KR100864450B1 - Traffic signal control method using vehicle detection system based vehicle to roadside communication in crossroad - Google Patents

Abstract

A traffic signal control method using a vehicle detection system based on a vehicle-roadside communication is provided to obtain traffic information for controlling a traffic signal by using sensor nodes, which are arranged on a vehicle and a roadside. A vehicle detection system includes first to n-th sensor nodes(10a-10n), a telematics terminal, a first microprocessor, and a signal control terminal(40). The sensor nodes are arranged on both sides of a road around a crossroad(60) with a predetermined distance. The telematics terminal receives a speed signal and a current position signal of a vehicle from a GPS(Global Positioning System) satellite. The telematics terminal receives a wireless information request signal and delivers response signals to the sensor nodes. The first microprocessor receives the response signal through an antenna and converts the response signal into an analog signal. The first microprocessor analyzes traffic densities in forward and left/right directions and adjusts the traffic signal based on the analyzed traffic densities. The signal control terminal controls a traffic signal lamp under the control of the first microprocessor.

Description

TRAFFIC SIGNAL CONTROL METHOD USING VEHICLE DETECTION SYSTEM BASED VEHICLE TO ROADSIDE COMMUNICATION IN CROSSROAD}

Figure 1 is a vehicle detection system based on the road-to-road communication applied to the date and time of the present invention by setting the Z1, Z2 ... Zn zones at regular intervals for each road at the intersection, the first to the first n a plan view of an intersection schematically showing the installation of sensor nodes,

FIG. 2 is a view schematically illustrating a vehicle waiting for a signal on one side road of FIG. 1;

3 is a block diagram schematically illustrating a vehicle detection system based on vehicle-road communication applied to an embodiment of the present invention;

FIG. 4 is a block diagram schematically illustrating sensor nodes installed at predetermined intervals on each road of an intersection in a vehicle-to-vehicle communication-based vehicle detection system applied to an embodiment of the present invention;

FIG. 5 is a block diagram schematically illustrating a telematics terminal installed in a traveling vehicle in a vehicle-based vehicle detection system applied to an embodiment of the present invention; FIG.

6 is a flowchart of a traffic signal control method at an intersection using a vehicle detection system based on vehicle-to-road communication according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a vehicle-road communication-based vehicle detection system when the density of the east-west straight vehicle is not high (the density of the north-west straight vehicle is high) in the density determination step of the east-west straight vehicle of FIG. This is a flowchart of the traffic signal control method.

<Explanation of symbols for main parts of the drawings>

10a: first sensor node 10b: second sensor node

10c third sensor node 10n: n-th sensor node

11: first antenna 12: first RF transmitter / receiver

13: first microprocessor 20: driving vehicle

30: telematics terminal 31: GPS receiver

32: second microprocessor 33: second antenna

34: second RF transmitter / receiver 40: signal control terminal

60: intersection 61: left turn lane on the north-south road

62: straight lane on the north-south road 63: right turn lane on the north-south road

70: traffic light lighting device

The present invention relates to a traffic signal control method at an intersection using a vehicle detection system based on vehicle-to-road communication. Particularly, the present invention obtains traffic information necessary for traffic signal control through communication between a driving vehicle and a sensor node installed on a roadside. And a traffic signal control method at an intersection using a vehicle detection system based on a road-to-road communication system that can adjust the lighting time of a straight traffic light or a left / right turn signal in consideration of the vehicle density of the intersection based on the obtained traffic information. It is about.

The traffic signal control system and the traffic signal control method widely used in the related art are signal times corresponding to these cars without considering rotary flow vehicles such as east-west straight vehicles, north-south straight vehicles, left-turn vehicles and right-turn vehicles approaching the intersection. All lane characteristics were not taken into consideration, such as giving a constant.

However, a traffic signal control system and a traffic signal control method for lighting a straight traffic light and a left / right turn signal by giving a predetermined time without considering the straight ahead vehicle and the left / right turn vehicle are short in the case of a lot of straight or left / right turn vehicles. There is a problem that only a small number of vehicles pass through the intersection within the lighting time of one straight signal or left / right turn signal by increasing the turn on time of the straight or left / right turn signal lamp, which increases the waiting time of the vehicle at the intersection. In addition, there are various problems such as not only wasting the right or left and right turn signals even when there is little or no left and right turn vehicles, but also wastes lighting time and causes traffic jams at intersections.

In addition, conventional communication call control system and traffic signal control method used for traffic information acquisition and traffic signal control on the road have problems such as expensive installation cost, limited detection area, detection error due to weather condition, complex detection algorithm, etc. Due to the problem of not providing sufficient traffic information, the conventional traffic signal control method for controlling a traffic signal on an intersection based on the information obtained from the vehicle detection node of the traffic signal control system is the number of simple vehicles in the detection area. According to the information, there is a problem that traffic congestion cannot be efficiently solved due to the determination of the lighting time of the straight or left / right turn signal lamp, the complicated signal control algorithm, and the use of limited information.

Accordingly, the present invention has been made in order to solve the various problems described above, and an object of the present invention is to obtain traffic information necessary for traffic signal control through communication between a driving vehicle and a sensor node installed on a road side, and the obtained traffic information To provide a traffic signal control method at an intersection using a vehicle-based vehicle detection system based on the inter-road communication to control the traffic signal reliably according to the vehicle density per lane of the intersection.

Another object of the present invention is to use a vehicle-based vehicle detection system based on the inter-road communication that each sensor node installed at a certain interval on the road has a specific detection area can obtain detailed traffic information for each area at low cost To provide a traffic signal control method at an intersection.

