WO2016170602A1 - 車両誘導装置及び車両誘導方法 - Google Patents
車両誘導装置及び車両誘導方法 Download PDFInfo
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- WO2016170602A1 WO2016170602A1 PCT/JP2015/062121 JP2015062121W WO2016170602A1 WO 2016170602 A1 WO2016170602 A1 WO 2016170602A1 JP 2015062121 W JP2015062121 W JP 2015062121W WO 2016170602 A1 WO2016170602 A1 WO 2016170602A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Definitions
- the present invention relates to a vehicle guidance device and a vehicle guidance method.
- the guided vehicle when a vehicle such as a large vehicle with slow start acceleration is stopped in front of the vehicle, the guided vehicle must also start slowly under the influence of the slow start acceleration vehicle.
- the guided vehicle cannot pass the traffic light during the green light and stops again. That is, it may be difficult to increase the number of vehicles passing through a traffic light even with a technique for guiding vehicles to a lane with a low congestion level.
- the present invention has been made in view of the above problems, and provides a vehicle guidance device and a vehicle guidance method that can increase the number of vehicles passing between traffic lights provided on a plurality of lanes that run in the same direction during a green light.
- the purpose is to do.
- the vehicle guidance device acquires the start characteristics of a vehicle that stops because it cannot pass between the traffic lights provided on a plurality of lanes that go in the same direction during the green light.
- the vehicle guidance device calculates a simultaneous passage line including the first line and the second line.
- the first line is when a vehicle having a start characteristic lower than the reference start characteristic is included in the first lane, and a vehicle having a start characteristic higher than the start characteristic of the vehicle in the first lane is included in the second lane. , Shows the rear end of the last vehicle in the first lane.
- the second line indicates the rear end of the stop position of the vehicle in the second lane, which is expected to pass through the traffic signal simultaneously with the last vehicle.
- the vehicle guidance device guides a vehicle following the vehicle to be stopped to the front of the simultaneous passage line.
- FIG. 1 is a diagram illustrating an example of a usage form of the vehicle guidance device according to the present embodiment.
- FIG. 2A is a diagram illustrating an example of a vehicle train that cannot stop the traffic light S during the green light and stops
- FIG. 2B is a diagram illustrating how the vehicles X and Y pass the traffic light S. It is.
- FIG. 3 is a diagram for explaining the simultaneous passage line.
- FIG. 4 is a diagram illustrating a reference start characteristic and a low start characteristic in consideration of a reference start characteristic, a low start characteristic, and a start delay of the vehicle itself.
- FIG. 5 is a flowchart showing an operation flow of the vehicle guidance device 1.
- FIG. 5 is a flowchart showing an operation flow of the vehicle guidance device 1.
- FIG. 6 is a diagram illustrating a state in which the following vehicle X2 has traveled with respect to the vehicle train of FIG.
- FIG. 7 is a diagram illustrating a state in which a new simultaneous passing line is calculated after the guidance of the vehicle X2 of FIG. 6 and then the subsequent vehicles X3 and X4 have traveled.
- FIG. 8 is a diagram illustrating a state in which the following vehicles X5, X6, and X7 have traveled after the guidance of the vehicles X3 and X4 in FIG.
- FIG. 9 is a diagram illustrating a state where new simultaneous passing lines are calculated and the vehicles X6 and X7 are guided after the vehicle X5 of FIG. 8 is guided.
- FIG. 10 is a diagram illustrating an example of a vehicle train that includes a vehicle that does not include a low-start characteristic vehicle in lanes A and B but that turns left in lane A, and a calculated simultaneous passage line.
- FIG. 11 is a diagram illustrating an example of a vehicle train including a vehicle having a low start characteristic and a vehicle turning left in the lane A, and a calculated simultaneous passing line.
- FIG. 12 is a diagram illustrating an example of a vehicle train including a vehicle having a low start characteristic in the lane A and a vehicle turning right in the lane B, and a calculated simultaneous passage line.
- FIG. 11 is a diagram illustrating an example of a vehicle train including a vehicle having a low start characteristic in the lane A and a vehicle turning right in the lane B, and a calculated simultaneous passage line.
- FIG. 13 is a diagram illustrating an example of a vehicle train including vehicles with low start characteristics in lanes A and B and a vehicle turning left in lane A, and a calculated simultaneous passage line.
- FIG. 14 is a diagram illustrating an example of a vehicle train in a case where vehicle guidance is stopped.
