WO2023084856A1 - 情報処理装置、情報処理方法、及びコンピュータプログラム - Google Patents

情報処理装置、情報処理方法、及びコンピュータプログラム Download PDF

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Publication number
WO2023084856A1
WO2023084856A1 PCT/JP2022/030552 JP2022030552W WO2023084856A1 WO 2023084856 A1 WO2023084856 A1 WO 2023084856A1 JP 2022030552 W JP2022030552 W JP 2022030552W WO 2023084856 A1 WO2023084856 A1 WO 2023084856A1
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Prior art keywords
time
information processing
delay
vehicle
section
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English (en)
French (fr)
Japanese (ja)
Inventor
利也 吉岡
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Sumitomo Electric Industries Ltd
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Sumitomo Electric Industries Ltd
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Priority to US18/704,986 priority Critical patent/US20250273068A1/en
Priority to JP2023559429A priority patent/JP7838585B2/ja
Publication of WO2023084856A1 publication Critical patent/WO2023084856A1/ja
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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
    • G08G1/0108—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
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles

Definitions

  • the present disclosure relates to an information processing device, an information processing method, and a computer program.
  • This application claims priority based on Japanese Application No. 2021-185181 filed on November 12, 2021, and incorporates all the descriptions described in the Japanese Application.
  • Patent Literature 1 describes a traffic signal control device that controls traffic signals included in one subarea with a common cycle length. This traffic signal control device determines whether or not to combine at least two adjacent sub-areas based on an evaluation value considering the influence of pulsation when at least two adjacent sub-areas are combined or not. It comprises a determination means for determining.
  • a device includes a storage unit that stores probe information of a probe vehicle that travels through an inflow road to an intersection, and an information processing unit that performs determination processing on the presence or absence of pulsation in the inflow road.
  • the determination process includes a process of generating time-series data of a delay index, which is a traffic index representing the degree of delay in vehicle traffic due to waiting for a signal, calculated from the probe information, and a process of generating time-series data of the delay index based on the time-series data , and a process of determining the presence or absence of the pulsation.
  • a method is an information processing method executed by an information processing device, and includes a step of storing probe information of a probe vehicle passing through an inflow road to an intersection, and determining whether or not there is pulsation in the inflow road. and executing a determination process, wherein the determination process is calculated from the probe information and is a traffic indicator representing the degree of delay in vehicle traffic due to signal waiting; a process of determining the presence or absence of the pulsation based on the time-series data of the delay index.
  • a computer program includes a storage unit that stores probe information of a probe vehicle that travels through an inflow road to an intersection, and an information processing unit that executes a process for determining the presence or absence of pulsation in the inflow road.
  • the present disclosure can be realized not only as a system and apparatus having the characteristic configuration as described above, but also as a program for causing a computer to execute such a characteristic configuration. Also, the present disclosure can be implemented as a semiconductor integrated circuit that implements part or all of the system and device.
  • FIG. 1 is an overall block diagram of a traffic signal control system.
  • FIG. 2 is a block diagram of an information processing device, an in-vehicle device of a probe vehicle, and a central device included in the traffic signal control system.
  • FIG. 3 is an explanatory diagram showing an example of a road link in which pulsation can occur.
  • FIG. 4 is a time chart showing the reason why pulsation occurs in the first link.
  • FIG. 5 is a time chart showing the reason why pulsation occurs in the second link.
  • FIG. 6 is a graph showing an example of travel trajectories when a plurality of vehicles pass through a road link.
  • FIG. 1 is an overall block diagram of a traffic signal control system.
  • FIG. 2 is a block diagram of an information processing device, an in-vehicle device of a probe vehicle, and a central device included in the traffic signal control system.
  • FIG. 3 is an explanatory diagram showing an example of a road link in which pulsation
  • FIG. 7 is an explanatory diagram showing an example of a stop event that affects the accuracy of the delay time based on the average travel time of links.
  • FIG. 8 is an explanatory diagram showing an example of definitions of variables used for calculating the average travel time of the signal waiting section.
  • FIG. 9 is a flowchart showing an example of processing for calculating a delay time per vehicle due to signal waiting.
  • FIG. 10 is a flow chart showing an example of processing for calculating the total number of sections in the signal waiting section.
  • FIG. 11 is an explanatory diagram showing an example of actual calculation of the total number of sections.
  • FIG. 12 is a flowchart showing an example of processing for determining the presence or absence of pulsation.
  • FIG. 13 is a graph showing an example of time-series data of delay times.
  • FIG. 14 is a flow chart showing another example of the process of determining the presence or absence of pulsation.
  • FIG. 15 is a graph showing an example of time-series data of queue length.
  • a conventional traffic signal control apparatus calculates an evaluation value that takes into account the effects of pulsation by reproducing an actual traffic situation using a traffic simulator. Therefore, road network setting and parameter adjustment for the traffic simulator are required, and there is a problem that the work is troublesome.
  • signal control parameters cycle length, split, etc.
  • signal control parameters are determined from congestion lengths and saturation levels based on signals detected by vehicle detectors. It cannot be applied to roads that have not been installed.
  • the present disclosure aims to make it possible to determine the occurrence of pulsation regardless of the presence or absence of a vehicle sensor.
