JP6857859B2 - Signal control devices, signal control systems, and signal control methods - Google Patents

Description

The present invention relates to a signal control device, a signal control system, and a signal control method for controlling a signal display of an arrow-type vehicle traffic light installed at an intersection.

According to the White Paper on Traffic Safety, the absolute value of the number of traffic accidents has been declining in recent years, but it is pointed out that the percentage of people walking is the highest when looking at the breakdown. In order to improve the safety for such pedestrians, it has been researched and developed to use an inter-vehicle signal control system of ITS (Intelligent Transport System), which is a safe driving support wireless system.

At intersections with heavy traffic, arrow-type vehicle traffic lights that can display arrow signals such as a left turn signal indicating that a left turn is possible and a straight line signal indicating that a straight line is possible are often arranged. The arrow signal is displayed at the same time as the red main signal. However, as shown in FIG. 25 (A), during the period in which the vehicle traffic light 11A corresponding to the travel path 13A displays the left turn signal and the straight-ahead signal, when the vehicle 6A traveling on the travel path 13A turns left at the intersection 10. A green light is also displayed on the pedestrian traffic light 12A corresponding to the approaching crossing area 15A. In such a case, if there is a pedestrian 2 crossing the crossing area 15A, a contact accident may occur in which the vehicle 6A that has entered the crossing area 15A by turning left at the intersection 10 comes into contact with the pedestrian 2. Therefore, as shown in FIG. 25B, when the pedestrian traffic light 12A is displaying a green light, the signal display of the vehicle traffic light 11A is controlled so that the left turn signal is not displayed and only the straight-ahead signal is displayed. (See Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-199123

However, in the prior art described in Patent Document 1, when the pedestrian traffic light is displaying a green light, the vehicle traffic light corresponding to the road where the vehicle enters the crossing area corresponding to the pedestrian traffic light by turning left. Then, even if there are no pedestrians crossing, the left turn signal is not displayed, so there is a problem that the vehicle waiting for the left turn is congested in front of the intersection.

The present invention has been devised in view of such problems of the prior art, and both prevents contact accidents between a pedestrian crossing a crossing area and a left-turning vehicle and prevents traffic congestion of a vehicle waiting for a left-turning. It is a main object of the present invention to provide a signal control device, a signal control system, and a signal control method that can be realized.

The signal control device of the present invention is a signal control device that controls the signal display of an arrow-type vehicle signal installed at an intersection, and includes a signal control unit that controls the signal display of the vehicle signal and the vehicle. A crossing person determination unit that determines whether or not there is a pedestrian crossing the vehicle passing area through which the vehicle passes in the crossing area of the intersection that the vehicle enters when the vehicle following the signal display of the traffic light turns left or right. The signal control unit crosses a first vehicle passage area in the crossing area, which is passed when the vehicle turns left , during a period during which the vehicle traffic light is allowed to go straight. When it is determined that there is a pedestrian, only the straight-ahead signal indicating that the pedestrian can go straight is displayed regardless of the signal display of the pedestrian signal corresponding to the crossing area crossed by the pedestrian, and the first vehicle passes. When it is determined that there is no pedestrian crossing the area , the straight-ahead signal and the left-turn signal indicating that the left-turn is possible are displayed.

According to the present invention, it is possible to prevent a contact accident between a pedestrian crossing a crossing area and a left-turning vehicle and to prevent a traffic jam of a vehicle waiting for a left-turning.

Overall configuration diagram of the signal control system according to the first embodiment The figure which shows the example which applied the signal control system to the intersection where two roads intersected. Block diagram showing a schematic configuration of a pedestrian terminal device The figure which shows the example of the signal control by the signal control system which concerns on 1st Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 1st Embodiment A flow chart showing the operation of the signal control device according to the first embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 2nd Embodiment A flow chart showing the operation of the signal control device according to the second embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 3rd Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 3rd Embodiment A flow chart showing the operation of the signal control device according to the third embodiment. The figure which shows the example of the signal control by the signal control system which concerns on 4th Embodiment The figure which shows the example of the signal control by the signal control system which concerns on 4th Embodiment A flow chart showing the operation of the signal control device according to the fourth embodiment. Overall configuration diagram of the signal control system according to the fifth embodiment The figure which shows the example of the transmission and reception of the message in the signal control system which concerns on 5th Embodiment. A block diagram showing a schematic configuration of a pedestrian terminal device according to a fifth embodiment. A block diagram showing a schematic configuration of an in-vehicle terminal device according to a fifth embodiment. A sequence diagram showing an outline of the operation of the signal control system according to the fifth embodiment. Overall configuration diagram of the signal control system according to the sixth embodiment The figure which shows the example of the transmission and reception of the message in the signal control system which concerns on 6th Embodiment. A block diagram showing a schematic configuration of an in-vehicle terminal device according to a sixth embodiment. A sequence diagram showing an outline of the operation of the signal control system according to the sixth embodiment. The figure which shows the modification of the signal control system which concerns on this invention. The figure for demonstrating the conventional signal control method

The first invention made to solve the above problems is a signal control device for controlling a signal display of an arrow-type vehicle traffic light installed at an intersection, and is a signal for controlling the signal display of the vehicle traffic light. The signal control is provided with a control unit and a crossing person determining unit for determining whether or not there is a pedestrian crossing the crossing area of the intersection to enter when the vehicle following the signal display of the vehicle traffic light turns left. When the crossing person determination unit determines that there is a pedestrian crossing the crossing area during the period when the vehicle traffic light allows straight-ahead travel, the unit displays a straight-ahead signal indicating that straight-line travel is possible. When it is determined that there are no pedestrians crossing the crossing area, the straight-ahead signal and the left turn signal indicating that the left turn is possible are displayed.

According to the signal control device according to the first aspect of the present invention, a pedestrian crossing the crossing area of the intersection where the vehicle following the signal display of the vehicle traffic light enters when the vehicle turns left during the period when the vehicle traffic light is allowed to go straight. It is determined whether or not there is a pedestrian, and if it is determined that there is a pedestrian crossing the crossing area, the signal display can be controlled so as not to display the left turn signal. It is possible to prevent a contact accident between a person and a left-turning vehicle. In addition, when it is determined that there are no pedestrians crossing the crossing area, the signal display can be controlled so as to display a left turn signal, so that vehicles waiting for a left turn are congested in front of the intersection. It is also possible to prevent it.

Further, in the second invention, in the first invention, the signal control unit crosses the crossing area with the crossing person determination unit after controlling the signal display so as to display the left turn signal and the straight-ahead signal. When it is determined that there is a pedestrian to walk, the signal display is controlled so that the left turn signal is displayed in a display mode different from the normal display mode.

According to the signal control device according to the second invention, a pedestrian crossing a crossing area after controlling the signal display so as to display a left turn signal and a straight-ahead signal during a period in which the vehicle traffic light allows straight-ahead travel. Even if appears suddenly, the driver of the left-turning vehicle can be alerted by displaying the left-turn signal in a display mode different from the usual display mode such as blinking or changing the signal color. This makes it possible to prevent a contact accident between a pedestrian crossing the crossing area and a left-turning vehicle.

Further, in the third invention, in the first or second invention, the signal control unit displays a signal of the vehicle traffic light by the crossing person determination unit during a period during which the vehicle traffic light allows a right turn. When it is determined that there is a pedestrian crossing the crossing area of the intersection that the vehicle follows when turning right, the signal display is controlled so as not to display the right turn signal indicating that the right turn is possible. ..

According to the signal control device according to the third invention, a pedestrian crossing the crossing area of the intersection where the vehicle following the signal display of the vehicle traffic light enters when the vehicle makes a right turn while the vehicle traffic light allows a right turn. It is determined whether or not there is a pedestrian, and if it is determined that there is a pedestrian crossing the crossing area, the signal display can be controlled so as not to display the right turn signal. It is possible to prevent a contact accident between a person and a right-turning vehicle.

Further, in the fourth invention, in any one of the first to third inventions, the crossing person determination unit has a pedestrian in a vehicle passing area through which a left-turning vehicle or a right-turning vehicle passes in the crossing area. The signal control unit determines whether or not the vehicle passes, and the signal control unit displays a signal so as not to display the left turn signal or the right turn signal only when the crossing person determination unit determines that a pedestrian is present in the vehicle passing area. It is characterized by controlling.

