JP7460466B2 - Signal control device and signal - Google Patents

Description

The present invention relates to a traffic light control device and a traffic light.

Conventionally, traffic lights receive a control signal for switching the display state of a signal display section from a host control device, and switch the display state of the signal display section based on the received control signal (for example, Patent Document 1 reference).

Japanese Patent Application Publication No. 10-97696

An aspect of the present invention is a traffic light control device that controls a first traffic light for a first lane of a target intersection, which includes an acquisition unit that wirelessly acquires information including time information indicating time, and an imaging unit. a detection unit that detects a vehicle stopping near the intersection in the first lane based on an image taken of the first lane; and a reference based on the time information included in the information acquired by the acquisition unit. A reference time is specified, and the elapsed time from the specified reference time, the first detection result by the detection unit, and the area near the intersection of a second lane that intersects the first lane among the lanes of the intersection. a display control unit that switches a display state of a signal display unit attached to the first traffic light based on a second detection result in which a stopped vehicle is detected; determine the course of the stopped vehicle based on an image of a direction indicator provided on the stopped vehicle, and cause the display control section to switch the display state of the signal display section so as to reduce the number of stopped vehicles. , the traffic light control device causes the detection unit to detect a vehicle stopping near the intersection in the first lane based on the image captured by the imaging unit, and uses the detection result detected by the detection unit as the first detection unit. As a result, the signal is transmitted to a second traffic light for the second lane of the intersection, and the traffic light control device sets the result that a vehicle stopping near the intersection in the second lane is detected as the second detection result. received from another control device that controls the second traffic light, and in the traffic light control device and the other control device, a start time to start detecting a vehicle that stops near the intersection, and a vehicle that stops near the intersection; The traffic light control device is synchronized with the end time at which detection ends.

Another aspect of the present invention is a traffic light equipped with the traffic light control device described above.

1 is a block diagram showing the configuration of a signal system and a signal control device according to an embodiment of the present invention. It is a state transition diagram explaining the transition between modes of a traffic light. FIG. 2 is an explanatory diagram showing an intersection (first example) as an example. FIG. 4 is an explanatory diagram showing an example of detected traffic volume. FIG. 3 is an explanatory diagram showing an example of periods during which a signal light is turned on and turned off. It is an operation diagram showing operation of a traffic light in this embodiment. It is an explanatory view showing an intersection (second example) as an example.

It has been found that with the traffic light shown in Patent Document 1 mentioned above, if a control signal cannot be received from a higher-level control device, for example during a disaster, the display state of the signal display unit cannot be appropriately switched.
Therefore, aspects of the present invention provide a traffic light control device, a traffic light, and a program that can appropriately switch the display state of a signal display unit even when a control signal for switching the display state of the signal display unit cannot be received.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic block diagram showing the configuration of a signal system 1 according to an embodiment of the present invention. In the signal system 1, a signal control device 100 provided in each of a plurality of signals is connected to a host control device 200 via a communication network 300. Hereinafter, the signal control device 100 will be described as a signal 100.

Here, the description will be made on the assumption that the plurality of traffic lights 100 are installed on a road and are each identified by identification information. The upper control device 200 transmits control signals for controlling each of the traffic lights 100 to the traffic lights 100 via the communication network 300. Thereby, the host control device 200 can control each of the plurality of traffic lights 100.

The multiple traffic lights 100 each have the same configuration. Here, the configuration of one traffic light 100 will be described. The traffic light 100 has an imaging unit 10, a control unit 20, a signal display unit 30, a power supply unit 40, and a sound collection unit 50. The imaging unit 10 and the control unit 20 are connected via an I/F (interface) 70. The control unit 20 and the signal display unit 30 are connected via an I/F 71. The sound collection unit 50 and the control unit 20 are connected via an I/F (interface) 72.

The signal display section 30 includes a first light emitting section 31, a second light emitting section 32, and a third light emitting section 33. This first light emitting section 31 lights up in blue (or green), and when lit, indicates that "you may proceed" (hereinafter referred to as "possible to proceed"). The second light emitting part 32 lights up in yellow, and when lit, indicates that "stop at the stop position. However, if you cannot stop at the stop position, you may continue as is" (hereinafter referred to as "stop"). The third light emitting unit 33 lights up in red, and when lit, indicates that "you must not proceed" (hereinafter referred to as "progress is not allowed").

The imaging unit 10 includes an imaging device such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and outputs the captured image to the control unit 20 via the I/F 70. The imaging unit 10 is attached to the traffic light 100. For example, the imaging unit 10 is attached to the traffic light 100 so that it is located above, below, to the left, or to the right of the signal display unit 30. The imaging unit 10 may also be attached to the traffic light 100 as an integral part of the signal display unit 30.

For example, the imaging unit 10 captures images in 360 degrees in the horizontal direction. In this case, the imaging unit 10 may combine a plurality of imaging devices to capture images in 360 degrees. Further, the imaging unit 10 may image a 360-degree azimuth by processing an image captured through a mirror member having a shape such as a triangular pyramid or a sphere.

The sound collection unit 50 is a sound collection device such as a microphone, and outputs the collected sound to the control unit 20 via an I/F (interface) 72. The sound collection unit 50 may be a sound collection device that includes a plurality of microphones and collects sound so that the direction of the sound source can be specified, for example. This sound collection section 50 is attached to a traffic light 100. For example, the sound collection unit 50 is attached to the traffic light 100 so as to be located above, below, to the left of the signal display unit 30, or to the right of the signal display unit 30. Further, the sound collection section 50 may be attached to the traffic light 100 integrally with the signal display section 30.

The power supply unit 40 supplies power to the imaging unit 10, the control unit 20, the signal display unit 30, and the sound collection unit 50, which are the components included in the traffic signal 100.

This power supply section 40 includes a power supply section 41 , a power storage section 42 , and a power supply switching section 43 . Power is supplied to the power supply unit 41 from outside the traffic light 100 via a power line. Power storage unit 42 stores power (charge) and outputs the stored power. For example, the power storage unit 42 is charged by the power supplied to the power supply unit 41 during a period when power is supplied to the power supply unit 41 from the outside. This power storage unit 42 is, for example, a secondary battery.

