Sensory control signal output device, sensory control signal output method, and sensory control signal output program

Abstract

To provide a technique to perform switching of light color signals of a traffic light installed at an intersection with traffic-actuated control capable of preventing the occurrence of traffic jam on an approach to the intersection.SOLUTION: A traffic-actuated control signal output device acquires a vehicle travel situation on an approach to an intersection from vehicle detection data of vehicles traveling on the approach detected by a radar device scanning the approach by survey waves, and estimates the traffic situation on the approach. The traffic-actuated control signal output device stores, in a storage unit, an extension condition for extending switching of light color signals of a traffic light installed at the intersection for every traffic situation. The traffic-actuated control signal output device collates the acquired vehicle travel situation on the approach with the extension condition for the estimated traffic situation on the approach, determines whether to extend the switching of the light color signals of the traffic light at the intersection, and outputs a traffic-actuated control signal according to a determination result.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This invention relates to a technique for outputting a sensitive control signal to a signal control device that controls the switching of the traffic signal colors of a traffic signal installed at an intersection.

Background Art

[0002] Conventionally, there has been a system that performs sensitive control according to a determination result of whether to extend the green signal of a traffic signal installed at an intersection by using the tracking data of vehicles traveling on the incoming roads of the intersection (see, for example, Patent Documents 1, 2, etc.).

[0003] For example, Patent Document 1 describes a configuration of a device that uses the tracking data of vehicles on the incoming roads of an intersection to estimate a dilemma zone for each vehicle, and determines whether the position of the vehicle at the timing of switching the traffic signal color signal from green to yellow is within the estimated dilemma zone for that vehicle, and performs sensitive control according to the determination result.

[0004] Also, Patent Document 2 describes a configuration of a device that performs sensitive control to determine the switching timing of switching the traffic signal color signal from green to yellow by using the tracking data of vehicles traveling on the incoming roads of an intersection so that the leading vehicle that stops in front of the intersection at a red signal does not become a vehicle with a slow start acceleration time.

[0005] Note that, as is well known, the dilemma zone is an area where a vehicle cannot safely stop at the stop line in front of the intersection when the traffic signal color signal is switched from green to yellow, and cannot pass through the intersection before it is switched to the red signal. That is, the dilemma zone changes depending on the speed of the vehicle when the traffic signal color signal is switched from green to yellow.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

[0007] However, Patent Documents 1 and 2 disclose devices that perform dilemma-sensitive control and do not suppress the occurrence of congestion at intersection entrances.

[0008] The objective of this invention is to provide a technology that enables the switching of the light colors of traffic signals installed at an intersection to be performed using sensory control, which can suppress congestion at the entrance lanes of the intersection. [Means for solving the problem]

[0009] The sensor control signal output device of this invention is configured as follows to achieve the above objective.

[0010] The detection data acquisition unit acquires detection data of vehicles traveling on the intersection's entrance ramp, which is detected by the radar device scanning the entrance ramp with a probe wave. The radar device may be a radio radar using millimeter waves as the probe wave, or a laser radar using laser light as the probe wave. The detection data should be data that provides the vehicle's travel trajectory on the intersection's entrance ramp. In other words, the detection data should include the detection time and the vehicle's position at that detection time. For example, the detection data may include the detection time and the vehicle's position at that detection time, or the detection time and the vehicle's position and speed at that detection time.

[0011] The driving status acquisition unit acquires the driving status of vehicles on the access road from the vehicle detection data acquired by the detection data acquisition unit. For example, the driving status acquisition unit acquires the position and speed of vehicles traveling on the access road as driving status.

[0012] The traffic situation estimation unit estimates the traffic situation on the entrance road using the number of vehicles that entered the intersection from the entrance road, which is estimated based on the vehicle detection data acquired by the detection data acquisition unit. The traffic situation estimation unit estimates the situation classified by the degree of congestion on the entrance road. The situations classified by degree of congestion are, for example, unsaturated, near-saturated, and oversaturated.

[0013] The memory unit stores extension conditions for extending the color change of traffic signals installed at intersections, depending on the traffic conditions. The color signal for which the changeover is extended may be a green light or a right-turn arrow signal.

[0014] The determination unit compares the vehicle driving conditions on the entrance ramp, acquired by the driving conditions acquisition unit, with the extension conditions for the traffic conditions on the entrance ramp estimated by the traffic conditions estimation unit, and determines whether to extend the switching of the traffic light colors at the intersection.

[0015] The output unit outputs a response control signal corresponding to the determination result of the determination unit. The output unit outputs the response control signal to a signal control device that controls the switching of the traffic light color signals. The signal control device uses the input response control signal to control the switching of the traffic light color signals.

[0016] With this configuration, the switching of the light colors of the traffic signals installed at the intersection can be controlled by sensory control according to the traffic conditions on the entrance ramp to the intersection and the driving conditions of vehicles on the entrance ramp, thereby suppressing congestion on the entrance ramp to the intersection.

[0017] For example, when traffic conditions at the entrance lanes of an intersection are not saturated or are near saturated, traffic congestion can be suppressed by using sensor-activated control to efficiently reduce the number of vehicles that remain in the intersection by switching the color of the traffic signals. Conversely, when traffic conditions at the entrance lanes of an intersection are oversaturated, the time required to clear congestion can be shortened by using sensor-activated control to increase the number of vehicles passing through the intersection by switching the color of the traffic signals.

[0018] Also, for example, the traffic situation estimation unit may be configured to calculate the saturated traffic flow rate of the inflow road based on the vehicle detection data acquired by the detection data acquisition unit, and estimate the saturation degree of this inflow road using the calculated saturated traffic flow rate. Although it is ideal to calculate the saturated traffic flow rate in terms of passenger car conversion, there are various large vehicles and it is difficult to convert to passenger cars. With this configuration, it is possible to calculate the saturated traffic flow rate based on the number of vehicles on the inflow road according to changes in the proportion of large vehicles in the vehicles traveling on the inflow road and the like.

[0019] Also, for example, the traffic situation estimation unit may calculate the saturated traffic flow rate of this inflow road based on the passing situation of vehicles on the measurement line defined in the vehicle width direction of the inflow road of the intersection.

[0020] Also, for example, when the traffic signal color signal of the traffic signal at the intersection for which the determination unit determines whether to extend is a right turn arrow signal, the determination unit determines whether there is an overflow of vehicles in the right turn lane provided on the inflow road based on the driving situation of the vehicles on the inflow road acquired by the driving situation acquisition unit. When it is determined that there is an overflow of vehicles in the right turn lane, it may be determined to extend the right turn arrow signal of the traffic signal at the intersection regardless of the traffic situation of the inflow road estimated by the traffic situation estimation unit.

[0021] With this configuration, it is possible to suppress the occurrence of congestion where subsequent straight-ahead vehicles cannot travel due to the overflow in the right turn lane.

