Traffic control system, traffic control method, and program

Abstract

To provide a traffic control system, traffic control method, and program for enabling vehicles on respective lanes capable of simultaneously passing an intersection to smoothly pass the intersection.SOLUTION: A traffic control system includes: first acquisition means 31 for acquiring information related to a passing direction of an intersection from at least one first vehicle waiting for the passing at the intersection on a first lane connected to the intersection; second acquisition section 32 for acquiring information related to the passing direction of the intersection from at least one second vehicle waiting for the passing at the intersection on a second lane on which the simultaneous passing at the intersection is permitted with the first lane; determination means 33 for determining passing order of the respective first and second vehicles at the intersection so as to allow a time of the passing at the intersection for each one of the first and second vehicles to be shorter based on the information acquired from the respective first and second vehicles; and control means 34 for controlling the passing of the respective first and second vehicles at the intersection based on the determined passing order.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a traffic control system, a traffic control method, and a program.

Background Art

[0002] There is known a traffic control system that controls the running of vehicles at a predetermined intersection (for example, Patent Document 1). In the technology described in Patent Document 1, at an intersection, a right-turning vehicle and a straight-going vehicle perform two-way communication to transmit and receive information regarding the priority of passage. When the priority of the right-turning vehicle becomes higher than that of the straight-going vehicle, the right-turning vehicle requests permission to pass from the straight-going vehicle, and when permission to pass is notified from the straight-going vehicle, the right-turning vehicle is controlled to be able to turn right.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, even if a right-turning vehicle requests permission to pass from a straight-going vehicle, in the current Road Traffic Law, the passage of straight-going / left-turning vehicles is prioritized at intersections, so there are cases where a straight-going vehicle does not respond to the permission to pass of a right-turning vehicle. As a result, it becomes difficult for the right-turning vehicle to turn right at the intersection, and there is a possibility that the vehicles in each lane that can pass through the intersection simultaneously cannot pass through the intersection smoothly.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a traffic control system, a traffic control method, and a program that enable the vehicles in each lane that can pass through an intersection simultaneously to pass through the intersection smoothly.

Means for Solving the Problems

[0006] In order to solve the above problems, first, the present invention provides a traffic control system for controlling the passage of vehicles at a predetermined intersection, comprising: a first acquisition means for acquiring information regarding the passing direction of the intersection from each of at least one first vehicle that is a vehicle waiting for passage through the intersection in a first lane connected to the intersection; a second lane connected to the intersection and permitted to pass through the intersection simultaneously with the first lane, and a second acquisition means for acquiring information regarding the passing direction of the intersection from each of at least one second vehicle that is a vehicle waiting for passage through the intersection in the second lane capable of passing through the intersection in a direction crossing the first lane; a determination means for determining the passing order of each of the at least one first vehicle and the at least one second vehicle through the intersection so that the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection is shortened based on the information regarding the passing direction of the intersection acquired from each of the at least one first vehicle and the at least one second vehicle; and a control means for controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection based on the determined passing order (Invention 1).

[0007] According to such an invention (Invention 1), based on the information regarding the passing direction of the intersection acquired from each of at least one first vehicle and at least one second vehicle, the passing order of each of the at least one first vehicle and at least one second vehicle through the intersection is determined so that the time until each of the at least one first vehicle and at least one second vehicle passes through the intersection is shortened, and based on the determined passing order, the passage of each of the at least one first vehicle and at least one second vehicle at the intersection is controlled. Therefore, each of the at least one first vehicle and at least one second vehicle can pass through the intersection according to the determined passing order such that the time until passing through the intersection (i.e., the waiting time of each vehicle at the intersection) is shortened while considering the passing direction of each vehicle through the intersection. As a result, vehicles in each lane (i.e., the first lane and the second lane) that can pass through the intersection simultaneously can pass through the intersection smoothly.

[0008] In the above invention (Invention 1), until a predetermined condition is satisfied, the determination means: (1) based on information regarding the passing direction of the intersection of the leading vehicle in each of the first lane and the second lane, selects one or more prediction patterns from among a first prediction pattern for passing the leading vehicle in the first lane, a second prediction pattern for passing the leading vehicle in the second lane, and a third prediction pattern for passing the leading vehicles in each of the first lane and the second lane; (2) for each selected prediction pattern, estimates the passing order of the intersection of the leading vehicle corresponding to the selected prediction pattern; (3) for each selected prediction pattern, adds the passing time required for the intersection of the leading vehicle corresponding to the selected prediction pattern to the total passing time, which is the sum of the passing times required for the intersection of one or more vehicles that are assumed to have passed through the intersection in the order of the estimated passing order; (4) for each selected prediction pattern, estimates the leading vehicles in each of the first lane and the second lane when it is assumed that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection. The processes (1) to (4) are repeated, and when the predetermined condition is satisfied, the passing order of each of one or more vehicles corresponding to the shortest total passing time among the plurality of total passing times may be determined as the passing order of the intersection of each of the first vehicle and the second vehicle (Invention 2).

[0009] According to such an invention (Invention 2), every time it is predicted that either or both of the leading vehicle in the first lane and the leading vehicle in the second lane will pass through, various passing orders are estimated, and the passing order corresponding to the shortest total passing time among the various passing orders is determined as the passing order of the intersection of each of the first vehicle and the second vehicle. Therefore, each of at least one first vehicle and at least one second vehicle can pass through the intersection according to the determined passing order so that the time until passing through the intersection is the shortest.

[0010] In the above invention (Invention 1), until a predetermined condition is satisfied, the determination means: (1) based on the information regarding the passing direction of the intersection of the leading vehicle in each of the first lane and the second lane, selects one or more prediction patterns from among a first prediction pattern for passing the leading vehicle in the first lane, a second prediction pattern for passing the leading vehicle in the second lane, and a third prediction pattern for passing the leading vehicles in each of the first lane and the second lane; (2) for each selected prediction pattern, estimates the passing order of the intersection of the leading vehicle corresponding to the selected prediction pattern; (3) for each selected prediction pattern, adds the passing time required for the intersection of the leading vehicle corresponding to the selected prediction pattern to the waiting time of each of the one or more vehicles at the intersection, assuming that the one or more vehicles are waiting for passing through the intersection among the at least one first vehicle and the at least one second vehicle; (4) for each selected prediction pattern, estimates the leading vehicles in each of the first lane and the second lane when it is assumed that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection. The processes (1) to (4) are repeated, and when the predetermined condition is satisfied, the passing order of the intersection of each of the one or more vehicles, for which the average of the waiting times at the intersection of each of the one or more vehicles is the shortest, may be determined as the passing order of the intersection of each of the first vehicle and the second vehicle (Invention 3).

[0011] According to such an invention (Invention 3), every time it is predicted that either or both of the leading vehicle in the first lane and the leading vehicle in the second lane will pass, various passing orders are estimated, and the passing order with the shortest average of the waiting times of each vehicle at the intersection among the various passing orders is determined as the passing order of the intersection of each of the first vehicle and the second vehicle. Therefore, each of the at least one first vehicle and the at least one second vehicle can pass through the intersection according to the determined passing order so that the time until passing through the intersection is shortened.

[0012] In the above invention (Inventions 2 to 3), in the process of the above (1) processing, when it is determined based on the information regarding the passing direction of the intersection of the leading vehicles in each of the first lane and the second lane that the leading vehicles in each of the first lane and the second lane can pass through the intersection simultaneously, only the third prediction pattern may be selected (Invention 4).

[0013] According to such an invention (Invention 4), for example, when it is determined that the leading vehicles in each of the first lane and the second lane can pass through the intersection simultaneously, compared with the case where all of the first prediction pattern, the second prediction pattern, and the third prediction pattern are selected, it becomes possible to simplify the procedure of determining (searching) the passing order corresponding to the shortest total passing time required or the shortest average waiting time (at the intersection). Thereby, the time required to determine the passing order corresponding to the shortest total passing time required or the shortest average waiting time can be shortened.

[0014] In the above invention (Inventions 2 to 3), the predetermined condition may include assuming that all of the at least one first vehicle and the at least one second vehicle have passed through the intersection (Invention 5).

[0015] According to such an invention (Invention 5), it becomes possible to determine the passing order corresponding to the shortest total passing time required or the shortest average waiting time in consideration of the passing directions of all intersections of the at least one first vehicle and the at least one second vehicle.

[0016] In the above invention (Inventions 2 to 3), the predetermined condition may include that the number of vehicles assumed to have passed through the intersection reaches a predetermined value that is less than the total number of all of the at least one first vehicle and the at least one second vehicle (Invention 6).

[0017] According to such an invention (Invention 6), it is possible to relatively quickly determine the passing order corresponding to the shortest total passing time or the shortest average waiting time after considering the passing directions of some (the number of vehicles corresponding to a predetermined value) of at least one first vehicle and at least one second vehicle at an intersection.

[0018] In the above-mentioned invention (Inventions 2 to 3), the predetermined condition may include that the number of selections of the prediction pattern reaches a predetermined value (Invention 7).

[0019] According to such an invention (Invention 7), it is possible to relatively quickly determine the passing order corresponding to the shortest total passing time or the shortest average waiting time after considering the passing directions of some (the number of vehicles corresponding to the number of selections of the prediction pattern) of at least one first vehicle and at least one second vehicle at an intersection.