The power supply switching unit 43 supplies power from, for example, either the power supply unit 41 or the power storage unit 42 to each component of the traffic light 100. This power supply switching unit 43 detects the voltage or current of the power supply supplied to the power supply unit 41, and switches the power supply unit 41 that supplies power to each component of the traffic light 100 between the power supply unit 41 and the power storage unit 42 based on the detected voltage or current.

Here, mode switching by the power switching section 43 will be explained using FIG. 2. In the following description, the case where the power supply switching unit 43 supplies power from the power supply unit 41 to each component included in the traffic light 100 will be referred to as a "first mode", The case where power is supplied to each component included in the system will be referred to as the "second mode" and will be described.

First, when the traffic light 100 is activated (in the case of the state "at activation" in FIG. 2), when activation condition 1 is satisfied, the power supply switching unit 43 transitions the state to the first mode. If condition 2 is satisfied, the state is transitioned to the second mode.

This startup condition 1 may be, for example, a condition in which the voltage or current of the power source supplied to the power supply unit 41 is greater than a predetermined threshold. Also, this startup condition 2 may be, for example, a condition in which the voltage or current of the power source supplied to the power supply unit 41 is equal to or less than a predetermined threshold. In other words, startup condition 1 may be a condition in which power is supplied to the traffic light 100 from an external source, and startup condition 2 may be a condition in which power is not supplied to the traffic light 100 from an external source.

After that, for example, when the power supply unit 41 supplies power to each component of the traffic light 100 (when the state is in the first mode), the power supply switching unit 43 detects the voltage or current of the power supplied to the power supply unit 41. Then, when the detected voltage or current becomes equal to or lower than a predetermined threshold (when condition 2 is satisfied), the power supply switching unit 43 switches the power supply to the power storage unit 42 (transitions the state to the second mode).

Condition 2 corresponds to, for example, a case in which the power line supplying power to the traffic light 100 is cut or a power outage occurs in the facility supplying power to the traffic light 100 during a disaster or the like.

In addition, when power is being supplied from the power storage unit 42 to each component included in the traffic light 100 (when the state is in the second mode), the power supply switching unit 43 controls the voltage of the power supply supplied to the power supply unit 41 or Detecting current. Then, when the detected voltage or current becomes larger than a predetermined threshold (when condition 1 is satisfied), the power supply switching unit 43 switches the power supply to the power supply unit 41 (changes the state to the first state). mode).

Condition 1 corresponds, for example, to a case where a disconnected power line supplying power to the traffic light 100 is reconnected as a result of recovery processing after a disaster, or a case where a power outage at a facility supplying power to the traffic light 100 ends.

Thereafter, the power supply switching unit 43 changes the state between the first mode and the second mode. Note that the power supply switching unit 43 controls information indicating that the state is to be transitioned from the first mode to the second mode, and information indicating that the state is to be transitioned from the second mode to the first mode. output to section 20. Alternatively, the power switching unit 43 outputs information indicating that the current state is the first mode or the second mode to the control unit 20. Based on this information, the control unit 20 can determine whether the current mode is the first mode or the second mode.

Returning to the explanation of FIG. 1, the control section 20 includes a detection section 21, a display control section 22, and a communication section 23. The communication unit 23 receives a control signal for switching the display state of the signal display unit 30 from the higher-level control device 200 via the communication network 300. This control signal is, for example, control information indicating whether the vehicle can proceed, stop, or cannot proceed. That is, this control signal is control information indicating that the first light emitting section 31, the second light emitting section 32, or the third light emitting section 33 is to emit light.

In the first mode, the display control unit 22 switches the display state of the signal display unit 30 via the I/F 71 based on a control signal received from the upper control device 200 by the communication unit 23. For example, in the first mode, when the display control unit 22 receives control information from the upper control device 200 via the communication unit 23 indicating that the first light-emitting unit 31 is to emit light, the display control unit 22 turns on the first light-emitting unit 31 provided in the signal display unit 30 and turns off the second light-emitting unit 32 and the third light-emitting unit 33.

The detection unit 21 detects traffic volume based on the image captured by the imaging unit 10. In the second mode, the display control unit 22 switches the display state of the signal display unit 30 based on the traffic volume detected by the detection unit 21.

For example, the detection unit 21 detects the traffic volume of each of the multiple lanes based on the images of the multiple lanes captured by the imaging unit 10. At this time, as an example, the detection unit 21 detects vehicles one by one and for each lane in the images of the multiple lanes captured by the imaging unit 10 using image processing and pattern matching technology. Then, the detection unit 21 detects the traffic volume of each of the multiple lanes by detecting the number of vehicles traveling on each lane per unit time.

The display control unit 22 switches the display state of the signal display unit 30 based on the result of comparing the traffic volumes of each of the plurality of lanes detected by the detection unit 21. At this time, the display control unit 22 determines whether a vehicle traveling in a lane with high traffic volume is a vehicle traveling in a lane with low traffic volume or The display state of the signal display unit 30 is switched so that the vehicle can proceed with priority compared to the vehicle.

In this way, in the first mode, the control unit 20 switches the display state of the signal display unit 30 attached to the traffic light 100 based on the control signal received from the host control device 200 by the communication unit 23. . Furthermore, in the second mode, the control unit 20 switches the display state of the signal display unit 30 attached to the traffic light 100 based on the image captured by the imaging unit 10.

Next, using Figures 3 to 5, an example will be described in which, in the second mode, the display control unit 22 switches the display state of the signal display unit 30 based on the traffic volume detected by the detection unit 21.

Here, as shown in FIG. 3, a case will be described in which there are two lanes, each of which is one-way. Lane A, which is one of the two lanes, is a one-way traffic lane from right to left in the paper of FIG. Lane B, which is the other lane of the two lanes, is a one-way traffic lane running from top to bottom in the paper of FIG. Lane A and lane B intersect with each other at intersection C.

Further, in FIG. 3, a traffic light 100-1 is installed in lane A in front of intersection C. Further, in lane B, a traffic light 100-2 is installed before intersection C. The traffic light 100-1 and the traffic light 100-2 have the same configuration as the traffic light 100 described above using FIG. 1.

In addition, in FIG. 3, at intersection C, there is a stop line L1 before traffic light 100-1, and there is a stop line L2 before traffic light 100-2. Therefore, depending on the signal display units 30 of traffic lights 100-1 and 100-2, at intersection C, the vehicle stops before the stop line L1, and also before the stop line L2.

