JP2024079075A - Control device, control method, program, and traffic light - Google Patents

Abstract

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

Description

The present invention relates to a control device, a control method, a program, and a traffic light that provide traffic light information regarding the light color of traffic lights installed at intersections, etc.

For the purpose of preventing traffic accidents at or near intersections, traffic signal controllers have been proposed that provide signal information such as the color and duration of traffic signals at intersections to, for example, autonomous vehicles, and that use the signal information to determine whether the vehicle should stop before the intersection or can pass through, thereby controlling the vehicle's speed (for example, Patent Document 1).

JP 2010-146544 A

When the traffic signal controller described above executes recall control, in which the light color of each signal lamp is changed depending on the presence or absence of a sensing input from a push button or the like, the current display time of the signal light color that is the subject of the signal control becomes uncertain. Depending on the timing of the sensing input from the push button, the color may change immediately when the remaining seconds of the current display time are determined, resulting in the problem that vehicles cannot stop safely (see Figure 4).

Therefore, one method is to provide a separate step during which the signal light color remains green for a specified period of time between when the signal light color changes from blue to yellow, thereby ensuring that the vehicle has enough time to stop safely (see Figure 5).

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

In view of the above, the object of the present invention is to provide a control device, a control method, a program, and a traffic light that can ensure the time for a vehicle to stop safely without adding new light color output data.

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

According to the control device, when a detection signal is obtained by detecting a pedestrian or vehicle that is going to pass on the second road, if the staircase at which the detection signal was obtained is a staircase that gives the right of way, and if the first remaining seconds for that staircase are less than the safety assurance time, the second remaining seconds are extended to generate signal information as driving assistance information. In other words, the time until the light color changes can be set as the time the vehicle can safely stop, and this time can be provided to the vehicle. This eliminates the need to reset new light color output data or traffic light constants, making it possible to deal with cases where there are a predetermined number of staircases, and reducing the effort required to reset light color output data and traffic light constants.

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

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

The specified level may be the level at which the signal lamp displays a green light.

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

In order to achieve the above object, a control method according to one embodiment of the present invention is a control method for controlling a signal lamp installed on a road having a first road and a second road that is passable when passage of vehicles on the first road is restricted, the signal lamp presenting information regarding the right of passage of the vehicles on the first road, the method comprising:
The step of the signal lamp is timed based on an internal time kept by an internal clock, and a detection signal output by a detection device that detects a pedestrian or vehicle that is going to pass on the second road is obtained.
When the detection signal is acquired, it is determined whether the level of the signal light when the detection signal is acquired is a specified level for which right of passage is granted, based on the light color output data having light color output data for the level of the signal light.
At the predetermined stage, it is determined whether the first remaining number of seconds at the predetermined stage is less than a preset safety time.
If the first remaining number of seconds is less than the safety time, the first remaining number of seconds is extended to a second remaining number of seconds that is equal to or greater than the safety time, and signal information is generated for transmitting the second remaining number of seconds to the outside as driving assistance information.

In order to achieve the above object, a program according to one embodiment of the present invention is a program for controlling a signal lamp installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, the signal lamp presenting information regarding the right of passage of the vehicles on the first road,
The step of the signal lamp is timed based on an internal time kept by an internal clock, and a detection signal output by a detection device that detects a pedestrian or vehicle that is going to pass on the second road is obtained.
When the detection signal is acquired, it is determined whether the level of the signal light when the detection signal is acquired is a specified level for which right of passage is granted, based on the light color output data having light color output data for the level of the signal light.
At the predetermined stage, it is determined whether the first remaining number of seconds at the predetermined stage is less than a preset safety time.
If the first remaining number of seconds is less than the safety time, the first remaining number of seconds is extended to a second remaining number of seconds that is equal to or greater than the safety time, and signal information is generated for transmitting the second remaining number of seconds to the outside as driving assistance information.

