JP2007316827A - Intersection traffic control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intersection traffic control system for making smoother intersection traffic flow realized. <P>SOLUTION: In this intersection traffic control system for setting priority to a vehicle entering an intersection, and for controlling the speed of a vehicle entering the intersection, to enable the vehicle to pass the intersection according to the set priority, when any obstacle exits in a predetermined region including the intersection, by reducing the intersection passage priority of the vehicle trying to enter a road where the obstacle exists among the vehicles entering the intersection (A), or of the traveling of the vehicle entering the intersection to the road, where the obstacle exists is inhibited (B), the traveling of the vehicle entering the intersection to the road where the obstacle exists can be restricted. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention generally relates to an intersection traffic control system that sets priority for a vehicle entering an intersection and controls the speed of the vehicle entering the intersection so as to pass through the intersection according to the set priority. In particular, the present invention relates to an intersection traffic control system that realizes an even smoother intersection traffic flow.

  When multiple vehicles enter an intersection where traffic control, traffic signs, temporary stop lines, etc. are not used for traffic control, the priority order for passing through the intersection is left to the concession between vehicle drivers. Therefore, there is a possibility that the traffic flow at the intersection may be unsmooth more than necessary.

  Therefore, an intersection traffic control system is known in which priority is set for vehicles entering an intersection, and the speed of the vehicle entering the intersection is controlled so as to pass through the intersection according to the set priority. (For example, refer to Patent Documents 1 and 2).

  In Patent Document 1, a right-turn vehicle and a straight-ahead vehicle perform two-way communication, exchange information on the priority of passing the intersection, and each vehicle passes through the intersection according to this priority to control traffic at the intersection. A method is disclosed.

Patent Document 2 discloses an intersection traveling support device that communicates vehicle information through inter-vehicle communication, determines the priority of the vehicle relative to other vehicles, and travels at an intersection.
JP-A-11-110893 JP 2003-099896 A

  As described in Patent Documents 1 and 2 above, when the vehicle travel is controlled in a manner close to semi-automatic driving while passing through the intersection, for safety reasons, it is natural that the driver performs braking control even during the intersection traffic control control ( If the brake operation is performed, the operation is preferentially reflected in the vehicle control.

  However, if the vehicle with the highest priority (the highest priority vehicle) decelerates by the driver's braking control while passing through the intersection, the priority that stands by while slowing down the intersection of the highest priority vehicle is the second or lower priority. There is a risk that the priority vehicle will be further decelerated and the traffic flow at the intersection will be significantly stagnant.

  That is, when carrying out the intersection traffic control control as described above, the driver of the highest priority vehicle passing through the intersection is required to maintain a smooth intersection traffic flow except in the case of an emergency such as collision avoidance. It is desirable not to operate the brakes unnecessarily.

  When the driver of the top-priority vehicle performs the braking operation during the intersection traffic control control as described above, the driver felt that the controlled vehicle passing speed of the own vehicle is higher than the desired vehicle speed. It's time to say.

  For example, if there is a stationary object such as a parked vehicle on the road in the direction of travel of the top priority vehicle and the road width through which the vehicle can pass is narrowed, the driver of the top priority vehicle will use the narrow road width to jump out of people and doors. It is considered that there is a high possibility of slowing down and slowing down significantly in order to pass by the stationary object carefully while paying attention to opening.

  Also, for example, when a vehicle with the highest priority enters the intersection, when passing through a curved road or a slope, the driver feels that the approach speed to the intersection is too high depending on the curve radius or the slope, and decelerates. It is thought that there is a possibility.

  Furthermore, depending on the driver, there is a possibility that there is a habit of passing slowly while slowing down at a certain intersection.

  In such a situation, if the driver of the highest priority vehicle executes a brake operation while passing the intersection, the passage of the other vehicle will be further delayed, resulting in a decrease in the smoothness and efficiency of the traffic flow at the intersection.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide an intersection traffic control system that realizes a smoother intersection traffic flow.

