Traffic control system, traffic control method, and program

Abstract

The present invention appropriately performs traffic control. A traffic control system according to the present invention comprises: a vehicle identification means that identifies a target vehicle that is traveling; a control instruction means that, so that the target vehicle performs a prescribed operation, sends a control instruction to traffic infrastructure provided on a road on which the target vehicle is traveling and / or a moving body moving in the vicinity of the target vehicle; a motion feature detection means for detecting a motion feature of the prescribed operation when the target vehicle performs the prescribed operation in response to control of the traffic infrastructure and / or the moving body; a driving state determination means for determining whether the target vehicle is in an autonomous driving state or a manual driving state on the basis of the motion feature of the target vehicle as detected by the motion feature detection means; and a traffic control means for performing traffic control of the road on which the target vehicle is traveling on the basis of the driving state of the target vehicle as determined by the driving state determination means.

Description

Traffic control system, traffic control method, and program

[0001] The present disclosure relates to a traffic control system, a traffic control method, and a program for controlling the traffic of vehicles.

[0002] In recent years, automated driving vehicles and manually driven vehicles are running mixedly, and appropriate traffic control that takes both into account is required. In that case, it is necessary to constantly grasp whether the vehicle is in an automated driving or a manually driving state.

[0003] On the other hand, a system is known that determines whether a target vehicle is in an automated driving state or a manually driving state and performs traffic control using the result (see, for example, Patent Document 1).

[0004] International Publication No. 2023 / 032276

[0005] However, when the above system determines the driving state of the target vehicle, if the target vehicle does not perform an operation convenient for the determination, it may not be able to detect the driving characteristics necessary for the determination and may not be able to perform appropriate traffic control.

[0006] An object of the present disclosure is to provide a traffic control system, a traffic control method, and a program that solve the above-described problems.

[0007] One aspect of the present disclosure for achieving the above objective is a traffic control system comprising: vehicle identification means for identifying a target vehicle in motion; control instruction means for giving control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined operation; motion characteristic detection means for detecting the motion characteristics of a predetermined operation when the target vehicle performs the predetermined operation in response to the control of at least one of the traffic infrastructure and the moving body; driving state determination means for determining whether the target vehicle is in an automatic driving state or a manual driving state based on the motion characteristics of the target vehicle detected by the motion characteristic detection means; and traffic control means for performing traffic control on the road on which the target vehicle is traveling based on the driving state of the target vehicle determined by the driving state determination means. One aspect of the present disclosure for achieving the above objective is a traffic control method comprising: identifying a target vehicle in motion; giving control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined action; detecting the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving body; determining whether the target vehicle is in an automated driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and performing traffic control for the target vehicle based on the determined driving state of the target vehicle.One aspect of this disclosure for achieving the above objective is a program that causes a computer to perform the following: a process of identifying a target vehicle in motion; a process of issuing control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling and a moving object moving around the target vehicle, so that the target vehicle performs a predetermined action; a process of detecting the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving object; a process of determining whether the target vehicle is in an automated driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and a process of performing traffic control on the target vehicle based on the determined driving state of the target vehicle.

[0008] This disclosure provides a traffic control system, a traffic control method, and a program that solve any of the above-mentioned problems.

[0009] This is a block diagram showing the approximate hardware configuration of the information processing system related to this disclosure. This is a block diagram showing the approximate system configuration of the traffic control system related to this disclosure. This is a flowchart showing the flow of the traffic control method related to this disclosure. This is a block diagram showing the approximate system configuration of the traffic control system related to this disclosure. This is a block diagram showing the approximate system configuration of the traffic control system related to this disclosure. This is a block diagram showing the approximate system configuration of the traffic control system related to this disclosure.

[0010] Embodiment 1 The traffic control system according to this disclosure controls the target vehicle to operate in a manner favorable to the determination of the target vehicle's driving state. As a result, the traffic control system can reliably detect the driving characteristics necessary for the determination and accurately determine the driving state of the target vehicle. The traffic control system can then appropriately perform traffic control using the determination result. Figure 1 is a block diagram showing a schematic hardware configuration of the traffic control system according to this disclosure.

[0011] The traffic control system 1 according to this disclosure has a hardware configuration similar to that of a normal computer, as shown in Figure 1, for example, and includes a processor 11 such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), internal memory 12 such as RAM (Random Access Memory) or ROM (Read Only Memory), storage devices 13 such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), an input / output I / F 14 for connecting peripheral devices such as a display, and a communication I / F 15 for communicating with devices outside the device.

[0012] Figure 2 is a block diagram showing a schematic system configuration of the traffic control system according to the present disclosure. The traffic control system 1 according to the present disclosure includes a vehicle identification unit 2 that identifies a target vehicle, a control instruction unit 3 that issues active control instructions to at least one of traffic infrastructure and a moving object, a motion characteristic detection unit 4 that detects the motion characteristics of a predetermined operation by the target vehicle, a driving state determination unit 5 that determines the driving state of the target vehicle, and a traffic control unit 6 that performs traffic control for the target vehicle.

