JP6304585B2 - Traffic signal control device and traffic signal control method - Google Patents

Description

  The present invention relates to a traffic signal control device and a traffic signal control method for sequentially switching the signal display of a signal lamp installed on a road.

  The display of the signal lamp installed on the road is controlled by stepping one step at a time based on step information that defines the lamp color and the lamp color display time for each step.

  In the field of such traffic signal control, a method has been proposed in which it is detected whether or not a clogging has occurred on an outflow path from an intersection, and control according to the detection result is performed (for example, Patent Document 1). reference). That is, when a clog occurs in the outflow path from the intersection, the flow of the automobile (hereinafter also referred to as “vehicle”) from the inflow path to the intersection to the outflow path is delayed. For this reason, when a clogging occurs, a time difference display that restricts the inflow of vehicles to the intersection is performed to prevent the vehicle from being stuck in the intersection and to suppress the occurrence of traffic congestion. .

JP 2012-79256 A JP-A-4-163700

  In the conventional traffic signal control method represented by the method described in Patent Document 1, uniform traffic signal control is performed without distinguishing the driver. However, drivers such as elderly drivers or novice drivers tend to lag behind in determining whether or not to stop a vehicle when entering an intersection and braking operations compared to ordinary drivers who are used to driving the vehicle. . For this reason, even if it is a situation where a normal driver can easily determine whether or not to stop the vehicle when the display is changed from a green signal to a yellow signal, this is not recommended for an elderly driver or a beginner driver. Judgment may be difficult. Therefore, although the outflow path from the intersection is clogged, a vehicle such as an elderly driver may enter the intersection and the vehicle may not pass through the intersection even after switching to a red light. In addition, even when the outflow route from the intersection is not clogged, the vehicle such as an elderly driver enters the intersection when the yellow signal is displayed, so that the vehicle remains in the intersection after switching to the red signal. May not pass. As a result, a vehicle such as an elderly driver may cause traffic disruption and traffic congestion, thereby obstructing the traveling of other vehicles.

  In addition, large vehicles such as trucks have longer stopping distances or slower speeds than small vehicles. For this reason, a problem similar to that which may occur in a vehicle such as an elderly driver may also occur in a large vehicle.

  This invention is made | formed in view of such a subject, and it aims at providing the traffic signal control apparatus etc. which can prevent the obstruction | occlusion of the driving | running | working of other vehicles.

  In order to achieve the above object, a traffic signal control device according to an aspect of the present invention is a predetermined type based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection. A specific vehicle running determination unit for determining whether a vehicle driven by a driver to be classified or a specific vehicle indicating a vehicle classified into a predetermined category is traveling on an inflow path to the intersection; and from the intersection A pre-clogging determination unit that obtains a determination result as to whether or not a clogging that indicates a state in which a vehicle cannot enter the outflow path from the intersection due to traffic congestion on the outflow path of the vehicle, and the specific vehicle travel determination When it is determined by the section that the specific vehicle is traveling on the inflow path, based on the determination result obtained by the clogging determination section, a signal lamp installed at the intersection, And a light color time changing unit for changing the green light light color time inflow channel signal lamp device is a signal lamp device for vehicles running serial inflow channel.

  Note that the present invention can be realized not only as a traffic signal control device including such a characteristic processing unit, but also as a step with a process executed by a characteristic processing unit included in the traffic signal control device as a step. It can be realized as a signal control method. It can also be realized as a program for causing a computer to function as a characteristic processing unit included in the traffic signal control device or a program for causing a computer to execute characteristic steps included in the traffic signal control method. Such a program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM (Compact Disc-Read Only Memory) or a communication network such as the Internet. . The present invention can also be realized as a semiconductor integrated circuit that realizes part or all of the traffic signal control device, or as a traffic signal control system including the traffic signal control device.

  According to the present invention, it is possible to prevent the running of other vehicles from being hindered.

It is a road top view which shows the traffic signal control system containing the traffic signal control apparatus which concerns on embodiment of this invention. It is a block diagram which shows the hardware constitutions of a traffic signal control system. It is a block diagram which shows the hardware constitutions of a traffic signal control apparatus. It is a presenting hierarchical diagram corresponding to the step information memorize | stored in present memory. It is a figure which shows the structure of the process part which functions when CPU runs a program. It is a flowchart which shows the procedure of the lamp color time change process by a traffic signal control apparatus. It is a figure for demonstrating the conditions which shorten a blue signal. It is a figure for demonstrating the conditions which extend a green signal. It is a figure for demonstrating the conditions which extend the red signal of all the signal lamp devices.

First, embodiments of the present invention will be listed and described.
(1) A traffic signal control device according to one aspect of the present invention is a driver classified into a predetermined type based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection. A specific vehicle traveling determination unit for determining whether a specific vehicle indicating a vehicle driven by the vehicle or a vehicle classified into a predetermined category is traveling on the inflow path to the intersection, and traffic on the outflow path from the intersection The specific vehicle is determined by a pre-clogging determination unit that obtains a determination result as to whether or not there is a clogging that indicates a state in which the vehicle cannot enter the outflow path from the intersection due to traffic congestion, and the specific vehicle traveling determination unit. Is a signal lamp installed at the intersection based on the determination result obtained by the clogging determination unit when the vehicle travels along the inflow path. And a light color time changing unit for changing the green light light color time inflow channel signal lamp device is a signal lamp device for.

  According to this configuration, when the specific vehicle is traveling on the inflow path, the light color time of the blue signal of the inflow path signal lamp is changed based on the determination result of whether or not the clogging has occurred. For this reason, if there is a clogging, the green light time is changed so that the specific vehicle does not enter the intersection, or if the clogging does not occur, the specific vehicle passes through the intersection. It is possible to change the lighting time of the green light so that As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  (2) For example, in the lamp color time changing unit, the specific vehicle traveling determination unit determines that the specific vehicle is traveling on the inflow path, and the determination result obtained by the pre-clogging determination unit is pre-clogged. In the case where it is shown that the light has occurred, the light color time of the blue signal of the inflow path signal lamp device may be shortened.

  According to this configuration, when it is determined that the specific vehicle is traveling on the inflow path and that the outflow path is clogged, the specific vehicle is located within the intersection by reducing the green light time. Suppresses entering. Thus, it is possible to prevent a situation in which the specific vehicle enters the intersection and the specific vehicle cannot pass through the intersection even after switching to the red signal. As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  (3) In addition, the traffic signal control device described above is an area provided on the inflow path, and when the inflow path signal lamp is changed to a yellow signal, a brake is applied to the intersection. Determination result of whether or not the specific vehicle enters the first zone, which is a region where the vehicle can be safely stopped before entering, a predetermined time before the timing when the inflow path signal lamp is changed to a yellow signal And the lamp color time changing unit is determined by the specific vehicle travel determination unit to determine that the specific vehicle is traveling on the inflow path, and the determination result obtained by the pre-clogging determination unit is obtained. Indicates that a clogging has occurred and the determination result obtained by the entry determination unit indicates that the specific vehicle has entered the first zone a predetermined time before the timing when the inflow path signal lamp is changed to a yellow signal. This has entered If they represent may be shortened green light light color time of the inflow channel signal lamp device.