- FIG. 1 an example of a usage form of the vehicle guidance device according to the present embodiment will be described.
- the vehicle guidance device 1 is a device for guiding the vehicle 2 and can communicate with the vehicle 2.
- the vehicle 2 in FIG. 1 represents one of a plurality of vehicles as a representative.
- the vehicle guidance device 1 can also communicate with the server device of the traffic management center 3.
- the traveling state recording unit 20 of the vehicle 2 is a block including a CPU, a ROM, a RAM, an interface circuit, and the like.
- the traveling state recording unit 20 includes a vehicle acceleration detected by an acceleration sensor 21 attached to the center of gravity of the vehicle 2, a steering angle detected by a steering 22 sensor, and an accelerator stroke angle detected by a sensor of an accelerator pedal 23.
- the brake stroke angle detected by the sensor of the brake pedal 24 is stored as a driving history, and the start characteristic of the vehicle 2 is calculated and stored based on the driving history.
- the traveling state recording unit 20 acquires the current speed from the speedometer 25 of the vehicle 2 and stores it. Further, the traveling state recording unit 20 calculates and stores the current position of the vehicle 2 based on the radio wave received by the GPS radio wave receiving unit 26 from the GPS satellite.
- the traveling state recording unit 20 calculates and stores the inter-vehicle distance for the vehicle 2 based on the stop position at the intersection of the vehicle 2 and the stop position of the vehicle that stops in front of the vehicle 2.
- the traveling state recording unit 20 acquires and stores direction indicator information indicating the state of the direction indicator 27 from a sensor provided in the direction indicator 27.
- the communication unit 28 acquires the acceleration, steering angle, accelerator stroke angle, brake stroke angle, start characteristic, current speed, current position, inter-vehicle distance, and direction indicator information from the traveling state recording unit 20, and obtains them as vehicle information. Is transmitted to the vehicle guidance device 1.
- the communication unit 28 controls the vehicle control unit 29 by a control signal received from the vehicle guidance device 1, for example. Accordingly, the vehicle control unit 29 controls the position of the vehicle 2 by controlling the steering 22, the accelerator pedal 23, the brake pedal 24, and the like.
- the vehicle guidance device 1 includes a center information storage unit 11 that stores center information received from the server device of the traffic management center 3, a vehicle information storage unit 12 that stores vehicle information received from the vehicle 2, and the vehicle 2 travels.
- a map data storage unit 13 for storing map data of the area.
- the vehicle guidance device 1 includes a stop vehicle detection unit 14 that detects a vehicle that cannot stop while passing a traffic light provided on a road on which the vehicle 2 travels during a green signal, and a vehicle information storage unit that indicates the detected start characteristics of the vehicle. 12 and an information acquisition unit 15 that acquires from the information acquisition unit 15.
- the vehicle guidance device 1 guides the subsequent vehicle to the front of the simultaneous passage line, and a simultaneous passage line calculation unit 16 that calculates a target simultaneous passage line when guiding the subsequent vehicle based on the acquired start characteristic.
- the vehicle guidance part 17 to be provided.
- the vehicle guidance device 1 executes a vehicle guidance method.
- the map data includes the position of the road, the position of the traffic light, and the legal speed of the road.
- the center information includes, for example, the length of time when the traffic light is a green light, the length of time when the traffic light is a red light, current weather information, and information on a time zone when the road is congested.
- the traffic signal S is installed in the road containing the lanes A and B which go to the same direction.
- the vehicles stopped in the lane A include the vehicle X having a start characteristic (hereinafter referred to as a low start characteristic) slower than the start acceleration of a reference start characteristic (hereinafter referred to as a reference start characteristic). Yes.
- the vehicle X is also the last vehicle in the lane A. Vehicles that are stopped in the lane B do not include vehicles that have low start characteristics.
- a lane such as lane A including a vehicle having a low start characteristic is referred to as a first lane and an adjacent second lane such as lane B not including a vehicle having a low start characteristic.
- the second line is the rear end of the stop position of the vehicle in the second lane that is expected to pass through the traffic light simultaneously with the last vehicle.
- the horizontal axis of the graph shown in FIG. 3 is the distance between the stop position of the vehicle and the traffic light S, and the vertical axis is the time required to travel the distance. The longer the distance, the longer the time required to travel that distance.
- the vehicle X having the low start characteristic advances at time T by L [m].