In order to achieve the above-mentioned objective, one embodiment of the present invention provides a traffic light installed on a road having a first road and a second road that can be used when the passage of vehicles on the first road is restricted, and the traffic light is equipped with a signal lamp and a control device.
The signal lamp presents information regarding the right of passage for the first road. The control device has an internal clock, a memory unit, a determination unit, and a signal generation unit.
The internal clock keeps track of the internal time.
The memory unit stores light color output data for the signal lamp stages.
The judgment unit times the level of the signal light based on the internal time, and when it acquires a detection signal output by a detection device that detects a pedestrian or vehicle scheduled to pass on the second road, it judges based on the light color output data whether the level of the signal light at the time the detection signal was acquired is a specified level that grants the right of passage, and if it is the specified level, it judges whether the first remaining number of seconds of the specified level at the time the detection signal was acquired is less than a predetermined safety time.
When the first remaining number of seconds is less than the safety time, the signal generating unit extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety time, and generates signal information for transmitting the second remaining number of seconds to the outside as driving assistance information.

As described above, the present invention provides a control device, control method, program, and traffic light that can ensure the time for a vehicle to stop safely without adding new light color output data.

1 is a schematic configuration diagram of a traffic control system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a road to which the above traffic control system is applied. 1 is a block diagram showing a configuration of a control device according to an embodiment of the present invention; 1A and 1B are diagrams showing an example of a stage table for a conventional signal lamp, in which (A) is a stage table when detection is performed by a push button, and (B) is a stage table when detection is not performed by the push button. 1A and 1B are diagrams showing an example of a stage table for a signal light device according to a comparative example, in which (A) is a stage table when detection is performed by a push button, and (B) is a stage table when detection is not performed by the push button. FIG. 11 shows an example of a staircase procedure for a signal light of a control device in one embodiment of the present invention, where (A) is a staircase table when the first remaining number of seconds when detection is made by the push button is less than the safety time, and (B) is a staircase table when detection is not made by the push button. 4 is a flowchart showing an example of a staircase procedure executed in a control device according to an embodiment of the present invention. FIG. 11 is a schematic configuration diagram of another embodiment of the traffic control system of the present invention.

The following describes an embodiment of the present invention with reference to the drawings.

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

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

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

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

The control device 10 is configured to be capable of transmitting light color information related to the vehicle lamp 1V to the roadside antenna 20. The control device 10 may be configured to be capable of communicating with a traffic control center 40. In addition, the control device 10 may be a standalone control device as long as it has a time correction function using a GPS or the like.

The roadside antenna 20 is configured to be capable of communicating with a vehicle V traveling on a first road R1 on which traffic lights S are installed, and is configured to be capable of transmitting signal information related to the vehicle lamp 1V to the vehicle V. Although not shown, the vehicle V is equipped with an on-board device capable of receiving the signal information transmitted from the roadside antenna 20, as well as a device (display, speaker, etc.) that presents information related to the vehicle lamp 1V to the driver based on the signal information.

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

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

The traffic control center 40 has a central unit 41 and a time server 42, and is connected to the control device 10 via a network so that it can communicate with the control device 10. The central unit 41 corresponds to the higher-level device (computer) of the control device 10, and keeps an internal time synchronized with the time server 42. The time server 42 uses GPS to correct the time, and as described later, a GPS antenna is installed in the control device 10 and the time is corrected periodically. In other words, since the same GPS is used, the time error can be reduced. The time server 42 and the control device 10 are not limited to these, and an NTP (Network Time Protocol) server, an SNTP (Simple Network Time Protocol) server, etc. may be used. The central unit 41 transmits commands such as the number of seconds to control the steps of the signal lamp 1, switching of the current data, and expansion functions to the control device 10.

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

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

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

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

The main control unit 11 has a control unit 110, a memory unit 11A, a timer 11B, and a backup clock (hardware clock) 11C.

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

The internal clock 111 measures the internal time to at least millisecond accuracy based on the output from the timer 11B.

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

The first determination unit 112C determines, based on the light color output data, whether the level of the signal lamp 1V when the detection signal was obtained is a specified level that grants the right of passage. Specifically, the first determination unit 112C reads the light color output data (current display plan data) stored in the memory unit 11A and determines whether the light color of the signal lamp 1V when the detection signal was obtained displays a green light.

When the first determination unit 112C determines that the specified floor is reached, the second determination unit 112D determines whether the first remaining number of seconds for the specified floor at the time the detection signal was acquired is less than a preset safety time.

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

The output unit 112E outputs the judgment result by the second judgment unit 112D to the signal generation unit 113.