Another object of the present invention is to divide the area by information obtained from each sensor node installed at regular intervals on the road and control the traffic signal to preferentially move the area adjacent to the intersection to a straight or left / right turn signal according to the vehicle density. The present invention provides a traffic signal control method at an intersection using a vehicle detection system based on vehicle-to-road communication that can determine a lighting time to reduce vehicle signal waiting time of an entire intersection.

In order to achieve the above object, a traffic signal control method at an intersection using a vehicle-based vehicle detection system based on inter-vehicle communication of the present invention is an intersection of a wireless information request signal transmitted from a first antenna of first to n-th sensor nodes. Wireless information transmitted from the first to nth sensor nodes as a result of the discrimination of the radio information request signal reception discrimination step for discriminating whether or not it has been received by the telematics respectively installed in the traveling vehicle approaching to the radio information request signal reception discrimination step. When the information request signal is received, the vehicle information and driving information transmitting step of transmitting vehicle information and driving information from the second antenna of the telematics to the first to n th sensor nodes, and the vehicle information and driving information transmitting step. Output vehicle information and driving information received by the first to nth sensor nodes to the signal control terminal through a cable A step for calculating the density of the traveling vehicle for each zone of the intersection and the lighting time for the traffic light for each lane based on the vehicle information and the driving information inputted to the signal control terminal; East-west direction straight lane density discrimination step for determining whether the density of the driving vehicle for each zone calculated by the step of driving vehicle density per lane / traffic light lighting time calculation step is high density of straight vehicles waiting in the straight lane of the east-west direction road; The east-west driving vehicle for driving the east-west straight vehicle and the right-turning vehicle on the east-west road when the density of the straight vehicle waiting in the straight lane of the east-west road is high as a result of the determination of the density determination step of the east-west straight lane The time calculated in the step of calculating the lighting time of the traffic light for each zone / lane for each zone according to the density of A first east-west direction straight / right turn signal lamp lighting time setting step of setting a signal to turn on a straight / right turn signal light by outputting a lighting control signal from the signal control device to the signal light lighting device; and setting the first east-west direction straight / right turn signal lamp lighting time The first east-west direction straight / right turn signal lamp lighting time elapsed discrimination step and the first east-west direction straight / right turn signal lamp lit time elapsed discrimination step for determining whether the lighting time of the east-west direction straight / right turn signal lamp set in the step has passed. As a result, when the east-west direction right / right turn signal lighting time has elapsed, the signal control is performed for the time calculated in the step-by-zone traffic density / lane signal lighting time calculation step according to the density of the vehicle waiting in the left turn lane of the east-west road. Left turn signal by outputting lighting control signal to signal lamp lighting device from terminal A first east-west direction left turn signal for determining whether the lighting time setting step of the first east-west direction left turn signal light and the east-west direction left turn signal light set in the first east-west direction turn signal lighting time setting step have elapsed. As a result of discrimination of the lighting time elapsed discrimination step and the first east-west direction left turn signal lighting discrimination step, when the east-west straight traffic light turn on time has elapsed, the straight ahead vehicle and the north-south road turn right In order to drive the right-turning vehicle waiting in the lane, the signal control terminal sends a lighting control signal to the signal lamp lighting device in the signal control terminal for the time calculated in the step-by-zone traffic light density / lane traffic light lighting time calculation step according to the density of the vehicle traveling in the north-south direction. Output to turn on a straight or right turn signal First north-south determining whether the lighting time setting step of the 1st north-south straight / right turn signal light to set, and the lighting time of the north-south straight / right turn signal light set by the said 1st north-south north / right turn signal light setting time setting step have passed. Waiting in the left turn lane of the north-south road when the north / south straight / right turn signal lighting time elapses as a result of the discrimination of the direction of the straight / right turn traffic light lighting time and the first north-south straight / right turn traffic light lighting time elapsed discrimination step. In order to turn left the vehicle in turn, the signal control terminal turns on the signal lamp lighting device for the time calculated in the step-by-zone traffic light density / lane traffic light lighting time calculation step according to the density of the vehicle waiting in the left turn lane of the north-south road. First north-south setting to output the signal to turn on the left turn signal light A first north-south left turn signal lighting time elapsed discrimination step for discriminating whether the left turn signal lighting time setting step and the lighting time of the north-south left turn signal light set in the first north-south left turn signal lighting time setting step have elapsed; And a return step of turning off the left-south left turn signal and returning to the wireless information request signal reception determination step when the north-south left turn signal turn-on time discrimination step is determined. do.

Hereinafter, a vehicle-based vehicle detection system based on an inter-vehicle communication applied to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a cross-sectional view of a vehicle detection system based on vehicle-to-road communication according to an embodiment of the present invention. n is a plan view of an intersection schematically showing a state in which a sensor node is installed, and FIG. 2 is a diagram schematically showing a vehicle waiting for a signal on one side road of FIG. 1, and FIG. 3 is applied to an embodiment of the present invention. 4 is a block diagram schematically illustrating a vehicle detection system based on vehicle-to-road communication, and FIG. 4 is a predetermined interval at each road of an intersection in a vehicle-based vehicle detection system to be applied to an embodiment of the present invention. Figure 4 is a block diagram schematically showing a sensor node is installed with, Figure 4 is a telematics installed in a traveling vehicle in a vehicle-based vehicle detection system based on the inter-vehicle communication applied to an embodiment of the present invention Is a block diagram illustrating the device schematically.

