Traffic control systems and traffic control methods

Abstract

To accurately and efficiently detect the lane change performed due to roadwork, etc., of a vehicle approaching an alternating traffic section, to thereby perform appropriate traffic guidance.SOLUTION: When a vehicle C1 approaches an alternating traffic section while a traffic light 25A is green denoting an access permission state, an approaching vehicle detection sensor 29A detects this vehicle C1 and measures the speed v and distance x of the vehicle C1 (S1). When the vehicle C1 runs over the detection range of the approaching vehicle detection sensor 29A, a time T1 that is needed until the vehicle C1 passes through the approaching vehicle detection sensor 29A and a time T2 that is needed for passing through the alternating traffic section are calculated using the speed v and distance x and distance d of the alternating traffic section which are last measured (S2). The traffic light 25A is changed to red denoting a no-entry state after being kept lighted green until the T1 elapses (S3), and a traffic light 25B is changed to green after being kept lighted red until T1+T2 elapses (S4).SELECTED DRAWING: Figure 1

Description

Technical Field

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[0001] The present invention relates to a traffic guidance system and a traffic guidance method capable of accurately and efficiently detecting a lane change of a vehicle approaching an alternating traffic section associated with road construction or the like and performing appropriate traffic guidance.

Background Art

[0002] Conventionally, when road construction or the like is carried out on a road with two or more lanes, traffic guidance is performed to allow vehicles traveling in both directions to pass alternately in one lane. At this time, if guides are arranged at both ends of the alternating traffic section to control the passage of vehicles, the number of necessary personnel increases.

[0003] For this reason, a conventional technique of installing traffic lights at both ends of the alternating traffic section is known. For example, in Patent Document 1, a vehicle detection device is installed on the road shoulder of the alternating traffic section, and the approaching vehicle is detected by this vehicle detection device. When the approaching time of a vehicle arriving at the alternating traffic section from one direction is late and a vehicle in the other direction approaches the alternating traffic section earlier, a technique is disclosed in which the traffic light is controlled to change the passing direction so as to make traffic jams less likely to occur.

Prior Art Documents

[0007] The present invention has been made to solve the problems of the prior art described above, and aims to provide a traffic guidance system and traffic guidance method that can accurately and efficiently detect lane changes of vehicles approaching alternating traffic sections due to road construction, etc., and provide appropriate traffic guidance. [Means for solving the problem]

[0008] To solve the above problems, the present invention provides a traffic guidance system comprising a plurality of traffic signals arranged at both ends of an alternating traffic section, and a control device for controlling each traffic signal, wherein the control device includes detection means for detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section, determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, calculation means for calculating the time until the vehicle enters the alternating traffic section when the determination means determines that the vehicle has changed lanes, and control means for controlling the switching timing of the first traffic signal arranged at the first end based on the time calculated by the calculation means. The detection means is disposed at the first end of the alternating traffic section and includes a millimeter-wave transmitter that transmits a plurality of millimeter waves in the direction of approach of a vehicle, and a millimeter-wave receiver that receives a plurality of millimeter waves reflected by the vehicle. Based on the transmission and reception results of the plurality of millimeter waves, the detection means detects the speed of a vehicle traveling towards the first end of the alternating traffic section. The determination means determines, for the vehicle detected by the detection means, whether the vehicle changed lanes before reaching the first end, based on the progression of the decreasing distribution range of direction and distance obtained from the plurality of millimeter waves received by the millimeter-wave receiver. It is characterized by the following:

[0011] Furthermore, the present invention is A traffic guidance system comprising a plurality of traffic signals arranged at both ends of an alternating traffic section, and a control device for controlling each traffic signal, wherein the control device comprises detection means for detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section, determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, calculation means for calculating the time until the vehicle enters the alternating traffic section when the determination means determines that the vehicle has changed lanes, and control means for controlling the switching timing of the first traffic signal arranged at the first end based on the time calculated by the calculation means, wherein the detection means comprises a millimeter-wave transmitter arranged at the first end of the alternating traffic section and transmitting a plurality of millimeter waves in the direction of approach of the vehicle, and a millimeter-wave receiver that receives a plurality of millimeter waves reflected by the vehicle, and detects the speed of a vehicle traveling and approaching the first end of the alternating traffic section based on the transmission and reception results of the plurality of millimeter waves, The determination means is characterized by determining, based on the size of the projected area of ​​a plurality of millimeter waves received by the millimeter wave receiver, that the vehicle detected by the detection means changed lanes before reaching the first end.

[0012] Furthermore, the present invention is A traffic guidance system comprising a plurality of traffic lights arranged at both ends of an alternating traffic section, and a control device for controlling each traffic light, wherein the control device includes detection means for detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section, determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, calculation means for calculating the time until the vehicle enters the alternating traffic section when the determination means determines that the vehicle has changed lanes, and control means for controlling the switching timing of the first traffic light arranged at the first end based on the time calculated by the calculation means.The control means is characterized by controlling the time calculated by the calculation means to be the extension time of the green light of the first traffic signal.

[0013] Furthermore, this invention A traffic guidance system comprising a plurality of traffic lights arranged at both ends of an alternating traffic section, and a control device for controlling each traffic light, wherein the control device includes detection means for detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section, determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, calculation means for calculating the time until the vehicle enters the alternating traffic section when the determination means determines that the vehicle has changed lanes, and control means for controlling the switching timing of the first traffic light arranged at the first end based on the time calculated by the calculation means. The calculation means is characterized in that, when the determination means determines that the vehicle has changed lanes, it calculates the time until the vehicle passes the second end of the alternating traffic section based on the vehicle's speed and the distance of the alternating traffic section described in the preceding paragraph.

