Control device, control method, program, and traffic light

Abstract

To provide a control device, a control method, a program, and a signal device capable of ensuring time during which a vehicle can safely stop without adding new light color output data.SOLUTION: A control device according to one embodiment of the present invention controls a traffic light presenting traffic information on a first road installed on a road having the first road and a second road including: a determination unit that determines whether a step at the time a detection signal is acquired is a step that grants the right to passage based on light color output data when the detection signal output by a detection device that detects people planning to pass the second road is acquired and determines whether the first remaining number of seconds on the step at the time the detection signal was acquired is less than a safety assurance time; and a signal generation unit that sets the first remaining number of seconds that is equal to or greater than the safety assurance time as the second remaining number of seconds and generates traffic light information using the second remaining number of seconds as driving assistance information when the first remaining number of seconds is less than the safety assurance time.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, a program, and a traffic light that provide signal information regarding the light color of a traffic light device installed at an intersection or the like. [Background technology]

[0002] In the past, in order to prevent traffic accidents at intersections and their vicinity, traffic signal controllers have been proposed that provide signal information such as the color and duration of traffic lights at intersections to, for example, autonomous vehicles, and the on-board device determines based on the signal information whether the vehicle should stop before the intersection or can pass through, thereby controlling the vehicle's speed (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-146544 Summary of the Invention [Problem to be solved by the invention]

[0004] In the traffic signal controller described above, when recall control is performed, in which the light color of each signal lamp is changed depending on whether or not there is a detection input from a push button or the like, the current display time of the signal light color that is the subject of the signal control becomes uncertain, and depending on the timing of the detection input from the push button, the color may change immediately when the remaining seconds of the current display time are determined, which can cause the vehicle to be unable to stop safely (see Figure 4).

[0005] Therefore, one method is to provide a separate step where the signal light color remains green for a predetermined period of time while the signal light color changes from blue to yellow, thereby ensuring time for the vehicle to stop safely (see Figure 5).

[0006] However, this method requires the creation of new light color output data with additional levels, and there is a problem in that if the number of levels already reaches a predetermined maximum (for example, 24), the light color output data cannot be added. Also, because it involves shifting one or more levels, it is necessary to reset the signal constants and the light color output data for the levels.

[0007] In view of the above circumstances, an object of the present invention is to provide a control device, control method, program, and traffic light that can ensure the time required for a vehicle to stop safely without adding new light color output data. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, a control device according to one embodiment of the present invention is a control device that controls a traffic light installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, and that displays information regarding the right of passage of the vehicles on the first road, and is equipped with an internal clock, a memory unit, a judgment unit, and a signal generation unit. The internal clock keeps track of the internal time. The storage unit stores light color output data for the signal lamps. The judgment unit times the level of the signal light based on the internal time, and when it acquires a detection signal output by a detection device that detects pedestrians or vehicles planning to pass through the second road, it judges based on the light color output data whether the level of the signal light at the time the detection signal was acquired is a specified level that grants the right of passage, and if it is the specified level, it judges whether the first remaining number of seconds at the specified level at the time the detection signal was acquired is less than a predetermined safety time. When the first remaining number of seconds is less than the safety time, the signal generating unit extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time, and generates signal information for transmitting the second remaining number of seconds to the outside as driving assistance information.

[0009] According to the control device, when a detection signal is received from a pedestrian or vehicle planning to pass through the second road, if the step at which the detection signal was received is a step that grants right-of-way and the first remaining seconds for that step are less than the safety time, the control device extends the first remaining seconds to a second remaining seconds and generates signal information using the second remaining seconds as driving assistance information. In other words, the time until the light color changes can be set to the time a vehicle can safely stop, and that time can be provided to the vehicle. This eliminates the need to reset new light color output data or traffic light constants, making it possible to accommodate a predetermined number of steps and reducing the effort required to reset light color output data and traffic light constants.

[0010] The second remaining number of seconds may be the safety time. In this case, the signal generating unit extends the first remaining number of seconds so that the second remaining number of seconds becomes the safety time.

[0011] The detection signal may be a detection signal generated by the operation of a pedestrian push button or the detection of a vehicle by a vehicle detector.

[0012] The predetermined stage may be a stage at which the signal lamp displays a green light.

[0013] The signal generating unit may further generate a control signal for stepping up a staircase by setting the first remaining number of seconds as the second remaining number of seconds. In this case, the signal light device further includes a light color output circuit that switches the light color of the signal light device based on the control signal.