According to the signal control device according to the fourth invention, it is determined whether or not there is a pedestrian in the vehicle passing area through which the left-turning vehicle or the right-turning vehicle passes in the crossing area, and the pedestrian is in the vehicle passing area. Since the signal display can be controlled so as not to display the left turn signal or the right turn signal only when it is determined that there is, it is possible to prevent a contact accident between a pedestrian crossing the crossing area and a left turn vehicle or a right turn vehicle. At the same time, it is possible to prevent vehicles waiting for a left turn or a right turn from being congested in front of an intersection.

Further, in the fifth invention, in any one of the first to fourth inventions, data communication of pedestrian-to-vehicle communication is performed between a pedestrian terminal device possessed by a pedestrian or an in-vehicle terminal device mounted on a vehicle. A wireless communication unit that performs wireless communication based on the format and an information storage unit that stores the position information of the crossing area are further provided, and the crossing person determination unit is such that the wireless communication unit is the pedestrian from the pedestrian terminal device. When the position information of the terminal device is received, the position information of the pedestrian terminal device is collated with the position information of the crossing area to determine whether or not there is a pedestrian crossing the crossing area. It is characterized by.

According to the signal control device according to the fifth invention, it is possible to determine whether or not there is a pedestrian crossing the crossing area based on the position information of the pedestrian terminal device received from the pedestrian terminal device. It will be possible.

Further, in the sixth invention, in the fifth invention, it is determined by the crossing person determination unit that there is a pedestrian crossing the crossing area, and the wireless communication unit is the pedestrian from the pedestrian terminal device. When receiving information indicating that is a preset alarm target person, the alarm information generation unit that generates alarm information indicating that the alarm target person crosses the crossing area, and the alarm information It is characterized by further including a communication control unit that controls the wireless communication unit so as to transmit to the in-vehicle terminal device.

According to the signal control device according to the sixth invention, when a pedestrian crossing a crossing area is an alarm target person such as an elderly person or a physically handicapped person, this is notified to the driver of the vehicle. Can inform you. This makes it possible to more reliably ensure the safety of people who are vulnerable to traffic accidents, such as the elderly and people with disabilities.

The seventh invention further comprises, in any one of the first to fourth inventions, a pedestrian detection device that is arranged at the intersection and detects a pedestrian existing in or near the crossing area. The pedestrian determination unit is characterized in that it determines whether or not there is a pedestrian crossing the crossing area based on the detection result of the pedestrian detection device.

According to the signal control device according to the seventh invention, it is possible to determine whether or not there is a pedestrian crossing the crossing area based on the detection result of the pedestrian detection device.

Further, the eighth invention comprises a signal control device according to any one of the first to fourth inventions and a pedestrian terminal device possessed by a pedestrian and performing wireless communication between the signal control device. A signal control system including, wherein the pedestrian terminal device performs wireless communication with the signal control device based on a data communication format of pedestrian-vehicle communication, and position information of the pedestrian terminal device. It is characterized by including a positioning unit for acquiring the above and a communication control unit for controlling the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device.

The ninth invention includes a signal control device according to the fifth or sixth aspect of the invention and a pedestrian terminal device possessed by a pedestrian and performing wireless communication with the signal control device. A signal control system, wherein the pedestrian terminal device performs wireless communication with the signal control device or an in-vehicle terminal device mounted on a vehicle based on a data communication format of pedestrian-vehicle communication, and a wireless communication unit. It is characterized by including a positioning unit that acquires the position information of the pedestrian terminal device and a communication control unit that controls the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device. And.

Further, in the tenth invention, in the ninth invention, the pedestrian terminal device stores information indicating that the pedestrian possessing the pedestrian terminal device is a preset alarm target person. The communication control unit further includes a storage unit, and the communication control unit controls the wireless communication unit so as to transmit information indicating that the pedestrian is the alarm target person to the signal control device.

Further, in the eleventh invention, in the ninth or tenth invention, the communication control unit receives left turn information indicating that the vehicle makes a left turn at the intersection from the in-vehicle terminal device. It is characterized in that the wireless communication unit is controlled so as to transmit the position information to the signal control device only occasionally.

The twelfth invention further includes, in the tenth or eleventh invention, an in-vehicle terminal device mounted on a vehicle and performing wireless communication with the signal control device or the pedestrian terminal device, and further includes the in-vehicle terminal device. A wireless communication unit in which the terminal device performs wireless communication between the signal control device or the pedestrian terminal device based on the data communication format of pedestrian-vehicle communication, and the wireless communication unit from the signal control device to the crossing area. When the preset alarm target person receives the alarm information indicating that the pedestrian crosses the vehicle, the notification information generation unit that generates the notification information to notify the driver of the vehicle of the alarm information, and the notification information. Is provided with an output unit that outputs the data to the notification device mounted on the vehicle.

Further, in the thirteenth invention, in the twelfth invention, the vehicle-mounted terminal device determines whether or not the vehicle makes a left turn at the intersection, and the left turn determination unit allows the vehicle to make the intersection. A left turn information generation unit that generates left turn information indicating that the vehicle turns left at the intersection when it is determined to turn left, and a wireless communication unit that transmits the left turn information to the pedestrian terminal device. It is characterized by further including a communication control unit for controlling.

Further, the fourteenth invention is a signal control method for controlling a signal display of an arrow-type vehicle traffic light installed at an intersection, and the vehicle traffic light is used during a period during which the vehicle traffic light is allowed to go straight. A step of determining whether or not there is a pedestrian crossing the crossing area of the intersection to enter when the vehicle following the traffic light turns left, and if it is determined that there is a pedestrian crossing the crossing area , A straight-ahead signal indicating that the vehicle can go straight is displayed, and when it is determined that there is no pedestrian crossing the crossing area, the signal display is controlled so as to display the straight-ahead signal and the left-turn signal indicating that the vehicle can turn left. It is characterized by having a step.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First Embodiment)
FIG. 1 is an overall configuration diagram of the signal control system 1 according to the first embodiment of the present invention, and FIG. 2 shows the signal control system 1 applied to an intersection 10 where two roads 13 and 14 intersect. It is a figure which shows an example.

As shown in FIGS. 1 and 2, the signal control system 1 includes a pedestrian terminal device 3 possessed by the pedestrian 2 and a signal control device 4. Although not shown, the signal control system 1 may further include an in-vehicle terminal device 7 (see FIGS. 15 and 20). The pedestrian terminal device 3 is connected to a mobile information terminal device 5 such as a smartphone or a mobile phone. The pedestrian terminal device 3 may be built in the mobile information terminal device 5 in advance. Further, the pedestrian 2 may be a person who is in a walking assistance vehicle such as a senior car, a light vehicle such as a bicycle, or a wheelchair.

As shown in FIG. 2, the intersection 10 is formed by the intersection of a road 13 and a road 14 having two lanes on each side. In the present embodiment, the two lanes on the road 13 that go straight in the upward direction on the left side of the drawing are referred to as the first lane 13A, and the two lanes that go straight in the downward direction on the right side of the drawing are referred to as the second lane 13B. Further, the two lanes on the road 14 that go straight to the right in the drawing are referred to as the third lane 14A, and the two lanes that go straight to the left in the lower side of the drawing are referred to as the fourth lane 14B.

A crossing area 15A is provided on the first runway 13A side and a crossing area 15B is provided on the second runway 13B side at a portion of the intersection 10 that crosses the road 14. Further, at the portion of the intersection 10 that crosses the road 13, a crossing area 15C is provided on the third running path 14A side, and a crossing area 15D is provided on the fourth running path 14B side. The pedestrian crossing areas 15A to 15D (hereinafter, collectively referred to by reference numeral 15) may be a pedestrian crossing or an area corresponding to a pedestrian crossing. Further, the crossing area 15 may include not only an area crossing the intersection 10 but also a sidewalk or a shoulder in the vicinity of the intersection 10.

At the intersection 10, vehicle traffic lights 11A to 11D for displaying signals to vehicles 6 traveling on each of the roads 13 and 14 (hereinafter, reference numerals 11 are used) and crossing. Pedestrian traffic lights 12A to 12D (hereinafter, reference numerals 12 are used generically) for displaying a signal to the pedestrian 2 crossing the area 15 are provided. The vehicle traffic lights 11A to 11D are provided corresponding to the first runway 13A, the second runway 13B, the third runway 14A, and the fourth runway 14B, respectively, and the pedestrian traffic lights 12A to 12D are provided. It is provided corresponding to each of the crossing areas 15A to 15D. Although the pedestrian traffic lights 12 are actually provided on both sides of the crossing area 15 in the crossing direction, the illustration of the pedestrian traffic light 12 on one side is omitted.