[0015] Furthermore, the present invention relates to a traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, wherein the control device comprises a detection step of detecting the speed of a moving vehicle approaching at least the first end of the alternating traffic section, a determination step of determining whether the vehicle detected in the detection step changed lanes before reaching the first end, and, if the control device determines in the determination step that the vehicle has changed lanes, a calculation of the time until the vehicle enters the alternating traffic section. The detection step includes a fixed step and a control step in which the control device controls the switching timing of the first signal installed at the first end based on the time calculated by the calculation step, the detection step includes a millimeter wave transmission step of transmitting a plurality of millimeter waves in the direction of approach of a vehicle at the first end of the alternating traffic section and a millimeter wave reception step of receiving a plurality of millimeter waves reflected by the vehicle, the speed of a vehicle traveling and approaching the first end of the alternating traffic section is detected based on the transmission and reception results of the plurality of millimeter waves, and the determination step determines the vehicle detected by the detection step process The method is characterized by determining whether or not the vehicle changed lanes before reaching the first end, based on the progression of the shrinking distribution range of direction and distance obtained from multiple millimeter waves received by the system. Furthermore, the present invention relates to a traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, wherein the control device comprises a detection step of detecting the speed of a vehicle traveling that is approaching at least the first end of the alternating traffic section; a determination step of determining whether the vehicle detected in the detection step has changed lanes before reaching the first end; a calculation step of calculating the time until the vehicle enters the alternating traffic section if the control device determines in the determination step that the vehicle has changed lanes; and the control device, based on the time calculated in the calculation step, controls the first end The detection step includes a control step for controlling the switching timing of a first traffic signal installed in the section, the detection step includes a millimeter wave transmission step for transmitting a plurality of millimeter waves in the direction of approach of a vehicle at the first end of the alternating traffic section, and a millimeter wave reception step for receiving a plurality of millimeter waves reflected by the vehicle, the detection step for detecting the speed of a vehicle traveling and approaching the first end of the alternating traffic section based on the transmission and reception results of the plurality of millimeter waves, and the determination step for determining whether the vehicle detected by the detection step changed lanes before reaching the first end, based on the size of the distribution range of direction and distance obtained from the plurality of millimeter waves received by the millimeter wave reception step. Furthermore, the present invention relates to a traffic guidance method in a traffic guidance system having a plurality of traffic lights arranged at both ends of an alternating traffic section and a control device for controlling each traffic light, wherein the control device includes a detection step of detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section; a determination step of determining whether the vehicle detected in the detection step changed lanes before reaching the first end; a calculation step of calculating the time until the vehicle enters the alternating traffic section if the determination step determines that the vehicle has changed lanes; and a control step of controlling the switching timing of the first traffic light arranged at the first end based on the time calculated in the calculation step, wherein the control step controls the time calculated in the calculation step to be the extension time of the green light of the first traffic light. Furthermore, the present invention relates to a traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, wherein the control device includes a detection step of detecting the speed of a vehicle traveling and approaching at least the first end of the alternating traffic section; a determination step of determining whether the vehicle detected in the detection step has changed lanes before reaching the first end; a calculation step of calculating the time until the vehicle enters the alternating traffic section when the determination step determines that the vehicle has changed lanes; and a control step of controlling the switching timing of the first traffic signal arranged at the first end based on the time calculated in the calculation step, wherein the calculation step is characterized in that, when the determination step determines that the vehicle has changed lanes, the time until the vehicle passes from the first end to the second end of the alternating traffic section is calculated based on the speed of the vehicle and the distance of the alternating traffic section described in the preceding paragraph. [Effects of the Invention]

[0016] According to the present invention, lane changes by vehicles approaching alternating traffic sections due to road construction, etc., can be accurately and efficiently detected, and appropriate traffic guidance can be provided. [Brief explanation of the drawing]

[0017] [Figure 1] Figure 1 is an explanatory diagram illustrating the overview of the traffic guidance system according to the embodiment. [Figure 2] Figure 2 shows an example of a device installed at the end of an alternating traffic section. [Figure 3] Figure 3 shows the system configuration of the traffic control system. [Figure 4] Figure 4 shows the external configuration of the passage control device shown in Figure 3. [Figure 5] Figure 5 shows the configuration of the passage control device shown in Figure 3. [Figure 6] Figure 6 shows the configuration of the guide terminal device shown in Figure 3. [Figure 7] FIG. 7 is a diagram showing the configuration of the management device shown in FIG. 3. [Figure 8] FIG. 8 is a diagram showing an example of the setting data shown in FIG. 7. [Figure 9] FIG. 9 is a diagram showing the outline of the overhang determination regarding an approaching vehicle. [Figure 10] FIG. 10 is a flowchart (Part 1) showing the processing procedure of the traffic signal control for the lane-overhanging vehicle in the management device. [Figure 11] FIG. 11 is a flowchart (Part 2) showing the processing procedure of the traffic signal control for the lane-overhanging vehicle in the management device. Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the traffic guidance system and the traffic guidance method according to the present embodiment will be described in detail based on the drawings.

[0019] [Embodiment] <Overview of Traffic Guidance System> First, the overview of the traffic guidance system according to the present embodiment will be described. FIG. 1 is an explanatory diagram for explaining the overview of the traffic guidance system according to the present embodiment. In FIG. 1, road construction is being carried out in the illustrated construction work area of a two-lane road with one lane on each side, and one lane has become unusable due to this road construction. Therefore, an alternating traffic section is provided using the remaining one lane. Hereinafter, each lane of the two-lane road will be referred to as lane A and lane B.