- a vehicle X indicated by a solid line indicates a stop position of the vehicle X, and a vehicle X indicated by a broken line indicates a state where the vehicle has passed the traffic light S.
- the vehicle Y having the reference start characteristic advances at time T by L + L1 [m].
- a vehicle Y indicated by a solid line indicates a stop position of the vehicle Y, and a vehicle Y indicated by a broken line indicates a state where the vehicle has passed the traffic light S.
- the distance between the position (stop position) when the vehicle X starts and the traffic light S is L [m]
- the distance between the position (stop position) when the vehicle Y starts and the traffic light S is L + L1 [m].
- the rear end position of the vehicle X shown in FIG. 3 is referred to as a first line m1
- the rear end position of the vehicle Y is referred to as a second line m2
- the simultaneous passing line is indicated by a thick broken line connecting the first line m1 and the second line m2.
- the last vehicle starts after the preceding vehicle starts, so the reference start characteristic and the low start characteristic are worse (slower) than the start characteristic of the vehicle itself. Therefore, as shown in FIG. 4, it is preferable to acquire the start characteristic in consideration of the start delay.
- the start characteristic is deteriorated in bad weather. Therefore, in such weather, it is preferable to acquire the start characteristic after the decrease.
- the start characteristic is deteriorated even in a time zone when the vehicle is congested, it is preferable to acquire the start characteristic after the decrease in such a mixed time zone.
- the stop vehicle detection unit 14 acquires the road position of two or more lanes on one side provided with a traffic light in a green signal state, the position of the traffic signal, and the legal speed of the road from the map data in the map data storage unit 13.
- the current position of the vehicle traveling on the road is acquired from the information storage unit 12.
- the stopped vehicle detection unit 14 acquires the remaining time of the green signal state from the center information in the center information storage unit 11.
- the stop vehicle detection unit 14 detects a vehicle which cannot pass through the traffic light during the green light and stops, based on the legal speed, the position of the traffic light, the current position of the vehicle, and the remaining time.
- the vehicle to be stopped may be obtained using the current speed and the current acceleration of each vehicle. For example, if the remaining time is shorter than a predetermined time, that is, if the determination distance is shorter than a predetermined distance, the legal speed is not used and the traffic light position, the current position of the vehicle, the current speed, and the current speed The vehicle may be detected based on the acceleration and the remaining time.
- the information acquisition unit 15 acquires the vehicle start characteristic and direction indicator information detected in step S1 from the vehicle information storage unit 12. For example, the information acquisition unit 15 acquires a start characteristic included in the vehicle information stored in the vehicle information storage unit 12.
- the information acquisition unit 15 acquires from the center information in the center information storage unit 11 information on the current weather and information on the time zone in which the road is congested, and acquires start characteristics suitable for at least one of the weather and the time zone. Also good. For example, as supplemented in the explanation part of FIG. 4, the start characteristic is lowered in bad weather or in a crowded time zone. Alternatively, such start characteristics are stored in advance and used.
- condition 1 includes a low start characteristic in the acquired start characteristic.
- Condition 2 In the acquired direction indicator information, turn right or It is determined whether or not any one of the conditions in which the direction indicator information indicating the left turn state is included is satisfied. If both conditions are not satisfied (S5: NO), the process proceeds to step S7. If at least one of the conditions is satisfied (S5: YES), the process proceeds to step S9.
- the turn indicator information indicating the right turn or left turn state is included is a determination of whether the vehicle turns right or left or goes straight. This is possible without using vessel information.
- the vehicle information may be acquired by including the driving history of the driver, and based on the driving history, a right turn or a left turn may be made at a place where a right turn or a left turn is frequently made in the past.
- step S7 The vehicle guide unit 17 guides the vehicle so that the vehicles detected in step S1 are evenly arranged, and proceeds to step S25.
- step S ⁇ b> 7 for example, the vehicle guiding unit 17 transmits a control signal to a vehicle that needs to change the current position, and the vehicles that have received the control signal automatically change the current position so that the vehicles are evenly arranged. .
- a map screen provided on the vehicle may indicate the position after the change based on the control signal, and the driver prompted thereby may move the vehicle to the position after the change. Further, movement may be guided by voice or the like. Further, the vehicle may be moved not by direct control or instruction but by suggesting movement. Moreover, even if guidance or suggestion is performed, even if the vehicle does not change its position, there is no change in guiding the vehicle. The same applies to similar vehicle guidance described later.