[0014] In order to achieve the above object, a control method according to one embodiment of the present invention is a control method for controlling a traffic light that is installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, and that presents information regarding the right of passage of the vehicles on the first road, The steps of the signal light are timed based on the internal time kept by the internal clock, and a detection signal output by a detection device that detects pedestrians or vehicles that are scheduled to pass through the second road is obtained. When the detection signal is acquired, it is determined whether the level of the signal light at the time the detection signal is acquired is a predetermined level for which right of passage is granted, based on the light color output data having light color output data for the level of the signal light. When it is the predetermined floor, it is determined whether the first remaining number of seconds for the predetermined floor is less than a preset safety time. If the first remaining number of seconds is less than the safety time, the first remaining number of seconds is extended to a second remaining number of seconds that is equal to or greater than the safety time, and signal information is generated to transmit the second remaining number of seconds to the outside as driving assistance information.

[0015] In order to achieve the above object, one aspect of the present invention provides a program for controlling a traffic light installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, the traffic light presenting information regarding the right of passage of the vehicles on the first road, The steps of the signal light are timed based on the internal time kept by the internal clock, and a detection signal output by a detection device that detects pedestrians or vehicles that are scheduled to pass through the second road is obtained. When the detection signal is acquired, it is determined whether the level of the signal light at the time the detection signal is acquired is a predetermined level for which right of passage is granted, based on the light color output data having light color output data for the level of the signal light. When it is the predetermined floor, it is determined whether the first remaining number of seconds for the predetermined floor is less than a preset safety time. If the first remaining number of seconds is less than the safety time, the first remaining number of seconds is extended to a second remaining number of seconds that is equal to or greater than the safety time, and signal information is generated to transmit the second remaining number of seconds to the outside as driving assistance information.

[0016] In order to achieve the above-mentioned object, a traffic light according to one embodiment of the present invention is a traffic light installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, and is equipped with a signal lamp and a control device. The traffic light provides information regarding the right of way of the first road. The control device includes an internal clock, a storage unit, a determination unit, and a signal generation unit. The internal clock keeps track of the internal time. The storage unit stores light color output data for the signal lamps. The judgment unit times the level of the signal light based on the internal time, and when it acquires a detection signal output by a detection device that detects pedestrians or vehicles planning to pass through the second road, it judges based on the light color output data whether the level of the signal light at the time the detection signal was acquired is a specified level that grants the right of passage, and if it is the specified level, it judges whether the first remaining number of seconds at the specified level at the time the detection signal was acquired is less than a predetermined safety time. When the first remaining number of seconds is less than the safety time, the signal generating unit extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time, and generates signal information for transmitting the second remaining number of seconds to the outside as driving assistance information. [Effects of the Invention]

[0017] As described above, according to the present invention, it is possible to provide a control device, control method, program, and traffic light that can ensure the time required for a vehicle to stop safely without adding new light color output data. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic configuration diagram of a traffic control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram of a road to which the traffic control system is applied. [Figure 3]1 is a block diagram showing a configuration of a control device according to an embodiment of the present invention; [Figure 4] 1A and 1B are diagrams showing an example of a stage table for a conventional signal light, where (A) is the stage table when detection is performed by a push button, and (B) is the stage table when detection is not performed by a push button. [Figure 5] 10A and 10B are diagrams showing an example of a stage table for a signal light device according to a comparative example, where (A) is a stage table when detection is performed by a push button, and (B) is a stage table when detection is not performed by a push button. [Figure 6] 1A and 1B are diagrams showing an example of a staircase procedure for a signal light of a control device according to one embodiment of the present invention, where (A) is a staircase table when the first remaining number of seconds when a push button is detected is less than the safety time, and (B) is a staircase table when no push button is detected. [Figure 7] 4 is a flowchart illustrating an example of a staircase procedure executed in a control device according to an embodiment of the present invention. [Figure 8] FIG. 10 is a schematic configuration diagram of another embodiment of the traffic control system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0020] [Traffic Control System] FIG. 1 is a schematic diagram of a traffic control system 100 according to one embodiment of the present invention, and FIG. 2 is a schematic diagram of a road R1 to which the traffic control system 100 is applied. In this embodiment, a road R1 having a push-button crosswalk R2 will be described as an example. The road is not limited to the roads on which recall control is implemented as described in this example. In addition, although the vehicle will be described as an autonomous vehicle in this embodiment, the vehicle is of course not limited to this.

[0021] The traffic control system 100 of this embodiment includes a control device 10, a roadside antenna 20, a detection device 30, and a traffic control center 40.

