Signal controller

Abstract

To provide a signal controller that incorporates signal control that responds to obstacle detection. [Solution] The signal controller 10 includes a monitoring device 20 that monitors the road RA including the intersection CS, and a control device 31 that switches between normal operation, safety operation, obstacle operation, and flashing operation of the signal lamp SG, and a control unit 30 that outputs a control signal to the signal lamp SG corresponding to the switched operation. The control device 31 switches from normal operation to obstacle operation when the monitoring device 20 detects an obstacle OB.

Description

Technical Field

[0001] The present invention relates to a signal control device that switches the operation mode of signal control.

Background Art

[0002] An abnormal state notification device that detects an abnormal state around a traffic signal and notifies an emergency notification such as a red signal to suppress intrusion into the position where the abnormal state has occurred is known (Patent Document 1). In the device of Patent Document 1, when notifying an emergency notification, for example, a blue signal is forcibly changed to a combination of a red signal and an arrow signal, and while prohibiting intrusion into the position where the abnormal state has occurred, movement to another position different from the position where the abnormal state has occurred is permitted.

[0003] The device of Patent Document 1 discloses switching between normal notification information and emergency notification information, but does not disclose the relationship with other signal controls of the traffic signal.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] The present invention has been made in view of the above background, and an object thereof is to provide a signal control device incorporating signal control corresponding to obstacle detection.

[0006] To achieve the above object, a signal control device according to the present invention includes a monitoring device that monitors a road including an intersection, and a control device that switches the normal operation, security operation, obstacle operation, and flashing operation of a traffic signal device, and a control device body that outputs a control signal corresponding to the switched operation to the traffic signal device. When the monitoring device detects an obstacle, the control device switches from the normal operation to the obstacle operation.

[0007] In the above-mentioned signal controller, when an obstacle is detected, the operation of the signal lights is switched to obstacle detection mode, thereby preventing accidents caused by obstacles in and near the intersection. [Brief explanation of the drawing]

[0008] [Figure 1] This is a conceptual diagram illustrating a road equipped with a signal controller according to the first embodiment. [Figure 2] This is a block diagram showing an example configuration of a signaling system including a signal controller. [Figure 3] This is a front view illustrating a traffic signal light. [Figure 4] (A) is an example of a timetable for the control signals for the normal operation of a signal light by a signal controller, (B) is an example of a timetable for the control signals for obstacle detection of a signal light, and (C) is a diagram illustrating the display state of the signal lights in (A) and (B). [Figure 5] This is a conceptual flowchart illustrating the switching of operating modes in a signal controller. [Figure 6] This is a conceptual flowchart explaining the operation of a signal controller. [Figure 7] This is a conceptual diagram illustrating a road equipped with a signal controller according to the second embodiment. [Figure 8] (A) is an example of a timetable for the control signals for the normal operation of a signal light by the signal controller shown in Figure 7, and (B) is an example of a timetable for the control signals for the obstacle detection operation of a signal light. [Figure 9] This is a conceptual diagram illustrating a road equipped with a modified traffic signal control system. [Modes for carrying out the invention]

[0009] [First Embodiment] The following describes a signal controller according to the first embodiment of the present invention. Figure 1 is a conceptual diagram illustrating a road RA and intersection CS in which the signal controller 10 of the first embodiment is introduced. Figure 2 is a block diagram illustrating an example configuration of a signal system 100 including the signal controller 10. Figure 3 is a front view illustrating a signal lamp SG.

[0010] Referring to Figure 1, among the roads RA, the road on which the vehicle VE of interest travels is designated as the main road RA1, and the road intersecting the main road RA1 is designated as the secondary road RA2. The main road RA1 follows a predetermined first direction V1, and the secondary road RA2 follows a second direction V2 perpendicular to the first direction V1. Intersection CS is the place where the main road RA1 and the secondary road RA2 intersect. Intersection CS is equipped with vehicle signals SG1, SG1' and a pedestrian signal SG1a for the main road RA1, and vehicle signals SG2, SG2' and a pedestrian signal SG2a for the secondary road RA2. The vehicle signals SG1, SG1', SG2, SG2', and pedestrian signals SG1a, SG2a are also called signal lights SG.

[0011] The signal controller 10 controls the operation of multiple signal lights SG (specifically, vehicle lights SG1, SG1', SG2, SG2', and pedestrian lights SG1a, SG2a) that make up the traffic signal installed at the intersection CS.