  According to this configuration, it is determined whether or not there is a specific vehicle at a position where it can be safely stopped before entering the intersection by stepping on the brake before a predetermined time when the green signal is changed to the yellow signal. That is, if the specific vehicle has entered the first zone at the time point, it can be determined that the specific vehicle can be safely stopped before entering the intersection by advancing the timing of changing to the yellow signal. This ensures that even if the driver of a specific vehicle starts to step on the brake after confirming the switch to the yellow signal, the green signal is switched from the green signal to the yellow signal at a timing that can be safely stopped before entering the intersection. The lighting time can be shortened. Therefore, it is possible to prevent the occurrence of a situation in which the specific vehicle enters the intersection and the specific vehicle cannot pass through the intersection even after switching to the red signal when the clogging occurs in the outflow path. .

  In addition, the first zone may be a region (dilemma zone) where the driver is not sure whether to stop or pass through the intersection when the inflow signal lamp is changed to a yellow signal. Good.

  (4) Further, the lamp color time changing unit determines that the specific vehicle is traveling along the inflow path by the specific vehicle traveling determination unit, and the determination result acquired by the pre-clogging determination unit is pre-clogged. In the case where it is indicated that the occurrence of the light has not occurred, the light color time of the blue signal of the inflow path signal lamp device may be extended.

  According to this configuration, when it is determined that the specific vehicle is traveling on the inflow path and that no clogging has occurred on the outflow path, the specific vehicle is made safe by extending the green time of the green light. You can pass through the intersection. Therefore, it is possible to prevent the situation where the specific vehicle cannot pass through the intersection even after switching to the red light. As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  (5) In addition, the traffic signal control device described above is an area provided on the inflow path, and the driver stops before the intersection when the inflow path signal lamp is changed to a yellow signal. A determination result is acquired as to whether or not the specific vehicle is present at a timing when the inflow path signal lamp is changed to a yellow signal in the second zone, which is a region where it is difficult to determine whether to pass the intersection. An existence determination unit, and the lamp color time change unit is determined by the specific vehicle travel determination unit to determine that the specific vehicle is traveling on the inflow path, and the determination result acquired by the pre-clogging determination unit is pre-clogged And the determination result obtained by the presence determination unit indicates that the specific vehicle exists in the second zone at a timing when the inflow path signal lamp is changed to a yellow signal. If It may extend the green light light color time of the inflow channel signal lamp device.

  According to this configuration, when a specific vehicle is present at a position where the driver is not sure whether to stop before the intersection or pass through the intersection when the yellow signal changes, the time of the green signal can be extended. . For this reason, it is possible to allow the specific vehicle to pass through the intersection safely without giving such a hesitation to the driver.

  The second zone is an area provided upstream of the first zone. When the inflow signal lamp is changed to a yellow signal, the second zone can be safely operated before entering the intersection. It may be an area where the vehicle can be stopped.

  (6) Moreover, the lamp color time changing unit is a signal lamp installed at the intersection when the lamp color time of the blue signal of the inflow path signal lamp is extended, and is opposed to the inflow path. You may make it not change the lamp color time of the green light of the signal lamp with respect to the vehicle which drive | works an inflow path.

  As a result, the signal lamp for the vehicle traveling on the inflow path facing the traveling lane of the specific vehicle is changed to a yellow signal or a red signal earlier than the inflow path signal lamp, so that the vehicle traveling on the opposite inflow path The specific vehicle can pass through the intersection safely without being disturbed.

  (7) Further, the traffic signal control device further includes a stop determination unit that acquires a determination result as to whether or not a vehicle is stopped in the intersection when the inflow path signal lamp is changed to a red signal. The lamp color time change unit further includes a determination result obtained by the stop determination unit that the vehicle is stopped in the intersection when the inflow path signal lamp is changed to a red signal. In this case, the time for all the signal lamps installed at the intersection to light the red signal at the same time may be extended.

  According to this configuration, when a vehicle is left in an intersection in a red light state, it is possible to extend the time during which all vehicles are prohibited from entering the intersection. For this reason, vehicles left in the intersection can safely leave the intersection during the red light.

  (8) The traffic signal control method according to another aspect of the present invention is classified into a predetermined type based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection. A step of determining whether or not a specific vehicle indicating a vehicle driven by a driver or a vehicle classified into a predetermined category is traveling on an inflow path to the intersection, and the traffic congestion on the outflow path from the intersection A step of acquiring a determination result as to whether or not a clogging indicating a state in which the vehicle cannot enter the outflow path from an intersection occurs, and it is determined that the specific vehicle is traveling on the inflow path In this case, based on the result of the determination as to whether or not a clogging has occurred, the signal lamp installed at the intersection and the blue of the inflow path signal lamp that is a signal lamp for a vehicle traveling on the inflow path And a step of changing the light color time No..

  According to this configuration, when the specific vehicle is traveling on the inflow path, the light color time of the blue signal of the inflow path signal lamp is changed based on the determination result of whether or not the clogging has occurred. For this reason, if there is a clogging, the green light time is changed so that the specific vehicle does not enter the intersection, or if the clogging does not occur, the specific vehicle passes through the intersection. It is possible to change the lighting time of the green light so that As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

[Details of the embodiment of the present invention]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each of the embodiments described below shows a preferred specific example of the present invention. Numerical values, shapes, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. The invention is specified by the claims. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

[1. Overall system configuration]
FIG. 1 is a road plan view showing a traffic signal control system including a traffic signal control device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a hardware configuration of the traffic signal control system.

  As shown in FIGS. 1 and 2, the traffic signal control system 100 includes a traffic signal control device 10, signal lamps 21 to 24, cameras 31 to 34, and a roadside communication device 35.

  FIG. 1 shows an example of a crossroad intersection (hereinafter simply referred to as “intersection”) IS, but the structure of the intersection IS is not limited to that shown in FIG. The number of lanes of the inflow paths L1, L3, L5 and L7 to the intersection IS and the outflow paths L2, L4, L6 and L8 from the intersection IS are also examples, and are not limited to those shown in FIG. In FIG. 1, the following description will be made with the upward direction on the paper as the north direction. Moreover, in FIG. 1, illustration of the signal lamp device for pedestrians is omitted.

  Further, it is assumed that a dilemma zone 52 and a determination zone 53 are virtually provided on the inflow channel L1. The dilemma zone 52 is an area where the driver is confused as to whether to stop before the intersection IS or pass the intersection IS when the signal lamp 23 is changed to a yellow signal. The dilemma zone 52 is determined by the traveling speed of the vehicle and the display time of the yellow signal. For example, as the traveling speed of the vehicle increases, the start position of the dilemma zone 52 (the position of the end of the dilemma zone 52 far from the intersection IS) is set to a position away from the intersection IS, and the display time of the yellow signal is shorter. The end position of the dilemma zone 52 (the position of the end of the dilemma zone 52 closer to the intersection IS) is set to a position approaching the intersection IS.