[0022] As shown in Figure 2, the control device 10 controls multiple traffic lights, including a vehicle light 1V installed on a first road R1, which is a roadway extending in a north-south direction (up and down in the figure), and a pedestrian light 1P installed on a crosswalk R2 (second road) on the first road R1, which extends in an east-west direction (left and right in the figure).

[0023] The control device 10 uses a commercial power source as its power source and controls the light emission (green, yellow, red) of each signal lamp for a preset lighting time (number of seconds indicated) and cycle. The control device 10 is typically installed in a control box (not shown) attached to the support pole of the traffic light S, and is electrically connected by wire to each of the lamps 1V, 1P. Hereinafter, each of the lamps 1V, 1P will be referred to as a signal lamp 1 unless otherwise described individually. In this embodiment, the traffic light S has the control device 10 and the signal lamp 1V.

[0024] The control device 10 is configured to be able to transmit light color information about the vehicle lamp 1V to the roadside antenna 20. The control device 10 may be configured to be able to communicate with a traffic control center 40. The control device 10 may also be a standalone control device as long as it has a time correction function using GPS or the like.

[0025] The roadside antenna 20 is configured to be able to communicate with a vehicle V traveling on a first road R1 on which a traffic light S is installed, and is configured to be able to transmit signal information related to the vehicle lighting device 1V to the vehicle V. Although not shown, the vehicle V is equipped with an on-board device that can receive the signal information transmitted from the roadside antenna 20, as well as a device (display, speaker, etc.) that presents information related to the vehicle lighting device 1V to the driver based on the signal information.

[0026] The traffic light information is information related to the light color of a traffic light located ahead of the vehicle V in the direction of travel, and typically includes the time information at the time of transmission, the light color of the traffic light when the vehicle V passes, and the remaining time (number of seconds) until the next level. This makes it possible to provide the traveling vehicle V with driving assistance information such as traffic light passage assistance and red light deceleration assistance. Furthermore, if the vehicle V is an autonomous vehicle, it is possible for the vehicle itself to use the traffic light information to make autonomous braking control decisions.

[0027] The roadside antenna 20 is not limited to being installed independently of the signal control device 10, but may be installed inside the control device 10. In other words, the control device 10 may have a transmission function of transmitting signal information to the vehicle V by itself.

[0028] The traffic control center 40 includes a central unit 41 and a time server 42, and is communicatively connected to the control device 10 via a network. The central unit 41 corresponds to a host device (computer) of the control device 10 and keeps an internal time synchronized with the time server 42. The time server 42 corrects the time using GPS, and as described below, a GPS antenna is installed in the control device 10 and periodically corrects the time. In other words, using the same GPS reduces time errors. The time server 42 and the control device 10 are not limited to these, and an NTP (Network Time Protocol) server, an SNTP (Simple Network Time Protocol) server, or the like may also be used. The central unit 41 transmits commands to the control device 10, such as the number of seconds for controlling the steps of the signal lamp 1, switching of display data, and extended functions.

[0029] The detection device 30 is, for example, a pedestrian push button or a vehicle detector, and when it detects a pedestrian who is going to pass on the second road R2, it outputs a detection signal to a determination unit 312 (control device 10) described later, for example, via an external IF. Here, the detection signal is an operation of the pedestrian push button by the pedestrian in the case of a pedestrian push button, and is a detection signal generated by the vehicle detector detecting a vehicle in the case of a vehicle detector.

[0030] [Control device] Next, details of the control device 10 will be described. Fig. 3 is a block diagram showing the configuration of the control device 10. The control device 10 includes a main control unit 11, a transmission unit 12, a lamp switch (light color output circuit) 13, a transmitter 14, and an external IF unit 15.

[0031] The main control unit 11 controls the operation of the signal lamp 1. The transmission unit 12 has a communication module capable of wireless or wired communication with the traffic control center 50 and a controller that controls the exchange of information between the main control unit 11 and the traffic control center 50. The light switch 13 is a light color output circuit that switches the light color of the signal lamp 1 and has a switching circuit that controls the turning on or off of each signal lamp based on instructions from the main control unit 11. The transmitter 14 has a communication module that can communicate with the roadside antenna 20 via wired or wireless communication and is configured to be able to transmit signal information related to the signal lamp 1 to the roadside antenna 20. The external IF unit 15 is a device that connects the detection device 30 and the control device 10, and may be, for example, a sensor information receiving circuit. The roadside antenna 20 may be a wireless device or a communication module using a mobile phone network.