  A first aspect of the present invention for achieving the above object is to set a priority for a vehicle entering an intersection and to enter the intersection so as to pass through the intersection according to the set priority. An intersection traffic control system that controls the speed of the vehicle, and when an obstacle is present in a predetermined area including the intersection, the vehicle trying to enter the intersection is advanced to the road where the obstacle exists. It is a restricted traffic control system.

  In the first aspect, the obstacle refers to all stationary objects existing on a road such as a parked vehicle, for example, and is detected by analyzing an image captured by a camera, for example.

  In the first aspect, the intersection traffic control system may be configured such that, for example, when the obstacle is present, A) an intersection of vehicles that are going to travel to the road where the obstacle is present among vehicles entering the intersection. By lowering the priority of passing, or B) prohibiting the vehicle entering the intersection from traveling on the road where the obstacle exists, the obstacle is detected against the vehicle attempting to enter the intersection. Limit progress to existing roads.

  According to the first aspect, at the intersection to be controlled, for vehicles that are going to travel on a road that is blocked or stagnated due to the presence of obstacles, the priority is lowered and the intersection passage order is postponed. Or by banning the road to another road and urging the road to another road, the top-priority vehicle has traveled to the road where the obstacle is located and needs to slow down. It is possible to prevent the occurrence of a situation in which the smoothness and efficiency of the traffic flow at the intersection of the priority vehicles is lowered.

  A second aspect of the present invention for achieving the above object is to set a priority for a vehicle entering an intersection and to enter the intersection so as to pass through the intersection according to the set priority. An intersection traffic control system that controls the speed of the vehicle, and when the probability that the driver of the vehicle entering the intersection will execute the braking control at the intersection is greater than or equal to a predetermined value, Control system.

  In the second aspect, the intersection traffic control system is observed by observing, for example, whether or not a driver of a vehicle entering the intersection has executed braking control that reduces the intersection passing speed at the intersection. The probability is calculated based on the braking control execution history.

  According to the second aspect, statistics are taken for each vehicle to determine whether or not the passing vehicle has decelerated at each intersection to be controlled, and the probability of executing braking control for deceleration at the intersection from the past driving operation history is obtained. For vehicles that are judged to be relatively high, the highest priority vehicle is decelerated and the other non-priority vehicles are decelerated by suppressing the intersection passage speed in advance so that the driver does not execute braking control while passing the intersection. It is possible to prevent the occurrence of a situation in which the smoothness and efficiency of the intersection traffic flow are reduced.

  A third aspect of the present invention for achieving the above object is to set a priority for a vehicle entering an intersection and to enter the intersection so as to pass through the intersection according to the set priority. An intersection traffic control system for controlling the speed of an intersection, which suppresses the passing speed of the vehicle according to the characteristics of the road through which the vehicle entering the intersection passes when entering the intersection. System.

  In the third aspect, the characteristic of the road is a curve radius or a slope of the slope, and the intersection traffic control system uses a curve radius of a road that passes when a vehicle entering the intersection enters the intersection. When is below a predetermined value or when the slope of the slope is above a predetermined value, the vehicle passing speed is suppressed.

  According to the third aspect, the vehicle having the highest priority when traveling on a road whose curve radius is equal to or less than a predetermined value and / or slope slope is equal to or greater than a predetermined value before the vehicle with the highest priority enters the control target intersection. By suppressing the intersection passage speed in advance so that the driver feels that the intersection passage speed set is too fast in light of the road shape and does not execute the brake operation, the top priority vehicle decelerates and other non- It is possible to prevent the occurrence of a situation in which the smoothness and efficiency of the traffic flow at the intersection of the priority vehicles is lowered.

  According to a fourth aspect of the present invention for achieving the above object, priority is set for a vehicle entering an intersection, and the vehicle enters the intersection so as to pass through the intersection according to the set priority. An intersection traffic control system that controls the speed of a vehicle, and a vehicle that is about to enter the intersection performs both four-wheel independent driving force distribution control by driving force control and four-wheel independent driving force distribution control by braking force control When the vehicle is configured to be capable of performing four-wheel independent driving force distribution control while passing through the intersection, the vehicle is caused to execute four-wheel independent driving force distribution control by braking force control. It is an intersection traffic control system.