[0020] In the above-mentioned invention (Invention 1), the control means may generate information indicating whether to permit each leading vehicle in the first lane and the second lane to pass through the intersection based on the determined passing order, and transmit the generated information to each leading vehicle in the first lane and the second lane, thereby controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection (Invention 8).

[0021] According to such an invention (Invention 8), after considering the passing directions of the vehicles in each of the first lane and the second lane at the intersection, it is possible to control whether to permit each leading vehicle in the first lane and the second lane to pass through the intersection according to the determined passing order so that the time until passing through the intersection (that is, the waiting time of each vehicle at the intersection) is shortened.

[0022] In the above-mentioned invention (Invention 1), the first acquisition means may acquire information regarding the passing direction of the intersection transmitted from a communication device provided in each of the at least one first vehicle (Invention 9).

[0023] According to such an invention (Invention 9), it becomes possible to easily acquire information regarding the passing direction of each intersection of at least one first vehicle from each of the at least one first vehicle.

[0024] In the above invention (Invention 1), the second acquisition means may acquire information regarding the passing direction of the intersection transmitted from a communication device provided in each of the at least one second vehicle (Invention 10).

[0025] According to such an invention (Invention 10), it becomes possible to easily acquire information regarding the passing direction of each intersection of at least one second vehicle from each of the at least one second vehicle.

[0026] In the above invention (Invention 1), the second lane may be a lane opposite to the first lane (Invention 11).

[0027] According to such an invention (Invention 11), it becomes possible to realize smooth passing of vehicles at an intersection between the first lane and the second lane opposite to the first lane.

[0028] In the above invention (Invention 1), the traffic control system may be provided at a position near the intersection (Invention 12).

[0029] According to such an invention (Invention 12), traffic control of vehicles waiting to pass through the intersection can be performed at a position near the intersection (for example, a position within a range where direct communication with vehicles waiting to pass through the intersection in each of the first lane and the second lane is possible, etc.).

[0030] Second, the present invention is a traffic control method in which a computer controls the passage of vehicles at a predetermined intersection, the computer comprising: obtaining information regarding the passing direction of the intersection from each of at least one first vehicle that is waiting to pass through the intersection in a first lane connected to the intersection; obtaining information regarding the passing direction of the intersection from each of at least one second vehicle that is waiting to pass through the intersection in a second lane connected to the intersection and allowing passage through the intersection simultaneously with the first lane, the second lane being capable of passing through the intersection in a direction crossing the first lane; determining the passing order of each of the first vehicle and the second vehicle at the intersection so as to shorten the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection based on the information regarding the passing direction of the intersection obtained from each of the at least one first vehicle and the at least one second vehicle; and controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection based on the determined passing order. (Invention 13).

[0031] Thirdly, the present invention provides a program for causing a computer to control the passage of vehicles at a predetermined intersection, the program causing the computer to: acquire information regarding the passing direction of the intersection from each of at least one first vehicle waiting to pass through the intersection in a first lane connected to the intersection; acquire information regarding the passing direction of the intersection from each of at least one second vehicle waiting to pass through the intersection in a second lane connected to the intersection and allowing passage through the intersection simultaneously with the first lane and capable of passing through the intersection in a direction crossing the first lane; determine the passing order of each of the at least one first vehicle and the at least one second vehicle at the intersection so as to shorten the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection based on the information regarding the passing direction of the intersection acquired from each of the at least one first vehicle and the at least one second vehicle; and control the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection based on the determined passing order (Invention 14).

Advantages of the Invention

[0032] According to the traffic control system, traffic control method, and program of the present invention, vehicles in each lane that can pass through an intersection simultaneously can pass through the intersection smoothly.

Brief Description of the Drawings

[0033]

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Figure 15

Embodiments for Carrying Out the Invention

[0034] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, this embodiment is an example, and the present invention is not limited thereto.

[0035] (1) Basic Configuration of the Traffic Control System FIG. 1 is a diagram schematically showing the basic configuration of a traffic control system according to an embodiment of the present invention. As shown in FIG. 1, the traffic control system according to this embodiment is configured to control the passage of vehicles at a predetermined intersection (in the example shown in FIG. 1, an intersection). More specifically, in the traffic control system according to this embodiment, information regarding the passing direction of the intersection IS wirelessly transmitted from a communication device 10 provided in each of at least one first vehicle C1 that is a vehicle waiting for passage through the intersection IS in the first lane L1 connected to the intersection IS, and a second lane L2 (in the example shown in FIG. 1, the oncoming lane of the first lane L1) that is connected to the intersection IS and is permitted to pass through the intersection IS simultaneously with the first lane L1, and that is capable of passing through the intersection IS in a direction crossing the first lane L1 (in the example shown in FIG. 1, the right-turn direction), and information regarding the passing direction of the intersection IS wirelessly transmitted from a communication device 10 provided in each of at least one second vehicle C2 that is a vehicle waiting for passage through the intersection IS in the second lane L2, are configured to be acquired by a traffic control device 20 located in the vicinity of the intersection IS (for example, a position within a predetermined range (for example, a range of several meters) from the intersection IS).

[0036] Further, based on the information regarding the passing direction of the intersection IS acquired from each of at least one first vehicle C1 and at least one second vehicle C2, the traffic control device 20 determines the passing order of each of the at least one first vehicle C1 and the at least one second vehicle C2 through the intersection IS so as to shorten the time until each of the at least one first vehicle C1 and the at least one second vehicle C2 passes through the intersection IS, and based on the determined passing order, is configured to control the passage of each of the at least one first vehicle C1 and the at least one second vehicle C2 at the intersection IS.

[0037] Here, each of the at least one first vehicle C1 and the at least one second vehicle C2 may be, for example, a vehicle operated by a driver or an autonomous vehicle.

[0038] The communication device 10 may be a device (e.g., a car navigation system) that can be mounted on each vehicle C1, C2. Further, when any one of at least one first vehicle C1 and at least one second vehicle C2 is an autonomous vehicle, for example, the communication device 10 may be a control device for controlling the autonomous driving of the vehicle. Furthermore, the communication device 10 may be a device that is possessed and operated by a user (including a driver) riding in each vehicle C1, C2 where the communication device 10 is provided.

[0039] The traffic control device 20 may be a device that is possessed and operated by a user present in the vicinity of the intersection IS, such as a mobile terminal, a smartphone, a PDA (Personal Digital Assistant), a personal computer, a television receiver having a two-way communication function (including a so-called multifunctional smart TV).

[0040] Also, in the present embodiment, the communication device 10 provided in each vehicle C1, C2 and the traffic control device 20 are configured to be able to communicate with each other using a predetermined communication method. Here, examples of the communication method include communication methods that do not require a license, such as LPWA (Low Power Wide Area) (920 MHz), IEEE.802.11n (2.4 GHz), IEEE.802.11ac (5.6 GHz), IEEE.802.11ad (60 GHz).

[0041] (2) Configuration of the communication device The configuration of the communication device 10 will be described with reference to FIG. 2. FIG. 2 is a block diagram showing the internal configuration of the communication device 10. As shown in FIG. 2, the communication device 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a storage device 14, a display processing unit 15, a display unit 16, an input unit 17, a position measurement device 18, and a communication interface unit 19, and a bus 10a is provided for transmitting control signals or data signals between the respective units. In this embodiment, the case where the communication device 10 includes the storage device 14, the display processing unit 15, the display unit 16, and the input unit 17 is described as an example, but at least one of the storage device 14, the display processing unit 15, the display unit 16, and the input unit 17 may not be provided in the communication device 10.

[0042] When the power is turned on to the communication device 10, the CPU 11 loads various programs stored in the ROM 12 or the storage device 14 into the RAM 13 and executes them.

[0043] The storage device 14 may be, for example, a non-volatile storage device such as a flash memory, an SSD, a magnetic storage device (e.g., HDD, floppy disk (registered trademark), magnetic tape, etc.), an optical disk, or a volatile storage device such as a RAM, and stores programs executed by the CPU 11 and data referred to by the CPU 11.

[0044] The display processing unit 15 displays display data given from the CPU 11 on the display unit 16. The display unit 16 is, for example, an LCD (Liquid Crystal Display) monitor including thin film transistors arranged in a matrix in pixel units, and drives the thin film transistors based on the display data to display the displayed data on the display screen.

[0045] When the communication device 10 is a device with a button input method, the input unit 17 includes a button group including a plurality of instruction input buttons such as a direction instruction button and a determination button for receiving a user's operation input, and a button group including a plurality of instruction input buttons such as a numeric keypad, and includes an interface circuit for recognizing a press (operation) input of each button and outputting it to the CPU 11.

[0046] When the communication device 10 is a device with a touch panel input method, the input unit 17 mainly receives a touch panel input by touching the display screen with a fingertip or a pen. The touch panel input method may be a known method such as a capacitance method.

[0047] Also, when the communication device 10 is a device capable of voice input, the input unit 17 may be configured to include a microphone for voice input, or may be provided with an interface circuit for outputting voice data input via an external microphone to the CPU 11. Further, when the communication device 10 is a device capable of inputting moving images and / or still images, the input unit 17 may be configured to include a digital camera or a digital video camera for image input, or may be provided with an interface circuit for receiving image data captured by an external digital camera or digital video camera and outputting it to the CPU 11.

