Traffic signal control system

Abstract

To provide a traffic signal control system that can control signals so that a traffic signal suitable to a traveling status of one vehicle (e.g., a vehicle that has priority) is displayed.SOLUTION: A traffic signal control system 100 comprises: a reception unit RE that receives a request based on route information of a vehicle VE as a target vehicle; and a status selecting unit SS for selecting one status from a plurality of statuses relating to the display of a traffic signal in response to the request received by the reception unit RE, so that a signal control is performed so that the traffic signal suitable for the traveling status of the vehicle VE is displayed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a traffic signal control system that performs control related to the display of traffic signals.

Background Art

[0002] For example, there are known ones that perform guidance control so that an emergency vehicle can pass through in blue, and that avoid transmitting unnecessary driving information by determining whether the driving information is necessary in a signal control system, thereby reducing the congestion of the communication line (see Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Documents 1 and 2 above, for example, it is not possible to select a mode in which appropriate switching is made according to the driving situation of one vehicle from various display modes (statuses) related to traffic signals.

[0005] The present invention has been made in view of the above points, and an object thereof is to provide a traffic signal control system capable of performing signal control so that a traffic signal is displayed appropriately according to the driving situation of one vehicle (for example, a vehicle to be prioritized).

Means for Solving the Problems

[0006] A traffic signal control system for achieving the above object includes a reception unit that receives a request based on the route information of a target vehicle, and a status selection unit that selects one status from a plurality of statuses regarding the display of traffic signals in response to the request received by the reception unit.

[0007] In the above traffic signal control system, since it is possible to select, from among a plurality of statuses regarding the display of traffic signals, one that corresponds to the request based on the route information of the target vehicle, signal control can be performed so that an appropriate traffic signal display is made according to the driving situation of the target vehicle.

[0008] In a specific aspect of the present invention, the status selection unit selects a status according to the outflow direction of the target vehicle after passing through the target intersection. In this case, the target vehicle can flow out of the target intersection promptly.

[0009] In another aspect of the present invention, the status selection unit determines a priority signal and selects the corresponding status based on the inflow direction of the target vehicle into the target intersection in addition to the outflow direction of the target vehicle. In this case, it is possible to smoothly proceed from the inflow to the outflow of the target vehicle at the target intersection.

[0010] In still another aspect of the present invention, it includes a plurality of traffic signal control devices each having a status selection unit, and a central device having a reception unit that outputs the request received by the reception unit to the corresponding traffic signal control device among the plurality of traffic signal control devices. In this case, the central device can manage collectively the request reception for status selection in the plurality of traffic signal control devices.

[0011] In still another aspect of the present invention, the central device receives information regarding one status as a response from the traffic signal control device that output the request received by the reception unit, and returns it to the requester. In this case, information regarding the status can be accurately returned via the central device.

[0012] In yet another aspect of the present invention, a request determination unit is provided for determining whether to make a request based on route information. When the target vehicle reaches a predetermined position on the near side of the intersection reference position, the request determination unit outputs a request based on the route information. When the target vehicle reaches a predetermined position beyond the intersection reference position, the request determination unit outputs a cancellation request for canceling the request based on the route information. In this case, it is possible to handle the request based on the route information and its cancellation at appropriate timings.

[0013] In yet another aspect of the present invention, the request determination unit determines the start timing of the request based on the route information according to the position and speed of the target vehicle. In this case, it is possible to set the timing according to the driving situation of the target vehicle.

[0014] In yet another aspect of the present invention, an operation management system for performing operation management of a target vehicle that performs automatic driving is provided, and a reception unit receives a request based on the route information output from the operation management system. In this case, as part of the operation management of the target vehicle by the operation management system, it is possible to manage the request based on the route information of the target vehicle.

[0015] In yet another aspect of the present invention, the operation management system makes a request based on the route information according to the information on the position and speed of the target vehicle transmitted from the target vehicle, and determines whether the target vehicle can continue to proceed based on the response to the request based on the route information. In this case, it is possible to perform operation management regarding whether the target vehicle can continue to proceed in consideration of the response to the request based on the route information.

[0016] In yet another aspect of the present invention, the operation management system receives the response to the request based on the route information and transmits the reception result to the target vehicle. In this case, it is possible to perform driving based on the response content received by the target vehicle.

Brief Description of the Drawings

[0017]

Figure 1

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Mode for Carrying Out the Invention

[0018] [First Embodiment] Hereinafter, with reference to FIG. 1 and the like, an example of the traffic signal control system of the present embodiment will be described. FIG. 1 is an overview diagram showing an example of the configuration of the traffic signal control system 100 of the present embodiment. Further, FIG. 2 is a block diagram for explaining a more specific configuration example of the traffic signal control system 100.

[0019] First, as shown in FIG. 1, the traffic signal control system 100 of the present embodiment is composed of a vehicle management side system 110 responsible for managing vehicle operations and a traffic signal side system 120 responsible for traffic signal control. Among these, when information about a target vehicle that is the subject of operation management in the vehicle management side system 110 is provided to the traffic signal side system 120, traffic signal control taking into account the provided vehicle-related information is performed in the traffic signal side system 120.