  • the information processing device of the present embodiment includes a storage unit that stores probe information of a probe vehicle that travels through an inflow road to an intersection, an information processing unit that performs determination processing on the presence or absence of pulsation in the inflow road,
  • the determination process includes a process of generating time-series data of a delay indicator, which is a traffic indicator that represents the degree of delay in vehicle traffic due to signal waiting, calculated from the probe information, and time-series data of the delay indicator and a process of determining the presence or absence of the pulsation based on.
  • the information processing unit determines the presence or absence of pulsation in the inflow road of the intersection based on the time-series data of the delay index calculated from the probe information. It is possible to determine the occurrence of pulsation regardless of the
  • the delay index per vehicle due to signal waiting which is calculated from the average travel time of the traffic signal waiting section on the inflow road, can be used as the delay index. can.
  • the delay time is calculated from the average travel time of the signal waiting section, unlike the case where the delay time is calculated from the average travel time of the link, the accurate delay time with a low possibility of including stop events other than signal waiting can be calculated. Therefore, it is possible to accurately determine the presence or absence of pulsation.
  • the average travel time of the signal waiting section may be calculated by the following formula (1).
  • Ttt Average travel time in signal waiting section (seconds)
  • Li Length of section i (m)
  • Vi Average speed in section i (km/h)
  • I Total number of sections in the signal waiting section i : Section identification number assigned in order from the downstream side
  • the delay index may be calculated by the following equation (2).
  • dav Delay time per vehicle due to signal waiting (average value) (seconds)
  • Ve Assumed speed (eg speed limit) (km/h)
  • the storage unit stores a signal waiting time threshold for identifying whether the inflow path is in a saturated state or a non-saturated state, and the information processing unit stores the time threshold A periodical appearance of the peak of the delay time equal to or greater than a threshold value may be determined as the pulsation.
  • the delay time is less than the above time threshold, it is in a non-saturated state in which there is no unpacking at the end of the green time. This is because it cannot be said to be a pulsation that promotes delay and stoppage.
  • a queue length due to waiting for a signal in the inflow path can be used as the delay index.
  • the queue length may be calculated by the following equation (3).
  • Qu Queue length due to signal waiting (m)
  • Li Length of section i (m)
  • I Total number of sections in the signal waiting section i : Section identification number assigned in order from the downstream side
  • the storage unit stores a signal waiting distance threshold value for identifying whether the inflow path is in a saturated state or a non-saturated state, and the information processing unit stores the distance
  • a periodical appearance of the queue length peak that is equal to or greater than a threshold may be determined as the pulsation.
  • the calculation method of the present embodiment is an information processing apparatus executed by the information processing apparatuses (1) to (8) described above. Therefore, the information processing apparatus of this embodiment has the same effects as the information processing apparatuses (1) to (8) described above.
  • the computer program of the present embodiment is a computer program for causing a computer to function as the information processing apparatus of (1) to (8) above. Therefore, the computer program of the present embodiment has the same effects as the information processing apparatus described in (1) to (8) above.
  • Vehicle Any vehicle that travels on the road. Therefore, in addition to automobiles, light vehicles and trolleybuses, motorcycles also correspond to vehicles.
  • the driving system of the vehicle is not limited to the internal combustion engine, and includes electric vehicles and hybrid cars.
  • vehicle includes both probe vehicles having an in-vehicle device capable of transmitting probe information and ordinary vehicles that do not provide probe information to the outside.
  • Probe information Various information related to the vehicle sensed by the probe vehicle traveling on the road. Probe information is also called probe data or floating car data.
  • the probe information may include vehicle data such as the identity of the probe vehicle, vehicle location, vehicle speed, heading and time of their occurrence.
  • vehicle data such as the identity of the probe vehicle, vehicle location, vehicle speed, heading and time of their occurrence.
  • information such as position and acceleration acquired by a smartphone, tablet, or the like in the vehicle may be used.
  • Probe vehicle A vehicle that senses probe information and transmits it to the outside. Vehicles traveling on roads include both probe vehicles and other vehicles. However, even if it is a normal vehicle that does not have an in-vehicle device that can transmit probe information, a vehicle that has the above-mentioned smartphone, tablet PC, etc. that can transmit probe information such as vehicle position information to the outside Included in the probe vehicle.
  • Signal control parameters Cycle length, split and offset, which are temporal elements of signal presentation, are collectively referred to as signal control parameters. Also called signal control constant.
  • Cycle length The time of one cycle from the green (or red) start time of a traffic signal to the next green (or red) start time. In Japan, it is stipulated by law that the color of green signal lights is actually called blue.
  • “Split” refers to the ratio of the length of time allocated to each manifestation to the cycle length. It is generally expressed as a percentage or percentage. Strictly speaking, it is the effective green time divided by the cycle length.
  • “Offset” In system control or regional control, a certain time point of signal display, for example, the deviation from the reference time point common to the traffic signal group at the start time of the main road green light, or the deviation of the same display start point between adjacent intersections That's what I mean. The former is referred to as an absolute offset and the latter as a relative offset, which are expressed in terms of time (seconds) or percentage of period.
  • Green time A time period during which vehicles have the right of way at an intersection.
  • the end time of the green time may be set at the time when the green lamp is extinguished at the earliest and at the time when the yellow lamp is extinguished at the latest. In the case of an intersection with an arrow lamp, it may be the end of the right turn arrow.
  • Red hour A period of time during which vehicles do not have the right of way at an intersection.
  • the start time of the red time may be set at the time when the green lamp is extinguished at the earliest and at the time when the yellow lamp is extinguished at the latest. In the case of an intersection with an arrow lamp, it may be the end of the right turn arrow.