- S9 The simultaneous passage line calculation unit 16 determines whether or not the low start characteristic is included in the start characteristic acquired in step S3. If the acquired start characteristic includes a low start characteristic (S9: YES), the process proceeds to step S11. If not (S9: NO), the process proceeds to step S17.
- the simultaneous passage line calculation unit 16 acquires the current position of the vehicle having the low start characteristic from the vehicle information storage unit 12, and based on the current position, whether or not the vehicle having the low start characteristic is included in all the lanes. Determine. If all the lanes include low start characteristics vehicles (S11: YES), the process proceeds to step S17, and if at least one lane does not include low start characteristics vehicles (S11: NO), step S13. Proceed to
- the simultaneous passage line calculation unit 16 calculates the stop position of each vehicle detected in step S1.
- the stop position is calculated based on, for example, the current speed, the current position, the inter-vehicle distance at the time of stop, and the current acceleration in the vehicle information.
- communication between vehicles is enabled and the number of vehicles which drive ahead may be acquired by communication between vehicles, and you may use for calculation.
- the vehicle length of each vehicle may be acquired and used for calculation.
- the simultaneous passing line calculation unit 16 calculates each combination of the first lane including the vehicle having the low start characteristic and the adjacent second lane not including the vehicle having the low start characteristic in step S13. On the basis of the stop position and the low start characteristic, a simultaneous passage line (first line m1 and second line m2) is calculated, and the process proceeds to step S17.
- step S17 The simultaneous passing line calculation unit 16 determines whether or not the direction indicator information indicating the right turn or left turn state is included in the direction indicator information acquired in step S3. If the obtained turn indicator information includes turn indicator information indicating a right turn or left turn state (S17: YES), the process proceeds to step S19, and if not included (S17: NO), step Proceed to S21.
- step S5 it is determined whether the vehicle turns right or left based on the driving history. If the vehicle turns right or left, the process proceeds to step S19. If the vehicle goes straight, step S21 is performed. You may make it progress to.
- step S19 for example, when the vehicle corresponding to the direction indicator information indicating the state of the right turn or the left turn (the right turn vehicle or the left turn vehicle) is included in the first lane, the simultaneous passage line calculation unit 16 sets the second line m2. Is moved backward according to the number of right-turn vehicles or left-turn vehicles. For example, when a right turn vehicle or a left turn vehicle is included in the second lane, the simultaneous passage line calculation unit 16 moves the second line m2 forward according to the number of right turn vehicles or left turn vehicles.
- the vehicle guidance unit 17 guides the vehicle with the simultaneous passage line as a target, and proceeds to step S23.
- the vehicle guide unit 17 guides a subsequent vehicle traveling from behind the simultaneous passage line to the front of the simultaneous passage line.
- the information acquisition unit 15 acquires from the center information in the center information storage unit 11 the length of time that the traffic light is green.
- the vehicle guiding unit 17 determines whether or not one of the two conditions (conditions 1 and 2) is satisfied.
- Condition 1 is that the distance (referred to as Ds) that the vehicle started with the low start characteristic travels during the length of time when it is green is shorter than the distance (referred to as D1) between the traffic light and the first line m1.
- Condition 2 is that the distance (referred to as Df) traveled during the length of time that the vehicle started with the reference start characteristic is green is shorter than the distance (referred to as D2) between the traffic light and the second line m2.
- step S25 The vehicle guidance unit 17 determines whether there is a vehicle following the vehicle detected in step S1. If there is no subsequent vehicle (S25: NO), the control of the flowchart of FIG. 5 is terminated, and if there is a subsequent vehicle (S25: YES), the process returns to step S3.
- the subsequent vehicle detected in step S25 is regarded as the vehicle detected in step S1, that is, the vehicle stopped in front of the traffic light.
- the information acquisition part 15 acquires the starting characteristic and direction indicator information of the subsequent vehicle detected in step S25 from the vehicle information storage part 12.
- the vehicle guidance device 1 calculates a new simultaneous passage line for the vehicle train including the vehicle X2. Since the vehicle X2 stops behind the vehicle X, the vehicle X2 starts with the low start characteristic even if it has the reference start characteristic. The vehicle guidance device 1 regards the vehicle X2 as having a low start characteristic, and calculates a distance L2 [m] corresponding to the vehicle X2 by the same method as L1. The position of the new first line m1 is the rear end of the vehicle X2, and the position of the new second line m2 is behind the first line m1 by L1 + L2 [m].