[0020] In an example shown in the figure, the vehicle management side system 110 targets autonomous-driving capable vehicles for operation management. For this reason, the vehicle VE that should be the target vehicle here is equipped with an in-vehicle device 10 to enable autonomous driving. The vehicle management side system 110 is composed of the in-vehicle device 10 provided in each vehicle VE and an operation management system 30 that communicates with the in-vehicle device 10 to oversee operation management. In particular, in an example shown in the present embodiment, the operation management system 30 grasps these driving situations and performs operation control to manage the destinations and the like of each vehicle VE. Put another way, each in-vehicle device 10 is under the jurisdiction of the operation management system 30, performs autonomous driving according to instructions from the operation management system 30, and sequentially transmits various information such as its own operation status, that is, its own position and driving speed, to the operation management system 30. As described above, the operation management system 30 can, for example, grasp the planned driving route of each vehicle VE and predict the arrival time at points such as intersections on the planned route.

[0021] In particular, in the present embodiment, in order to enable each vehicle VE under the jurisdiction of the operation management system 30 to travel more smoothly to the destination, route information, which is information regarding the planned travel route of the vehicle VE, is provided from the vehicle management side system 110 to the traffic signal side system 120. When the traffic signal side system 120 receives such information, it makes adjustments regarding the display of traffic signals accordingly. More specifically, a plurality of statuses (display step diagrams) regarding the display of traffic signals are prepared in advance in the traffic signal side system 120. When there is a request for preferential passage of the target vehicle from the operation management side as described above, that is, when there is a request for the route information, a status suitable for the request is selected, and if necessary, a priority passage process (priority control) of switching the status regarding the display of traffic signals is performed.

[0022] The traffic signal side system 120 includes a central device 50 that comprehensively manages signal control and a signal controller 70 that is a traffic signal controller that performs signal control for the traffic signals installed at intersections. In addition to normal signal control, it is made possible to handle requests preferentially in response to requests from the vehicle management side as described above. The signal controller 70 is composed of a signal control unit 80 that performs various information processes to perform signal control and a signal lamp device 90 that operates according to the instructions of the signal control unit 80. When the central device 50 receives a request from the operation management side, it outputs the received request to the signal controller 70 arranged at the corresponding intersection.

[0023] In order to enable priority control by switching the status as described above, as shown in the figure, first, in the vehicle management side system 110, the operation management system 30 communicates with the in-vehicle device 10 provided in the vehicle VE to grasp the operation status of each vehicle VE that is the target vehicle, and determines whether to issue a request based on the route information for one vehicle VE to the signal control side. It is equipped with a request determination unit RJ. On the other hand, in the traffic signal side system 120, it is equipped with a reception unit RE that receives the above request based on the route information from the operation management side, and when there is such a request, it is equipped with a status selection unit SS that selects one status from a plurality of statuses regarding the display of the traffic signal accordingly. In an example shown in the figure, the reception unit RE is provided in the central device 50, and the status selection unit SS is provided in the signal control unit 80 of the signal controller 70. Based on the request received by the reception unit RE, a command regarding the selection is issued from the central device 50 to the signal controller 70, and the selection and switching of the content displayed by the signal lamp device 90 in the signal controller 70 are to be executed.

[0024] Hereinafter, with reference to the block diagram of the traffic signal control system 100 shown as Figure 2, an example will be described regarding the above-described operation in a more specific aspect of the traffic signal control system 100.

[0025] In an example shown in FIG. 2, among the traffic signal control system 100, for the operation management system 30 that constitutes the vehicle management side system 110, there are a plurality of operation management systems 30A, 30B, 30C,..., and there are a plurality of vehicles VE, VE,... under the jurisdiction of each, that is, in-vehicle devices 10, 10,..., and it is assumed that they are each communicating. Each operation management system 30A,... outputs requests regarding the vehicles VE,... under its jurisdiction to the traffic signal side system 120 (central device 50). On the other hand, among the components that make up the traffic signal side system 120, for the signal controllers 70, there are a plurality of signal controllers 70A, 70B, 70C,..., and in one central device 50, centralized management is performed. In other words, the central device 50 performs signal control collectively for the signal lights 90,... that are displayed by the plurality of signal controllers 70A,... under its jurisdiction.

[0026] The central device 50 should perform preferential handling (priority control) for the vehicles VE that are scheduled to reach the locations (target intersections) under the jurisdiction of each signal controller 70A,... first in time among the requests received from each operation management system 30A,... In order to do so, various commands are transmitted to the corresponding signal controllers 70A,....

[0027] Hereinafter, the detailed configuration of each part will be described. First, among the vehicle management side system 110, the in-vehicle device 10 provided in the vehicle VE includes a vehicle control unit 11, a communication unit 12, a GNSS 13, a map / route management unit 14, and a sensor 15. While making judgments based on the above-mentioned components that make up the in-vehicle device 10, the vehicle VE can perform autonomous driving by operating the operation system DR composed of an accelerator, a steering wheel, etc.

[0028] Among the vehicle-mounted device 10, the vehicle control unit 11 is composed of, for example, a CPU and various circuit elements, etc. To enable the autonomous driving of the vehicle VE described above, it is connected to each part constituting the vehicle-mounted device 10, outputs commands to each part, and receives information from each part such as the information on the surrounding situation of the vehicle VE detected by the sensor 15, and performs overall control of the vehicle operation. Further, the vehicle control unit 11 performs various judgment processes related to driving based on the processed information, and based on the judgment results, outputs various commands for driving to the operation system DR.