[0013] As shown in Figure 2, the traffic control system 1 is configured as a central control device integrating a vehicle identification unit 2, a control instruction unit 3, a motion characteristic detection unit 4, a driving state determination unit 5, and a traffic control unit 6, but is not limited to this configuration. At least one of the vehicle identification unit 2, the control instruction unit 3, the motion characteristic detection unit 4, the driving state determination unit 5, and the traffic control unit 6 may be provided, for example, in traffic infrastructure. The central control device and traffic infrastructure may transmit and receive information via vehicle-to-infrastructure communication.

[0014] The vehicle identification unit 2 is one specific example of a vehicle identification means. The vehicle identification unit 2 identifies a target vehicle that is traveling on a road or the like. For example, the vehicle identification unit 2 receives information (vehicle license plate information, vehicle image information, etc.) that it is unclear whether a vehicle entering a certain section of a road is in an automated driving state or a manual driving state. Based on that information, the vehicle identification unit 2 identifies that vehicle as a target vehicle to be determined as to be in an automated driving state or a manual driving state.

[0015] The control instruction unit 3 is a specific example of a control instruction means. The control instruction unit 3 actively instructs at least one of the following to perform a predetermined operation: traffic infrastructure provided on the road on which the target vehicle travels, and a moving object moving around the target vehicle.

[0016] The control instruction unit 3 issues instructions for active control to at least one of the traffic infrastructure and the mobile object, for example, pre-set or selected by the user.

[0017] The above-mentioned traffic infrastructure includes, for example, traffic lights, ETC (Electronic Toll Collection) gates, and toll gates. The above-mentioned mobile entities include vehicles moving around the target vehicle (in front, behind, to the side, etc.), mobile robots, drones, etc. Drones include ground-based mobile drones and flying mobile drones.

[0018] The above-mentioned active control involves causing at least one of the traffic infrastructure and the mobile body to perform an active action, and in response to that active action, causing the target vehicle to perform a predetermined action. Furthermore, the active action by the mobile body may include, for example, cutting in front of the target vehicle, decelerating in front of the target vehicle, flashing hazard lights, turn signals, etc., in front of the target vehicle, moving closer to the target vehicle from the side, or closing or widening the distance between the vehicle and the target vehicle.

[0019] The proactive actions of the above-mentioned traffic infrastructure include, for example, changes to signal displays by traffic lights, changes to passable / unpassable status by ETC gates, changes to road speed limits, and changes to passable / unpassable status of lanes. These actions must be safe enough to allow the target vehicle sufficient time to react.

[0020] The specified actions performed by the above-mentioned target vehicle include acceleration and deceleration, lane changes, and maintaining a safe distance between vehicles.

[0021] The motion characteristic detection unit 4 is a specific example of a motion characteristic detection means. The motion characteristic detection unit 4 detects the motion characteristics of a predetermined operation when the target vehicle performs a predetermined operation in response to active control of at least one of the traffic infrastructure and the moving object.

[0022] Motion characteristics include, for example, deceleration characteristics, acceleration characteristics, distance characteristics with other moving objects, and timing of lane changes. Deceleration and acceleration characteristics refer to, for example, the change in speed over time during deceleration and acceleration. Distance characteristics with other moving objects refer to, for example, the change in distance over time (rate of change over time, etc.) when another moving object traveling in front of the target vehicle accelerates or decelerates.

[0023] The motion characteristic detection unit 4 may acquire sensor information detected by sensors (camera, vehicle speed sensor, distance sensor, etc.) of the target vehicle or traffic infrastructure via vehicle-to-vehicle communication or vehicle-to-infrastructure communication, and detect the motion characteristics of a predetermined operation based on the acquired sensor information.

[0024] Here, we will explain the method for detecting the motion characteristics of the target vehicle using the above-mentioned active control, using a specific example.

[0025] For example, the control instruction unit 3 issues an active control instruction to the vehicle traveling in front of the target vehicle to slow down. When the vehicle in front slows down in response to this active control instruction, the target vehicle behind it slows down in accordance with the vehicle in front's deceleration, thereby maintaining the distance between them.

[0026] The motion characteristic detection unit 4 detects the deceleration characteristics and inter-vehicle distance characteristics when the target vehicle decelerates in response to the active control of the vehicle ahead.

[0027] The control instruction unit 3 issues an active control instruction to the vehicle traveling in front of the target vehicle, instructing it to flash its hazard lights so that the target vehicle will decelerate. When the vehicle in front flashes its hazard lights in response to this active control instruction, the target vehicle behind it decelerates in response to the flashing of the vehicle in front's hazard lights, thereby maintaining the distance between itself and the vehicle in front. Note that while the control instruction unit 3 issues an active control instruction to flash hazard lights, it may also issue an active control instruction to flash turn signals.

