, the configuration is not limited to such a configuration, and the right turn lane R is turned on each intersecting road. The structure which provided the exclusive lane may be sufficient.

  FIG. 4 is a block diagram illustrating an example of the configuration of the traffic jam determination device 10 according to the present embodiment. The traffic jam determination device 10 includes a control unit 11 for controlling the entire device, a communication unit 12, a vehicle determination unit 13 for determining a traveling state of the vehicle, a traffic jam determination unit 14 for determining a traffic jam factor, and a light color display of the signal lamp 1 Position information such as a signal control unit 15 for adjusting time, an activation unit 16 that activates processing of the traffic congestion determination unit 14, a number counting unit 17, a vehicle trajectory identification unit 18, a straight lane F near an intersection, and a right-turn exclusive lane R A storage unit 19 that stores road information including

  The traffic signal controller may be the traffic jam determination device 10. That is, the congestion determination device 10 of the present embodiment is a traffic signal controller itself. Alternatively, the congestion determination device 10 may be a central signal control device that is a host device that gives a command to the traffic signal controller. That is, the traffic congestion determination device 10 of the present embodiment may be a central signal control device.

  The communication unit 12 has a function as vehicle information acquisition means for acquiring vehicle information related to the running state of the vehicle. The communication unit 12 includes, for example, a wireless communication function in the UHF band as mid-range communication. Note that the present invention is not limited to the UHF band, and may have a communication function in the VHF band and a communication function such as a wireless LAN. The communication unit 12 acquires (receives) vehicle information transmitted and received by vehicle-to-vehicle communication between vehicles existing in the communication region S illustrated in FIG. The vehicle information acquired by the communication unit 12 includes, for example, a vehicle ID that is a vehicle-specific identifier, a vehicle position and speed, a turn signal switch state (left or right turn signal on / off), and an accelerator state (accelerator on / off). ), Brake state (brake on / off), and the like.

  The vehicle determination unit 13 has a function as vehicle determination means for determining whether the vehicle heading for the intersection is a right-turn vehicle or a straight-ahead vehicle based on the vehicle information acquired by the communication unit 12. The determination of whether or not the vehicle is a right turn vehicle can be made, for example, by determining a vehicle that has a right turn signal on as a right turn vehicle. Further, whether or not the vehicle is a right turn vehicle can also be determined by referring to a road map near the intersection and whether or not the vehicle is in the right turn exclusive lane R. Further, the vehicle determination unit 13 determines to which outflow path the vehicle has traveled from the inflow path based on the travel trajectory of the vehicle near the intersection (a plurality of vehicle positions at predetermined time intervals or predetermined distances), and goes straight It is also possible to determine that a vehicle that has traveled on the outflow path in the direction is a straight-ahead vehicle and a vehicle that has traveled on the outflow path in the right-turn direction is a right-turn vehicle.

  Moreover, the determination of whether or not the vehicle is a straight-ahead vehicle can determine, for example, a vehicle whose right turn signal is off as a straight-ahead vehicle. Strictly speaking, the vehicle with the left turn signal on is not a straight-ahead vehicle but a left-turn vehicle, but may be treated as a straight-ahead vehicle in determining whether the vehicle is a right-turn vehicle or a straight-ahead vehicle. Further, whether or not the vehicle is a straight vehicle can also be determined by referring to a road map near the intersection and determining whether or not the vehicle is in a straight lane F adjacent to the right turn exclusive lane R.

  The traffic jam judgment unit 14 is a straight-ahead lane F attached to the right-turn exclusive lane R when the stop position of the right-turn vehicle is upstream of the right-turn exclusive lane R, and the speed upstream of the right-turn exclusive lane R of the straight vehicle is When the vehicle speed is slower than the vehicle speed, it has a function as a traffic jam judging means for judging a right traffic jam due to a right turn vehicle.

  The activation unit 16 has a function as an activation unit that activates the traffic jam determination process by the traffic jam determination unit 14. Hereinafter, a method for determining a right-turn traffic jam caused by a right-turn vehicle having a traffic jam at an intersection and a start condition for the traffic jam judgment process will be described.

  FIG. 5 is a schematic diagram illustrating an example of right-turn traffic jam determination by the traffic jam determination device 10 according to the present embodiment. FIG. 5 schematically shows a situation in which a traffic jam occurs due to a right turn vehicle. A vehicle with a pattern in the figure is a right turn vehicle, and a vehicle without a pattern represents a straight-ahead vehicle.