[0029] The communication unit 12 is an interface for information communication with the operation management system 30, receives commands (especially commands regarding the permission of progress) from the operation management system 30, and outputs them to the vehicle control unit 11. Further, the communication unit 12 transmits (outputs) the position information and speed information of the vehicle VE, in addition to the vehicle ID of the vehicle VE, to the operation management system 30 as information from the vehicle control unit 11.

[0030] The GNSS 13 is a device for acquiring the position information of the vehicle VE, that is, a self-position detection device. That is, the vehicle control unit 11 grasps (detects) the self-position of the vehicle VE by using the GNSS 13.

[0031] The map / route management unit 14 is composed of various storages, etc., and stores map data and data regarding the route / destination of the vehicle VE. That is, route information, which is the planned travel route of the vehicle VE itself, is stored in the map / route management unit 14.

[0032] The sensor 15 is provided to monitor the periphery of the vehicle VE, and has, for example, sensors for detecting obstacles existing around the vehicle VE, etc., and detects dangers in the surroundings. In addition, the sensor 15 includes a speed sensor, an acceleration sensor, a gyro sensor, etc., and by using these, it is possible to acquire, for example, the speed information of the vehicle VE. That is, the vehicle control unit 11 grasps (detects) the speed of the vehicle VE by using the sensor 15.

[0033] On one hand, among the vehicle management side systems 110, the operation management system 30 (30A, 30B, …) includes, in addition to the aforementioned request determination unit RJ, an operation management control unit 31, a communication unit 32, a vehicle management database 33, and a map / route database 34. The operation management system 30 transmits requests based on the route information, location, and speed information of the vehicles VE under its jurisdiction to the reception unit RE, which is the interface of the central device, for the purpose of performing operation management of the vehicles VE under its jurisdiction. Based on the response from the signal control side to the request based on the route information, it determines whether the vehicle VE can continue to proceed.

[0034] The operation management control unit 31 is composed of, for example, a CPU and various circuit elements, etc. It is connected to each part constituting the operation management system 30 to enable the operation management of the vehicles VE under its jurisdiction as described above, performs various processes, and outputs to the outside according to the processing results via the communication unit 32.

[0035] The communication unit 32 is an interface for information communication with the in-vehicle device 10 and the central device 50. It receives information related to the driving status such as the vehicle ID, location information, and speed information of the vehicle VE from the in-vehicle device 10 mounted on the vehicle VE under its jurisdiction, while transmitting (outputting) various information related to driving represented by information regarding the permission to proceed to the in-vehicle device 10, that is, the vehicle VE. In addition, the communication unit 32 transmits (outputs) requests based on the route information of the vehicle VE under its jurisdiction and the cancellation of such requests to the central device 50, and receives traffic signal information as a response to the request based on the route information from the central device 50.

[0036] The vehicle management database 33 is composed of a storage device, etc., and stores various information related to operation management such as the operation status of each vehicle VE under its jurisdiction.

[0037] The map / route database 34 is composed of various storage devices and stores map data and data related to the routes and destinations of the vehicle VEs under its jurisdiction. For example, the map / route database 34 includes the route information stored in the map / route management unit 14 of the vehicle VEs under its jurisdiction. Furthermore, the map / route database 34 includes information on intersections on the routes that the vehicle VEs under its jurisdiction can travel on. For example, regarding the intersection that the vehicle VE is about to enter, it includes information on the position where the request signal transmission should start on the upstream side and the position where the cancellation signal of the request should be transmitted on the downstream side. For this, an example will be described later with reference to FIG. 3.

[0038] The request determination unit RJ is composed of, for example, a CPU, various circuit elements, etc. As described above, based on the position information of the vehicle VE via the communication unit 32, it determines whether to make a request to the signal control side, that is, the central device 50, based on the route information of the vehicle VE under its jurisdiction. That is, the request determination unit RJ determines the start timing of the request based on the route information according to the existence position and speed of the vehicle VE.

[0039] Next, among the traffic signal side systems 120, the central device 50 includes a central control unit 51, a communication unit 52 that functions as the aforementioned reception unit RE, a management database 53, a map database 54, a display unit 55, a time synchronization unit 56, and an intersection status selection command unit SC.

[0040] The central control unit 51 is composed of, for example, a CPU and various circuit elements, etc. In order to comprehensively manage the above-described signal control, it is connected to each part constituting the central device 50, performs various processes, and outputs to the outside according to the processing results via the communication unit 52. Here, as described above, the central device 50 receives a request from the operation management side at the reception unit RE as the communication unit 52 and performs processing according to the received content. For example, in order to specify among a plurality of signal controllers 70A, 70B, 70C,... and cause the intersection status selection command unit SC to perform a process for extracting information about the status (display ladder diagram) to be selected, various information necessary for the process is extracted and output to the intersection status selection command unit SC.

[0041] The intersection status selection command unit SC is composed of, for example, a CPU and various circuit elements, etc., and determines the content of the selection command regarding the above-described status (display ladder diagram). That is, the intersection status selection command unit SC specifies the signal controller 70 to be transmitted based on the information from the operation management system 30 and the signal controller 70 (a plurality of signal controllers 70A, 70B, 70C,...) received by the communication unit 52 and processed by the central control unit 51, and sets a command signal indicating at what timing and which status (display ladder diagram) should be selected for the specified signal controller 70.