The vehicle traffic light 11 is an arrow-type traffic light, and in addition to the red and yellow traffic lights, an arrow signal indicating that a left turn is possible (hereinafter referred to as a "left turn signal") and an arrow signal indicating that the vehicle can go straight (hereinafter, "" It is configured to be able to display an arrow signal (hereinafter referred to as a "right turn signal") indicating that a right turn is possible (hereinafter referred to as a "straight signal"). Each signal of the left turn signal, the straight line signal, and the right turn signal is displayed at the same time as the red main signal. In the present embodiment, the vehicle traffic light 11 does not display this blue signal. In the present embodiment, the vehicle traffic light 11 displays a red main signal and a left turn signal and a straight-ahead signal, a yellow main signal, a red main signal and a right turn signal, a yellow main signal, and a red main signal in this order. Shall be switched. In addition, in order to simplify the description, the description of the display of this yellow signal will be omitted below.

In the present embodiment, the vehicle traffic light 11 displays a red main signal, a left turn signal, and a straight-ahead signal during the period when the vehicle can go straight, and displays a red main signal and a right turn signal during the period when the right turn is allowed. It shall be. Therefore, in the following description, the "period during which the left turn signal and the straight-ahead signal should be displayed" refers to the "period during which the straight-ahead is permitted". Similarly, the "period during which the right turn signal should be displayed" refers to the "period during which the right turn is permitted".

The pedestrian traffic light 12 is configured to be able to display a green light and a red light. In the present embodiment, the pedestrian traffic light 12 has a green light in the first half of the period during which the vehicle traffic light 11 should display the red main signal, the left turn signal, and the straight-ahead signal (that is, the period during which the straight-ahead signal is allowed to go straight). Is displayed, and a red light is displayed in the latter half. At other times, the pedestrian traffic light 12 displays a red light.

The vehicle traffic light 11 and the pedestrian traffic light 12 are connected to the signal control device 4, and the signal display is controlled by the signal control device 4. In FIG. 2, the connection between the signal control device 4 and the vehicle traffic lights 11B to 11D and the pedestrian traffic lights 12B to 12D is not shown. The switching of the signal display on the vehicle signal 11 and the pedestrian signal 12 may be performed based on a preset time interval, or may be performed based on an instruction from a traffic control center (not shown). When switching the signal display based on the instruction from the traffic control center, it is assumed that the signal control device 4 is connected to the traffic control center via a dedicated control line or a communication network.

Next, the schematic configuration of the pedestrian terminal device 3 will be described. FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal device 3. As shown in FIG. 3, the pedestrian terminal device 3 includes a positioning unit 31, an input / output unit 32, a wireless communication unit 33, and a control unit 34.

The positioning unit 31 acquires the position information of its own device by a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), or GLONASS (Global Navigation Satellite System). The position information of the own device may be acquired by using the positioning function of the mobile information terminal device 5.

The input / output unit 32 inputs / outputs information to / from the mobile information terminal device 5. Information is input and output to and from the personal digital assistant device 5 by wired communication or wireless communication such as Bluetooth (registered trademark).

The wireless communication unit 33 uses ITS wireless communication, that is, a frequency band (for example, 700 MHz band or 5.8 GHz band) adopted in a safe driving support wireless system using ITS (Intelligent Transport System). A message is transmitted and received to and from the signal control device 4 by the wireless communication used. The message is transmitted by a broadcast method at regular intervals (for example, 100 msec).

The control unit 34 includes a communication control unit 35 and an input / output control unit 36. The control unit 34 is composed of a processor, and each unit of the control unit 34 is realized by causing the processor to execute a program stored in an information storage unit (not shown).

The communication control unit 35 controls the transmission / reception of a message in the wireless communication unit 33. Specifically, the position information of the own device is acquired from the positioning unit 31, a message including the position information is generated, and the message is transmitted from the wireless communication unit 33.

The input / output control unit 36 controls the input / output of information to / from the mobile information terminal device 5.

Next, the schematic configuration of the signal control device 4 will be described with reference to FIG. As shown in FIG. 1, the signal control device 4 includes a wireless communication unit 41, an information storage unit 42, a control command output unit 43, and a control unit 44.

Similar to the wireless communication unit 33 (see FIG. 3) of the pedestrian terminal device 3, the wireless communication unit 41 transmits and receives a message to and from the pedestrian terminal device 3 by ITS wireless communication.

The information storage unit 42 stores map information, a program executed by the control unit 44, and the like. The map information includes the location information of the crossing area 15.

The control command output unit 43 outputs a control command for controlling the signal display to the vehicle traffic light 11 and the pedestrian traffic light 12.

The control unit 44 includes a communication control unit 45, a crossing person determination unit 46, and a signal control unit 47. The control unit 44 is composed of a processor, and each unit of the control unit 44 is realized by causing the processor to execute a program stored in the information storage unit 42.

The communication control unit 45 controls the transmission / reception of a message in the wireless communication unit 41.

When the wireless communication unit 41 receives a message from the pedestrian terminal device 3, the crossing person determination unit 46 extracts the position information of the pedestrian terminal device 3 from the message, and stores the extracted position information in the information storage unit 42. By collating with the stored map information, it is determined whether or not there is a pedestrian 2 (crosser) crossing the crossing area 15. Specifically, when the pedestrian 2 is located in the crossing area 15, or when the pedestrian 2 is located in the vicinity of the crossing area 15 and is moving toward the crossing area 15, the crossing area 15 is crossed. It is determined that there is a pedestrian 2 who does.

The signal control unit 47 controls the signal display on the vehicle signal 11 and the pedestrian signal 12 by outputting a control command via the control command output unit 43. Specifically, the signal display on the vehicle signal 11 and the pedestrian signal 12 is switched based on a preset time interval or an instruction from a traffic control center (not shown). Further, the display of the arrow signal is controlled during the period when the vehicle traffic light 11 should display the arrow signal such as the left turn signal or the straight-ahead signal. The control of the display of the arrow signal is controlled by the crossing person determination unit 46 for the crossing area 15 that the vehicle 6 traveling on the road 13 (14) corresponding to the vehicle traffic light 11 enters when turning left or right at the intersection 10. It is performed based on the judgment result of.

FIG. 4 is a diagram showing an example of signal control of the vehicle traffic light 11 by the signal control unit 47. FIG. 4 shows a period during which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight-ahead signal, and controls the signal display of the vehicle traffic light 11A when the pedestrian traffic lights 12A and 12B display a green light. An example is shown. In the following description, the vehicle 6 traveling on the first travel path 13A will be referred to as a vehicle 6A, and the vehicle 6 traveling on the second travel path 13B will be referred to as a vehicle 6B (however, reference numeral 6 is used when generically referred to). ..

As shown in FIG. 4A, when there is no pedestrian 2 crossing the crossing area 15A, the signal control unit 47 signals the vehicle traffic light 11A to display both a left turn signal and a straight-ahead signal. Control the display. On the other hand, as shown in FIG. 4B, when there is a pedestrian 2 crossing the crossing area 15A, the signal control unit 47 does not display the left turn signal but displays only the straight-ahead signal for the vehicle. Controls the signal display of the traffic light 11A. The vehicle traffic light 11B corresponding to the second traffic light 13B facing the first travel road 13A is also controlled in the same manner as the vehicle traffic light 11A.

Further, the signal control unit 47 can individually control each vehicle signal 11 at the intersection 10. FIG. 5 shows an example in which the signal control unit 47 individually controls the vehicle traffic lights 11A and 11B. As shown in FIG. 5, when there is a pedestrian 2 crossing the crossing area 15A, the signal display of the vehicle traffic light 11A is displayed so that the left turn signal is not displayed for the vehicle 6A and only the straight-ahead signal is displayed. When there is no pedestrian 2 crossing the crossing area 15B, the signal display of the vehicle traffic light 11B is controlled so as to display both a left turn signal and a straight-ahead signal to the vehicle 6B. In this way, the signal control unit 47 can individually control the vehicle traffic lights 11A and 11B.