As shown in FIGS. 1 to 5, the vehicle detection system based on vehicle-road communication based on an embodiment of the present invention includes first to first devices installed at predetermined intervals on both sides of each road of the intersection 60. n sensor nodes 10a, 10b, 10c.... 10n and the speed signals of the vehicle and the current position signal of the vehicle transmitted from satellites (not shown) which are respectively provided in the traveling vehicle 20 to receive the first through the first to the first signals. n Receives a wireless information request signal a transmitted through the first antenna 11 of the sensor nodes 10a, 10b, 10c ... 10n, respectively, and responds in response to the wireless information request signal a. For example, transmitting the unique ID of the traveling vehicle, the traveling speed of the traveling vehicle, the straight traveling signal and the left / right turning direction signal to the first to nth sensor nodes 10a, 10b, 10c. Transmitted by the telematics terminal 30 and the second antenna 33 of the telematics terminal 30. The answer signal (b) is received by the first antenna (11) of the first to nth sensor nodes (10a, 10b, 10c ... 10n) and arithmeticly processed by the first microprocessor (13) and converted into an analog signal. By analyzing the density of the straight running vehicle and the density of the vehicle to run in the left and right directions in the area away from the area close to the intersection 60 by lane through the cable (c), Maintain the lighting time of the straight or left and right turn signals for a long time to drive, and the green lighting time for each lane to maintain the lighting time of the straight or left and right turn signals for a short time to drive a vehicle in a lane with a small vehicle density for a short time. The signal control terminal 40 outputs a control signal.

The telematics terminal 30 is a GPS receiver 31 for receiving a speed signal of the vehicle and the current position signal of the vehicle transmitted from the satellite, and the speed and the current position information of the vehicle output from the GPS receiver 31 And a second microprocessor 32 which receives and computes, and receives and receives a vehicle-specific ID and a driving direction signal input by the driver, and the first to fourth sensor nodes 10a, 10b, and 10c. The speed data of the vehicle which is received by the second microprocessor 32 and outputted to the second microprocessor 32 while receiving the information request message transmitted from 10n). Converts the current position data of the vehicle, the unique ID of the vehicle, and the driving direction data of the vehicle into analog data and receives data output from the second microprocessor 32 through the second antenna 33. 1 to 4 consists of a sensor node of claim 2 RF transmitter or receiver (34) for transmitting the (10a, 10b, 10c and 10n and and).

The first to nth sensor nodes 10a, 10b, 10c, 10n periodically transmit a wireless information request signal a to the telematics terminal 30 installed in each vehicle, and at the same time, A first antenna 11 wirelessly receiving speed data of the vehicle transmitted from the second antenna 33 of the telematics terminal 30, current position data of the vehicle, unique ID of the vehicle, and driving direction data of the vehicle; A first RF transmitter / receiver 12 for demodulating the speed data of the vehicle, the current position data of the vehicle, the unique ID of the vehicle, and the driving direction data of the vehicle received by the first antenna 11; and the first RF transmitter / receiver. Receives and processes the speed data of the demodulated vehicle, the current position data of the vehicle, the unique ID of the vehicle, and the driving direction data of the vehicle, and converts the calculated data into an analog signal to convert the calculated data into an analog signal. Send via wired communication Is composed of a first microprocessor 13.

In the above description, the first zone (Z _1), the first sensor node (10a) that are provided, the second zone (Z _2), the second sensor node (10b) as shown in Figure 1 is The third sensor node 10c is provided in the third zone Z ₃ , and the nth sensor node 10n is provided in the nth zone Zn, and the intersection of the intersection 60 is provided. The first lane of one road (for example, the road from east to west) is the left lane lane 61 of the east-west road where a left-turning vehicle in the east-west direction waits, and the east-west straight vehicle is in the second lane of the one road. It is a straight lane 62 on the east-west road waiting, and the right-turn lane 63 on the east-west road waiting for the east-west right turn vehicle to three lanes of the one side road.

Each of the first to nth sensor nodes 10a, 10b, 10c, 10n is spaced apart from the intersection at a predetermined distance with respect to the communication radius of the first RF transmitter / receiver 12. It is installed.

In FIG. 3, for convenience of description, the first to nth sensor nodes 10a, 10b, 10c... 10n are installed in the one-way lane in the north-south direction, but the present invention is not limited thereto. Of course, sensor nodes are installed on both sides of the north-south lane and both sides of the east-west lane.

Next, the operation and effect of the vehicle detection system based on the vehicle-road communication applied to the embodiment of the present invention configured as described above will be described.

First, the first antennas 11 of the first to nth sensor nodes 10a, 10b, 10c... 10n incorporating the first RF transceiver 12 periodically transmit information request messages to the telematics installed in the driving vehicle, respectively. It transmits to the 2nd antenna 33 of (30).

The first to nth sensor nodes 10a and 10b are demodulated by the second RF transmitter / receiver 24 of the telematics 30 installed in each vehicle approaching the intersection and output to the second microprocessor 32. After receiving the information request message transmitted from the first antenna 11 of 10c ... 10n, the telematics 30 enters the operating state.

At this time, the telematics 30 installed in each vehicle has its own vehicle ID, the speed of the vehicle acquired from the satellite via the GPS receiver 31, the traveling direction information (for example, the left direction, the right direction, The first antennas of the first to nth sensor nodes 10a, 10b, 10c.... 10n which are installed on the side of the road via the second antenna 33 respectively. 11).