[0020] In order to control the passage of vehicles in the alternating traffic section, a traffic signal 25A and an approaching vehicle detection sensor 29A are installed at one end (the first end) of the alternating traffic section, and a traffic signal 25B and an approaching vehicle detection sensor 29B are installed at the other end (the second end).

[0021] In the traffic guidance system shown in FIG. 1, vehicles approaching the alternating traffic section are detected, and switching control of the traffic signal is performed so that the vehicle can safely pass through the alternating traffic section.

[0022] As shown in Figure 1, when the traffic light 25A is green, indicating permission to enter, if vehicle C1 approaches the alternating traffic section, the approaching vehicle detection sensor 29A detects vehicle C1 and measures the speed v of vehicle C1 and the distance x from the approaching vehicle detection sensor 29A to vehicle C1 (S1).

[0023] If vehicle C1 moves outside the detection range of the approaching vehicle detection sensor 29A and detection of vehicle C1 by the approaching vehicle detection sensor 29A becomes impossible, the traffic guidance system uses the most recently measured speed v of vehicle C1, the distance x from the approaching vehicle detection sensor 29A to vehicle C1, and the distance d of the alternating traffic section to calculate the time T1 required from the moment detection of vehicle C1 by the approaching vehicle detection sensor 29A becomes impossible until vehicle C1 begins to enter the alternating traffic section and the time T2 required to pass through the alternating traffic section (S2).

[0024] Then, from the point when the approaching vehicle detection sensor 29A can no longer detect vehicle C1 until T1 has elapsed, the traffic light 25A is kept green and then switched to a red light, indicating no entry (S3). After T1+T2 has elapsed from the point when the approaching vehicle detection sensor 29A can no longer detect vehicle C1, the traffic light 25B, which was previously red, is switched to a green light, indicating permission to enter (S4).

[0025] As described above, the traffic guidance system according to this embodiment is configured to detect a vehicle approaching an alternating traffic section, and if the vehicle moves out of the detection range, it uses the most recently measured vehicle speed, distance, and alternating traffic section distance to calculate the time it takes for the vehicle to enter and pass through the alternating traffic section, and uses this calculated time to control the switching of traffic signals. Therefore, it is possible to accurately and efficiently detect lane changes of vehicles approaching an alternating traffic section due to road construction, etc., and to provide appropriate traffic guidance.

[0026] <Configuration of the traffic control system> Next, a device to be installed at the end of an alternating traffic section in the traffic control system according to this embodiment will be described. Figure 2 shows an example of a device to be installed at the end of an alternating traffic section. As shown in Figure 2, the traffic control device 20A is installed by mounting the traffic control device 20A on the cargo bed of vehicle C2 and parking vehicle C2 at the end of the alternating traffic section. This traffic control device 20A is a device that includes the traffic signal 25A and approaching vehicle detection sensor 29A shown in Figure 1, as well as a passing vehicle detection sensor 22A. In addition, a stop line is provided in front of the traffic control device 20A, and vehicles that stop at the stop line are detected by the approaching vehicle detection sensor 29A. Furthermore, the path that vehicles should travel may be defined by appropriately arranging road cones.

[0027] Similarly, at the other end of the alternating traffic section (not shown), a traffic control device 20B including a passing vehicle detection sensor 22B, a traffic signal 25B, and an approaching vehicle detection sensor 29B will also be installed. Note that the traffic control device 20A, etc., do not necessarily need to be used mounted on a vehicle; depending on road conditions, they may be removed from the vehicle and installed separately.

[0028] Next, the system configuration of the traffic guidance system according to this embodiment will be described. Figure 3 is a diagram showing the system configuration of the traffic guidance system according to this embodiment. As shown in Figure 3, the traffic control device 20A, the traffic control device 20B, and the traffic controller terminal device 30 are connected to the management device 40 so as to be able to communicate with it. Wireless communication is used for communication between the management device 40 and the other devices, and the management device 40 can be installed at any location as long as it is within the range where wireless communication with the other devices is possible.

[0029] <Configuration of the passage control device 20> Next, the passage control devices 20A and 20B shown in Figure 3 will be described. Since the passage control devices 20A and 20B have the same configuration, they will be described as passage control device 20.

[0030] Figure 4 shows the external configuration of the traffic control device 20 shown in Figure 3. As shown in Figure 4, the traffic control device 20 has a main body having a passing vehicle detection sensor 22, a display unit 23, a speaker 24, and an approaching vehicle detection sensor 29, a traffic signal 25 connected to the main body, and legs that support the main body, with casters 28 and a battery 27 provided on the legs.

[0031] The passing vehicle detection sensor 22 is a device that detects the passage of vehicles entering and exiting an alternating traffic section. The passing vehicle detection sensor 22 detects vehicles entering and exiting an alternating traffic section by emitting light or radio waves and receiving the reflected waves.

[0032] The display unit 23 is a display device such as an LED panel. The speaker 24 is an audio output device that outputs warning sounds or message voices as needed. The display unit 23 and speaker 24 are used, for example, to notify a vehicle that has stopped a short distance from the stop line with a message such as "Please move forward a little and wait at the stop line."

[0033] Traffic light 25 has a red light that is controlled to illuminate when entry is prohibited, and a blue light that is controlled to illuminate when entry is permitted. The red and blue lights can also be made to flash as needed.