[0012] As shown in Figure 3, the signal lamp SG has a blue light emitter SGg, a yellow light emitter SGy, and a red light emitter SGr that turn on, flash, or turn off in response to commands from the signal controller 10. The signal lamp SG also has arrow signal lights SGa, SGb, SGc or arrow-type signal lamps that turn on or off in response to commands from the signal controller 10. The symbol SGa indicates a right-turn arrow light, the symbol SGb indicates a straight-ahead arrow light, and the symbol SGc indicates a left-turn arrow light. In this embodiment, three arrow signal lights SGa, SGb, and SGc are exemplified, but there may be one or two arrow signal lights. The arrow signal lights SGa, SGb, and SGc may operate in normal operation and obstacle operation modes, or they may operate only in obstacle operation mode. In addition, the number of arrow signal lights SGa, SGb, and SGc operating in each operation mode may be increased or decreased.

[0013] As shown in Figure 2, the signal controller 10 comprises a monitoring device 20 and a controller body 30.

[0014] The monitoring device 20 monitors roads RA1 and RA2, including intersection CS, as the monitoring area DR shown in Figure 1. The monitoring area DR is, for example, the area within intersection CS, as well as the area where it is difficult to avoid obstacle OB if such obstacle OB is present. The monitoring device 20 is installed inside or attached to the signal light SG. This allows the monitoring device 20 to be installed at a relatively high position, enabling monitoring over a wider area. In the illustrated example, the monitoring device 20 is built into the housing Bx of the signal light SG (see Figure 3). In this embodiment, the monitoring device 20 is installed in each of the four vehicle signals SG1, SG1', SG2, and SG2' of the signal light SG installed at intersection CS, enabling overall monitoring of intersection CS and the surrounding roads RA. Note that the monitoring device 20 may be installed not on the signal light SG itself, but on the pole or arm on which the signal light SG is installed.

[0015] The monitoring device 20 includes, for example, an imaging unit 21. The imaging unit 21 captures, for example, images of traffic conditions in the monitoring area DR. The imaging unit 21 is, for example, a camera that captures images in the visible light wavelength band. Alternatively, the imaging unit 21 may be a camera that captures images in the infrared light wavelength band. The imaging unit 21 transmits the video data or image data acquired by the imaging to the image processing unit 31a, which will be described later.

[0016] The control unit 30 controls the operation of the signal lamp SG as a signal switching operation, such as turning on, flashing, or turning off. The control unit 30 outputs a signal switching control signal to the signal lamp SG in order to have the signal switching operation performed by the signal lamp SG. The control unit 30 also switches the operating mode of the signal lamp SG in response to its own tiered patterns such as timetables, monitoring results from the monitoring device 20, and commands from the control center 300 (see Figure 1). The control unit 30 outputs a control signal to the signal lamp SG corresponding to the operating mode.

[0017] The operating modes of the signal lamp device SG include normal operation, security operation, obstacle operation, and flashing operation. The normal operation includes independent operation by the control device 31 and remote operation by the central device 200 that manages the signal lamp device SG. That is, the normal operation is divided into independent operation and remote operation.

[0018] Among the normal operations, the independent operation is an operating state based on the signal information stored in the signal controller 10 and is signal control when no instruction is received from the central device 200. The independent operation operates based on a stepped pattern preset for each time zone.

[0019] Among the normal operations, the remote operation is an operating state based on an instruction from the central device 200. The remote operation switches when connected to the central device 200 during independent operation. The remote operation is signal control that switches after the normal operation of the independent operation. The central device 200 calculates a signal control operation to optimize the traffic situation based on information such as traffic volume and transmits signal information to the signal controller 10.

[0020] The security operation is signal control that operates only by hardware when the control device 31 (microprocessor (MPU) 3a) described later that performs the processing of independent operation and remote operation cannot operate. The signal lamp device SG operates in the set stepped pattern. Thereby, the signal controller 10 can safely continue signal control to the signal lamp device SG.

[0021] The obstacle operation is signal control that does not grant the right of passage to the traffic lane SA in which the obstacle area OBa including the obstacle OB exists when an obstacle OB as shown in FIG. 1 is detected. Here, the obstacle area OBa includes the obstacle OB and the interference zone OBz around the obstacle OB.