Advantages of the Invention

[0022] According to this invention, the switching of the traffic signal color signal of the traffic signal installed at the intersection can be performed by the sensitive control that can suppress the occurrence of congestion on the inflow road of the intersection.

Brief Description of the Drawings

[0023] [Figure 1] It is a schematic diagram showing a signal control system to which the sensitive control signal output device according to this example is applied. [Figure 2] It is a diagram for explaining an intersection to which the signal control system of this example is applied. [Figure 3] It is a block diagram showing the configuration of the main part of the signal control device according to this example. [Figure 4] It is a block diagram showing the configuration of the main part of the sensitive control signal output device according to this example. [Figure 5] It is a diagram showing the tracking data according to this example. [Figure 6] It is a flowchart showing the operation of the radio wave radar device according to this example. [Figure 7] It is a flowchart showing the tracking process of the sensitive control signal output device according to this example. [Figure 8] It is a flowchart showing the sensitive control process of the sensitive control signal output device according to this example. [Figure 9] It is a flowchart showing the blue sensitivity processing related to s23. [Figure 10] It is a flowchart showing the right turn arrow sensitivity processing related to s24. [Figure 11] It is a flowchart showing the operation of the signal control device.

Mode for Carrying Out the Invention

[0024] Hereinafter, a signal control system to which the sensitive control signal output device according to the embodiment of this invention is applied will be described.

[0025] <1. Application Example> FIG. 1 is a schematic diagram showing a signal control system to which the sensitive control signal output device according to this example is applied. FIG. 2 is a diagram for explaining an intersection to which the signal control system of this example is applied. The signal control system according to this example includes a sensitive control signal output device 1, a signal control device 2, a radio wave radar device 5, and traffic signal devices 100 (100a to 100d).

[0026] In addition, in FIG. 2, for the sake of easy understanding of the illustration, some vehicles 110 are not labeled.

[0027] The signal control system in this example controls the switching of the light colors of traffic lights 100 installed at an intersection where a main road and a secondary road intersect, as shown in Figure 2. Traffic lights 100a and 100b are for vehicles 110 traveling on the main road's entrance ramp to the intersection, and traffic lights 100c and 100d are for vehicles 110 traveling on the secondary road's entrance ramp to the intersection. In this example, the light colors of traffic lights 100a and 100b are switched synchronously. Also in this example, the light colors of traffic lights 100c and 100d are switched synchronously. In this example, traffic lights 100 have four light colors: green, yellow, red, and a right-turn arrow signal. The light colors of traffic lights 100 are switched in the following order: green, yellow, right-turn arrow signal (the red light is also illuminated at this time), yellow, and red.

[0028] In the example shown in Figure 2, the radio radar device 5 scans within a detection area (indicated by a dashed line) set for one of the entrance lanes of the main road using millimeter waves, which are the search waves, and detects the position and speed of each vehicle 110 traveling within this detection area of ​​the entrance lane. The detection area of ​​the entrance lane is, for example, the range from near the stop line before the intersection to a point approximately 150m upstream.

[0029] Please note that the detection area shown here is just an example and is not limited to this range.

[0030] The radio radar device 5 repeats scanning the detection area, for example, at a period of 100 msec. That is, the radio radar device 5 repeatedly detects each vehicle 110 traveling in the inflow road at a period of 100 msec. In this example, each time the radio radar device 5 scans the detection area with a search wave, it outputs detection data including the position and speed of each vehicle 110 detected in that scan. The detection time of each vehicle 110 is associated with this detection data. The detection time may be the time when the radio radar device 5 started scanning the detection area with a search wave, the time when it finished scanning the detection area, or a time midway between the time when it started scanning the detection area and the time when it finished scanning.

[0031] The sensing control signal output device 1 receives detection data for each vehicle 110 output by the radio radar device 5. Based on the detection data for each vehicle 110, the sensing control signal output device 1 generates tracking data for each vehicle 110 traveling on the inflow road, showing the vehicle's trajectory. The tracking data is a time-series arrangement of the detected position and speed of each vehicle 110.

[0032] The sensor-controlled control signal output device 1 estimates the traffic conditions of the entrance ramp based on tracking data of vehicle 110 over the past few minutes (for example, 2.5 minutes or 5 minutes). In this example, the sensor-controlled control signal output device 1 estimates the degree of congestion of the entrance ramp as the traffic condition. More specifically, in this example, it estimates whether the entrance ramp is unsaturated, near-saturated, or supersaturated as the traffic condition of the entrance ramp.

[0033] Furthermore, the sensing control signal output device 1 acquires the driving status of the vehicles 110 in the inflow road at that time (the position and speed of each vehicle 110) based on the detection data of each vehicle 110 that was input immediately before. This driving status may be acquired from the tracking data described above, or from the detection data of each vehicle 110 that was input immediately before from the radio radar device 5.

[0034] The sensor-controlled control signal output device 1 stores extension conditions used to determine whether to extend the green light and right-turn arrow signal of the traffic signal 100 (traffic signal 100a in the example shown in Figure 2) for each traffic condition on the entrance ramp. When traffic signal 100a is green, the sensor-controlled control signal output device 1 compares the current driving conditions of the vehicles 110 on the entrance ramp with the extension conditions for the green light corresponding to the traffic condition on the entrance ramp at that time, and determines whether to extend the green light of traffic signal 100a. Also, when traffic signal 100a is a right-turn arrow signal, the sensor-controlled control signal output device 1 compares the current driving conditions on the entrance ramp with the extension conditions for the right-turn arrow signal corresponding to the traffic condition on the entrance ramp at that time, and determines whether to extend the right-turn arrow signal of traffic signal 100a.

[0035] In this example, since the color of the light signal of traffic light 100b is switched in sync with traffic light 100a, if the green light of traffic light 100a is extended, the green light of traffic light 100b is also extended, and if the right-turn arrow signal of traffic light 100a is extended, the right-turn arrow signal of traffic light 100b is also extended.

[0036] The sensor-controlled control signal output device 1 outputs a sensor-controlled control signal indicating the result of a determination to whether or not to extend the green light when the traffic light 100a is green. Similarly, the sensor-controlled control signal output device 1 outputs a sensor-controlled control signal indicating the result of a determination to whether or not to extend the right-turn arrow signal when the traffic light 100a is a right-turn arrow signal.

[0037] The signal control device 2 receives the sensor control signal output from the sensor control signal output device 1. The signal control device 2 refers to the input sensor control signal and switches the color signals of the traffic lights 100. If the signal control device 2 receives a sensor control signal indicating that the green light of traffic light 100a should not be extended, it switches the green lights of traffic lights 100a and 100b to yellow. Also, if the signal control device 2 receives a sensor control signal indicating that the right-turn arrow signal of traffic light 100a should not be extended, it switches the right-turn arrow signals of traffic lights 100a and 100b to yellow.