  The determination zone 53 is an area provided on the upstream side of the dilemma zone 52. When the signal lamp 23 is changed to a yellow signal, the vehicle 50 can be safely moved before entering the intersection IS by stepping on the brake. This is an area that can be stopped. The determination zone 53 is determined based on the traveling speed of the vehicle. For example, the length of the determination zone 53 is a distance that the vehicle can travel during a predetermined time (for example, a fixed time selected within a range of 2 to 3 seconds). In FIG. 1, the dilemma zone 52 and the determination zone 53 are continuous. However, these are not necessarily continuous, and there may be a gap between the dilemma zone 52 and the determination zone 53.

The traffic signal control device 10 is a device that controls the display of each of the signal lamps 21 to 24. For example, the traffic signal control apparatus 10 is attached to the signal lamp 22 while being housed in a housing. The traffic signal control device 10 is connected to signal lamps 21, 22, 23, and 24 installed at upstream ends (ends on the intersection IS side) of the outflow paths L2, L4, L6, and L8 at the intersection IS via power lines. ing. The traffic signal control device 10 is connected to the cameras 31 to 34 and the roadside communication device 35 by wire or wirelessly.
Each of the signal lamps 21 to 24 includes blue, yellow, and red round lamps as vehicle lamps.

  The cameras 31, 32, and 33 are installed in the outflow paths L4, L6, and L8 in directions to image the vehicle from the front, and respectively capture the outflow paths L4, L6, and L8. The camera 34 is installed in the inflow path L1 in a direction to image the vehicle from the front, and images the inflow path L1. The cameras 31 to 34 transmit the captured images to the traffic signal control device 10. Note that the installation location, orientation, and number of cameras are merely examples, and the present invention is not limited thereto.

  The roadside communicator 35 is installed on the roadside of the inflow path L1 or the like, and performs two-way wireless communication with the in-vehicle communication apparatus 41 mounted on the vehicle 50 traveling on the inflow path L1 to provide information on the driver of the vehicle 50 50 vehicle type information (hereinafter referred to as “profile information”) is acquired from the vehicle 50 via the in-vehicle communication device 41. The roadside communication device 35 transmits the acquired profile information to the traffic signal control device 10. The profile information may include information such as the driver's gender, age, date of obtaining a driver's license as information on the driver of the vehicle 50. The profile information may include information on the classification of the vehicle 50, information on the total weight, and the like as the vehicle type information of the vehicle 50. Specifically, the roadside communication device 35 is an optical beacon, a 700 MHz band wireless device, a DSRC (Dedicated Short Range Communications) wireless device, or the like.

  The traffic signal control device 10 dynamically changes the lamp color time of each signal of the signal lamps 21 to 24 based on the images captured by the cameras 31 to 34 and the profile information acquired by the roadside communication device 35. Hereinafter, the configuration of the traffic signal control device 10 will be described in detail.

[2. Configuration of Traffic Signal Control Device 10]
FIG. 3 is a block diagram illustrating a hardware configuration of the traffic signal control device 10. As shown in FIG. 3, the traffic signal control device 10 includes an interface unit 110, a CPU (Central Processing Unit) 120, and a lamp color output control unit 130.

  The interface unit 110 is a hardware interface that is connected to the cameras 31 to 34 and the roadside communication device 35 and receives video and profile information therefrom.

  Based on the step information that determines the order of the lamp colors, the combination of the lamp colors, the reference display time of the lamp colors, and the like, the CPU 120 sends a step command that is a timing signal for switching the lamp colors of each signal lamp. Output to the color output control unit 130. The step command is a command for advancing the display to the next level (advancing the step to the next step). That is, when the lamp color display time indicated in the step information has elapsed, the CPU 120 outputs a step command to the lamp color output control unit 130 in order to advance the current display to the next floor. The CPU 120 dynamically changes the lamp color display time based on the video and profile information received via the interface unit 110. The process for changing the lamp color display time will be described in detail later.

  The lamp color output control unit 130 is a processing unit that controls each signal lamp for displaying the lamp color indicated by the step information on the basis of the step information and the step command, and includes a step counter 131 and a display memory. 132 and a display memory reading circuit 133.

The step counter 131 measures a step based on the step command sent from the CPU 120 and generates a step signal. The step counter 131 outputs the generated step signal to the display memory reading circuit 133. Note that counting a step means sequentially stepping to the next step while pointing to the current step.
The display memory 132 stores step information.

  The display memory reading circuit 133 reads the lamp color combination corresponding to the step indicated by the step signal output from the step counter 131 from the step information stored in the display memory 132, and reads the lamp color. Based on these combinations, the lamp color is output to each signal lamp.

  FIG. 4 is a current floor plan corresponding to the step information stored in the current memory 132. FIG. 4 shows each step (floor) designated by the step counter 131 and the light color of each signal lamp at the intersection illustrated in FIG. In FIG. 4, a horizontal line represents blue display, a broken line represents yellow display, a double line represents red display, and a vertical line represents blue blinking. Steps 1 to 10 represent one cycle of the signal lamp. Moreover, the combination of the lamp color of each signal lamp is specified by a code (PG, PF, PR, Y, AR). Furthermore, the reference display time of each step is illustrated. The reference display time is a lamp color display time employed in normal traffic conditions. Here, to explain the meaning of the symbols, PG indicates a state in which the light color of the pedestrian signal light device is a blue signal, PF indicates a state in which the light color of the pedestrian signal light device is a blue blinking signal, PR indicates a state in which the light color of the pedestrian signal lamp is a red signal. Y indicates a state in which the light color of the signal lamp device for the vehicle is a yellow signal, and AR indicates a state in which the light colors of all the signal light devices are red signals.

  When the step designated by the step counter 131 is step 1 (the sign is PG), the signal colors of the vehicle lamps 21 and 23 for the north-south direction are blue, and the color of the signal lamp for the pedestrians in the north-south direction. Is a blue signal, the light color of the signal lamps 22 and 24 for vehicles in the east-west direction is a red signal, and the light color of the signal lamp for pedestrians in the east-west direction is a red signal. The reference display time in step 1 is 30 seconds.

  When the step designated by the step counter 131 is step 2 (the sign is PF), the signal colors of the signal lamps 21 and 23 for vehicles in the north-south direction are blue signals, and the lamp colors of the signal lamps for pedestrians in the north-south direction. Is a blue blinking signal, the light color of the vehicle signal lights 22 and 24 in the east-west direction is a red signal, and the light color of the signal light device for pedestrians in the east-west direction is a red signal. The reference display time in step 2 is 5 seconds.

  Similarly, each time the step specified by the step counter 131 is incremented, the lamp color of each signal lamp is changed. After the step designated by the step counter 131 has advanced to step 10 (sign is AR), when the step counter 131 receives a step command from the CPU 120, the step counter 131 resets the step to step 1 (sign is PG). .