[0022] In the example shown in Figure 1, the obstacle OB or obstacle area OBa is located downstream of the intersection CS on the main road RA1, relative to the first direction V1. Specifically, obstacle area OBa is located in a position that would obstruct a vehicle VE traveling in the first direction V1 on lane Rb1 of the main road RA1 if it were to travel straight. In this case, the traffic section SA where obstacle area OBa exists is a part of intersection CS, which includes the planned straight-ahead route RT1 of vehicle VE, and lane Rb1 of the main road RA1. Therefore, the obstacle action results in a signal control that does not grant vehicle VE the right of way in the straight-ahead direction when traveling in the first direction V1. Note that for vehicles traveling in the opposite lane Rb2 on the main road RA1, opposite to the first direction V1, there is no restriction on their right of way because obstacle area OBa does not exist on their planned route. Furthermore, on the secondary road RA2, in lane Rc1, for vehicles traveling in the second direction V2, an obstacle area OBa exists on the planned left-turn route RT2, so the obstacle detection will result in a signal control that does not grant the right of way to turn left. Also, on the secondary road RA2, for vehicles traveling in the opposing lane Rc2, opposite to the second direction V2, an obstacle area OBa exists on the planned right-turn route RT3, so the obstacle detection will result in a signal control that does not grant the right of way to turn right.

[0023] The flashing mode is an operating mode in which, when signal control cannot be performed normally due to a malfunction or other reason, the yellow light emitter SGy or the red light emitter SGr of a signal lamp SG is flashed (flashed display). For example, if the signal lamp SG on intersecting roads RA1 and RA2 are detected to be simultaneously displaying green, it is judged to be an abnormality and the system switches to flashing mode. In flashing mode, the color of the flashing light is determined by the direction, and in principle, the signal lamp SG on intersecting roads RA1 and RA2 will flash with different colors. For example, the yellow light emitter SGy flashes on the pair of vehicle lamps SG1 and SG1' on the first direction V1, and the red light emitter SGr flashes on the pair of vehicle lamps SG2 and SG2' on the second direction V2. Flashing mode is also switched to when an obstacle OB is detected and there is no alternative timetable. In this case, the arrow signal lights SGa, SGb, and SGc will be turned off. For example, in an on-ramp where an obstacle OB exists, the red light emitter SGr of signal light SG will flash, and in a road intersecting the on-ramp, the yellow light emitter SGy of signal light SG will flash. Note that the flashing method of signal light SG during flashing operation can be changed as appropriate. Specifically, the same flashing method as in the case of a malfunction may be used when an obstacle is detected.

[0024] Returning to Figure 2, the control unit body 30 includes a control device 31, a timing unit 32, a storage unit 33, a signal control unit 34, a light switch unit 35, a power supply unit 36, and a communication unit 37.

[0025] The control device 31 comprehensively controls the components of the signal controller 10. The control device 31 is a microprocessor (MPU) 3a with various functions such as data storage, input / output, and calculation, and is capable of storing and executing programs. The control device 31 switches the operating modes of the signal lamp SG to normal operation, safety operation, obstacle detection operation, and flashing operation. In particular, when the monitoring device 20 detects an obstacle OB, the control device 31 switches from normal operation to obstacle detection operation.

[0026] The control device 31 controls the operation of the lamp opening / closing unit 35 via the signal control unit 34 according to the steps or stages as time progresses, based on a time table or indication step table stored in the memory unit 33 as its own step pattern. The control device 31 causes the lamp opening / closing unit 35 to output a control signal or control command to be transmitted to the signal lamp SG at a predetermined timing according to a predetermined control mode. The control device 31 can also handle sensor-activated control that changes the lighting time of the blue light emitter SGg based on sensors such as detectors.

[0027] The control device 31 includes an image processing unit 31a and a determination unit 31b.

[0028] The image processing unit 31a performs analysis processing related to traffic conditions from video data or image data acquired by the imaging unit 21 of the monitoring device 20. The image processing unit 31a extracts passing vehicles (VE), pedestrians (not shown), obstacles (OB), etc. from the video data or image data, and is capable of analyzing their movement, position, etc. The detection of obstacles (OB), etc. by the image processing unit 31a can use known object recognition technology. Note that the image processing unit 31a may be provided in a location other than the control device 31. For example, the image processing unit 31a may be provided inside the monitoring device 20 or near the imaging unit 21.

[0029] The determination unit 31b makes a determination regarding the traffic conditions at and around the intersection CS. If the determination unit 31b detects an obstacle OB, it extracts the drivable and drivable traffic sections based on the planned route on the road RA. Specifically, as shown in Figure 1, if an obstacle OB exists in the straight lane Rb1 after passing the intersection CS on the main road RA1, the determination unit 31b determines that both lanes of the straight lane Rb1 where the obstacle OB exists are in a drivable traffic section (traffic section SA where the obstacle area OBa exists). The determination unit 31b makes a similar determination for the other lanes Rb2, Rc1, and Rc2 that pass through the intersection CS.