  • “Queue” A queue of vehicles stopped in front of an intersection to wait for a traffic light at a red light.
  • the queue length (m) is called “queue length”.
  • “Link” A road section that connects nodes such as intersections and has an upward or downward direction. Also known as a road link. When viewed from an intersection, a link flowing in toward the intersection is called an inflow link, and when viewed from an intersection, a link flowing out from the intersection is called an outflow link.
  • Travel time means the time required for a vehicle to travel a certain section. Travel time may include stops and delays along the way.
  • Link travel time Travel time when the road section for which the travel time is calculated is a "link”, that is, the travel time required for a vehicle to travel from the beginning to the end of one link. .
  • Traffic volume The number of passing vehicles in a unit time. Unless otherwise specified, the number of passing vehicles per hour is used, but for control and evaluation purposes, short-time traffic volume such as seconds, 5 minutes, or 15 minutes may be used. In general, traffic volume increases according to traffic demand, but conversely decreases when traffic demand exceeds traffic capacity.
  • Delay index A traffic index that indicates the degree of delay in vehicle traffic due to traffic signal waiting.
  • the unit of the delay index may be either time or length. Therefore, the delay index whose unit is time is the delay time of vehicle traffic caused by signal waiting, and the delay index whose unit is length is the queue length caused by signal waiting.
  • FIG. 1 is an overall configuration diagram of a traffic signal control system 1 according to this embodiment.
  • FIG. 2 is a block diagram of the information processing device 2, the in-vehicle device 4 of the probe vehicle 3, and the central device 5 included in the traffic signal control system 1.
  • a traffic signal control system 1 includes an information processing device 2 installed in a data center or the like, an in-vehicle device 4 installed in a probe vehicle 3, and a central device 5 installed in a traffic control center. , and a traffic signal controller 6 installed at each intersection.
  • the information processing device 2 collects probe information including the vehicle position and its passage time from the probe vehicle 3, and acquires intersection signal information from the central device 5 or the like, and probes. This system uses information and signal information to estimate the occurrence of pulsation in the inflow road of an intersection.
  • the operator of the information processing device 2 is not particularly limited.
  • the operator of the information processing device 2 may be a manufacturer of the vehicle 3, an IT company that provides various information services, or a public operator responsible for traffic control that operates the central device 5.
  • the operation form of the server of the information processing device 2 may be either an on-premises server or a cloud server.
  • the in-vehicle device 4 of the probe vehicle 3 is capable of wireless communication with wireless base stations 7 (for example, mobile base stations) in various places.
  • the wireless base station 7 can communicate with the information processing device 2 via a public communication network 8 such as the Internet. Therefore, the in-vehicle device 4 can wirelessly transmit the uplink information S ⁇ b>1 addressed to the information processing device 2 to the wireless base station 7 .
  • the information processing device 2 can transmit downlink information S2 addressed to a specific in-vehicle device 4 to the public communication network 8 .
  • the information processing apparatus 2 includes a server computer 10 and a plurality of databases 21 to 24 constructed in the server computer 10.
  • the server computer 10 includes an information processing section 11 , a storage section 12 and a communication section 13 .
  • the databases 21 to 24 are electronic data constructed in a predetermined data arrangement in the storage unit 12 .
  • some or all of the databases 21 to 24 may be constructed in an external storage device (not shown) connected to the server computer 10.
  • FIG. 1 an external storage device
  • An information processing unit (hereinafter also referred to as a “processing unit”) 11 is an arithmetic processing device including a CPU (Central Processing Unit) and a RAM (Random Access Memory).
  • the processing unit 11 may include an integrated circuit such as an FPGA (Field-Programmable Gate Array).
  • the processing unit 11 reads the computer program 14 stored in the storage unit 12 into the main memory (RAM) and executes various information processing according to the program 14 .
  • the storage unit 12 is an auxiliary storage device including at least one non-volatile memory (recording medium) of HDD (Hard Disk Drive) and SSD (Solid State Drive).
  • the storage unit 12 may include a flash ROM (Read Only Memory), a USB (Universal Serial Bus) memory, an SD card, or the like.
  • the computer program 14 of the information processing device 2 includes a program that causes the processing unit 11 to execute information processing such as calculating the delay time caused by waiting for the signal of the probe vehicle 3 and determining the presence or absence of pulsation in the road link using the delay time. etc.
  • the communication unit 13 is a communication interface that communicates with the central unit 5 and the radio base station 7 via the public communication network 8 .
  • the communication unit 13 can receive uplink information S ⁇ b>1 from the radio base station 7 and can transmit downlink information S ⁇ b>2 to the radio base station 7 .
  • the uplink information S1 includes probe information transmitted from the in-vehicle device 4 .
  • the downlink information S2 includes the link travel time calculated by the processing unit 11 and the like.
  • the communication unit 13 can receive signal information of intersections included in the traffic control area, which the central device 5 has transmitted to its own device.
  • the intersection signal information includes at least the cycle length and red time length of the intersection.
  • the communication unit 13 may be connected to the central device 5 of the traffic control center via a dedicated communication line 9 instead of the public communication network 8 .
  • the multiple databases 21-24 include a map database 21, a probe database 22, a member database 23, and a signal information database 24.
  • the map database 21 records road map data 25 covering the country.
  • the road map data 25 includes "intersection data” and "link data”.