[0032] The transmitter 14 may be configured integrally with the transmission unit 12. The transmitter 14 may also be configured to be able to wirelessly transmit signal information directly to the vehicle V without going through the roadside antenna 20. In this case, the installation of the roadside antenna 20 can be omitted. Furthermore, the transmitter 14 is not limited to being built into the control device 10, but may also be attached to the processing device 10 as an external device. The transmitter 14 may output directly to the roadside antenna 20, or may use an S10 interface standard or the like.

[0033] The main control unit 11 includes a control unit 110, a storage unit 11A, a timer 11B, and a backup clock (hardware clock) 11C.

[0034] The control unit 110 is a computer including a CPU (Central Processing Unit), and controls the overall operation of the main control unit 11. The control unit 110 has an internal clock (software clock) 111, a determination unit 112, a signal generation unit 113, and an update unit 114.

[0035] The internal clock 111 measures the internal time at least to the millisecond level based on the output from the timer 11B.

[0036] The determination unit 112 has a timing unit 112A, an acquisition unit 112B, a first determination unit 112C, a second determination unit 112D, and an output unit 112E. The timing unit 112A times the stage of the signal light device 1V based on the internal time 111. The acquisition unit 112B acquires the detection signal output by the detection device 30. In this embodiment, the acquisition unit 112B acquires the detection signal generated by the push button via the external IF unit 15.

[0037] The first determination unit 112C determines, based on the light color output data, whether the staircase of the signal lamp 1V at the time when the detection signal was acquired is a predetermined staircase that grants right of passage. Specifically, the first determination unit 112C reads the light color output data (phase plan data) stored in the memory unit 11A, and determines whether the light color of the signal lamp 1V at the time when the detection signal was acquired displays a green light.

[0038] When the first judgment unit 112C judges that the specified staircase is present, the second judgment unit 112D judges whether the first remaining number of seconds for the specified staircase at the time the detection signal is acquired is less than a predetermined safety time.

[0039] Specifically, the second determination unit 112D determines whether the first remaining number of seconds (the remaining time until the next floor, which is the time until the light color changes to yellow or red in this embodiment) for a given floor at the time the detection signal is acquired is less than the safety time stored in the memory unit 11A. Here, the safety time, in this embodiment, is the time from when the autonomous vehicle detects that the light color has changed (from green to yellow) until it can safely stop. In other words, it is the time required for the autonomous vehicle to stop before the stop line without suddenly braking or the like. This safety time differs depending on the vehicle type (standard or large), speed, and weather, and can be set as appropriate; for example, for a standard vehicle traveling at 50 kilometers per hour, the safety time is approximately 5 seconds.

[0040] The output unit 112E outputs the determination result by the second determination unit 112D to the signal generation unit 113.

[0041] The determination unit 112 acquires the detection signal at regular intervals, for example, at intervals of 100 ms, and outputs the determination result to the signal generation unit 113.

[0042] Signal generation unit 113 has calculation unit 113A and generation unit 113B. When the determination result output by output unit 112E indicates that the first remaining number of seconds is less than the safety time, calculation unit 113A extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time. When the determination result output by output unit 112E indicates that the first remaining number of seconds is equal to or greater than the safety time, calculation unit 113A leaves the first remaining number of seconds as is and does not make any changes, such as extending it.

[0043] For example, the calculation unit 113A extends the first remaining number of seconds (2 seconds remaining) to a second remaining number of seconds (5 seconds remaining) that is equal to or greater than the safety time (5 seconds in this embodiment). Here, in this embodiment, extending includes replacing the first remaining number of seconds with the second remaining number of seconds, or adding a predetermined number of seconds (3 seconds) so that the first remaining number of seconds (2 seconds remaining) becomes the second remaining number of seconds (5 seconds remaining).

[0044] The generation unit 113B generates signal information for transmitting the second remaining number of seconds extended by the calculation unit 113A to the outside as driving assistance information, and a control signal for moving up and down the stairs based on the determination result output by the output unit 112E. In this embodiment, the driving assistance information is, for example, information on how many seconds remain until the color of a traffic light changes, and is information for determining whether to pass through an intersection or a crosswalk or stop when driving a vehicle.

[0045] The generation unit 113B generates signal information for transmitting the second remaining number of seconds to the outside (on the first road R1) as driving assistance information, but when the calculation unit 113A determines that the first remaining number of seconds is equal to or greater than the safety time, it generates signal information for transmitting the first remaining number of seconds to the outside as driving assistance information.

[0046] That is, the generation unit 113B transmits the generated signal information from the above-mentioned transmission unit 14 to the roadside antenna 20, and the roadside antenna 20 transmits the signal information toward the vehicle V. Here, the outside refers to the road R1 or the vehicle V on the road R1.