[0030] Furthermore, if the determination unit 31b detects an obstacle OB, it determines the indicated floor to avoid the obstacle area OBa containing the obstacle OB. As will be described in detail later, as shown in Figure 4(A), the determination unit 31b extracts the obstruction floor HS that grants the right of passage to the traffic section SA where the obstacle area OBa exists from the floor patterns of normal operation, and changes the obstruction floor HS to an alternative floor AS that does not grant the right of passage. The determination unit 31b sets the alternative floor AS in a way that maintains the floor as much as possible. At this time, the determination unit 31b sets the alternative floor AS considering all lanes Rb1 to Rc2 passing through the intersection CS. This makes it possible to switch the operation mode to obstacle operation while maintaining the floor pattern as much as possible. While outputting a command to switch to obstacle operation, the determination unit 31b notifies the central device 200 to request hand signals, removal of obstacle OB, etc.

[0031] If there is no alternative step, the determination unit 31b outputs a command to switch the operation mode to flashing operation, and notifies the central device 200 to request hand signals, removal of the obstacle OB, etc. In the above, the determination unit 31b determines that both lanes are impassable if the obstacle area OBa is present in only one of the two lanes, but it may also determine that the straight lane is impassable, assuming that the vehicle will travel in the drivable lane of the two lanes.

[0032] The timing unit 32 functions as a clock and measures elapsed time, time interval, etc., based on a clock signal from a clock circuit (not shown). The timing unit 32 records the time for various operations in the control device 31 or the control unit body 30. The timing unit 32 operates signal lights SG, etc., based on the measured current time and the elapsed time from a specified timing. The timing unit 32 also assigns time data to various data, including video data or image data.

[0033] The memory unit 33 stores information necessary for the operation of the signal controller 10 (such as the program that executes the operation of the signal controller 10), a timetable or indication level table, etc. In addition, the memory unit 33 records video data or image data acquired from the monitoring device 20, and also stores the processing results by the image processing unit 31a.

[0034] The signal control unit 34 operates under the control of the control device 31 and based on commands from the control device 31. The signal control unit 34 can also independently operate the lamp opening / closing unit 35 based on signal information stored in the memory unit 33. For example, if the control device 31 malfunctions, control switches from the control device 31 to the signal control unit 34, as in the case of flashing lights. Similarly, in the case of safety operations, signal control is also handled by the signal control unit 34.

[0035] The lamp switching unit 35 is composed of a switch circuit and the like, and is responsible for switching signals. The lamp switching unit 35 outputs a control signal to the signal lamp SG while switching at predetermined timings according to the control by the signal control unit 34. Specifically, the lamp switching unit 35 sequentially switches the lamp color signals (blue, yellow, red) as control signals, so that at the signal lamp SG, only one of the blue light emitter SGg, yellow light emitter SGy, and red light emitter SGr shown in Figure 3 lights up and switches at predetermined timings. In addition, the lamp switching unit 35 switches the arrow signals (right turn, straight, left turn) as control signals, so that at the signal lamp SG, the arrow signal lights SGa, SGb, and SGc shown in Figure 3 switch at predetermined timings.

[0036] The power supply unit 36 ​​receives power from an external source, specifically an external commercial power source (not shown), and secures the power necessary to maintain the operation of the signal controller 10, as well as power to supply to signal lamps SG, etc. As a result, the signal controller 10 outputs control signals to the signal lamps SG via the lamp switching unit 35 and also supplies power taken in by the power supply unit 36. In the event that power cannot be supplied from the external commercial power source due to a power outage or the like, the power supply unit 36 ​​can be supplied with power by switching to a power source such as a storage battery or a generator.

[0037] The communication unit 37 is a communication interface with external devices and communicates with the central device 200 via a dedicated line or an internet line. The central device 200 is a device installed at a base station that performs traffic control in a designated area, such as a control center 300 (see Figure 1). The communication unit 37's line may be either wired or wireless.

[0038] As shown in Figure 1 and other figures, in this embodiment, the signal lamp SG and the signal controller 10 are combined with the central device 200 to constitute the signal system 100.

[0039] Figures 4(A) and 4(B) are examples of timetables that include the indication stages of signal lamp SG as part of the signal information. Figure 4(A) is an example of a timetable for the normal operation of signal lamp SG. Figure 4(B) is an example of a timetable for the obstacle operation of signal lamp SG. In Figure 4(B), as shown in Figure 1, an obstacle OB is present in the straight lane Rb1 of the main road RA1. Figure 4(C) shows the display state of signal lamp SG in the timetables of Figure 4(A), etc.

