JP5757069B2 - Probe information validity determination device and computer program - Google Patents

Description

  The present invention relates to a probe information validity determination device for determining whether probe information is valid as traffic index generation data, and a computer program for causing a computer to execute the determination process.

In order to realize appropriate signal control so as not to cause wasteful blue time when blue is displayed when no vehicle is present or a situation where the blue time is insufficient when a vehicle is present, It is important to accurately grasp the traffic demand to be handled and the traffic capacity that can be processed.
In this case, the traffic demand is described as “the sum of the number of vehicles remaining in the previous control target cycle (the number of queues) and the number of vehicles newly arriving in the current control target cycle”. In addition, the processing capacity of the intersection is described as “saturated traffic flow rate representing the maximum number of vehicles that can pass per second of blue × blue time”.

However, the currently popular ultrasonic detection type vehicle detectors measure the number of vehicles passing directly under the installation location in a spot manner, so that time-series detection signals detected by the vehicle detector ( It is difficult to directly obtain the end position of the queue and the number of queues that continuously change from the pulse signal) to an arbitrary position.
Further, since it is difficult for a vehicle detector to determine whether or not the vehicle is in a saturated flow, it is also difficult to directly measure the saturated traffic flow rate from a time-series sensing signal.

Therefore, in recent years, traveling state information of the host vehicle measured by the vehicle is transmitted to a road-side traffic information processing device (such as a central device) through a wireless communication system, and the above traffic index is estimated using this information. (For example, refer to Patent Document 1).
This information is referred to as “probe information” and includes travel locus information such as the position, traveling direction, and speed of the vehicle that changes in time series.

JP 2007-241429 A

However, since the probe information is limited sample information obtained from a vehicle (hereinafter referred to as “probe vehicle”) equipped with an in-vehicle device capable of transmitting the probe information to the roadside, When a large error is included in the position or the like, a large error also occurs in the traffic index obtained using the probe information.
In addition, the probe vehicle may perform special driving behavior such as parking on the road. If the probe information in this case is used as it is as data for generating traffic indicators, it will have a significant effect on the traffic indicators obtained using the probe information. .

As described above, if the road-side traffic information processing apparatus uses all the acquired probe information as it is as traffic index generation data, the accuracy of the traffic index may deteriorate.
The present invention has been made in view of such conventional problems, and an object thereof is to provide a probe information validity determination device and the like that can select probe information that contributes to accurate traffic index generation.

(1) The validity determination device of the present invention is a probe information validity determination device for determining whether or not the probe information is valid as traffic index generation data, and detects a vehicle installed in an inflow path at an intersection. An acquisition means for acquiring a time-series sensing signal detected by a sensor, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color switching timing of a traffic signal device; The first starting wave velocity obtained from the distance from the stop position of the probe vehicle to the intersection, the elapsed time from the blue start time to the start of the probe vehicle, and the distance from the installation position of the vehicle detection sensor to the intersection And a calculating means for calculating a second starting wave velocity obtained from an elapsed time until the vehicle detection sensor first detects an arbitrary vehicle after the blue start time, Determination means for determining the validity of the probe information using two types of the starting wave speeds, provided that the stop position of the probe vehicle is upstream of the installation position of the vehicle detection sensor; It is characterized by being.

According to the effectiveness determination device of the present invention, the calculation means calculates a first starting wave velocity using the stop position of the probe vehicle and a second starting wave velocity using the installation position of the vehicle sensor, The determination means determines the validity of the probe information using the two kinds of starting wave velocities on the condition that the stop position of the probe vehicle is upstream of the installation position of the vehicle detection sensor.
Therefore, for example, by comparing two types of starting wave velocities, probe information that cannot be used as traffic index generation data can be thinned out as invalid information, and probe information that is useful for generating accurate traffic indexes is selected. be able to.

(2) Another validity determination device of the present invention is a probe information validity determination device that determines whether probe information is valid as traffic index generation data, and is installed in an inflow path at an intersection. Acquisition means for acquiring a time-series sensing signal detected by a vehicle sensor, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color switching timing of a traffic signal And a calculating means for calculating a starting wave velocity obtained from a stop position of the probe vehicle and an elapsed time from the blue start time included in the lamp color switching timing to the starting of the probe vehicle, and the starting wave velocity is appropriate. And determining means for determining the validity of the probe information depending on whether it is within a certain numerical range.

According to another validity determining device of the present invention, the calculating means calculates a starting wave velocity using the stop position of the probe vehicle, and the determining means determines whether or not the starting wave velocity is within an appropriate numerical range. The validity of the probe information is determined by
Therefore, probe information that cannot be used as traffic index generation data can be thinned out as invalid information, and probe information that is useful for generating accurate traffic indexes can be selected.

(3) Even if the determination means determines the validity of the probe information using two types of starting wave velocities, whether or not the first starting wave velocities are within an appropriate numerical range. Thus, the validity of the probe information may be determined.
In the present invention, the “appropriate numerical range” is a numerical range of the propagation velocity of the starting wave specified from the actual measurement data for the actual queue generated in the field, for example, 5.5 to 5.7 m. A numerical range of / s.