- the vehicle guidance device 1 guides the vehicles X3 and X4 to the space in front of the second line m2.
- the vehicles X3 and X4 can pass through the traffic light S simultaneously with or earlier than the last vehicle X2.
- the information acquisition unit 15 acquires the vehicle type information of the vehicle from the vehicle, the simultaneous passage line calculation unit 16 calculates the simultaneous passage line based on the vehicle type information, and the vehicle guidance unit 17 determines the vehicle type information. You may guide ahead of the simultaneous passage line calculated based on the above.
- the simultaneous passage line can be calculated more accurately. Even if the driver's seat position of the last vehicle in the first lane is the current position, the position of the second line differs depending on the length of the vehicle. By obtaining the length of the vehicle from the vehicle type information and calculating the second line according to the length, the number of vehicles passing through the traffic light S during the green light can be reliably increased.
- the vehicle guidance device 1 calculates a new simultaneous passage line for the vehicle train including the vehicle X5.
- the vehicle guidance device 1 regards the vehicle X5 as having a low start characteristic, and calculates the distance L3 [m] corresponding to the vehicle X5 by the same method as L1 and L2.
- the position of the new first line m1 is the rear end of the vehicle X5, and the position of the new second line m2 is behind the first line m1 by L1 + L2 + L3 [m].
- the simultaneous operations shown in FIGS. instead of calculating the passage lines (m1, m2), the simultaneous passage lines (m1, m2) in FIG. 9 may be calculated from the beginning. Thereby, the calculation of the former simultaneous passage line becomes unnecessary, and the calculation load can be reduced.
- the simultaneous passage line calculation unit 16 sets the rear end of the vehicle as the first line when the last vehicle of the plurality of vehicles following the vehicle to be stopped is the last vehicle in the first lane, A second line is calculated based on the first line. Thereby, the load of calculation of the simultaneous passage line can be reduced.
- the vehicle guidance device 1 guides the vehicles X6 and X7 to the space in front of the second line m2.
- the vehicle guidance device 1 detects a vehicle that cannot pass through the traffic light during the green light and stops, and acquires the start characteristics of each detected vehicle.
- the vehicle guidance device 1 includes a vehicle having a start characteristic lower than the reference start characteristic among the vehicles stopped in the first lane (A) based on the start characteristic, and the second lane (B).
- the simultaneous passage line is calculated.
- the simultaneous passage line is a first line (m1) indicating the rear end of the last vehicle (X) in the first lane (A), and a second lane expected to pass through the traffic light simultaneously with the last vehicle.
- (B) includes a second line (m2) indicating the rear end of the stop position of the vehicle (Y).
- the vehicle guidance device 1 guides the following vehicle to the front of the simultaneous passage line.
- the guided vehicles X3 and X4 can pass through the traffic light S simultaneously with or earlier than the last vehicle X2.
- the guided vehicles X6 and X7 can pass through the traffic light S simultaneously with or earlier than the last vehicle X5.
- the number of vehicles passing through the traffic light S during the green light can be increased, and the traffic flow rate can be increased.
- the information acquisition unit 15 acquires a start characteristic suitable for at least one of weather and time zone when calculating the simultaneous pass line, and the simultaneous pass line calculation unit 16 determines the simultaneous pass line based on the start characteristic.
- the vehicle guide unit 17 calculates and guides the vehicle ahead of the simultaneous passage line. Therefore, for example, the number of vehicles passing through the traffic light S during the green light can be increased even in bad weather or in a crowded time zone where the start characteristics are different from those in a sunny day or a time zone in which no mixture is present.
- the vehicle train includes a vehicle that makes a right turn or a vehicle that makes a left turn
- the vehicle X10 in the lane A is about to turn left at the position of the traffic light S.
- the time required for the vehicle to turn left is assumed to be ⁇ TL [seconds].
- the vehicle X10 passes the traffic light S later by ⁇ TL [seconds] than when traveling straight.
- the vehicle X11 immediately after the vehicle X10 passes through the traffic light S with a delay of ⁇ TL [seconds] under the influence of the vehicle X10 even when traveling straight.
- the position of the first line m1 is the rear end of the vehicle X11. If the distance that the vehicle having the reference start characteristic travels during ⁇ TL [seconds] at the position of the traffic light S is L1 [m], the position of the second line m2 The position is behind the first line m1 to L1 [m].