[0038] On the other hand, when the signal control device 2 receives an action-sensitive control signal indicating to extend the green light of traffic light 100a, it may extend the green lights of traffic lights 100a and 100b without switching them to yellow lights, or it may switch them to yellow lights (i.e., not extend the green lights). Specifically, the signal control device 2 stores the upper limit of the green light extension time for traffic light 100a, and when the green light extension time for traffic light 100a in the current control cycle for traffic light 100 reaches the upper limit, it switches to yellow lights regardless of the input action-sensitive control signal. Similarly, when the signal control device 2 receives an action-sensitive control signal indicating to extend the right-turn arrow signal of traffic light 100a, it may extend the right-turn arrow signals of traffic lights 100a and 100b without switching them to yellow lights, or it may switch them to yellow lights (i.e., not extend the right-turn arrow signals). Specifically, the signal control device 2 stores the upper limit time for the right-turn arrow signal extension of traffic light 100a. If the right-turn arrow signal extension time for traffic light 100a in the current control cycle reaches the upper limit time, it switches to a yellow signal regardless of the input sensor control signal.

[0039] Thus, the signal control system in this example switches the color of the traffic signals of the signal lights 100 installed at the intersection using sensor-based control that responds to the traffic conditions on the intersection's entry lanes and the vehicle movement conditions on those lanes. This effectively suppresses congestion on the intersection's entry lanes and also efficiently resolves any congestion that does occur.

[0040] <2. Example Configuration> Figure 3 is a block diagram showing the configuration of the main parts of the signal control device according to this example. The signal control device 2 comprises a control unit 21, a communication unit 22, an input / output unit 23, and a light color signal switching unit 24.

[0041] The control unit 21 controls the operation of each part of the main body of the signal control device 2. The control unit 21 also has a signal control parameter storage unit 21a and a lighting control signal generation unit 21b. Details of the signal control parameter storage unit 21a and the lighting control signal generation unit 21b of the control unit 21 will be described later.

[0042] The communication unit 22 is connected to a control center (not shown). The communication unit 22 receives signal control parameters transmitted from the control center. The signal control parameters are parameters that switch the color signals of the traffic lights 100 installed at the intersection, and indicate the cycle, split, and offset. As the signal control parameters are well known, their explanation is omitted here.

[0043] The input / output unit 23 performs data input and output with the sensor-controlled signal output device 1. In this example, the input / output unit 23 outputs the light color signal (green light, yellow light, red light, or right-turn arrow signal) of the traffic lights 100a and 100b on the main road side that are currently lit to the sensor-controlled signal output device 1. The input / output unit 13 also receives a sensor-controlled signal from the sensor-controlled signal output device 1.

[0044] The light color signal switching unit 24 switches the light color signals of each traffic light 100 installed at the intersection. For each traffic light 100, the light color signal switching unit 24 supplies power for lighting the light color signals that are to be lit at that traffic light 100, and does not supply power for lighting the light color signals that are not to be lit. For example, when lit at traffic light 100, the light color signal switching unit 24 supplies power for lighting the green light, but does not supply power for lighting the yellow light, red light, and right-turn arrow signal. The light color signal switching unit 24 switches the light color signals to which power is supplied for lighting at each traffic light 100 in accordance with the lighting control signal input from the lighting control signal generation unit 21b, which will be described later.

[0045] Next, the signal control parameter storage unit 21a and the lighting control signal generation unit 21b of the control unit 21 will be described. The signal control parameter storage unit 21a stores the signal control parameters.

[0046] The lighting control signal generation unit 21b generates lighting control signals that instruct the color signals to be illuminated at each traffic light 100 installed at the intersection. The lighting control signals generated by the lighting control signal generation unit 21b are output to the color signal switching unit 24. The lighting control signal generation unit 21b determines the switching timing for switching the traffic light 100a and 100b on the main road side from a green light to a yellow light, and the switching timing for switching from a right-turn arrow signal to a yellow light, by referring to the sensor control signals input from the sensor control signal output device 1.

[0047] The control unit 21 of the signal control device 2 is composed of a hardware CPU, memory, and other electronic circuits. The hardware CPU functions as a lighting control signal generation unit 21b when the signal control device 2 executes a signal control program. The memory has a storage area used as a signal control parameter storage unit 21a for storing signal control parameters. The memory also has an area for deploying the signal control program and an area for temporarily storing data generated during the execution of this signal control program. The control unit 21 may be an LSI that integrates the hardware CPU, memory, etc.

[0048] Figure 4 is a block diagram showing the configuration of the main parts of the sensing control signal output device according to this example. The sensing control signal output device 1 comprises a control unit 11, a detection data input unit 12, an input / output unit 13, and a tracking database 14 (tracking DB 14).

[0049] The control unit 11 controls the operation of each part of the main body of the sensing control signal output device 1. The control unit 11 also includes a tracking data generation unit 11a, a driving status acquisition unit 11b, a traffic situation estimation unit 11c, an extended condition storage unit 11d, and a sensing control signal generation unit 11e. Details of the tracking data generation unit 11a, driving status acquisition unit 11b, traffic situation estimation unit 11c, extended condition storage unit 11d, and sensing control signal generation unit 11e of the control unit 11 will be described later.

[0050] Detection data of vehicles 110 is input to the detection data input unit 12 from the radio radar device 5. As described above, the radio radar device 5 scans the detection area defined on the intersection's entrance road with radio waves, which are the search waves, and detects the position and speed of each vehicle 110 traveling within the detection area. As described above, the radio radar device 5 outputs detection data indicating the position and speed of each detected vehicle 110. The detection time is associated with this detection data.

[0051] The input / output unit 13 is connected to the signal control device 2. The input / output unit 13 outputs an responsive control signal to the signal control device 2. In addition, the signal control device 2 inputs the color signal of the lights that are illuminated in the traffic light 100a to the input / output unit 13.

[0052] The tracking DB14 stores tracking data indicating the travel trajectory of each vehicle 110 that has traveled within the detection area of ​​the radio radar device 5 defined on the intersection's entrance road. Figure 5 shows the tracking data for a certain vehicle. As shown in Figure 5, the tracking data is data that associates the speed and position of the vehicle 110 detected at each detection time with an ID that identifies the vehicle 110. The position of the vehicle 110 includes the position in the direction of travel and the position in the width direction. The sensor control signal output device 1 can obtain the distance to the stop line before the intersection for the vehicle 110 by using the registered position of the stop line before the intersection and the position of the vehicle 110 in the direction of travel detected by the radio radar device 5. In addition, the sensor control signal output device 1 can obtain the lane in which the vehicle 110 is traveling based on the position of the vehicle 110 in the width direction detected by the radio radar device 5.

[0053] Next, we will describe the tracking data generation unit 11a, the driving status acquisition unit 11b, the traffic status estimation unit 11c, the extended condition storage unit 11d, and the sensitive control signal generation unit 11e, which are all part of the control unit 11.