(4) In the validity determination device of the present invention, when the probe information is determined to be valid, the traffic index related to the queue using the stop position of the probe vehicle (the end position of the queue, the number of queues, etc.) It is preferable to further include estimation means for estimating.
In this case, since the estimation means estimates the traffic index related to the queue when it is determined that the probe information is valid, the traffic index of the traffic index is compared with the case where the traffic index is estimated using all the probe information. The estimation accuracy can be improved.

(5) In the validity determination device of the present invention, when the probe information is determined to be valid, the calculation means preferably calculates a saturated traffic flow rate using a travel locus of the probe information.
In this case, since the calculation means calculates the saturated traffic flow rate when it is determined that the probe information is valid, compared to the case where the saturated traffic flow rate is calculated using the travel trajectory of all probe information. The calculation accuracy of the traffic index can be improved.

(6) (7) The computer program of the present invention is a computer program for causing a computer to execute processing for determining whether probe information is valid as traffic index generation data. Has substantially the same technical features as the determination device.
For this reason, the computer program of this invention has an effect similar to the effectiveness determination apparatus of this invention.

  As described above, according to the present invention, probe information useful for generating an accurate traffic index (saturated traffic flow rate, end position of a queue, etc.) can be selected, so that probe information can be used for traffic signal control as more reliable information. It can be utilized.

It is a road top view which shows the whole structure of a traffic signal control system. It is a functional block diagram of an information relay apparatus. It is a functional block diagram of a central apparatus. It is a graph which shows the queue in front of an intersection, and the running locus of a vehicle. (A) is explanatory drawing which shows the calculation method of a saturated traffic flow rate, (b) is explanatory drawing of an average vehicle head distance. It is a flowchart of the production | generation process of the traffic index which the control part of a central apparatus performs. It is a graph which shows the driving | running | working locus | trajectory of the queue in front of an intersection when a stop position of a probe vehicle is an upstream from the installation position of a vehicle detector. It is a graph which shows the driving | running | working locus | trajectory of the queue in front of an intersection when a stop position of a probe vehicle is a downstream from the installation position of a vehicle detector.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
〔Definition of terms〕
In describing embodiments of the present invention, first, terms used in this specification will be defined.
“Vehicle detection sensor”: A sensor that detects the presence of vehicles traveling on the road one by one at a fixed position. For example, a vehicle sensor for ultrasonically detecting a vehicle passing directly below, a loop coil for detecting the vehicle by an inductance change, and the like correspond to this.

“Detection signal”: A pulse signal output when a vehicle detection sensor installed at a predetermined position on a road detects one vehicle. Therefore, when a plurality of vehicles pass the vehicle detection sensor, the detection signals corresponding to the vehicles are output in time series.
“Probe information”: Various information related to the vehicle obtained from the in-vehicle device of the probe vehicle that actually travels on the road. This includes the vehicle ID, the vehicle position, the vehicle speed, the vehicle direction, and the time of occurrence thereof.

This probe information is collected every predetermined time, every predetermined mileage, every predetermined acceleration / deceleration, or every predetermined azimuth change, and data such as vehicle position and time at the time of stopping and starting are also included in the probe information. Included.
However, the vehicle ID and time do not necessarily have to be generated by the in-vehicle device of the probe vehicle, and the receiving side may allocate those data to the probe information. By doing in this way, the load of the radio | wireless communication between road vehicles can be reduced.

  “Lamp color switching timing”: Information relating to timing for switching the signal lamp color at an intersection. Signal light color start time (blue signal start, yellow signal start, red signal start time and start time of right / left turn arrow), signal light color time (blue light time, yellow signal time, red signal time and right / left turn arrow time), signal parameters ( This includes splits, signal cycles and offsets).

“Queue”: A queue of vehicles that are stopped in front of an intersection to wait for a signal.
“Intersection traffic jam”: A situation where the queue formed in front of the intersection cannot make money in a single green light. Therefore, when the signal queue is opened in one green traffic light time, there is no “traffic jam” at the intersection.

“Stop wave”: When a red signal is generated, a signal queue is generated, and the length of the queue increases with time. A transmission wave that increases the queue length is called a stop wave.
“Starting wave”: When the signal is switched to a green light during the generation of the signal queue, the vehicle starts to start in order from the vehicle in front of the intersection. The transmission wave when the signal waiting vehicle starts is called a starting wave.
“Starting wave velocity”: Refers to the propagation velocity of the starting wave. That is, it is the slope of the linear function when the starting wave delay is defined by a linear function of the vehicle stop position.
“Inflow path” “Outflow path”: A road that travels in a direction flowing into the intersection as viewed from a certain intersection is referred to as an inflow path, and a road that travels in a direction that flows out from the intersection is referred to as an outflow path.

[Overall system configuration]
FIG. 1 is a road plan view showing a traffic signal control system according to an embodiment of the present invention.
As shown in FIG. 1, the traffic signal control system of the present embodiment includes a traffic signal controller 1, an information relay device 2, a roadside communication device 3, a central device 4, an in-vehicle device 6 mounted on a vehicle 5, a vehicle detector. 7 etc. are included.
In place of the vehicle sensor 7, a loop coil or other vehicle detection sensor may be used.