  According to the fourth aspect, since it is possible to prevent the vehicle speed from increasing by executing the four-wheel independent driving force distribution control by the driving force control, the safety in the intersection traffic control control can be further enhanced. it can.

  ADVANTAGE OF THE INVENTION According to this invention, the intersection traffic control system which implement | achieves a much smoother intersection traffic flow can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  Hereinafter, an intersection traffic control system according to an embodiment of the present invention will be described with reference to FIGS. The intersection traffic control system according to the present embodiment generally gives priority to vehicles having the possibility of crossing at intersections where no traffic lights for vehicles are installed, and each vehicle passes through the intersection in order according to this priority. This is a system for decelerating vehicles other than the vehicle with the highest priority.

  FIG. 1 shows an outline of an intersection traffic control system 100 according to the present embodiment. The intersection traffic control system 100 is installed at an intersection where no vehicle traffic signal is installed and has a roadside device 101 having a communication function for realizing road-to-vehicle communication with the vehicle V, and each of the roadside devices 101 entering the intersection. The vehicle travel control device 102 is mounted on the vehicle V and has a communication function for realizing road-to-vehicle communication with the roadside device 101, and also has a function of controlling the travel of the vehicle.

  Here, in FIG. 1, for the sake of convenience, the roadside device 101 is illustrated as if it is installed at one corner of a crossroad intersection, but the installation position of the roadside device 101 is determined for each vehicle V entering the intersection. As long as road-to-vehicle communication can be realized between the two, it is optional.

  Also, with regard to specific specifications for road-to-vehicle communication, various communication methods and device configurations have already been proposed and are known to those skilled in the art, so detailed description thereof is omitted here.

  Furthermore, as will be apparent to those skilled in the art, the road-to-vehicle communication between the roadside device 101 and the vehicle travel control device 102 is not limited to a direct wireless communication connection, but indirectly through vehicle-to-vehicle communication or satellite communication. It may be a typical communication connection.

  The vehicle travel control device 102 mounted on each vehicle V uses road-to-vehicle communication to identify identification information of the host vehicle, the current position of the host vehicle, the moving speed (vehicle speed), and the traveling direction (for example, left and right turn signal ON). (Represented by / OFF information) to the roadside device 101

  The roadside device 101 determines the intersection passing priority of each vehicle V based on the position and vehicle speed of each vehicle V received from each vehicle V that is about to enter the intersection, and uses road-to-vehicle communication to give the highest priority vehicle. A speed control instruction is transmitted so that the vehicle passes through the intersection after accelerating up to the intersection passing upper limit speed. Let

  FIG. 2 is a schematic configuration diagram of the roadside apparatus 101 according to the present embodiment.

  The roadside device 101 includes a communication unit 201 that communicates with the vehicle travel control device 102. The performance and shape of the antenna included in the communication unit 201 and the method and frequency band used for communication are not particularly limited and may be arbitrary.

  The roadside device 101 further stores and holds in advance, in advance, various algorithms used when calculating intersection passing priority of each vehicle and a speed control amount to each vehicle, which will be described in detail later, and road information including at least road shape information. A storage unit 202 is included. The storage unit 202 may be an arbitrary storage medium. Further, it is preferable that the algorithm and information stored and held in the storage unit 202 are appropriately updated to the latest version using, for example, communication.

  The roadside apparatus 101 further includes an obstacle detection unit 203 that detects an obstacle present on each road constituting the intersection in a predetermined area including the intersection (for example, within a predetermined radius circle from the intersection center). Here, the obstacle refers to all stationary objects existing on a road such as a parked vehicle.

  Here, the obstacle detection method by the obstacle detection unit 203 may be any known to those skilled in the art. For example, one or more cameras (not shown) for imaging the state on each road constituting the intersection may be provided, and the captured image may be processed to detect the presence of an obstacle. .

  The roadside apparatus 101 further includes a main control unit 204 that performs various calculations and controls the components of the roadside apparatus 101 in an integrated manner. The main control unit 204 is, for example, an ECU (Electronic Control Unit).

  FIG. 3 is a schematic configuration diagram of the vehicle travel control apparatus 102 according to the present embodiment.