[3. Functional configuration of CPU 120]
FIG. 5 is a diagram illustrating a configuration of a processing unit that functions when the CPU 120 executes a program. The CPU 120 is functionally (as a processing unit that functions by the CPU 120 executing a program), a specific vehicle travel determination unit 121, a clogging determination unit 122, an entry determination unit 123, a presence determination unit 124, a stop The determination part 125 and the lamp color time change part 126 are provided.

  The specific vehicle travel determination unit 121 is classified into a vehicle driven by a driver classified into a predetermined type or a predetermined category based on profile information received from the vehicle 50 by the roadside communication device 35 via the in-vehicle communication device 41. It is determined whether or not the specific vehicle indicating the vehicle to be driven is traveling on the inflow path L1 to the intersection IS.

  Here, a driver classified into a predetermined type is, for example, an elderly driver, a novice driver, or a female driver who takes time to make a judgment for vehicle operation, or takes time to operate a brake and an accelerator. Indicates a driver who is likely to take. The specific vehicle travel determination unit 121 determines that the vehicle 50 is an elderly driver, a novice driver, a female driver, or the like based on information such as the driver's gender, age, date of obtaining a car driving license included in the profile information. It is determined whether it corresponds to the specific vehicle to drive. For example, when the age of the driver of the vehicle 50 indicated in the profile information is 70 years old or more, the specific vehicle travel determination unit 121 is configured such that the vehicle 50 driven by an elderly driver, which is a type of the specific vehicle, flows into the intersection IS. It is determined that the vehicle is traveling on L1. In addition, the specific vehicle travel determination unit 121 is driven by a novice driver, which is a kind of specific vehicle, when today's date has not passed one year from the date of obtaining the automobile driving license indicated in the profile information. It is determined that the vehicle 50 is traveling on the inflow path L1 of the intersection IS. Further, when the gender of the driver indicated in the profile information is female, the specific vehicle travel determination unit 121 drives the vehicle 50 driven by the female driver, which is a type of specific vehicle, traveling on the inflow path L1 of the intersection IS. It is determined that

  Further, the vehicle classified into the predetermined category indicates a vehicle having a relatively long stop distance such as a large vehicle, for example. Here, the stop distance is a total distance of the idle running distance and the braking distance. The free running distance is the distance that the vehicle travels before the driver starts to apply the brakes when the driver feels danger. The braking distance is a distance that the vehicle travels from when the brake starts to work until the vehicle stops. The specific vehicle travel determination unit 121 determines whether or not the vehicle 50 is a large vehicle, that is, a specific vehicle, from the classification information of the vehicle 50 included in the profile information, the total vehicle weight information, and the like. For example, the specific vehicle travel determination unit 121 determines that the specific vehicle is traveling on the inflow path L1 of the intersection IS when the classification of the vehicle 50 indicated in the profile information corresponds to a large vehicle or a specific large vehicle. . The specific vehicle travel determination unit 121 determines that the specific vehicle is traveling on the inflow path L1 of the intersection IS when the total weight of the vehicle 50 indicated in the profile information is larger than a predetermined threshold.

  The clogging determination unit 122 determines whether or not a clogging that indicates a state in which a vehicle cannot enter the outflow path L6 from the intersection IS due to traffic congestion on the outflow path L6 from the intersection IS is determined. Get the result. For example, the clogging determination unit 122 extracts a vehicle from an image captured by the camera 32, calculates the average speed of the vehicle by tracking the extracted vehicle, and the average speed of the vehicle is smaller than a predetermined speed threshold. In addition, the determination result may be acquired by determining that a clogging due to traffic congestion has occurred. Note that vehicle extraction can be performed by the background subtraction method. That is, the clogging determination unit 122 extracts a vehicle by binarizing a difference image between a video image captured by the camera 32 and a background image in which the vehicle is not reflected with a predetermined threshold. The vehicle can be tracked by template matching. That is, the approach determination unit 123 tracks the vehicle by repeatedly searching for the position that best matches the template in the next frame using the vehicle image extracted by the background difference method as a template. Further, the clogging determination unit 122 may determine whether or not a clogging has occurred not only in the outflow path L6 but also in the outflow path L4 or the outflow path L8.

  The entry determination unit 123 has a predetermined time (for example, a fixed time selected within a range of 2 to 3 seconds) when the signal lamp 23 is changed to a yellow signal in the determination zone 53 provided on the inflow path L1. A determination result is acquired by determining whether a specific vehicle enters before. Specifically, the entry determination unit 123 extracts the specific vehicle detected by the specific vehicle travel determination unit 121 from the video captured by the camera 34. The extraction of the specific vehicle is performed by extracting the vehicle passing under the roadside communication device 35 by the background difference method described above. The approach determination unit 123 calculates the speed of the specific vehicle by tracking the extracted specific vehicle. The entry determination unit 123 sets the determination zone 53 based on the speed of the specific vehicle. For example, the length of the determination zone 53 is calculated by multiplying the speed of the specific vehicle by the predetermined time, and the determination zone 53 of the calculated length is set upstream of the dilemma zone set by the presence determination unit 124 described later. It may be set. The entry determination unit 123 may obtain profile information including the speed of the specific vehicle from the in-vehicle communication device 41 via the roadside communication device 35 instead of calculating the speed of the specific vehicle by tracking the specific vehicle. Good. The approach determination unit 123 calculates the length of the determination zone 53 based on the speed of the specific vehicle indicated by the acquired profile information, and sets the determination zone 53 having the calculated length in the inflow path L1.

  If the entry determination unit 123 determines that the specific vehicle is present at the end on the upstream side of the determination zone 53 before the timing at which the signal lamp 23 is changed to the yellow signal, the determination zone 53 The determination result is acquired by determining that the specific vehicle has entered. If a specific vehicle enters the determination zone 53 a predetermined time before the yellow signal is changed, the signal lamp 23 is changed to a yellow signal before the specific vehicle reaches the dilemma zone before the intersection IS. It can be determined that the specific vehicle can be safely stopped. That is, it can be determined that the specific vehicle can be safely stopped before the intersection IS by changing the signal lamp 23 to a yellow signal earlier by shortening the lamp color time of the green light of the signal lamp 23. The execution timing of the determination process by the entry determination unit 123 is not limited to a predetermined time before the timing when the signal lamp 23 is changed to a yellow signal. For example, when the position of the specific vehicle can be estimated from the speed of the specific vehicle, the determination process by the entry determination unit 123 is executed before a predetermined time before the timing when the signal lamp 23 is changed to the yellow signal. Also good.

  The presence determination unit 124 acquires a determination result by determining whether or not a specific vehicle exists in the dilemma zone 52 provided on the inflow path L1 at a timing when the signal lamp 23 is changed to a yellow signal. . That is, the presence determination unit 124 extracts the specific vehicle detected by the specific vehicle travel determination unit 121 from the video captured by the camera 34. The presence determination unit 124 calculates the speed of the specific vehicle by tracking the extracted specific vehicle, and sets the dilemma zone 52 based on the speed of the specific vehicle. The presence determination unit 124 acquires the determination result by determining whether or not a specific vehicle exists in the dilemma zone 52 at the timing when the signal lamp 23 is changed to a yellow signal. The specific vehicle existing in the dilemma zone 52 may not be able to stop safely before the intersection IS or pass through the intersection IS safely. The execution timing of the determination process by the presence determination unit 124 is not limited to the timing at which the signal lamp 23 is changed to a yellow signal. For example, when the position of the specific vehicle can be estimated from the speed of the specific vehicle, the determination process by the presence determination unit 124 may be executed even before the timing when the signal lamp 23 is changed to the yellow signal.