  • Intersection data is data in which intersection IDs assigned to domestic intersections are associated with intersection position information.
  • the "link data” consists of data in which the following information 1) to 4) are associated with link IDs of specific links assigned to domestic roads.
  • Information 1 Position information of the start point, end point, and interpolation point of the specific link Information 2) Link ID connected to the start point of the specific link Information 3) Link ID connected to end point of specific link Information 4) Link cost of specific link
  • the road map data 25 constitutes a network corresponding to the actual road alignment and the running direction of the road. Therefore, the road map data 25 is a network in which road sections between nodes n representing intersections are connected by directed links l (lowercase letter L). Specifically, the data structure of the road map data 25 includes a directed graph in which nodes n set for each intersection are connected by a pair of directed links l in opposite directions. Therefore, in the case of a one-way road, node n is connected only to one-way directed link l.
  • the road map data 25 includes road type information indicating whether a specific directional link l corresponding to each road on the map is a general road or a toll road, and toll booths included in the directional link l.
  • road type information indicating whether a specific directional link l corresponding to each road on the map is a general road or a toll road, and toll booths included in the directional link l.
  • facility information representing the type of facility such as a parking area is also included.
  • probe information received from probe vehicles 3 registered in advance in the information processing device 2 is accumulated for each identification information of the vehicle 3 .
  • the accumulated probe information includes at least the vehicle position and its passage time.
  • the probe information may include vehicle data such as vehicle speed, vehicle heading, vehicle state information (stop/run events).
  • the sensing period of the probe information is a granularity that can accurately identify the travel history of the probe vehicle 3, and is, for example, 0.5 to 1.0 seconds.
  • the member database 23 stores personal information such as the address and name of the owner (registered member) of the probe vehicle 3, the vehicle identification number (VIN), and the identification information of the in-vehicle device 4 (for example, MAC address, e-mail address and telephone number etc.) are recorded.
  • the traffic light information database 24 traffic light information including the cycle length and red time length of the inflow road of each intersection is accumulated for each intersection ID and link ID.
  • the traffic controllers 6 installed at each intersection in the traffic control area include the following two types of traffic controllers, a first controller 6A and a second controller 6B.
  • First controller 6A A traffic signal controller that is not subject to remote control (system control, area control, etc.) by the central device 5, but performs point control (periodic control, etc.) that independently determines the signal light color.
  • 6B Traffic signal controller subject to remote control (system control, area control, etc.) by the central device 5
  • the central device 5 transmits the signal information of the first controller 6A to the information processing device 2 only when the operation is changed.
  • the processing unit 11 updates the signal information of the first controller 6A included in the signal information database 24 with the received signal information.
  • the central device 5 transmits the signal information of the second controller 6B to the information processing device 2 at predetermined control intervals (for example, 1.0 to 2.5 minutes).
  • the processing unit 11 updates the signal information of the second controller 6B included in the signal information database 24 with the received signal information.
  • the in-vehicle device 4 is a computer device including a processing unit 31, a storage unit 32, a communication unit 33, and the like.
  • the processing unit 31 is an arithmetic processing device including a CPU and a RAM.
  • the processing unit 31 reads the computer program 34 stored in the storage unit 32 and performs various information processing according to the program 34 .
  • the storage unit 32 is an auxiliary storage device including at least one non-volatile memory (recording medium) of HDD and SSD.
  • the storage unit 32 may include a flash ROM, USB memory, SD card, or the like.
  • the computer program 34 of the in-vehicle device 4 includes a program that causes the CPU of the processing unit 31 to execute sensing and generation of probe information, route search processing of the probe vehicle 3, image processing for displaying search results on the display of the navigation device, etc. And so on.
  • the communication unit 33 is a wireless communication device such as a gateway permanently mounted on the vehicle 3, or a data communication terminal temporarily mounted on the vehicle 3 (for example, a smartphone, a tablet computer, a node personal computer, etc.). be.
  • the communication unit 33 has, for example, a GNSS (Global Navigation Satellite System) receiver.
  • GNSS Global Navigation Satellite System
  • the processing unit 31 monitors the current position of the vehicle in substantially real time. Positioning preferably utilizes a global navigation satellite system such as GNSS, but other methods are possible.
  • the processing unit 31 measures vehicle data such as the vehicle position, vehicle speed, vehicle direction, and CAN (Controller Area Network) information of the own vehicle at predetermined sensing intervals (for example, 0.5 to 1.0 seconds), It is recorded in the storage unit 32 together with the measurement time.
  • vehicle data such as the vehicle position, vehicle speed, vehicle direction, and CAN (Controller Area Network) information of the own vehicle at predetermined sensing intervals (for example, 0.5 to 1.0 seconds)
  • the communication unit 33 When the vehicle data is accumulated in the storage unit 32 for a predetermined recording time (for example, 1 minute), the communication unit 33 generates probe information including the accumulated vehicle data and the identification information of the own vehicle.
  • the probe information is uplink-transmitted to the information processing device 2 .
  • the in-vehicle device 4 includes an input interface (not shown) that receives operation input from the driver.
  • the input interface includes, for example, an input device associated with a navigation device, an input device of a data communication terminal mounted on the probe vehicle 3, or the like.
  • the central unit 5 is composed of a server computer that centrally controls the traffic signal controllers 6 of a plurality of intersections included in the traffic control area.
  • the central device 5 includes a processing unit 51, a storage unit 52, a communication unit 53, and the like.