[0028] The motion characteristic detection unit 4 detects the deceleration characteristics and inter-vehicle distance characteristics when the target vehicle decelerates in response to the active control of the vehicle ahead.

[0029] The control instruction unit 3 issues an active control instruction to vehicles surrounding the target vehicle, instructing them to cut in front of the target vehicle so that the target vehicle will decelerate. When a vehicle cuts in front of the target vehicle in response to this active control instruction, the target vehicle behind it decelerates in response to the vehicle cutting in, thereby maintaining the distance between itself and the vehicle in front.

[0030] The motion characteristic detection unit 4 detects the deceleration characteristics and inter-vehicle distance characteristics when the target vehicle decelerates in response to the active control of the vehicle.

[0031] The control instruction unit 3 issues an active control instruction to the vehicle traveling in front of the target vehicle, instructing it to accelerate. When the vehicle in front accelerates in response to this active control instruction, the target vehicle behind it accelerates in accordance with the acceleration of the vehicle in front, thereby maintaining the distance between them.

[0032] The motion characteristic detection unit 4 detects the acceleration characteristics and inter-vehicle distance characteristics when the target vehicle accelerates in response to the active control of the vehicle ahead.

[0033] The control instruction unit 3 issues an active control instruction to the vehicle traveling in front of the target vehicle, instructing it to increase the distance between itself and the target vehicle so that the target vehicle accelerates. When the vehicle in front increases the distance between itself and the target vehicle in response to this active control instruction, the target vehicle behind it accelerates and decreases the distance between itself and the vehicle in front in accordance with the increased distance, thereby maintaining the original distance between them.

[0034] The motion characteristic detection unit 4 detects the acceleration characteristics and inter-vehicle distance characteristics when the target vehicle accelerates in response to the active control of the vehicle ahead.

[0035] The control instruction unit 3 issues an active control instruction to the vehicle traveling in front of the target vehicle, instructing it to reduce the distance between itself and the target vehicle so that the target vehicle will decelerate. When the vehicle in front reduces the distance between itself and the target vehicle in response to this active control instruction, the target vehicle behind it decelerates in accordance with the distance between itself and the vehicle in front, and increases the distance between itself and the vehicle in front, thereby maintaining the original distance between them.

[0036] The motion characteristic detection unit 4 detects the deceleration characteristics and inter-vehicle distance characteristics when the target vehicle decelerates in response to the active control of the vehicle ahead.

[0037] The control instruction unit 3 issues an active control instruction to drones around the target vehicle, instructing them to move in front of the target vehicle so that the target vehicle slows down. When the vehicle moves in front of the target vehicle in response to this active control instruction, the target vehicle behind it performs a control to slow down in accordance with the drone that has moved in front of it.

[0038] The motion characteristic detection unit 4 detects the deceleration characteristics of the target vehicle when it decelerates in response to the active control of the drone.

[0039] The control instruction unit 3 gives an instruction for active control to cause the traffic signal in front of the target vehicle to display a red signal so that the target vehicle decelerates. When the traffic signal displays a red signal in response to this instruction for active control, the target vehicle performs control to decelerate in response to the red signal of the traffic signal. Note that the display of the red signal (lighting of red) by this traffic signal is, for example, an instantaneous display (about 1 second) that a vehicle in autonomous driving can instantaneously react to.

[0040] The motion characteristic detection unit 4 detects the deceleration characteristics when the target vehicle decelerates in response to the active control of the traffic signal.

[0041] The control instruction unit 3 gives an instruction for active control to cause the ETC gate in front of the target vehicle to change from being passable (blue lit) to being non-passable (red lit) so that the target vehicle changes lanes. When the ETC gate becomes unavailable in response to this instruction for active control, the target vehicle performs control to change lanes and pass through the adjacent passable ETC gate in response to the unavailability of the ETC gate.

[0042] The motion characteristic detection unit 4 detects the timing of the lane change when the target vehicle changes lanes in response to the active control of the ETC gate.

[0043] The control instruction unit 3 gives an instruction for active control to cause the traffic infrastructure (such as a passing gate) to change the lane in which the target vehicle is traveling from being available for use to being unavailable for use so that the target vehicle changes lanes. When the traffic infrastructure makes that lane unavailable in response to this instruction for active control, the target vehicle performs control to change lanes and travel in the adjacent available lane in response to the unavailability of that lane. Note that the active control to change the lane from being available for use to being unavailable for use may be to change the lane from being available for use to being unavailable for use on the map data of the navigation system used by the target vehicle.

[0044] The motion characteristic detection unit 4 detects the timing of the lane change when the target vehicle changes lanes in response to the active control of the traffic infrastructure.