- the vehicle X12 in the lane A is a vehicle having a low start characteristic, and the vehicle X13 immediately after is about to turn left at the position of the traffic light S.
- the other vehicle is a vehicle having a reference start characteristic and is going straight on the traffic light S.
- the distance L1 [m] is a difference between the distance between the vehicle X12 having the low start characteristic and the traffic light S and the distance traveled by the vehicle having the reference start characteristic in the time required for the vehicle X12 to pass the traffic light S. .
- the distance L2 [m] has a reference start characteristic based on the distance between the vehicle X13 and the traffic light S, which are considered to have low start characteristics due to the influence of the vehicle X12 ahead, and the time required for the vehicle X13 to pass the traffic light S. This is the difference from the distance traveled by the vehicle.
- the distance L3 [m] is a distance that the vehicle having the reference start characteristic travels at the position of the traffic light S during ⁇ TL [seconds].
- the position of the first line m1 is the rear end of the vehicle X13, and the position of the second line m2 is L1 + L2 + L3 [m] behind the first line m1.
- the guided vehicle cannot pass through the traffic light S simultaneously with the vehicle X13.
- the vehicle can pass the traffic light S simultaneously with or before the vehicle X13.
- the number of vehicles passing through the traffic light S can be increased as compared with the case where the second line m2 is not moved.
- the second line may be moved backward as in the case where the lane A includes a vehicle that turns right or left.
- the driving characteristics of a driver who has many opportunities for low-speed driving are set as driving characteristics for low-speed driving.
- Driving characteristics of a driver who has less opportunities for low-speed traveling are defined as driving characteristics for high-speed traveling.
- the vehicle information includes the driving characteristics of the driver.
- the information acquisition unit 15 acquires the driving characteristics of the driver of each vehicle to be stopped from the vehicle information, and the simultaneous passage line calculation unit 16 determines whether the driving characteristic corresponding to the vehicle stopped in the first lane is the driving characteristic of low speed traveling. If it is determined that the driving characteristic is high-speed driving, and if it is determined that the driving characteristic is low-speed driving, the second line is moved backward.
- the number of vehicles passing through the traffic light S can be increased as compared with the case where the second line m2 is not moved, as in the case where the lane A includes vehicles that turn right or left.
- the vehicle X14 in the lane A is a vehicle having a low start characteristic
- the vehicle X15 in the lane B is about to turn right at the position of the traffic light S.
- the other vehicle is a vehicle having a reference start characteristic and is going straight on the traffic light S.
- the distance L1 [m] is a difference between the distance between the vehicle X14 having the low start characteristic and the traffic light S and the distance traveled by the vehicle having the reference start characteristic in the time required for the vehicle X14 to pass the traffic light S. .
- the distance L2 [m] has a reference start characteristic based on the distance between the vehicle X16 and the traffic light S, which are considered to have low start characteristics due to the influence of the vehicle X14 ahead, and the time required for the vehicle X16 to pass the traffic light S. This is the difference from the distance traveled by the vehicle.
- the distance L3 [m] is a distance traveled during ⁇ TR [seconds] required for a vehicle having a reference start characteristic to make a right turn.
- the position of the first line m1 is the rear end of the vehicle X16, and the position of the second line m2 is L1 + L2-L3 [m] behind the first line m1.
- the stop position of the vehicle Y in FIG. 11 is moved forward by L3 [m] in FIG. 11 because it has to be closer to the traffic light S than when there is no vehicle that turns right or left.
- the guided vehicle may not be able to pass the traffic light S at the same time as or before the vehicle X13.
- vehicles X17, X18, X19 in lane A are vehicles having low start characteristics
- vehicles X20, X21 in lane B are also vehicles having low start characteristics.
- the vehicle X19 is going to turn left at the position of the traffic light S.
- the other vehicle is a vehicle having a reference start characteristic and is going straight on the traffic light S.
- the distance L1 [m] has a low start characteristic, and is a distance traveled during ⁇ TL [seconds], which is a time required for the vehicle X19 to turn left to take a left turn at the position of the traffic light S.
- the position of the first line m1 is the rear end of the vehicle X19, and the position of the second line m2 is L1 [m] behind the first line m1.
- the position of the second line m2 is the rear end of the vehicle X21. This is because lanes A and B include vehicles having low start characteristics, and vehicles in each lane A and B start equally.
- the length of time during which the traffic light S is green is Tb
- the distance that the vehicle having the reference start characteristic travels during the time Tb is Ds
- the vehicle having the low start characteristic is between the time Tb.