  • the traffic signal controller 6 in the traffic control area includes a point control type first controller 6A that operates independently (standalone), and a second controller 6B that is controlled remotely by the central device 5.
  • the processing unit 51 is an arithmetic processing device including a CPU and a RAM. The processing unit 51 reads the computer program 54 stored in the storage unit 52 and performs various information processing according to the program 54 .
  • the storage unit 52 is an auxiliary storage device including at least one non-volatile memory (recording medium) of HDD and SSD.
  • the storage unit 52 may include a flash ROM, USB memory, SD card, or the like.
  • the computer program 54 of the central device 5 includes a program for causing the CPU of the processing unit 51 to perform remote control (traffic adaptation control) of the second controller 6B.
  • the processing unit 51 When the signal control parameter is generated by remote control, the processing unit 51 generates a signal control command to be executed by the second controller 6B, which is the control target of the remote control.
  • the signal control command is information about the timing of switching the lamp color of the signal lamp device corresponding to the newly generated signal control parameter, and is generated for each remote control control cycle (for example, 1.0 to 2.5 minutes).
  • the communication unit 53 is a communication interface capable of executing both communication with the information processing device 2 via the public communication network 8 and communication with the second controller 6B via the dedicated communication line 9.
  • the communication unit 53 may be connected to the information processing device 2 via a dedicated communication line 9 .
  • the communication unit 53 transmits the signal control command generated by the processing unit 51 for each control cycle of the signal control parameter to the second controller 6B, which is the object of remote control.
  • the communication unit 53 transmits to the information processing device 2 signal information including the cycle length and the red time length being operated by the first and second controllers 6A and 6B.
  • the signal information of the second controller 6B is transmitted to the information processing device 2 at each control cycle (for example, 1.0 to 2.5 minutes) of remote control.
  • FIG. 3 is an explanatory diagram showing an example of road links LN1 and LN2 in which pulsation can occur.
  • Pulsations are periodic traffic disturbances that can occur when the cycle lengths are different at intersections upstream and downstream of a road link. Pulsation causes increased delays and stops in vehicle traffic.
  • the presence or absence of pulsation in road links is useful for determining whether or not to combine sub-areas as in Patent Document 1, and is useful for route guidance and delivery planning by navigation systems, such as avoiding routes where pulsation has occurred. But it's important information.
  • first link a road link (hereinafter referred to as "first link”) LN1 from intersection A to intersection B and a road link (hereinafter referred to as “second link”) LN2 from intersection B to intersection A are provided. and let the cycle lengths of the intersections A and B be C1 and C2 (>C1).
  • FIG. 4 is a time chart showing the reason why pulsation occurs in the first link LN1.
  • white time slots in 10-second units
  • hatched time slots in 10-second units
  • red hours at intersection A.
  • FIG. 4 when the cycle length C1 of the intersection A on the upstream side is smaller than the cycle length C2 of the intersection B on the downstream side (C1 ⁇ C2), the upstream intersection A Traffic volume for one cycle or more (traffic volume for 50 seconds or more for blue) flows in.
  • the inflow traffic volume to intersection B changes in the order of 70 seconds of green ⁇ 70 seconds of green ⁇ 60 seconds of blue ⁇ 50 seconds of blue ⁇ 50 seconds of green for each cycle length C2 of intersection B. do.
  • the inflow traffic volume that can be processed at intersection B is ⁇ green for 60 seconds'', undivided traffic will occur at intersection B in the first two cycles, and the undivided traffic will be eliminated after the third cycle. . This is the reason why pulsation occurs in the first link LN1.
  • FIG. 5 is a time chart showing the reason why pulsation occurs in the second link LN2.
  • white time slots in 10-second units
  • hatched time slots in 10-second units
  • red hours at intersection B.
  • the upstream intersection B when the cycle length C2 of the upstream intersection B is greater than the cycle length C1 of the downstream intersection A (C2>C1), the upstream intersection B The traffic volume for one cycle or less (traffic volume for blue 60 seconds or less) flows in.
  • the inflow traffic volume to intersection A is as follows: 60 seconds of blue ⁇ 60 seconds of blue ⁇ 60 seconds of blue ⁇ 40 seconds of blue ⁇ 40 seconds of blue ⁇ 40 seconds of blue ⁇ 40 seconds of blue ⁇ 40 seconds of blue for each cycle length C1 of intersection A. It changes in the order of seconds and minutes.
  • the green time at intersection A is considered to be less than the green time at intersection B because C2>C1. Therefore, at the intersection A on the downstream side, unsorted vehicles occur in the first three cycles, and the unsorted vehicles can be eliminated after the fourth cycle. This is the reason why the pulsation occurs in the second link LN2.
  • the delay time dav per vehicle due to signal waiting which is a kind of the above-mentioned delay index
  • the presence or absence of pulsation is determined based on dav.
  • determination of the presence or absence of pulsation in this embodiment includes the following procedures 1 to 3.
  • Procedure 1 Calculate the average travel time Ttt of the signal waiting section from the probe information (equation (1))
  • Procedure 2 Calculate the delay time dav per vehicle from the average travel time Ttt (equation (2))
  • Procedure 3 Determining the presence or absence of pulsation from the periodicity of the delay time dav peak (Fig. 12)
  • the travel time calculated from the probe information is not the average travel time Tt of the link between the intersections, but the average travel time Ttt of the signal waiting section at the intersection on the downstream side of the determination target. use. Therefore, the problems in using the average travel time Tt of the link and the advantages in using the average travel time Ttt of the signal waiting section period will be described below.