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

The signal generating unit 113 has a calculation unit 113A and a generation unit 113B. When the determination result output by the output unit 112E is that the first remaining number of seconds is less than the safety ensuring time, the calculation unit 113A extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety ensuring time. When the determination result output by the output unit 112E is that the first remaining number of seconds is equal to or greater than the safety ensuring time, the calculation unit 113A leaves the first remaining number of seconds as it is and does not make any changes such as an extension.

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

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

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

In other words, the generation unit 113B transmits the generated signal information from the transmission unit 14 to the roadside antenna 20, and the roadside antenna 20 transmits the signal information toward the vehicle V. Here, the outside refers to the road R1 and the vehicle V on the road R1.

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

When the calculation unit 113A extends the first remaining number of seconds to the second remaining number of seconds, the generation unit 113B generates a control signal for stepping up the stairs with the first remaining number of seconds as the second remaining number of seconds. In other words, the generation unit 113B generates (outputs) to the light switch 13 a control signal that extends the number of seconds remaining until the light color changes (from green to yellow) to the second remaining number of seconds.

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

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

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

The timer 11B incorporates a crystal oscillator and a counter circuit that counts the number of oscillations of the crystal oscillator and outputs the clock required for the timekeeping function of the internal clock 111. The hardware clock 11C is a backup clock and incorporates a crystal oscillator, counter circuit, auxiliary battery, etc. The hardware clock 11C is not limited to being incorporated in the control device 10, but may also be attached to the control device 10 as an external device.

(Previously)
Here, the conventional signal light stage table will be explained. Figure 4 shows an example of a conventional signal light stage table, where (A) is a stage table H1 when there is detection by the push button, and (B) is a stage table H2 when there is no detection by the push button.

Here, we will use a two-phase, six-step traffic light as an example. In Figures 4 to 7 below, a thick horizontal line is a green light, two horizontal lines are a red light, a wavy line is a yellow light for vehicles, and a vertical line is a flashing light for pedestrians.

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

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

The (set) number of seconds shown in FIG. 4 is the number of seconds for each step. The data on the set number of seconds may be stored as a fixed value in the memory unit 11A, or may be temporarily stored in response to a command from the central device 41.

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

Here, recall control refers to a control that switches the right of way and signal output for the first road R1 and the second road R2 when a pedestrian or vehicle planning to pass through the second road R2 is detected on a road that has a first road R1 over which vehicles have the right of way under normal circumstances, and a second road R2 over which vehicles can pass when the right of way is not normally available and the passage of vehicles on the first road R1 is restricted (a red or yellow light is displayed by the signal lamp 1V). Here, right of way refers to a state in which a pedestrian or vehicle can proceed in a specific direction (the first road R1 or the second road R2), specifically a state in which a green light is displayed (see Figure 1).

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

In addition, a rotational recall means that when no detection signal (e.g. a sensing signal from a push button, etc.) is obtained, the passage of seconds and progression through the stages is repeated based on the number of seconds set for each step in Figure 4 (B). During this time, as shown in Figure 4 (B), the light color (blue) of the stage table H2 continues to be output. If a detection signal is obtained before the start of one step, the start of the next step is switched to starting from step 1 of the stage table H1. If a detection signal is obtained during one step, it switches to stage table H1 when the detection signal is detected.

In the case of a stop-type recall in the conventional example, the vehicle stops just before the end of the first step in the ladder table H2, and by pressing the push button, the vehicle proceeds to the second step in the ladder table H1 (step-by-step progression). In this case, vehicle V, an autonomous vehicle that acquires signal information just before the vehicle light 1V changes color to yellow, may suddenly brake, which poses a problem in that smooth and safe operation cannot be achieved. Also, in the case of a rotation-type recall, if a detection signal is detected just before the end of the first step, there is a possibility of sudden braking, just like in a stop-type recall.

(Comparative Example)
In response to this, a method has been proposed as a comparative example in which a step (step) of a blue signal light color is added between the first and second steps of the step tables H1 and H2. Figure 5 shows an example of a step table for a signal light device according to a comparative example in which a step in which the light color is blue for a predetermined time is provided between the time when the light color changes from blue to yellow, thereby ensuring time for a vehicle to stop safely. (A) is step table H3 when there is detection by the push button, and (B) is step table H4 when there is no detection by the push button.