[0042] As described above, the communication unit 52 is an interface for information communication with the operation management system 30 and the signal controllers 70 (multiple signal controllers 70A, 70B, 70C,...). For information from the operation management system 30, it functions as the reception unit RE as described above. Also, as information from the signal controller 70, the communication unit 52 receives information regarding the operation status of the traffic signal. Specifically, signal control parameters, the current signal display, and the elapsed time are output from the signal controller 70, and these pieces of information are received. These pieces of information are used in the process of selecting the status (current ladder diagram) in the intersection status selection command unit SC. Furthermore, the communication unit 52 transmits (outputs) an instruction signal determined by information processing in the central control unit 51 and the intersection status selection command unit SC to the outside. For example, for the signal controller 70, a request (status selection command) as the processing result (selection result) in the intersection status selection command unit SC is transmitted (output) to the corresponding signal controller 70 (any one of the multiple signal controllers 70A, 70B, 70C,...). On the other hand, the communication unit 52 outputs various information (traffic signal information) regarding the signal controller 70 to the operation management system 30.

[0043] The management database 53 is composed of various storages, etc. For example, it collectively manages information from the outside, such as the current status of the multiple signal controllers 70A, 70B, 70C,... under its jurisdiction and various information transmitted from the operation management system 30 (multiple operation management systems 30A, 30B,...).

[0044] The map database 54 is composed of various storages, etc. For example, it stores map data regarding the multiple signal controllers 70A, 70B, 70C,... under its jurisdiction and their surroundings. The map database 54 includes, for example, information regarding the signal controllers 70A, 70B, 70C,... such as the positions where the request signal transmission should start upstream of the intersections where the signal controllers 70A, 70B, 70C,... are installed and the positions where the cancellation signal of the request should be transmitted downstream.

[0045] The display unit 55 is an output device composed of various displays and the like, and for example, it enables various situations to be confirmed visually by an administrator or the like in charge of management at the installation location of the central unit 50.

[0046] The time synchronization unit 56 is a device for performing time synchronization with the operation management system 30 and a plurality of signal controllers 70A, 70B, 70C,.... At this time, for example, by taking into account the time lag associated with various processes, it is possible to adjust the timing based on, for example, the movement amount of the vehicle VE associated with the time lag.

[0047] On the other hand, among the traffic signal side systems 120, the signal controllers 70 (70A, 70B,...) constitute the signal control unit 80 and include a signal control unit 71 which is the main body part, a communication unit 72, a status database 73, and a signal control parameter unit 74, and control the display operation of the above-described signal lights 90 by the signal control unit 80.

[0048] First, among the signal control unit 80, the signal control unit 71 is composed of, for example, a CPU and various circuit elements, etc., and performs signal control of the above-described signal lights 90. In particular, in this embodiment, as part of the signal control of the signal lights 90, as described above, a plurality of statuses (display ladder diagrams) indicating the content of the signal control are prepared, and the signal control unit 71 functions as a status selection unit SS that selects one status from among them. Specifically, the signal control unit 71 selects one status from a plurality of statuses related to the display of traffic signals in response to a request (status selection command) from the central unit 50 via the communication unit 72.

[0049] The communication unit 72 is an interface for performing information communication with the central unit 50. As described above, it transmits (outputs) information regarding the operation status of the signal machine (signal lights 90) to the central unit 50, and on the other hand, receives a request (status selection command) as a processing result (selection result) in the central unit 50.

[0050] The status database 73 is composed of various storage devices and the like, and stores data regarding the display patterns of a plurality of statuses (display ladder diagrams) indicating the content of signal control for the signal lamp device 90.

[0051] The signal control parameter section 74 is composed of various storage devices and the like, and stores information regarding cycle length, green time split, and offset as parameters for the above-mentioned plurality of statuses (display ladder diagrams) used for the control of the signal lamp device 90.

[0052] Hereinafter, an example will be described of an outline of a series of operations for the preferential passage of a vehicle VE as a target vehicle by the traffic signal control system 100 having the above configuration.

[0053] From the vehicle-mounted device 10 mounted on each vehicle VE, vehicle ID, position information, and speed information are sequentially transmitted to the jurisdiction operation management system 30 (30A, 30B,...). Based on this information, the operation management system 30 determines in the request determination unit RJ whether a request or request cancellation based on the route information should be made to the central device 50. When the central device 50 receives the transmission of information regarding the above request or request cancellation from the operation management system 30, in the intersection status selection command unit SC, it identifies the corresponding signal controller 70 and sets a command signal indicating which status to select in consideration of the operation status of the signal controller 70, and outputs the command. The signal controller 70 that has received the command from the central device 50 performs a status selection process or switching process according to the command, and returns information regarding one status as the selected result as a response to the command from the central device 50. The central device 50 that has received the response returns the information regarding the status received from the signal controller 70 to the operation management system 30 that has jurisdiction over the corresponding vehicle, that is, to the requester. The operation management system 30 that has received the response determines accordingly whether the corresponding vehicle VE can proceed, and transmits the determined result to the vehicle VE.

[0054] Next, with reference to FIG. 3 and the like, an example of signal control at the target intersection where the signal controller 70 is installed will be described.

[0055] FIG. 3(A) is a conceptual plan view showing a T-junction TJ including a target intersection CC as an example. Further, FIG. 3(B) is a conceptual plan view showing the reference positions on the T-junction TJ for determining whether to transmit a request based on the route information of the vehicle VE which is the target vehicle and the cancellation of the request.