Among the vehicles 5 traveling on the inflow path toward the intersection J, some of the vehicles 5 are equipped with the in-vehicle device 6 capable of wireless communication with the roadside communication device 3, but are not equipped with the in-vehicle device 6. There are also five. In the present specification, the vehicle 5 not equipped with the in-vehicle device 6 may be referred to as a “normal vehicle” with respect to the probe vehicle 5 equipped with the in-vehicle device 6.
At the intersection J shown in FIG. 1, the main roads RM1 and RM2 having a relatively large traffic volume and the secondary roads RS1 and RS2 having a relatively small traffic volume merge, and an inflow path to the intersection J of the main road RM1; A vehicle detector 7 is installed on the outflow path with respect to the intersection J of the main road RM1.

The central device 4 is installed in a traffic control center (not shown), and the traffic signal controller 1 and the information relay device 2 installed at each of a plurality of intersections J included in the control area under its control. And a communication line such as a telephone line.
The information relay device 2 is also connected to the traffic signal controller 1 and the roadside communication device 3 via a communication line, and has a function of relaying communication data between the central device 4 and the roadside communication device 3.

As shown in FIG. 1, a plurality of (four in the illustrated example) signal lamps 1 a arranged at an intersection J are connected to the traffic signal controller 1 through power lines.
The traffic signal controller 1 turns on / off each signal lamp such as blue, yellow, red, and right turn arrow of each signal lamp 1b based on the signal control command S1 having the lamp color switching timing received from the central device 4. Control blinking.

The roadside communication device 3 is a wireless communication device that transmits and receives the downlink signal S3 and the uplink signal S4 to and from the in-vehicle device 6.
The roadside communication device 3 is, for example, a wireless communication device in a medium or wide area conforming to a wireless LAN or WiMAX (World Interoperability for Microwave Access : “WiMAX” is a registered trademark ). In the example of FIG. Among the inflowing roads, communication is possible with the in-vehicle device 6 of the probe vehicle 5 traveling on the upstream side of the intersection J of the main roads RM1, RM2.

The extension of the communication area of the roadside communication device 3 (traveling direction length from the intersection J) is farther than the installation position of the vehicle detector 7 upstream of the intersection J (for example, about 150 to 200 m upstream from the stop line). It is the distance where radio waves reach.
The downlink signal S3 transmitted by the roadside communication device 3 includes traffic information (congestion information, traffic regulation information, etc.) S2 distributed by the central device 4. The uplink signal S4 transmitted by the in-vehicle device 6 includes probe information S5 including the position, speed, direction, and the like of the probe vehicle 5.

The in-vehicle device 6 has a communication function that wirelessly transmits and receives the uplink signal S4 and the downlink signal S3 to and from the roadside communication device 3, and a navigation function that guides the destination set by the passenger.
When the vehicle 5 enters the communication area of the roadside communication device 3 while the vehicle 5 is traveling on the main roads R1 and R2 toward the intersection J, the in-vehicle device 6 receives the downlink signal S3 including the traffic information S2 from the communication device 3. At the same time, the uplink signal S4 including the probe information S5 is transmitted to the roadside communication device 3 at a predetermined transmission cycle (for example, 100 milliseconds).

The in-vehicle device 6 includes a GPS processing unit, a direction sensor, and a vehicle speed acquisition unit. The GPS processing unit receives GPS signals from GPS satellites, and based on time information, GPS satellite orbits, positioning correction information, and the like included in the GPS signals, the position (latitude, longitude, and altitude) of the probe vehicle 5 Can be measured.
The azimuth sensor is composed of an optical fiber gyro and the like, and measures the azimuth and angular velocity of the probe vehicle 5. The vehicle speed acquisition unit acquires speed data of the probe vehicle 5 measured by the vehicle speed sensor detecting the angular speed of the wheels.

[Information relay device]
FIG. 2 is a functional block diagram of the information relay device 2.
As illustrated in FIG. 2, the information relay device 2 includes a first interface unit 21, a second interface unit 22, a relay unit 23, a control unit 24, and a storage unit 25.
Among these, the first interface unit 21 is a communication interface for performing communication with the central device 4 and communication with the traffic signal controller 1. The second interface unit 22 is a communication interface for performing communication with the roadside communication device 3.

The control unit 24 includes one or more microcomputers, and is connected to the relay unit 23 and the storage unit 25 via an internal bus. The control unit 24 controls operations of these units. The relay unit 23 relays various types of information transmitted and received by the interface units 21 and 22 according to a control command from the control unit 24, and determines a transmission destination of the information.
For example, the relay unit 23 extracts the probe information S5 from the uplink signal S4 received by the second interface unit 22 from the roadside communication device 3, and transmits the probe information S5 to the central device 4 through the first interface unit 21. .