[0054] The tracking data generation unit 11a processes the vehicle 110 detection data input from the radio radar device 5 and performs identification processing to associate the vehicle 110 detected by the radio radar device 5 in the current scan with the vehicle 110 detected in the previous scan. For the identified vehicle 110, the tracking data generation unit 11a adds the detection time, position, and speed of the vehicle 110 detected this time to the tracking data of the corresponding ID stored in the tracking DB 14. For the vehicle 110 that could not be identified, the tracking data generation unit 11a assigns a new ID to the vehicle 110 and stores new tracking data in the tracking DB 14 that associates the detection time, position, and speed of the vehicle 110 detected this time with this new ID.

[0055] The vehicle status acquisition unit 11b acquires the vehicle status of the vehicles 110 on the intersection's on-ramp. In this example, the vehicle status of the vehicles 110 is the position and speed of each vehicle 110 traveling on the on-ramp at that time. This vehicle status is acquired from the latest vehicle 110 detection data input from the radio radar device 5.

[0056] As is clear from the above explanation, the tracking data for each vehicle 110 stored in the tracking DB 14 includes the latest detection data for the vehicle 110 input from the radio radar device 5. Therefore, the driving status can also be obtained from the tracking data for each vehicle 110 stored in the tracking DB 14.

[0057] The traffic condition estimation unit 11c estimates the traffic conditions of the entry lane using the tracking data of each vehicle 110 stored in the tracking DB 14. In this example, the traffic condition estimation unit 11c estimates the saturation level of the entry lane (unsaturated, near-saturated, oversaturated) as the traffic condition. In this example, the traffic condition estimation unit 11c Saturation (DS) = Number of vehicles passing the stop line during the signal cycle time / (Saturated traffic flow rate × Green light duration × Number of lanes) It is calculated by [method].

[0058] However, the signal cycle time is the time from the start of the green light at signal 100a to the start of the next green light. The number of lanes is the number of lanes excluding the right-turn lane. In the example shown in Figure 2, the main road has two lanes. Also, in this example, the saturation traffic flow rate of the on-ramp is assumed to be predetermined.

[0059] The traffic condition estimation unit 11c estimates the traffic condition of the entrance road as unsaturated if the calculated saturation level is less than 0.9 (DS < 0.9). Furthermore, the traffic condition estimation unit 11c estimates the traffic condition of the entrance road as near-saturated if the calculated saturation level is 0.9 or greater and less than 1 (0.9 ≤ DS < 1). Finally, the traffic condition estimation unit 11c estimates the traffic condition of the entrance road as oversaturated if the calculated saturation level is 1 or greater (1 ≤ DS).

[0060] The extension condition storage unit 11d stores the green light extension conditions for extending the green light of traffic signal 100a, and the right turn arrow extension conditions for extending the right turn arrow signal of traffic signal 100a. The extension condition storage unit 11d stores the green light extension conditions and the right turn arrow extension conditions separately for each traffic condition of the on-ramp.

[0061] For example, the condition for extending the green light when the traffic situation on the entrance ramp is not saturated is that if one or more vehicles 110 pass the stop line after an extension of the unit green time (e.g., 1 second), then it is determined that the light is extended (if no vehicles 110 pass the stop line after an extension of the unit green time, then it is determined that the light is not extended). Whether or not there are vehicles 110 that can pass the stop line after an extension of the unit green time can be estimated from the driving conditions (position and speed of the vehicles 110) acquired by the driving conditions acquisition unit 11b.

[0062] Furthermore, the condition for extending the green light when traffic conditions are near saturation is that the number of straight-ahead vehicles that have not yet cleared (the number of straight-ahead vehicles 110 that stop before the intersection) exceeds a first set number (for example, 5 to 10 vehicles), and the extension of the unit green time can reduce the number of straight-ahead vehicles that have not yet cleared. (If the number of straight-ahead vehicles that have not yet cleared does not exceed the first set number, or if the extension of the unit green time cannot reduce the number of straight-ahead vehicles that have not yet cleared, the condition for not extending the green light is to determine whether the green light will be extended.) The number of straight-ahead vehicles that have not yet cleared, and whether the extension of the unit green time can reduce the number of straight-ahead vehicles that have not yet cleared, can be determined from the driving conditions acquired by the driving conditions acquisition unit 11b.

[0063] Furthermore, the condition for extending the green light when traffic conditions are oversaturated is that if the number of vehicles 110 passing the stop line exceeds the second set number (for example, 2 to 3 vehicles) due to the extension of the unit green time, then the extension is determined (if the number of vehicles 110 passing the stop line does not exceed the second set number due to the extension of the unit green time, then the extension is determined not to be extended). The number of vehicles 110 passing the stop line due to the extension of the unit green time can be determined from the driving conditions acquired by the driving conditions acquisition unit 11b.

[0064] Furthermore, the condition for extending the right-turn arrow when traffic conditions are not saturated is that if one or more vehicles 110 pass the stop line due to the extension of the unit green time, the arrow is deemed to be extended (if no vehicles 110 pass the stop line due to the extension of the unit green time, the arrow is deemed not to be extended). Whether or not there are vehicles 110 passing the stop line due to the extension of the unit green time can be determined by the driving conditions acquisition unit 11b.

[0065] Furthermore, the condition for extending the right-turn arrow when traffic conditions are near saturation is that the number of remaining right-turning vehicles exceeds the third set number (for example, 3 to 5 vehicles), and the extension of the unit green time can reduce the number of remaining right-turning vehicles. In this case, the arrow is determined to be extended (the condition for not extending the arrow is that the number of remaining right-turning vehicles does not exceed the third set number, or the extension of the unit green time cannot reduce the number of remaining right-turning vehicles). The number of remaining right-turning vehicles and whether the extension of the unit green time can reduce the number of remaining right-turning vehicles can be determined by the driving conditions acquisition unit 11b.

[0066] Furthermore, the third set number may be determined using the number of straight-ahead vehicles remaining to pass at that time. For example, Third setting number = (Number of straight-ahead vehicles remaining to be cleared at that point) × p The number of units may be calculated using the method described above. For example, p is between 0.5 and 0.8.

[0067] Furthermore, in this example, the condition for extending the right-turn arrow when traffic is oversaturated is not set.

[0068] Furthermore, the extension condition storage unit 11d stores right-turn arrow extension conditions that determine to extend the right-turn lane if overflow occurs, regardless of the traffic conditions on the entrance ramp. These right-turn arrow extension conditions are designed to prevent the overflow of the right-turn lane from hindering the progress of vehicles going straight.