Next, the traffic volume detected by the traffic light 100 will be described using FIG. 4. Here, the traffic light display units 30 of the traffic lights 100-1 and 100-2 are described as each having a first light-emitting unit 31 that lights up blue (or green) to indicate that proceeding is permitted, and a third light-emitting unit 33 that lights up red to indicate that proceeding is prohibited.

Here, the control units 20 of the traffic lights 100-1 and 100-2 respectively control the signal display units 30 of their own devices to turn off the first light-emitting unit 31 and turn off the third light-emitting unit 33. The explanation will be given assuming that the lighting and lighting of the light are executed almost simultaneously. Conversely, the control units 20 of the traffic lights 100-1 and 100-2 control the signal display units 30 of their own devices to turn on the first light-emitting unit 31 and turn on the third light-emitting unit, respectively. 33 will be explained as being executed almost simultaneously.

Note that, as explained above, the traffic light 100-1 and the traffic light 100-2 each image a 360-degree azimuth in the horizontal direction. Therefore, the traffic light 100-1 and the traffic light 100-2 can detect the traffic volume in lane A and lane B, respectively.

Here, for example, as shown in FIG. 4, the traffic lights 100-1 and 100-2 alternately display states of "progressable" and "progressable" via their respective signal display sections 30. Here, the respective periods in which the game is allowed to proceed and the periods in which the game is not allowed to proceed will be explained as having the same length of time.

For example, in period T1, traffic light 100-1 indicates "Proceed" via its own signal display unit 30, and traffic light 100-2 indicates "Do not proceed" via its own signal display unit 30. Next, in period T2, traffic light 100-1 indicates "Do not proceed" via its own signal display unit 30, and traffic light 100-2 indicates "Proceed" via its own signal display unit 30. Thereafter, traffic lights 100-1 and 100-2 repeat the same operation for periods T3, T4, etc. It is assumed that periods T1, T2, T4, etc. are each the same length of time.

Here, the detection unit 21 of the traffic light 100-1 detects the traffic volume of each of the plurality of lanes based on the images of the plurality of lanes captured by the imaging unit 10 of the traffic light 100-1. Further, the detection unit 21 of the traffic light 100-2 detects the traffic volume of each of the plurality of lanes based on the images of the plurality of lanes captured by the imaging unit 10 of the traffic light 100-2.

For example, as shown in FIG. 4, the detection units 21 of traffic lights 100-1 and 100-2 each detect that five vehicles have passed through lane A and zero vehicles have passed through lane B during time period T1. Furthermore, the detection units 21 of traffic lights 100-1 and 100-2 each detect that zero vehicles have passed through lane A and one vehicle has passed through lane B during time period T2. Similarly, the detection units 21 of traffic lights 100-1 and 100-2 each detect the traffic volume of lane A and lane B during time periods T3, T4, and so on.

The display control unit 22 of traffic light 100-1 then compares the traffic volume of each of the multiple lanes detected by the detection unit 21 of traffic light 100-1, and in this case determines that lane A has a higher traffic volume than lane B. For example, the display control unit 22 of traffic light 100-1 may compare the traffic volume of each lane based on the total or average of the vehicles that have traveled on each lane during a predetermined period such as period T1 to period T4.

Then, based on this result, the display control unit 22 of the traffic light 100-1 switches the display state of the signal display unit 30 so that vehicles traveling on lanes with high traffic volume are given priority over vehicles traveling on lanes with low traffic volume. In other words, in this case, since lane A has more traffic volume than lane B, the display control unit 22 of the traffic light 100-1 switches the display state of the signal display unit 30 so that lane A is given priority over lane B.

Meanwhile, the display control unit 22 of traffic light 100-2 compares the traffic volume of each of the multiple lanes detected by the detection unit 21 of traffic light 100-2, and determines, in this case, that lane A has more traffic volume than lane B, just like the display control unit 22 of traffic light 100-1. Then, based on this result, the display control unit 22 of traffic light 100-2 switches the display state of the signal display unit 30 so that vehicles traveling in lanes with more traffic volume are given priority over vehicles traveling in lanes with less traffic volume. That is, in this case, because lane A has more traffic volume than lane B, the display control unit 22 of traffic light 100-2 switches the display state of the signal display unit 30 so that lane A is given priority over lane B, just like the display control unit 22 of traffic light 100-1.

Here, the physical quantity of traffic volume in a plurality of lanes has the same value as long as the measurement period is the same even if the measuring entity is different, such as the traffic light 100-1 or the traffic light 100-2. Therefore, the values of traffic volume in the plurality of lanes detected by the detection unit 21 of the traffic light 100-1 and the detection unit 21 of the traffic light 100-2 are the same value. Therefore, the display control unit 22 of the traffic light 100-1 and the display control unit 22 of the traffic light 100-2 each give priority to lane A over lane B based on the detected traffic volume for each of the plurality of lanes. The display state of the signal display section 30 can be switched so that the vehicle can proceed with the following steps. In this way, even if the traffic lights 100-1 and 100-2 operate independently of each other, or even if they do not receive control signals from the higher-level control device, the traffic lights 100-1 and 100-2 can detect the detected lane. The display state of the signal display unit 30 can be appropriately switched based on the traffic volume at each time.

As an example, when switching the display state of the signal display unit 30 so that lane A is given priority over lane B, the display control unit 22 of traffic light 100-1 and the display control unit 22 of traffic light 100-2 each do the following:

For example, the display control unit 22 of the traffic light 100-1 and the traffic light 100-2 determines the ratio or difference in the traffic volume for each lane based on the traffic volume for each of a plurality of lanes detected by the detection unit 21 of the traffic light 100. The display state of the signal display unit 30 is switched so that the larger the traffic volume is, the longer the period during which the vehicle can travel in a lane with a high traffic volume is longer than in a lane with a low traffic volume.

Conversely, the display control unit 22 of the traffic light 100-1 and the traffic light 100-2 determines the traffic volume ratio for each lane or The display state of the signal display unit 30 is switched so that the larger the difference, the longer the period in which the vehicle cannot proceed in the lane with less traffic than in the lane with more traffic.

In the case of FIG. 4 described above, the display control sections 22 of the traffic lights 100-1 and 100-2 change the period of the display state by the signal display section 30, as shown in FIG. 5, for example. For example, each display control section 22 controls the period during which the signal display section 30 (lane A) of the traffic light 100-1 indicates that the vehicle can proceed, and the signal display section 30 (lane B) of the traffic light 100-2 indicates that the vehicle cannot proceed. The time lengths of T11 and T13 are changed to be longer than the time lengths from period T1 to period T4 shown in FIG. 4.