These information transmitted from the second antenna 33 of the telematics 30 are received by the first antenna 11 of each of the first to nth sensor nodes 10a, 10b, 10c. Is demodulated by the first RF transmitter / receiver 12, arithmeticly processed by the first microprocessor 13, converted into an analog signal, and transmitted to the signal control terminal 40 through a communication cable c. Vehicle number information input to the signal control terminal 40 is classified by area, direction, and moving direction to calculate the lighting time of the straight or left and right turn signals for each density of the vehicle.

In other words, the vehicle-based vehicle detection system based on the inter-vehicle communication of the present invention is based on the information obtained through the first antenna 11 of the first to nth sensor nodes 10a, 10b, 10c. N the first sensor node (10a) in all areas on the intersection (the area closest to the intersection), the second sensor node (10b) is installed in the second distant area from the intersection and the nth sensor in the area farthest from the intersection. Vehicle density is calculated from the closest area among the nodes 10n), and when the vehicle in the high density area of the vehicle travels, the lighting time of the straight or left / right turn signal lamp is kept long and the density of the vehicle is maintained. When a vehicle in a low speed area is driven, it is possible to reduce the congestion of the vehicle at the intersection by keeping the lighting time of the straight or left and right turn signals short.

Next, a traffic signal control method at an intersection using a vehicle detection system based on vehicle-to-road communication according to an embodiment of the present invention will be described with reference to FIG. 4.

FIG. 6 is a flowchart illustrating a method for controlling traffic signals at an intersection using a vehicle detection system based on vehicle-to-road communication according to an embodiment of the present invention, and FIG. 7 is an east-west direction in the east-west direction vehicle density discrimination step of FIG. 6. This is a flowchart of the traffic signal control method at the intersection using the vehicle detection system based on the inter-road communication when the density of the straight vehicle is not high (the density of the straight vehicle in the north-south direction is high). 6 and 7, S represents a step.

First, in step S1, the signal control terminal 40 is initialized, and the flow proceeds to step S2 to request the wireless information transmitted from the first antenna 11 of the first to nth sensor nodes 10a, 10b, 10c. It is determined whether or not the signal a has been received by the telematics 30 installed in each of the traveling vehicles approaching the intersection 60 (the radio information request signal reception discrimination step), and the determination result of the radio information request signal reception discrimination step. When receiving the wireless information request signal transmitted from the first to nth sensor nodes 10a, 10b, 10c ... 10n (YES), the process proceeds to step S3 where the second antenna of the telematics 30 is received. In (33), vehicle information and driving information (e.g., vehicle ID, speed of a traveling vehicle, a straight traveling signal and a left / right turning direction signal) are input to the first to nth sensor nodes 10a, 10b, 10c. 10n) (vehicle information and travel information transmission step).

 Next, the process proceeds to step S4, in which the vehicle information and the traveling information received by the first to nth sensor nodes 10a, 10b, 10c ... 10n in the vehicle information and traveling information transmission step are carried out via the cable c. Outputting to the signal control terminal 40 and calculating the density of the traveling vehicle of each zone and the lighting time of the lane-based traffic lights based on the vehicle information and the driving information inputted to the signal control terminal 40; The driving vehicle density by zone / traffic light lighting time calculation step for each lane), and step S5, the driving vehicle density by zone calculated in the driving vehicle density / traffic light signal lighting time calculation step for each zone is the straight lane (62) Is judged whether or not the density of the straight-awaited straight vehicle is high (east-west straight lane density determination step), and as a result of the determination of the east-west straight lane density discrimination step, the straight-waiting straight line 62 on the east-west road If the density of the true vehicle is high (YES), the process proceeds to step S6 to determine the driving vehicle density / lane for each zone according to the density of the east-west driving vehicle and the east-west driving vehicle to drive the right-turning vehicle on the east-west direction road. The signal control terminal 40 outputs a lighting control signal to the signal lamp lighting device 70 to turn on a straight / right turn signal lamp during the time calculated in the signal lamp lighting time calculation step (first east-west direction straight / right turn signal lamp lighting). Time setting step).

Next, the flow advances to step S7 to determine whether the lighting time of the east-west direction straight / right turn signal lamp set in the first east-west direction straight / right turn signal lamp lighting time setting step has elapsed (first east-west direction straight / right turn signal lamp lighting time elapsed). Discrimination step), when the determination result of the first east-west direction straight / right turn signal lamp lighting time elapses discrimination step, when the east-west direction right / right turn signal lamp lighting time has elapsed (YES), proceed to step S8 to the left turn lane of the east-west road ( In step 61, the signal control terminal 40 outputs a lighting control signal to the signal lamp lighting device 70 during the time calculated in the step-by-area vehicle vehicle density / lane traffic signal lighting time calculation step according to the density of the waiting vehicle. The left turn signal lamp is turned on (first east-west direction turn signal lamp lighting time setting step).

Next, the flow advances to step S9 to determine whether the lighting time of the east-west direction left turn signal lamp set in the first east-west direction left turn signal lamp lighting time setting step has elapsed (first east-west direction turn signal lamp lighting time elapsed discrimination step), and the first step. 1 As a result of the discrimination of the east-west turn signal turn-on time discrimination step, if the east-west turn signal turn-on time has passed (YES), proceed to step S10 to check the straight ahead vehicle and the north-south road. In order to drive the waiting right-turning vehicle in the right-turning lane, the traffic light lighting device is turned on at the signal control terminal 40 during the time calculated in the step-by-zone traffic density / lane-signaling signal lighting time calculation step according to the density of the traveling vehicle in the north-south direction. Output the lighting control signal to 70) and set it to turn on the straight or right turn signal ( 1 meridional straight / right light lighting time setting step).