  Whether or not the traffic is a right turn traffic jam can be determined according to two conditions. The first condition is that the stop position of the right turn vehicle is upstream of the right turn exclusive lane R, that is, the stopped right turn vehicle overflows from the right turn exclusive lane R and exists upstream of the lane branch point B. It is. The second condition is that the speed on the upstream side of the right turn dedicated lane R of the straight-ahead vehicle is slower than the speed in the straight lane F attached to the right turn dedicated lane R.

  Regarding the first condition, whether or not the stop position of the right turn vehicle is on the upstream side of the right turn exclusive lane R is determined, for example, if the position of the vehicle on which the right turn signal is on is upstream of the lane branch point B ( It is possible to determine whether the speed of the vehicle is zero in a direction away from the intersection). It should be noted that the upstream side of the lane branch point B can be set as appropriate, but as an example, it may be an arbitrary point between the lane branch point B and the predetermined point A, or a predetermined point. It may be a point further upstream than the point A. In the example of FIG. 5, the right turn vehicle 201 exists in the vicinity of the predetermined point A.

  Regarding the second condition, in a state where the right turn vehicle overflows from the right turn exclusive lane R, a straight-ahead vehicle (for example, the straight-ahead vehicle 202 in FIG. 5) existing upstream from the lane branch point B is caused by the presence of the right-turn vehicle. You will get caught up in traffic and stop or run at a relatively slow speed. On the other hand, in the straight lane F between the lane branch point B and the intersection, that is, in the straight lane F attached to the right turn exclusive lane R, the right turn vehicle does not hinder the traveling, so a straight vehicle (for example, the straight vehicle 203 in FIG. 5). ) Can travel at a relatively fast speed. That is, when the above two conditions are satisfied, it is possible to determine that the traffic jam at the intersection is a right-turn traffic jam due to a right-turn vehicle.

  As described above, when a traffic jam occurs on the upstream side from the lane branch point B, a traffic jam due to a right-turn vehicle or a traffic jam due to a straight-ahead vehicle can be considered. Therefore, if the speed of the vehicle going straight upstream from the lane branch point B is slower than the speed of the vehicle going straight on the right turn lane R and the straight lane F, the right turn lane R and the straight lane F Since it is considered that the straight ahead vehicle is traveling without traffic jam, it can be determined that the traffic jam is a right-turn traffic jam due to a right-turn vehicle. As a result, it can be determined that the cause of the traffic jam caused by the vehicle traveling in the vicinity of the intersection is not a straight-ahead vehicle but a right-turn vehicle. It should be noted that the straight-ahead vehicle upstream from the lane branch point B and the straight-ahead vehicle in the right-turn exclusive lane R and the straight-ahead lane F may be different vehicles or the same vehicle.

  In the above example, the second condition is that the speed on the upstream side of the right turn dedicated lane R of the straight-ahead vehicle is slower than the speed in the straight lane F attached to the right turn dedicated lane R. The conditions include the following conditions. For example, as a second condition, a speed threshold Vth1 in which a speed difference between a speed on the upstream side of the right turn dedicated lane R of the straight vehicle and a speed on the straight lane F attached to the right turn dedicated lane R is a first threshold value. (For example, 20 km / h) or more. Further, as another second condition, the speed upstream of the right turn exclusive lane R of the straight vehicle is a speed threshold Vth2 (for example, 10 km / h) or less (slow) as the second threshold, and the right turn exclusive lane The speed in the straight lane F attached to R may be a speed threshold Vth3 (for example, 30 km / h) or more (fast) as the third threshold. Here, the second threshold value <the third threshold value.

  FIG. 6 is a schematic diagram illustrating another example of right-turn traffic jam determination by the traffic jam determination device 10 according to the present embodiment. The example of FIG. 6 shows a case where the traffic jam at the intersection is not a right-turn traffic jam due to a right-turn vehicle. In the example of FIG. 6, since the stop position of the right turn vehicle 201 is upstream from the predetermined position A upstream from the intersection, the activation unit 16 activates the traffic congestion determination process by the traffic congestion determination unit 14.

  In the example of FIG. 6, since the stop position of the right turn vehicle 201 is on the upstream side of the right turn exclusive lane R, the first condition is satisfied. However, as shown in the example of FIG. 6, when the straight vehicle is congested to the intersection (that is, when the cause of the congestion is not a right turn vehicle but a straight vehicle), the straight lane F attached to the right turn lane R The straight-ahead vehicle 206 at the vehicle stops or travels at a relatively slow speed in the same manner as the straight-ahead vehicle 202 that exists upstream from the right-turn exclusive lane R. Therefore, the straight-ahead vehicle 202 that exists upstream from the right-turn exclusive lane R. The second condition that the vehicle speed is slower than the speed of the straight vehicle 206 in the straight lane F attached to the right turn exclusive lane R is not satisfied. Therefore, in the state as shown in the example of FIG. 6, the traffic jam determination unit 14 determines that the traffic is not a right turn traffic jam.