[0047] In addition, the calculation unit 113A may store the remaining number of seconds (first remaining number of seconds or second remaining number of seconds) for transmitting to the outside as driving assistance information in the memory unit 11A, and the generation unit 113B may generate signal information based on the remaining number of seconds stored in the memory unit 11A.

[0048] Furthermore, when the calculation unit 113A extends the first remaining number of seconds to the second remaining number of seconds, the generation unit 113B generates a control signal for stepping up the stairs with the first remaining number of seconds as the second remaining number of seconds. In other words, the generation unit 113B generates (outputs) to the light switch 13 a control signal in which the remaining number of seconds until the light color changes (from green to yellow) is extended to the second remaining number of seconds.

[0049] When the calculation unit 113A determines that the first remaining number of seconds is equal to or greater than the safety time and therefore remains at the first remaining number of seconds, the generation unit 113B generates a control signal for staircase progression in which the number of seconds remaining until the next light color is the first remaining number of seconds.

[0050] The control signal for stepping up (step-up pulse signal) includes a switching signal generated by the generation unit 113B for switching the light color of the signal lamp 1V. The update unit 114 is configured to be able to correct the internal time using time information such as a GPS signal or radio signal obtained via a communication terminal (GPS antenna, etc.) not shown, and to update the internal time of the internal clock 111 to time information obtained from the time server 42.

[0051] The storage unit 11A is composed of a non-volatile semiconductor memory or the like that stores programs for various processes executed by the control unit 110. The storage unit 11A stores control setting information including light color output data (display planning data) for the stages of each signal lamp 1. The control setting information typically refers to the signal constants of the signal lamp 1, and includes a stage table (light color output data), offset, time table, response seconds, safety time, etc. The light color output data may be written to the storage unit 11A from a personal computer, or may be written to the storage unit 11A via the transmission unit 12. A non-volatile ROM in which the light color output data has been written in advance may be implemented as the storage unit 11A.

[0052] The timer 11B incorporates a crystal oscillator, a counter circuit that counts the number of oscillations of the crystal oscillator and outputs a clock necessary for the timekeeping function of the internal clock 111, and the like. The hardware clock 11C is a backup clock that incorporates a crystal oscillator, a counter circuit, an auxiliary battery, and the like. The hardware clock 11C does not necessarily have to be incorporated into the control device 10, but may also be attached to the control device 10 as an external device.

[0053] (Previously) Here, we will explain the stage table of a conventional signal lamp. Figure 4 shows an example of a stage table of a conventional signal lamp, where (A) is a stage table H1 when there is detection by the push button, and (B) is a stage table H2 when there is no detection by the push button.

[0054] Here, we will explain using a 2-aspect, 6-step traffic light as an example. In Figures 4 to 7 below, a thick horizontal line indicates a green light, two horizontal lines indicate a red light, a wavy line indicates a yellow light for vehicles, and a vertical line indicates a flashing light for pedestrians.

[0055] Taking vehicle light 1V in Figure 4(A) as an example, the first step (step 1) is a green light, the second step is a flashing light, and the third to sixth steps are red lights. In Figure 4(A), steps 1 to 3 indicate the first aspect, and steps 4 to 6 indicate the second aspect. In Figure 4(B), vehicle light 1V is always green, and pedestrian light 1P is always red. As shown in Figures 4 to 7, the vertical arrows in the flow diagram indicate the direction of movement of vehicle V, and the horizontal dashed lines indicate the direction of movement of pedestrians.

[0056] The time it takes for each lamp to cycle through green, yellow, and red in that order is called a cycle, and its length is measured in seconds. Each cycle typically begins in sync with the exact second (0.1 seconds) of the step time. Each step is assigned its own time (number of seconds), and progresses sequentially (step-by-step) in sync with the exact second of the step time (in 0.1-second increments, depending on the sensor). In the following, the terms 1 step, step 1, and step 1 will be treated as having the same meaning unless otherwise specified. Of course, this is not limited to step 1, and the same applies to steps 2 to 7.

[0057] 4 indicates the number of seconds for each step. The data on the number of seconds may be stored as a fixed value in the memory unit 11A, or may be temporarily stored in response to a command from the central device 41.

[0058] As shown in Figures 4(A) and (B), the case of signal control is shown for a road with a push-button type crosswalk (a crosswalk where a signal controller that performs recall control is installed). In other words, when the push button is not pressed, as shown in Figure 4(B), the vehicle light 1V is in a green light state and the pedestrian light 1P is in a red light state, and when the push button is pressed, the status changes from the status of the stage table H2 to the status of the stage table H1 shown in Figure 4(A).