[0034] The approaching vehicle detection sensor 29 is a device that detects vehicles approaching an alternating traffic section or vehicles that have stopped before entering an alternating traffic section, and is installed so that the driving lane entering the alternating traffic section is within its detection range. The approaching vehicle detection sensor 29 detects the direction, distance, and speed of vehicles approaching the alternating traffic section by emitting radio waves such as millimeter waves and receiving the reflected waves. Alternatively, it can detect the position of an approaching vehicle by performing image processing such as pattern matching on images captured by a camera such as a stereo camera. In this embodiment, the case in which detection is performed using a sensor that utilizes millimeter waves will be described.

[0035] Millimeter-wave sensors are capable of quickly detecting the position and speed of moving vehicles and people. They possess strong directivity, excellent environmental resistance (resistant to rain, fog, snow, and dirt), the ability to miniaturize antennas, and high information transmission capacity. This millimeter-wave sensor generates millimeter-wave signals using a synthesizer, transmits millimeter waves from a transmitting antenna, receives the reflected waves reflected by the vehicle with a receiving antenna, and detects the distance and speed to the vehicle based on the reception results. In this case, millimeter waves are transmitted from multiple transmitting antennas, and multiple reflected waves are received by multiple receiving antennas. When the direction and distance are plotted on a planar coordinate system, a point cloud of data with a distribution shape corresponding to the positions of some of the vehicles that reflected the radio waves is obtained.

[0036] The battery 27 is used as the power source for the passage control device 20. The casters 28 are provided to allow the passage control device 20 to rotate while tilted on the ground, and are used to assist in the movement of the passage control device 20.

[0037] Figure 5 shows the configuration of the traffic control device 20 shown in Figure 3. As shown in Figure 5, the traffic control device 20 includes, in addition to the previously described passing vehicle detection sensor 22, display unit 23, speaker 24, traffic signal 25, and approaching vehicle detection sensor 29, a wireless communication unit 21 and a control unit 26.

[0038] The wireless communication unit 21 is a communication interface unit for wireless communication with the management device 40 using well-known technologies such as low-power communication, wireless LAN, or LTE (Long Term Evolution) communication.

[0039] The control unit 26 is a control unit that performs overall control of the traffic management device 20 and includes an approach detection unit 26a, a passage detection unit 26b, and a vehicle guidance unit 26c. In practice, these programs are loaded into the CPU (Central Processing Unit) and executed, causing the approach detection unit 26a, the passage detection unit 26b, and the vehicle guidance unit 26c to execute the processes corresponding to them.

[0040] The proximity detection unit 26a is a processing unit that performs processing related to the detection of vehicles approaching the alternating traffic section. The proximity detection unit 26a uses the output of the approaching vehicle detection sensor 29 to detect the direction, distance, and speed of vehicles approaching the alternating traffic section, and transmits the detection results as proximity detection results to the management device 40. Vehicles that have stopped at the stop line are transmitted with a speed of 0.

[0041] The passage detection unit 26b is a processing unit that performs processing related to the detection of vehicles entering and exiting the alternating traffic section. The passage detection unit 26b uses the output of the passing vehicle detection sensor 22 to detect the passage of vehicles entering and exiting the alternating traffic section and transmits the detection result as a passage detection result to the management device 40.

[0042] The vehicle guidance unit 26c is a processing unit that controls the lighting of the traffic signal 25. The vehicle guidance unit 26c controls vehicle traffic by switching between an entry-prohibited state and an entry-permitted state of the traffic signal 25 and controlling the lighting. In addition, the vehicle guidance unit 26c can guide vehicles, such as adjusting the stopping position, by outputting messages via the display unit 23 and speaker 24 as needed.

[0043] <Configuration of the guide terminal device 30> Next, the configuration of the guide terminal device 30 shown in Figure 3 will be described. Figure 6 is a diagram showing the configuration of the guide terminal device 30 shown in Figure 3. As shown in Figure 6, the guide terminal device 30 has a wireless communication unit 31, a display unit 32, an operation unit 33, a speaker 34, and a control unit 35.

[0044] The wireless communication unit 31 is a communication interface unit for wireless communication with the management device 40 using well-known technologies such as low-power communication, wireless LAN, or LTE communication. The display unit 32 is composed of a display device such as an LCD panel and is used for display output to the guide. The operation unit 33 is composed of an operation device such as a button and is used to receive operations from the guide. Alternatively, the display unit 32 and the operation unit 33 may be configured as a single unit using a touch panel display or the like. The speaker 34 is an audio output device used for audio output to the guide.

[0045] The control unit 35 is a control unit that performs overall control of the guide terminal device 30 and includes a signal notification unit 35a and a mode notification unit 35b. In practice, by loading these programs into the CPU and executing them, the signal notification unit 35a and the mode notification unit 35b are made to execute the processes corresponding to them, respectively.

[0046] The signal notification unit 35a processes information about the signals 25 of all through-control devices 20 connected to the control device 40 and notifies the traffic controllers. When the signal notification unit 35a receives information about the signals 25 from the control device 40, it displays this information on the display unit 32. The information received from the control device 40 can also be notified using the speaker 34.

[0047] The mode notification unit 35b performs the process of notifying the guide of the signal switching control mode. When the mode notification unit 35b receives the signal switching control mode from the management device 40, it displays this control mode on the display unit 32. The notification of the control mode received from the management device 40 can also be done using the speaker 34.