[0069] When the traffic light 100 is green, the sensor-controlled signal generation unit 11e compares the driving conditions of the entrance road acquired by the driving conditions acquisition unit 11b with the green light extension conditions corresponding to the traffic conditions of the entrance road estimated by the traffic conditions estimation unit 11c, and determines whether to extend the green light. Also, when the traffic light 100 is a right-turn arrow signal, the sensor-controlled signal generation unit 11e compares the driving conditions of the entrance road acquired by the driving conditions acquisition unit 11b with the right-turn arrow extension conditions corresponding to the traffic conditions of the entrance road estimated by the traffic conditions estimation unit 11c, and determines whether to extend the right-turn arrow signal. The sensor-controlled signal generation unit 11e generates a sensor signal according to the determination result. This sensor signal is output by the input / output unit 13 and input to the signal control device 2.

[0070] The control unit 11 of the sensing control signal output device 1 is composed of a hardware CPU, memory, and other electronic circuits. When the hardware CPU executes the sensing control signal output program according to this invention, it operates as a tracking data generation unit 11a, a driving status acquisition unit 11b, a traffic status estimation unit 11c, and a sensing control signal generation unit 11e. The memory also has an area for deploying the sensing control signal output program according to this invention and an area for temporarily storing data generated when the sensing control signal output program is executed. The memory also has a storage area used as an extended condition storage unit 11d. The control unit 11 may be an LSI integrating the hardware CPU, memory, etc. Furthermore, the hardware CPU is a computer that executes the sensing control signal output method according to this invention.

[0071] Since the radio radar device 5 is publicly known, a detailed explanation of its configuration will be omitted here.

[0072] <3. Example of operation> Next, the operation of the responsive control signal output device 1, the signal control device 2, and the radio radar device 5, which are included in the signal control system in this example, will be described.

[0073] Figure 6 is a flowchart illustrating the operation of the radio radar system. When the timing for detecting a vehicle traveling in the inlet road arrives (s1), the radio radar system 5 performs a detection process to detect vehicles 110 traveling within the detection area of ​​the inlet road (s2). In s2, the radio radar system 5 scans the detection area with a probe wave and detects (receives) the reflected wave. By receiving the reflected wave of the irradiated probe wave, the radio radar system 5 detects the position and speed of each vehicle 110 traveling within the detection area of ​​the inlet road. The detection timing is, for example, 100 msec after the previous detection timing. That is, the radio radar system 5 repeats the detection of vehicles 110 traveling within the detection area of ​​the inlet road at a 100 msec cycle.

[0074] When the detection process in s2 is completed, the radio radar device 5 outputs the position and speed of each vehicle 110 detected in the current scan as vehicle detection data (s3), and returns to s1. The vehicle detection data output in s3 includes the detection time of the vehicle 110. As described above, this detection time may be, for example, the time when the scan of the detection area started, the time when the scan of the detection area ended, or a time midway between the time when the scan of the detection area started and the time when the scan ended.

[0075] Next, the operation of the sensing control signal output device 1 will be explained. The sensing control signal output device 1 performs tracking processing, which processes vehicle detection data input from the radio radar device 5 to generate tracking data, and sensing control processing, which generates and outputs sensing control signals.

[0076] First, we will explain the tracking process of the sensor-controlled signal output device 1. Figure 7 is a flowchart showing the tracking process of the sensor-controlled signal output device.

[0077] The sensing control signal output device 1 waits for detection data of vehicle 110 to be input from the radio radar device 5 (s11). When detection data of vehicle 110 is input from the radio radar device 5, the tracking data generation unit 11a performs identification processing to associate the vehicle 110 detected this time with the vehicle 110 detected last time (s12). In this identification processing, for each vehicle 110 detected this time, its position and speed are compared and associated with the position and speed of each vehicle 110 detected last time. The tracking data generation unit 11a sets the ID of the vehicle 110 that could be associated with the vehicle 110 detected last time (the vehicle 110 detected this time) to the ID of the associated vehicle 110 (the vehicle 110 detected last time). The tracking data generation unit 11a also assigns a new ID to the vehicle 110 that could not be associated with the vehicle 110 detected last time (the vehicle 110 detected this time).

[0078] The tracking data generation unit 11a updates the tracking data for each vehicle 110 detected this time based on the processing results of the identification process in s12 (s13), and returns to s11. In s13, the detection data of the vehicle 110 detected this time is added to the tracking data of each vehicle 110 stored in the tracking DB 14. In addition, for vehicles 110 that could not be identified as the previously detected vehicle 110, tracking data with the current detection data associated with the ID is stored in the tracking DB 14.

[0079] Next, the sensing control process of the sensing control signal output device 1 will be described. Figure 8 is a flowchart of the sensing control process of the sensing control signal output device.

[0080] The sensor-sensitive control signal output device 1 performs a green light sensing process when the traffic light 100a is green (s21, s23). The sensor-sensitive control signal output device 1 also performs a right-turn arrow sensing process when the traffic light 100a is a right-turn arrow signal (s22, s24). The sensor-sensitive control signal output device 1 may be configured such that the light color signal of the traffic light 100a is input from the signal control device 2, or it may be configured to determine the light color signal of the traffic light 100a by processing an image of the traffic light 100a, or it may be configured to determine the light color signal of the traffic light 100a by detecting the power supply to the light color signal of the traffic light 100a, or it may be determined by other methods.

[0081] Figure 9 is a flowchart showing the blue-sensitive processing in s23. The sensitive control signal generation unit 11e determines whether it is a sensitive timing (s31). The sensitive timing may be instructed by the signal control device 2, or it may be the timing after a unit of time has elapsed since the last determination that it was a sensitive timing, or it may be any other timing.

[0082] When the sensor-activated control signal generation unit 11e determines that it is a sensor-activated timing, it reads the green light extension conditions for the traffic situation on the entrance road at that time from the extension condition storage unit 11d (s32). The sensor-activated control signal generation unit 11e also acquires the driving status of the vehicles 110 on the entrance road at that time (s33). The traffic situation estimation unit 11c periodically and repeatedly estimates the traffic situation (unsaturated, near-saturated, oversaturated) classified by the saturation level of the entrance road. For example, the traffic situation estimation unit 11c may count the number of vehicles 110 that entered the intersection from the entrance road while the traffic light 100a was green for each cycle of the traffic light 100, and estimate the traffic situation of the entrance road based on the saturation level of the entrance road calculated using this number. Alternatively, the traffic situation estimation unit 11c may estimate the traffic situation of the entrance road every few cycles of the traffic light 100, or at intervals of several minutes.

[0083] In s32, the sensing control signal generation unit 11e reads out the green light extension conditions, which are estimated by the traffic condition estimation unit 11c, according to the traffic conditions on the entrance road at that time. The driving condition acquisition unit 11b also acquires the position and speed of each vehicle 110 indicated by the detection data each time vehicle 110 detection data is input from the radio radar device 5 as the driving condition of the vehicles 110 on the entrance road.