Further, the relay unit 23 stores the traffic information S2 received by the first interface unit 21 from the central device 4 in the downlink signal S4, and transmits the downlink signal S4 to the roadside communication device 3 through the second interface unit 22. To do.
Further, the relay unit 23 transmits the time-series sensing signal S6 received by the first interface unit 21 from the vehicle sensor 7 to the central device 4 through the same first interface unit 21.
The storage unit 25 includes a hard disk, a semiconductor memory, and the like, and temporarily stores various information (traffic information S2, probe information S5, and the like) received by the interface units 21 and 22, and the storage unit 25 includes the above-described information. A control program for relay processing performed by the control unit 24 is stored.

[Central equipment]
FIG. 3 is a functional block diagram showing the internal configuration of the central device 4.
As illustrated in FIG. 3, the central device 4 includes a control unit 401, a display unit 402, a communication unit 403, a storage unit 404, and an operation unit 405.
The control unit 401 of the central device 4 includes a workstation (WS), a personal computer (PC), and the like, and supervises collection / processing (calculation) / recording of various data from the information relay device 2 etc., signal control, and information provision. Do it.

In addition, the control unit 401 of the central device 4 controls the traffic signal controller 1 belonging to its own jurisdiction area by adjusting the traffic signal group on the same road, or expanding the system control to a road network. Control (surface control) can be executed.
That is, the control unit 401 can perform traffic sensitivity control that sets signal control parameters (split, cycle length, offset, etc.) according to traffic conditions. The traffic sensitive control performed by the control unit 401 includes, for example, a plurality of types such as MODERATO control and profile control.

The communication unit 403 of the central device 4 is a communication interface connected to the traffic signal controller 1 and the information relay device 2 via a communication line, and a signal control command relating to the lamp color switching timing of the signal lamp 1b at every predetermined time. S1 and traffic information S2 including road link travel time and traffic jam information are transmitted to the traffic signal controller 1 and the information relay device 2.
The signal control command S1 is transmitted every signal control parameter calculation cycle (for example, 1.0 to 2.5 minutes), and the traffic information S2 is transmitted every five minutes, for example.

  Further, the communication unit 403 of the central device 4 transmits the probe information S5 including the position and time (trajectory) of the probe vehicle 5 and the vehicle ID, and the time-series detection signal S6 detected by the vehicle detector 7 as an information relay device. 2 is received.

The display unit 402 of the central device 4 includes a road map of an area managed by the central device 4 and a display screen on which the positions of all traffic signal controllers 1 and vehicle detectors 7 on the road map are displayed. It notifies the central operator of traffic conditions such as traffic jams and accidents.
The operation unit 405 of the central device 4 includes an input interface such as a keyboard and a mouse. The operation unit 405 allows the central operator to perform a display switching operation on the display unit 402.

The storage unit 404 of the central device 4 includes a hard disk, a semiconductor memory, and the like, and stores a control program for the traffic sensitivity control and a traffic index estimation or calculation program used for the traffic sensitivity control. Also, it has a temporary storage area for the signal control command S1 and the traffic information S2 generated by the control unit 401.
The storage unit 404 of the central device 4 includes a probe database DB1, a roadside database DB2, and a map database DB3.

The probe database DB1 accumulates various measurement values included in the probe information S5 (running locus made up of the passage position and time of the probe vehicle 5) for each vehicle ID.
The roadside database DB <b> 2 accumulates time-series sensing signals S <b> 6 of the vehicle 5 detected by the vehicle sensor 7 for each vehicle sensor 7.
The map database DB3 has road map data. This road map data includes intersection data in which intersection IDs are associated with intersection positions.

In the road map data, the link ID, the link start point / end point / interpolation point (corresponding to the point where the road bends), the link ID of the link connected to the link start point, and the link end point are connected. Link data in which the link ID of the link is associated is included.
The control unit 401 of the central device 4 uses the travel trajectory for each probe vehicle 5 accumulated in the roadside database DB2 to calculate traffic indicators such as saturated traffic flow rate and queue end position for the intersection J in the jurisdiction area. Generation processing (FIG. 6) is performed. Details of this will be described later.

[Relationship between vehicle running behavior and starting wave]
FIG. 4 is a graph showing the queue in front of the intersection and the traveling locus of the vehicle. In this graph, the horizontal axis represents time (seconds), and the vertical axis represents the distance (m) from the stop line of the intersection J.
In FIG. 4, a substantially triangular area indicated by vertical hatching represents a queue. The upper side of this area represents the stop position of the vehicle 5 that has entered the queue, and the vehicle 5 first stops at the end of the red signal queue (which may include a yellow signal; the same applies hereinafter).

On the other hand, the lower side of the triangular area represents the start position of the vehicle 5 that turns green and starts from the intersection. When it becomes a green light, the vehicle 5 starts from the head of the queue.
And as shown in FIG. 4, the said stop position and start position each extend to the upstream side with time, and each have a propagation velocity. These propagation velocities are the stop wave and the start wave described above.

  The time point at which the stop wave and the start wave cross represents a boundary time point when the stopped vehicle disappears in the queue and the vehicle 5 follows the last vehicle in the queue that has started running without stopping. Vehicles 5 that enter the intersection after this time will join the traveling vehicle train of vehicles 5 that formed the queue.