[0048] <Configuration of the control device 40> Next, the configuration of the management device 40 shown in Figure 3 will be described. Figure 7 is a diagram showing the configuration of the management device 40 shown in Figure 3. As shown in Figure 7, the management device 40 has a wireless communication unit 41, a display unit 42, an operation unit 43, a speaker 44, a storage unit 45, and a control unit 46.

[0049] The wireless communication unit 41 is a communication interface unit for wireless communication between the passage management device 20 and the guide terminal device 30 using well-known technologies such as low-power communication, wireless LAN, or LTE communication. The display unit 42 is composed of a display device such as a liquid crystal panel and is used for display output to the operator. The operation unit 43 is composed of an operation device such as a button and is used for receiving operations from the operator. Alternatively, the display unit 42 and the operation unit 43 may be configured as a single unit using a touch panel display or the like. The speaker 44 is an audio output device used for audio output to the operator.

[0050] The storage unit 45 is a storage device consisting of a hard disk drive or non-volatile memory, and stores setting data 45a and approaching vehicle data 45b. The setting data 45a is data indicating the values ​​of various settings for controlling the traffic signal 25. The approaching vehicle data 45b is data plotted on a planar coordinate system the position of the detected part of the outer shape of a vehicle approaching the alternating traffic section, using the distance and direction included in the approach detection result received from the passage management device 20. More details will be described later.

[0051] The control unit 46 is a control unit that performs overall control of the management device 40 and includes a setting management unit 46a, a mode control unit 46b, a signal control unit 46c, a vehicle management unit 46d, and a lane departure detection unit 46e. In practice, by loading these programs into the CPU and executing them, the process corresponding to the setting management unit 46a, the mode control unit 46b, the signal control unit 46c, the vehicle management unit 46d, and the lane departure detection unit 46e is executed, respectively.

[0052] The setting management unit 46a is a processing unit that manages the setting data 45a. When the setting management unit 46a receives the upper limit setting time and the switching setting time from the operation unit 43, it stores the received data in the setting data 45a.

[0053] The mode control unit 46b is a processing unit that controls the switching of the control mode of the traffic signal 25. The control modes include a time control mode, a detection control mode, and a manual control mode. When the mode control unit 46b receives a mode switching operation from the operation unit 43, it switches to the accepted control mode and notifies the traffic controller terminal device 30 of the switched control mode.

[0054] The time control mode is a control mode that switches between an entry-prohibited state and an entry-permitted state based on the elapsed time of a predetermined period. In the time control mode, the switching control of the traffic signal 25 is performed regardless of whether there are vehicles approaching the alternating traffic section or vehicles stopped near the stop line. In cases of relatively heavy traffic, even if no vehicles are detected at a particular point in time, there is a high probability that vehicles will enter before the entry-permitted state ends. Therefore, switching the state of the traffic signal 25 at a predetermined timing reduces the overall waiting time and makes vehicle traffic more efficient.

[0055] The detection control mode is a control mode in which traffic light 25 is kept in a no-entry state and then switched to an entry-permitted state only when a vehicle approaching the alternating traffic section or a vehicle stopped near the stop line is detected. If no vehicle enters even after traffic light 25 is set to an entry-permitted state, it would unnecessarily extend the waiting time for other traffic lights 25. Therefore, when traffic volume is relatively low, the detection control mode can be used to switch to an entry-permitted state only when an approaching or stopped vehicle is present, thereby reducing the overall waiting time and making vehicle traffic more efficient.

[0056] The manual control mode is a control mode that controls traffic by switching the state of the traffic signal 25 based on the operation of a traffic controller. This manual control mode is used when there is an abnormality in the conditions of the alternating traffic section or the traffic control system.

[0057] The signal control unit 46c is a processing unit that controls all traffic signals 25 included in the traffic guidance system. For example, if the traffic guidance system includes traffic management devices 20A and 20B as traffic management devices 20, then the traffic signals 25A and 25B of each traffic management device 20 are the targets of control.

[0058] Furthermore, the signal control unit 46c performs the following processing in time control mode: When both signal lights 25A and 25B are in a no-entry state, for example, if signal light 25A is switched to an entry permit state, signal light 25A is switched back to a no-entry state after the upper limit setting time of the setting data 45a has elapsed. Then, signal light 25B is switched to an entry permit state after the switching setting time of the setting data 45a has elapsed. The signal control unit 46c repeats this control.

[0059] Furthermore, the signal control unit 46c performs the following processing in detection control mode: When both traffic lights 25A and 25B are in the no-entry state, for example, if the approaching vehicle detection sensor 29A detects an approaching vehicle, it switches traffic light 25A to the permitted entry state, and after the upper limit setting time of the setting data 45a has elapsed, it switches traffic light 25A back to the no-entry state. If the approaching vehicle detection sensor 29B detects an approaching vehicle during this time, it switches traffic light 25A back to the no-entry state, and then after the switching setting time of the setting data 45a has elapsed, it switches traffic light 25B back to the permitted entry state. Note that if the approaching vehicle detection sensor 29B detects an approaching vehicle first, it reverses traffic lights 25A and 25B and performs the same control as above.

[0060] Furthermore, if the signal control unit 46c receives a notification of deviation from the deviation detection unit 46e during the time limit set after the traffic signal 25 (for example, traffic signal 25A) has been set to the entry permit state, it performs the following processing.