Next, the operation of the signal control device 4 will be described with reference to the flow chart of FIG. Here, a case will be described in which the signal display of the vehicle traffic light 11A corresponding to the first travel path 13A, which is the road on which the vehicle 6A enters the crossing area 15A by turning left, is controlled.

First, in step ST101, it is determined whether or not the vehicle traffic light 11A is in the period in which the left turn signal and the straight-ahead signal should be displayed. This determination may be made by referring to the timing of switching the preset signal display or the instruction from the traffic control center (not shown). When it is determined that the period for displaying the left turn signal and the straight-ahead signal is to be displayed (ST101: Yes), the process proceeds to step ST102. If it is determined that it is not the period during which the left turn signal and the straight-ahead signal should be displayed (ST101: No), the process proceeds to step ST106.

In step ST102, it is determined whether or not the signal display of the pedestrian traffic light 12A is a green light. When it is determined that the display signal of the pedestrian traffic light 12A is a green light (ST102: Yes), the process proceeds to step ST103. If it is determined that the display signal of the pedestrian traffic light 12A is not a green signal (ST102: No), the process proceeds to step ST105.

In step ST103, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST103: Yes), the process proceeds to step ST104. If it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST103: No), the process proceeds to step ST105.

In step ST104, the signal display of the vehicle traffic light 11A is controlled so that only the straight-ahead signal is displayed without displaying the left turn signal (see FIG. 4B), and then the process returns to step ST101. In step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both the left turn signal and the straight-ahead signal (see FIG. 4A), and then the process returns to step ST101.

In step ST106, it is determined whether or not the vehicle traffic light 11A is in the period in which the right turn signal should be displayed. If it is determined that the right turn signal should be displayed (ST106: Yes), the process proceeds to step ST107. If it is determined that it is not the period for which the right turn signal should be displayed (ST106: No), the process proceeds to step ST108.

In step ST107, the signal display of the vehicle traffic light 11A is controlled so as to display the right turn signal, and then the process returns to step ST101. In step ST108, the signal display of the vehicle traffic light 11A is controlled so that only the red main signal is displayed without displaying the right turn signal, and then the process returns to step ST101.

In this way, according to the signal control system 1 according to the first embodiment, during the period when the vehicle traffic light 11 should display the left turn signal and the straight-ahead signal, the vehicle 6 following the signal display of the vehicle traffic light 11 crosses the intersection 10. It is determined whether or not there is a pedestrian 2 crossing the crossing area 15 of the intersection 10 to enter when turning left, and if it is determined that there is a pedestrian 2 crossing the crossing area 15, a left turn signal is issued. Since the signal display can be controlled so as not to be displayed, it is possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the left turn vehicle 6A. Further, when it is determined that there is no pedestrian 2 crossing the crossing area 15, the signal display can be controlled so as to display the left turn signal, so that the vehicle 6 waiting for the left turn is in front of the intersection 10. It is also possible to prevent traffic jams.

In the present embodiment, the control of the signal display during the period in which the left turn signal and the straight-ahead signal should be displayed has been described, but when there is no pedestrian 2 crossing the crossing area 15 in the period in which the straight-ahead signal should be displayed. , The signal display may be controlled to display a left turn signal. That is, even if the signal display is controlled so as to allow a left turn when there is no crossing person in the crossing area 15 during the period during which the vehicle traffic light 11 allows straight-ahead travel (the period during which the straight-ahead signal should be displayed). Good.

(Second Embodiment)
Next, the signal control system 1 according to the second embodiment of the present invention will be described. In this second embodiment, the matters not particularly mentioned below are the same as in the case of the first embodiment described above.

FIG. 7 is a diagram showing an example of control of the vehicle traffic light 11 by the signal control system 1 according to the second embodiment. FIG. 7 shows a period during which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight-ahead signal, and controls the signal display of the vehicle traffic light 11A when the pedestrian traffic lights 12A and 12B display a green light. An example is shown.

As described in the first embodiment, when there is no pedestrian 2 crossing the crossing area 15A, the signal control unit 47 of the signal control device 4 displays both the left turn signal and the straight-ahead signal for the vehicle. The signal display of the traffic light 11A is controlled (see FIG. 7A). However, after controlling the signal display of the vehicle traffic light 11A so as to display both the left turn signal and the straight-ahead signal, the pedestrian 2 crossing the crossing area 15A may suddenly appear. Therefore, in the signal control system 1 according to the second embodiment, in such a case, as shown in FIG. 7B, by blinking the left turn signal of the vehicle traffic light 11A, the driver of the left turn vehicle 6A Call attention to. After a preset time has elapsed after blinking the left turn signal, the left turn signal is turned off. Instead of blinking or in addition to blinking, the color of the left turn signal may be changed from blue to a color that calls attention such as red or yellow.

Next, the operation of the signal control device 4 in the signal control system 1 according to the second embodiment will be described with reference to the flow chart of FIG. Here, a case where the signal display of the vehicle traffic light 11A is controlled will be described. Note that step ST101-ST108 in FIG. 8 is the same as step ST101-ST108 (see FIG. 6) of the first embodiment described above, and thus description thereof will be omitted.

In step ST201 following step ST105 (state of FIG. 7A), it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST201: Yes), the process proceeds to step ST202. When it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST201: No), the process returns to step ST101.

In step ST202, the signal display of the vehicle traffic light 11A is controlled so as to blink the left turn signal (see FIG. 7B). Then, after a preset time has elapsed after blinking the left turn signal, the process proceeds to step ST203. In step ST203, the signal display of the vehicle traffic light 11A is controlled so that only the straight-ahead signal is displayed without displaying the left turn signal, and then the process returns to step ST101.

In this way, according to the signal control system 1 according to the second embodiment, the signal is displayed so that the vehicle traffic light 11 displays both the left turn signal and the straight line signal during the period in which the left turn signal and the straight line signal should be displayed. Even if a pedestrian 2 crossing the crossing area 15 suddenly appears after controlling, the left turn signal is displayed in a display mode different from the normal display mode such as blinking or changing the signal color. Attention can be drawn to the driver of 6A. This makes it possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the left turn vehicle 6A.

(Third Embodiment)
Next, the signal control system 1 according to the third embodiment of the present invention will be described. In this third embodiment, the matters not particularly mentioned below are the same as in the case of the first embodiment described above.

9 and 10 are diagrams showing an example of signal control of the vehicle traffic light 11 by the signal control system 1 according to the third embodiment. FIG. 9 shows a period during which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight-ahead signal, and when the pedestrian traffic lights 12A and 12B display a red light, the signal display of the vehicle traffic light 11A is controlled. An example of doing so is shown. FIG. 10 shows an example in which the signal display of the vehicle traffic light 11B is controlled when the vehicle traffic lights 11A and 11B are in the period in which the right turn signal should be displayed and the pedestrian traffic lights 12A and 12B display the red light. Shown.

For example, when the pedestrian 2 is an elderly person or a physically handicapped person, even if the pedestrian traffic light 12A switches from a green light to a red light, it may not finish crossing the crossing area 15A. Further, for example, when the pedestrian 2 is an infant or the like, the pedestrian traffic light 12A may start crossing the crossing area 15A even though the pedestrian traffic light 12A displays a red light. That is, as shown in FIG. 9A, when the vehicle traffic light 11A is the period in which the left turn signal and the straight-ahead signal should be displayed and the pedestrian traffic light 12A is displaying the red light, the crossing area 15A There may be a pedestrian 2 crossing. In such a case, a contact accident between the left turn vehicle 6A and the pedestrian 2 may occur. Therefore, in the signal control system 1 according to the third embodiment, in such a case, as shown in FIG. 9B, the vehicle traffic light 11A displays only the straight-ahead signal without displaying the left turn signal. Control the signal display.