[0040] The timetable shown in Figure 4(A), etc., divides the indication of an intersection CS into multiple steps and adds the number of seconds for each step, corresponding to a table of the traffic signal's operating cycle. A step is a combination of signal indications (the smallest unit). The timetable stores the following information for one cycle as step information: step number, number of seconds (display time), flowchart (indication), display color of signal lamp SG, and the state of arrow signal lamps SGa, SGb, and SGc. In the figure, the step for direction 1 shows the state of signal lamp SG on the main road RA1, and the step for direction 2 shows the state of signal lamp SG on the secondary road RA2.

[0041] In Figure 4(A), etc., reference numeral 1V indicates the display state of the blue light emitter SGg, yellow light emitter SGy, and red light emitter SGr of the vehicle signal SG1 in lane Rb1 of the main road RA1 in the direction of travel (first direction V1). Reference numeral 1A indicates the display state of the right-turn arrow light SGa of the vehicle signal SG1. Reference numeral 1B indicates the display state of the straight-ahead arrow light SGb of the vehicle signal SG1. Reference numeral 1C indicates the display state of the left-turn arrow light SGc of the vehicle signal SG1. Reference numeral 1P indicates the display state of the pedestrian signal SG1a on the main road RA1. Reference numerals 2V to 2P indicate the display state of the vehicle signal SG2 in lane Rc1 of the secondary road RA2 in the direction of travel (second direction V2), and the pedestrian signal SG2a on secondary road RA2, corresponding to reference numerals 1V to 1P. In Figure 4(A), the display state of the vehicle signal SG1' on the opposing lane Rb2 of lane Rb1 is the same as that of vehicle signal SG1, so it is not shown. Similarly, the display state of the vehicle signal SG2' on the opposing lane Rc2 of lane Rc1 of secondary road RA2 is the same as that of vehicle signal SG2, so it is not shown.

[0042] In Figure 4(B), the symbol 1V indicates the display status of the blue light emitter SGg, the yellow light emitter SGy, and the red light emitter SGr among the vehicle lights SG1 in lane Rb1 of the main road RA1 in the direction of travel for the first direction V1. The symbols 1Ad to 1Cd indicate the display status of the arrow signals SGa, SGb, and SGc in lane Rb1. The symbol 1V' indicates the display status of the blue light emitter SGg, the yellow light emitter SGy, and the red light emitter SGr among the vehicle lights SG1' in the opposing lane Rb2. The symbols 1Ae to 1Ce indicate the display status of the arrow signals SGa, SGb, and SGc in the opposing lane Rb2. The symbol 2V indicates the display status of the blue light emitter SGg, the yellow light emitter SGy, and the red light emitter SGr among the vehicle lights SG2 in lane Rc1 of the secondary road RA2 in the direction of travel for the second direction V2. Codes 2Af to 2Cf indicate the display status of the arrow signal lights SGa, SGb, and SGc in lane Rc1. Code 2V' indicates the display status of the blue light SGg, yellow light SGy, and red light SGr among the vehicle lights SG2' in the opposing lane Rc2. Codes 2Ag to 2Cg indicate the display status of the arrow signal lights SGa, SGb, and SGc in the opposing lane Rc2.

[0043] In the example in Figure 4, the operation of vehicle lights SG1, SG2, etc. is controlled by switching the display of arrow signal lights SGa, SGb, and SGc, without using the blue light emitter SGg during normal operation or obstacle detection. However, arrow signal lights SGa, SGb, and SGc may be used only during obstacle detection.

[0044] In the example in Figure 1, on lane Rb1 of the main road RA1, a vehicle VE traveling in the first direction V1 has its right of way restricted because an obstruction area OBa exists in the straight-ahead direction. On lane Rc1 of the secondary road RA2, a vehicle traveling in the second direction V2 has its right of way restricted because an obstruction area OBa exists in the left-turn direction. On secondary road RA2, a vehicle traveling in the opposing lane Rc2, opposite to the second direction V2, has its right of way restricted because an obstruction area OBa exists in the right-turn direction.