Conversely, each display control section 22 indicates that the signal display section 30 (lane A) of the traffic light 100-1 indicates that the vehicle cannot proceed, and the signal display section 30 (lane B) of the traffic light 100-2 indicates that the vehicle is allowed to proceed. The time lengths of period T12 and period 14 are changed to be shorter than the time lengths from period T1 to period T4 shown in FIG. 4. Thereafter, until the traffic volume changes, each display control section 22 repeats switching the display state of each signal display section 30 in the same manner as from period T11 to period T14.

In this way, the display control unit 22 of the traffic light 100 can switch the display state of the signal display unit 30 based on the traffic volume for each of the multiple lanes detected by the detection unit 21 so that vehicles traveling in lanes with high traffic volume are given priority over vehicles traveling in lanes with low traffic volume.

<Operation of traffic light 100 when transitioning to second mode>
Next, the operation of the traffic light 100 in the second mode will be described using FIG. 6. Note that the operation of the traffic signal 100 in FIG. 6 is, for example, the operation of the traffic signal 100 when the mode is changed from the first mode to the second mode, as described using FIG. 2.

First, the imaging unit 10 captures an image and outputs the captured image to the control unit 20 via the I/F 70 (step S10). Next, the detection unit 21 of the control unit 20 detects the traffic volume based on the image captured by the imaging unit 10 (step S20). Next, the display control unit 22 of the control unit 20 compares the traffic volume of each of the plurality of lanes detected by the detection unit 21 (step S30).

Next, the display control unit 22 of the control unit 20 performs signal control by switching the display state of the signal display unit 30 based on the results of the comparison in step S30 (step S40). For example, in step S40, the display control unit 22 of the control unit 20 determines whether a vehicle traveling in a lane with a high traffic volume is in traffic based on the result of comparing the traffic volume of each of the plurality of lanes detected by the detection unit 21. The display state of the signal display unit 30 is switched so that vehicles traveling in lanes with less traffic can proceed preferentially. In addition, in this step S40, the display control section 22 of the control section 20 switches the display state of the signal display section 30 via the I/F 71.
Thereafter, the traffic light 100 repeats the processing from step S10 until it transitions to the first mode.

In this way, in the second mode, the traffic light 100 switches the display state of the signal display section 30 attached to the traffic light 100 based on the image captured by the imaging section 10. Therefore, the traffic light 100 according to the present embodiment appropriately controls the switching of the display state of the signal display unit 30 even when communication with the higher-level control device is not possible or when a control signal cannot be received from the higher-level control device. be able to.

In addition, as shown in FIG. 4 or FIG. 5, the control unit 20 included in each traffic light 100 adjusts the display state of each signal so that the display state of the traffic light 100-1 and the display state of the traffic light 100-2 are different. The display state of the section 30 is being changed.

In the case of FIG. 3, in order to prevent a vehicle traveling in lane A and a vehicle traveling in lane B from colliding at intersection C, traffic lights 100-1 and 100-2 need to control the signal display unit 30 of each traffic light 100 by the control unit 20 of the traffic light 100 itself. For example, the control unit 20 of each traffic light 100 needs to control the signal display unit 30 of the traffic light 100 by the control unit 20 of the traffic light 100 itself so that a vehicle traveling in lane A and a vehicle traveling in lane B are not able to proceed toward intersection C at the same time.

That is, the display state of the traffic light 100-1 and the display state of the traffic light 100-2 are not allowed to proceed at the same timing. Note that it is possible for both the display state of the traffic light 100-1 and the display state of the traffic light 100-2 to become prohibitive.
Therefore, the control unit 20 included in each traffic light 100 makes sure that the display state of the traffic light 100-1 and the display state of the traffic light 100-2 are different, and that they are not in a display state that allows progress at the same timing. , the display state of each signal display section 30 is switched.
As a result, a vehicle traveling in lane A and a vehicle traveling in lane B will not collide at intersection C, and a vehicle traveling in lane A and a vehicle traveling in lane B will alternately proceed through intersection C. can do.

By the way, as explained above using FIG. 4, even if the devices that measure traffic volume are different, such as the traffic light 100-1 and the traffic light 100-2, the value of the physical quantity of traffic volume in multiple lanes is , it is necessary to ensure that each device measures the same value. For this purpose, it is necessary that the start time and end time of the period T1, etc., during which the number of vehicles is counted, between the traffic light 100-1 and the traffic light 100-2, are synchronized.

For this synchronization, the traffic light 100-1 and the traffic light 100-2 may be configured to be able to detect each other's reference time by, for example, timekeeping using a radio clock or timekeeping using a GPS (Global Positioning System). . Then, the traffic light 100-1 and the traffic light 100-2 measure the elapsed time from the detected reference time using their internal clock units. The traffic light 100-1 and the traffic light 100-2 determine the start time and end time of a period T1 for counting the number of vehicles, etc., based on the elapsed time measured by their respective time measurement units. In this way, the traffic lights 100-1 and 100-2 synchronize the start time and end time of the period T1 for counting the number of vehicles between the traffic lights 100-1 and the traffic lights 100-2. You may also do so.

As a result, even if the traffic signals 100-1 and 100-2 use different devices to measure traffic volume, each device measures the physical quantity of traffic volume in multiple lanes as the same value. be able to. Therefore, the display state of the signal display section 30 of the traffic light 100-1 and the traffic light 100-2 can be appropriately switched.

In the explanation of FIG. 4, traffic lights 100-1 and 100-2 compare the traffic volume of each of the multiple lanes when the period from period T1 to period T4 has elapsed, and switch the display state of the signal display unit 30 based on the comparison result. However, the timing for comparing the traffic volume of each of the multiple lanes is not limited to this. For example, traffic lights 100-1 and 100-2 may compare the traffic volume of each of the multiple lanes for each predetermined period.

This "predetermined period" may be any period that is determined in advance. In addition, this "predetermined period" may be determined based on the period during which the control unit 20 of each traffic light 100 switches the display state of the signal display unit 30, such as the above-mentioned periods T1 to T4.