Further, for example, when the pedestrian 2 is an elderly person or a physically handicapped person, the period during which the vehicle traffic light 11A should display the left turn signal and the straight-ahead signal (see FIG. 9A) is over, and the vehicle traffic light Even when 11A reaches the period when the right turn signal should be displayed, it may not finish crossing the crossing area 15A. Further, when the pedestrian 2 is an infant or the like, the pedestrian traffic light 12A may start crossing the crossing area 15A even though the red light is displayed. That is, as shown in FIG. 10A, when the vehicle traffic light 11A is in the period when the right turn signal should be displayed and the pedestrian traffic light 12A is displaying the red light, the crossing area 15A is crossed. There may be a pedestrian 2. In such a case, a contact accident between the right-turning vehicle 6B and the pedestrian 2 may occur. Therefore, in the signal control system 1 according to the third embodiment, in such a case, as shown in FIG. 10B, the vehicle traffic light is displayed so that only the red main signal is displayed without displaying the right turn signal. Controls the signal display of 11B.

Next, the operation of the signal control device 4 in the signal control system 1 according to the third embodiment will be described with reference to the flow chart of FIG. Here, a case where the signal display of the vehicle traffic lights 11A and 11B is controlled will be described. Since steps ST101-ST108 in FIG. 11 are the same as steps ST101-ST108 (see FIG. 6) of the first embodiment described above, description thereof will be omitted.

In step ST102, it is determined whether or not the signal display of the pedestrian traffic light 12A is a green light. When it is determined that the signal display of the pedestrian traffic light 12 is a green light (ST102: Yes), the process proceeds to step ST103, and when it is determined that the signal display of the pedestrian traffic light 12 is not a green light (ST102: No). ) Proceeds to step ST301.

In step ST301, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST301: Yes), the process proceeds to step ST302. If it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST301: No), the process proceeds to step ST105. As described above, in step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both the left turn signal and the straight-ahead signal.

In step ST302, the signal display of the vehicle traffic light 11A is controlled so that only the straight-ahead signal is displayed without displaying the left turn signal (see FIG. 9B), and then the process returns to step ST101.

In step ST106, it is determined whether or not the vehicle traffic lights 11A and 11B are in the period in which the right turn signal should be displayed. If it is determined that the right turn signal should be displayed (ST106: Yes), the process proceeds to step ST303. If it is determined that it is not the period for which the right turn signal should be displayed (ST106: No), the process proceeds to step ST108.

In step ST303, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST303: Yes), the process proceeds to step ST108. If it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST303: No), the process proceeds to step ST107. In step ST107, the signal display of the vehicle traffic light 11B is controlled so as to display the right turn signal. In step ST108, the signal display of the vehicle traffic light 11B is controlled so that only the red main signal is displayed without displaying the right turn signal (see FIG. 10B).

In this way, according to the signal control system 1 according to the third embodiment, when the vehicle 6 following the signal display of the vehicle traffic light 11 turns right at the intersection 10 during the period when the vehicle traffic light 11 should display the right turn signal. It is determined whether or not there is a pedestrian 2 crossing the crossing area 15 of the intersection 10 entering the area, and if it is determined that there is a pedestrian 2 crossing the crossing area 15, the right turn signal is not displayed. Since the signal display can be controlled, it is possible to prevent a contact accident between the pedestrian 2 crossing the crossing area 15 and the right turn vehicle 6B.

(Fourth Embodiment)
Next, the signal control system 1 according to the fourth embodiment of the present invention will be described. In this fourth embodiment, the matters not particularly mentioned below are the same as in the case of the third embodiment described above.

12 and 13 are diagrams showing an example of signal control of the vehicle traffic light 11 by the signal control system 1 according to the fourth embodiment. FIG. 12 shows a period during which the vehicle traffic lights 11A and 11B should display a left turn signal and a straight-ahead signal, and controls the signal display of the vehicle traffic light 11A when the pedestrian traffic lights 12A and 12B display a red light. An example of doing so is shown. FIG. 13 controls the signal display of the vehicle traffic light 11B when the vehicle traffic lights 11A and 11B are in the period in which the right turn signal should be displayed and the pedestrian traffic lights 12A and 12B are displaying the red light. An example is shown.

As described in the third embodiment, even when the pedestrian traffic light 12A is displaying a red light, if there is a pedestrian 2 crossing the crossing area 15A, the vehicle traffic light 11A does not give a left turn signal. (See FIG. 9B), or control the signal display so that the vehicle traffic light 11B does not display a right turn signal (see FIG. 10B). However, the area through which the left-turning vehicle 6A or the right-turning vehicle 6B in the crossing area 15A passes, that is, the area on the fourth travel path 14B side in the crossing area 15A (hereinafter, "vehicle passing area"). If it does not exist in (referred to as) 16, the left turn vehicle 6A or the right turn vehicle 6B does not come into contact with the pedestrian 2 even if it enters the crossing area 15A. Although not shown, the vehicle passage area 16 is also set in each of the crossing areas 15B to 15D other than the crossing area 15A.

Therefore, in the signal control system 1 according to the fourth embodiment, when the vehicle traffic lights 11A and 11B are in the period in which the left turn signal and the straight-ahead signal should be displayed and the pedestrian traffic lights 12A and 12B display the red traffic light. In addition, as shown in FIG. 12A, when the pedestrian 2 crossing the crossing area 15A is present in the vehicle passing area 16, the vehicle traffic light is displayed so that only the straight-ahead signal is displayed without displaying the left turn signal. Controls the signal display of 11A. On the other hand, as shown in FIG. 12B, when the pedestrian 2 crossing the crossing area 15A does not exist in the vehicle passing area 16, the vehicle traffic light 11A displays both the left turn signal and the straight-ahead signal. Control the signal display.

Further, in the signal control system 1 according to the fourth embodiment, when the vehicle traffic lights 11A and 11B are in the period in which the right turn signal should be displayed and the pedestrian traffic lights 12A and 12B display the red light, FIG. As shown in 13 (A), when the pedestrian 2 crossing the crossing area 15A is present in the vehicle passing area 16, the signal display of the vehicle traffic light 11B is controlled so as not to display the right turn signal. On the other hand, as shown in FIG. 13B, when the pedestrian 2 crossing the crossing area 15A does not exist in the vehicle passing area 16, the signal display of the vehicle traffic light 11B is controlled so as to display the right turn signal. ..

In the above-mentioned examples of FIGS. 12 and 13, the case where the pedestrian traffic lights 12A and 12B display a red light has been described, but the same applies to the case where the pedestrian traffic lights 12A and 12B display a green light.

Whether or not the pedestrian 2 crossing the crossing area 15A exists in the vehicle passing area 16 is determined by including the position information of the vehicle passing area 16 in the map information stored in the information storage unit 42 (see FIG. 3). It is preferable that the crossing person determination unit 46 determines the position information of the pedestrian 2 by collating it with the map information.

Next, the operation of the signal control device 4 in the signal control system 1 according to the fourth embodiment will be described with reference to the flow chart of FIG. Here, a case where the signal display of the vehicle traffic lights 11A and 11B is controlled will be described. In addition, step ST101-ST108 and step ST301-303 of FIG. 14 are the same as the above-mentioned step ST101-ST108 (see FIG. 6) of the first embodiment and the above-mentioned step 301-303 (see FIG. 11) of the third embodiment. Since it is the same, the description thereof will be omitted.

In step ST103, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST103: Yes), the process proceeds to step ST401. If it is determined that there is no pedestrian 2 crossing the crossing area 15 (ST103: No), the process proceeds to step ST105.

In step ST301, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST301: Yes), the process proceeds to step ST401. If it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST301: No), the process proceeds to step ST105.

In step ST401, it is determined whether or not the pedestrian 2 is present in the vehicle passing area 16. When it is determined that the pedestrian 2 exists in the vehicle passing area 16 (ST401: Yes), the process proceeds to step ST104. When it is determined that the pedestrian 2 does not exist in the vehicle passing area 16 (ST401: No), the process proceeds to step ST105.

In step ST104, the signal display of the vehicle traffic light 11A is controlled so that the left turn signal is not displayed and only the straight sign signal is displayed (see FIG. 12A). Further, in step ST105, the signal display of the vehicle traffic light 11A is controlled so as to display both the left turn signal and the straight-ahead signal (see FIG. 12B).

In step ST303, it is determined whether or not there is a pedestrian 2 (crossing person) crossing the crossing area 15A. If it is determined that there is a pedestrian 2 crossing the crossing area 15A (ST303: Yes), the process proceeds to step ST402. If it is determined that there is no pedestrian 2 crossing the crossing area 15A (ST303: No), the process proceeds to step ST107.