[0045] The determination unit 31b determines the indicated stage in which the right of passage is restricted as described above in order to avoid the obstacle area OBa. As previously stated, the determination unit 31b extracts the obstruction stage HS that grants the right of passage to the passage section SA where the obstacle area OBa exists, from the normal operation stage patterns shown in Figure 4(A). In the example of Figure 1, the obstruction stage HS are stage numbers 1-3, 8-10, and 12. As shown in Figure 4(B), the determination unit 31b changes the extracted obstruction stage HS (specifically, stage numbers 1-3, 8-10, and 12) to an alternative stage AS that does not grant the right of passage. The alternative stage AS is selected, for example, from several pre-prepared patterns. Specifically, alternative timetables for anticipated obstacle operations are created in advance for the basic normal operation timetable and stored in the storage unit 33. The determination unit 31b selects an appropriate alternative timetable or alternative stage AS from the extracted patterns of obstruction stage HS. Furthermore, the alternative stage AS may be created based on the planned route where the right of way can be permitted. Alternatively, the alternative stage AS may be created by removing the indications that restrict the right of way from the obstructing stage HS.

[0046] Figure 5 is a diagram illustrating the state transitions of the signal controller 10. As previously described, the signal controller 10 switches between normal operation (independent operation or remote operation), safety operation, obstacle detection operation, and flashing operation for the signal lamp SG.

[0047] As shown in Figure 5, the signal controller 10 performs a full red display (step S12) after powering on (step S11). The full red display is an operation that, immediately after powering on (step S11) or after the flashing operation (step S17) is completed, causes all signal lights SG to be displayed red for, for example, 5 seconds in order to temporarily stop all vehicles. The full red display is performed under the control of the signal control unit 34.

[0048] After step S12, the control device 31 switches the operating mode to safety operation (step S13). The safety operation is performed under the control of the signal control unit 34.

[0049] If the control device 31 has completed the initial operations in steps S11 and S12 and the control device 31 (microprocessor 3a) is operating normally, it switches to standalone operation as normal operation (step S14). Normal operation is performed under the control of the control device 31 via the signal control unit 34. If the control device 31 is faulty, it switches from standalone operation (step S14) to safety operation (step S13).

[0050] When the control device 31 is connected to the central unit 200 of the control center 300, it switches to remote operation as normal operation (step S15). When the line is disconnected, the control device 31 switches from remote operation (step S15) to standalone operation (step S14).

[0051] If the control device 31 detects an obstacle OB during the normal standalone operation (step S14), it switches to obstacle detection operation (step S16). If the normal operation is remote operation (step S15), the control device 31 temporarily transfers the operation control of the signal lamp SG to the control device 31 in the control unit 30, returns to standalone operation (step S14), and then switches to obstacle detection operation (step S16). Obstacle detection operation is performed under the control of the control device 31 via the signal control unit 34. If the signal controller 10 does not have a combination of indications that avoids the obstacle OB, it switches to flashing operation (step S17). When the control device 31 no longer detects an obstacle OB, it switches from obstacle detection operation (step S16) to standalone operation (step S14). In other words, when there is no more obstacle OB, the control device 31 returns from obstacle detection operation (step S16) to normal operation.

[0052] Furthermore, if an obstacle OB is detected, the control device 31 notifies the central device 200 of the control center 300 of a request to take action regarding the obstacle OB. Basically, upon receiving the above request, police officers or other personnel go to the scene and, after handling the situation, the control device 31 is manually operated (reset, etc.) to restore the signal, that is, to switch from obstacle detection (step S16) to normal operation, specifically to standalone operation (step S14). The control device 31 may also automatically return from obstacle detection (step S16) to normal operation when it determines that the obstacle OB has been removed.

[0053] When the control device 31 detects an abnormality in the signal display, specifically when the vehicle signals SG1, SG1', SG2, and SG2' on the intersecting roads RA1 and RA2 simultaneously turn green (GG), it switches to flashing operation (step S17). The flashing operation is performed under the control of the signal control unit 34. The switch to flashing operation (step S17) is performed from either safety operation (step S13), independent operation (step S14), or remote operation (step S15). Also, as previously described, the control device 31 switches from obstacle operation (step S16) to flashing operation (step S17) if there is no combination of indications that avoids the obstacle OB. In addition, the flashing operation (step S17) is also switched to when a malfunction is found in the device. When the abnormal state of the signal display is resolved, the control device 31 switches from flashing operation (step S17) to all red display (step S12).

[0054] If the abnormal condition is not resolved during the flashing operation (step S17), the control device 31 determines that there is a malfunction (step S18) and notifies the central device 200 of the control center 300.

[0055] Figure 6 is a flowchart illustrating an example of the operation of the signal controller 10.

[0056] First, the control device 31 operates the monitoring device 20 to capture images of the monitoring area DR within and around the intersection CS, and inputs the captured video or image (video data or image data) to the image processing unit 31a (step S21).

[0057] The control device 31, acting as an image processing unit 31a, detects an object from the video (video data) input in step S21 (step S22).