[0048] The position measurement device 18 is configured to measure the position (for example, at least one of latitude, longitude, and altitude) of the communication device 10 (that is, each vehicle C1, C2 in which the communication device 10 is provided). For example, the position measurement device 18 may measure the position of the communication device 10 using a well-known position measurement technology such as GPS. Also, the position measurement device 18 may measure the position of the communication device 10 every time a predetermined time (for example, 1 second, etc.) elapses.

[0049] The communication interface unit 19 includes an interface circuit for performing wireless communication with another device (for example, the traffic control device 20).

[0050] (3) Configuration of the traffic control device Referring to FIG. 3, the configuration of the traffic control device 20 will be described. FIG. 3 is a block diagram showing the internal configuration of the traffic control device 20. As shown in FIG. 3, the traffic control device 20 includes a CPU 21, a ROM 22, a RAM 23, a storage device 24, a display processing unit 25, a display unit 26, an input unit 27, a position measurement device 28, and a communication interface unit 29, and a bus 20a is provided for transmitting control signals or data signals between the respective units.

[0051] When the power is turned on to the traffic control device 20, the CPU 21 loads various programs stored in the ROM 22 or the storage device 24 into the RAM 23 and executes them. In the present embodiment, the CPU 21 realizes the functions of the first acquisition means 31, the second acquisition means 32, the determination means 33, and the control means 34 (shown in FIG. 4) described later by reading and executing the programs stored in the ROM 22 or the storage device 24.

[0052] The storage device 24 may be, for example, a non-volatile storage device such as a flash memory, an SSD, a magnetic storage device (e.g., HDD, floppy disk (registered trademark), magnetic tape, etc.), an optical disk, or a volatile storage device such as a RAM, and stores programs executed by the CPU 21 and data referred to by the CPU 21. Further, the storage device 24 stores the first lane data (shown in FIG. 5), the second lane data (shown in FIG. 6), the behavior data (shown in FIG. 8(b)), and the passing order data (shown in FIG. 12).

[0053] The communication interface unit 29 includes an interface circuit for performing wireless communication with other devices (e.g., the communication devices 10 of the respective vehicles C1, C2).

[0054] Note that the details of the other units (here, the display processing unit 25, the display unit 26, the input unit 27, and the position measurement device 28) in the traffic control device 20 may be the same as those of the communication device 10.

[0055] (4) Outline of Each Function in the Traffic Control System The functions realized by the traffic control system of this embodiment will be described with reference to FIG. 4. FIG. 4 is a functional block diagram for explaining the functions that play a major role in the traffic control system of this embodiment. In the functional block diagram of FIG. 4, the first acquisition means 31, the second acquisition means 32, the determination means 33, and the control means 34 correspond to the main components of the traffic control system of the present invention.

[0056] Here, as an example, the case where the traffic control system is provided at a position near the intersection IS will be described. In this case, at a position near the intersection IS (for example, a position within a range where it is possible to directly communicate with the vehicles C1 and C2 waiting to pass through the intersection in each of the first lane L1 and the second lane L2), traffic control of the vehicles C1 and C2 waiting to pass through the intersection IS can be performed.

[0057] The first acquisition means 31 has a function of acquiring information regarding the passing direction of the intersection IS from each of at least one first vehicle C1 that is a vehicle waiting to pass through the intersection IS in the first lane L1 connected to the intersection IS.

[0058] Further, the first acquisition means 31 may acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of the at least one first vehicle C1. Thereby, it becomes possible to easily acquire information regarding the passing direction of the intersection IS of each of the at least one first vehicle C1 from each of the at least one first vehicle C1.

[0059] The function of the first acquisition means 31 is realized as follows, for example. First, each CPU 11 of the communication device 10 of at least one first vehicle C1 stores information regarding the position of the communication device 10 in the storage device 14 every time the position of the communication device 10 is measured by the position measurement device 18 during driving and stopping on the first lane L1. Also, in the present embodiment, when the CPU 11 of the communication device 10 determines that the first vehicle C1 provided with the communication device 10 is waiting to pass through the intersection IS (for example, when the position of the first vehicle C1 measured by the position measurement device 18 is within a predetermined range (for example, a range of several meters to several tens of meters) in front of the intersection IS and has not changed at all or has hardly changed for a predetermined time (for example, 1 minute, etc.)), the identification information (communication device ID) of the communication device 10 and the vehicle information of the corresponding first vehicle C1 (in this embodiment, information regarding the position of the corresponding first vehicle C1 (the position of the communication device 10) and information regarding the passing direction of the first vehicle C1 through the intersection IS) are transmitted to the traffic control device 20 via the communication interface unit 19. Note that information regarding the position (coordinates) of the intersection IS, which serves as a criterion for determining whether the position is within a predetermined range in front of the intersection IS, may be stored in advance in the ROM 12, RAM 13, or storage device 14 of the communication device 10, or when communication is possible between the communication device 10 and the traffic control device 20, the CPU 11 of the communication device 10 may obtain (receive) information regarding the position measured by the position measurement device 28 of the traffic control device 20 (here, it may be the position of the intersection IS) from the traffic control device 20.

[0060] Here, the information regarding the position of the first vehicle C1 may be, for example, the latest position of the first vehicle C1 measured by the position measuring device 18 (i.e., the current position of the first vehicle C1), or the information representing the transition of the position of the first vehicle C1 within a predetermined period (i.e., the movement path within a predetermined period until the first vehicle C1 reaches the current position). Also, the information regarding the passing direction of the first vehicle C1 at the intersection IS may be, for example, any one of going straight, turning right, and turning left, or may be represented using any one of the four directions, eight directions, sixteen directions, or thirty-two directions. Note that the information regarding the passing direction of the first vehicle C1 at the intersection IS may be obtained by the CPU 21 acquiring the information regarding the passing direction input by the user (including the driver) boarding the first vehicle C1 using the input unit 17, or may be obtained by the CPU 21 automatically setting it according to the route to a predetermined destination obtained by the car navigation system. Furthermore, the information regarding the passing direction of the first vehicle C1 at the intersection IS may be composed of a signal indicating the passing direction (e.g., any one of going straight, turning right, and turning left), may be composed of text data, may be composed of image data, or may be composed of audio data.

[0061] On the other hand, when the CPU 21 of the traffic control device 20 receives (acquires) the identification information (communication device ID) of the communication device 10 and the vehicle information of the first vehicle C1 from each communication device 10 of at least one first vehicle C1 via the communication interface unit 19, based on the received vehicle information, it discriminates at least one first vehicle C1 waiting to pass the intersection IS in the first lane L1. Specifically, the CPU 21 of the traffic control device 20 may, for example, among at least one first vehicle C1, discriminate as at least one first vehicle C1 waiting to pass the intersection IS in the first lane L1 a first vehicle C1 whose information regarding the transition of the vehicle position included in the vehicle information indicates that it is moving so as to approach the intersection IS along the first lane L1.

[0062] Further, when the CPU 21 of the traffic control device 20 determines at least one first vehicle C1 waiting to pass through the intersection IS in the first lane L1, it stores the identification information of the communication device 10 corresponding to each of the at least one first vehicle C1 and the vehicle information of the first vehicle C1 in the first lane data shown in FIG. 5, for example. Note that the CPU 21 may sort each of the at least one first vehicle C1 waiting to pass through the intersection IS in the first lane L1 in the waiting order for passing through the intersection IS (that is, in the order of the current position being closer to the intersection IS), and then store the identification information of the communication device 10 corresponding to each of the at least one first vehicle C1 and the vehicle information of the first vehicle C1 in the first lane data. Here, the first lane data is data described in a state where the identification information (communication device ID) of the communication device 10, the vehicle information of the corresponding first vehicle C1, and the reception date and time (acquisition date and time) of these information are associated with each other in the waiting order for the intersection IS. Here, the reception date and time (acquisition date and time) may be information representing the date and time when the CPU 21 of the traffic control device 20 acquired the identification information of the communication device 10 and the vehicle information of the corresponding first vehicle C1 from the communication device 10.

[0063] In this way, based on the function of the first acquisition means 31, the CPU 21 of the traffic control device 20 can acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of the at least one first vehicle C1.

[0064] The second acquisition means 32 has a function of acquiring information regarding the passing direction of the intersection IS from each of at least one second vehicle C2, which is a vehicle waiting to pass through the intersection IS in the second lane L2 that is connected to the intersection IS and whose passing through the intersection IS is permitted simultaneously with the first lane L1 and that can pass through the intersection IS in a direction crossing the first lane L1 (here, the right-turn direction).

[0065] Further, the second acquisition means 32 may acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of at least one second vehicle C2. Thereby, it becomes possible to easily acquire information regarding the passing direction of the intersection IS of each of at least one second vehicle C2 from each of the at least one second vehicle C2.

[0066] Furthermore, the second lane L2 may be the oncoming lane of the first lane L1. Thereby, it becomes possible to realize smooth passage of the vehicles C1 and C2 at the intersection IS between the first lane L1 and the second lane L2 facing the first lane L1.