Next, the flow advances to step S11 to determine whether the lighting time of the north-south straight / right turn signal lamp set in the first north-south straight / right turn signal turn on time setting step has elapsed (the first north-south north / right turn / right turn signal light turn on time elapses). Discrimination step), when a determination result of the first north-south straight / right turn signal lighting time elapsed determination step indicates that the north-south straight / right turn signal lighting time elapses (YES), the vehicle waiting for the left turn lane of the north-south road In order to turn left, go to step S12 and turn on the traffic light at the signal control terminal 40 for the time calculated in the step-by-zone traffic light density / lane traffic light lighting time calculation step according to the density of the vehicle waiting in the left turn lane of the north-south road. Outputs a lighting control signal to the device 70 and sets it to turn on the left turn signal lamp (first north-south direction) Setting the lighting rotating lights time step).

Next, the flow advances to step S13 to determine whether the lighting time of the north-south left turn signal lamp set in the first north-south left turn signal lamp lighting time setting step has elapsed (the first north-south left turn signal lamp lighting time elapsed discrimination step), and the first step. 1 As a result of the discrimination step of the North-South turn signal turn-on time discrimination step, when the North-South turn signal turn-on time has passed (YES), the turn-off of the North-South turn signal is turned off and the process returns to the wireless information request signal reception determination step of Step S2. (Return step) and the following operations are repeated.

By repeating the steps S1 to S13 as described above, by controlling the lighting time of the traffic light according to the density of the vehicle at the intersection 60, it is possible to reduce the waiting time of the vehicle at the intersection 60 to prevent traffic jam at the intersection. have.

Then, the wireless information request signal a transmitted from the first antenna 11 of the first to nth sensor nodes 10a, 10b, 10c ... 10n in the wireless information request signal reception discrimination step of step S2. If it is not received by the telematics 30 installed in each of the traveling vehicles approaching the intersection 60 (NO), the process returns to step S1 and repeats the operation of step S1 or less, and the first step of the step S7 is performed. As a result of the determination of the elapsed discrimination step of the east-west straight signal lamp, when the lighting time of the east-west straight signal light has not elapsed (NO), the first east-west straight signal lamp lighting time elapsed discrimination step of step S7 is repeated. When the lighting time of the first east-west direction left turn signal lamp discrimination step of step S9 is not determined (NO), the first east-west direction left turn signal of step S9 is determined. When the lamp lighting time determination step is repeated and the determination result of the first north-south straight traffic light turn-on time discrimination step of step S11 is determined, the lighting time of the north-south straight traffic light has not elapsed, the first north-south straight traffic light in step S11. When the lighting time elapsed judging step is repeatedly performed and the lighting time elapsed judging step determines the lighting time elapse of the north-south left turn signal, the first south-south left turn signal in step S13 is determined. The lighting time elapsed judging step is repeated.

Next, as a result of the determination of the east-west straight lane density determination step of step S5, when the density of the east-west straight vehicle is not high (NO), the process goes to step S20 of FIG. In order to drive a right-turning vehicle on a north-south road, the traffic light lighting device is turned on at the signal control terminal 40 during the time calculated in the step-by-zone traffic light density / lane traffic light lighting time calculation step according to the density of the north-west traveling vehicle. 70) outputs a lighting control signal to set the north / south direction straight / right turn signal light to turn on (second north-south direction straight / right turn signal lighting time setting step), and proceeds to step S21 to the second north-south direction north / right turn signal light lighting time. It is determined whether the lighting time of the north-south straight / right turn signal lamp set in the setting step has elapsed (the second north-south straight / right turn) Traffic light lighting time elapsed discrimination step), when the second North-North straight / right turn signal elapsed discrimination step is judged and the north-south straight / right turn signal light on time has passed (YES) In step S22 to turn the vehicle to the left, in the signal control terminal 40 for the time calculated in the step-by-zone driving vehicle density / traffic light signal lighting time calculation step according to the density of the vehicle waiting in the left turning lane of the north-south road. The control signal is output to the signal lamp lighting device 70, and the left turn signal lamp is turned on (second north-south direction turn signal lamp lighting time setting step).

Next, the flow advances to step S23 to determine whether the lighting time of the north-south left turn signal lamp set in the second north-south left turn signal lamp lighting time setting step has elapsed (second north-south left turn signal lamp lighting time elapsed discrimination step), and step S24. In accordance with the density of the driving vehicle for each zone according to the density of the east-west driving vehicle in order to run the straight vehicle waiting in the straight lane 62 of the east-west road and the right-turn lane 63 of the east-west road The signal control terminal 40 outputs a lighting control signal to the signal lamp lighting device 70 for the time calculated in the signal lamp lighting time calculating step to set the east-west direction straight / right turn signal lamp to light (second east-west direction straight / right turn). Traffic light lighting time setting step).

Next, the flow advances to step S25 to determine whether the lighting time of the east-west direction straight / right turn signal lamp set in the second east-west direction straight / right turn signal lamp lighting time setting step has elapsed (second east-west direction straight / right turn signal lamp lighting time elapsed). Discrimination step), when the determination result of the second east-west direction right / right turn signal lamp lighting time elapses discrimination step, when the east-west direction right / right turn signal lamp lighting time has elapsed (YES), the vehicle waiting in the east-west left turn lane 61 Proceeds to step S26 to turn left to the signal control terminal 40 for the time calculated in the step-by-zone traffic density / lane traffic light lighting time calculation step according to the density of the vehicle waiting in the left turn lane 61 of the east-west road. ) Outputs a lighting control signal to the traffic light lighting device 70 to turn on the east-west left turn signal light (second east-west). Effort left light lighting time setting step).