[0045] The control instruction unit 3 gives an instruction for active control to reduce the speed limit of the road on which the target vehicle is traveling to the traffic infrastructure so that the target vehicle decelerates. When the traffic infrastructure reduces the control speed of that road in response to this instruction for active control, the target vehicle performs control to decelerate in response to the reduction of the speed limit.

[0046] Note that the active control to decrease or increase the speed limit may decrease or increase the speed limit of that road on the map data of the navigation system used by the target vehicle.

[0047] The motion characteristic detection unit 4 detects the deceleration characteristic when the target vehicle decelerates in response to the active control of the traffic infrastructure.

[0048] The control instruction unit 3 gives an instruction for active control to increase the speed limit of the road on which the target vehicle is traveling to the traffic infrastructure so that the target vehicle accelerates. When the traffic infrastructure increases the control speed of that road in response to this instruction for active control, the target vehicle performs control to accelerate in response to the increase of the speed limit.

[0049] The motion characteristic detection unit 4 detects the acceleration characteristic when the target vehicle accelerates in response to the active control of the traffic infrastructure.

[0050] The driving state determination unit 5 is a specific example of the driving state determination means. The driving state determination unit 5 determines whether the target vehicle is in an automatic driving state or a manual driving state based on the motion characteristics of the target vehicle detected by the motion characteristic detection unit 4.

[0051] The driving state determination unit 5 may determine whether the target vehicle is in an automatic driving state or a manual driving state by comparing the motion characteristic models in the automatic driving state and the manual driving state with the motion characteristics of the target vehicle detected by the motion characteristic detection unit 4. The motion characteristic model of the vehicle is generated in advance by performing machine learning such as a neural network, for example.

[0052] For example, the driving state determination unit 5 may determine that the target vehicle is in an automated driving state if the motion characteristics model for the automated driving state matches the motion characteristics of the target vehicle detected by the motion characteristics detection unit 4. Alternatively, the driving state determination unit 5 may determine that the target vehicle is in a manual driving state if the motion characteristics model for the manual driving state matches the motion characteristics of the target vehicle detected by the motion characteristics detection unit 4.

[0053] The traffic control unit 6 is a specific example of a traffic control means. Based on the driving state of the target vehicle determined by the driving state determination unit 5, the traffic control unit 6 controls traffic on the road on which the target vehicle is traveling.

[0054] For example, based on the autonomous driving state of the target vehicle determined by the driving state determination unit 5, if the traffic control unit 6 determines that two vehicles in autonomous driving state will cross at an intersection, it will control the traffic signals at that intersection in a manner that prioritizes traffic efficiency. The traffic control unit 6 may also change the signal display of the traffic signals more quickly so that each vehicle in autonomous driving state can pass through the intersection faster.

[0055] On the other hand, the traffic control unit 6, for example, based on the manual driving state of the target vehicle determined by the driving state determination unit 5, controls the traffic signals at the intersection in a manner that prioritizes traffic safety if it determines that a vehicle in manual driving state and a vehicle in automatic driving state, or two vehicles in manual driving state, will cross at the intersection. The traffic control unit 6 may also change the signal display of the traffic signals with more leeway so that each vehicle in automatic driving state can pass through the intersection more safely and reliably.

[0056] Next, we will explain the traffic control method related to this disclosure. Figure 3 is a flowchart showing the flow of the traffic control method related to this disclosure.

[0057] The vehicle identification unit 2 identifies the target vehicle that is traveling on a road or the like (step S101).

[0058] The control instruction unit 3 issues active control instructions to at least one of the following: traffic infrastructure provided on the road on which the target vehicle is traveling, and a moving object moving around the target vehicle, so that the target vehicle performs a predetermined operation (step S102).

[0059] The motion characteristic detection unit 4 detects the motion characteristics of a predetermined operation when the target vehicle performs a predetermined operation in response to active control of at least one of the traffic infrastructure and the moving object (step S103).

[0060] The driving state determination unit 5 determines whether the target vehicle is in an automatic driving state or a manual driving state based on the motion characteristics of the target vehicle detected by the motion characteristics detection unit 4 (step S104).

[0061] The traffic control unit 6 controls traffic on the road on which the target vehicle is traveling, based on the driving status of the target vehicle determined by the driving status determination unit 5 (step S105).

[0062] As described above, the traffic control system 1 according to this disclosure, when determining the driving state of a target vehicle, actively issues control instructions to at least one of the traffic infrastructure and the moving object so that the target vehicle performs a predetermined action. As a result, the traffic control system 1 can reliably detect the driving characteristics necessary for the determination and accurately determine the driving state of the target vehicle based on those driving characteristics, and can appropriately perform traffic control using the driving state of the target vehicle.

[0063] Embodiment 2 Figure 4 is a block diagram showing a schematic system configuration of the traffic control system according to the present disclosure. The traffic control system 20 according to the present disclosure further includes a traffic condition detection unit 7 that detects the traffic conditions around a target vehicle.