  The stop determination unit 125 acquires the determination result by determining whether or not the vehicle is stopped in the intersection IS when the signal lamp 23 is changed to a red signal. For example, the stop determination unit 125 extracts the vehicle from the video captured by the camera 32, and acquires the determination result by determining whether or not the vehicle is stopped in the intersection IS.

  When the specific vehicle traveling determination unit 121 determines that the specific vehicle is traveling on the inflow path L1, the lamp color time changing unit 126 is based on the determination result by the pre-clogging determination unit 122 and the green light of the signal lamp 23 Change the lighting time of. That is, when the lamp color time of the blue signal is shortened by a predetermined time, the lamp color time changing unit 126 issues a step command to the step counter 131 at a timing earlier than the reference display time indicated by the step information by a predetermined time. Output. In addition, when the lamp color time of the green light is extended by a predetermined time, the lamp color time changing unit 126 issues a step command to the step counter 131 at a timing later than the reference display time indicated by the step information by a predetermined time. Output. Note that the lamp color time changing unit 126 uses the determination results of the entry determination unit 123 and the presence determination unit 124 when determining whether to change the lamp color time of the green signal. For a detailed determination method, This will be described later with reference to the flowchart shown in FIG.

  Further, the lamp color time changing unit 126 is installed at the intersection IS when the stop determination unit 125 determines that the vehicle is stopped in the intersection IS when the signal lamp 23 is changed to a red signal. The signal lamps 21 to 24 of the above will extend the time for lighting the red signal at the same time. That is, the lamp color time changing unit 126 outputs a step command to the step counter 131 at a timing later than the reference display time indicated by the step information by a predetermined time.

[4. Operation of Traffic Signal Control Device 10]
Next, the operation of the traffic signal control device 10 will be described. FIG. 6 is a flowchart showing the procedure of the lamp color time changing process by the traffic signal control device 10.
CPU120 acquires a video from cameras 31-34 via interface part 110 (Step S1).
CPU120 acquires the profile information transmitted from the vehicle-mounted communication apparatus 41 of the vehicle 50 via the roadside communication apparatus 35 and the interface part 110 (step S2).

  The specific vehicle travel determination unit 121 determines whether or not the specific vehicle is traveling on the inflow path L1 of the intersection IS based on the profile information acquired in the acquisition process (step S2) (step S3).

  When it is determined that the specific vehicle is traveling on the inflow path L1 of the intersection IS (YES in step S3), the pre-clogging determination unit 122 determines whether or not the clogging has occurred in the outflow path L6. (Step S4). For example, as shown in FIG. 7, when a traffic jam occurs due to the vehicle train 51 traveling on the outflow path L6, it can be determined that a clogging due to the traffic jam has occurred. Further, for example, as shown in FIG. 8, when the vehicle 55 is traveling at a normal speed on the outflow path L6, it can be determined that no clogging has occurred. 7 and 8, the illustration of the wiring of the traffic signal control device 10 and the signal lamp is omitted.

  When it is determined that the clogging has occurred in the outflow path L6 (YES in step S4), the entry determination unit 123 determines that the inflow path is a predetermined time before the timing when the signal lamp 23 is changed to the yellow signal. It is determined whether or not the specific vehicle enters the determination zone 53 provided on L1 (step S5). That is, the entry determination unit 123 determines that the specific vehicle enters the determination zone 53 when the specific vehicle is present at the upstream end 54A of the determination zone 53 as shown in FIG. The determination method is not limited to this. For example, when a specific vehicle exists in the determination zone 53, it may be determined that the specific vehicle enters the determination zone 53.

  If it is determined that the specific vehicle enters the determination zone 53 a predetermined time before the timing when the signal lamp 23 is changed to the yellow signal (YES in step S5), the timing for changing the signal lamp 23 to the yellow signal is advanced. The specific vehicle can be safely stopped in front of the intersection IS by reducing the color time of the green light of the signal lamp 23. For this reason, the lamp color time changing unit 126 reduces the lamp color time of the green signal indicated by the reference display time of the step information by a predetermined reduction time (step S6). Referring to FIG. 4, the step designated by step counter 131 is step 3 (sign is PR) before the timing when signal lamp 23 is changed to the yellow signal. For example, when the predetermined shortening time is 3 seconds, the lamp color time changing unit 126 sets the reference display time 10 seconds when the step designated by the step counter 131 is step 3 (sign is PR) to 3 seconds. The shortened 7 seconds is set as the green color of the light. The predetermined shortening time may be the same as the predetermined time in the determination process (step S5).

  CPU120 will output a step command to step counter 131, if the lighting time of the green light after shortening passes (Step S7). As a result, the signal lamp 23 can be changed to a yellow signal at a timing earlier than the reference display time. For example, the specific vehicle is present at a position 54B upstream of the dilemma zone 52 at the time of changing to the yellow signal by shortening the lamp color time of the green light. Therefore, the driver of the specific vehicle can stop the specific vehicle safely before the intersection IS. In addition, the light color time of the green light of the signal lamp 21 controlled in conjunction with the signal lamp 23 is shortened similarly to that of the signal lamp 21.

  If it is determined that the specific vehicle does not enter the determination zone 53 a predetermined time before the timing when the signal lamp 23 is changed to the yellow signal (NO in step S5), the green color of the lamp is not changed.

  When it is determined that no clogging has occurred in the outflow path L6 (NO in step S4), the presence determination unit 124, as shown in FIG. 8, at the timing when the signal lamp 23 is changed to a yellow signal. It is determined whether or not the specific vehicle 54 exists in the dilemma zone 52 provided on the inflow path L1 (step S8).

  If it is determined that there is a specific vehicle in the dilemma zone 52 at the timing when the yellow signal is changed (YES in step S8), the specific vehicle stops safely before the intersection IS, or the intersection IS safely You may not be able to pass through. Therefore, the lamp color time changing unit 126 extends the lamp color time of the green signal indicated by the reference display time of the step information by a predetermined extension time (step S9). The predetermined extension time is set to a time (for example, 2 to 3 seconds) such that the specific vehicle passes through the dilemma zone 52 when the signal lamp 23 is changed to the yellow signal. Since the vehicle passes through the dilemma zone 52 when the yellow signal is changed, the driver passes the intersection IS without stopping the specific vehicle. Referring to FIG. 4, at the timing when the signal lamp 23 is changed to the yellow signal, the step designated by the step counter 131 is step 3 (sign is PR). For example, when the predetermined extension time is 3 seconds, the lamp color time changing unit 126 sets the reference display time 10 seconds when the step designated by the step counter 131 is step 3 (sign is PR) to 3 seconds. The extended 13 seconds is used as the lamp time for green light.