In the case of a stop-type recall in this comparative example, because step 2' has been added, the light color does not change immediately even if a detection signal is obtained. In other words, in the case of a stop-type recall, the system stops just before the end of the first step in the ladder table H4, and when the push button is pressed, it proceeds to step 2' in the ladder table H4 (step-by-step advancement). In this case, a time is secured for the set number of seconds for step 2' (five seconds in this embodiment) until the light color changes. Also, in the case of a rotation-type recall, even if a detection signal is obtained just before the end of the first step, a time is secured for the set number of seconds for step 2' until the light color changes.

However, in the comparative example, a new level table (light color output data) must be created, and creating it individually requires a great deal of effort. In addition, because the maximum number of levels for current signal controllers is 24, there is a problem that levels cannot be added at intersections where the light color output data has 24 levels. Furthermore, there is a problem that the increase in levels requires the resetting of the signal control constants that operate traffic light S.

To solve the above problems, the control device 10 of this embodiment controls the signal lamp 1 in the following manner. Figure 6 shows an example of the staircase procedure of the signal lamp 1 of the control device 10 according to one embodiment of the present invention, where (A) is the staircase table H5 when the first remaining number of seconds when detection is made by the push button is less than the safety time, and (B) is the staircase table H6 when detection is not made by the push button. Also, Figure 7 is a flowchart showing an example of the staircase procedure executed by the control device 10 according to one embodiment of the present invention.

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

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

When the first judgment unit 112C judges that it is the specified floor (first step) (YES), the second judgment unit 112D judges whether the first remaining number of seconds at the specified floor (first step) when the detection signal was acquired is less than the preset safety ensuring time (ST103). Here, the safety ensuring time is 5 seconds in this embodiment, and the first remaining number of seconds is 3 seconds. As the first remaining number of seconds is less than the safety ensuring time (YES), the process proceeds to the next STEP.

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

This prevents the light color from changing immediately after the push button is pressed, making it possible for autonomous vehicles to make decisions to stop safely. Also, because the time between levels is changed, there is no need to change the previous light color output data. This makes it possible to prevent the light color from changing immediately after the push button is pressed, without increasing the number of levels, even at intersections where the light color output data is for when there are already 24 levels, making it possible for autonomous vehicles to make decisions to stop safely.

In addition, there is no need to update light color output data or traffic light constants, which helps reduce implementation costs.

In addition, when the determination is NO in ST102 and ST103 in the flowchart of FIG. 7, the signal information is generated by the generation unit 113B as the driving support information, which is the first remaining number of seconds until the next light color.

The above describes an embodiment of the present invention, but the present invention is not limited to the above embodiment and can of course be modified in various ways.

For example, in this embodiment, a road with a pedestrian crossing has been described as an example, but of course this is not limited to this and can also be applied to intersections (including those with separate pedestrian and vehicle crossings).

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

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

In addition, if the first remaining number of seconds is extended to the safety time, the extended time may or may not be adjusted in the next cycle.

The setting of the safety time is not limited to time, but may be speed, for example. In the case of speed, the time required to safely stop from that speed may be calculated, and this time may be set as the safety time. The set value of the speed in this case may be the speed limit on the road, the traveling speed of the target vehicle, etc.

Figure 8 is a schematic diagram of another embodiment of the traffic control system of the present invention. The present invention is not limited to the use of ITS (Intelligent Transport System) radio (roadside antenna 20) as shown in Figure 1.

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

In other words, the traffic control center 40A transmits the traffic signal information collected by the control system 401A to the traffic signal information aggregation system 501A of the National Police Agency 50A via the traffic signal information distribution device 402A, and the distribution center 60A that distributes the traffic signal information transmits it as driving assistance information to the autonomous vehicle V' using an LTE line or the like. In addition, the first traffic signal controller 10A that controls the traffic lights through which the autonomous vehicle V' passes can transmit driving assistance information to the autonomous vehicle V' via an LTE line or the like.

In this way, the autonomous vehicle V' may receive the above-mentioned information from the distribution center 60A.