In step ST402, it is determined whether or not the pedestrian 2 is present in the vehicle passing area 16. When it is determined that the pedestrian 2 exists in the vehicle passing area 16 (ST402: Yes), the process proceeds to step ST108. When it is determined that the pedestrian 2 does not exist in the vehicle passing area 16 (ST401: No), the process proceeds to step ST107.

In step ST107, the signal display of the vehicle traffic light 11B is controlled so as to display the right turn signal (see FIG. 13B), and then the process returns to step ST101. In step ST108, the signal display of the vehicle traffic light 11B is controlled so that only the red main signal is displayed without displaying the right turn signal (see FIG. 13A), and then the process returns to step ST101.

In this way, according to the signal control system 1 according to the fourth embodiment, there is a pedestrian in the vehicle passing area 16 of the crossing area 15 during the period when the vehicle traffic light 11 should display the left turn signal or the right turn signal. Since it is possible to control the signal display so as not to display the left turn signal or the right turn signal only when it is determined that the pedestrian 2 is present in the vehicle passing area 16 by determining whether or not to do so, the crossing area 15 It is possible to prevent a contact accident between a pedestrian 2 crossing the road and a left turn vehicle 6A or a right turn vehicle 6B, and to prevent a vehicle 6 waiting for a left turn or a right turn from congesting in front of an intersection 10.

Further, it is also possible to control the signal display of the vehicle traffic light 11 by using the information indicating the moving direction of the pedestrian 2 in addition to the information indicating the area or the position where the pedestrian 2 exists at the present time. For example, even if the pedestrian 2 is not present in the vehicle passing area 16 at the present time, if the pedestrian 2 is moving in the direction of the vehicle passing area 16, the left turn signal or the right turn signal is not displayed. The signal display may be controlled. Further, even if the pedestrian 2 is present in the vehicle passing area 16 at the present time, if the pedestrian 2 is moving in the direction opposite to the vehicle passing area 16, a left turn signal or a right turn signal is displayed. The signal display may be controlled so as to do so.

(Fifth Embodiment)
Next, the signal control system 1 according to the fifth embodiment of the present invention will be described. FIG. 15 is an overall configuration diagram of the signal control system 1 according to the fifth embodiment, and FIG. 16 is a diagram showing an example of sending and receiving a message in the signal control system 1 according to the fifth embodiment. In the fifth embodiment, the matters not specifically mentioned below are the same as those in the first embodiment described above.

As shown in FIG. 15, the signal control system 1 according to the fifth embodiment includes a pedestrian terminal device 3 possessed by the pedestrian 2, a signal control device 4, and an in-vehicle terminal device 7 mounted on the vehicle 6. I have. The in-vehicle terminal device 7 is connected to the car navigation device 8 mounted on the vehicle 6. The in-vehicle terminal device 7 may be built in the car navigation device 8. The in-vehicle terminal device 7 can send and receive a message to and from the signal control device 4 by ITS wireless communication (communication between pedestrians and vehicles).

Next, the schematic configuration of the pedestrian terminal device 3 will be described. FIG. 17 is a block diagram showing a schematic configuration of the pedestrian terminal device 3. The pedestrian terminal device 3 shown in FIG. 17 further includes an information storage unit 37 for storing the attribute information of the user of the pedestrian terminal device 3, which is the pedestrian terminal according to the first embodiment shown in FIG. Different from device 3. Since other points are the same as those of the first embodiment, the same reference numerals are given and the description thereof will be omitted.

The attribute information is information indicating the age, gender, physical condition, etc. of the user. Examples of attribute information include information that the user is an elderly person and information that the user is a physically handicapped person. The attribute information is set in the user ID or the like of the pedestrian terminal device 3.

When the communication control unit 35 acquires the position information of its own device from the positioning unit 31, the communication control unit 35 confirms the attribute information stored in the information storage unit 37. Then, when the attribute information is set to a traffic vulnerable person (hereinafter referred to as "alarm target person") who is vulnerable to a preset traffic accident such as an elderly person or a physically handicapped person, the information The attribute information is acquired from the storage unit 37, a message including the attribute information and the position information is generated, and the message is transmitted from the wireless communication unit 33 to the signal control device 4 (see FIG. 16).

Next, the schematic configuration of the signal control device 4 will be described with reference to FIG. The signal control device 4 shown in FIG. 15 is different from the signal control device 4 according to the first embodiment shown in FIG. 1 in that it further includes an alarm information generation unit 48. Since other points are the same as those of the first embodiment, the same reference numerals are given and the description thereof will be omitted.

The alarm information generation unit 48 determines that there is a pedestrian 2 crossing the crossing area 15 by the crossing person determination unit 46, and the attribute information included in the message received from the pedestrian terminal device 3 is the alarm target person. In some cases, it generates alarm information indicating that the alarm target person crosses the crossing area 15. The alarm information includes user attribute information (for example, information that the user is an elderly person or information that the user is a physically handicapped person).

When the alarm information generation unit 48 generates the alarm information, the communication control unit 45 generates a message including the alarm information, and causes the wireless communication unit 41 to transmit the message to the in-vehicle terminal device 7 (see FIG. 16). ).

Next, a schematic configuration of the in-vehicle terminal device 7 will be described. FIG. 18 is a block diagram showing a schematic configuration of the in-vehicle terminal device 7. As shown in FIG. 18, the in-vehicle terminal device 7 includes a wireless communication unit 71, an input / output unit 72, and a control unit 73.

Similar to the wireless communication unit 33 (see FIG. 3) of the pedestrian terminal device 3, the wireless communication unit 71 transmits and receives a message to and from the signal control device 4 by ITS wireless communication.

The input / output unit 72 inputs / outputs information to / from the car navigation device 8.

The control unit 73 includes a communication control unit 74, a broadcast information generation unit 75, and an input / output control unit 76. The control unit 73 is composed of a processor, and each unit of the control unit 73 is realized by causing the processor to execute a program stored in an information storage unit (not shown).

The communication control unit 74 controls the transmission / reception of a message in the wireless communication unit 71.

When the wireless communication unit 71 receives a message including the alarm information from the signal control device 4, the notification information generation unit 75 generates notification information for notifying the driver of the vehicle 6 of the alarm information. The broadcast information can be voice, screen display, or the like. In addition, the broadcast information includes user attribute information (for example, information that the user is an elderly person or information that the user is a physically handicapped person).

The input / output control unit 76 controls the input / output of information to / from the car navigation device 8. Specifically, when the notification information is generated by the notification information generation unit 75, the notification information is output to the car navigation device 8.

Next, an outline of the operation of the signal control system 1 according to the fifth embodiment will be described. FIG. 19 is a sequence diagram showing an outline of the operations of the pedestrian terminal device 3, the signal control device 4, the in-vehicle terminal device 7, and the car navigation device 8. The car navigation device 8 serves as a notification device for outputting notification information to the driver of the vehicle 6.

When the attribute information of the pedestrian 2 is the alarm target person, the pedestrian terminal device 3 transmits a message including the attribute information and the position information from the wireless communication unit 33 to the signal control device 4 (step ST501).

When the signal control device 4 receives a message from the pedestrian terminal device 3, the pedestrian determination unit 46 first determines whether or not there is a pedestrian 2 crossing the crossing area 15 (step ST502). .. Then, when it is determined that there is a pedestrian 2 crossing the crossing area 15 and the attribute information included in the message received from the pedestrian terminal device 3 is the alarm target person, the alarm information generation unit 48 determines. Generates alarm information indicating that the alarm target person crosses the crossing area 15 (step ST503). When the alarm information generation unit 48 generates the alarm information, the communication control unit 45 generates a message including the alarm information, and causes the wireless communication unit 41 to transmit the message to the vehicle-mounted terminal device 7 (step ST504).

When the in-vehicle terminal device 7 receives the message including the alarm information from the signal control device 4, the notification information generation unit 75 generates the notification information (step ST505). The notification information generated by the notification information generation unit 75 is output from the input / output control unit 76 to the car navigation device 8 (step ST506).

When the notification information is input from the in-vehicle terminal device 7, the car navigation device 8 outputs the notification information (ST507).