  CPU120 will output a step command to step counter 131, if the lighting time of the blue signal after extension passes (Step S7). As a result, the signal lamp 23 can be changed to a yellow signal at a timing later than the reference display time. Therefore, the driver of the specific vehicle can pass through the intersection IS safely without determining that the vehicle stops before the intersection IS. In addition, the color time of the green light of the signal lamp 21 controlled in conjunction with the signal lamp 23 is similarly extended.

  If it is determined that there is no specific vehicle in the dilemma zone 52 at the timing when the signal lamp 23 is changed to the yellow signal (NO in step S8), the lamp color time of the green signal is not changed.

  After the process of changing the green light lamp color time (steps S3 to S9), the stop determination unit 125 stops the vehicle 56 in the intersection IS when the signal lamp 23 is changed to a red signal as shown in FIG. It is determined whether or not (step S10). In addition, in FIG. 9, illustration of wiring, such as the traffic signal control apparatus 10 and a signal lamp, is abbreviate | omitted.

  If it is determined that the vehicle 56 is stopped in the intersection IS when the red light is changed (YES in step S10), the stopped vehicle 56 needs to be safely taken out of the intersection IS. For this reason, the lamp color time changing unit 126 extends the lamp color time of the red signal of all the signal lamps 21 to 24 (step S11). That is, the lamp color time changing unit 126 extends the lamp color time of the red signal indicated by the reference display time of the step information by a predetermined extension time. Referring to FIG. 4, at the timing when the signal lamp 23 is changed to a red signal, the step designated by the step counter 131 is step 5 (sign is AR). For example, when the predetermined extension time is 2 seconds, the lamp color time changing unit 126 sets the reference display time 3 seconds when the step designated by the step counter 131 is step 5 (the symbol is AR) to 2 seconds. The extended 5 seconds is used as the red light color time.

CPU120 will output a step command to step counter 131, if the lamp color time of the red signal after extension passes (Step S12). Therefore, it is possible to extend the lamp color time of the red signal of all the signal lamps 21 to 24. As a result, the vehicle 56 parked in the intersection IS can safely go out of the intersection IS while the red light is extended and displayed. The extension time may be a fixed time determined in advance depending on the size of the intersection, etc., or may be a variable time determined so as to increase as the number of vehicles stopped in the intersection IS increases. Also good. By setting the extended time as a variable time, even if the number of vehicles stopping in the intersection IS increases, all the vehicles can be safely taken out of the intersection IS.
If it is determined that the vehicle is not stopped at the intersection IS when the red signal is changed (NO in step S10), the red color lamp time is not changed.
The traffic signal control device 10 repeatedly executes the processing described above.

[5. Effects of the embodiment]
As described above, according to the present embodiment, when it is determined that the specific vehicle is traveling on the inflow path L1 and the clogging is occurring on the outflow path L6, the lamp time of the green light is reduced. By shortening, the specific vehicle is prevented from entering the intersection IS. Therefore, it is possible to prevent a situation in which the specific vehicle cannot pass through the intersection IS even after the signal lamp 23 is switched to a red signal. As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  For example, when it is determined that the specific vehicle is traveling on the inflow path L1 and the clogging is occurring on the outflow path L6, the specific vehicle is within the intersection IS by shortening the light color time of the green light. Suppresses entering. Therefore, it is possible to prevent the situation where the specific vehicle enters the intersection IS and the specific vehicle cannot pass through the intersection even after switching to the red signal. As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  In particular, it is determined whether or not the specific vehicle enters the determination zone 53 a predetermined time before the yellow signal is changed. That is, if the specific vehicle has entered the first zone at the time point, it can be determined that the specific vehicle can be safely stopped before entering the intersection by advancing the timing of changing to the yellow signal. As a result, even if the driver of a specific vehicle confirms the switch to the yellow signal and starts stepping on the brake, the green signal is switched from the green signal to the yellow signal at a timing that can be safely stopped before entering the intersection IS. The lighting time can be shortened. Therefore, it is possible to prevent the situation where the specific vehicle enters the intersection IS and the specific vehicle cannot pass through the intersection IS even after switching to the red signal when the clogging occurs in the outflow path. Can do.

  In addition, according to the present embodiment, when it is determined that the specific vehicle is traveling on the inflow path L1 and no clogging has occurred on the outflow path L6, the light color time of the green light is extended. Thus, the specific vehicle can safely pass the intersection IS. Therefore, it is possible to prevent a situation in which the specific vehicle cannot pass through the intersection IS even after switching to a red signal. As a result, it is possible to prevent the specific vehicle from causing traffic disruption and traffic congestion, and thus to prevent the other vehicle from being obstructed.

  In particular, when a specific vehicle exists in the dilemma zone 52, the time of the green light can be extended. For this reason, it is possible to safely pass the intersection IS to the specific vehicle without giving the driver the question of whether to stop before the intersection IS or to pass the intersection IS when it changes to a yellow signal.

  Further, according to the present embodiment, when a vehicle is left in the intersection IS in a red signal state, it is possible to extend the time during which all vehicles are prohibited from entering the intersection IS. For this reason, vehicles left in the intersection IS can safely leave the intersection IS during the red light.

[6. Addendum]
The traffic signal control system including the traffic signal control device according to the embodiment of the present invention has been described above, but the present invention is not limited to this embodiment.

  For example, in the lamp color time changing process shown in FIG. 6, the determination process (step S5) and the determination process (step S8) are not necessarily executed. In other words, in a state where the specific vehicle is traveling on the inflow path L1 (YES in step S3), if a clogging has occurred (YES in step S4), the lamp color time changing unit 126 sets the lamp color time of the green signal. If it is shortened (step S6) and no clogging has occurred (NO in step S4), the lamp color time changing unit 126 may extend the lamp color time of the green light (step S9). In this case, in the functional configuration of the CPU 120 illustrated in FIG. 5, the entry determination unit 123 and the presence determination unit 124 are not necessary.

  In the pre-clogging determination process (S4 in FIG. 6), the pre-clogging determination unit 122 determines whether or not a pre-clogging has occurred in the outflow path L6, but also in the other outflow paths L4 or L8. It may be determined whether or not pre-clogging has occurred. In this case, when it is determined that a clogging has occurred in any of the outflow paths L4, L6, and L8 (YES in step S4), the entry determination unit 123 performs determination processing ( Step S5) is executed. If it is determined that no clogging has occurred in any outflow path (NO in step S4), the presence determination unit 124 performs a determination process (step S8).