  • FIG. 6 is a graph showing an example of the travel trajectory when a plurality of vehicles pass through the road link from the intersection J1 to the intersection J2.
  • the horizontal axis of the graph is the distance from the intersection J1
  • the vertical axis is the travel time. Also, the meanings of the variables included in FIG. 6 are as follows.
  • the delay time dav per vehicle due to waiting at the signal is the total delay time (area of triangle) of all vehicles passing through intersection J2 after waiting at the signal. is divided by the number of vehicles. It can be considered that the average travel time Tt of the plurality of probe vehicles 3 includes the above delay time dav per vehicle.
  • the delay time dav based on the average travel time Tt of the link calculated by the formula (0) has the following problems.
  • FIG. 7 is an explanatory diagram showing an example of a stop event that affects the accuracy of the delay time dav based on the average travel time Tt of the link.
  • stop events that can occur when the probe vehicle 3 travels through the link from the intersection J1 to the intersection J2 include the following events E1 and E2, in addition to waiting for a signal at the intersection J2. Conceivable.
  • Event E2 Stopping due to being a vehicle following another vehicle 3Y entering and exiting the parking lot
  • the average travel time Tt of the link between the intersections J1 and J2 is used as the travel time obtained from the probe information. Therefore, when the above events E1 and E2 have occurred in the probe vehicle 3, the stop time of the events E1 and E2 is included in the average travel time Tt, and the delay time dav based on the formula (0) is actually may be larger than In this case, determination of the presence or absence of pulsation based on the delay time dav becomes inaccurate.
  • the average travel time Ttt of the signal waiting section does not include the stop time of events E1 and E2 other than signal waiting, or the possibility of including it is extremely small. Therefore, if the above calculation method is adopted, the delay time dav per vehicle due to signal waiting on the inflow road flowing into intersection J2 can be calculated regardless of the presence or absence of stop events other than signal waiting such as events E1 and E2. can be calculated accurately.
  • FIG. 8 is an explanatory diagram showing an example of definitions of variables used for calculating the average travel time Ttt of the signal waiting section.
  • Section i is composed of a plurality of small sections when the link between intersections J1 and J2 is divided by a predetermined division number N.
  • the length of section i (hereinafter also referred to as “section length”) Li is a calculated value or set value that is determined to be sufficiently shorter than the link length L between intersections J1 and J2. .
  • the processing unit 11 of the information processing device 2 may execute the following processes b1 and b2 as pre-processing for the calculation process of the delay time dav (see FIG. 9).
  • the length (section length) Li of each of the plurality of sections i is a value smaller than the installation interval (for example, 200 m) of the vehicle detectors actually installed on the road to measure the vehicle speed. is preferably set to In this way, the granularity of measurement of the average speed of the vehicle becomes finer than when the vehicle sensor measures the average speed of the vehicle. Therefore, the signal waiting section determined according to the total number of sections I can be calculated more finely, and the calculation accuracy of the delay time dav can be improved.
  • the average speed of the probe vehicle 3 in the section i (hereinafter also referred to as "section speed") Vi is the average speed of the probe vehicle 3 calculated from the positions and times of a plurality of pieces of probe information. A method of calculating the average speed Vi for each section i will be described later.
  • FIG. 9 is a flowchart showing an example of processing for calculating the delay time dav per vehicle due to signal waiting, which is executed by the processing unit 11 of the information processing device 2 .
  • the calculation process of FIG. 9 is executed every predetermined control cycle CL (for example, 1.0 to 2.5 minutes).
  • the processing unit 11 first collects data necessary for calculating the delay time dav, and collects the data of the plurality of probe vehicles 3 that have passed through the link between the intersections J1 and J2 in the current control cycle CL. Extract probe information (step ST10). Specifically, the processing unit 11 extracts probe information whose position corresponds to the link and whose time is included in the current control cycle CL by map matching with the probe information included in the probe database 22 .
  • the processing unit 11 calculates the total number of sections I within the signal waiting section on the inflow road toward the intersection J2 to be controlled (step ST12).
  • the section total number I corresponds to the identification number of the section i located at the most upstream of the signal waiting section on the inflow road toward the intersection J2 to be controlled. The details of the process of calculating the total number of sections I (see FIG. 10) will be described later.
  • the third process in step ST13 and the fourth process in step ST14 are composed by substituting equation (1) for Ttt on the right side of equation (2). It may be executed by a formula.
  • FIG. 10 is a flowchart showing an example of a process of calculating the total number I of sections in the signal waiting section, which is executed by the processing unit 11 of the information processing device 2 .
  • "ML” is a variable representing a section length in which the section speed Vi exceeds the speed threshold TS.
  • TS is the speed threshold and
  • TL is the distance threshold.
  • the speed threshold TS is an estimated value of the average speed of the vehicle when the vehicle stops due to a traffic light before the intersection J2.
  • the speed threshold TS is a set value that is determined according to the section length Li, etc.
  • TS is assumed to be 25 km/hour.
  • the distance threshold TL is an estimated travel distance when a vehicle traveling at an average speed exceeding the speed threshold TS continues traveling between intersections J1 and J2 without stopping.
  • step ST24 determines whether or not i ⁇ N holds.
  • the processing section 11 terminates the processing.
  • the processing section 11 returns the process to before step ST21.