[0084] The sensor-controlled signal generation unit 11e compares the vehicle 110's driving status in the access road acquired in s33 with the green light extension conditions read in s32 and determines whether to extend the green light of the traffic light 100a by a unit time (s34). If the vehicle 110's driving status in the access road acquired in s33 matches the green light extension conditions read in s32, the sensor-controlled signal generation unit 11e determines to extend the green light of the traffic light 100a by a unit time. The sensor-controlled signal generation unit 11e generates a sensor-controlled signal according to the determination result in s34 and outputs the generated sensor-controlled signal to the signal control device 2 (s35).

[0085] Figure 10 is a flowchart showing the right-turn arrow detection process for s24. This right-turn arrow detection process is similar to the blue light detection process described above, so a brief explanation will be given.

[0086] The sensing control signal generation unit 11e determines whether it is a sensing timing (s41). The sensing timing may be instructed by the signal control device 2, for example, as in the blue sensing process described above, or it may be the timing after a unit of time has elapsed since the last time it was determined to be a sensing timing, or it may be any other timing.

[0087] When the sensing control signal generation unit 11e determines that it is a sensing timing, it reads the extension condition for the right-turn arrow signal from the extension condition storage unit 11d according to the traffic conditions on the entrance road at that time (s42). The sensing control signal generation unit 11e also acquires the driving status of the vehicle 110 on the entrance road at that time (s43). In s42, the sensing control signal generation unit 11e reads the right-turn arrow extension condition according to the most recent traffic conditions estimated by the traffic conditions estimation unit 11c.

[0088] The sensor-controlled signal generation unit 11e compares the vehicle 110's driving status in the entrance ramp, acquired in s43, with the right-turn arrow extension conditions read in s42, and determines whether to extend the right-turn arrow signal of the traffic signal 100a by a unit of time (s44). If the vehicle 110's driving status in the entrance ramp, acquired in s43, matches the right-turn arrow extension conditions read in s42, the sensor-controlled signal generation unit 11e determines to extend the right-turn arrow signal of the traffic signal 100a by a unit of time. Furthermore, based on the vehicle 110's driving status in the entrance ramp, acquired in s43, the sensor-controlled signal generation unit 11e determines whether vehicle overflow will occur in the right-turn lane if the right-turn arrow signal is not extended. If the sensor-controlled signal generation unit 11e determines that vehicle overflow will occur in the right-turn lane, it determines to extend the right-turn arrow signal of the traffic signal 100a by a unit of time. The sensing control signal generation unit 11e generates a sensing control signal according to the determination result in s44 and outputs the generated sensing control signal to the signal control device 2 (s45).

[0089] Figure 11 is a schematic flowchart showing the operation of the signal control device. The signal control device 2 determines whether it is the switching determination timing to determine the switching of the light color signal of the traffic light 100 (s51). The signal control device 2 switches the light color signal of the traffic light 100 based on the signal control parameters. For example, the signal control device 2 determines that it is the switching determination timing a certain time (for example, several hundred msec to several seconds) before the time (switching time) to switch the light color signal of the traffic light 100.

[0090] The signal control device 2 determines whether the traffic light 100a is green at the current time (the timing of the current switching determination) (s52). If the signal control device 2 determines in s52 that the traffic light 100a is green, it determines whether to extend the green light of traffic light 100a (s53). The signal control device 2 determines to extend the green light of traffic light 100a if it has received an input signal from the sensor control signal output device 1 indicating that the green light of traffic light 100a should be extended, and extending the green light of traffic light 100a will not exceed the predetermined maximum green light extension time. If the signal control device 2 determines in s53 to extend the green light of traffic light 100a, it returns to s51. At this time, the signal control device 2 delays the switching time for switching the green light of traffic light 100a to yellow by the extension time.

[0091] Furthermore, if the signal control device 2 determines in s53 that the green light of signal 100a should not be extended, it waits for the switching time to change the green light of signal 100a to yellow (s56), and then switches the color signal of signal 100a from green to yellow (s57).

[0092] In Figure 11, if the signal control device 2 determines in s53 that the green light of signal 100a should not be extended, it is necessary to execute the processes described in s54 and s55.

[0093] If the signal control device 2 determines in s52 that traffic light 100a is not green, it determines whether traffic light 100a is currently a right-turn arrow signal (s54). If the signal control device 2 determines in s54 that traffic light 100a is a right-turn arrow signal, it determines whether to extend the right-turn arrow signal of traffic light 100a (s55). The signal control device 2 determines to extend the right-turn arrow signal of traffic light 100a if it has received an input signal from the sensor-controlled signal output device 1 indicating that the right-turn arrow signal of traffic light 100a should be extended, and extending the right-turn arrow signal of traffic light 100a will not exceed the predetermined maximum right-turn arrow extension time. If the signal control device 2 determines in s55 to extend the right-turn arrow signal of traffic light 100a, it returns to s51. At this time, the signal control device 2 delays the time at which it switches the right-turn arrow signal of traffic light 100a to yellow by the extension time.

[0094] Furthermore, if the signal control device 2 determines in s55 that it will not extend the right-turn arrow signal of traffic light 100a, it waits for the switching time to change from the right-turn arrow signal of traffic light 100a to a yellow signal (s56), and then switches the light color signal of traffic light 100 (s57).

[0095] Furthermore, when signal light 100a is yellow or red, the signal control device 2 waits for the switching time to arrive and switches the color signal of signal light 100 without performing the processing described in s52 to s55.

[0096] Thus, the signal control system in this example switches the color of the signal lights 100 installed at the intersection using sensor-activated control that responds to the traffic conditions on the intersection's entry lanes and the driving conditions of the vehicles 110 on those lanes. In other words, the signal control system in this example can switch the color of the signal lights 100 installed at the intersection using sensor-activated control, taking into account not only the driving conditions of the vehicles 110 on the intersection's entry lanes but also the traffic conditions on those lanes. Therefore, it is possible to suppress congestion on the intersection's entry lanes, and if congestion does occur, the time required for that congestion to be resolved can be effectively shortened.

[0097] In the example above, the signal control system uses sensor-activated control to switch the green light and the right-turn arrow signal of traffic light 100a. However, the signal control system may also be configured to use sensor-activated control to switch the green light of traffic light 100a but not to switch the right-turn arrow signal, or conversely, to use sensor-activated control to switch the right-turn arrow signal of traffic light 100a but not to switch the green light.

[0098] <4. Variation> • Variation 1 In the example above, the saturated traffic flow rate of the inlet used to calculate the saturation level of the inlet was assumed to be predetermined. However, it is known that the saturated traffic flow rate changes depending on the proportion of large vehicles among the vehicles 110 traveling on the inlet.

[0099] In this modified example 1, the sensor-controlled control signal output device 1 has a traffic condition estimation unit 11c that calculates the saturation traffic flow rate of the inflow lane, and uses the calculated saturation traffic flow rate to calculate the degree of congestion of the inflow lane. The sensor-controlled control signal output device 1 in this modified example 1 also has the same configuration as shown in Figure 4 as in the example above.