[0067] The function of the second acquisition means 32 is realized as follows, for example. First, every time the position of the communication device 10 of each of at least one second vehicle C2 is measured by the position measurement device 18 during driving and stopping on the second lane L2, the CPU 11 of the communication device 10 stores information regarding the position of the communication device 10 in the storage device 14. Also, in the present embodiment, when the CPU 11 of the communication device 10 determines that the second vehicle C2 provided with the communication device 10 is waiting to pass through the intersection IS (for example, when the position of the second vehicle C2 measured by the position measurement device 18 is within a predetermined range (for example, a range of several meters to several tens of meters) in front of the intersection IS and has not changed at all or has hardly changed for a predetermined time (for example, 1 minute, etc.)), the identification information (communication device ID) of the communication device 10 and the vehicle information of the corresponding second vehicle C2 (in the present embodiment, information regarding the position of the corresponding second vehicle C2 (the position of the communication device 10) and information regarding the passing direction of the intersection IS of the second vehicle C2) are transmitted to the traffic control device 20 via the communication interface unit 19. Note that information regarding the position (coordinates) of the intersection IS, which is a criterion for determining whether the position is within a predetermined range in front of the intersection IS, may be stored in advance in the ROM 12, RAM 13, or storage device 14 of the communication device 10, or when communication is possible between the communication device 10 and the traffic control device 20, the CPU 11 of the communication device 10 may obtain (receive) information regarding the position measured by the position measurement device 28 of the traffic control device 20 (here, it may be the position of the intersection IS).

[0068] Here, the information regarding the position of the second vehicle C2 may be, for example, the latest position of the second vehicle C2 measured by the position measuring device 18 (i.e., the current position of the second vehicle C2), or may be information representing the transition of the position of the second vehicle C2 within a predetermined period (i.e., the movement path within a predetermined period until the second vehicle C2 reaches the current position). Further, the information regarding the passing direction of the second vehicle C2 at the intersection IS may be, for example, any one of going straight, turning right, and turning left, or may be represented using any one of four directions, eight directions, sixteen directions, or thirty-two directions. Note that the information regarding the passing direction of the second vehicle C2 at the intersection IS may be obtained by the CPU 21 acquiring the information regarding the passing direction input by the user (including the driver) on the second vehicle C2 using the input unit 17, or may be obtained by the CPU 21 automatically setting it according to the route to a predetermined destination obtained by the car navigation system. Furthermore, the information regarding the passing direction of the second vehicle C2 at the intersection IS may be composed of a signal indicating the passing direction (for example, any one of going straight, turning right, and turning left), may be composed of text data, may be composed of image data, or may be composed of audio data.

[0069] On the other hand, when the CPU 21 of the traffic control device 20 receives (acquires) the identification information (communication device ID) of the communication device 10 and the vehicle information of the second vehicle C2 from each communication device 10 of at least one second vehicle C2 via the communication interface unit 19, based on the received vehicle information, it discriminates at least one second vehicle C2 waiting to pass the intersection IS in the second lane L2. Specifically described, the CPU 21 of the traffic control device 20 may, for example, among at least one second vehicle C2, discriminate as at least one second vehicle C2 waiting to pass the intersection IS in the second lane L2 a second vehicle C2 whose information regarding the transition of the vehicle position included in the vehicle information indicates that it is moving so as to approach the intersection IS along the second lane L2.

[0070] Further, when the CPU 21 of the traffic control device 20 determines at least one second vehicle C2 waiting to pass through the intersection IS in the second lane L2, it stores the identification information of the communication device 10 corresponding to each of the at least one second vehicle C2 and the vehicle information of the second vehicle C2 in the second lane data shown in FIG. 6, for example. Note that the CPU 21 may sort each of the at least one second vehicle C2 waiting to pass through the intersection IS in the second lane L2 in the waiting order for passing through the intersection IS (that is, in the order of the current position being closer to the intersection IS), and then store the identification information of the communication device 10 corresponding to each of the at least one second vehicle C2 and the vehicle information of the second vehicle C2 in the second lane data. Here, the second lane data is data in which the identification information of the communication device 10 (communication device ID) and the vehicle information of the corresponding second vehicle C2, and the reception date and time (acquisition date and time) of these pieces of information are associated with each other in the waiting order for the intersection IS. Here, the reception date and time (acquisition date and time) may be information representing the date and time when the CPU 21 of the traffic control device 20 acquired the identification information of the communication device 10 and the vehicle information of the corresponding second vehicle C2 from the communication device 10.

[0071] In this way, the CPU 21 of the traffic control device 20 can acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of the at least one second vehicle C2 based on the function of the second acquisition means 32.

[0072] The determination means 33 has a function of determining the passing order of each of the first vehicle C1 and the second vehicle C2 through the intersection IS so that the time until each of the at least one first vehicle C1 and the at least one second vehicle C2 passes through the intersection IS is shortened based on the information regarding the passing direction of the intersection IS acquired from each of the at least one first vehicle C1 and the at least one second vehicle C2.

[0073] Further, until the determination means 33 satisfies a predetermined condition, (1) based on information regarding the passing direction of the intersection IS of the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2, a first prediction pattern for passing the leading vehicle C1 in the first lane L1, a second prediction pattern for passing the leading vehicle C2 in the second lane L2, and a third prediction pattern for passing the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2, one or more of the prediction patterns are selected; (2) for each selected prediction pattern, the passing order of the leading vehicle corresponding to the selected prediction pattern at the intersection IS is estimated; (3) for each selected prediction pattern, the passing time required for the leading vehicle corresponding to the selected prediction pattern to pass the intersection IS is added to the total passing time, which is the sum of the passing times required for one or more vehicles C1 and C2 to pass the intersection IS assuming that they have passed the intersection IS in the estimated passing order; (4) for each selected prediction pattern, the leading vehicles in each of the first lane L1 and the second lane L2 are estimated when it is assumed that the leading vehicle corresponding to the selected prediction pattern has passed the intersection IS. The processes (1) to (4) are repeated, and when the predetermined condition is satisfied, the passing order of each of one or more vehicles C1 and C2 corresponding to the shortest total passing time among the plurality of total passing times may be determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS. As a result, various passing orders are estimated each time it is predicted that either or both of the leading vehicle C1 in the first lane L1 and the leading vehicle C2 in the second lane L2 will pass, and the passing order corresponding to the shortest total passing time among the various passing orders is determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS. Therefore, each of at least one first vehicle C1 and at least one second vehicle C2 can pass the intersection IS according to the determined passing order so that the time until passing the intersection IS is the shortest.

[0074] Furthermore, in the process of (1) above, the determination means 33 may select only the third prediction pattern based on the information regarding the passing directions of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS. Thereby, for example, when it is determined that the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 can pass through the intersection IS simultaneously, compared with the case where all of the first prediction pattern, the second prediction pattern, and the third prediction pattern are selected, it becomes possible to simplify the procedure of determining (searching) the passing order corresponding to the shortest total passing time required or the shortest average waiting time (the shortest average waiting time will be described in a modified example later) at the intersection IS. Therefore, the time required to determine the passing order corresponding to the shortest total passing time required or the shortest average waiting time can be shortened.

[0075] Furthermore, the predetermined condition may include assuming that all of at least one first vehicle C1 and at least one second vehicle C2 have passed through the intersection IS. Thereby, it becomes possible to determine the passing order corresponding to the shortest total passing time required or the shortest average waiting time (the shortest average waiting time will be described in a modified example later) after considering the passing directions of all of the intersections IS of at least one first vehicle C1 and at least one second vehicle C2.

[0076] Also, the predetermined condition may include that the number of vehicles C1 and C2 assumed to have passed through the intersection IS reaches a predetermined value that is less than the total number of all of at least one first vehicle C1 and at least one second vehicle C2. Thereby, after considering the passing directions of a part (the number of vehicles corresponding to the predetermined value) of at least one first vehicle C1 and at least one second vehicle C2, it becomes possible to determine the passing order corresponding to the shortest total passing time required or the shortest average waiting time (the shortest average waiting time will be described in a modified example later) in a relatively short time.

[0077] Furthermore, the predetermined condition may include that the number of times of selecting a prediction pattern reaches a predetermined value. Thereby, on the basis of the passing directions of intersections IS of some of at least one first vehicle C1 and at least one second vehicle C2 (the number of vehicles corresponding to the number of times of selecting a prediction pattern), it becomes possible to determine, in a relatively short time, the passing order corresponding to the shortest total passing time required or the shortest average waiting time (the shortest average waiting time will be described in a modification example to be described later).

[0078] The function of the determination means 33 is realized, for example, as follows. Here, a case will be described where the determination means 33 repeats the above-described processes (1) to (4) and, when a predetermined condition is satisfied, determines the passing order of each intersection IS of one or more vehicles C1, C2 corresponding to the shortest total passing time required among a plurality of total passing times required as the passing order of each intersection IS of the first vehicle C1 and the second vehicle C2.

[0079] Here, in explaining the function of the determination means 33, as shown in FIG. 7, assume that there are three first vehicles C11, C12, C13 waiting to pass through the intersection IS in the first lane L1 and three second vehicles C21, C22, C23 waiting to pass through the intersection IS in the second lane L2. In the example shown in FIG. 7, the first vehicle C11, which is the first in the waiting order in the first lane L1, is scheduled to turn right at the intersection IS, the first vehicle C12, which is the second in the waiting order in the first lane L1, is scheduled to turn right at the intersection IS, and the first vehicle C12, which is the third in the waiting order in the first lane L1, is scheduled to turn left at the intersection IS. Also, the first second vehicle C21, which is the first in the waiting order in the second lane L2, is scheduled to go straight at the intersection IS, the second vehicle C22, which is the second in the waiting order in the second lane L2, is scheduled to turn right at the intersection IS, and the second vehicle C23, which is the third in the waiting order in the second lane L2, is scheduled to turn left at the intersection IS.