The "predetermined period" may be any one of periods T1 to T4. For example, traffic lights 100-1 and 100-2 may each compare the number of moving vehicles in lane A and the number of stopped vehicles in lane B during period T1, and switch the display state of the signal display unit 30 based on the result of this comparison.

Furthermore, as in the case of period T1, traffic lights 100-1 and 100-2 each compare the number of traveling vehicles in lane A and the number of stopped vehicles in lane B for each period T2, T3, T4, etc. Then, based on the results of the comparison, traffic lights 100-1 and 100-2 may each switch the display state of the signal display unit 30 so that vehicles traveling in lanes with high traffic volume are given priority over vehicles traveling in lanes with low traffic volume.

Furthermore, the traffic lights 100-1 and 100-2 compare the traffic volume of each of the multiple lanes when the total number of vehicles traveling on the multiple lanes exceeds a predetermined number. It's okay.

Moreover, although the number of vehicles traveling in a lane or the number of vehicles traveling per unit time has been described here as the traffic volume, the traffic volume is not limited to this. For example, the detection unit 21 may detect the number of stopped vehicles in front of the intersection C, and the number of stopped vehicles for each lane, as the traffic volume. In this case, the display control section 22 can switch the display state of the signal display section 30 according to the number of stopped vehicles so as to reduce the number of stopped vehicles.

<In case of multiple lanes>
In addition, in the above description using FIG. 3, the case of two lanes each having one-way traffic was explained, but the traffic light 100 according to the present embodiment can be used in the case of two lanes having one-way traffic. The present invention is not limited to this, and can be applied to any number of lanes that are not one-way.

Here, an example of a lane having an arbitrary number of lanes that is not one-way will be described using FIG. 7. In the figure, parts corresponding to those in FIG. 1 or 3 are given the same reference numerals, and their explanations will be omitted.

In FIG. 7, lanes A1 and A2, which are oncoming lanes, and lanes B1 and B2, which are oncoming lanes, intersect at intersection C. Traffic lights 100-1 and 100-3, and traffic lights 100-2 and 100-4 are installed on lanes A1 and A2, and on lanes B1 and B2, just before intersection C. Traffic lights 100-1, 100-2, 100-3, and 100-4 have the same configuration as traffic light 100 described using FIG. 1, just like in FIG. 3.

Further, in FIG. 7, for intersection C, there is a stop line L1 before the traffic light 100-1, and a stop line L3 before the traffic light 100-3. Furthermore, with respect to intersection C, there is a stop line L2 before the traffic light 100-2, and a stop line L4 before the traffic light 100-4. Therefore, vehicles in the respective lanes stop before the stop line L1 to the stop line L4 with respect to the intersection C according to the signal display units 30 of the traffic lights 100-1 to 100-4.

Incidentally, in the case of FIG. 7 as well, as in the case of FIG. It is necessary to control the signal display section 30 of each traffic light 100 by the control section 20 of the own vehicle 100 so that the vehicle and the vehicle traveling in the lane B1 or lane B2 do not collide at the intersection C.

For example, the control unit 20 of each traffic light 100 may allow a vehicle traveling in lane A1 or lane A2 and a vehicle traveling in lane B1 or lane B2 to proceed towards intersection C at the same timing. It is necessary to control the signal display unit 30 of the traffic light 100 by the control unit 20 of the own car 100 so that the traffic light does not become erroneous.

Therefore, as an example, the control units 20 of traffic lights 100-1 and 100-3 each switch the display state of the signal display unit 30 at the same timing and to the same display state. Also, the control units 20 of traffic lights 100-2 and 100-4 each switch the display state of the signal display unit 30 at the same timing and to the same display state. Then, the control units 20 provided in each traffic light 100 switch the display state of each signal display unit 30 so that the display state of traffic lights 100-1 and 100-3 is different from the display state of traffic lights 100-2 and 100-4.

As explained above, the display states of the traffic lights 100-1 and 100-3 and the display states of the traffic lights 100-2 and 100-4 are such that it is not possible for both to be able to proceed at the same timing. Not done. This means that if both the display states of traffic lights 100-1 and 100-3 and the display states of traffic lights 100-2 and 100-4 become disabled at the same timing, a vehicle traveling in a different lane will This is because there is a possibility of a collision at intersection C. Note that it is possible for both the display state of the traffic light 100-1 and the traffic light 100-3 and the display state of the traffic light 100-2 and the traffic light 100-4 to become prohibited.

Therefore, the control unit 20 included in each traffic light 100 makes the display states of the traffic lights 100-1 and 100-3 different from the display states of the traffic lights 100-2 and 100-4, and that both The display states of the respective signal display sections 30 are switched so that the display states do not allow progress at the same timing.

Therefore, in this case as well, the control units 20 of the traffic lights 100-1 and 100-3 switch the display states of the signal display units 30 as in the case of lane A explained in FIG. The control unit 20 of the traffic light 100-4 switches the display state of the signal display unit 30 as in the case of lane B described in FIG. Therefore, in the case of FIG. 7 as well as in the case of FIG. 4, the traffic lights 100-1 to 100-4 cannot receive control signals from the higher-level control device even when they are unable to communicate with the higher-level control device. Also, it is possible to appropriately control the switching of the display state of the signal display section.

Note that, as indicated by the symbol P in FIG. 7, there may be a vehicle that turns right at intersection C from lane A1 and travels in lane B2. That is, there is a possibility that there are also vehicles turning right at intersection C.

The display control unit 22 then switches the display state of the signal display unit 30 so as to prioritize right turns (right turn signal). This can reduce the increase in the number of vehicles unable to turn right, for example, when vehicles traveling on lane A1 are unable to turn right at intersection C and stop near stop line L1. Thus, the display control unit 22 can reduce (alleviate) congestion caused by turning right at intersection C.

The display control unit 22 also switches the display state of the signal display unit 30 so as to adjust the time of the right-turn signal. This makes it easier for vehicles to turn right at intersection C. This reduces the increase in the number of vehicles that are unable to turn right at intersection C and stop near the stop line L1. Thus, the display control unit 22 can reduce congestion caused by turning right at intersection C.

In this way, when the display control unit 22 switches the display state of the signal display unit 30 to prioritize right turns or to adjust the time of the right turn signal, the detection unit 21 detects vehicles turning right based on the captured image.