- Df be the distance traveled to.
- the distance between the traffic light S and the first line m1 is D1
- the distance between the traffic light S and the second line m2 is D2.
- vehicle guidance device 1 is provided separately from the vehicle, but vehicle guidance device 1 may be included in the vehicle.
- the vehicle information of another vehicle may be acquired through communication with the vehicle.
- the simultaneous passing line is set. Calculated. However, vehicles having a low start characteristic are included in the vehicles stopped in the first lane (A), and the vehicles in the first lane (A) are started in the vehicles stopped in the second lane (B).
- a vehicle having a starting characteristic higher than the characteristic referred to as a corresponding vehicle
- the simultaneous passage line may be calculated. This is because the start characteristics of the corresponding vehicle are at least higher than the start characteristics of the vehicle in the first lane (A), so the positions of the first line and the second line are different.
- Vehicle Guidance Device 2 X, X2, X3, X4, X5, X6, X7, X10, X11, X12, X13, X14, X15, X16, X17, X18, X19, X20, X21, Y Vehicle 3 Traffic Management Center DESCRIPTION OF SYMBOLS 11 Center information memory
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Abstract
Description
図2(a)に示すように、同方向に向かう車線A、Bを含む道路に信号機Sが設置されている。車線Aに停止している車両の中には、基準となる発進特性(以下、基準発進特性という)の発進加速よりも遅い発進特性(以下、低発進特性という)を有する車両Xが含まれている。車両Xは、車線Aの最後尾の車両でもある。車線Bに停止している車両の中には低発進特性を有する車両は含まれない。
図6に示すように、図2(a)の車列に対し、後続の車両X2が走行してくる。
第1ラインm1の位置は、車両Xの後端であり、第2ラインm2の位置は、第1ラインm1からL1[m]後方である。これは、図3で説明した通りである。
車両X2は、車両Xの後方に停止するので、基準発進特性を有していても、低発進特性で発進することとなる。車両誘導装置1は、車両X2が低発進特性を有するとみなし、L1と同様の方法で、車両X2に対応する距離L2[m]を算出する。新たな第1ラインm1の位置は、車両X2の後端であり、新たな第2ラインm2の位置は、第1ラインm1からL1+L2[m]後方である。
第2ラインm2の前方には、車両が入るスペースがあるので、図8に示すように、車両誘導装置1は、第2ラインm2の前方のスペースに車両X3、X4を誘導する。
これにより、車両X3、X4は、最後尾の車両X2と同時またはそれより早く信号機Sを通過できる。
車両誘導装置1は、車両X5が低発進特性を有するとみなし、L1、L2と同様の方法で、車両X5に対応する距離L3[m]を算出する。新たな第1ラインm1の位置は、車両X5の後端であり、新たな第2ラインm2の位置は、第1ラインm1からL1+L2+L3[m]後方である。
図10において、低発進特性の車両は存在せず、車線Aの車両X10は信号機Sの位置で左折しようとしている。車両が左折に要する時間をΔTL[秒]とする。車両X10は、直進する場合と比べ、ΔTL[秒]遅く信号機Sを通過する。また、車両X10の直後の車両X11は、直進する場合であっても、車両X10の影響を受け、ΔTL[秒]遅く信号機Sを通過する。
また、本実施の形態では、第1車線(A)に低発進特性を有する車両が含まれ、かつ、第2車線(B)に低発進特性を有する車両が含まれない場合に同時通過ラインを算出した。