[0080] Also, in this embodiment, as shown in FIG. 8(a), it is assumed that the CPU 21 classifies the passing directions of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS into two groups (in the example shown in the figure, the passing direction group A and the passing direction group B). The passing direction group A indicates that the passing directions of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS are left turns or straight-ahead, and the passing direction group B indicates that the passing directions of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS are right turns. In this case, as shown in the behavior data of FIG. 8(b), various passing (behavior) patterns of the leading vehicles C1 and C2 can be considered according to the combination of the passing direction groups of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS. The behavior data is data described in a state where the passing (behavior) patterns that each leading vehicle C1 and C2 can perform are associated for each of various combinations of the passing direction groups of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS.

[0081] For example, when the passing direction group of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS is "A" (here, a left turn or going straight), there are three passing patterns (predicted patterns): a passing pattern (first predicted pattern) that allows only the leading vehicle C1 in the first lane L1 to pass, a passing pattern (second predicted pattern) that allows only the leading vehicle C2 in the second lane L2 to pass, and a passing pattern (third predicted pattern) that allows the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 to pass (that is, the number of selectable predicted patterns is three). Also, for example, when the passing direction group of the leading vehicle C1 in the first lane L1 at the intersection IS is "A" (here, a left turn or going straight) and the passing direction group of the leading vehicle C2 in the second lane L2 at the intersection IS is "B" (here, a right turn), there are two passing patterns (predicted patterns): a passing pattern (first predicted pattern) that allows only the leading vehicle C1 in the first lane L1 to pass and a passing pattern (second predicted pattern) that allows only the leading vehicle C2 in the second lane L2 to pass (that is, the number of selectable predicted patterns is two). Further, for example, when the passing direction group of the leading vehicle C1 in the first lane L1 at the intersection IS is "A" (here, a left turn or going straight) and the leading vehicle C2 in the second lane L2 does not exist (shown as "N" in Fig. 8(b)), only a passing pattern (first predicted pattern) that allows only the leading vehicle C1 in the first lane L1 to pass is considered (that is, the number of selectable predicted patterns is one).

[0082] That is, the CPU 21 can select at least one passing pattern (predicted pattern) that the leading vehicles C1 and C2 can perform by using the combination of the passing direction groups of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS and the behavior data.

[0083] Next, with reference to the flowchart of FIG. 9, an example of the processing of the determination means 33 in the present embodiment will be described. First, the CPU 21 of the traffic control device 20 performs the processing of (1) described above. That is, based on the information regarding the passing direction of the intersection IS of the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2, the CPU 21 determines a first prediction pattern for passing the leading vehicle C1 in the first lane L1, a second prediction pattern for passing the leading vehicle C2 in the second lane L2, and a third prediction pattern for passing the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2, and selects one or more of the prediction patterns (step S100).

[0084] Specifically describing the processing of step S100, the CPU 21 accesses each of the first lane data and the second lane data, and extracts from each of the first lane data and the second lane data the information regarding the passing direction of the intersection IS corresponding to the leading vehicles (in the example shown in FIG. 7, the first vehicle C11 and the second vehicle C21) in each lane L1 and L2. Then, the CPU 21 uses the information regarding the passing direction of the intersection IS of the leading vehicles C11 and C21 in each lane L1 and L2 thus extracted and the behavior data to determine a passing pattern (first prediction pattern) for passing the leading vehicle C1 in the first lane L1, a passing pattern (second prediction pattern) for passing the leading vehicle C2 in the second lane L2, and a passing pattern (third prediction pattern) for passing the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2, and selects at least one of the prediction patterns. Here, in the example shown in FIG. 7, since the passing direction group of the leading vehicle C11 in the first lane L1 at the intersection IS is "B" (here, a right turn), and the passing direction group of the leading vehicle C21 in the second lane L2 at the intersection IS is "A" (here, a left turn or a straight-ahead movement), based on the behavior data, it is possible to select two passing patterns: a passing pattern (first prediction pattern) for passing only the leading vehicle C1 in the first lane L1 and a passing pattern (second prediction pattern) for passing only the leading vehicle C2 in the second lane L2.

[0085] In addition, in the present embodiment, the passing patterns of each of the first vehicles C11, C12, C13 in the first lane L1 and each of the second vehicles C21, C22, C23 in the second lane L2 at the intersection IS can be represented by a tree structure having a node representing the combination of the passing direction groups of the leading vehicles in the first lane L1 and the second lane L2 at the intersection IS, as shown in FIGS. 10(a) and 10(b), and an edge corresponding to each of one or more passing patterns (prediction patterns) selectable at the corresponding node. Here, in the example shown in FIG. 10(b), on the right side of each node, the combination of the leading vehicles C1 and C2 of the lanes L1 and L2 corresponding to each node (for example, when the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, "(C11, C21)", etc.) is shown. Further, in the example shown in FIG. 10(b), two edges corresponding to each of the two passing patterns selectable at the node corresponding to the leading vehicles C11 and C21 (the uppermost node) of the lanes L1 and L2 are connected to the node.

[0086] Next, the CPU 21 of the traffic control device 20 performs the process of (2) described above. That is, the CPU 21 estimates the passing order of the leading vehicle at the intersection IS corresponding to the selected passing pattern (prediction pattern) for each selected passing pattern (step S102).

[0087] Specifically explaining the process of step S102, for example, when the passing pattern (first prediction pattern) that allows the leading vehicle C11 in the first lane L1 to pass is selected in the case where the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, the CPU 21 estimates that the passing order of the leading vehicle C11 at the intersection IS is the first. On the other hand, for example, when the passing pattern (second prediction pattern) that allows the leading vehicle C21 in the second lane L2 to pass is selected in the case where the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, the CPU 21 estimates that the passing order of the leading vehicle C21 at the intersection IS is the first.

[0088] Next, the CPU 21 of the traffic control device 20 performs the process of (3) described above. That is, for each selected prediction pattern, the CPU 21 adds the passing time required for the leading vehicle of the intersection IS corresponding to the selected prediction pattern to the total passing time, which is the sum of the passing times of one or more vehicles C1, C2 that are assumed to have passed through the intersection IS in the estimated passing order (step S104).

[0089] Specifically explaining the process of step S104, for example, when the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, and the passing pattern (first prediction pattern) for passing the leading vehicle C11 in the first lane L1 is selected, the CPU 21 adds the time required for the leading vehicle C11 to pass through the intersection IS (the passing time) to the total passing time. On the other hand, for example, when the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, and the passing pattern (second prediction pattern) for passing the leading vehicle C21 in the second lane L2 is selected, the CPU 21 adds the time required for the leading vehicle C21 to pass through the intersection IS (the passing time) to the total passing time. Here, the value of the passing time may be set arbitrarily. Also, the passing time may be set to the same value for each vehicle C1, C2, or may be set to different values according to, for example, the vehicle type of each vehicle C1, C2. Furthermore, the initial value of the total passing time may be set to any value (for example, 0, etc.).

[0090] Next, the CPU 21 of the traffic control device 20 performs the process of (4) described above. That is, for each selected prediction pattern, the CPU 21 estimates the leading vehicle of each of the first lane L1 and the second lane L2 assuming that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection IS (step S106).

[0091] Specifically explaining the process of step S106, when the CPU 21, for example, assumes that the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, and a passing pattern (first prediction pattern) for passing the leading vehicle C11 in the first lane L1 is selected, assuming that the leading vehicle C11 has passed through the intersection IS, the leading vehicle in the first lane L1 is estimated as the first vehicle C12, and the leading vehicle in the second lane L2 is estimated as the second vehicle C21. On the other hand, when the CPU 21, for example, assumes that the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, and a passing pattern (second prediction pattern) for passing the leading vehicle C21 in the second lane L2 is selected, assuming that the leading vehicle C21 has passed through the intersection IS, the leading vehicle in the first lane L1 is estimated as the first vehicle C11, and the leading vehicle in the second lane L2 is estimated as the second vehicle C22. Thus, as shown in FIG. 10(b), with the topmost node as the parent node, child nodes (here, two child nodes) corresponding to the number of selectable passing patterns can be generated.

[0092] Then, the CPU 21 of the traffic control device 20 determines whether or not a predetermined condition is satisfied (step S108). Here, the predetermined condition may include, for example, the assumption that all of at least one first vehicle C1 and at least one second vehicle C2 have passed through the intersection IS (here, when the leading vehicle in each of the first lane L1 and the second lane L2 becomes "N"). Further, the predetermined condition may include, for example, the number of vehicles C1, C2 assumed to have passed through the intersection IS reaching a predetermined value less than the total number of all of at least one first vehicle C1 and at least one second vehicle C2 (for example, in the example shown in FIG. 7, 4 out of the 6 waiting vehicles C1, C2, etc.). Furthermore, the predetermined condition may include, for example, the number of selections of the passing pattern (prediction pattern) reaching a predetermined value (for example, when it is assumed that the number of selections increases by one each time any one of the first prediction pattern, the second prediction pattern, and the third prediction pattern is selected, the number of selections reaching a predetermined value (for example, 4, etc.)).