  The vehicle travel control device 102 includes a communication unit 301 that communicates with the roadside device 101. The performance and shape of the antenna included in the communication unit 301 and the method and frequency band used for communication are not particularly limited and may be arbitrary.

  The vehicle travel control apparatus 102 further includes a host vehicle position detection unit 302 that detects the position of the host vehicle using, for example, a GPS (Global Positioning System). The detection accuracy (resolution) of the own vehicle position detection unit 302 is preferably as high (fine) as possible. For example, it is preferable to use a high-accuracy GPS such as RTK (Real Time Kinetic) -GPS.

  The vehicle travel control device 302 further includes a vehicle speed detection unit 303 that detects the vehicle speed of the host vehicle. The vehicle speed detection unit 303 detects the vehicle speed of the host vehicle using, for example, a wheel speed sensor. As an alternative example, the vehicle speed of the host vehicle may be calculated from the time change of the host vehicle position detected by the host vehicle position detection unit 302.

  The vehicle travel control device 102 further controls the magnitude of the driving force generated in the own vehicle independently of the accelerator pedal operation by the driver, for example, by adjusting the engine output by controlling the throttle valve opening. A driving force control unit 304 for controlling the motor.

  The vehicle travel control device 102 further controls the magnitude of the braking force generated in the host vehicle independently of the brake pedal operation by the driver, for example, by controlling the brake hydraulic pressure. Have

  The vehicle travel control apparatus 102 further includes an alarm unit 306 that outputs an alarm for prompting the driver to change the traveling direction at the intersection. In the present embodiment, the warning unit 306 warns the driver, for example, by outputting a voice message intended to prompt the driver to change the traveling direction at the intersection.

  The vehicular travel control device 102 further includes a main control unit 307 that comprehensively controls each component of the vehicular travel control device 102. The main control unit 307 is, for example, an ECU (Electronic Control Unit).

  In this embodiment, the main control unit 307 is configured to input left / right turn signal on / off information.

  In the intersection traffic control system 100 having such a configuration, speed control of a vehicle that is about to enter an intersection is performed in the following manner.

  First, the main control unit 204 of the roadside device 101 determines the position and speed of each vehicle acquired from the vehicle travel control device 102 through the communication unit 201 in the light of the map information stored and held in the storage unit 202 as the control target. It is determined whether or not there are a plurality of vehicles traveling toward the intersection (that is, entering the intersection) in a predetermined area including the intersection (hereinafter referred to as “control area”). . Here, for example, the control area is simply set as a predetermined radius circle around the center point of the intersection.

  When it is determined that there are a plurality of vehicles that are about to enter the intersection in the control area, the main control unit 204 of the roadside apparatus 101 then performs a response to a vehicle that is about to enter the plurality of intersections located in the control area. The priority order indicating which vehicle is allowed to pass through the intersection in what order is determined.

  Here, the priority order may be determined in any order, and may be in any order such as, for example, the order of short time required to reach the intersection or the order of short distance to the intersection. Of course, emergency vehicles should be given the highest priority.

  Next, the main control unit 204 of the roadside apparatus 101 attempts to enter the intersection of the control area according to the determined priority order based on the algorithm for determining the speed control amount stored and held in the storage unit 202. Each vehicle is about to enter the intersection in the control area so that it will not stop as much as possible, minimize deceleration, and pass through the intersection in order from the highest priority vehicle with high efficiency and high density. Speed control is performed on the vehicle.

More specifically, the main control unit 204 of the roadside device 101 instructs the highest priority vehicle to accelerate to the preset intersection passing upper limit speed V _MAX and immediately pass through the intersection through the communication unit 201. For non-priority vehicles other than the highest priority vehicle, the deceleration amount calculated so as to keep the deceleration of the vehicle to a minimum while preventing the vehicle from entering the intersection until the highest priority vehicle passes the intersection, and thereafter Instruct the constant speed running speed. When the highest priority vehicle passes through the intersection, the priority of each vehicle is incremented by one and the same process is repeated.