[0056] In the following, for the sake of simplicity of explanation, the target intersection CC formed at the T-junction TJ will be described as an example. However, the target intersection CC is not limited to those on the T-junction, and various locations such as intersections, three-way intersections, and five-way intersections can be the targets.

[0057] In FIGS. 3(A) and 3(B), among the three roads forming the T-junction TJ, the road heading from above to the target intersection CC is defined as road 1, the road heading from the left is defined as road 2, and the road heading from the right is defined as road 3. As shown in FIG. 3(A), traffic signal devices 90 corresponding to each of roads 1 to 3 are installed at the T-junction TJ, and by connecting these to the signal control unit 80, the signal controller 70 is configured.

[0058] As shown in FIG. 3(B), in each of the roads 1 to 3, an inflow-side range AA, which is a criterion for determining whether to request priority control upstream of the target intersection CC, is defined as indicating a predetermined position on the upstream side of the intersection reference position CO, which is the center of the target intersection CC. An outflow-side range BB, which is a criterion for determining whether to cancel the request for priority control downstream of the target intersection CC, is defined as indicating a predetermined position after passing through the intersection reference position CO. That is, the inflow-side range AA, which indicates the position of the vehicle VE before entering the target intersection CC, shows a reference position for determining the start timing of priority control, such as the transmission and reception of requests based on the route information of the vehicle VE. On the other hand, the outflow-side range BB, which indicates the position of the vehicle VE after passing through the target intersection CC, shows a reference position for determining the end timing of priority control, such as the transmission and reception of request cancellation.

[0059] Furthermore, the inflow-side range AA is composed of a first area AA1 on the side far from the target intersection CC (relatively upstream) and a second area AA2 on the side close to the target intersection CC (relatively downstream). Note that the lengths of the inflow-side range AA, the outflow-side range BB, and the first and second areas AA1 and AA2 can be appropriately determined according to the speed limit of the corresponding road, the time required for status switching (the time required for switching from one display pattern to another described later), and the like.

[0060] For example, as shown in the figure, when the vehicle VE, which is the target vehicle, travels from the upstream side of Road 2 toward the target intersection CC and enters from outside the inflow-side range AA indicated by the dashed line into the inflow-side range AA indicated by the solid line, the operation management system 30, which has been capturing the movement state of the vehicle VE one by one from the communication with the in-vehicle device 10 mounted on the vehicle VE, determines in the request determination unit RJ whether to send a request based on the route information of the vehicle VE to the signal control side.

[0061] Regarding the criteria for determining the signal output of request transmission in the request determination unit RJ, various modes can be considered. In principle, it can be considered that a request is output when reaching the inflow side range AA, which is a predetermined position on the front side of the intersection reference position CO. At this time, for example, in the first area AA1 on the side far from the target intersection CC, it is determined whether to transmit a request according to the speed of the vehicle VE, and in the second area AA2 on the side close to the target intersection CC, a request is always output. Such a mode can be considered.

[0062] On the other hand, regarding the criteria for determining whether to perform signal output for request cancellation transmission in the request determination unit RJ, that is, outputting a cancellation request for canceling a request based on route information, for example, it can be considered that the vehicle VE, which is the target vehicle, reaches the outflow side range BB, which is a predetermined position after passing through the intersection reference position CO.

[0063] In an example here, the route information about the vehicle VE, that is, the planned driving route of the vehicle VE, is determined in advance under the jurisdiction of the operation management system 30. Therefore, in this embodiment, in particular, the selection of a plurality of statuses (display ladder diagrams) indicating the content of signal control is performed according to the outflow direction (planned outflow direction) of the vehicle VE. Here, this selection is also based on the inflow direction (planned inflow direction) of the vehicle VE to the target intersection CC in addition to the outflow direction of the vehicle VE, to determine the priority signal and select the corresponding status.

[0064] Hereinafter, with reference to FIG. 4 and the like, an example of a plurality of statuses (display ladder diagrams) and one mode of their selection will be described.

[0065] FIG. 4 is a diagram showing the possible travel directions and a display ladder diagram in each selectable status for the case of the T-shaped intersection TJ illustrated in FIG. 3. Here, as shown in the drawing, it is assumed that six types of display patterns from the special 0 status to the special 5 status are prepared, and as shown in FIG. 5, it is assumed that switching from any one of these display patterns to any other display pattern is possible. Among the six types, for example, the special 0 status is a display pattern in the default state (a state where there is no request based on the route information for the vehicle VE). When the signal on the road 1 side is blinking red, the signals on the road 2 and 3 sides are blinking yellow, and then all turn red, and this is repeated. On the other hand, the special 1 status and the special 2 status are display patterns of a control mode that gives priority to the road 1 side over others, the special 3 status is a display pattern of a control mode that gives priority to the road 2 side over others, the special 4 status is a display pattern of a control mode that gives priority to the road 3 side over others, and the special 5 status is a display pattern of a control mode that gives priority to the road 2 and 3 sides over the road 1 side.

[0066] Here, in the default state, as described above, it is assumed that the signal control by the signal control device 70, that is, the display operation of the traffic signal, is performed according to the display ladder diagram shown in the special 0 status. For example, when the vehicle VE is approaching the target intersection CC from the upstream side of the road 1 and priority control is to be performed for the vehicle VE in the default state, depending on the outflow direction of the vehicle VE, either the special 1 status or the special 2 status that gives priority to the road 1 side over others is selected. Specifically, when the planned travel route of the vehicle VE is to turn right at the target intersection CC, that is, when the outflow direction of the vehicle VE is the direction of the road 2, the special 1 status is selected. On the other hand, when the planned travel route of the vehicle VE is to turn left at the target intersection CC, that is, when the outflow direction of the vehicle VE is the direction of the road 3, the special 2 status is selected. That is, in the present embodiment, priority control is performed taking into account not only the inflow direction of the vehicle VE to be prioritized but also the outflow direction.