[0093] Also, when the CPU 21 determines in the process of step S108 that a predetermined condition is not satisfied (step S108: NO), it proceeds to the process of step S100. That is, for the leading vehicles C1 and C2 of each lane L1 and L2 estimated in the process of step S106, the processes after step S100 are repeated. Note that when the predetermined condition in the process of step S108 includes the assumption that all of at least one first vehicle C1 and at least one second vehicle C2 have passed through the intersection IS, as shown in FIG. 10(b), a full search of the passing patterns (passing order) of all the vehicles C1 and C2 waiting to pass through the intersection IS is performed. Here, the search process of the passing patterns (passing order) may be performed using, for example, depth-first search or breadth-first search.

[0094] On the other hand, when the CPU 21 determines in the process of step S108 that the predetermined condition is satisfied (step S108: YES), it proceeds to the process of step S110 described later.

[0095] In the example shown in FIG. 10(b), when the passing direction groups of the leading vehicles C1 and C2 of each lane L1 and L2 at the intersection IS are the same (here, when the combination of the passing direction groups is "A / A" or "B / B"), a passing pattern (first predicted pattern) for passing the leading vehicle C1 in the first lane L1, a passing pattern (second predicted pattern) for passing the leading vehicle C2 in the second lane L2, and a passing pattern (third predicted pattern) for passing the leading vehicles C1 and C2 of each of the first lane L1 and the second lane L2 are selected. Here, in order to reduce the search process of the passing patterns (passing order) of all the vehicles C1 and C2 waiting to pass through the intersection IS, when the passing direction groups of the leading vehicles C1 and C2 of each lane L1 and L2 at the intersection IS are the same (here, when the combination of the passing direction groups is "A / A" or "B / B"), the CPU 21 may select only the passing pattern (third predicted pattern) for passing the leading vehicles C1 and C2 of each of the first lane L1 and the second lane L2. In this case, the tree structure shown in FIG. 10(b) can be simplified as shown in FIG. 11.

[0096] In the example shown in FIG. 11, for all vehicles C1, C2 waiting to pass through the intersection IS, four passing patterns (order of passing) can be considered. The first passing pattern (Case 1) is the case of passing through nodes N1, N2, N4, N7, N11, N15. In this case, the first in the passing order is the first vehicle C11, the second is the first vehicle C12, the third is the first vehicle C13 and the second vehicle C21 (simultaneous passing), the fourth is the second vehicle C22, and the fifth is the second vehicle C23. Also, in this case, the sum of the passing time required for the first vehicle C11, the passing time required for the first vehicle C12, the passing time required when the first vehicle C13 and the second vehicle C21 pass through the intersection IS simultaneously, the passing time required for the second vehicle C22, and the passing time required for the second vehicle C23 is the total passing time required.

[0097] The second passing pattern (Case 2) is the case of passing through nodes N1, N2, N5, N8, N12. In this case, the first in the passing order is the first vehicle C11, the second is the second vehicle C21, the third is the first vehicle C12 and the second vehicle C22 (simultaneous passing), and the fourth is the first vehicle C13 and the second vehicle C23 (simultaneous passing). Also, in this case, the sum of the passing time required for the first vehicle C11, the passing time required for the second vehicle C21, the passing time required when the first vehicle C12 and the second vehicle C22 pass through the intersection IS simultaneously, and the passing time required when the first vehicle C13 and the second vehicle C23 pass through the intersection IS simultaneously is the total passing time required.

[0098] The third passing pattern (Case 3) is the case of passing through nodes N1, N3, N6, N9, and N13. In this case, the first vehicle to pass is the second vehicle C21, the second vehicles to pass are the first vehicle C11 and the second vehicle C22 (simultaneous passing), the third vehicle to pass is the first vehicle C12, and the fourth vehicles to pass are the first vehicle C13 and the second vehicle C23 (simultaneous passing). Also, in this case, the sum of the passing time of the second vehicle C21, the passing time when the first vehicle C11 and the second vehicle C22 pass through the intersection IS simultaneously, the passing time of the first vehicle C12, and the passing time when the first vehicle C13 and the second vehicle C23 pass through the intersection IS simultaneously is the total passing time.

[0099] The fourth passing pattern (Case 4) is the case of passing through nodes N1, N3, N6, N10, N14, and N16. In this case, the first vehicle to pass is the second vehicle C21, the second vehicles to pass are the first vehicle C11 and the second vehicle C22 (simultaneous passing), the third vehicle to pass is the second vehicle C23, the fourth vehicle to pass is the first vehicle C12, and the fifth vehicle to pass is the first vehicle C13. Also, in this case, the sum of the passing time of the second vehicle C21, the passing time when the first vehicle C11 and the second vehicle C22 pass through the intersection IS simultaneously, the passing time of the second vehicle C23, the passing time of the first vehicle C12, and the passing time of the first vehicle C13 is the total passing time.

[0100] Each time a passing pattern (order of passing) is obtained by the search process, the CPU 21 may store the passing pattern (order of passing) and the corresponding total passing time in the passing order data shown in FIG. 12. Here, the passing order data is data described in a state where the order of passing of the vehicle through the intersection IS and the total passing time when the vehicle passes in that order of passing are associated for each passing pattern (each case).

[0101] Then, the CPU 21 of the traffic control device 20 determines the passing order of each of one or more vehicles C1 and C2 corresponding to the shortest total passing time among the plurality of total passing times as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS (step S110).

[0102] Specifically explaining the process of step S110, the CPU 21 may access the passing order data, discriminate the passing pattern (case) corresponding to the shortest total passing time among the plurality of passing patterns (cases), and extract the passing order of the vehicles corresponding to the discriminated passing pattern (case). In this case, for example, the CPU 21 may extract the passing order of the vehicles corresponding to case 2 or case 3 among the above-described cases 1 to 4.

[0103] In this way, the passing pattern (passing order) corresponding to the shortest total passing time among various passing patterns (passing orders) can be determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS.

[0104] The control means 34 has a function of controlling the passage of each of at least one first vehicle C1 and at least one second vehicle C2 at the intersection IS based on the determined passing order.

[0105] Further, the control means 34 generates information indicating whether to permit each of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 to pass through the intersection IS based on the determined passing order, and transmits the generated information to each of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2, thereby controlling the passage of each of at least one first vehicle C1 and at least one second vehicle C2 at the intersection IS. As a result, considering the passing directions of the vehicles C1 and C2 in the first lane L1 and the second lane L2 at the intersection IS, it is possible to control whether to permit each of the leading vehicles C1 and C2 in the first lane L1 and the second lane L2 to pass through the intersection IS according to the determined passing order so that the time until passing through the intersection IS (that is, the waiting time of each vehicle C1 and C2 at the intersection IS) is shortened.

[0106] The function of the control means 34 is realized as follows, for example. When the CPU 21 of the traffic control device 20 determines the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS based on the function of the determination means 33, it may generate signal information indicating whether to permit the passage of the intersection IS for the leading vehicles C1 and C2 in each of the lanes L1 and L2, and transmit the generated signal information to each of the leading vehicles C1 and C2 via the communication interface unit 29.

[0107] Here, for example, a case where the passing order corresponding to the above-described case 2 is determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS will be described as an example. In this case, first, the CPU 21 may generate signal information (for example, text data, image data, and / or voice data indicating permission to pass the intersection IS, such as "Please pass the intersection according to the traveling direction") indicating permission to pass the intersection IS for the first vehicle C11 among the leading vehicles C11 and C21 in each of the lanes L1 and L2, and transmit the generated signal information to the first vehicle C11 via the communication interface unit 29. On the other hand, the CPU 21 may generate signal information (for example, text data, image data, and / or voice data indicating non-permission to pass the intersection IS, such as "Please do not pass the intersection yet") indicating non-permission to pass the intersection IS for the second vehicle C21 among the leading vehicles C11 and C21 in each of the lanes L1 and L2, and transmit the generated signal information to the second vehicle C21 via the communication interface unit 29.

[0108] Next, when it is determined that the elapsed time required for the first vehicle C11 to pass has passed since the signal information was transmitted to the first vehicle C11, the CPU 21 may generate signal information indicating permission for the second vehicle C21 among the leading vehicles C12 and C21 in each lane L1 and L2 to pass through the intersection IS, and transmit the generated signal information to the second vehicle C21 via the communication interface unit 29. On the other hand, the CPU 21 may generate signal information indicating that the first vehicle C12 among the leading vehicles C12 and C21 in each lane L1 and L2 is not permitted to pass through the intersection IS, and transmit the generated signal information to the first vehicle C12 via the communication interface unit 29.

[0109] Next, when it is determined that the elapsed time required for the second vehicle C21 to pass has passed since the signal information was transmitted to the second vehicle C21, the CPU 21 may generate signal information indicating permission for each of the leading vehicles C12 and C22 in each lane L1 and L2 to pass through the intersection IS, and transmit the generated signal information to each of the first vehicle C12 and the second vehicle C22 via the communication interface unit 29.

[0110] Then, when it is determined that the elapsed time required for each of the first vehicle C12 and the second vehicle C22 to pass through the intersection IS simultaneously has passed since the signal information was transmitted to each of the first vehicle C12 and the second vehicle C22, the CPU 21 may generate signal information indicating permission for each of the leading vehicles C13 and C23 in each lane L1 and L2 to pass through the intersection IS, and transmit the generated signal information to each of the first vehicle C13 and the second vehicle C23 via the communication interface unit 29.