[0059] Here, recall control refers to a control that switches the right of way and signal output for the first road R1 and the second road R2 when a pedestrian or vehicle planning to travel on the second road R2 is detected on a road that has a first road R1 over which vehicles normally have the right of way and a second road R2 over which vehicles normally do not have the right of way and vehicles are allowed to travel on the first road R1 when a red or yellow signal is displayed by a traffic light 1V. Here, right of way refers to a state in which a pedestrian or vehicle can proceed in a specific direction (the first road R1 or the second road R2), specifically a state in which a green signal is displayed (see Figure 1).

[0060] There are two types of recall control: stop-type recall and rotation-type recall. A stop-type recall is when no detection signal (for example, a sensing signal from a push button, etc.) is acquired, the system stops just before the end of the first step in Figure 4(B) (for example, with 0.05 seconds remaining until the end of the first step). When a detection signal is acquired, the system switches to the step table H1 in Figure 4(A) from the point where it stopped (that is, it switches to the second step, for example, 0.05 seconds after switching to step table H1). Also, if a detection signal is acquired during one step, the system switches to step table H1 when the detection signal is detected.

[0061] Rotational recall means that when no detection signal (such as a sensing signal from a push button) is received, the number of seconds passes and the step progresses repeatedly based on the number of seconds set for each step in Figure 4(B). During this time, the light color (blue) of the step table H2 continues to be output, as shown in Figure 4(B). If a detection signal is received before the start of one step, the start of the next step switches to step 1 of step table H1. If a detection signal is received during one step, the step switches to step table H1 when the detection signal is detected.

[0062] In the case of a conventional stop-type recall, the vehicle stops just before the end of the first step in the step table H2, and when the push button is pressed, it proceeds to the second step in the step table H1 (step-by-step progression). In this case, vehicle V, an autonomous vehicle that receives signal information just before the light color of vehicle lamp 1V changes to yellow, may suddenly brake, preventing smooth and safe operation. Similarly to a stop-type recall, if a detection signal is detected just before the end of the first step, there is a possibility of sudden braking.

[0063] (Comparative Example) In response to this, a method has been proposed as a comparative example in which a step (stage) in the color of a blue signal light is added between the first and second steps of the stage tables H1 and H2. Figure 5 shows an example of a stage table for a signal light device according to a comparative example in which a separate stage in which the light color remains green for a predetermined period of time between when the light color changes from green to yellow is provided, thereby ensuring time for a vehicle to stop safely. (A) is stage table H3 when detection is performed by the push button, and (B) is stage table H4 when detection is not performed by the push button.

[0064] In the case of a stop-type recall in this comparative example, the addition of step 2' means that the light color does not change immediately even if a detection signal is acquired. In other words, in the case of a stop-type recall, the system stops just before the end of the first step in the staircase table H4, and when the push button is pressed, the system proceeds to step 2' in the staircase table H4 (step-by-step progression). In this case, the system ensures that the number of seconds set for step 2' (5 seconds in this embodiment) is sufficient for the light color to change. Similarly, in the case of a rotation-type recall, even if a detection signal is acquired just before the end of the first step, the system ensures that the number of seconds set for step 2' is sufficient for the light color to change.

[0065] However, in the comparative example, it was necessary to create a new step table (light color output data), which required a great deal of effort to create each individually. Also, since the maximum number of steps in the current signal controller is 24, there was a problem that it was not possible to add steps at intersections where the light color output data has 24 steps. Furthermore, there was a problem that the increase in the number of steps required a resetting of the signal control constants that operate traffic light S.

[0066] In order to solve the above problems, the control device 10 of this embodiment controls the signal lamp 1 in the following manner. Figure 6 is a diagram showing an example of a staircase procedure for the signal lamp 1 of the control device 10 according to one embodiment of the present invention, where (A) is a staircase table H5 when the first remaining number of seconds when there is a push button detection is less than the safety time, and (B) is a staircase table H6 when there is no push button detection. Also, Figure 7 is a flowchart showing an example of a staircase procedure executed by the control device 10 according to one embodiment of the present invention.

[0067] The explanation will be given with reference to the step tables H5 and H6 in Fig. 6 and the flowchart in Fig. 7. Here, we consider the case where a pedestrian presses the push button after 23 seconds have elapsed on the first step. The detection signal input shown in Fig. 6 indicates that the detection signal has been input to the control device 10 as a result of the push button being pressed.