[0058] The control device 31, acting as a determination unit 31b, determines whether the object detected in step S22 is an obstacle OB (step S23). If the object is an obstacle OB (Y in step S24), the control device 31, acting as a determination unit 31b, extracts the traffic section SA of the road RA that is affected by the obstacle OB (step S25). The control device 31, acting as a determination unit 31b, extracts an alternative timetable from the storage unit 33 for the floor affected by the obstacle OB in the current timetable (step S26). Alternatively, in step S26, instead of extracting an alternative timetable from the storage unit 33, an alternative floor AS may be created based on the affected floor HS, etc.

[0059] The control device 31, acting as a determination unit 31b, determines that the timetable is replaceable (Y in step S27) and that no obstacle detection is in progress (N in step S28), and then performs the obstacle detection operation using the newly created alternative timetable from the next cycle (step S31). In other words, the control device 31 switches from standalone operation to obstacle detection operation. The control device 31 commands the signal control unit 34 to change the display color of the signal lamp SG, and the signal control unit 34 outputs a drive signal to the lamp opening / closing unit 35 based on the control signal received from the control device 31. This switches the display state of the signal lamp SG, changing it to the next indication (the next combination of lamp colors), and executes one cycle of the timetable.

[0060] The control device 31 continues the obstacle operation (step S32) if the timetable is replaceable (Y in step S27), the obstacle is in operation (Y in step S28), and there is no change in the location of the obstacle OB (N in step S29). If there is a change in the location of the obstacle OB in step S29 (Y in step S29), the process proceeds to step S31.

[0061] In step S27, if the timetable is not replaceable (N in step S27), the control device 31 switches to flash operation (step S33).

[0062] In step S24, if there is no obstacle out of bounds (N in step S24), the control device 31 switches to normal operation, specifically independent operation, from the next cycle if obstacle detection is in progress (Y in step S34) (step S35). Similar to the case of switching from obstacle detection (step S16) to independent operation (step S14) described above, the traffic signal is restored to normal operation, i.e., switched from obstacle detection to independent operation, after the police officer or other person who received the request to deal with the obstacle out of bounds has handled the situation on-site.

[0063] In step S34, if no obstacle is being detected (N in step S34), the control device 31 continues normal operation, specifically, standalone operation or remote operation (step S36).

[0064] The operation of the control device 31 is not limited to the specific signal light SG of interest, but is performed in parallel for all signal lights SG. In other words, a command to change the color of the lights is sent to each of the vehicle lights SG1, SG1', SG2, SG2' and pedestrian lights SG1a, SG2a. In response, all signal lights SG perform one cycle of operation, changing their display state according to the timetable.

[0065] As described above, the signal controller 10 can avoid accidents caused by obstacles OB located within and near the intersection CS by switching the operation of the signal lamp SG to obstacle detection mode when an obstacle OB is detected.

[0066] [Second Embodiment] Hereinafter, an example of a signal controller according to the second embodiment will be described with reference to Figure 7, etc. In the second embodiment, matters similar to those in the first embodiment, etc., will be omitted from the explanation.

[0067] Figure 7 is a conceptual diagram illustrating a road RA and intersection CS in which the signal controller 10 of the second embodiment is introduced.

[0068] In the example in Figure 7, the obstacle OB or obstacle area OBa is located downstream of the intersection CS on the secondary road RA2, relative to the second direction V2. Specifically, obstacle area OBa is located in a position on the secondary road RA2 where it would be an obstacle if vehicle VE, traveling in the first direction V1, were to turn right in lane Rb1 of the main road RA1. In this case, the traffic section SA where obstacle area OBa exists is a part of intersection CS including the planned right-turn route RT5 of vehicle VE, and lane Rc1 of the secondary road RA2. Therefore, the obstacle action results in a signal control that does not grant vehicle VE, traveling in the first direction V1, the right-turn Furthermore, for vehicles traveling in the second direction V2 on lane Rc1 of secondary road RA2, since an obstacle area OBa exists on the planned straight-ahead route RT7, the obstacle detection will result in a signal control that does not grant the right of way in the straight-ahead direction. Also, for vehicles traveling in the opposite lane Rc2 on secondary road RA2, which is opposite to the second direction V2, there is no obstacle area OBa on the planned route, so there is no restriction on the right of way.

[0069] Figure 8(A) is an example of a timetable for the normal operation of the signal light SG of this embodiment. Figure 8(B) is an example of a timetable for the obstacle detection operation of the signal light SG of this embodiment.