[0100] For example, the number of vehicles 110 that passed through a measurement line in the vehicle width direction defined on the entrance road during the time T (time T is one cycle of the signal cycle) from the end of the green light of the traffic light 100a two cycles ago to the end of the green light of the traffic light 100a last cycle may be measured, and the saturated traffic flow rate of the entrance road at that time may be calculated. This measurement line may be within the detection area of ​​the radio radar device 5, but it is preferable to use the stop line before the intersection provided on the entrance road. However, even if the stop line before the intersection provided on the entrance road is not within the detection area of ​​the radio radar device 5, the measurement line may be set on the downstream side of the entrance road, as long as it is within the detection area of ​​the radio radar device 5.

[0101] In this case, the saturated traffic flow rate is, for example, Saturated traffic flow rate = (nm) / (time of the nth vehicle passing - time of the mth vehicle passing) It is calculated by [method]. However, n is a predetermined number of vehicles to be detected (for example, 10 vehicles), and m is an offset number of vehicles to set the vehicle 110 that has reached a certain speed when passing the measurement line as the starting vehicle (first vehicle). By setting this offset number of vehicles, it is possible to calculate the saturated traffic flow rate while suppressing the influence of vehicles 110 that passed the measurement line before they had sufficiently accelerated after starting to move when the light turned green, which was stopped at a red light. In other words, the accuracy of calculating the saturated traffic flow rate can be improved.

[0102] In this modified example 1, the saturation level, as explained in the example above, is calculated using the saturated traffic flow rate calculated in the previous signal cycle.

[0103] • Variation 2 Furthermore, the saturated traffic flow rate may be the value calculated in the above-described modified example 1, but exponentially smoothed. Specifically, the saturated traffic flow rate calculated in the above-described modified example 1 will be used as the saturated traffic flow rate in this case. Saturated traffic flow rate (exponentially smoothed saturated traffic flow rate in this case) = (Current saturation traffic flow rate × α) + (Previous exponentially smoothed saturation traffic flow rate × (1-α)) It may also be calculated by the following method, provided that the smoothing coefficient α is 0 < α < 1.

[0104] • Modification example 3 Furthermore, the number of vehicles remaining to pass can be determined by obtaining the number of vehicles 110 Y present in the entrance lane from the detection results of the vehicles 110 by the radio radar device 5, after a certain period of time has elapsed (for example, 20 seconds) since the traffic light 100a was switched from green to yellow.

[0105] Furthermore, the sensing control signal generation unit 11e may exponentially smooth the number of vehicles that remain to be cleared when the traffic situation on the inlet is not saturated, set it as a reference value for the number of vehicles that remain to be cleared when it is not saturated, and use this reference value as the extension condition (first set number of vehicles used to determine whether the number of vehicles that remain to be cleared is large) when the traffic situation on the inlet is near saturated.

[0106] For example, if the traffic situation on the entrance road is not saturated, the number Y of vehicles 110 located within the detection area of ​​the entrance road is obtained after a certain period of time (e.g., 20 seconds) has elapsed since the traffic light 100a was switched from green to yellow.

[0107] Number of remaining units after smoothing (Number of units in the first setting) = (Number of unsold units detected this time Y × β) + (Smoothed number of unsold units from the previous time × (1 - β)) However, the smoothing coefficient β is 0 < β < 1.

[0108] • Modification 4 Furthermore, the traffic condition estimation unit 11c may estimate the traffic condition of the inflow road using the smoothed remaining number of vehicles (first set number of vehicles) calculated in the modified example 3. for example, The number of remaining units sold detected this time is Y > number of remaining units sold after smoothing. And if the traffic situation on the inlet is not unsaturated, the saturation level of the inlet is, Saturation level = (Number of vehicles passing the stop line during the signal cycle time + Number of vehicles remaining to clear (Y) - Smoothed number of vehicles remaining to clear) / (Saturated traffic flow rate × Green light duration × Number of lanes) It may also be calculated by this method.

[0109] With this configuration, the traffic situation estimation unit 11c can estimate the traffic situation on the entry road, taking into account the number of vehicles that still need to be handled.

[0110] • Variation 5 The sensor-controlled control signal generation unit 11e may be configured to determine the risk of the right-turn lane overflowing in the next cycle based on the position of the last vehicle 110 in the right-turn lane before the start of the right-turn arrow signal. The determination position for determining the right-turn lane overflow can be set in advance.

[0111] Furthermore, the sensor-controlled control output device 1 may set a determination position for determining whether the right-turn lane is overflowing based on the driving conditions of vehicles 110 traveling in the straight-ahead lane of the entrance ramp. For example, the sensor-controlled control output device 1 detects that an overflow is occurring in the right-turn lane when a large proportion of vehicles 110 change lanes on the stop line side of the entry point to the right-turn lane, when no vehicles 110 are located on the stop line side of the entry point to the right-turn lane, or when multiple vehicles are stopped upstream of the entry point to the right-turn lane. When there was no overflow in the right-turn lane last time, but there is an overflow in the right-turn lane now, the sensor-controlled control output device 1 detects the position of the last vehicle 110 that stopped in the right-turn lane last time as the overflow occurrence position. The sensor-controlled control output device 1 statistically processes the overflow occurrence positions and sets a determination position for determining whether the right-turn lane is overflowing.

[0112] • Modification 6 Furthermore, while the above explanation shows an example of controlling the traffic lights 100a and 100b on the main road side in response to the traffic conditions and driving conditions of the entrance ramp on one side of the main road, the traffic conditions and driving conditions of the entrance ramp on the other side of the main road may also be added to control the traffic lights 100a and 100b on the main road side in response to these conditions. In this case, an additional radio radar device 5 is installed with the entrance ramp on the other side of the main road as its detection area. The sensing control signal output device 1 also determines whether to extend the traffic lights 100a and 100b on the main road side in response to the traffic conditions and driving conditions of the entrance ramp on one side of the main road, and also determines whether to extend the traffic lights 100a and 100b on the main road side in response to the traffic conditions and driving conditions of the entrance ramp on the other side of the main road. Then, the sensing control signal output device 1 outputs a sensing control signal indicating that it has determined to extend the traffic lights 100a and 100b on the main road side, depending on whether it has determined to extend them for either the entrance ramp on one side of the main road or the entrance ramp on the other side.

[0113] Furthermore, traffic-activated control may also be implemented for traffic signals 100c and 100d on the secondary road side.

[0114] The identification process in s12 may be performed on the radio radar device 5.

[0115] Furthermore, the radio radar device 5 described in the above example may be replaced with a laser radar that uses laser light as a search wave.

[0116] Furthermore, this invention is not limited to the embodiments described above, and the components can be modified and implemented in practice without departing from the gist of the invention. Various inventions can also be formed by appropriately combining the multiple components disclosed in the embodiments. For example, some components may be removed from all the components shown in the embodiments. Furthermore, components from different embodiments may be combined as appropriate. Also, the order of processing in each flowchart described in the above example may be rearranged as appropriate.