[0068] First, when the push button is pressed and the acquisition unit 112B acquires a detection signal (ST101), the first determination unit 112C determines whether the staircase indicated by the signal lamp 1V at the time the detection signal was acquired is the staircase specified by the safety time based on the light color output data (ST102). In other words, the first determination unit 112C determines whether the staircase is the predetermined staircase (first step) for which right of passage is granted.

[0069] When the first determination unit 112C determines that the step is the predetermined step (first step) (YES), the second determination unit 112D determines whether the first remaining number of seconds for the predetermined step (first step) when the detection signal was acquired is less than the preset safety time (ST103). Here, the safety time is 5 seconds in this embodiment, and the first remaining number of seconds is 3 seconds. Since the first remaining number of seconds is less than the safety time (YES), the process proceeds to the next STEP.

[0070] Then, the calculation unit 113A extends the first remaining number of seconds to a second remaining number of seconds (5 seconds), which is the safety time (5 seconds) (ST104), and the generation unit 113B generates signal information for transmitting the second remaining number of seconds extended by the calculation unit 113A to the outside as driving assistance information (ST105).

[0071] This prevents the light color from changing immediately after the push button is pressed, enabling autonomous vehicles to make decisions to stop safely. Also, because the time between floors is changed, there is no need to change the previous light color output data. This prevents the light color from changing immediately after the push button is pressed, even at intersections where the light color output data is already for 24 floors, without increasing the number of floors, and enables autonomous vehicles to make decisions to stop safely.

[0072] Furthermore, since there is no need to update light color output data or traffic light constants, implementation costs can be reduced.

[0073] Furthermore, if the determinations in ST102 and ST103 in the flowchart of FIG. 7 are NO, the generation unit 113B generates traffic light information using the first remaining number of seconds until the next light color as driving support information.

[0074] Although the embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to the above-described embodiments and that various modifications can be made.

[0075] For example, in this embodiment, a road having a pedestrian crossing has been described as an example, but of course the present invention is not limited to this and can also be applied to an intersection (including a pedestrian-vehicle separated intersection).

[0076] Furthermore, in this embodiment, when the first remaining number of seconds is less than the safety time, the calculation unit 113A extends it to the safety time, but this is not limited to this. For example, when the safety time is 5 seconds and the first remaining number of seconds is 3 seconds, 5 seconds may be added (extended) to the first remaining number of seconds.

[0077] In other words, if the first remaining number of seconds is less than the safety time, the number of seconds equivalent to the safety time may be added (extended) to the first remaining number of seconds. This method also prevents the light color from changing immediately after the push button is pressed, making it possible to determine whether the autonomous vehicle will be able to stop safely.

[0078] Furthermore, when the first remaining number of seconds is extended to the safety time, the extended time may or may not be adjusted in the next cycle.

[0079] The setting of the safe time is not limited to time, but may be speed, for example. In the case of speed, the time required to safely stop from the speed may be calculated, and this time may be used as the safe time. The set value of the speed in this case may be the speed limit on the road, the traveling speed of the target vehicle, or the like.

[0080] 8 is a schematic diagram of another embodiment of the traffic control system of the present invention. The present invention is not limited to the use of ITS (Intelligent Transport System) radio (roadside antenna 20) as shown in FIG.

[0081] For example, in a traffic control system 100A as shown in Fig. 8, a traffic control center 40A collects signal information and the like from a third traffic signal controller 10C (control device) that controls centrally controlled traffic lights and a second traffic signal controller 10B that controls decentralized controlled traffic lights. Here, the third traffic signal controller 10C communicates with a control system 401A of the traffic control center 40A using a wired connection such as wide-area ETH (Ethernet). The second traffic signal controller 10B communicates with a traffic signal information distribution device 402A using an LTE line or the like.

[0082] That is, traffic control center 40A transmits traffic signal information collected by control system 401A to traffic signal information aggregation system 501A of National Police Agency 50A via traffic signal information distribution device 402A, and distribution center 60A, which distributes the traffic signal information, transmits the information as driving assistance information to autonomously driven vehicle V' using an LTE line, etc. Also, first traffic signal controller 10A, which controls the traffic lights through which autonomously driven vehicle V' passes, can transmit driving assistance information to autonomously driven vehicle V' via an LTE line, etc.