  Further, when the signal lamp 21 and the signal lamp 23 are time difference type traffic lights, the signal lamp 21 and the signal lamp 23 may be controlled independently. Referring to FIG. 8, for example, it is assumed that the specific vehicle 54 is about to make a right turn. At this time, according to the above-described embodiment, since the signal lamp 21 and the signal lamp 23 are controlled in conjunction with each other, the lamp color time of both the signal lamp 21 and the signal lamp 23 is extended. However, when the signal lamp 21 and the signal lamp 23 are time-difference type traffic lights, only the lamp color time of the green light of the signal lamp 23 (the lamp color time when there is a right turn arrow lamp) is extended. You may do it. As a result, the signal lamp 21 is changed to a yellow signal or a red signal earlier than the signal lamp 23, so that the specific vehicle 54 has an inflow path L5 that faces the inflow path L1 that is the travel lane of the specific vehicle 54. You can safely make a right turn at the intersection IS without being obstructed by the traveling vehicle. Whether or not the specific vehicle 54 is about to turn right may be determined by detecting a blinking direction indicator from an image captured by the camera 34. In addition, when the profile information includes information on the traveling direction, it may be determined whether or not the specific vehicle 54 is about to turn right from the traveling direction indicated by the profile information.

  The roadside communication device 35 performs two-way wireless communication with the in-vehicle communication device 41. However, the profile information is received from the vehicle by optical communication using an optical vehicle sensor instead of the roadside communication device 35. May be.

  In addition, the specific vehicle travel determination unit 121 recognizes the elderly driver sign or the initial driver sign from the image captured by the camera 34 using a technique such as pattern matching. It may be determined whether or not a specific vehicle driven by the vehicle is traveling on the inflow path L1. In addition, the specific vehicle travel determination unit 121 extracts the driver's face image from the video captured by the camera 34, and determines the driver's gender from the extracted face image, whereby the specific vehicle that the woman drives It may be determined whether or not the vehicle is traveling on the inflow path L1. Furthermore, the specific vehicle travel determination unit 121 extracts a vehicle from the image captured by the camera 34, and determines that a large vehicle is traveling on the inflow path L1 when the area of the extracted vehicle is larger than a predetermined threshold. May be.

  In addition, the specific vehicle travel determination unit 121 may determine that a vehicle that is driving at a speed slower than a predetermined speed by a predetermined speed or more than the surrounding vehicles is a specific vehicle. Beginner drivers and older drivers tend to drive the vehicle at a slower speed. Therefore, according to this determination method, a vehicle that is traveling at a slow speed can be regarded as a specific vehicle that is driven by a beginner driver or an elderly driver.

  Further, the specific vehicle travel determination unit 121 may determine that a vehicle having an inter-vehicle distance of a predetermined distance or more is a specific vehicle. Beginner drivers and older drivers tend to increase the distance between vehicles. For this reason, according to this determination method, a vehicle in which the inter-vehicle distance is too wide can be regarded as a specific vehicle that is driven by a driver of the originality or an elderly driver.

  In the above-described embodiment, it is determined whether or not a pre-clogging has occurred using a camera. However, it is determined whether or not a clogging has occurred using an ultrasonic vehicle sensor or the like. Also good. For example, two ultrasonic vehicle detectors are installed on the outflow path L6 at a certain distance, and the two ultrasonic vehicle detectors and the traffic signal control device are connected by wire or wirelessly. The pre-clogging determination unit 122 calculates the vehicle passing time from the outputs of these two ultrasonic vehicle detectors, and determines that a clogging has occurred when the passing time is greater than a predetermined threshold. May be.

  In addition, the entry determination unit 123 and the presence determination unit 124 determine the entry and presence of the specific vehicle from the images captured by the camera, respectively, but the entry of the specific vehicle using an ultrasonic vehicle sensor instead of the camera. Or you may determine presence. For example, an ultrasonic vehicle detector is installed above the upstream end 54A of the determination zone 53 and above the dilemma zone 52, respectively. Based on the timing at which the roadside communication device 35 acquires the profile information of the specific vehicle, the ultrasonic vehicle detector installed above the end 54A is the vehicle at the time when the specific vehicle is predicted to pass through the end 54A. When the passage is detected, the entry determination unit 123 determines that the specific vehicle has entered the determination zone 53. Similarly, an ultrasonic vehicle detector installed above the dilemma zone 52 detects the passing of the vehicle at a time when the specific vehicle is predicted to pass the dilemma zone 52 based on the timing at which the profile information is acquired. If so, the presence determination unit 124 determines that the specific vehicle exists in the dilemma zone 52.

  In addition, the stop determination unit 125 determines whether or not the vehicle is stopped in the intersection IS from the image captured by the camera. However, instead of the camera, the stop determination unit 125 uses an ultrasonic vehicle sensor in the intersection IS. It may be determined whether or not the vehicle has stopped. For example, if ultrasonic vehicle detectors are installed at the entrance and exit of the intersection IS, and the difference between the number of vehicles flowing into the intersection IS and the number of vehicles flowing out of the intersection IS is greater than 1, the intersection IS It is determined that the vehicle is stopped. The difference can be regarded as the number of vehicles stopped in the intersection IS.

  In the above-described embodiment, the clogging determination unit 122, the entry determination unit 123, the presence determination unit 124, and the stop determination unit 125 of the traffic signal control device 10 perform various determination processes based on the image captured by the camera. However, the device that performs the determination process is not limited to the traffic signal control device 10. For example, an image type vehicle sensor may be installed in the outflow path or the inflow path instead of the camera, and the image type vehicle sensor may execute various determination processes. The image-type vehicle detector includes a camera and a video processing unit connected to the camera. The video processing unit performs image processing on the video captured by the camera, thereby determining the number of vehicles, determining the vehicle speed, determining whether the vehicle is a large vehicle or a small vehicle, and attaching the vehicle to an elderly driver mark or an initial driver mark. The determination result is transmitted to the traffic signal control device 10. At this time, the clogging determination unit 122, the entry determination unit 123, the presence determination unit 124, and the stop determination unit 125 of the traffic signal control device 10 function as an acquisition unit that acquires a determination result from the video processing unit of the image type vehicle sensor. To do.

  Further, the traffic signal control device 10 may be specifically configured as a computer system including a microprocessor, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk drive, and the like. A computer program is stored in the RAM or hard disk drive. The traffic signal control device 10 achieves its functions by the microprocessor operating according to the computer program. Here, the computer program is configured by combining a plurality of instruction codes indicating instructions for the computer in order to achieve a predetermined function.

  Furthermore, some or all of the constituent elements constituting the traffic signal control apparatus 10 may be configured by one system LSI (Large Scale Integration). The system LSI is an ultra-multifunctional LSI manufactured by integrating a plurality of components on a single chip, and specifically, a computer system including a microprocessor, ROM, RAM, and the like. . A computer program is stored in the RAM. The system LSI achieves its functions by the microprocessor operating according to the computer program.

  Further, the computer program is a computer-readable non-transitory recording medium such as a flexible disk, a hard disk drive, a CD-ROM, a MO (Magneto-Optical disc), a DVD (Digital Versatile Disc), a DVD-ROM (Digital). It may be recorded on a Versatile Disc Read Only Memory (DVD), a Digital Versatile Disc Random Access Memory (BD-RAM), a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, or the like.

The computer program may be transmitted via an electric communication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like.
Furthermore, the above embodiment and the above modification examples may be combined.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is useful when used in a traffic signal control device or the like for controlling a traffic signal of a vehicle.