[0111] (5) Flow of the main processing of the traffic control system according to the present embodiment Next, an example of the flow of the main processing performed by the traffic control system according to the present embodiment will be described with reference to the flowchart of FIG. 13.

[0112] First, based on the function of the first acquisition means 31, the CPU 21 of the traffic control device 20 acquires information regarding the passing direction of the intersection IS from each of at least one first vehicle C1 that is a vehicle waiting to pass through the intersection IS in the first lane L1 connected to the intersection IS (step S200). Here, the CPU 21 may acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of at least one first vehicle C1.

[0113] Next, based on the function of the second acquisition means 32, the CPU 21 of the traffic control device 20 acquires information regarding the passing direction of the intersection IS from each of at least one second vehicle C2 that is a vehicle waiting to pass through the intersection IS in the second lane L2 that is connected to the intersection IS and whose passing through the intersection IS is permitted simultaneously with the first lane L1, and that can pass through the intersection IS in the direction (here, the right-turn direction) crossing the first lane L1 (step S202). Here, the CPU 21 may acquire information regarding the passing direction of the intersection IS transmitted from the communication device 10 provided in each of at least one second vehicle C2.

[0114] Next, based on the function of the determination means 33, the CPU 21 of the traffic control device 20 determines the passing order of each of the at least one first vehicle C1 and the at least one second vehicle C2 at the intersection IS so that the time until each of the at least one first vehicle C1 and the at least one second vehicle C2 passes through the intersection IS is shortened, based on the information regarding the passing direction of the intersection IS acquired from each of the at least one first vehicle C1 and the at least one second vehicle C2 (step S204). Here, the CPU 21 may determine the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS according to the flowchart shown in FIG. 9.

[0115] Then, based on the function of the control means 34, the CPU 21 of the traffic control device 20 controls the passage of each of the at least one first vehicle C1 and the at least one second vehicle C2 at the intersection IS based on the determined passing order (step S206).

[0116] In this way, each of at least one first vehicle C1 and at least one second vehicle C2 can pass through the intersection IS according to the passing order determined so that the time until passing through the intersection IS (that is, the waiting time of each vehicle C1, C2 at the intersection IS) is shortened, taking into account the passing direction of the intersection IS of each vehicle C1, C2.

[0117] As described above, according to the traffic control system, traffic control method, and program of the present embodiment, based on the information regarding the passing direction of the intersection IS acquired from each of at least one first vehicle C1 and at least one second vehicle C2, the passing order of each of the at least one first vehicle C1 and the at least one second vehicle C2 at the intersection IS is determined so that the time until each of the at least one first vehicle C1 and the at least one second vehicle C2 passes through the intersection IS is shortened. Based on the determined passing order, the passage of each of the at least one first vehicle C1 and the at least one second vehicle C2 at the intersection IS is controlled. Therefore, each of the at least one first vehicle C1 and the at least one second vehicle C2 can pass through the intersection IS according to the passing order determined so that the time until passing through the intersection IS (that is, the waiting time of each vehicle C1, C2 at the intersection IS) is shortened, taking into account the passing direction of the intersection IS of each vehicle C1, C2. As a result, the vehicles C1, C2 in each lane (that is, the first lane L1 and the second lane L2) that can pass through the intersection IS simultaneously can pass through the intersection IS smoothly.

[0118] Note that the program of the present invention may be stored in a computer-readable storage medium. The storage medium recording this program may be the ROM12, RAM13, or storage device 14 of the communication device 10 shown in FIG. 2, or the ROM22, RAM23, or storage device 24 of the traffic control device 20 shown in FIG. 3. Further, the storage medium may be a CD-ROM or the like that can be read by being inserted into a program reading device such as a CD-ROM drive. Furthermore, the storage medium may be a magnetic tape, cassette tape, flexible disk, MO / MD / DVD, or the like, or a semiconductor memory.

[0119] The embodiments described above are described for facilitating the understanding of the present invention and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiments is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

[0120] (Modification example) In the above-described embodiment, as an example, the case where the determination means 33 determines the passing order of each of one or more vehicles C1 and C2 corresponding to the shortest total passing time required as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS has been described. However, the present invention is not limited to this case. For example, until a predetermined condition is satisfied, the determination means 33: (1) based on information regarding the passing direction of the leading vehicles C1 and C2 at the intersection IS in each of the first lane L1 and the second lane L2, selects one or more prediction patterns from among a first prediction pattern for passing the leading vehicle C1 in the first lane L1, a second prediction pattern for passing the leading vehicle C2 in the second lane L2, and a third prediction pattern for passing the leading vehicles C1 and C2 in each of the first lane L1 and the second lane L2; (2) for each selected prediction pattern, estimates the passing order of the leading vehicle corresponding to the selected prediction pattern at the intersection IS; (3) for each selected prediction pattern, adds the passing time required for the leading vehicle corresponding to the selected prediction pattern at the intersection IS to the waiting time of each of one or more vehicles assumed to be waiting for passing at the intersection IS among at least one first vehicle C1 and at least one second vehicle C2; (4) for each selected prediction pattern, estimates the leading vehicles in each of the first lane L1 and the second lane L2 assuming that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection IS. The processes (1) to (4) are repeated, and when a predetermined condition is satisfied, the passing order of each of one or more vehicles at the intersection IS where the average of the waiting times is the shortest may be determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS. As a result, various passing orders are estimated every time it is predicted that either or both of the leading vehicle C1 in the first lane L1 and the leading vehicle C2 in the second lane L2 will pass through. Among the various passing orders, the passing order with the shortest average waiting time of each vehicle C1 and C2 at the intersection IS is determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at the intersection IS. Therefore, each of at least one first vehicle C1 and at least one second vehicle C2 can pass through the intersection IS according to the determined passing order so that the time until passing through the intersection IS is shortened.

[0121] An example of the processing of the determination means 33 in this modification will be described with reference to the flowchart of FIG. 14. Note that the processing contents of steps S300, S302, S306, and S308 in the flowchart of FIG. 14 may be the same as the processing contents of steps S100, S102, S106, and S108 in the flowchart of FIG. 9. The processing of step S304 in the flowchart of FIG. 14 will be described. The CPU 21 of the traffic control device 20 performs the above-described processing (3). That is, for each selected prediction pattern, the CPU 21 adds the passing time required for the leading vehicle corresponding to the selected prediction pattern to pass through the intersection IS to the waiting time of each of one or more vehicles waiting for passage through the intersection IS among at least one first vehicle C1 and at least one second vehicle C2.

[0122] Specifically explaining the process of step S304, when the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, for example, when a passing pattern (first prediction pattern) is selected to allow the leading vehicle C11 in the first lane L1 to pass, the CPU 21 adds the time required for the leading vehicle C11 to pass through the intersection IS (passing required time) to the waiting time of each of one or more vehicles (here, each of the vehicles C12, C13, C21, C22, C23) assumed to be waiting for the passage through the intersection IS. On the other hand, when the leading vehicle in the first lane L1 is the first vehicle C11 and the leading vehicle in the second lane L2 is the second vehicle C21, for example, when a passing pattern (second prediction pattern) is selected to allow the leading vehicle C21 in the second lane L2 to pass, the CPU 21 adds the time required for the leading vehicle C21 to pass through the intersection IS (passing required time) to the waiting time of each of one or more vehicles (here, each of the vehicles C11, C12, C13, C22, C23) assumed to be waiting for the passage through the intersection IS. Here, the value of the passing required time may be arbitrarily set. Also, the passing required time may be set to the same value for each of the vehicles C1, C2, or may be set to different values according to, for example, the vehicle types of each of the vehicles C1, C2. Further, the initial value of the waiting time at the intersection IS for each of the vehicles C1, C2 may be set to an arbitrary value (for example, 0, etc.).

[0123] Next, the processing of step S310 in the flowchart of FIG. 14 will be described. The CPU 21 of the traffic control device 20 determines the passing order of each of the one or more vehicles C1 and C2 at each intersection IS where the average waiting time is the shortest as the passing order of each of the first vehicle C1 and the second vehicle C2 at each intersection IS. Specifically describing the processing of step S310, the CPU 21 may discriminate the passing pattern (case) in which the average waiting time of each vehicle C1 and C2 at the intersection IS is the shortest among the plurality of passing patterns (cases) in the above-described embodiment, and extract the passing order of the vehicle corresponding to the discriminated passing pattern (case). In this case, the CPU 21 may extract, for example, the passing order of the vehicle corresponding to case 2 or case 3 among cases 1 to 4 described above.

[0124] In this way, among various passing patterns (passing orders), the passing pattern (passing order) in which the average waiting time of each vehicle C1 and C2 at the intersection IS is the shortest can be determined as the passing order of each of the first vehicle C1 and the second vehicle C2 at each intersection IS.

[0125] Also, in the above-described embodiment, as shown in FIG. 1, the case of controlling the passing of each vehicle C1 and C2 in each lane L1 and L2 at a crossroads intersection has been described as an example. However, the present invention can also be applied, for example, to the case of controlling the passing of each vehicle C1 and C2 in each lane L1 and L2 at a Y-shaped intersection or other multi-fork intersections.