  In this embodiment, the minimum deceleration amount instructed to each of the non-priority vehicles as described above is coordinate-converted to a virtual position where the non-priority vehicle becomes a vehicle traveling in the same direction on the same road / lane as the priority vehicle. (Projection) and when the non-priority vehicle after coordinate transformation (projection) is to follow the vehicle with a predetermined distance (margin / margin distance) with respect to the priority vehicle, first secure the predetermined distance It is calculated as the amount of deceleration required to do this.

  Based on such basic control, the flow of intersection passing control processing by the intersection traffic control system 100 according to the present embodiment will be described next with reference to the flowchart of FIG.

  First, the main control unit 204 of the roadside apparatus 101 has a plurality of vehicles traveling toward the intersection in the control area based on the position and speed of each vehicle acquired from the vehicle travel control apparatus 102 through the communication unit 201. It is determined whether there is a table (S401).

  When it is determined that there are a plurality of vehicles entering the intersection in the control area (“YES” in S401), the main control unit 204 of the roadside apparatus 101 then enters the intersection acquired through the communication unit 201. Based on the priority determination algorithm stored and held in the storage unit 202 for the positions and velocities of the plurality of vehicles, the intersection passing priority is determined for the plurality of vehicles (S402).

  When the priority order of passing through the intersection is assigned to a plurality of vehicles that are about to enter the intersection, the main control unit 204 of the roadside apparatus 101 then determines the position of the obstacle detected by the obstacle detection unit 203. Whether the detected obstacle is located on the road in the traveling direction at the intersection of the highest-priority vehicle in light of the map information stored and stored in the storage unit 202 with the position and traveling direction of the highest-priority vehicle Are determined (S403).

  When the detected obstacle exists on the road in the traveling direction of the highest priority vehicle (“YES” in S403), the main control unit 204 of the roadside apparatus 101 stores the position and size of the detected obstacle. In light of the road shape and road width stored and stored in the unit 202, it is determined whether or not the vehicle can pass through the road where the obstacle exists (S404).

  Here, FIG. 5 shows an example of the traffic situation when the vehicle can pass, and FIG. 6 shows an example of the traffic situation when the vehicle cannot pass. 5 and 6, vehicles V1 and V2 are vehicles that are about to enter an intersection. Here, it is assumed that vehicle V1 is a priority vehicle and vehicle V2 is a non-priority vehicle. 5 and 6 each show a case where the top-priority vehicle V1 is going to turn right at the intersection, and there is a parked vehicle P as a stationary obstacle on the traveling direction road. FIG. 5 shows a situation in which a parked vehicle P is parked on the right side with a space that other vehicles can pass, and is approaching the left end of the road. FIG. Each of the figures shows a situation where the vehicle is stopped so as to prevent vehicle traffic on the road while facing diagonally.

  As shown in FIG. 5, it is determined that the obstacle detected on the road in the traveling direction of the highest priority vehicle does not completely block the vehicle traffic on the road, and the vehicle can pass through the road. In such a case (“YES” in S404), even if the road is narrowed by the obstacle and the traffic can be made, the driver of the highest priority vehicle can jump out of the narrowed road width, open the door of the parked vehicle, etc. The main control unit 204 of the roadside apparatus 101 is based on the insight that it is highly likely that the vehicle will decelerate and decelerate significantly so as to pass carefully. In order to prevent the smoothness and efficiency of intersection traffic of priority vehicles from dropping, the intersection priority of vehicles set as the first highest priority vehicle with the road direction where the obstacle is detected as the traveling direction is lowered to the lowest level. (S410). In other words, the intersection passing of the vehicle, which is likely to take the longest time to pass the intersection, is most delayed.

  Along with this, the intersection passing priority of other vehicles is incremented one by one. And this flow is restarted from S403 with respect to the highest priority vehicle which newly became the first priority.