  Next, activation conditions for the traffic jam determination process will be described. When the stop position of the right-turn vehicle determined by the vehicle determination unit 13 is upstream of the predetermined position A upstream of the intersection, the activation unit 16 activates the traffic jam determination process. In the example of FIG. 5, since the stopped right turn vehicle 201 exists upstream from the predetermined point A, the congestion determination process by the congestion determination unit 14 is performed. As a result, it is determined that traffic congestion has occurred when the number of vehicles exceeding the number that can flow out of the intersection during one green light time of the signal lamp is stopped upstream of the intersection. Since the factor determination process can be activated, the congestion factor determination process can be performed only during a traffic jam, and the processing effort can be reduced.

  Another activation condition can also be provided. That is, when the speed of the right turn vehicle in the intersection outflow region C is faster than a speed threshold (for example, 10 km / h), the activation unit 16 activates the traffic jam determination process. That is, when the right-turn vehicle turns right at the intersection and is congested in the intersection outflow area C, the traffic determination unit 14 does not perform the traffic determination process. The example of FIG. 5 represents a state where the speed in the intersection outflow region C of the right-turn vehicle 204 that makes a right turn at the intersection is traveling at a speed higher than the speed threshold. If the speed of the right turn vehicle in the intersection outflow area C is faster than the speed threshold, it can be determined that no traffic jam (clogging) has occurred at the intersection's outflow destination. In this state, it is possible to determine the congestion factor, and it is possible to accurately determine the congestion factor.

  FIG. 7 is a schematic diagram showing another example of right-turn traffic jam determination by the traffic jam determination device 10 of the present embodiment. The example of FIG. 7 shows a case where a vehicle that makes a right turn at an intersection is congested in the intersection outflow area C. In the example of FIG. 7, if the traffic jam determination unit 14 performs traffic jam determination, the first condition and the second condition are satisfied as in the case of FIG. 5. It will be. In such a case, even if the green light time for the right turn of the signal lamp device 1 is extended, the traffic on the right turn ahead is congested, so the right turn traffic jam at the intersection cannot be resolved. Therefore, in the state shown in the example of FIG. 7, that is, when the right-turn vehicle turns right at the intersection and is congested in the intersection outflow area C, the congestion determination processing by the congestion determination unit 14 is not performed.

  The signal control unit 15 has a function as signal control means for extending the green signal time for the right turn when the traffic determination unit 14 determines that the traffic is right turn. When it becomes clear that right-turn traffic jams are the cause of traffic jams, it is possible to quickly eliminate traffic jams without generating unnecessary green traffic time by extending the green signal time for right-turns.

  The number counting unit 17 has a function as a counting unit that counts the number of right-turning vehicles and straight-ahead vehicles determined by the congestion determination unit 14. Then, the signal control unit 15 extends the right turn green signal time based on the number of units counted by the number counting unit 17.

  For example, using the ratio of the right turn vehicle to the congested vehicle and the ratio of the straight traveling vehicle, the green light time for straight traveling and the green light hour for right turn in the time for one display cycle of the signal lamp are calculated, and the green light time for right turn is calculated. Extend to the calculated time. In addition, the number of right-turn vehicles can be obtained based on the position of the right-turn vehicle and a predetermined vehicle head interval. In this case, even when a vehicle that does not have a vehicle-to-vehicle communication function and a vehicle that is scheduled to turn right exists between the vehicles that turn right, the vehicle that is scheduled to turn right can also pass through the intersection. As a result, it is possible to prevent a situation in which the green signal time for turning right is unnecessarily lengthened and to quickly eliminate traffic congestion. Instead of extending the green time using the number of vehicles determined from the position of the right turn vehicle, the green signal time is extended using the number of vehicles obtained by dividing the traffic jam length measured by the vehicle detector by the vehicle head interval. Also good.

  The vehicle trajectory specifying unit 18 has a function as specifying means for specifying the position of the right-turn vehicle determined by the traffic jam determining unit 14. The position may be a single position or a traveling locus using a plurality of positions. The vehicle locus specifying unit 18 specifies the position of the right turn vehicle, and determines whether the right turn vehicle passes the stop line of the right turn lane based on the specified position. Then, the signal control unit 15 extends the green signal time for the right turn until the right turn vehicle passes an intersection (for example, it can be a stop line of the right turn lane).