[0064] The traffic condition detection unit 7 is a specific example of a traffic condition detection means. The traffic condition detection unit 7 detects the traffic condition around the target vehicle. The traffic condition detection unit 7 may acquire information such as road image information captured by a camera, VICS (registered trademark) (Vehicle Information and Communication System) information, etc., via vehicle-to-vehicle communication or vehicle-to-infrastructure communication.

[0065] The traffic condition detection unit 7 can detect the traffic conditions around the target vehicle based on the acquired information. The traffic condition detection unit 7 detects at least one of the following as the traffic conditions around the target vehicle: the presence or absence of other vehicles unrelated to this active control around the target vehicle (such as on the same lane as the target vehicle), the presence or absence of congestion around the target vehicle, the presence or absence of emergency vehicles (such as ambulances, fire trucks, and police cars) approaching the target vehicle, and the number of other vehicles around the target vehicle. Note that the area around the target vehicle may refer to an area within a predetermined distance (for example, 100 m) from the target vehicle.

[0066] The control instruction unit 3 may issue active control instructions to at least one of the traffic infrastructure and the moving object based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 7.

[0067] For example, if the traffic state detection unit 7 does not detect any other vehicles around the target vehicle, the control instruction unit 3 will issue an active control instruction to at least one of the traffic infrastructure and the moving object. On the other hand, if the traffic state detection unit 7 detects any other vehicles around the target vehicle, the control instruction unit 3 will not issue an active control instruction to at least one of the traffic infrastructure and the moving object.

[0068] This is because, if the target vehicle performs a predetermined action in response to the active control of the moving object by the control instruction unit 3, other vehicles in the vicinity of the target vehicle (such as on the same lane) may be affected, such as having their movement obstructed, by the predetermined action of the target vehicle. Therefore, as described above, the control instruction unit 3 confirms that there are no other vehicles in the vicinity of the target vehicle and issues an active control instruction to at least one of the traffic infrastructure or the moving object.

[0069] Furthermore, if the traffic condition detection unit 7 does not detect congestion around the target vehicle, the control instruction unit 3 will issue an active control instruction to at least one of the traffic infrastructure and the moving object. If the traffic condition detection unit 7 detects congestion around the target vehicle, the control instruction unit 3 will not issue an active control instruction to at least one of the traffic infrastructure and the moving object.

[0070] This means that if the target vehicle performs a predetermined action in response to the active control of the moving object by the control instruction unit 3, it may worsen congestion around the target vehicle. Therefore, as described above, the control instruction unit 3 confirms that there is no congestion around the target vehicle and issues an active control instruction to at least one of the traffic infrastructure or the moving object.

[0071] The control instruction unit 3 may determine the type of active control according to the traffic conditions around the target vehicle detected by the traffic condition detection unit 7. The control instruction unit 3 instructs at least one of the traffic infrastructure and the mobile vehicle to perform the determined active control.

[0072] For example, if the traffic state detection unit 7 does not detect any other vehicles in the same lane as the target vehicle, the control instruction unit 3 issues an active control instruction to at least one of the traffic infrastructure and the moving vehicle. On the other hand, if the traffic state detection unit 7 detects other vehicles in the same lane as the target vehicle, the control instruction unit 3 issues a control instruction to the moving vehicle to increase the distance between it and the target vehicle.

[0073] If the traffic state detection unit 7 detects a predetermined number (for example, two) or more other vehicles around the target vehicle, the control instruction unit 3 decides to issue an active control instruction to the moving vehicle and issues an active control instruction to that vehicle. On the other hand, if the traffic state detection unit 7 detects no other vehicles around the target vehicle, or detects a small number of other vehicles less than the predetermined number, the control instruction unit 3 decides to issue an active control instruction to traffic infrastructure such as traffic lights and issues an active control instruction to that traffic infrastructure.

[0074] This is because, when there are many other vehicles around the target vehicle, if the traffic infrastructure performs a predetermined action, those many other vehicles may be negatively affected by that action, potentially having a significant negative impact on overall traffic. Therefore, when there are many other vehicles around the target vehicle, the moving vehicle performs a predetermined action to minimize the impact on those many other vehicles.

[0075] The control instruction unit 3 decides to issue an active control instruction to the moving vehicle if the traffic state detection unit 7 does not detect an emergency vehicle approaching the target vehicle, and then issues an active control instruction to that moving vehicle. On the other hand, if the traffic state detection unit 7 detects an emergency vehicle approaching the target vehicle, the control instruction unit 3 decides not to issue an active control instruction to the moving vehicle, and then does not issue an active control instruction to that moving vehicle.

[0076] This is because, if the target vehicle performs a predetermined action in response to the active control of the moving body by the control instruction unit 3, that predetermined action of the target vehicle may obstruct the movement of an emergency vehicle. Therefore, as described above, the control instruction unit 3 confirms that there are no emergency vehicles approaching the target vehicle before issuing an active control instruction to the moving body.