Next, the flow advances to step S27 to determine whether the lighting time of the east-west direction left turn signal lamp set in the second east-west direction turn signal lamp lighting time setting step has elapsed (second east-west direction turn signal lamp lighting time elapsed discrimination step), and the second step. 2 If the east-west turn signal turn-on time discrimination step is determined, when the east-west turn signal turn-on time has passed (YES), turn off the east-west turn signal light and turn on the north-south straight / right turn signal light of step S20. The operation returns to the time setting step (return step) and the following operations are repeatedly performed.

By repeating the steps S20 to S27 as described above, by adjusting the lighting time of the traffic light according to the density of the vehicle at the intersection 60, the waiting time of the vehicle at the intersection 60 is reduced so that the traffic jam at the intersection 60 is reduced. It can prevent.

On the other hand, if the lighting time of the north / south straight / right turn signal lamp has not elapsed (NO), as a result of the discrimination of the step of determining whether the second north-south straight / right turn signal light turns on in step S21, the second straight north-south direction of step S21 goes straight. If the right turn signal lighting time elapsed discrimination step is repeated, and the determination time of the second north-south left turn signal light turn on time elapsed discrimination step of Step S23 is not determined, the lighting time of the south turn left light turn signal has not elapsed (NO), The second north-west direction turn signal lighting time elapsed discrimination step of S23 is repeatedly performed, and as a result of the determination of the second east-west direction straight / right turn signal light elapsed time discrimination step of the step S25, the lighting time of the east-west direction straight / right turn signal light is If it has not elapsed (NO), the second east-west direction straight / right turn signal lamp lighting time elapsed discrimination step of step S25 is repeated, and the step S As a result of the determination of the second east-west direction left turn signal lamp lighting step discrimination step 27, when the lighting time of the east-west direction left turn signal lamp has not elapsed (NO), the second east-west direction left turn signal lamp lighting time determination step of step S27 is repeated. Do it.

N number of areas, such as roads around according to the distance from the intersection 60 as the road between the communication base of the vehicle detecting system shown in Figure 1 and Z _i, Z _2, and and and Z _n - the vehicle of the present invention In the drawing, Z _i means an area closer to the intersection 60 than Z _{i + 1} (i is a natural number except zero). The turn-on / turn-on signal turn on time (also known as duration time) is determined by the density ( Di) defined by the number of vehicles in the Z _i zone.In general, areas with high vehicle density go straight and turn left and right. The lighting time of the traffic light is long, and the area of low vehicle density gives the lighting time of the straight and left / right turn signal lights short.

For example, if the density D _i of the Z _i zone in the straight lane 62 of the adjacent north-south road of the intersection 60 exceeds an appropriate value, the traffic light turn-on time is determined by the value of D _i and Z _{i. It} is determined by the sum of the times determined by the density (D _{i + 1} ) value of the ₊₁ zone. This is to optimize the lighting time of the current straight and left and right turn signals and to minimize the unnecessary waiting time of the vehicle to turn on the other signals.

In the present invention, the lighting time of the traffic light is calculated as follows in the step of calculating the vehicle vehicle density / lane traffic signal lighting time for each zone.

Dt = Mg + Ta + Te ------------------- (Equation 1)

In Equation 1, Dt is the traffic light lighting time, Ta is the additional lighting time of the straight and left and right turn signals according to the vehicle density Di of the Zi zone, and Te is the density (D _{i + 1)} of the Z _{i + 1} zone. Extended lighting time and left / right additional lighting time according to) are displayed. The Mg means a minimum lighting time of the basic straight and left and right turn signals determined by the signal plan operator. In general, the minimum time for turning on the straight and left turn signal lights is set to the time that the pedestrian can safely cross the pedestrian crossing when there is a pedestrian walking request signal.

In the case of a lot of left-turn vehicles, the turn-on time of the left turn signal light is set long, and in the case of a small number of left-turn vehicles, it is set short. Ta denotes an additional traffic light turn-on time according to the vehicle density of the Z _I region closest to the intersection 60.

In the present invention, the vehicle density D _i is calculated as follows in the step of calculating the driving vehicle density / lane-by-lane signal lamp lighting time for each zone.

-----------------(식2)

----------------- (Eq. 2)

In Equation 2, D _i is the vehicle density, L _zone is the length of the _zone on the road, I _veh is the inter-vehicle distance at standstill, and L _evh is the length of the vehicle.

The T _e is a straight and the left and right traffic lights lighting time is extended period of time according to the vehicle density of Z _i zone, if the vehicle density of Z _i zone proper value or less, that is, when the vehicle can not help much, the value of T _e is a zero, when the vehicle density of Z _i zone fair value (Z _i If the vehicle is filled with the area) or more, that is often not the vehicle Z _i zone, you need to look out also the vehicle of Z _{i + 1} area In this case, the lighting time of the extended straight and the left and right turn signals according to the vehicle density of the Z _{i + 1} zone is calculated. Here, the proper value of T _e is set differently according to the environment of each intersection, and has a value greater than 0 and less than 1.

The reason for determining the straight and the left and right light lighting time according to the vehicle density zone Z _i (the intersection of adjacent zones) is a priority in order to solve the problems that occur in situations such as that of FIG.

The zone segmentation scheme proposed in the present invention is classified into two schemes according to the method of determining the lighting order of the straight and left and right turn signals. First, the traffic signal control method based on the fixed straight-phase and fixed signal phase (FSP) lighting time is based on the lighting time calculated by the zone division method, and has a fixed traffic light sequence. Second, the traffic signal control method based on the Selective Signal Phase (SSP) is based on the density of vehicles in each zone. The signal control method in which the order is selected.