  On the other hand, as shown in FIG. 6, it is determined that the obstacle detected on the road in the traveling direction of the highest priority vehicle is hindering the vehicle traffic on the road, and the vehicle cannot pass through the road. In this case (“NO” in S404), the main control unit 204 of the roadside apparatus 101 instructs the prohibition of entry into the traveling direction road scheduled for the highest priority vehicle and change of the traveling direction through the communication unit 201. The main control unit 307 of the vehicular travel control apparatus 102 that has received such an instruction from the roadside device 101 through the communication unit 301 schedules the driver as a voice message that is output, for example, into the passenger compartment through the alarm unit 306. It is notified that the traveling in the traveling direction is prohibited and the traveling direction must be changed, and the traveling direction is changed at the intersection to be controlled (S409).

  For example, in the example shown in FIG. 6, since the driver of the highest priority vehicle V1 is prohibited to turn right, the driver is warned to change the direction of travel at the intersection and go straight or turn left.

  By the way, when it is determined that there is no obstacle on the road in the traveling direction at the intersection of the highest priority vehicle based on the obstacle detection result by the obstacle detection unit 203 (“NO” in S403), the roadside device Next, the main control unit 204 of 101 determines whether or not the probability that the highest priority vehicle (the driver) executes the braking control at the intersection is greater than a predetermined value (S405).

  This is due to the insight that the speed at which the driver feels appropriate will vary from driver to driver and from intersection to intersection, depending on the road shape at the intersection and the prospects at the intersection affected by buildings, etc. Based on this, it is determined whether or not the vehicle (the driver) that has become the highest priority vehicle has a habit of performing braking control at the intersection.

  Here, the probability that the driver of the vehicle that has become the highest-priority vehicle executes the braking control at the intersection can be calculated / estimated from the past operation history of the vehicle (the driver) at the intersection. For example, the braking control execution history of the specific vehicle (the driver) at the specific intersection to be controlled is, for example, the braking control performed by the driver while the vehicle that has become the highest priority vehicle at the intersection to be controlled passes through the intersection. Sometimes, by configuring the vehicle travel control device 102 so that the vehicle identification information is transmitted from the vehicle travel control device 102 to the roadside device 101, the roadside device 101 provides statistics / aggregation as an operation history for each vehicle. It becomes possible to do.

  From such a braking control execution history, for example, when the total number of times braking control has been executed at the intersection exceeds a predetermined number, or the number of times braking control has been executed at the intersection is divided by the number of times that the intersection has passed. When the ratio value obtained in this manner exceeds a predetermined ratio, it can be determined that the probability that the highest priority vehicle (the driver) executes the braking control at the intersection is greater than the predetermined value.

When it is determined that the probability that the highest-priority vehicle (the driver) executes the braking control to reduce the vehicle speed at the intersection is greater than a predetermined value through such calculation (“YES” in S405), the roadside device 101 The main control unit 204 reduces the allowable maximum (upper limit) speed V _MAX when the highest priority vehicle passes the intersection through the communication unit 201 so that the driver of the highest priority vehicle does not execute the braking control while passing the intersection. Alternatively, the speed control is performed on the highest priority vehicle so that the acceleration control is suppressed (that is, the vehicle speed V is not increased even if the vehicle speed V is less than the speed V _MAX ) (S407).

The main control unit 307 of the vehicular travel control device 102 mounted on the top-priority vehicle that has received the reduction instruction and / or the acceleration suppression instruction of the intersection passing highest speed V _MAX from the roadside device 101 through the communication unit 301 is a driving force control. By controlling the unit 304 and the braking force control unit 305, the intersection passing speed of the host vehicle is reduced to a speed at which it is considered unnecessary for the driver to execute the braking control.

  On the other hand, when it is determined that the probability that the highest-priority vehicle (the driver) executes the braking control to reduce the vehicle speed at the intersection is equal to or less than the predetermined value (“NO” in S405), then the roadside device 101 The main control unit 204 compares the position of the highest priority vehicle with the map information stored and held in the storage unit 202, and determines the characteristics (shape, slope gradient, etc.) of the road through which the highest priority vehicle passes when entering the intersection. It is grasped, and it is determined whether the curve radius of the road through which this top-priority vehicle enters the intersection is not more than a predetermined value or whether the slope of the slope is not less than a predetermined value (S406).

  Here, FIG. 7 shows an example of the traffic situation when the road through which the highest priority vehicle enters the intersection is a sharp curve. In FIG. 7, vehicles V1 and V2 are vehicles that are about to enter an intersection. Here, it is assumed that vehicle V1 is a priority vehicle and vehicle V2 is a non-priority vehicle.