  For example, if there are multiple right-turn vehicles that are determined to turn right, the right-turn vehicles at the tail end of the right-turn lane stop line when the front-rear right-turn vehicles are within a predetermined distance and form a vehicle group Extend the green time for a right turn until you pass. The predetermined distance is set in advance so that the subsequent right turn vehicle passes the stop line of the right turn lane even when one or several straight-ahead vehicles exist between the right and left right turn vehicles. I can leave. Further, the green signal time for the right turn may be extended until the right turn vehicle existing near the branch point of the right turn exclusive lane passes the stop line of the right turn lane. In this case, even if the vehicle that does not have the inter-vehicle communication function and the vehicle that is scheduled to turn right is present in front of the right-turn vehicle (downstream side), the vehicle that is scheduled to turn right can also pass the stop line of the right-turn lane. . Further, when the separation distance between the front and rear right turn vehicles is larger than a predetermined distance threshold, the right turn green signal time may be extended until the previous right turn vehicle passes the stop line of the right turn lane. As a result, it is possible to prevent a situation in which the green signal time for turning right is unnecessarily lengthened and to quickly eliminate traffic congestion.

  Next, the operation of the congestion determination device 10 of the present embodiment will be described. FIG. 8 is a flowchart showing the procedure of the traffic jam determination process of the traffic jam determination device 10 of the present embodiment. Since the control part 11 controls each part in the congestion determination apparatus 10, it demonstrates below that the control part 11 performs a process.

  The control part 11 acquires the vehicle information regarding a driving | running | working state from the vehicle in the communication area S (S11), and determines the distinction between a straight-ahead vehicle and a right turn vehicle based on the acquired vehicle information (S12). The control unit 11 determines whether or not the stop position of the right-turn vehicle is upstream from the predetermined point A (S13). If the stop position is not upstream from the predetermined point A (NO in S13), there is a traffic jam at the intersection. Since it is not necessary to adjust the green light time and it is not necessary to determine the cause of the traffic jam, the processing after step S11 is continued.

  When the stop position of the right turn vehicle is upstream of the predetermined point A (YES in S13), the control unit 11 determines whether or not the speed of the right turn vehicle in the intersection outflow region C is higher than the speed threshold (S14). If the speed of the right turn vehicle in the intersection outflow region C is not faster than the speed threshold (NO in S14), the control unit 11 determines that there is a traffic jam on the right turn destination road and performs a step without determining the traffic jam factor. The processing after S11 is continued.

  When the speed of the right turn vehicle in the intersection outflow area C is higher than the speed threshold (YES in S14), the control unit 11 has a speed that is upstream of the right turn exclusive lane R of the straight vehicle is slower than the speed of the straight drive lane F. It is determined whether or not (S15).

  When the speed upstream of the right turn lane R of the straight vehicle is slower than the speed of the straight lane F (YES in S15), the control unit 11 determines that the cause of the traffic congestion is a right turn traffic jam due to the right turn vehicle. The green signal time is extended (S16). When the speed upstream of the straight turn right lane R of the straight vehicle is not slower than the speed in the straight lane F (NO in S15), the control unit 11 does not perform the process of step S16 but performs the process of step S17 described later. I do.

  The control unit 11 determines whether or not to end the process (S17). If the process is not ended (NO in S17), the process after step S11 is repeated and it is determined to end the process (YES in S17). The process is terminated.

  In the above-described processing procedure, the congestion determination process is performed when both the determinations in step S13 and step S14 are YES, but the present invention is not limited to this, and the process in step S14 can be omitted.

  The traffic jam determination device 10 can also be realized using a general-purpose computer having a CPU, a RAM, and the like. That is, by loading a program code defining a processing procedure as shown in FIG. 8 into a RAM provided in the computer and executing the program code by the CPU, it is possible to realize a traffic jam determination device on the computer.

  In the above-described embodiment, when traffic congestion occurs in the intersection outflow area C, the traffic congestion determination device 10 uses the result of determining the traffic congestion factor in the downstream intersection of the intersection outflow area C to use the downstream intersection. It is also possible to extend the green signal time of the vehicle to eliminate the traffic jam in the intersection outflow area C.