[0070] In the illustrated example, on lane Rb1 of the main road RA1, a vehicle VE traveling in the first direction V1 has its right of passage restricted because an obstruction area OBa exists in the right-turn direction. On the main road RA1, a vehicle traveling in the opposite lane Rb2, opposite to the first direction V1, has its right of passage restricted because an obstruction area OBa exists in the left-turn direction. On lane Rc1 of the secondary road RA2, a vehicle traveling in the second direction V2 has its right of passage restricted because an obstruction area OBa exists in the straight-ahead direction.

[0071] The determination unit 31b extracts obstruction level HS from the normal operation level pattern shown in Figure 8(A) that grants the right of passage to the traffic section SA where the obstruction area OBa exists. In the example in Figure 7, the obstruction level HS are level numbers 1-3, 5, and 8-10. As shown in Figure 8(B), the determination unit 31b changes the extracted obstruction level HS (specifically, level numbers 1-3, 5, and 8-10) to an alternative level AS that does not grant the right of passage.

[0072] 〔others〕 This invention is not limited to the embodiments described above, and can be implemented in various forms without departing from its spirit.

[0073] The monitoring device 20 may combine an imaging unit 21 and a distance measuring unit (not shown). Alternatively, the monitoring device 20 may have a distance measuring unit instead of an imaging unit 21. The distance measuring unit performs distance measurement and generates distance measurement data. As the distance measuring unit, for example, LiDAR, millimeter-wave sensors, radar, etc., can be used.

[0074] As shown in Figure 9, the monitoring device 20 may be installed not only on the signal lamp SG, but also on other devices such as the roadside device 90.

[0075] A timetable or indication step table may be set for each signal light SG. In the timetable, indications, step patterns, seconds, display status, etc., can be changed as appropriate.

[0076] The signal lights SG on the main road RA1 and the signal lights SG on the secondary road RA2 have the same normal operation step pattern, but the step patterns may be different.

[0077] In the signaling system 100, the central device 200 may be omitted.

[0078] The control device 31 may notify the central device 200 when the operating mode is switched.

[0079] When switching from standalone operation to obstacle detection operation, the operation mode was switched in the cycle following the detection of an obstacle out of bounds (OB). However, if obstacle detection is performed at the end of a staircase, the operation mode may be switched midway through that cycle.

[0080] In the above embodiment, the shape of the road RA shown in Figures 1 and 7 is merely an example and is not limited to this; the method can be applied to various shapes and structures. That is, the intersection CS where the signal controller 10 and signal lights SG are installed is not limited to a four-way intersection, but may also be a three-way intersection, a five-way intersection, or the like. [Explanation of Symbols]

[0081] 10... Signal controller, 20... Monitoring device, 21... Imaging unit, 30... Control unit body, 31... Control device, 3a... Microprocessor, 31a... Image processing unit, 31b... Judgment unit, 32... Timing unit, 33... Memory unit, 34... Signal control unit, 35... Light switch unit, 36... Power supply unit, 37... Communication unit, 100... Signal system, 200... Central unit, 300... Control center, AS... Alternative stage, CS... Intersection, DR ...monitoring area, HS...obstacle level, OB...obstacle, OBa...obstacle area, OBz...interference zone, RA...road, RA1...main road, RA2...secondary road, SA...lane division, SG...signal light, SG1, SG1', SG2, SG2'...vehicle light, SG1a, SG2a...pedestrian light, SGa, SGb, SGc...arrow signal light, SGg...blue light, SGr...red light, SGy...yellow light, VE...vehicle

Claims

1. A monitoring device that monitors roads including intersections, A control unit has a control device that switches between normal operation, safety operation, obstacle detection operation, and flashing operation of a signal light, and outputs control signals to the signal light corresponding to the switched operation. Equipped with, When the control device detects an obstacle using the monitoring device, it switches from normal operation to obstacle detection operation. Signal controller.

2. The aforementioned obstacle action is a signal control that does not grant the right of passage to the traffic lane in which the obstacle area containing the obstacle exists. The signal controller according to claim 1.

3. The control device determines the indication step to avoid the obstacle area including the obstacle. The signal controller according to claim 1.

4. The control device extracts the obstruction step from the normal operation step pattern that grants the right of passage to a passage section containing the obstruction area, and changes the obstruction step to an alternative step that does not grant the right of passage. The signal controller according to claim 1.

5. The normal operation includes an independent operation by the control device and a remote operation by a central device that manages the signal lamps after the independent operation has been successfully completed. When the control device detects an obstacle, it switches to the obstacle detection operation after the standalone operation. The signal controller according to claim 1.

6. The monitoring device is installed inside the signal lamp or attached to the signal lamp. The signal controller according to claim 1.

Images