[0067] Note that the above embodiment is just an example and can be appropriately changed to various embodiments. For example, regarding the display pattern shown in the special 0 status indicating the default state, in the display ladder diagram in FIG. 4, it is a flash (a combination of red blinking and yellow blinking), but for the special 0 status, it is not limited to such a thing, and various other display patterns such as semi-sensitive ones can be freely adopted.

[0068] Hereinafter, with reference to the flowcharts shown in FIGS. 6 to 8, an example of the operations of each part constituting the traffic signal control system 100, namely, the in-vehicle device 10, the operation management system 30, the central device 50, and the signal controller 70, will be described.

[0069] First, as shown in FIG. 6(A), the in-vehicle device 10 communicates with the operation management system 30 along with the operation of the vehicle VE. In the vehicle control unit 11, for example, based on the GNSS 13 and the map / route management unit 14, it acquires its own position information (step S101), and at the same time, acquires various information such as the traveling speed by means of the sensor 15, etc. (step S102), and transmits the acquired information to the operation management system 30 via the communication unit 12 (step S103). The in-vehicle device 10 repeats the above operations to sequentially report the information of the vehicle VE to the operation management system 30.

[0070] On the contrary, as shown in FIG. 6(B), the operation management control unit 31 of the operation management system 30 continuously performs a reception confirmation (step S201) for the information transmitted from any of the automobiles under its jurisdiction, that is, the vehicle VE as the target vehicle. When the reception is confirmed (step S201: Yes), it performs a vehicle position acquisition process based on the received data (step S202), and further acquires the route data of the vehicle VE, that is, acquires the route information indicating the planned traveling route (step S203).

[0071] Next, the request determination unit RJ of the operation management system 30 determines whether the vehicle VE is at a position (request area) where a request based on the route information is to be made based on the information acquired in steps S202 and S203 (step S204). That is, the request determination unit RJ determines whether the vehicle VE is within the inflow side range AA shown in FIG. 3 and is in a state where a request should be made.

[0072] In step S204, if it is determined that the vehicle VE is within the request area (step S204: Yes), the operation management control unit 31 transmits a request based on the route information about the vehicle VE to the central device 50 (step S205), and ends the series of processes.

[0073] On the other hand, in step S204, if it is determined that the position of the vehicle VE is not within the request area (step S204: No), the request determination unit RJ further determines whether the position of the vehicle VE is at a position (request cancellation area) where a request cancellation based on the route information is to be made (step S206). That is, the request determination unit RJ determines whether the vehicle VE is within the outflow side range BB shown in FIG. 3 and is in a state where a request cancellation should be made.

[0074] In step S206, if it is determined that the vehicle VE is within the request cancellation area (step S206: Yes), the operation management control unit 31 transmits a request cancellation based on the route information about the vehicle VE to the central device 50 (step S207), and ends the series of processes.

[0075] On the other hand, in step S206, if it is determined that the vehicle VE is not within the request cancellation area (step S206: No), that is, if the vehicle VE is not within either the inflow side range AA or the outflow side range BB, the operation management control unit 31 ends the series of processes without performing any special processing.

[0076] After step S205, step S207, or in step S206, if it is determined that the vehicle VE is not within the request cancellation area (step S206: No), the operation management control unit 31 returns to the initial process, that is, repeats the operations from step S201.

[0077] On the other hand, for the central device 50, as shown in FIG. 7, while the central control unit 51 sequentially receives the signal operation information from the signal controller 70 via the communication unit 52 (step S301), in order to detect whether there is a transmission of a request or a request cancellation based on the route information from the operation management system 30, a reception confirmation (step S302) is continuously performed. When the reception of the request or the request cancellation is confirmed (step S302: Yes), the signal controller 70 corresponding to the received content, that is, the signal controller 70, is specified (step S303). For this specification, for example, it is considered that a traffic intersection number (a number for identifying the target intersection CC where the signal controller 70 is installed) for enabling signal controller identification is attached to the information of the request or the request cancellation.

[0078] Next, the intersection status selection command unit SC performs processing regarding status selection in the signal controller 70 specified in step S303 (step S304). That is, the intersection status selection command unit SC sets a command signal indicating at what timing and which status (display ladder diagram) is to be selected for the signal controller 70.

[0079] Furthermore, the intersection status selection command unit SC outputs a command regarding the set status according to whether the received content in step S302 is a request or a request cancellation (step S305). That is, in the case of a request, a status command is transmitted to the signal controller 70 (step S306), and in the case of a request cancellation, a status cancellation command is transmitted to the signal controller 70 (step S307). After the processing of step S306 or step S307, the central control unit 51 returns to the initial process, that is, repeats the operations from step S301.

[0080] Finally, for the signal controller 70, as shown in FIG. 8, first, in the signal control unit 71, it is confirmed whether the command from the central device 50 has been received (step S401). If a reception is detected (step S401: Yes), it is then confirmed whether the received content is a request or a request cancellation (step S402).