[0061] The signal control unit 46c uses the speed v and distance x included in the most recent approach notification received from the vehicle management unit 46d to calculate the time T1 required from the time it receives a deviation notification from the deviation detection unit 46e until the vehicle reaches one end of the alternating traffic section. It maintains the entry permit state of the traffic signal 25A until T1 has elapsed, and after T1 has elapsed, it switches the traffic signal 25A to the entry prohibition state. The signal control unit 46c uses the speed v and the alternating traffic section distance d to calculate the time T2 required for the vehicle to pass between the two ends of the alternating traffic section. After T1+T2 has elapsed since receiving a deviation notification from the deviation detection unit 46e, it switches the traffic signal 25B, which was previously in the entry prohibition state, to the entry permit state.

[0062] The vehicle management unit 46d is a processing unit that manages approaching vehicle data 45b. When the vehicle management unit 46d receives an approach detection result from the passage management device 20, it passes the speed v and distance x included in this approach detection result to the signal control unit 46c as an approach notification.

[0063] Furthermore, the vehicle management unit 46d generates approaching vehicle data 45b, which is data obtained by plotting the direction and distance included in the approach detection result received from the passage management device 20, specifically the distance and direction to a part of the outer shape of a vehicle approaching the alternating traffic section as detected by the approaching vehicle detection sensor 29, on a planar coordinate system representing a plane including the detection range of the approaching vehicle detection sensor 29 (in this embodiment, the origin represents the position of the approaching vehicle detection sensor 29, the vertical axis is the front depth direction as seen from the sensor, and the horizontal axis is the left-right direction perpendicular to the vertical axis).

[0064] The lane departure detection unit 46e is a processing unit that determines whether a vehicle approaching an alternating traffic section has deviated from its driving lane into the opposite lane. If approaching vehicle data 45b is generated, the lane departure detection unit 46e compares the approaching vehicle data 45b generated subsequently in chronological order. In this chronological comparison, if the approaching vehicle data 45b moves near the boundary of the detection range of the approaching vehicle detection sensor 29 and then disappears, the lane departure detection unit 46e determines that a vehicle approaching an alternating traffic section has deviated from its driving lane into the opposite lane and passes a lane departure notification to the signal control unit 46c.

[0065] Next, an example of data stored in the storage unit 45 of the management device 40 shown in Figure 7 will be described. Figure 8 shows an example of the setting data 45a shown in Figure 7.

[0066] The setting data 45a shown in Figure 8 indicates a state where the upper limit setting time is "60 seconds" and the switching setting time is "10 seconds".

[0067] <Procedure for determining whether an approaching vehicle is crossing the road> Next, we will explain the procedure for determining whether an approaching vehicle is crossing the line of sight. Figure 9 shows the procedure for determining whether an approaching vehicle is crossing the line of sight. As shown in Figure 9, the determination of whether an approaching vehicle is crossing the line of sight is performed by comparing the approaching vehicle data 45b in chronological order. Note that, for the sake of explanation, the approaching vehicle data 45b shown in Figure 9 shows the outline of the approaching vehicle with a dashed line, but the actual approaching vehicle data 45b does not display an outline of the vehicle.

[0068] Specifically, as shown in Figure 9(a), a cluster of multiple points plotted on a coordinate system (hereinafter referred to as "point cloud data") represents the position of a part of the vehicle's outline at time T, and it can be recognized that the vehicle is located in the vicinity of "-1m to 1m" in the lateral direction.

[0069] As shown in Figure 9(b), when Δt is a predetermined time difference, at time T+Δt, it can be recognized that a vehicle is located in the vicinity of "-2m to 1m" in the lateral direction. The reason why this point cloud data is longer in the lateral direction than the point cloud data in Figure 9(a) is that a vehicle traveling in the driving lane moves to the opposite lane, so the vehicle appears at an angle to the traffic management device 20. In other words, in Figure 9(a), the millimeter waves transmitted from the approaching vehicle detection sensor 29 are reflected from the front of the vehicle, so the point cloud data is plotted horizontally on the coordinate system with a length close to the width of the vehicle. However, in Figure 9(b), the traffic management device 20 detects the vehicle at an angle, so it is plotted horizontally longer on the coordinate system than when the vehicle is detected head-on.

[0070] As shown in Figure 9(c), at time T+2Δt, a vehicle can be detected in the vicinity of "-2m to -1m" in the lateral direction, but the distribution range of the point cloud data is extremely small. This is because most of the vehicle has moved outside the detection range of the approaching vehicle detection sensor 29. Subsequently, if point cloud data disappears from the approaching vehicle data 45b, it is determined that a vehicle approaching the alternating traffic section has moved from the driving lane to the opposite lane.

[0071] <Processing procedure for traffic signal control in a control system for vehicles that have crossed their lane> Next, we will explain the processing procedure for signal control for vehicles that have crossed their lane in the control system. Figures 10 and 11 are flowcharts showing the processing procedure for signal control for vehicles that have crossed their lane in the control system. Here, we will explain the processing procedure for signal control for vehicles that have crossed their lane at signal 25A.

[0072] As shown in Figures 10 and 11, when the control device 40 switches the signal light 25A to the entry permission state (step S101), it turns on the upper limit timer using the upper limit setting time of the setting data 45a (step S102), and when the remaining time of the upper limit timer becomes 0 (step S103; Yes), it sets the switching setting time of the setting data 45a to the switching timer (step S112), and proceeds to step S113.

[0073] If there is remaining time on the upper limit timer (Step S103; No), and if a proximity detection result is received from the passage management device 20A (Step S104; Yes), then, as long as there is remaining time on the upper limit timer (Step S117; No), it is determined whether or not the approaching vehicle has deviated from the lane (Step S105).