As shown in FIG. 4, the traveling trajectory of a specific vehicle 5 due to encountering a red light at an intersection is a “stop wave” when the vehicle 5 sequentially reaches the queue (this depends on the arrival traffic volume). ), And then, it is related by the propagation speed of the “starting wave” that becomes a green signal and starts moving the vehicle 5 in the queue.
In other words, due to the degree of traffic congestion at the intersection, the amount of traffic, and the lamp color switching timing, the vehicle 5 that was traveling freely stopped at the end of the signal waiting queue and stopped within the queue for a predetermined time. It draws a running trajectory that stops in the procession and stops at the intersection.

[Calculation method of saturated traffic flow rate]
FIG. 5A is an explanatory diagram illustrating a method of calculating a saturated traffic flow rate, and FIG. 5B is an explanatory diagram of an average vehicle head distance.
As shown in FIG. 5A, when a travel locus of a certain probe vehicle 5 is obtained, the stop position is Lt1, the starting wave speed is Va, and the travel speed in the queue of the probe vehicle 5 is Let Vb be the outflow velocity. Further, as shown in FIG. 5B, the average vehicle head distance of a stopped vehicle stopped before the intersection is assumed to be h.

In this case, the following equation is established among the saturated traffic flow rate (1 / second) s, the speeds Va and Vb, and the average vehicle head distance h.
1 / s = h × (1 / Va + 1 / Vb)
Here, if the elapsed time from the blue start time tg to the start time t1 of the probe vehicle 5 is T1, and the elapsed time from the start time of the probe vehicle 5 until the probe vehicle 5 passes through the intersection is T2, Va = Lt1 / T1, Vb = Lt1 / T2.

Therefore, when the elapsed times T1 and T2 are used, the above relational expression can be modified as follows.
h × (T1 / Lt1 + T2 / Lt1) = 1 / s
h × (T1 + T2) / Lt1 = 1 / s
For this reason, the saturated traffic flow rate s can be obtained by the following equation.
s = Lt1 / {h × (T1 + T2)}
In addition, when the traveling locus about the plurality of probe vehicles 5 is obtained, the statistical representative value (for example, average value) of the saturated traffic flow rate s obtained from the plurality of traveling tracks is saturated for the intersection. It may be adopted as the traffic flow rate.

[Traffic index generation processing]
FIG. 6 shows a flowchart of traffic index generation processing performed by the control unit 401 of the central apparatus 4.
In the present embodiment, the traffic indexes generated by the control unit 401 are the “saturated traffic flow rate” and the “end position of the queue” when the traffic flow before the intersection J is saturated.

As shown in FIG. 6, the control unit 401 of the central device 4 first determines whether or not the probe information S5 having a stop position on the upstream side of the intersection J has been acquired for the probe vehicle 5 with a specific vehicle ID. (Step ST1) The process proceeds to the next step ST2 only when it is acquired.
Next, the control unit 401 determines whether the stop position of the probe information S5 (the upstream distance value with the stop line of the intersection J as the origin) is on the upstream side or the downstream side of the vehicle detector 7. (Step ST2).

And the control part 401 performs a 1st effectiveness determination process, when it is an upstream (step ST3), and when it is a downstream, performs a 2nd effectiveness determination process (step ST7).
If the probe information S5 is valid (Yes in step ST4) as a result of performing the first validity determination process, the control unit 401 calculates the saturated traffic flow rate using the travel locus of the probe information S5. Then (step ST5), a first estimation process which is one of the processes for estimating the end position of the queue is executed (step ST6).

  When the probe information S5 is not valid (No in step ST4) as a result of performing the first validity determination process, the control unit 401 calculates the saturated traffic flow rate (step ST5) and the first estimation process (step ST6). ) And the process is terminated.

On the other hand, when the probe information S5 is valid (Yes in step ST8) as a result of performing the second validity determination process, the control unit 401 uses the travel locus of the probe information S5 to calculate the saturated traffic flow rate. The second estimation process, which is one of the processes for estimating the end position of the queue, is performed (step ST10).
In addition, as a result of performing the second validity determination process, the control unit 401 calculates the saturated traffic flow rate (step ST9) and the second estimation process 2 even when the probe information S5 is not valid (No in step ST8). The process ends without performing (Step ST10).

  Hereinafter, a series of processes from the first validity determination process to the first estimation process performed when the stop position of the probe information S5 is on the upstream side of the vehicle detector 7 is referred to as a “first process mode”. A series of processes from the second validity determination process to the second estimation process performed when the stop position of the probe information S5 is on the downstream side of the vehicle detector 7 is referred to as a “second process mode”.

[Processing contents in the first processing mode]
FIG. 7 is a graph showing the queue before the intersection and the travel trajectory of the probe vehicle 5 when the stop position Z1 of the probe vehicle 5 is upstream of the installation position Z0 of the vehicle detector 7. Hereinafter, the contents of processing in the “first processing mode” performed by the control unit 401 of the central apparatus 4 will be described with reference to FIG.
In FIG. 7 (also in FIG. 8), a thick solid arrow indicates a travel locus of the probe vehicle 5, and a broken arrow indicates a travel locus of the normal vehicle 5 on which the in-vehicle device 6 is not mounted.