For example, based on the captured image, the detection unit 21 detects a vehicle that is stopped at or before the intersection C and is close to the right edge of the lane as a vehicle turning right. Also, assume that the image of the turn indicator equipped on the vehicle, which indicates the direction in which the vehicle will change lanes by blinking lights, is captured by the imaging unit 10. In this case, the detection unit 21 may detect a vehicle turning right by determining whether or not the vehicle is turning right based on the image of the turn indicator equipped on the vehicle captured by the imaging unit 10. Also, the detection unit 21 may detect a vehicle turning right by any combination of methods for detecting such vehicles turning right.

Then, as explained above, when the detection unit 21 detects a vehicle turning right, the display control unit 22 controls the signal display unit to give priority to the right turn or to adjust the time of the right turn signal. Switch the display state of 30.

When the display control unit 22 switches the display state of the signal display unit 30 to give priority to a right turn (right turn signal), this means that the display control unit 22 switches the display state of the signal display unit 30 so that vehicles turning right are given priority over vehicles that do not turn right or vehicles that do not turn right at intersection C. A "vehicle not turning right" here refers to, for example, a vehicle that travels straight in the lane without changing lanes, or a vehicle that turns left.

As an example, it is assumed that the signal display section 30 includes a light emitting section that allows a right turn. In this case, the display control unit 22 controls the display state of the light emitting unit corresponding to right turn permitted, and switches the display state of the signal display unit 30 so as to give priority to vehicles making a right turn.

In addition, when the display control unit 22 switches the display state of the signal display unit 30 to adjust the time of the right-turn signal, this means that the display control unit 22 adjusts the time at which the display state of the signal display unit 30 is switched so that the period during which a vehicle turning right can proceed is longer compared to when there are no vehicles turning right at intersection C or when there are vehicles not turning right.

As an example, the signal display unit 30 is provided with a light-emitting unit corresponding to a right turn permitted. In this case, when the display control unit 22 switches the display state of the signal display unit 30 to adjust the time of the right turn signal, it means, for example, that the display control unit 22 controls the display state of the light-emitting unit corresponding to a right turn permitted and switches the display state of the signal display unit 30 so as to lengthen the period during which a vehicle turning right can turn right and proceed compared to a case in which there are no vehicles turning right at intersection C or compared to vehicles not turning right.

<Priority for emergency vehicles>
Note that the detection unit 21 may detect the type of vehicle based on the captured image. For example, emergency vehicles have red warning lights. Therefore, the detection unit 21 determines whether or not the vehicle has red warning lights based on the captured image, and if the vehicle has red warning lights, This type of vehicle may be detected as an emergency vehicle. This emergency vehicle is, for example, a fire engine, an emergency vehicle, or a patrol car.

Emergency vehicles may also be a predetermined color, such as red or white. Thus, the detection unit 21 may determine whether the type of vehicle is an emergency vehicle by combining the color of the vehicle with the criterion of whether the vehicle has red warning lights. For example, the detection unit 21 may determine whether the color of the vehicle is red or white based on a captured image. Then, when the color of the vehicle is red or white and the vehicle has red warning lights, the detection unit 21 may detect the type of the vehicle as an emergency vehicle.

In the second mode, when the type of vehicle detected is an emergency vehicle, the display control unit 22 may switch the display state of the signal display unit 30 so that the emergency vehicle is given priority over vehicles that are not emergency vehicles. This allows the emergency vehicle to proceed through the lane with priority over vehicles that are not emergency vehicles. In this way, allowing emergency vehicles to proceed through the lane with priority is advantageous in times of disasters, etc.

Further, when detecting the type of vehicle based on the captured image, the detection unit 21 detects the type of vehicle based on the captured image and the sound collected by the sound collection unit 50. Good too. For example, if the type of vehicle is an emergency vehicle, this vehicle may be sounding a siren. Therefore, the detection unit 21 determines whether or not the sound collected by the sound collection unit 50 includes the sound of a siren, and based on this determination result and the captured image described above. It may be determined whether the type of vehicle is an emergency vehicle by combining the following.

When the sound collection unit 50 is a sound collection device that collects sound so that the direction of the sound source can be identified, the detection unit 21 can detect the direction of an emergency vehicle equipped with a sound source that is sounding a siren. In this case, the detection unit 21 can more accurately detect the emergency vehicle based on the detected direction of the emergency vehicle and the direction of the emergency vehicle detected based on the image.

Since emergency vehicles can be detected more accurately in this way, the display control unit 22 can more accurately switch the display state of the signal display unit 30 in the second mode so that the emergency vehicle is given priority in proceeding. In addition, since the display control unit 22 can more accurately determine the direction of the emergency vehicle via the detection unit 21, it can also more accurately estimate the lane in which the emergency vehicle will proceed. Therefore, the display control unit 22 can switch the display state of the signal display unit 30 in the second mode so that the emergency vehicle is given priority in proceeding. In this way, emergency vehicles can proceed in the lane with priority. Being able to allow emergency vehicles to proceed in the lane with priority in this way is preferable in times of disasters, etc.

<Measures against the western and morning sun>
Incidentally, in the signal display section 30 described above using FIG. 1, each light emitting section corresponding to one signal may include a plurality of light emitting elements. The light emitting section corresponding to this one signal is the first light emitting section 31, the second light emitting section 32, or the third light emitting section 33 described above. Further, the plurality of light emitting elements are, for example, a plurality of LEDs (Light Emitting Diodes). That is, the signal display section 30 of the traffic light 100 described above may have a light emission method using an LED.

In this case, when the display control unit 22 of the control unit 20 turns on the light-emitting unit of the signal display unit 30, the display control unit 22 of the control unit 20 causes the multiple light-emitting elements included in the light-emitting unit to emit light such that some of the light-emitting elements emit light or turn off, and the location of the emitting or turning off light changes position in the light-emitting unit. In other words, the display control unit 22 of the control unit 20 causes the multiple light-emitting elements to emit light by moving only a portion of the lit areas (or turned-off areas), rather than lighting up all of the areas that can be lit for each color of the traffic light.

For example, when the setting sun or morning sun shines on the traffic light 100, a user looking at the traffic light 100 may find it difficult to visually determine which of the multiple light-emitting elements in the signal display unit 30 are emitting light. In contrast, when the display control unit 22 of the control unit 20 turns on the light-emitting elements of the signal display unit 30 as described above, the lit light-emitting elements do not simply remain lit, but the location from which they are emitting light moves. Therefore, even when the setting sun or morning sun shines on the traffic light 100, a user looking at the traffic light 100 can easily visually determine which of the multiple light-emitting elements in the signal display unit 30 are emitting light.