[0081] If the received content in step S402 is a request, the signal control unit 71, as the status selection unit SS, checks whether the currently selected status matches the request as the command from step S402 (step S403). For example, in the embodiments illustrated in FIGS. 4 and 5, it is checked whether, among the six display patterns, the current status is the same as the status requested from the central device 50 (set in the intersection status selection command unit SC).

[0082] In step S403, if they match (step S403: Yes), the signal control unit 71 as the status selection unit SS makes a selection to maintain the current status (step S404). On the other hand, in step S403, if they do not match (step S403: No), the signal control unit 71 checks whether any other priority control (first request) is already in progress (step S405).

[0083] In step S405, if no priority control is in progress (step S405: No), the signal control unit 71 as the status selection unit SS selects a status that matches the request as the command from step S402 and changes to it (step S406).

[0084] On the other hand, in step S405, if a priority control is in progress (step S405: Yes), the signal control unit 71 stores the request as the command from step S402 as an unexecuted request (second and subsequent requests) and waits for the ongoing priority control to end (step S407).

[0085] After any of the processes in step S404, step S406, or step S407, or when no command is received in step S401 (step S401: No), the signal control unit 71 acquires various information such as information about the signal controller 70, that is, information about the current status (step S408), transmits this to the central unit 50 (step S409), and ends the series of processes.

[0086] On the other hand, when the reception in step S402 is a request cancellation, the signal control unit 71, as the status selection unit SS, checks whether there is an unexecuted request remaining, that is, whether there is something stored in step S407 (step S410). When there is an unexecuted request remaining (step S410: Yes), it checks whether the currently selected status matches the unexecuted request (step S411).

[0087] In step S411, when they do not match (step S411: No), the signal control unit 71 as the status selection unit SS selects and changes to a status that matches the unexecuted request (step S412). On the other hand, in step S411, when they match (step S411: Yes), a selection is made to maintain the current status (step S413). Note that in either case where step S412 or step S413 is executed, the stored unexecuted request is deleted on the grounds that it has been transferred to execution as described above.

[0088] On the other hand, in step S410, when there is no unexecuted request remaining (step S410: No), the signal control unit 71 as the status selection unit SS makes a selection to change to the status of normal control (for example, the status in the default state) (step S414).

[0089] When any of steps S412 to S414 is processed, thereafter, the processes in steps S408 and S409 described above are performed, and the series of processes ends.

[0090] When the processing up to step S409 is completed, the signal control unit 71 returns to the processing from the beginning, that is, repeats the operations from step S401.

[0091] Note that the central device 50 that has received the transmission in step S409 outputs the request received from the operation management system 30 by the reception unit RE to the corresponding signal control machine 70, and the central device 50 that has received information regarding one status as a response from the signal control machine 70, which is the output traffic signal control machine, returns the received information regarding the status to the operation management system 30 that is the request source.

[0092] As described above, the traffic signal control system 100 of the present embodiment includes a reception unit RE that receives a request based on the route information of the vehicle VE as the target vehicle, and a status selection unit SS that selects one status from a plurality of statuses regarding the display of traffic signals in response to the request received by the reception unit RE. In the above traffic signal control system 100, since one corresponding to the request based on the route information of the vehicle VE can be selected from among a plurality of statuses regarding the display of traffic signals, signal control can be performed so that an appropriate traffic signal display is made according to the running status of the vehicle VE.

[0093] Note that in the above, the traffic signal control system 100 is assumed to be composed of a vehicle management side system 110 responsible for vehicle operation management and a traffic signal side system 120 responsible for traffic signal control, but it can also be regarded as a traffic signal control system with only the configuration on the traffic signal side system 120 side.

[0094] 〔Second Embodiment〕 Hereinafter, with reference to the block diagram shown as FIG. 9, a configuration example of the traffic signal control system according to the second embodiment will be described. FIG. 9 is a figure corresponding to FIG. 2. As is clear from comparing the two figures, the traffic signal control system 100 of the present embodiment does not have the operation management system 30 in the vehicle management side system 110, and the vehicle control unit 11 of the in-vehicle device 10 also functions as the operation management control unit 31 and the request determination unit RJ, which is different from the case of the first embodiment.

[0095] In this case, for the vehicle VE, the vehicle control unit 11, as the vehicle control unit 11, performs automatic driving towards the destination by autonomous driving, and as the request determination unit RJ, according to the position and speed of the vehicle VE mounted on itself, determines whether to send a request or a request cancellation based on the route information to the central device 50. Looking at it from a different perspective, in the first embodiment, the permission to proceed based on the information from the signal control is determined in the operation management system 30, and the vehicle VE operates according to the instructions from the operation management system 30. In contrast, in this embodiment, the vehicle VE itself determines the permission to proceed based on the information from the signal control.

[0096] Also in the traffic signal control system 100 of the present embodiment, among the plurality of statuses regarding the display of traffic signals, those corresponding to the request based on the route information of the vehicle VE can be selected, so that signal control can be performed so that an appropriate traffic signal display is made according to the driving situation of the vehicle VE. In particular, in the case of the present embodiment, it is possible to adopt a mode in which a priority control is directly requested from each vehicle VE unit to the traffic signal control side.

[0097] Hereinafter, with reference to the block diagram as FIG. 10, an overview of the traffic signal control system illustrated in each embodiment will be described.