In FIG. 7 (also in FIG. 8), Pi (i = 1, 2,...) Is a time-series illustration of a sensing signal (pulse signal) S6 detected by the vehicle detector 7 at the installation position Z0. is there.
Further, in FIG. 7 (also in FIG. 8), among the bands attached below the time axis, the white band indicates the green signal time, the black band indicates the red signal time, and hatching is performed. The attached band indicates the yellow signal time.

Here, as shown in FIG. 7, when the stop position Z1 of the probe vehicle 5 is upstream of the installation position Z0 of the vehicle detector 7, assuming that the probe information S5 is accurate, the stop position is at least upstream of the installation position Z0. Congestion has spread to position Z1.
In general, the starting wave when the vehicle 5 starts from a traffic jam is a saturated flow, and the profit rate is stable at the saturated traffic flow rate.

<First effectiveness determination process>
Therefore, the control unit 401 of the central device 4 evaluates the consistency between the travel locus of the probe vehicle 5 and the time series data Pi of the sensing signal S6 by using the above characteristics at the time of traffic jam, and probe information. A “first validity determination process” (step ST3 in FIG. 6) for determining whether or not S5 is valid as traffic index generation data is executed.
Specifically, the control unit 401 first obtains the next first starting wave velocity Va1 and the second starting wave velocity Va2.

"First starting wave velocity Va1"
A speed “second starting wave speed Va2” obtained by dividing the distance to the intersection of the stop position Z1 of the probe vehicle 5 by the elapsed time T1 from the blue start time tg to the start of the probe vehicle 5
Speed obtained by dividing the distance to the intersection of the installation position Z0 of the vehicle detector 7 by the elapsed time T0 until the vehicle detector 7 first detects any vehicle 5 after the blue start time tg.

Then, the control unit 401 determines that the probe information S5 is valid when both the following conditions 1 and 2 are satisfied using the first starting wave velocity Va1 and the second starting wave velocity Va2 defined above. If either one is not satisfied, the probe information S5 is determined to be invalid.
(Condition 1) The difference between the two starting wave velocities Va1 and Va2 is within a predetermined threshold.
(Condition 2) The first starting wave velocity Va1 is within an appropriate numerical range in which constants are set.

The “appropriate numerical range” in the condition 2 includes a numerical range of the propagation speed of the starting wave specified from the actual measurement data for the actual queue generated in the field. Specifically, 4.5 to 6 The numerical value range may be set to 0.0 m / s, preferably 5.5 to 5.7 m / s.
In the first validity determination process, only one of the above conditions 1 and 2 may be a condition for determining that the probe information S5 is valid.

<First estimation process>
Next, when there is probe information S5 that has been validated through the first validity determination process, the control unit 401 of the central device 4 uses the travel locus of the valid probe information S5 to obtain a saturated traffic flow rate. While calculating s, the "first estimation process" (step ST6 in FIG. 6) for estimating the end position of the queue is executed.
This first estimation process includes two types of estimation processes: “basic estimation” and “option estimation”.

Among them, the basic estimation employs the stop position Z1 of the probe vehicle 5 specified from the travel locus of the probe information S5 determined to be valid as it is as the end position of the queue.
Even in this case, there is an advantage that the extension of the queue can be estimated to at least the upstream position beyond the installation position Z0 of the vehicle detector 7 by using the probe information S5.
However, in the above “basic estimation”, it is not possible to estimate the tail position of the queue extending upstream from the stop position Z1 of the probe vehicle 5.

Therefore, in the “option estimation”, the tail position of the queue extending beyond the stop position Z1 of the probe vehicle 5 is estimated in consideration of the time series data Pi of the sensing signal S6.
Specifically, the control unit 4 of the central device 4 performs the following two types of matching processing using the travel locus of the probe vehicle 5 and the time series data Pi of the sensing signal S6, and the probe vehicle by the vehicle detector 7 is performed. The matching signal which is the sensing signal S6 corresponding to 5 is extracted.

1) First matching processing The sensor passage time estimated from the travel locus of the probe vehicle 5 is compared with the time-series data Pi of the detection signal S6, and the detection signal S6 closest to the sensor passage time is used as the first matching signal. Extract.
2) Second matching process The position obtained by multiplying the number of vehicles detected after the blue starting time tg by the average vehicle head distance h to the installation position Z0 of the vehicle detector 7 is the stop position Z1 of the probe vehicle 5. The closest sensing signal S6 is extracted as the second matching signal.

In this case, the control unit 401 of the central device 4 employs one of the first and second matching signals that is later in time in order to avoid overestimation of the queue length as much as possible.
Then, the control unit 401 uses the distance value obtained by multiplying the number of vehicles (including the probe vehicle 5) that can be regarded as a saturated flow continuing from the probe vehicle 5 by the average vehicle head distance h to the stop position Z1 of the probe vehicle 5. By adding to, the end position of the queue is estimated.