In addition, when lighting the light emitting section of the signal display section 30, the display control section 22 of the control section 20 causes some of the light emitting elements to emit light or turn off among the plurality of light emitting elements included in the light emitting section. In addition, a plurality of light emitting elements may be caused to emit light so that the light emitting or extinguished portion is rotated, moved, enlarged, or reduced in the light emitting section. In this way, even when the setting sun or the morning sun shines through the traffic light 100, the user who views the traffic light 100 will be able to see which of the plurality of light emitting units included in the signal display unit 30. It becomes easier to visually confirm whether the light is emitting light.

Furthermore, when the light emitting section of the signal display section 30 is turned on, the display control section 22 of the control section 20 changes the brightness of the light emitting element that is included in the light emitting section to be turned on and is turned off. The light emitting section may be caused to emit light in this manner. For example, when lighting the light emitting section of the signal display section 30, the display control section 22 of the control section 20 controls the brightness of the light emitting elements that are turned off while some of the light emitting elements emit light or turn off as explained above. Instead of simply keeping the light off, the brightness may be changed from dark to bright in order. Further, the display control unit 22 of the control unit 20 may sequentially change the brightness of the light emitting element from dark to bright, and then sequentially change the brightness from bright to dark, and repeat this change in brightness. .

As a result, even when the setting sun or the morning sun shines through the traffic light 100, the user who views the traffic light 100 can further check which light emitting unit among the plurality of light emitting units included in the signal display unit 30 emits light. It becomes easier to visually check whether the

In the above description, the traffic lights 100 are described as operating independently of each other, but the traffic lights 100 may communicate with each other. For example, the traffic lights 100 may communicate with each other via the communication network 300 described with reference to FIG. 1. In the event of a disaster, communication via this communication network 300 may become impossible. Therefore, the traffic lights 100 may each communicate with each other via a communication network different from the communication network 300. In this case, the communication network may be a wireless communication network.

In the case of Fig. 3, such a communication network is sufficient if it can communicate at least between traffic lights 100-1 and 100-2 related to intersection C. In the case of Fig. 7, such a communication network is sufficient if it can communicate at least between traffic lights 100-1 to 100-4 related to intersection C.
3 or 7, each traffic light 100 switches the display state of each signal display unit 30 so that vehicles traveling in different lanes do not collide at intersection C. For example, the control unit 20 provided in each traffic light 100 switches the display state of each signal display unit 30 so that the display states of the traffic lights 100 corresponding to lanes that are not oncoming lanes are different and are not in a display state that allows progression at the same time.

If the traffic lights 100 related to an intersection can communicate with each other in this way, they may send and receive information about the detected traffic volume to and from each other. In this case, in each traffic light 100, the imaging unit 10 may be attached to the traffic light 100 so as to capture at least an image of a lane in which traffic is controlled according to the display state of the signal display unit 30. That is, the traffic light 100 detects the traffic volume only in the lane where it controls traffic. Then, the detected traffic volume is transmitted to other traffic lights 100. In this way, all traffic lights 100 related to the intersection may detect the traffic volume of all lanes related to the intersection.

Even in this case, each traffic light 100 can detect the traffic volume for each lane based on the image captured by the imaging unit 10 of each traffic light. Therefore, as explained using FIG. 3 or FIG. 7, this traffic light 100 can display the signal on the signal display section even if it cannot communicate with the higher-level control device or cannot receive a control signal from the higher-level control device. Control for switching display states can be made appropriate.

Note that, although the case where traffic lights 100 related to an intersection communicate with each other has been described here, the present invention is not limited to this. For example, traffic lights 100 installed in sequence on the same lane may communicate with each other. This allows each of the traffic lights 100 installed in sequence to control the signal display unit 30 of its own device so that vehicles traveling on the same lane and passing through the traffic lights 100 installed in sequence are not prevented from proceeding by any of the traffic lights 100 and are allowed to proceed.

When traffic signals 100 installed next to each other communicate with each other, the wireless communication unit of each traffic signal 100 may relay and forward the communication. This allows not only adjacent traffic signals 100 to communicate with each other, but also traffic signals 100 that are far apart to communicate with each other.

In the description of FIG. 2, the power supply switching section 43 transitions the state between the first mode and the second mode based on the voltage or current of the power supply supplied to the power supply section 41. However, the present invention is not limited to this, and the power supply switching unit 43 may transition the state between the first mode and the second mode based on a control signal for switching modes. The control signal for switching this mode may be received via wireless communication, for example. Further, the control signal for switching this mode may be one that is broadcast during a disaster or the like. Thereby, each of the traffic lights 100 can reliably switch modes without depending on the voltage or current of the power supplied to the power supply unit 41 in the event of a disaster.

The traffic light 100 may be a temporary traffic light for construction work. In this case, the traffic light 100 may be operated by power supply only from the power storage unit 42. In this case, the traffic light 100 switches the display state of the signal display unit 30 attached to the traffic light 100 based on the image captured by the imaging unit 10. Therefore, a user can appropriately control the switching of the display state of the signal display unit 30 by simply installing the traffic light 100, which is a temporary traffic light for construction work, in a traffic lane, even if there is no communication between the upper control device 200 and the traffic light 100 and a control signal cannot be received from the upper control device 300. Therefore, the traffic light 100 can appropriately control traffic. Therefore, such a traffic light 100 is suitable for construction work.

When the traffic light 100 is a temporary traffic light for construction, the power supply unit 40 of the traffic light 100 may supply power to each component of the traffic light 100 only from the power storage unit 42. In this case, the power switching unit 43 may transition the state to the second mode after the power is turned on in the mode described using FIG. 2, and may continue to transition the state to the second mode thereafter.

For example, if the traffic light 100 is a temporary traffic light for construction work, it may not be supplied with power from the outside. As described above, the power supply unit 40 of the traffic light 100 supplies power to each component of the traffic light 100 only from the power storage unit 42, so that the control unit 22 can switch the display state of the signal display unit 30 even in this case where power is not supplied from the outside.

In the above description, as explained with reference to Figures 1 and 2, in the first mode, the display control unit 22 switches the display state of the signal display unit 30 via the I/F 71 based on a control signal received from the upper control device 200 by the communication unit 23. However, the method by which the display control unit 22 switches the display state of the signal display unit 30 in the first mode is not limited to this.