[0077] Embodiment 3 Figure 5 is a block diagram showing a schematic system configuration of the traffic control system according to the present disclosure. The traffic control system 30 according to the present disclosure further includes a weather information acquisition unit 8 that acquires weather information around the target vehicle.

[0078] The weather information acquisition unit 8 is a specific example of a weather information acquisition means. The weather information acquisition unit 8 acquires weather information around the target vehicle. The weather information includes information such as rain, cloudy, snow, sunny, thunderstorm, heavy rain, and dense fog.

[0079] The weather information acquisition unit 8 can acquire weather information from the Japan Meteorological Agency's server or other sources via vehicle-to-vehicle communication or vehicle-to-infrastructure communication. The weather information acquisition unit 8 may also acquire weather information by estimating it based on images of the road taken by a camera or other means.

[0080] The control instruction unit 3 issues active control instructions to at least one of the traffic infrastructure and the moving object based on the weather information around the target vehicle acquired by the weather information acquisition unit 8.

[0081] For example, if the control instruction unit 3 determines, based on the weather information acquired by the weather information acquisition unit 8, that the weather conditions around the target vehicle are adverse (snow, thunderstorm, heavy rain, dense fog, etc.), it will not issue an active control instruction to at least one of the traffic infrastructure or the mobile vehicle. On the other hand, if the control instruction unit 3 determines, based on the weather information acquired by the weather information acquisition unit 8, that the weather conditions are not adverse, it will issue an active control instruction to at least one of the traffic infrastructure or the mobile vehicle.

[0082] This is because, in the case of the aforementioned bad weather, the sensor sensitivity is poor, or the driving environment is poor due to slippery road surfaces, making it difficult for the target vehicle to perform the predetermined actions in response to the active control of the moving object by the control instruction unit 3. Therefore, the control instruction unit 3 confirms that the weather around the target vehicle is not bad and issues an active control instruction to at least one of the traffic infrastructure or the moving object.

[0083] Embodiment 4 Figure 6 is a block diagram showing a schematic system configuration of the traffic control system according to the present disclosure. The traffic control system 40 according to the present disclosure further includes a time zone information acquisition unit 9 that acquires current time zone information.

[0084] The time zone information acquisition unit 9 is a specific example of a time zone information acquisition means. The time zone information acquisition unit 9 acquires the current time zone information. The time zone information includes, for example, morning hours (4am to 9am, etc.), midday hours (11am to 1pm, etc.), evening hours (4pm to 6pm, etc.), nighttime hours (7pm to 3am), etc.

[0085] The control instruction unit 3 issues active control instructions to at least one of the traffic infrastructure and the mobile object based on the time zone information acquired by the time zone information acquisition unit 9.

[0086] For example, if the control instruction unit 3 determines, based on the time zone information acquired by the time zone information acquisition unit 9, that the current time zone is nighttime, it will not issue an active control instruction to at least one of the traffic infrastructure or the mobile object. On the other hand, if the control instruction unit 3 determines, based on the time zone information acquired by the time zone information acquisition unit 9, that the current time zone is not nighttime, it will issue an active control instruction to at least one of the traffic infrastructure or the mobile object.

[0087] This is because, during the aforementioned nighttime hours, the surrounding area of ​​the target vehicles is dark, and the driving environment is poor due to low sensor accuracy, making it difficult for the target vehicles to perform the predetermined actions in response to the active control of the moving objects by the control instruction unit 3. Therefore, the control instruction unit 3 confirms that the current time is not nighttime and that the driving environment is bright and good, and then issues an active control instruction to at least one of the traffic infrastructure or the moving objects.

[0088] This disclosure can also be implemented, for example, by having a processor execute a computer program, as shown in Figure 3.