Specifically, the control unit 401 counts the number of sensing signals S6 detected after the adopted matching signal and whose time interval is within a predetermined interval (for example, a constant setting threshold), and The distance value obtained by multiplying the number by the average vehicle head distance h is added to the stop position Z1 of the probe vehicle 5 to obtain the end position of the queue.
In this case, instead of the constant setting threshold, the reciprocal 1 / s (= h × (T1 + T2) / Lt1) of the saturated traffic flow rate already calculated using the travel locus of the probe vehicle 5 is adopted as the predetermined interval. It may be.

The reason is that if the reciprocal 1 / s of the saturated traffic flow rate is adopted at a predetermined interval, the number of detection signals S6 (the number of vehicles passing through the vehicle detector 7) when starting from a traffic jam continues more accurately. This is because counting can be performed and the end position of the queue can be accurately estimated.
Further, in this case, 1 / s + β (correction value) having a margin for the reciprocal 1 / s of the saturated traffic flow rate may be adopted as the predetermined interval.
In this first estimation process, the position error included in the probe information S5 is taken into consideration and the distance value added to the stop position Z1 of the probe vehicle 5 is multiplied by a predetermined correction coefficient α (<1.0). You may decide.

[Processing content in the second processing mode]
FIG. 8 is a graph showing the queue before the intersection and the travel trajectory of the probe vehicle 5 when the stop positions Z1, Z2 of the probe vehicle 5 are downstream of the installation position Z0 of the vehicle detector 7. Hereinafter, the processing content in the “second processing mode” performed by the control unit 401 of the central device 4 will be described with reference to FIG. 8.

  Here, as shown in FIG. 8, when the stop positions Z1, Z2 of the two probe vehicles 5 are downstream of the installation position Z0 of the vehicle detector 7, any of the probe information S5 is accurate. Assuming that the two probe vehicles 5 are both traveling in the same lane, the distance difference (distance difference between Z1 and Z2) when the two probe vehicles 5 stop between the intersections is the two of them. This is considered to be caused by the number of other vehicles 5 that flowed into the intersection J while the probe vehicle 5 passed through the vehicle detector 7.

<Second effectiveness determination process>
Therefore, the control unit 401 of the central device 4 applies the above-described inference and performs “second validity determination processing” using the matching signal that is the sensing signal S6 corresponding to the two probe vehicles 5 by the vehicle sensor 7. (Step ST7 in FIG. 6) is executed.
Specifically, the control unit 401 presupposes that the two probe vehicles 5 are traveling in the same lane, and the sensor passing time and the detection signal estimated from the traveling trajectory of the two probe vehicles 5. (Pulse signal) The time series data Pi of S6 is compared, and two matching signals closest to the sensor passage time are extracted.

Next, the control unit 401 calculates the distance value ΔZ ′ calculated by multiplying the number of vehicles detected in the time zone between the two matching signals by the average vehicle head distance h, and the stop positions of the two probe vehicles 5. A distance difference ΔZ (= Z2−Z1) between Z1 and Z2 is calculated.
Then, when the difference between the distance value ΔZ ′ and the distance difference ΔZ is within a predetermined threshold set in advance, the control unit 401 determines that each piece of probe information S5 corresponding to the two probe vehicles 5 is valid. When the threshold value is exceeded, each probe information S5 is determined to be invalid.

In this case, the difference between the number of vehicles detected in the time zone between the two matching signals and the number obtained by dividing the distance difference ΔZ between the stop positions Z1, Z2 of the two probe vehicles 5 by the average vehicle head distance h. However, when it is within a predetermined threshold value set in advance, the probe information S5 corresponding to the two probe vehicles 5 may be determined to be valid.
Also in the case of the second effectiveness determination process, the “condition 2” of the first effectiveness determination process, that is, that the first starting wave velocity Va1 is within an appropriate numerical range set as a constant, Each probe information S5 may be added as a condition for determining validity.
In the second validity determination process, only “condition 2” of the first validity determination process may be set as a condition for determining each probe information S5 as valid.

<Second estimation process>
Next, when there are two pieces of probe information S5 validated through the second validity determination process, the control unit 401 of the central device 4 uses the travel locus of the valid probe information S5 to saturate traffic. While calculating the flow rate s, a “second estimation process” (step ST10 in FIG. 6) for estimating the end position of the queue is executed.
Specifically, the control unit 401 selects one of the two probe vehicles 5, and the vehicle detector 7 moves between the time when the selected probe vehicle 5 passes the sensor and the blue start time tg. Count the number of detected vehicles.

And the control part 401 employ | adopts the value which added to the stop position Z1 (or Z2) of the selected probe vehicle 5 as the tail position of a queue for the distance value which multiplied the counted vehicle number by the average vehicle head distance h. .
The vehicle 5 is not stopped at the “blue start time tg”, but the vehicle 5 at a predetermined speed (a constant speed value or a speed value of the probe vehicle 5) passes the vehicle detector 7. Then, it may be shifted to the time point tq (see FIG. 8) when it hits the stop wave at the time of traffic jam. In this case, the estimated range of the end position of the queue can be extended further upstream.