Reference Signs List 1: Signal lamp 10: Control device 11: Main control unit 11A: Memory section 13: Lamp switch 14: Transmission section 30: Detection device 110: Control section 111: Internal clock 112: Determination section 113: Signal generation section

Claims (8)

A control device for controlling a signal lamp installed on a road having a first road and a second road that is passable when the passage of vehicles on the first road is restricted, the signal lamp presenting information regarding the right of passage of the vehicles on the first road,
An internal clock that keeps track of the internal time;
A memory unit for storing light color output data for each step of the signal lamp;
a determination unit which times the level of the signal lamp based on the internal time, and when a detection signal output by a detection device which detects a pedestrian or vehicle planning to pass on the second road is acquired, determines based on the light color output data whether the level of the signal lamp at the time when the detection signal was acquired is a specified level at which the right of passage is granted, and if it is the specified level, determines whether a first remaining number of seconds of the specified level at the time when the detection signal was acquired is less than a preset safety ensuring time;
and a signal generating unit that, when the first remaining number of seconds is less than the safety ensuring time, extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety ensuring time, and generates signal information for transmitting the second remaining number of seconds to an outside as driving assistance information. The control device according to claim 1 ,
the second remaining number of seconds is the safety time,
The signal generating unit extends the first remaining number of seconds so that the second remaining number of seconds becomes the safety time. The control device according to claim 1 ,
The control device, wherein the detection signal is a detection signal generated by operation of a pedestrian push button or detection of a vehicle by a vehicle detector. The control device according to claim 1 ,
The control device, wherein the predetermined stage is a stage at which the signal lamp displays a green light. The control device according to claim 1 ,
The signal generating unit further generates a control signal for stepping up a staircase with the first remaining number of seconds as the second remaining number of seconds;
The control device further comprises a light color output circuit that switches the light color of the signal lamp based on the control signal. 1. A method for controlling a signal lamp that is installed on a road having a first road and a second road that is passable when a passage of vehicles on the first road is restricted, the method comprising the steps of:
The signal lamp step is timed based on an internal time measured by an internal clock, and a detection signal is obtained from a detection device that detects a pedestrian or a vehicle that is going to pass on the second road.
When the detection signal is acquired, it is determined whether the level of the signal lamp at the time when the detection signal is acquired is a predetermined level for granting the right of passage based on the light color output data having the light color output data for the level of the signal lamp;
When the vehicle is at the predetermined floor, it is determined whether a first remaining number of seconds at the predetermined floor is less than a preset safety time;
a control method for generating signal information for transmitting the second remaining number of seconds to an external device as driving support information when the first remaining number of seconds is less than the safety ensuring time, the control method extending the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety ensuring time, and A program for controlling a signal lamp installed on a road having a first road and a second road that is passable when a passage of vehicles on the first road is restricted, the program providing information regarding a right of passage for the first road, the program comprising:
A step of timing the steps of the signal lamp based on an internal time measured by an internal clock, and acquiring a detection signal output by a detection device that detects a pedestrian or a vehicle that is going to pass on the second road;
When the detection signal is acquired, a step of determining whether the level of the signal lamp at the time when the detection signal is acquired is a predetermined level for granting the right of passage based on light color output data having light color output data for the level of the signal lamp;
When the predetermined floor is reached, determining whether a first remaining number of seconds of the predetermined floor is less than a preset safety time;
and if the first remaining number of seconds is less than the safety ensuring time, setting the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety ensuring time, and generating signal information for transmitting the second remaining number of seconds to an external device as driving assistance information. A traffic signal is provided on a road having a first road and a second road that is passable when a vehicle's passage on the first road is restricted,
A signal lamp that displays information regarding the right of way of the first road;
a control device having an internal clock that keeps track of an internal time; a memory unit that stores light color output data for a level of the signal light; a determination unit that keeps track of the level of the signal light based on the internal time, and, when a detection signal output by a detection device that detects a pedestrian or vehicle planning to pass on the second road is obtained, determines based on the light color output data whether the level of the signal light at the time the detection signal was obtained is a specified level that grants right of passage, and, if it is the specified level, determines whether a first remaining number of seconds for the specified level is less than a predetermined safety ensuring time; and a signal generation unit that, if the first remaining number of seconds is less than the safety ensuring time, extends the first remaining number of seconds to a second remaining number of seconds that is equal to or greater than the safety ensuring time, and generates signal information for transmitting the second remaining number of seconds to the outside as driving assistance information.

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