Each of the traffic light control methods follows all four types of straight and left / right turn signal light signal systems (south / north direction straight, south / north direction left, east / west direction straight, east / west direction left).

In the above description, the driving of the vehicle is performed by separating the south / north direction straight and the south / north direction left turn, respectively, and the driving of the vehicle by separating the east / west direction straight and the east / west direction left rotation respectively. However, the present invention is not limited thereto. For example, when the south / north straight vehicle travels, it may be controlled by lighting a traffic light at an intersection that may simultaneously drive a south / north left turn vehicle. It goes without saying that even if the straight and the left and right turn signals are turned on and controlled so as to drive the east / west direction left turn vehicle at the same time when driving the direction straight vehicle, the concept is of course included in the present invention.

Although the above description has been made on the basis of the lighting time of the straight and left and right turn signals, the lighting time of the yellow and red signal lights is controlled in dependence upon the lighting of the straight and left and right turn signals, and thus the description thereof is omitted here.

In the above description, the vehicle information and the traveling information mean, for example, the vehicle ID, the speed of the traveling vehicle, the straight traveling signal, and the left and right turning direction signals.

In the above description, the specific embodiments have been shown and described, but the present invention is not limited thereto, for example, by those skilled in the art without departing from the concept of the present invention. Of course, the design can be changed in various ways.

As described above, according to the traffic signal control method at the intersection using the vehicle-based vehicle detection system based on the road-to-road communication of the present invention, firstly, it is necessary to control the traffic signal through communication between the running vehicle and the sensor node installed on the side of the road. The traffic information can be obtained and reliable traffic signals can be controlled according to the vehicle density of each lane of the intersection based on the obtained traffic information. Second, each sensor node installed at a certain interval on the road Each area has a specific detection area, so that detailed traffic information for each area can be obtained at low cost. Third, the traffic signal is controlled by dividing the area by information obtained from each sensor node installed at regular intervals on the road. Priority and left / right turn signal lights are turned on according to the vehicle density in the area adjacent to the intersection. Fourth, there is an excellent effect of reducing the waiting time of vehicle signals at all intersections by determining the lighting time of the straight and left and right turn signals in consideration of the left and right turn vehicles. .

Claims (4)