[0117] Furthermore, the correspondence between the configuration of this invention and the configuration of the embodiment described above can be described as follows. <Note> A detection data acquisition unit (11a) acquires detection data of a vehicle (110) traveling on an intersection entrance road, which is detected by the radar device (5) scanning the entrance road with a probe wave. A driving status acquisition unit (11b) acquires the driving status of the vehicle in the inlet from the detection data of the vehicle (110) acquired by the detection data acquisition unit (11a), A traffic condition estimation unit (11c) estimates the traffic condition of the entrance road using the number of vehicles (110) that entered the intersection from the entrance road, which is estimated based on the detection data of vehicles (110) acquired by the detection data acquisition unit (11a), A storage unit (11d) stores extension conditions for extending the switching of the light color signals of the traffic signals (100) installed at the intersection, according to the aforementioned traffic conditions, A determination unit (11e) compares the vehicle driving conditions on the entrance road acquired by the driving conditions acquisition unit (11b) with the extension conditions of the traffic conditions on the entrance road estimated by the traffic conditions estimation unit (11c), and determines whether to extend the switching of the light color signals of the traffic lights (100) at the intersection. An output unit (13) outputs a sensitive control signal corresponding to the determination result of the determination unit (11e), A sensor control signal output device (1) is provided. [Explanation of Symbols]

[0118] 1...Sensitive control signal output device 2…Signal control device 5…Radio radar equipment 11…Control Unit 11a...Tracking data generation unit 11b... Driving status acquisition unit 11c...Traffic Situation Estimation Unit 11d...Extension condition storage section 11e...Sensitive control signal generation unit 12...Detection data input section 13…Input / output section 14…Tracking Database (Tracking DB) 100(100a~100d)…Traffic light 110... Vehicle

Claims

1. A detection data acquisition unit acquires detection data of vehicles traveling on an intersection entrance ramp, which is detected by a radar device scanning the entrance ramp with a probe wave. A driving status acquisition unit acquires the driving status of a vehicle in the inlet from the vehicle detection data acquired by the detection data acquisition unit, A traffic condition estimation unit estimates the traffic conditions of the entrance road using the number of vehicles that entered the intersection from the entrance road, which is estimated based on the vehicle detection data acquired by the detection data acquisition unit. A storage unit that stores extension conditions for extending the switching of the light color signals of the traffic lights installed at the intersection, according to the aforementioned traffic conditions, A determination unit compares the vehicle driving conditions on the entrance road acquired by the driving conditions acquisition unit with the extension conditions of the traffic conditions on the entrance road estimated by the traffic conditions estimation unit, and determines whether to extend the switching of the light color signals of the traffic lights at the intersection. An output unit that outputs a sensitive control signal corresponding to the determination result of the determination unit, Equipped with, The traffic condition estimation unit estimates the traffic condition of the entrance road based on the saturation level of the entrance road. The traffic condition estimation unit calculates the saturated traffic flow rate of the inflow road based on the vehicle detection data acquired by the detection data acquisition unit, and is a sensitive control signal output device that estimates the degree of saturation of the inflow road using the calculated saturated traffic flow rate.

2. The traffic condition estimation unit calculates the saturation traffic flow rate of the entrance road at the intersection based on the vehicle passage status of a measurement line defined in the vehicle width direction of the entrance road at the intersection, as described in claim 1.

3. The driving condition acquisition unit acquires the position and speed of each vehicle traveling in the inlet as the driving condition, as described in claim 1 or 2, the sensitive control signal output device.

4. The light color signal of the traffic light at the intersection, which the determination unit determines whether to extend, is a right-turn arrow signal. The sensing control signal output device according to any one of claims 1 to 3, wherein the determination unit determines whether vehicle overflow occurs in the right-turn lane provided in the entrance road based on the vehicle driving conditions in the entrance road acquired by the driving conditions acquisition unit, and if it determines that vehicle overflow occurs in the right-turn lane, it determines to extend the right-turn arrow signal of the traffic light at the intersection, regardless of the traffic conditions in the entrance road estimated by the traffic conditions estimation unit.

5. A detection data acquisition step involves acquiring detection data of vehicles traveling on an intersection entrance ramp, which is detected by a radar device scanning the entrance ramp with a probe wave. A driving status acquisition step which acquires the driving status of a vehicle in the inlet from the vehicle detection data acquired in the detection data acquisition step, A traffic condition estimation step is performed to estimate the traffic condition of the entrance road using the number of vehicles that entered the intersection from the entrance road, which is estimated based on the vehicle detection data acquired in the detection data acquisition step. The system stores extension conditions for extending the switching of the light color signals of the traffic signals installed at the intersection, according to the traffic conditions, and the system compares the vehicle driving conditions on the entrance road acquired in the driving conditions acquisition step with the extension conditions for the traffic conditions on the entrance road estimated in the traffic conditions estimation step, and determines whether or not to extend the switching of the light color signals of the traffic signals at the intersection. An output step which outputs a sensitive control signal corresponding to the determination result of the determination step, The computer executes this, In the traffic condition estimation step, the traffic condition of the entrance road is estimated based on the saturation level of the entrance road. A method for outputting a sensitive control signal, wherein in the traffic condition estimation step, the method calculates the saturated traffic flow rate of the inlet based on the vehicle detection data acquired in the detection data acquisition step, and estimates the degree of saturation of the inlet using the calculated saturated traffic flow rate.

6. A detection data acquisition step involves acquiring detection data of vehicles traveling on an intersection entrance ramp, which is detected by a radar device scanning the entrance ramp with a probe wave. A driving status acquisition step which acquires the driving status of a vehicle in the inlet from the vehicle detection data acquired in the detection data acquisition step, A traffic condition estimation step is performed to estimate the traffic condition of the entrance road using the number of vehicles that entered the intersection from the entrance road, which is estimated based on the vehicle detection data acquired in the detection data acquisition step. The system stores extension conditions for extending the switching of the light color signals of the traffic signals installed at the intersection, according to the traffic conditions, and the system compares the vehicle driving conditions on the entrance road acquired in the driving conditions acquisition step with the extension conditions for the traffic conditions on the entrance road estimated in the traffic conditions estimation step, and determines whether or not to extend the switching of the light color signals of the traffic signals at the intersection. An output step which outputs a sensitive control signal corresponding to the determination result of the determination step, Have the computer run it, In the traffic condition estimation step, the traffic condition of the entrance road is estimated based on the saturation level of the entrance road. A sensitive control signal output program that, in the traffic condition estimation step, calculates the saturated traffic flow rate of the inlet based on the vehicle detection data acquired in the detection data acquisition step, and estimates the degree of saturation of the inlet using the calculated saturated traffic flow rate.

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