[0126] Also, in the above-described embodiment, the case where the traffic control device 20 is provided at a position near the intersection IS has been described as an example. However, the present invention is not limited to this case. For example, the traffic control device 20 may be provided at a position away from the intersection IS (for example, a position several hundred meters or several kilometers or more away, or a position capable of communicating with each vehicle C1 and C2 in each lane L1 and L2 via a communication network such as the Internet or a LAN). Further, the traffic control device 20 may be provided in any one of at least one first vehicle C1 and / or any one of at least one second vehicle C2.

[0127] Furthermore, in the above-described embodiment, the case where the search for the passing pattern (passing order) is performed using a tree structure has been described as an example. However, the search for the passing pattern (passing order) may be performed using other graph theories.

[0128] Furthermore, in the above-described embodiment, the case where one traffic control device 20 is provided has been described as an example. However, the present invention is not limited to this case. For example, a plurality of traffic control devices 20 may be provided. In this case, the operation content, processing results, etc. on any one of the traffic control devices 20 may be presented in real time on other traffic control devices 20, or the processing results, etc. on any one of the traffic control devices 20 may be shared among the plurality of traffic control devices 20.

[0129] Furthermore, in the above-described embodiment, the case where each vehicle C1, C2 travels on the left side has been described as an example. However, the present invention can also be applied to the case where each vehicle C1, C2 travels on the right side. In this case, the passing direction group A may indicate that the passing directions of the leading vehicles C1, C2 at the intersection IS of the first lane L1 and the second lane L2 are right turns or straight-ahead, and the passing direction group B may indicate that the passing directions of the leading vehicles C1, C2 at the intersection IS of the first lane L1 and the second lane L2 are left turns.

[0130] Also, in the above-described embodiment, the traffic control device 20 is configured to realize the functions of the first acquisition means 31, the second acquisition means 32, the determination means 33, and the control means 34. However, the present invention is not limited to this configuration. For example, a computer or the like (for example, a general-purpose personal computer or a server) that is communicably connected to the traffic control device 20 via a communication network such as the Internet or a LAN may be configured to realize the functions of at least one of the above-described means 31 to 34. Further, each function of the functional block diagram shown in FIG. 4 may be arbitrarily shared between the traffic control device 20 and a traffic control server, which is an example of a computer communicably connected to the traffic control device 20, as shown in FIGS. 15(a) and 15(b).

[0131] Furthermore, it may be configured such that the communication device 10 realizes the functions of at least one of the above-described means 31 to 34.

Industrial Applicability

[0132] The traffic control system, traffic control method, and program of the present invention as described above can be suitably used for traffic control services for vehicles and the like, and thus their industrial applicability is extremely high.

Explanation of Signs

[0133] 10... Communication device 20... Traffic control device 31... First acquisition means 32... Second acquisition means 33... Decision generation means 34... Control means C1, C11, C12, C13... First vehicle C2, C21, C22, C23... Second vehicle IS... Intersection L1... First lane L2... Second lane

Claims

1. A traffic control system for controlling the passage of vehicles at a predetermined intersection, comprising: first acquisition means for acquiring information regarding the passing direction of the intersection from each of at least one first vehicle that is a vehicle waiting to pass through the intersection in a first lane connected to the intersection; second acquisition means for acquiring information regarding the passing direction of the intersection from each of at least one second vehicle that is a vehicle waiting to pass through the intersection in a second lane connected to the intersection and allowing passage through the intersection simultaneously with the first lane, the second lane being capable of passing through the intersection in a direction crossing the first lane; determination means for determining the passing order of each of the at least one first vehicle and the at least one second vehicle through the intersection based on the information regarding the passing direction of the intersection acquired from each of the at least one first vehicle and the at least one second vehicle, such that the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection is shortened; control means for controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection based on the determined passing order. A traffic control system.

2. The determination means: until a predetermined condition is satisfied, (1) selecting one or more prediction patterns from a first prediction pattern for passing the leading vehicle in the first lane, a second prediction pattern for passing the leading vehicle in the second lane, and a third prediction pattern for passing the leading vehicles in both the first lane and the second lane, based on the information regarding the passing direction of the intersection of the leading vehicles in each of the first lane and the second lane; (2) for each selected prediction pattern, estimating the passing order of the leading vehicle corresponding to the selected prediction pattern through the intersection; (3) for each selected prediction pattern, adding the passing time of the leading vehicle corresponding to the selected prediction pattern through the intersection to the total passing time, which is the sum of the passing times of one or more vehicles that are assumed to have passed through the intersection according to the estimated passing order; (4) for each selected prediction pattern, estimating the leading vehicles in each of the first lane and the second lane when it is assumed that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection. Repeat the processes (1) to (4) above, and when the predetermined conditions are satisfied, determine the passing order of each of the one or more vehicles corresponding to the shortest total passing time among the plurality of total passing times as the passing order of each of the first vehicle and the second vehicle at the intersection. The traffic control system according to claim 1.

3. The determining means until the predetermined conditions are satisfied (1) Based on the information regarding the passing direction of the leading vehicle at the intersection in each of the first lane and the second lane, select one or more prediction patterns from among a first prediction pattern for passing the leading vehicle in the first lane, a second prediction pattern for passing the leading vehicle in the second lane, and a third prediction pattern for passing the leading vehicles in each of the first lane and the second lane. (2) For each selected prediction pattern, estimate the passing order of the leading vehicle corresponding to the selected prediction pattern at the intersection. (3) For each selected prediction pattern, add the passing time of the leading vehicle corresponding to the selected prediction pattern at the intersection to the waiting time of each of the one or more vehicles assumed to be waiting for passing at the intersection among the at least one first vehicle and the at least one second vehicle. (4) For each selected prediction pattern, estimate the leading vehicles in each of the first lane and the second lane when it is assumed that the leading vehicle corresponding to the selected prediction pattern has passed through the intersection. Repeat the processes (1) to (4) above, and when the predetermined conditions are satisfied, determine the passing order of each of the one or more vehicles at the intersection where the average of the waiting times of each of the one or more vehicles is the shortest as the passing order of each of the first vehicle and the second vehicle at the intersection. The traffic control system according to claim 1.

4. In the process (1), the determining means selects only the third prediction pattern when it is determined based on the information regarding the passing direction of the leading vehicle at the intersection in each of the first lane and the second lane that the leading vehicles in each of the first lane and the second lane can pass through the intersection simultaneously. The traffic control system according to claim 2 or 3.

5. The predetermined conditions include the assumption that all of the at least one first vehicle and the at least one second vehicle have passed through the intersection. The traffic control system according to claim 2 or 3.

6. The predetermined condition includes that the number of vehicles assumed to have passed through the intersection reaches a predetermined value that is less than the total number of all of the at least one first vehicle and the at least one second vehicle. The traffic control system according to claim 2 or 3.

7. The predetermined condition includes that the number of selections of the prediction pattern reaches a predetermined value. The traffic control system according to claim 2 or 3.

8. The control means generates information indicating whether to permit each leading vehicle in the first lane and the second lane to pass through the intersection based on the determined passing order, and controls the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection by transmitting the generated information to each leading vehicle in the first lane and the second lane. The traffic control system according to claim 1.

9. The first acquisition means acquires information regarding the passing direction of the intersection transmitted from a communication device provided in each of the at least one first vehicle. The traffic control system according to claim 1.

10. The second acquisition means acquires information regarding the passing direction of the intersection transmitted from a communication device provided in each of the at least one second vehicle. The traffic control system according to claim 1.

11. The second lane is a lane opposite to the first lane. The traffic control system according to claim 1.

12. The traffic control system is provided at a position near the intersection. The traffic control system according to claim 1.

13. A traffic control method for a computer to control the passage of vehicles at a predetermined intersection, comprising: the computer: acquiring information regarding the passing direction of the intersection from each of at least one first vehicle that is a vehicle waiting to pass through the intersection in a first lane connected to the intersection; acquiring information regarding the passing direction of the intersection from each of at least one second vehicle that is a vehicle waiting to pass through the intersection in a second lane connected to the intersection and permitted to pass through the intersection simultaneously with the first lane, the second lane being able to pass through the intersection in a direction crossing the first lane; Based on the information regarding the passing direction of the intersection obtained from each of the at least one first vehicle and the at least one second vehicle, determining the passing order of each of the first vehicle and the second vehicle at the intersection so that the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection is shortened; Based on the determined passing order, controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection; Executing each of the steps of; Traffic control method.

14. A program for causing a computer to control the passage of vehicles at a predetermined intersection, The computer is caused to, Have a function of obtaining information regarding the passing direction of the intersection from each of at least one first vehicle that is a vehicle waiting to pass through the intersection in a first lane connected to the intersection; Have a function of obtaining information regarding the passing direction of the intersection from each of at least one second vehicle that is a vehicle waiting to pass through the intersection in a second lane connected to the intersection and allowing passage through the intersection simultaneously with the first lane, and the second lane being able to pass through the intersection in a direction crossing the first lane; Based on the information regarding the passing direction of the intersection obtained from each of the at least one first vehicle and the at least one second vehicle, determining the passing order of each of the first vehicle and the second vehicle at the intersection so that the time until each of the at least one first vehicle and the at least one second vehicle passes through the intersection is shortened; Based on the determined passing order, controlling the passage of each of the at least one first vehicle and the at least one second vehicle at the intersection; A program for realizing the above.

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