For example, the display control unit 22 may switch the display state of the signal display unit 30 based on the traffic volume detected by the detection unit 21 in the first mode. That is, in the first mode, the display control unit 22 may switch the display state of the signal display unit 30 based on the traffic volume detected by the detection unit 21, as in the second mode. .
Furthermore, in the first mode, the display control section 22 may switch the display state of the signal display section 30 based on a predetermined timing that is determined in advance.

In the above explanation, the case where vehicles drive on the left side has been described, but the traffic light 100 according to this embodiment can also be applied when vehicles drive on the right side, just as when vehicles drive on the left side. When driving on the right side, the right turn described above for driving on the left side becomes a left turn. A right turn when driving on the left side, or a left turn when driving on the right side, as described above, means that the vehicle changes lanes by crossing the oncoming lane relative to the lane it was traveling in.

Then, as explained above, "the display control section 22 switches the display state of the signal display section 30 to give priority to the right turn" means "the control section 20 (or the display control section 22) Based on the image captured by the unit 10, when a vehicle changes course so as to intersect with an oncoming lane with respect to the lane in which it has been traveling, priority is given to the vehicle changing the course. The display state of the signal display section 30 is switched."

The above explanation that "the display control unit 22 switches the display state of the signal display unit 30 so as to adjust the time of the right-turn signal" means that "the control unit 20 (or the display control unit 22) switches the display state of the signal display unit 30 so as to adjust the time at which the vehicle that is changing lanes can proceed when the vehicle changes lanes to intersect with the oncoming lane relative to the lane that the vehicle has been traveling in, based on the image captured by the imaging unit 10."

In this way, the traffic light 100 according to this embodiment can make it easier for a vehicle to change course by crossing the oncoming lane of the lane in which it has been traveling, regardless of whether traffic is on the left or right side of the road. As a result, the traffic light 100 according to this embodiment can reduce (alleviate) congestion caused by a vehicle changing course by crossing the oncoming lane of the lane in which it has been traveling, regardless of whether traffic is on the left or right side of the road.

Note that if the traffic light 100 according to this embodiment is compatible with both left-hand traffic and right-hand traffic, the traffic light 100 may be configured to support either left-hand traffic or right-hand traffic when the traffic light 100 is powered on or when the traffic light 100 is shipped, via a setting unit included in the traffic light 100. Then, the control unit 20 may determine whether the traffic light 100 supports left-hand traffic or right-hand traffic based on this setting.

The traffic light 100 may also determine whether the lane in which the device controls traffic is for left-hand traffic or right-hand traffic based on the image captured by the imaging unit 10. Based on the result of this determination, the traffic light 100 may set in the device via a setting unit of the device whether the device is for left-hand traffic or right-hand traffic.

In the above explanation, the traffic light 100 has been described only as a traffic light for vehicles, but the traffic light 100 is not limited to vehicles, and may be a traffic light for people crossing a road (or a roadway) or a traffic light for trains on a railway.

It should be noted that each configuration of the traffic light control device 100 in FIG. Each of these components may be configured with a memory and a CPU (central processing unit), and the functions of each component may be realized by loading a program into the memory and executing the program.

In addition, the programs for realizing the functions of each configuration are recorded on a computer-readable recording medium, and the programs recorded on this recording medium are loaded into a computer system and executed to execute the processing according to each configuration. You may. Note that the "computer system" herein includes hardware such as an OS and peripheral devices.

Furthermore, if the WWW system is used, the "computer system" also includes the home page providing environment (or display environment).
In addition, "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. Furthermore, "computer-readable recording medium" also includes those that dynamically hold a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and those that hold a program for a certain period of time, such as volatile memory inside a computer system that serves as a server or client in such cases. Furthermore, the above program may be one that realizes part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.
As described above, according to the aspects of the present invention, even when a control signal for switching the display state of the signal display section cannot be received, the display state of the signal display section can be appropriately switched.

The above describes an embodiment of the present invention in detail with reference to the drawings, but the specific configuration is not limited to this embodiment and includes designs that do not deviate from the gist of the present invention.

10... Imaging section, 20... Control section, 21... Detection section, 22... Display control section, 30... Signal display section, 31... First light emitting section, 32... Second light emitting section, 33... Third light emitting section , 42...Power storage unit, 50...Sound collection unit

Claims (3)

A traffic light control device that controls a first traffic light for a first lane of a target intersection,
an acquisition unit that wirelessly acquires information including time information indicating a time;
a detection unit that detects a vehicle that stops near the intersection of the first lane based on an image of the first lane captured by an imaging unit;
a display control unit that identifies a reference time based on the time information included in the information acquired by the acquisition unit, and switches a display state of a signal display unit attached to the first traffic light based on the elapsed time from the identified reference time, a first detection result by the detection unit, and a second detection result in which a vehicle stopped near the intersection in a second lane that intersects with the first lane among the lanes of the intersection is detected;
having
the detection unit determines a route of the stopped vehicle based on an image of a direction indicator provided in the stopped vehicle captured by the imaging unit, and causes the display control unit to switch a display state of the signal display unit so as to reduce the number of the stopped vehicles;
the traffic light control device detects a vehicle stopped near the intersection of the first lane by the detection unit based on an image captured by the imaging unit, and transmits the result of the detection by the detection unit as the first detection result to a second traffic light for the second lane of the intersection;
the signal control device receives, as the second detection result, a result of detection of a vehicle stopped near the intersection of the second lane from another control device that controls the second signal;
In the traffic light control device and the other control device, a start time for starting detection of a vehicle stopping near the intersection and an end time for ending detection of a vehicle stopping near the intersection are synchronized with each other.
Traffic light control device. a power supply unit to which power is supplied from outside the device via a power line;
A power storage unit that stores power;
a power supply switching unit that switches a power supply for supplying power to each component of the device by selecting the power supply unit or the power storage unit;
Further comprising:
When the power supply switching unit selects the power storage unit, the display control unit specifies the reference time based on the time information included in the information acquired by the acquisition unit, and switches the display state based on the elapsed time from the specified reference time, the first detection result by the detection unit , and the second detection result received from the other control device .
The signal control device according to claim 1. comprising a traffic light control device according to claim 1 or claim 2;
traffic light.

Images