Telematics respectively installed in the traveling vehicle approaching the intersection 60 with the wireless information request signal a transmitted from the first antenna 11 of the first to nth sensor nodes 10a, 10b, 10c, 10n. A wireless information request signal reception discrimination step of determining whether or not it has been received at 30; A second result of the telematics 30 when the radio information request signal transmitted from the first to n-th sensor nodes 10a, 10b, 10c ... 10n is received as a result of the determination of the radio information request signal reception discrimination step; A vehicle information and travel information transmission step of transmitting the vehicle information and the travel information from the antenna 33 to the first to n th sensor nodes 10a, 10b, 10c.  The vehicle information and the driving information received by the first to nth sensor nodes 10a, 10b, 10c... 10n in the vehicle information and driving information transmission step are transmitted to the signal control terminal 40 through the cable c. The driving vehicle density / lane for each zone which outputs and calculates the density of the driving vehicle for each zone and the lighting time of the traffic light for each lane based on the vehicle information and the driving information inputted to the signal control terminal 40. Traffic light lighting time calculation step, East-west straight lane density for determining whether the density of the traveling vehicle per zone calculated in the zone-specific driving vehicle density / lane-by-lane traffic light lighting time calculation step is high in the straight lane 62 on the east-west road Discrimination step, As a result of the determination of the density determination step of the east-west direction straight lane, when the density of the straight vehicle waiting in the straight line 62 of the east-west direction is high, the east-west direction vehicle and the right-turn vehicle on the east-west road The signal control terminal 40 outputs a lighting control signal from the signal control terminal 40 to the signal lamp lighting device 70 during the time calculated in the step-by-zone driving vehicle density / lane-by-lane signal calculating time step according to the density of the directional driving vehicle. A first east-west direction straight / right turn signal lamp lighting time setting step of setting the signal lamp to light, A first east-west direction straight / right turn signal lamp lighting time elapsed discrimination step for determining whether the lighting time of the east-west direction straight / right turn signal lamp set in the first east-west direction straight / right turn signal lamp lighting time setting step has elapsed; As a result of the discrimination of the first east-west direction right / right turn signal lighting time elapsed discrimination step, when the east-west direction right / right turn signal light lighting time has elapsed, according to the density of the vehicle waiting in the left turn lane 61 of the east-west direction road First east-west direction left turn signal lamp which sets the signal control terminal 40 to output a lighting control signal to turn on the left turn signal lamp during the time calculated in the driving vehicle density / lane signal lighting time calculation step. Lighting time setting step, A first east-west direction left turn signal lamp lighting time elapsed discrimination step for determining whether the lighting time of the east-west direction left turn signal lamp set in the first east-west direction left turn signal lamp lighting time setting step has elapsed; As a result of the discrimination of the first east-west direction left turn signal lighting time elapsed discrimination step, when the east-west direction turn signal lighting time elapses, a straight ahead vehicle waiting in a straight lane of a north-south road and a right turn vehicle waiting in a right turn lane of a north-south road According to the density of the vehicle traveling in the north-south direction, the signal control terminal 40 sends a lighting control signal to the signal lamp lighting device 70 for the time calculated in the traffic light lighting time calculation step for each zone. A first north-south north / south direction right / right turn signal lighting time setting step of outputting and setting the signal to turn on a straight or right turn signal, A first north-south straight / right turn signal lighting time elapsed discrimination step for discriminating whether or not the lighting time of the north-south straight / right turn signal light set in the first north-south straight / right turn signal light setting time setting step has elapsed; As a result of the discrimination of the first and the north / right turn signal lighting time elapsed judging step, when the north / south direction straight / right turn traffic light lighting time has elapsed, the left turn lane of the north and south road turns left to turn the waiting vehicle to the left turn lane of the north and south road. The signal control terminal 40 outputs a lighting control signal from the signal control terminal 40 to the traffic light lighting device 70 during the time calculated in the zone vehicle density / lane traffic light lighting time calculation step according to the density of the vehicle waiting for The first north-south left turn signal lamp lighting time setting step of setting the light to turn on; A first north-south left turn signal turn-on time discrimination step for determining whether the north-south turn turn signal turn time set in the first north-south turn turn signal turn time setting step has elapsed; And a return step of turning off the north-south left turn signal light and returning to the wireless information request signal reception determination step when the first north-south left turn signal turn-on time discrimination step is determined. A traffic signal control method at an intersection using a vehicle detection system based on vehicle-road communication. The method according to claim 1, wherein when the density of the east-west straight lane density determination step is not high, the east-west straight lane density driving step is performed in order to drive a straight vehicle on the north-south road and a right-turning vehicle on the north-south road. The signal control terminal 40 outputs a lighting control signal from the signal control terminal 40 to the traffic light lighting device 70 for the time calculated in the step-by-zone driving vehicle density / lane traffic light calculation time calculation step according to the density of the straight traveling vehicle and goes straight in the north-south direction. The second north-south north / right turn signal lighting time setting step for setting the signal to turn on / right turn, A second north-south straight / right turn signal lighting time elapsed discrimination step for determining whether the north-south straight / right turn signal lighting time set in the second north-south straight / right turn signal lighting time setting step has elapsed; As a result of the discrimination of the second inter-south straight / right turn signal lighting time elapsed discrimination step, when the north-south straight / right turn traffic light lighting time has elapsed, the vehicle is waiting in the left turn lane of the north-south road to turn left According to the density of the vehicle under operation, the signal control terminal 40 outputs a lighting control signal from the signal control terminal 40 to the traffic light lighting device 70 for lighting the left turn signal light during the time calculated in the zone vehicle traffic density / lane traffic light lighting time calculation step. A second north-south left turn signal light turn-on time setting step A second north-south left turn signal turn-on time discrimination step for determining whether the turn-on time of the north-south turn turn signal light set in the second north-south turn turn signal turn-on time setting step has elapsed; The driving vehicle density / car for each zone according to the density of the east-west traveling vehicle in order to drive the waiting straight vehicle in the straight lane 62 of the east-west road and the right-turning vehicle waiting in the right-turn lane 63 of the east-west road The second east-west direction straight / right turn for setting the signal control terminal 40 to turn on the east-west direction right / right turn signal light by outputting a lighting control signal to the signal light lighting device 70 for the time calculated in the step of calculating the lighting signal lighting time. Traffic light lighting time setting step, A second east-west direction straight / right turn signal lighting time elapsed discrimination step for determining whether the lighting time of the east-west direction straight / right turn signal light set in the second east-west direction right / right turn signal lighting time setting step has elapsed; When the second east-west direction / right turn signal lighting time elapsed discrimination step is determined, when the east-west direction right / right turn signal light lighting time has elapsed, the left turn of the east-west road so as to turn left the waiting vehicle in the east-west direction left turn lane 61 According to the density of the vehicle waiting in the lane 61, the signal control terminal 40 sends a lighting control signal to the traffic light lighting device 70 in the signal control terminal 40 during the time calculated in the step-by-zone traffic light lighting time calculation step. A second east-west direction left turn signal lamp lighting time setting step of outputting and setting to turn on the east-west direction left turn signal light, A second east-west direction left turn signal lamp lighting time elapsed discrimination step for determining whether the lighting time of the east-west direction left turn signal lamp set in the second east-west direction left turn signal lamp lighting time setting step has elapsed; As a result of the discrimination of the second east-west direction left turn signal lighting time elapse discrimination step, when the east-west direction turn signal lighting time elapses, the east-west direction turn signal lights are turned off, and the second north-south direction turn right / right turn signal lighting time setting step is returned. A traffic signal control method at an intersection using a vehicle detection system based on vehicle-road communication, comprising a return step. The lighting time of the traffic light in the step of calculating the vehicle vehicle density / lane traffic light lighting time for each zone is calculated by Equation (1). Dt = Mg + Ta + Te ------------------- (Equation 1) (Equation 1), Dt is the traffic light turn-on time, Mg is the minimum turn-on and left-right turn signal lamp basic lighting time determined by the signal plan operator, Ta is a straight line according to the vehicle density (Di) of Zi zone And the left and right turn signal additional lighting time, and Te indicates the extended straight and left and right turn signal additional lighting time according to the density (D _{i + 1} ) of the Z _{i + 1} zone, respectively. Traffic signal control method at intersection using communication based vehicle detection system. The vehicle density D _i is calculated by Equation 2 according to claim 1, wherein the vehicle density D _i is calculated at the step of calculating the driving vehicle density / lane traffic signal lighting time per lane.

----------------- (Eq. 2) (Equation 2), D _i is the vehicle density, L _ZONE is the length of the zone on the road, I _veh is the inter-vehicle distance at stop, L _evh is the length of the vehicle Traffic signal control method at intersection using vehicle detection system based on communication.

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