[0083] In this way, automatically driven vehicle V′ may receive the above-mentioned information from distribution center 60A. [Explanation of symbols]

[0084] 1...Signal lamp 10...Control device 11...Main control unit 11A...Storage section 13...Light switch 14...Transmitter 30...Detection device 110...Control unit 111...Internal clock 112...Judgment section 113...signal generation unit

Claims

1. A control device for controlling a signal lamp installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, the signal lamp presenting information regarding the right of passage of the vehicles on the first road, an internal clock that measures the internal time; A memory unit for storing light color output data for the signal lamps; a determination unit that times the level of the signal lamp based on the internal time, and when it receives a detection signal output by a detection device that detects a pedestrian or vehicle that is going to pass through the second road, determines based on the light color output data whether the level of the signal lamp at the time the detection signal was received is a predetermined level that grants the right of passage, and if it is the predetermined level, determines whether the first remaining number of seconds at the predetermined level at the time the detection signal was received is less than a predetermined safety time; a signal generating unit that, when the first remaining number of seconds is less than the safety time, extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time, and generates signal information for transmitting the second remaining number of seconds to an external device as driving support information, and, when the first remaining number of seconds is equal to or greater than the safety time, generates the signal information with the first remaining number of seconds as the driving support information; A control device comprising:

2. The control device according to claim 1, the second remaining number of seconds is the safety time, The signal generating unit extends the first remaining number of seconds so that the second remaining number of seconds becomes the safety time. Control device.

3. The control device according to claim 1, The detection signal is a detection signal generated by operating a pedestrian push button or detecting a vehicle with a vehicle detector. Control device.

4. The control device according to claim 1, The predetermined stage is a stage at which the signal lamp displays a green light, and the stage next to the predetermined stage is a stage at which the signal lamp displays a yellow light or a red light. Control device.

5. The control device according to claim 1, the signal generating unit further generates a control signal for stepping up a staircase, with the first remaining number of seconds as the second remaining number of seconds; The signal light device further includes a light color output circuit that switches the light color of the signal light device based on the control signal. Control device.

6. 1. A control method for controlling a traffic light that is installed on a road having a first road and a second road that is passable when vehicle passage on the first road is restricted, and that presents information regarding the right of passage of the first road, comprising: The signal light device measures the step based on an internal time measured by an internal clock, and acquires a detection signal output by a detection device that detects a pedestrian or a vehicle that is scheduled to pass through the second road. When the detection signal is acquired, it is determined whether the level of the signal lamp at the time when the detection signal is acquired is a predetermined level for granting right of passage based on the light color output data having the light color output data for the level of the signal lamp, When the vehicle is at the predetermined floor, it is determined whether the first remaining number of seconds at the predetermined floor is less than a predetermined safety time; When the first remaining number of seconds is less than the safety time, the first remaining number of seconds is extended to a second remaining number of seconds that is equal to or greater than the safety time, and signal information is generated for transmitting the second remaining number of seconds to an external device as driving assistance information; when the first remaining number of seconds is equal to or greater than the safety time, the signal information is generated with the first remaining number of seconds as the driving assistance information. Control method.

7. A program for controlling a traffic light that is installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, and that presents information regarding the right of way of the first road, a step of timing the steps of the signal lamp based on an internal time measured by an internal clock, and acquiring a detection signal output by a detection device that detects a pedestrian or a vehicle that is scheduled to pass on the second road; When the detection signal is acquired, a step of determining whether the level of the signal lamp at the time when the detection signal is acquired is a predetermined level for granting right of passage based on light color output data having light color output data for the level of the signal lamp; If the predetermined floor is reached, determining whether a first remaining number of seconds for the predetermined floor is less than a predetermined safety time; when the first remaining number of seconds is less than the safety time, setting the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time, and generating signal information for transmitting the second remaining number of seconds to an external device as driving assistance information; and when the first remaining number of seconds is equal to or greater than the safety time, generating the signal information with the first remaining number of seconds as the driving assistance information. A program that causes a computer to execute the following.

8. A traffic signal installed on a road having a first road and a second road that is passable when vehicle traffic on the first road is restricted, a signal lamp that displays information regarding the right of way of the first road; a determination unit that, when acquiring a detection signal output by a detection device that detects a pedestrian or a vehicle that is going to pass on the second road, determines based on the light color output data whether the signal level of the signal level at the time the detection signal was acquired is a predetermined level that grants right of passage, and, if the predetermined level is determined to be the predetermined level, determines whether a first remaining number of seconds for the predetermined level is less than a predetermined safety-ensuring time; and a signal generation unit that, when the first remaining number of seconds is less than the safety-ensuring time, extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety-ensuring time, and generates signal information for transmitting the second remaining number of seconds to an external device as driving support information, and, when the first remaining number of seconds is equal to or greater than the safety-ensuring time, generates the signal information using the first remaining number of seconds as the driving support information. A traffic light equipped with:

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