[0098] As shown in the figure and as described above, the traffic signal control system 100 is configured to receive, in the reception unit RE, a request based on route information indicating information about the planned travel of the vehicle VE, which is the target vehicle. Then, in order to perform preferential traffic signal control for the target vehicle (vehicle VE) corresponding to the received request, the status selection unit SS selects one status from among a plurality of statuses regarding the display of traffic signals. Priority signal control can be performed so that a traffic signal display suitable for the driving situation of the vehicle VE is provided.

[0099] 〔Others〕 The present invention is not limited to the above-described embodiments, and can be implemented in various forms without departing from the gist thereof.

[0100] First, in the above description, in each embodiment, the central device 50 is assumed to manage a plurality of signal controllers 70 (70A, 70B, 70C,...) collectively. However, the present invention is not limited to this, and is also applicable when the central device 50 handles one signal controller 70. Further, in the central device, instead of performing status selection, only the transmission destination may be selected from among a plurality of signal controllers 70 (70A, 70B, 70C,...), and the configuration may be such that each signal controller 70 is responsible for status selection.

[0101] Also, in the first embodiment, a plurality of operation management systems 30 (30A, 30B, 30C,...) are each assumed to perform operation management of the vehicle VE under their jurisdiction. However, the present invention can also be applied to a mode in which one operation management system 30 performs operation management of the vehicle VE.

[0102] In the first embodiment, the operation management system 30 manages the operation of the vehicle VE, and the vehicle VE travels according to the instructions from the operation management system 30. However, the present invention is not limited to this. For example, in a mode where the operation management system 30 receives a response to a request based on route information from the signal control side and transmits the reception result to the vehicle VE, it is also conceivable that the vehicle VE makes its own determination on the operation based on the received response content.

[0103] In the above description, priority control is performed for the vehicle VE that is scheduled to arrive at the target intersection CC first. For other vehicle VEs, for example, they are stored as unexecuted requests and processed sequentially. However, the present invention is not limited to this, and various modes can be adopted. For example, among the vehicle VEs heading for the T-junction TJ, the first one from Road 2 is scheduled to arrive first, the second one is scheduled to arrive from Road 1, and the third one is scheduled to arrive with little time difference from the first one from Road 2. In this case, it is conceivable to perform processing such that the first one and the third one are collectively and preferentially passed through the T-junction TJ.

[0104] In the above description, the target vehicle is the entire self-driving vehicle. However, a mode in which only a certain special vehicle is the target vehicle is also conceivable.

Explanation of Reference Numerals

[0105] 10... Vehicle-mounted device, 11... Vehicle control unit, 12... Communication unit, 14... Map / route management unit, 15... Sensor, 30, 30A, 30B, 30C... Operation management system, 31... Operation management control unit, 32... Communication unit, 33... Vehicle management database, 34... Map / route database, 50... Central device, 51... Central control unit, 52... Communication unit, 53... Management database, 54... Map database, 55... Display unit, 56... Time synchronization unit, 70, 70A, 70B, 70C... Signal controller, 71... Signal control unit, 72... Communication unit, 73... Status database, 74... Signal control parameter unit, 80... Signal control unit, 90... Signal lamp device, 100... Traffic signal control system, 110... Vehicle management side system, 120... Traffic signal side system, AA... Inflow side range, BB... Outflow side range, CC... Target intersection, CO... Intersection reference position, DR... Operating system, RE... Reception unit, RJ... Request determination unit, SC... Intersection status selection command unit, SS... Status selection unit, TJ... T-junction, VE... Vehicle

Claims

1. A receiving unit that receives a request based on route information of a target vehicle, A status selection unit that selects one status from a plurality of statuses regarding the display of a traffic signal in response to the request received by the receiving unit A traffic signal control system comprising:

2. The traffic signal control system according to claim 1, wherein the status selection unit selects a status according to the outflow direction of the target vehicle after passing through the target intersection.

3. The traffic signal control system according to claim 2, wherein the status selection unit determines a priority signal based on the inflow direction of the target vehicle to the target intersection in addition to the outflow direction of the target vehicle, and selects the corresponding status.

4. A plurality of traffic signal controllers each having the status selection unit, A central device having the receiving unit, and outputting the request received by the receiving unit to the corresponding traffic signal controller among the plurality of traffic signal controllers The traffic signal control system according to claim 1, comprising:

5. The traffic signal control system according to claim 4, wherein the central device receives information regarding one status as a response from the traffic signal controller that has output the request received by the receiving unit, and returns it to the requester.

6. Comprising a request determination unit that determines whether to make a request based on the route information, The request determination unit outputs a request based on the route information when the target vehicle reaches a predetermined position on the front side of the intersection reference position, and outputs a cancellation request to cancel the request based on the route information when the target vehicle reaches a predetermined position after passing the intersection reference position. The traffic signal control system according to claim 1.

7. The traffic signal control system according to claim 6, wherein the request determination unit determines the start timing of the request based on the route information according to the existence position and speed of the target vehicle.

8. Comprising an operation management system that manages the operation of the target vehicle that performs autonomous driving, The traffic signal control system according to claim 1, wherein the receiving unit receives a request based on the route information output from the operation management system.

9. The operation management system makes a request based on the route information according to the information on the existence position and speed of the target vehicle transmitted from the target vehicle, and determines whether the target vehicle can continue to proceed based on the response to the request based on the route information. The traffic signal control system according to claim 8.

10. The traffic signal control system according to claim 8, wherein the operation management system receives a response to a request based on the route information and transmits the reception result to the target vehicle.

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