  In the above-described embodiment, the traffic jam determination process is performed by acquiring signal information such as the display time and switching timing of the color of the signal lamp at the intersection, and synchronizing with the switching timing of the lamp color of the signal lamp. You can also. For example, it may be determined whether or not the first condition and the second condition described above are satisfied in a time zone in which the color of the signal lamp at the intersection is a blue signal (including a right turn green signal). Thereby, the traffic jam in the time zone of a green light can be eliminated. Alternatively, it may be possible to repeatedly determine the traffic jam for a predetermined time including a plurality of cycles, and to extend the green signal time for the right turn when the traffic on the right turn continues repeatedly. Accordingly, it is possible to eliminate the chronic right turn traffic jam while excluding the transient right turn traffic jam and suppressing the situation where the green light time changes frequently.

  In the above-described embodiment, the congestion determination device 10 is a traffic signal controller or a central signal control device, but is not limited thereto. For example, the traffic jam determination device 10 is a device different from the traffic signal controller or the signal control device, the traffic jam determination device 10 outputs an instruction to extend the green light time to the traffic signal controller or the signal control device, and the traffic signal controller or The signal control device may extend the green light time according to this instruction.

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

11 Control Unit 12 Communication Unit (Vehicle Information Acquisition Unit)
13 Vehicle determination unit (vehicle determination means)
14 Congestion determination unit (congestion determination means)
15 Signal control unit (signal control means)
16 Starter (Starter)
17 Number counting unit (counting means)
18 Vehicle locus specifying part (specifying means)
19 Memory

Claims (9)

In a traffic jam judging device for judging a traffic jam factor due to a vehicle existing near an intersection where a right turn exclusive lane is provided,
Vehicle information acquisition means for acquiring vehicle information relating to the running state including the position of the vehicle;
Vehicle determination means for determining whether the vehicle is a right-turn vehicle or a straight-ahead vehicle based on the vehicle information acquired by the vehicle information acquisition means;
Speed in該車turn right car both stop state determined in both determining means is present from right turn only lane at the upstream side, the upstream side of the right turn only lane straight vehicle determined by said vehicle judgment means, the right turn only lane A traffic jam judging device comprising: a traffic jam judging means for judging a right traffic jam caused by a right turn vehicle when the speed is slower than the speed in a straight lane attached to the vehicle.   The traffic judgment device according to claim 1, further comprising a signal control unit that extends a green signal time for a right turn when the traffic judgment unit judges that the traffic is a right turn traffic jam. A specifying means for specifying the position of the right turn vehicle determined by the vehicle determining means;
The signal control means includes
3. The traffic jam judging device according to claim 2, wherein the right turn green signal time is extended until the right turn vehicle whose position is specified by the specifying means passes through an intersection. A counting means for counting the number of right-turn vehicles and straight vehicles determined by the vehicle determining means;
The signal control means includes
The traffic jam judging device according to claim 2, wherein the traffic light judging device is configured to extend a green signal time for a right turn based on the number counted by the counting means. According Turn right car both stop state determined by the vehicle determining means, if it exists in the upstream of a predetermined position on the upstream side of the intersection, characterized in that it comprises a starting means for starting the determination process of the traffic jam determination means The traffic jam determination device according to any one of claims 1 to 4.   5. The apparatus according to claim 1, further comprising an activation unit that activates the determination process of the traffic congestion determination unit when the speed of the right turn vehicle determined by the vehicle determination unit is higher than a speed threshold. The traffic jam determination device according to any one of the above items. The traffic jam judging means
If the difference between the speed on the upstream side of the right turn dedicated lane determined by the vehicle determining means and the speed on the straight lane attached to the right turn dedicated lane is equal to or greater than a first threshold, the right turn by the right turn vehicle It is comprised so that it may determine with traffic congestion, The traffic congestion determination apparatus of any one of Claim 1 thru | or 6 characterized by the above-mentioned. The traffic jam judging means
The speed on the upstream side of the right turn dedicated lane determined by the vehicle determining means is equal to or lower than a second threshold, and the speed in the straight lane attached to the right turn dedicated lane is greater than the second threshold. The traffic jam determination device according to any one of claims 1 to 6, wherein when it is equal to or greater than a threshold value, the traffic jam is determined to be a right-turn traffic jam due to a right-turn vehicle. In a computer program for causing a computer to execute a step of determining a traffic congestion factor due to a vehicle existing near an intersection where a right turn exclusive lane is provided,
On the computer,
A step of determining whether the vehicle is a right turn vehicle or a straight traveling vehicle based on vehicle information relating to a running state including a vehicle position;
Turn right car both stop state determined by said determining step is present upstream of the right turn only lane, the speed of the upstream side of the right turn only lane straight vehicle determined in the determining step, the right turn only lane And a step of determining a right-turn traffic jam caused by a right-turn vehicle when the speed is slower than the speed in a straight lane.

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