  • the section i that satisfies the speed condition that the section speed Vi is equal to or less than the speed threshold value TS is searched in order from the downstream side of the inflow road, and the section that satisfies the speed condition is included in the signal waiting section.
  • a search operation counting as i is performed.
  • step ST21 When the determination result of step ST21 is negative (when the segment speed Vi of the segment i being determined exceeds the speed threshold TS), the processing unit 11 sets the segment length Li of the segment i being determined to the variable ML. After that (step ST25), it is determined whether or not ML ⁇ TL holds (step ST26).
  • step ST26 When the determination result of step ST26 is negative (when the variable ML is less than the distance threshold TL), the processing section 11 resets the variable ML to 0 on condition that Vi+1 ⁇ TS is established (step ST27 ), the process is returned to before step ST23.
  • "i+1" of the section speed Vi+1 is a subscript of the speed V. Therefore, when Vi+1>TS, the value of variable ML is maintained without being reset, and the process returns to before step ST23.
  • step ST26 the processing unit 11 sets the number value of the last section i that satisfies Vi ⁇ TS to the total number of sections I is determined (step ST28), and the process is terminated.
  • FIG. 11 is an explanatory diagram showing an example of actual calculation of the total number I of sections.
  • numerical values of "u1" to "u5" are actually measured values of section speeds Vi obtained from probe information of a plurality of probe vehicles 3, and are assumed to be the following numerical values. It is also assumed that the link division number N is 15, the section length Li of each section i is 50 m, TS is 25 km/h, and TL is 100 m.
  • u1 Value of 10km/h or less
  • u2 Value of 15km/h or less
  • u3 Value of 20km/h or less
  • u4 Value of 25km/h or less
  • u5 Value of over 25km/h
  • section speeds V1 and V2 are equal to or less than the speed threshold TS
  • FIG. 12 is a flow chart showing an example of a pulsation determination process executed with the delay time dav as a monitoring target.
  • the processing unit 11 of the information processing device 2 first collects calculation results of the delay time dav due to signal waiting included in a predetermined period (step ST30).
  • the predetermined period is set to a period sufficiently longer (for example, one hour or longer) than the pulsation generation cycle (the least common multiple of cycles C1 and C2 of intersections A and B in FIG. 3).
  • the processing unit 11 arranges the calculation results of the delay times dav in order of the control cycle CL to generate time-series data of the delay times dav (step ST31). A specific example of the time-series data of the delay time dav will be described later.
  • the processing unit 11 determines whether or not the generated time-series data of the delay time dav has a periodic appearance of the peak of the delay time dav (step ST32). A specific example of this determination method will also be described later.
  • step ST32 determines that pulsation has occurred in the road link to be determined (step ST33).
  • step ST34 determines that pulsation has not occurred for the road link to be determined
  • FIG. 13 is a graph showing an example of time-series data of delay time dav.
  • FIG. 13 exemplifies time-series data when the predetermined period is 5 hours from 5:00 AM to 10:00 AM.
  • a time threshold TH1 in FIG. 13 is preset in the storage unit 12 .
  • the processing unit 11 of the information processing device 2 determines whether or not the peak of the delay time dav periodically occurs (step ST32 in FIG. 12) based on the time-series data of the delay time dav shown in FIG. 13, for example. Execute.
  • the processing unit 11 first identifies a period P1 in which the delay time dav is equal to or greater than a predetermined time threshold TH1, and time corresponding to a plurality of peaks of the delay time dav included in the period P1 (hereinafter referred to as “corresponding time”).
  • the period P1 includes six peaks, and the corresponding times of each peak are the following times t1 to t6. Therefore, in this case, the processing unit 11 extracts the six times t1 to t6 as corresponding times.
  • Time t1 7:00 AM
  • Time t2 7:10 AM
  • Time t3 7:20 AM
  • Time t4 7:30 AM
  • Time t5 7:40 AM
  • Time t6 7:50 AM
  • the processing unit 11 calculates the time difference between adjacent corresponding times (for example, t1 and t2) among the extracted corresponding times t1 to t6, and calculates the change rate of the time difference.
  • the processing unit 11 determines the presence or absence of peak periodicity based on the calculated rate of change of the time differences ⁇ t21 to ⁇ t65. Specifically, the processing unit 11 determines that the peak is periodic when the rate of change of the time differences ⁇ t21 to ⁇ t65 is equal to or less than a predetermined value (for example, 10%), and determines that the peak is periodic when it exceeds the predetermined value. Determine that it is not periodic.
  • a predetermined value for example, 10%
  • the time threshold TH1 is set, for example, to a signal waiting time value for identifying whether the inflow path to be determined is in a saturated state or a non-saturated state. That is, the time threshold TH1 is the time value of the delay time at which the inflow channel can be estimated to be saturated when dav ⁇ TH1, and the inflow channel can be estimated to be non-saturated when dav ⁇ TH1. The reason for this is that when the delay time dav is less than the time threshold TH1, the vehicle is in a non-saturated state in which there is no residue at the end of the green time. This is because it cannot be said to be a pulsation that promotes delays and stops in traffic.
  • the time threshold TH1 may be set to (R/2) ⁇ , where R is the red time of the inflow path to be determined.
  • R is the red time of the inflow path to be determined.
  • ⁇ is an adjustment value that can be changed as necessary.
  • the delay time dav per vehicle due to signal waiting is used as the delay index used to determine the presence or absence of pulsation. may be adopted.