In this way, according to the signal control system 1 according to the fifth embodiment, when the pedestrian 2 crossing the crossing area 15 is an alarm target person such as an elderly person or a physically handicapped person, that matter. Can be notified to the driver of the vehicle 6. This makes it possible to more reliably ensure the safety of vulnerable people who are vulnerable to traffic accidents such as the elderly and people with disabilities. The alarm target person may be an injured person, a sick person, a pregnant woman, a child, a person with children, a drunk person, or the like, in addition to the elderly person or the physically handicapped person. Further, in the case of a person (especially a child or the like) who has many precedents that have jumped out in the past, information indicating that there are many precedents that have jumped out in the past may be added to the message to notify the vehicle 6. Further, in the vehicle 6, a person who has many precedents who have jumped out in the past is notified to the driver by notification information (for example, an alarm) different from that in the case of an elderly person or a physically handicapped person. May be good.

Further, in the present embodiment, the pedestrian terminal device 3 is configured to transmit the attribute information together with the position information only when the user is the alarm target person, but always transmits the attribute information together with the position information. The signal control device 4 may be configured to determine whether or not the user is an alarm target person.

(Sixth Embodiment)
Next, the signal control system 1 according to the sixth embodiment of the present invention will be described. FIG. 20 is an overall configuration diagram of the signal control system 1 according to the sixth embodiment, and FIG. 21 is a diagram showing an example of sending and receiving a message in the signal control system 1 according to the sixth embodiment. In this sixth embodiment, the matters not particularly mentioned below are the same as in the case of the first embodiment described above.

As shown in FIG. 20, the signal control system 1 according to the sixth embodiment includes a pedestrian terminal device 3 possessed by the pedestrian 2, a signal control device 4, and an in-vehicle terminal device 7 mounted on the vehicle 6. I have. The in-vehicle terminal device 7 is connected to the car navigation device 8 mounted on the vehicle 6. The in-vehicle terminal device 7 may be built in the car navigation device 8. The in-vehicle terminal device 7 can send and receive messages to and from the pedestrian terminal device 3 by ITS wireless communication (communication between pedestrians and vehicles).

Next, a schematic configuration of the in-vehicle terminal device 7 will be described. FIG. 22 is a block diagram showing a schematic configuration of the in-vehicle terminal device 7. As shown in FIG. 22, the in-vehicle terminal device 7 includes a wireless communication unit 71, an input / output unit 72, a control unit 73, a positioning unit 91, and an information storage unit 92. Further, the control unit 73 includes a communication control unit 74, an input / output control unit 76, a left turn determination unit 93, and a left turn information generation unit 94. Except for the positioning unit 91, the information storage unit 92, the left turn determination unit 93, and the left turn information generation unit 94, they are the same as those of the in-vehicle terminal device 7 according to the fifth embodiment shown in FIG. The description thereof will be omitted. The in-vehicle terminal device 7 according to the sixth embodiment does not include the broadcast information generation unit 75.

The positioning unit 91 acquires the position information of its own device by a satellite positioning system such as GPS, QZSS, or GLONASS, similarly to the positioning unit 31 (see FIG. 3) of the pedestrian terminal device 3. The positioning function of the car navigation device 8 may be used to acquire the position information of the own device.

The information storage unit 92 stores map information, a program executed by the control unit 73, and the like. The map information includes the position information of the intersection 10.

The left turn determination unit 93 collates the position information acquired by the positioning unit 91 with the map information stored in the information storage unit 92, so that the own device (vehicle 6) is positioned within a predetermined range from the intersection 10. Determine whether or not to do so. Then, when it is determined that the own device (vehicle 6) is located within a predetermined range from the intersection 10, it is determined whether or not the vehicle 6 turns left at the intersection 10. The determination of a left turn of the vehicle 6 may be made based on signals from various devices or sensors such as a blinker (direction indicator) and a steering angle sensor installed in the vehicle 6.

The left turn information generation unit 94 generates left turn information indicating that the vehicle 6 turns left at the intersection 10 when the left turn determination unit 93 determines that the vehicle 6 turns left.

When the left turn information generation unit 94 generates the left turn information, the communication control unit 74 generates a message including the left turn information, and causes the wireless communication unit 71 to transmit the message to the pedestrian terminal device 3 (FIG. 21). reference).

Since the pedestrian terminal device 3 and the signal control device 4 are the same as those of the first embodiment shown in FIGS. 1 and 3, they are designated by the same reference numerals and the description thereof will be omitted. The pedestrian terminal device 3 is configured to transmit the position information only when the left turn signal is received from the in-vehicle terminal device 7, instead of transmitting the position information periodically.

Next, an outline of the operation of the signal control system 1 according to the sixth embodiment will be described. FIG. 23 is a sequence diagram showing an outline of the operations of the pedestrian terminal device 3, the signal control device 4, and the in-vehicle terminal device 7.

First, the in-vehicle terminal device 7 collates the position information of the own device (vehicle 6) acquired by the positioning unit 91 with the map information in the left turn determination unit 93, and whether or not the vehicle 6 is located within a predetermined range from the intersection 10. (Step ST601). Then, when it is determined that the vehicle 6 is located within a predetermined range from the intersection 10, the left turn determination unit 93 determines whether or not the vehicle 6 turns left at the intersection 10 (step ST602). When the left turn determination unit 93 determines that the vehicle 6 turns left at the intersection 10, the left turn information generation unit 94 generates left turn information (step ST603). When the left turn information generation unit 94 generates left turn information, the communication control unit 74 generates a message including the left turn information, and causes the wireless communication unit 41 to transmit the message to the pedestrian terminal device 3 (step ST604). ..

When the pedestrian terminal device 3 receives the left turn information from the in-vehicle terminal device 7, the positioning unit 31 acquires the position information of the own device (step ST605). Then, the communication control unit 35 generates a message including the position information, and causes the wireless communication unit 33 to transmit the message to the signal control device 4 (step ST606).

In this way, according to the signal control system 1 according to the sixth embodiment, the pedestrian terminal device 3 transmits the position information of its own device to the signal control device 4 only when the left turn information is received from the in-vehicle terminal device 7. Can be sent to. As a result, the frequency of transmitting position information from the pedestrian terminal device 3 can be reduced, so that the power consumption of the pedestrian terminal device 3 can be suppressed.

Although the present invention has been described above based on specific embodiments, these embodiments are merely examples, and the present invention is not limited to these embodiments. It should be noted that all the components of the signal control device, the signal control system, and the signal control method according to the present invention shown in the above embodiment are not necessarily all essential, and are appropriately selected as long as they do not deviate from the scope of the present invention. It is possible to do.

For example, in the above embodiment, it is configured to determine whether or not there is a pedestrian 2 crossing the crossing area 15 based on the position information of the pedestrian terminal device 3, but as shown in FIG. 24. A pedestrian detection device 17 capable of detecting a pedestrian 2 existing in or near the crossing area 15 is installed on the shoulder of the intersection 10 or the like, and the crossing area is based on the detection result of the pedestrian detection device 17. It may be configured to determine whether or not there is a pedestrian 2 crossing 15. The pedestrian detection device 17 may be a device using, for example, a sensor or a camera. Although not shown, the pedestrian detection device 17 is provided corresponding to each of the crossing areas 15B to 15D other than the crossing area 15A.

Further, in the above embodiment, the case where the signal control system 1 according to the present invention is applied to the intersection 10 when two roads intersect has been described, but the signal control system 1 according to the present invention has three or more. It is also applicable to multi-forked roads where roads intersect.

In addition, depending on the traffic light for the vehicle, it is possible that there is a period during which the vehicle can go straight and turn right. In such a case, the present invention can be applied to a right turn as well as a left turn. For example, during the period during which a vehicle can go straight and turn right, if there is a crossing person in the crossing area where the vehicle enters by turning right, only going straight is allowed, and if there is no crossing person, both going straight and turning right are allowed. It is advisable to control the signal display as described above.

Further, the present invention can be used in combination with a service of arranging a robot or the like near a traffic light or the like. For example, when there is a crossing person in the crossing area, in addition to controlling the signal display as described above, the robot may stand near the pedestrian crossing or the like and prompt the left-turning vehicle or the right-turning vehicle to stop. It is also possible to substitute an unmanned aerial vehicle such as a drone for the robot. Such services are particularly effective for vehicles that are drunk, dozing, meandering, speeding, or the like.

The present invention is also applicable to the case where the vehicle automatically drives. For example, if there is a crossing person in the crossing area, the vehicle turning left or right will automatically stop in front of the crossing area such as a pedestrian crossing according to the control of the signal display as described above, or go straight on at the intersection. Then make a left or right turn at another intersection.