しかし、第1車線(A)に停止する車両の中に低発進特性を有する車両が含まれ、かつ、第2車線(B)に停止する車両の中に第1車線(A)の車両の発進特性より高い発進特性を有する車両(該当車両という)が含まれる場合に、同時通過ラインを算出してもよい。
なぜなら、この該当車両の発進特性は、少なくとも第1車線(A)の車両の発進特性より高いので、第1ラインと第2ラインの位置が相違するからである。
2、X、X2、X3、X4、X5、X6、X7、X10、X11、X12、X13、X14、X15、X16、X17、X18、X19、X20、X21、Y 車両
3 交通管理センタ
11 センタ情報記憶部
12 車両情報記憶部
13 地図データ記憶部
14 停止車両検出部
15 情報取得部
16 同時通過ライン算出部
17 車両誘導部
20 走行状態記録部
21 加速度センサ
22 ステアリング
23 アクセルペダル
24 ブレーキペダル
25 車速計
26 GPS電波受信部
27 方向指示器
28 通信部
29 車両制御部
A 車線(第1車線)
B 車線(第2車線)
m1 第1ライン
m2 第2ライン
S 信号機
Claims (8)
- 同方向に向かう複数の車線に設けられた信号機を青信号の間に通過できず停止する車両を検出する停止車両検出部と、
前記検出された各車両の発進特性を取得する情報取得部と、
前記取得された発進特性に基づいて、前記複数の車線に含まれる第1車線に停止する車両の中に基準の発進特性より低い発進特性を有する車両が含まれ、かつ、前記複数の車線に含まれる第2車線に停止する車両の中に前記第1車線の車両の発進特性より高い発進特性を有する車両が含まれる場合に、前記第1車線の最後尾の車両の後端を示す第1ラインと、前記最後尾の車両と同時に前記信号機を通過することが予想される第2車線の車両の停止位置の後端を示す第2ラインとを含む同時通過ラインを算出する同時通過ライン算出部と、
前記停止する車両に後続する車両を前記同時通過ラインの前方に誘導する車両誘導部と
を備えることを特徴とする車両誘導装置。 - 前記同時通過ライン算出部は、
前記第1車線に停止する車両の中に前記信号機の場所で右折または左折する車両が含まれる場合は、前記第2ラインを後方に移動させる
ことを特徴とする請求項1記載の車両誘導装置。 - 前記情報取得部は、
前記停止する各車両の運転者の運転特性を取得し、
前記同時通過ライン算出部は、
前記第1車線に停止する車両に対応する運転特性が低速走行の運転特性か高速走行の運転特性かを判定し、低速走行の運転特性と判定した場合は、前記第2ラインを後方に移動させる
ことを特徴とする請求項1または2記載の車両誘導装置。 - 前記情報取得部は、
前記同時通過ラインを算出するときの天候と時間帯の少なくとも一方に適した発進特性を取得し、
前記同時通過ライン算出部は、
当該発進特性に基づいて、同時通過ラインを算出し、
前記車両誘導部は、
当該同時通過ラインの前方に車両を誘導する
ことを特徴とする請求項1ないし3のいずれかに記載の車両誘導装置。 - 前記同時通過ライン算出部は、
前記停止する車両に後続する複数の車両の最後尾の車両が前記第1車線の最後尾の車両となる場合は、当該車両の後端を第1ラインとし、当該第1ラインに基づいて第2ラインを算出する
ことを特徴とする請求項1ないし4のいずれかに記載の車両誘導装置。 - 前記情報取得部は、
前記信号機が青信号である時間の長さを取得し、
前記車両誘導部は、
前記基準の発進特性で発進した車両が前記青信号である時間の長さの間に進む距離が前記信号機と前記第2ラインの間の距離より短いとの条件と、
前記低い発進特性で発進した車両が前記青信号である時間の長さの間に進む距離が前記信号機と前記第1ラインの間の距離より短いとの条件の少なくとも一方が充足される場合は、
前記後続する車両の誘導を停止する
ことを特徴とする請求項1ないし5のいずれかに記載の車両誘導装置。 - 前記情報取得部は、
前記車両から当該車両の車種情報を取得し、
前記同時通過ライン算出部は、
前記車種情報に基づいて同時通過ラインを算出し、
前記車両誘導部は、
前記停止する車両に後続する車両を当該車種情報に基づいて算出された同時通過ラインの前方に誘導する
ことを特徴とする請求項1ないし6のいずれかに記載の車両誘導装置。 - 同方向に向かう複数の車線に設けられた信号機を青信号の間に通過できず停止する車両を検出し、
前記検出された各車両の発進特性を取得し、
前記取得された発進特性に基づいて、前記複数の車線に含まれる第1車線に停止する車両の中に基準の発進特性より低い発進特性を有する車両が含まれ、かつ、前記複数の車線に含まれる第2車線に停止する車両の中に前記第1車線の車両の発進特性より高い発進特性を有する車両が含まれる場合に、前記第1車線の最後尾の車両の後端を示す第1ラインと、前記最後尾の車両と同時に前記信号機を通過することが予想される第2車線の車両の停止位置の後端を示す第2ラインとを含む同時通過ラインを算出し、
前記停止する車両に後続する車両を前記同時通過ラインの前方に誘導する
ことを特徴とする車両誘導方法。
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