  • FIG. 14 is a flow chart showing another example of the pulsation presence/absence determination process executed with the queue length Qu as a monitoring target.
  • the processing unit 11 of the information processing device 2 first collects the calculation results of the queue length Qu due to signal waiting included in a predetermined period (step ST40).
  • the predetermined period is set to a period sufficiently longer (for example, one hour or longer) than the pulsation generation cycle (the least common multiple of cycles C1 and C2 of intersections A and B in FIG. 3).
  • the processing unit 11 arranges the calculation results of the queue length Qu in order of the control period CL to generate time-series data of the queue length Qu (step ST41).
  • a specific example of the time-series data of the queue length Qu will be described later.
  • the processing unit 11 determines whether or not the generated time-series data of the queue length Qu includes a periodic peak of the queue length Qu (step ST42). The details of this determination method will also be described later.
  • step ST42 determines that pulsation has occurred for the road link to be determined (step ST43).
  • step ST42 determines that pulsation has not occurred for the road link to be determined (step ST44).
  • FIG. 15 is a graph showing an example of time-series data of the queue length Qu.
  • FIG. 15 illustrates time-series data when the predetermined period is 5 hours from 5:00 AM to 10:00 AM.
  • a distance threshold TH2 in FIG. 15 is preset in the storage unit 12 .
  • the processing unit 11 of the information processing device 2 determines whether or not the peak of the queue length Qu periodically occurs based on the time-series data of the queue length Qu shown in FIG. 15 (step ST42 in FIG. 14). ).
  • the processing unit 11 first identifies a period P2 in which the queue length Qu is equal to or greater than a predetermined threshold TH2, and times corresponding to a plurality of peaks of the queue length Qu included in the period P2 (hereinafter , called “corresponding time”).
  • corresponding time times corresponding to a plurality of peaks of the queue length Qu included in the period P2
  • six peaks are included in the period P2
  • corresponding times of the respective peaks are the following times u1 to u6. Therefore, in this case, the processing unit 11 extracts the six times u1 to u6 as corresponding times.
  • the processing unit 11 calculates the time difference between adjacent corresponding times (for example, u1 and u2) among the extracted corresponding times u1 to u6, and calculates the change rate of the time difference.
  • the processing unit 11 determines the presence or absence of peak periodicity based on the calculated rate of change of the time differences ⁇ u21 to ⁇ u65. Specifically, the processing unit 11 determines that the peak is periodic when the rate of change of the time differences ⁇ u21 to ⁇ u65 is equal to or less than a predetermined value (for example, 10%), and determines that the peak is periodic when it exceeds the predetermined value. Determine that it is not periodic.
  • a predetermined value for example, 10%
  • the distance threshold TH2 is set, for example, to a signal-waiting distance value for identifying whether the inflow path to be determined is in a saturated state or a non-saturated state. That is, the distance threshold TH2 is a distance value of the queue length at which the inflow channel can be estimated to be saturated when Qu ⁇ TH2, and the inflow channel can be estimated to be non-saturated when Qu ⁇ TH2. The reason for this is that when the queue length Qu is less than the distance threshold TH2, it is in a non-saturated state in which there is no unloading at the end of the green time. This is because it cannot be said to be a pulsation that promotes delays and stoppages of vehicle traffic.
  • the distance threshold TH2 may be set to, for example, a queue length (hereinafter referred to as "maximum queue length") corresponding to the maximum number of vehicles that can be handled in one green time on the target inflow road.
  • the time threshold TH2 may be a fixed value (for example, 250 m), or may be set variably in the form of X% of the link length.
  • the central device 5 uses the probe information collected by its own device to determine the presence or absence of pulsation in the inflow road at the intersection. may be determined. That is, the process of determining the presence or absence of pulsation by the processing section 11 of the information processing device 2 may be executed by the processing section 51 of the central device 5 .
  • traffic signal control system information processing device 3 probe vehicle (vehicle) 3X bus 3Y other vehicle 4 in-vehicle device 5 central device (information processing device) 6 traffic signal controller 6A first controller 6B second controller 7 radio base station 8 public communication network 9 communication line 10 server computer 11 information processing section 12 storage section 13 communication section 14 computer program 21 map database 22 probe database 23 member Database 24 Signal information database 25 Road map data 31 Processing unit 32 Storage unit 33 Communication unit 34 Computer program 51 Processing unit 52 Storage unit 53 Communication unit 54 Computer program

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WO2026034400A1 (ja) * 2024-08-06 2026-02-12 住友電気工業株式会社 遅れ時間の算出装置、算出方法、及びコンピュータプログラム

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JP2000259985A (ja) * 1999-03-11 2000-09-22 Sumitomo Electric Ind Ltd 交通信号制御装置および交通信号制御方法
JP2015212863A (ja) * 2014-05-01 2015-11-26 住友電気工業株式会社 交通信号制御装置、交通信号制御方法、及びコンピュータプログラム

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2000259985A (ja) * 1999-03-11 2000-09-22 Sumitomo Electric Ind Ltd 交通信号制御装置および交通信号制御方法
JP2015212863A (ja) * 2014-05-01 2015-11-26 住友電気工業株式会社 交通信号制御装置、交通信号制御方法、及びコンピュータプログラム

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WO2026034400A1 (ja) * 2024-08-06 2026-02-12 住友電気工業株式会社 遅れ時間の算出装置、算出方法、及びコンピュータプログラム

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