[0074] If it is determined that the approaching vehicle has not deviated from its lane (Step S105; No), the system proceeds to Step S117. If it is determined that the approaching vehicle has deviated from its lane (Step S105; Yes), and if the system receives a detection result for the approach of a following vehicle from the traffic management device 20A (Step S106; Yes), the system proceeds to Step S117.

[0075] If the passage management device 20A has not received a detection result for the approach of a following vehicle (step S106; No), the time T1 required for the vehicle to pass the passage management device 20A is calculated using the speed v and distance x included in the most recent approach detection result, and the calculated time T1 is set in the passage timer (step S107). Furthermore, the time T2 required for the vehicle to pass through the alternating traffic section is calculated using the speed v and the alternating traffic section distance d, and the calculated time T2 is set in the switching timer (step S108).

[0076] Subsequently, the pass timer is turned on using the time set in step S107 (step S109). If the remaining time of the pass timer becomes 0 (step S110; Yes), the remaining time of the upper limit timer is checked (step S111). If there is remaining time on the upper limit timer (step S111; No), the process proceeds to step S104.

[0077] If the remaining time on the upper limit timer becomes 0 (step S111; Yes), the signal 25A is switched to the no-entry state (step S113), and the switching timer is turned on using the time set in step S108 or step S112 (step S114).

[0078] Then, the remaining time of the switching timer is checked (step S115). If the remaining time is not 0 (step S115; No), the process returns to step S115. If the remaining time becomes 0 (step S115; Yes), the signal 25B is switched to the entry permission state (step S116), and the process ends.

[0079] As described above, the traffic guidance system according to this embodiment is configured to detect a vehicle approaching an alternating traffic section, and if the vehicle moves out of the detection range, it uses the most recently measured vehicle speed, distance, and alternating traffic section distance to calculate the time it takes for the vehicle to enter the alternating traffic section and the time it takes to pass through it. This calculated time is then used to control the switching of the traffic signals. As a result, it is possible to accurately and efficiently detect lane changes of vehicles approaching an alternating traffic section due to road construction, etc., and to provide appropriate traffic guidance.

[0080] It should be noted that the configurations illustrated in the above embodiments are functional schematics and do not necessarily have to be physically represented as shown. In other words, the distributed and integrated forms of each device are not limited to those shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads and usage conditions. [Industrial applicability]

[0081] The traffic control system and traffic control method according to the present invention are suitable for accurately and efficiently detecting lane changes of vehicles approaching alternating traffic sections due to road construction, etc., and for performing appropriate traffic control. [Explanation of Symbols]

[0082] 20, 20A, 20B Passage control device 21 Wireless Communication Section 22, 22A, 22B Passing Vehicle Detection Sensors 23 Display section 24 speakers 25, 25A, 25B traffic lights 26 Control Unit 26a Proximity detection unit 26b Passage detection unit 26c Vehicle guidance area 27 Batteries 28 Casters 29, 29A, 29B Approaching Vehicle Detection Sensors 30. Guide Terminal Device 31 Wireless Communication Section 32 Display section 33 Operation section 34 speakers 35 Control Unit 35a Signaling Unit 35b Mode Notification Unit 40 Management device 41 Wireless Communication Section 42 Display section 43 Operation section 44 speakers 45 Storage section 45a Configuration data 45b Approaching Vehicle Data 46 Control Unit 46a Settings management section 46b Mode Control Unit 46c Signal Control Unit 46d Vehicle Management Department 46e Overhang detection unit C1, C2 vehicles

Claims

1. A traffic guidance system comprising multiple traffic signals installed at both ends of an alternating traffic section, and a control device for controlling each traffic signal, The control device is Detection means for detecting the speed of a vehicle traveling towards at least the first end of the alternating traffic section, A determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, When the determination means determines that the vehicle has changed lanes, a calculation means calculates the time until the vehicle enters the alternating traffic section, Based on the time calculated by the calculation means, a control means controls the switching timing of the first signal located at the first end. Equipped with, The aforementioned detection means is The system is provided with a millimeter-wave transmitter located at the first end of the alternating traffic section, which transmits a plurality of millimeter waves in the direction of approaching vehicles, and a millimeter-wave receiver which receives a plurality of millimeter waves reflected by the vehicles, and based on the transmission and reception results of the plurality of millimeter waves, it detects the speed of a vehicle traveling towards the first end of the alternating traffic section. The determination means is, A traffic guidance system characterized in that, with respect to a vehicle detected by the detection means, it is determined whether or not the vehicle changed lanes before reaching the first end, based on the progression of the decreasing distribution range of direction and distance obtained from a plurality of millimeter waves received by the millimeter wave receiver.

2. A traffic guidance system comprising a plurality of traffic signals arranged at both ends of an alternating traffic section, and a control device for controlling each traffic signal, The control device is Detection means for detecting the speed of a vehicle traveling towards at least the first end of the alternating traffic section, A determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, When the determination means determines that the vehicle has changed lanes, a calculation means calculates the time until the vehicle enters the alternating traffic section, Based on the time calculated by the calculation means, a control means controls the switching timing of the first signal located at the first end. Equipped with, The aforementioned detection means is The system is provided with a millimeter-wave transmitter located at the first end of the alternating traffic section, which transmits a plurality of millimeter waves in the direction of approaching vehicles, and a millimeter-wave receiver which receives a plurality of millimeter waves reflected by the vehicles, and based on the transmission and reception results of the plurality of millimeter waves, it detects the speed of a vehicle traveling towards the first end of the alternating traffic section. The determination means is, A traffic guidance system characterized in that, with respect to a vehicle detected by the detection means, it is determined that the vehicle changed lanes before reaching the first end, based on the size of the distribution range of direction and distance obtained from a plurality of millimeter waves received by the millimeter wave receiver.