[0089] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0090] Programs may be supplied to a computer by various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable medium can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0091] Each component of the traffic control systems 1, 20, 30, and 40 according to the above-described embodiment can be implemented not only by program, but also partially or entirely by dedicated hardware such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0092] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0093] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0094] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A traffic control system comprising: a vehicle identification means for identifying a target vehicle in motion; a control instruction means for giving control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling, and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined operation; a motion characteristic detection means for detecting the motion characteristics of a predetermined operation when the target vehicle performs the predetermined operation in response to the control of at least one of the traffic infrastructure and the moving body; a driving state determination means for determining whether the target vehicle is in an automatic driving state or a manual driving state based on the motion characteristics of the target vehicle detected by the motion characteristic detection means; and a traffic control means for performing traffic control on the road on which the target vehicle is traveling based on the driving state of the target vehicle determined by the driving state determination means. (Note 2) A traffic control system according to Note 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control instruction means gives an active control instruction to at least one of the traffic infrastructure and the moving object based on the traffic state around the target vehicle detected by the traffic state detection means. (Note 3) A traffic control system according to Note 2, wherein the traffic state detection means detects at least one of the following as the traffic state around the target vehicle: the presence or absence of other vehicles around the target vehicle, the presence or absence of congestion around the target vehicle, the presence or absence of an emergency vehicle approaching the target vehicle, and the number of other vehicles around the target vehicle. (Note 4) A traffic control system as described in Note 3, wherein the control instruction means instructs at least one of the traffic infrastructure and the moving object to perform the active control when the traffic state detection means does not detect other vehicles around the target vehicle, congestion around the target vehicle, an emergency vehicle approaching the target vehicle, or a predetermined number or more of other vehicles around the target vehicle.(Note 5) A traffic control system according to Note 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control instruction means determines the type of active control according to the traffic state around the target vehicle detected by the traffic state detection means, and instructs at least one of the traffic infrastructure and the mobile body to perform the determined active control. (Note 6) A traffic control system according to Note 1, further comprising a weather information acquisition means for acquiring weather information around the target vehicle, wherein the control instruction means gives instructions for active control to at least one of the traffic infrastructure and the mobile body based on the weather information around the target vehicle acquired by the weather information acquisition means. (Note 7) A traffic control system according to Note 1, further comprising a time zone information acquisition means for acquiring current time zone information, wherein the control instruction means gives instructions for active control to at least one of the traffic infrastructure and the mobile body based on the time zone information acquired by the time zone information acquisition means. (Note 8) A traffic control system as described in Note 1, wherein the control instruction means gives an active control instruction to a vehicle traveling in front of the target vehicle to decelerate, gives an active control instruction to a vehicle traveling in front of the target vehicle to reduce the distance between itself and the target vehicle, gives an active control instruction to a vehicle around the target vehicle to cut in front of the target vehicle, or gives an active control instruction to a vehicle traveling in front of the target vehicle to flash its hazard lights or turn signals, and the motion characteristic detection means detects the deceleration characteristics and the distance between vehicles when the target vehicle decelerates in response to the active control of the vehicle in front or the vehicle around the target vehicle.(Note 9) A traffic control system according to Note 1, wherein the control instruction means gives an active control instruction to a vehicle traveling in front of the target vehicle to accelerate, or gives an active control instruction to a vehicle traveling in front of the target vehicle to increase the distance between it and the target vehicle, and the motion characteristic detection means detects the acceleration characteristics and distance characteristics when the target vehicle accelerates in response to the active control of the vehicle in front or the vehicle surrounding the target vehicle. (Note 10) A traffic control system according to Note 1, wherein the control instruction means gives an active control instruction to a drone surrounding the target vehicle to move in front of the target vehicle, in order for the target vehicle to decelerate, and the motion characteristic detection means detects the deceleration characteristics when the target vehicle decelerates in response to the active control of the drone. (Note 11) A traffic control system as described in Note 1, wherein the control instruction means gives an active control instruction to a traffic light in front of the target vehicle to display a red light so that the target vehicle will decelerate; gives an active control instruction to an ETC gate in front of the target vehicle to change from passable to impassable so that the target vehicle will change lanes; gives an active control instruction to the traffic infrastructure to change the lane in which the target vehicle is traveling from passable to impassable so that the target vehicle will change lanes; or gives an active control instruction to the traffic infrastructure to increase or decrease the speed limit of the road in which the target vehicle is traveling so that the target vehicle will accelerate or decelerate.(Note 12) A traffic control method comprising: identifying a target vehicle in motion; giving control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined action; detecting the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving body; determining whether the target vehicle is in an automated driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and performing traffic control for the target vehicle based on the determined driving state of the target vehicle. (Note 13) A program that causes a computer to execute: a process to identify a target vehicle in motion; a process to issue control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling, and a moving object moving around the target vehicle, so that the target vehicle performs a predetermined action; a process to detect the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving object; a process to determine whether the target vehicle is in an automatic driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and a process to perform traffic control on the target vehicle based on the determined driving state of the target vehicle.

[0095] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 11 that are dependent on Appendice 1 {e.g., device} may also be dependent on Appendices 12 {e.g., method} and 13 {e.g., program} in the same way as in Appendices 2 to 11. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0096] 1 Traffic control system 2 Vehicle identification unit 3 Control instruction unit 4 Motion characteristic detection unit 5 Driving state determination unit 6 Traffic control unit 7 Traffic state detection unit 8 Weather information acquisition unit 9 Time zone information acquisition unit 11 Processor 12 Internal memory 13 Storage device 20 Traffic control system 30 Traffic control system 40 Traffic control system

Claims

1. A traffic control system comprising: a vehicle identification means for identifying a target vehicle in motion; a control instruction means for issuing control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling, and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined operation; a motion characteristic detection means for detecting the motion characteristics of a predetermined operation when the target vehicle performs the predetermined operation in response to the control of at least one of the traffic infrastructure and the moving body; a driving state determination means for determining whether the target vehicle is in an automatic driving state or a manual driving state based on the motion characteristics of the target vehicle detected by the motion characteristic detection means; and a traffic control means for performing traffic control on the road on which the target vehicle is traveling based on the driving state of the target vehicle determined by the driving state determination means.