The present invention can also be applied to measures against railroad crossing accidents. For example, when there are elderly people, sick people, people with disabilities, etc. in the railroad crossing during the time when the railroad crossing barrier is down, it is possible to light a stop signal for the train. Alternatively, an alarm may be notified to the train via a communication device installed at the railroad crossing to urge the train driver to stop the train, or the train may be automatically stopped. In addition to pedestrians, the present invention can also be applied to a case where a broken vehicle, a motorcycle, a bicycle, an electric wheelchair, a senior car, an agricultural machine, or the like exists in the railroad crossing. Furthermore, the present invention can be applied even when a passenger falls from a platform to a railroad track at a station, as in the case of a railroad crossing. Specifically, when it is detected that there are passengers on the track, the stop signal is turned on for the train, or an alarm is notified to the train and the train driver is stopped. You may urge or stop the train automatically.

The signal control device, the signal control system, and the signal control method according to the present invention both prevent a contact accident between a pedestrian crossing a crossing area and a left-turning vehicle and prevent traffic congestion of a vehicle waiting for a left-turning. It is useful as a signal control device, a signal control system, a signal control method, and the like capable of the above.

1 Signal control system 2 Pedestrian 3 Pedestrian terminal device 4 Signal control device 5 Mobile information terminal device 6 Vehicle 7 In-vehicle terminal device 8 Car navigation device 10 Intersection 11 Vehicle signal 12 Pedestrian signal 13 Road 14 Road 15 Crossing area 16 Vehicle passing area 17 Pedestrian detection device 31 Positioning unit 33 Wireless communication unit 35 Communication control unit 37 Information storage unit 41 Wireless communication unit 43 Information storage unit 45 Communication control unit 46 Crosser judgment unit 47 Signal control unit 48 Alarm information generation unit 71 Wireless communication unit 74 Communication control unit 75 Notification information generation unit 93 Left turn judgment unit 94 Left turn information generation unit

Claims (13)

A signal control device that controls the signal display of arrow-type vehicle traffic lights installed at intersections.
A signal control unit that controls the signal display of the vehicle traffic light,
A pedestrian determination to determine whether or not there is a pedestrian crossing the vehicle passing area through which the vehicle passes in the crossing area of the intersection that the vehicle enters when the vehicle follows the signal display of the vehicle traffic light and turns left or right. With a department,
The signal control unit is a pedestrian who crosses a first vehicle passing area in the crossing area when the vehicle turns left in the crossing area during a period during which the vehicle traffic light allows straight travel. When it is determined that there is, only the straight-ahead signal indicating that the pedestrian can go straight is displayed regardless of the signal display of the pedestrian signal corresponding to the crossing area crossed by the pedestrian, and the first vehicle passing area is displayed. A signal control device characterized in that when it is determined that there are no pedestrians crossing, the signal display is controlled so as to display the straight-ahead signal and the left-turn signal indicating that a left turn is possible. After controlling the signal display so as to display the left turn signal and the straight-ahead signal, the signal control unit makes a left turn when the crossing person determination unit determines that there is a pedestrian crossing the crossing area. The signal control device according to claim 1, wherein the signal display is controlled so that the signal is displayed in a display mode different from the normal display mode. The signal control unit is a pedestrian crossing a second vehicle passing area of the crossing area that the vehicle passes when the vehicle makes a right turn in the crossing area during the period when the vehicle traffic light allows a right turn. When it is determined that there is, the signal display is controlled so as not to display the right turn signal indicating that the right turn is possible regardless of the signal display of the pedestrian signal corresponding to the crossing area crossed by the pedestrian. The signal control device according to claim 1 or 2. A wireless communication unit that performs wireless communication based on the data communication format of pedestrian-to-vehicle communication between a pedestrian terminal device possessed by a pedestrian or an in-vehicle terminal device mounted on a vehicle.
It further includes an information storage unit that stores the position information of the vehicle passing area.
When the wireless communication unit receives the position information of the pedestrian terminal device from the pedestrian terminal device, the crossing person determination unit collates the position information of the pedestrian terminal device with the position information of the vehicle passing area. The signal control device according to any one of claims 1 to 3 , wherein it is determined whether or not there is a pedestrian crossing the vehicle passing area. Information indicating that the pedestrian determination unit determines that there is a pedestrian crossing the vehicle passing area , and that the wireless communication unit is a preset alarm target person from the pedestrian terminal device. An alarm information generation unit that generates alarm information indicating that the alarm target person crosses the vehicle passing area when the signal is received.
The signal control device according to claim 4 , further comprising a communication control unit that controls the wireless communication unit so as to transmit the alarm information to the vehicle-mounted terminal device. Further provided with a pedestrian detection device located at the intersection and detecting pedestrians existing in or near the crossing area.
Claims 1 to 3 are characterized in that the crossing person determination unit determines whether or not there is a pedestrian crossing the vehicle passing area based on the detection result of the pedestrian detecting device. The signal control device according to any one of. The signal control device according to any one of claims 1 to 3,
A signal control system possessed by a pedestrian and including a pedestrian terminal device that wirelessly communicates with the signal control device.
The pedestrian terminal device
A wireless communication unit that performs wireless communication with the signal control device based on the data communication format of pedestrian-vehicle communication, and
A positioning unit that acquires the position information of the pedestrian terminal device, and
A signal control system including a communication control unit that controls the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device. The signal control device according to claim 4 or 5.
A signal control system possessed by a pedestrian and including a pedestrian terminal device that wirelessly communicates with the signal control device.
The pedestrian terminal device
A wireless communication unit that performs wireless communication based on the data communication format of pedestrian-vehicle communication with the signal control device or the in-vehicle terminal device mounted on the vehicle, and
A positioning unit that acquires the position information of the pedestrian terminal device, and
A signal control system including a communication control unit that controls the wireless communication unit so as to transmit the position information of the pedestrian terminal device to the signal control device. The pedestrian terminal device further includes an information storage unit that stores information indicating that the pedestrian possessing the pedestrian terminal device is a preset alarm target person.
The signal control according to claim 8 , wherein the communication control unit controls the wireless communication unit so as to transmit information indicating that the pedestrian is the alarm target person to the signal control device. system. The communication control unit transmits the position information to the signal control device only when the wireless communication unit receives left turn information indicating that the vehicle turns left at the intersection from the vehicle-mounted terminal device. The signal control system according to claim 8 or 9 , wherein the wireless communication unit is controlled. Further including an in-vehicle terminal device mounted on a vehicle and performing wireless communication with the signal control device or the pedestrian terminal device.
The in-vehicle terminal device
A wireless communication unit that performs wireless communication with the signal control device or the pedestrian terminal device based on the data communication format of pedestrian-to-vehicle communication, and
When the wireless communication unit receives alarm information from the signal control device indicating that a preset alarm target person crosses the vehicle passage area , the alarm information is notified to the driver of the vehicle. A notification information generation unit that generates notification information, and
The signal control system according to claim 9 or 10 , further comprising an output unit that outputs the notification information to a notification device mounted on the vehicle. The in-vehicle terminal device
A left turn determination unit that determines whether or not the vehicle makes a left turn at the intersection,
When the left turn determination unit determines that the vehicle turns left at the intersection, the left turn information generation unit generates left turn information indicating that the vehicle turns left at the intersection.
The signal control system according to claim 11 , further comprising a communication control unit that controls the wireless communication unit so as to transmit the left turn information to the pedestrian terminal device. It is a signal control method that controls the signal display of an arrow-type vehicle traffic light installed at an intersection.
A pedestrian crossing the vehicle passing area through which the vehicle passes among the crossing areas of the intersection that the vehicle that follows the signal display of the vehicle traffic light enters when the vehicle follows the signal display of the vehicle traffic light during the period when the vehicle traffic light allows the vehicle to go straight. Steps to determine if it exists and
When it is determined that there is a pedestrian crossing the vehicle passing area , only a straight-ahead signal indicating that the vehicle can go straight is displayed regardless of the signal display of the pedestrian signal corresponding to the crossing area crossed by the pedestrian. When it is determined that there is no pedestrian crossing the vehicle passing area , it is characterized by having a step of controlling the signal display so as to display the straight-ahead signal and the left-turn signal indicating that the vehicle can turn left. Signal control method.

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