3. A traffic guidance system comprising a plurality of traffic signals arranged at both ends of an alternating traffic section, and a control device for controlling each traffic signal, The control device is Detection means for detecting the speed of a vehicle traveling towards at least the first end of the alternating traffic section, A determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, When the determination means determines that the vehicle has changed lanes, a calculation means calculates the time until the vehicle enters the alternating traffic section, Based on the time calculated by the calculation means, a control means controls the switching timing of the first signal located at the first end. Equipped with, The control means is A traffic guidance system characterized by controlling the time calculated by the calculation means to be the extended green light time of the first traffic signal.

4. A traffic guidance system comprising a plurality of traffic signals arranged at both ends of an alternating traffic section, and a control device for controlling each traffic signal, The control device is Detection means for detecting the speed of a vehicle traveling towards at least the first end of the alternating traffic section, A determination means for determining whether the vehicle detected by the detection means changed lanes before reaching the first end, When the determination means determines that the vehicle has changed lanes, a calculation means calculates the time until the vehicle enters the alternating traffic section, Based on the time calculated by the calculation means, a control means controls the switching timing of the first signal located at the first end. Equipped with, The aforementioned calculation means is, A traffic guidance system characterized in that, when the determination means determines that the vehicle has changed lanes, it calculates the time it takes for the vehicle to pass from the first end to the second end of the alternating traffic section based on the vehicle's speed and the distance of the alternating traffic section described in the preceding paragraph.

5. A traffic guidance method in a traffic guidance system having multiple traffic signals installed at both ends of an alternating traffic section, and a control device for controlling each traffic signal, The control device includes a detection step of detecting the speed of a vehicle traveling that is approaching at least the first end of the alternating traffic section, The control device includes a determination step of determining whether the vehicle detected by the detection step changed lanes before reaching the first end, The control device, when it is determined by the determination step that the vehicle has changed lanes, includes a calculation step of calculating the time until the vehicle enters the alternating traffic section, The control device performs a control step of controlling the switching timing of the first signal light installed at the first end based on the time calculated by the calculation step. Includes, The aforementioned detection step is The process includes a millimeter-wave transmission step of transmitting a plurality of millimeter waves in the direction of approach of a vehicle at the first end of the alternating traffic section, and a millimeter-wave reception step of receiving a plurality of millimeter waves reflected by the vehicle, and based on the transmission and reception results of the plurality of millimeter waves, the speed of a vehicle traveling towards the first end of the alternating traffic section is detected. The aforementioned determination step is, A traffic guidance method characterized by determining whether a vehicle detected by the detection step changed lanes before reaching the first end, based on the progression of the decreasing distribution range of direction and distance obtained from a plurality of millimeter waves received by the millimeter wave reception step.

6. A traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, The control device includes a detection step of detecting the speed of a vehicle traveling that is approaching at least the first end of the alternating traffic section, The control device includes a determination step of determining whether the vehicle detected by the detection step changed lanes before reaching the first end, The control device, when it is determined by the determination step that the vehicle has changed lanes, includes a calculation step of calculating the time until the vehicle enters the alternating traffic section, The control device performs a control step of controlling the switching timing of the first signal light installed at the first end based on the time calculated by the calculation step. Includes, The aforementioned detection step is The process includes a millimeter-wave transmission step of transmitting a plurality of millimeter waves in the direction of approach of a vehicle at the first end of the alternating traffic section, and a millimeter-wave reception step of receiving a plurality of millimeter waves reflected by the vehicle, and based on the transmission and reception results of the plurality of millimeter waves, the speed of a vehicle traveling towards the first end of the alternating traffic section is detected. The aforementioned determination step is, A traffic guidance method characterized in that, with respect to a vehicle detected by the detection step, it is determined that the vehicle changed lanes before reaching the first end, based on the size of the distribution range of direction and distance obtained from a plurality of millimeter waves received by the millimeter wave reception step.

7. A traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, The control device includes a detection step of detecting the speed of a vehicle traveling that is approaching at least the first end of the alternating traffic section, The control device includes a determination step of determining whether the vehicle detected by the detection step changed lanes before reaching the first end, The control device, when it is determined by the determination step that the vehicle has changed lanes, includes a calculation step of calculating the time until the vehicle enters the alternating traffic section, The control device performs a control step of controlling the switching timing of the first signal light installed at the first end based on the time calculated by the calculation step. Includes, The control process described above is: A traffic control method characterized by controlling the time calculated by the calculation process to be the extended green light time of the first traffic signal.

8. A traffic guidance method in a traffic guidance system having a plurality of traffic signals arranged at both ends of an alternating traffic section and a control device for controlling each traffic signal, The control device includes a detection step of detecting the speed of a vehicle traveling that is approaching at least the first end of the alternating traffic section, The control device includes a determination step of determining whether the vehicle detected by the detection step changed lanes before reaching the first end, The control device, when it is determined by the determination step that the vehicle has changed lanes, includes a calculation step of calculating the time until the vehicle enters the alternating traffic section, The control device performs a control step of controlling the switching timing of the first signal light installed at the first end based on the time calculated by the calculation step. Includes, The aforementioned calculation process is: A traffic control method characterized in that, when it is determined by the determination step that the vehicle has changed lanes, the time it takes for the vehicle to pass from the first end to the second end of the alternating traffic section is calculated based on the speed of the vehicle and the distance of the alternating traffic section described in the preceding paragraph.

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