DESCRIPTION OF SYMBOLS 10 Traffic signal control apparatus 21-24 Signal lamp 31-34 Camera 35 Roadside communication apparatus 41 Car-mounted communication apparatus 50, 55, 56 Vehicle 51 Vehicle train 52 Dilemma zone 53 Judgment zone 54 Specific vehicle 54A End part 54B Position 100 Traffic signal control system 110 Interface unit 120 CPU
121 Specific vehicle travel determination unit 122 Pre-clogging determination unit 123 Entrance determination unit 124 Presence determination unit 125 Stop determination unit 126 Light color time change unit 130 Light color output control unit 131 Step counter 132 Display memory 133 Display memory reading circuit IS Intersection L1, L3, L5, L7 Inflow path L2, L4, L6, L8 Outflow path

Claims (6)

Identification indicating a vehicle driven by a driver classified into a predetermined type or a vehicle classified into a predetermined category based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection A specific vehicle travel determination unit that determines whether the vehicle is traveling on an inflow path to the intersection;
A clogging determination unit that acquires a determination result as to whether or not a clogging that indicates a state in which a vehicle cannot enter the outflow road from the intersection due to traffic congestion on the outflow road from the intersection; and
When the specific vehicle traveling determination unit determines that the specific vehicle is traveling on the inflow path, the signal vehicle installed at the intersection is based on the determination result acquired by the clogging determination unit. A lamp color time changing unit that changes a lamp color time of a blue signal of an inflow path signal lamp that is a signal lamp for a vehicle traveling on the inflow path ;
An area provided on the inflow path, where the vehicle can be safely stopped before entering the intersection by stepping on a brake when the inflow path signal lamp is changed to a yellow signal. In the first zone, an entry determination unit that obtains a determination result as to whether or not the specific vehicle enters a predetermined time before the timing when the inflow path signal lamp is changed to a yellow signal,
The lamp color time changing unit is determined by the specific vehicle traveling determination unit to determine that the specific vehicle is traveling on the inflow path, and the determination result obtained by the pre-clogging determination unit is that the leading end has occurred. And the determination result acquired by the entry determination unit indicates that the specific vehicle has entered the first zone a predetermined time before the timing when the inflow path signal lamp is changed to a yellow signal. A traffic signal control device that shortens the color time of the green light of the inflow channel signal lamp . Identification indicating a vehicle driven by a driver classified into a predetermined type or a vehicle classified into a predetermined category based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection A specific vehicle travel determination unit that determines whether the vehicle is traveling on an inflow path to the intersection;
A clogging determination unit that acquires a determination result as to whether or not a clogging that indicates a state in which a vehicle cannot enter the outflow road from the intersection due to traffic congestion on the outflow road from the intersection; and
When the specific vehicle traveling determination unit determines that the specific vehicle is traveling on the inflow path, the signal vehicle installed at the intersection is based on the determination result acquired by the clogging determination unit. A lamp color time changing unit that changes a lamp color time of a blue signal of an inflow path signal lamp that is a signal lamp for a vehicle traveling on the inflow path;
An area provided on the inflow path, and when the inflow path signal lamp is changed to a yellow signal, the driver is at a loss as to whether to stop before the intersection or pass through the intersection. in the second zone, and a presence determination unit for acquiring whether the determination result the inflow channel signal lamp device is present the specific vehicle on the timing to change the yellow signal,
The lamp color time change unit is determined by the specific vehicle travel determination unit to determine that the specific vehicle is traveling on the inflow path, and the determination result obtained by the pre-clogging determination unit is that no pre-clogging has occurred. And the determination result obtained by the presence determination unit indicates that the specific vehicle exists in the second zone at a timing when the inflow path signal lamp is changed to a yellow signal. extending the green light light color time road traffic light unit, exchange communication signal control device. The lamp color time changing unit is a signal lamp installed at the intersection when the lamp color time of the green light of the inflow path signal lamp is extended, and travels in the inflow path facing the inflow path. The traffic signal control device according to claim 2 , wherein a light color time of a green light of a signal lamp for a vehicle is not changed. Furthermore, a stop determination unit for obtaining a determination result as to whether or not a vehicle is stopped in the intersection when the inflow path signal lamp is changed to a red signal,
The lamp color time change unit further includes a determination result obtained by the stop determination unit indicating that a vehicle is stopped in the intersection when the inflow path signal lamp is changed to a red signal. The traffic signal control device according to any one of claims 1 to 3 , wherein all the signal lamps installed at the intersection extend the time during which a red signal is colored simultaneously. Identification indicating a vehicle driven by a driver classified into a predetermined type or a vehicle classified into a predetermined category based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection Determining whether the vehicle is traveling on an inflow path to an intersection;
Obtaining a determination result as to whether or not there is a clogging that indicates a state in which a vehicle cannot enter the outflow road from the intersection due to traffic congestion on the outflow road from the intersection;
When it is determined that the specific vehicle is traveling on the inflow path, a signal lamp installed at the intersection based on a determination result of whether or not a clogging has occurred, the inflow path A step of changing a light color time of a green light of an inflow signal light device that is a signal light device for a vehicle traveling on the vehicle ;
An area provided on the inflow path, where the vehicle can be safely stopped before entering the intersection by stepping on a brake when the inflow path signal lamp is changed to a yellow signal. Obtaining a determination result as to whether or not the specific vehicle enters a predetermined time before the timing at which the inflow path signal lamp is changed to a yellow signal in the first zone;
In the changing step, it is determined that the specific vehicle is traveling on the inflow path, a determination result indicating that a clogging has occurred is acquired, and the inflow path signal lamp is changed to a yellow signal. A traffic signal control method for shortening a light color time of a green light of the inflow path signal lamp device when a determination result indicating that the specific vehicle has entered the first zone is acquired a predetermined time before a predetermined timing . Identification indicating a vehicle driven by a driver classified into a predetermined type or a vehicle classified into a predetermined category based on driver information or vehicle information acquired from a vehicle traveling on an inflow path to an intersection Determining whether the vehicle is traveling on an inflow path to an intersection;
Obtaining a determination result as to whether or not there is a clogging that indicates a state in which a vehicle cannot enter the outflow road from the intersection due to traffic congestion on the outflow road from the intersection;
When it is determined that the specific vehicle is traveling on the inflow path, a signal lamp installed at the intersection based on a determination result of whether or not a clogging has occurred, the inflow path A step of changing a light color time of a green light of an inflow signal light device that is a signal light device for a vehicle traveling on the vehicle;
An area provided on the inflow path, and when the inflow path signal lamp is changed to a yellow signal, the driver is at a loss as to whether to stop before the intersection or pass through the intersection. Obtaining a determination result as to whether or not the specific vehicle is present at a timing when the inflow channel signal lamp is changed to a yellow signal in the second zone,
In the changing step, it is determined that the specific vehicle is traveling on the inflow path, a determination result indicating that no clogging has occurred is acquired, and the inflow path signal lamp is changed to a yellow signal. A traffic signal control method of extending a light color time of a green light of the inflow path signal lamp device when a determination result indicating that the specific vehicle is present in the second zone is acquired at a predetermined timing.