[Other variations]
The above embodiment is merely an example, and does not limit the scope of rights of the present invention. The scope of the present invention is defined by the terms of the claims, and all modifications within the scope and equivalents of the claims are included in the present invention.
For example, in the above-described embodiment, the traffic index related to the queue obtained by the control unit 401 of the central device 4 is the end position of the queue, but the traffic index may be the number of queues.

Moreover, in the said embodiment, although the control part 401 of the center apparatus 4 is performing the production | generation process (FIG. 6) of the traffic index regarding a saturated traffic flow rate or a queue, the control part 24 and traffic signal of the information relay apparatus 2 are performed. The control unit (not shown) of the controller 1 may perform the generation process.
The means for uplinking the probe information S5 to the infrastructure side is not limited to the roadside communication device 3, but can also be performed by a narrow area communication device such as an optical beacon, a mobile phone or other communication means.

Furthermore, the present invention is not limited to the case where the central device 4 performs wide area control, but the plurality of traffic signal controllers 1 included in the LAN can perform system control or wide area control in units of groups different from the control by the central device 4. It can also be applied to the case where
Further, in the above embodiment, the central device 4 acquires the sensing signal S6 of the vehicle detector 7 from the information relay device 2, but instead of the information relay device 2, the vehicle via the traffic signal controller 1 The system configuration may be such that the sensing signal S6 of the sensor 7 is acquired.

1 Traffic Signal Controller 2 Information Relay Device 3 Roadside Communication Device 4 Central Device (Effectiveness Determination Device)
5 Vehicle (probe vehicle or normal vehicle)
6 In-vehicle device 7 Vehicle detector (vehicle sensor)
401 control unit (calculation means, determination means, estimation means)
403 communication unit (acquisition means)
S1 Signal control command S5 Probe information S6 Sensing signal Z0 Installation position Z1 Stop position Z2 Stop position J Intersection

Claims (7)

A probe information validity determination device for determining whether probe information is valid as traffic index generation data,
A time-series sensing signal detected by a vehicle sensor installed in an inflow path of an intersection, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color of a traffic signal Acquisition means for acquiring switching timing;
The first starting wave velocity obtained from the distance from the stop position of the probe vehicle to the intersection, the elapsed time from the blue start time to the start of the probe vehicle, and the distance from the installation position of the vehicle detection sensor to the intersection And a calculating means for calculating a second starting wave velocity obtained from an elapsed time until the vehicle detection sensor first detects an arbitrary vehicle after the blue start time;
Determining means for determining the validity of the probe information using two types of the starting wave velocities, provided that the stop position of the probe vehicle is upstream of the installation position of the vehicle detection sensor;
An apparatus for determining the validity of probe information, comprising: A probe information validity determination device for determining whether probe information is valid as traffic index generation data,
A time-series sensing signal detected by a vehicle sensor installed in an inflow path of an intersection, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color of a traffic signal Acquisition means for acquiring switching timing;
A calculation means for calculating a starting wave velocity obtained from a stop position of the probe vehicle and an elapsed time from a blue start time included in the lamp color switching timing to the start of the probe vehicle;
Determining means for determining the validity of the probe information depending on whether or not the starting wave velocity is within an appropriate numerical range;
An apparatus for determining the validity of probe information, comprising:   2. The probe information validity determination device according to claim 1, wherein the determination unit further determines the validity of the probe information based on whether or not the first starting wave velocity is within an appropriate numerical range.   The probe according to any one of claims 1 to 3, further comprising an estimation unit that estimates a traffic index related to a queue using the stop position of the probe vehicle when the probe information is determined to be valid. Information validity determination device.   The probe information validity according to any one of claims 1 to 4, wherein, when the probe information is determined to be valid, the calculation means calculates a saturated traffic flow rate using a travel locus of the probe information. Sex determination device. A computer program for causing a computer to execute processing for determining whether probe information is valid as traffic index generation data, the computer comprising:
A time-series sensing signal detected by a vehicle sensor installed in an inflow path of an intersection, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color of a traffic signal Acquisition means for acquiring switching timing;
The first starting wave velocity obtained from the distance from the stop position of the probe vehicle to the intersection, the elapsed time from the blue start time to the start of the probe vehicle, and the distance from the installation position of the vehicle detection sensor to the intersection And a calculating means for calculating a second starting wave velocity obtained from an elapsed time until the vehicle detection sensor first detects an arbitrary vehicle after the blue start time point ,
It functions as a determination unit that determines the validity of the probe information using the two types of starting wave velocities on the condition that the stop position of the probe vehicle is upstream of the installation position of the vehicle sensor. A computer program characterized by the above. A computer program for causing a computer to execute processing for determining whether probe information is valid as traffic index generation data, the computer comprising:
A time-series sensing signal detected by a vehicle sensor installed in an inflow path of an intersection, probe information including a time-series position of a probe vehicle that travels along the inflow path and enters the intersection, and a light color of a traffic signal Acquisition means for acquiring switching timing;
Calculating means for calculating a starting wave velocity obtained from a stop position of the probe vehicle and an elapsed time from a blue start time included in the lamp color switching timing to the start of the probe vehicle;
A computer program that functions as a determination unit that determines the validity of the probe information based on whether or not the starting wave velocity is within an appropriate numerical range.

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