2. A traffic control system according to claim 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control instruction means gives an active control instruction to at least one of the traffic infrastructure and the moving object based on the traffic state around the target vehicle detected by the traffic state detection means.

3. A traffic control system according to claim 2, wherein the traffic state detection means detects at least one of the following as a traffic state around the target vehicle: the presence or absence of other vehicles around the target vehicle, the presence or absence of congestion around the target vehicle, the presence or absence of an emergency vehicle approaching the target vehicle, and the number of other vehicles around the target vehicle.

4. A traffic control system according to claim 3, wherein the control instruction means instructs at least one of the traffic infrastructure and the moving object to perform the active control when the traffic state detection means does not detect other vehicles around the target vehicle, congestion around the target vehicle, an emergency vehicle approaching the target vehicle, or a predetermined number or more of other vehicles around the target vehicle.

5. A traffic control system according to claim 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control instruction means determines the type of active control according to the traffic state around the target vehicle detected by the traffic state detection means, and instructs at least one of the traffic infrastructure and the mobile body to perform the determined active control.

6. A traffic control system according to claim 1, further comprising weather information acquisition means for acquiring weather information around the target vehicle, wherein the control instruction means gives active control instructions to at least one of the traffic infrastructure and the moving object based on the weather information around the target vehicle acquired by the weather information acquisition means.

7. A traffic control system according to claim 1, further comprising a time zone information acquisition means for acquiring current time zone information, wherein the control instruction means gives active control instructions to at least one of the traffic infrastructure and the moving object based on the time zone information acquired by the time zone information acquisition means.

8. A traffic control system according to claim 1, wherein the control instruction means gives an active control instruction to a vehicle traveling in front of the target vehicle to decelerate, gives an active control instruction to a vehicle traveling in front of the target vehicle to reduce the distance between it and the target vehicle, gives an active control instruction to a vehicle around the target vehicle to cut in front of the target vehicle, or gives an active control instruction to a vehicle traveling in front of the target vehicle to flash its hazard lights or turn signals, and the motion characteristic detection means detects the deceleration characteristics and the distance between vehicles when the target vehicle decelerates in response to the active control of the vehicle in front or the vehicle around the target vehicle.

9. A traffic control system according to claim 1, wherein the control instruction means gives an active control instruction to a vehicle traveling in front of the target vehicle to accelerate, or gives an active control instruction to a vehicle traveling in front of the target vehicle to increase the distance between itself and the target vehicle, and the motion characteristic detection means detects the acceleration characteristics and distance characteristics when the target vehicle accelerates in response to the active control of the vehicle in front or the vehicle surrounding the target vehicle.

10. A traffic control system according to claim 1, wherein the control instruction means gives an active control instruction to a drone near the target vehicle to move in front of the target vehicle so that the target vehicle slows down, and the motion characteristic detection means detects the deceleration characteristics when the target vehicle slows down in response to the active control of the drone.

11. A traffic control system according to claim 1, wherein the control instruction means provides an active control instruction to a traffic light located in front of the target vehicle to display a red light so that the target vehicle will decelerate; provides an active control instruction to an ETC gate located in front of the target vehicle to change from passable to impassable so that the target vehicle will change lanes; provides an active control instruction to the traffic infrastructure to change the lane in which the target vehicle is traveling from passable to impassable so that the target vehicle will change lanes; or provides an active control instruction to the traffic infrastructure to increase or decrease the speed limit of the road in which the target vehicle is traveling so that the target vehicle will accelerate or decelerate.

12. A traffic control method comprising: identifying a target vehicle in motion; giving control instructions to at least one of traffic infrastructure provided on the road on which the target vehicle is traveling and a moving body moving around the target vehicle, so that the target vehicle performs a predetermined action; detecting the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving body; determining whether the target vehicle is in an automated driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and performing traffic control for the target vehicle based on the determined driving state of the target vehicle.

13. A program that causes a computer to perform the following: a process of identifying a target vehicle in motion; a process of issuing control instructions to at least one of the following: traffic infrastructure provided on the road on which the target vehicle is traveling, and a moving object moving around the target vehicle, so that the target vehicle performs a predetermined action; a process of detecting the motion characteristics of the predetermined action when the target vehicle performs the predetermined action in response to the control of at least one of the traffic infrastructure and the moving object; a process of determining whether the target vehicle is in an automated driving state or a manual driving state based on the detected motion characteristics of the target vehicle; and a process of performing traffic control on the target vehicle based on the determined driving state of the target vehicle.

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