  As shown in an example in FIG. 7, when the vehicle with the highest priority passes through a sharp curve before entering the intersection or passes through a slope with a steep slope (not shown), the driver of the vehicle with the highest priority has It is considered that there is a high probability of executing the braking control when the set intersection passing speed is felt too fast in light of the road characteristics (shape).

Accordingly, when the vehicle has passed a curved road with a radius of a curve equal to or less than a predetermined value or a slope with a slope gradient equal to or greater than a predetermined value immediately before the top priority vehicle enters the intersection (“YES” in S406), the main control unit of the roadside apparatus 101 204, an allowable maximum (upper limit) speed V _MAX at the time of passing through the intersection of the highest priority vehicle is lowered through the communication unit 201 so that the driver of the highest priority vehicle does not execute the braking control while passing through the intersection or immediately before passing. Alternatively, the speed control is performed on the top priority vehicle so that the acceleration control is suppressed (that is, the vehicle speed V is not increased even if the vehicle speed V is less than the speed V _MAX ) (S407).

The main control unit 307 of the vehicular travel control device 102 mounted on the top-priority vehicle that has received the reduction instruction and / or the acceleration suppression instruction of the intersection passing highest speed V _MAX from the roadside device 101 through the communication unit 301 is a driving force control. By controlling the unit 304 and the braking force control unit 305, the intersection passing speed of the host vehicle is reduced to a speed at which it is considered unnecessary for the driver to execute the braking control.

When it is considered that the probability that the top-priority vehicle executes the braking control is relatively low in terms of statistics and road characteristics (“NO” in S406), the main control unit 204 of the roadside apparatus 101 sets the top-priority vehicle in advance. Even if the vehicle passes through the intersection at the highest crossing speed V _MAX , the driver of the highest priority vehicle determines that the possibility of executing the braking control is relatively low, and the communication unit 201 performs the normal operation on the highest priority vehicle. Speed control is performed (S406). That is, on the speed of the highest priority vehicle which has accelerated to the maximum allowable speed V _MAX less than a long if velocity V _MAX, initially passing the intersection at a speed V _MAX the highest priority vehicle.

  Here, the process of S403-S409 is repeated until the highest priority vehicle passes the said intersection (it returns to S403 by "NO" of S411).

  Then, after the highest priority vehicle passes through the intersection (“YES” in S411), this flow is repeated from the start.

  Thus, according to the present embodiment, when there is an obstacle that prevents or stops the passage of the top-priority vehicle on the road in the traveling direction of the top-priority vehicle at the control target intersection, the priority of the top-priority vehicle is The priority of passing through the intersection is postponed later, or the driver of the highest priority vehicle passes the intersection because the advance of the highest priority vehicle to the road is prohibited and the progress to another road is encouraged. It is possible to reduce the possibility of executing the braking control.

  Further, according to this embodiment, when it is statistically determined from the past operation history for each driver / intersection that the highest priority vehicle is highly likely to execute the braking control at the intersection, the highest priority vehicle. Therefore, it is possible to reduce the possibility that the driver of the highest priority vehicle executes the braking control while passing the intersection.

  Furthermore, according to the present embodiment, when the vehicle has a curve radius that is less than or equal to a predetermined value and / or the slope of the slope is greater than or equal to a predetermined value before the highest priority vehicle enters the control target intersection, Since the intersection passing speed is suppressed in advance, it is possible to reduce the possibility that the driver of the highest priority vehicle executes the braking control while passing the intersection or immediately before passing.

  In the above embodiment, the highest priority vehicle entering the controlled intersection is both 1) four-wheel independent driving force distribution control by driving force control and 2) four-wheel independent driving force distribution control by braking force control. When the four-wheel independent driving force distribution control is executed while passing through the intersection according to the control control as described above, 2) four braking force control is performed so that unnecessary acceleration does not occur. It is preferable that the wheel independent driving force distribution control is executed.

  In the above embodiment, not only the position information but also the speed information is exchanged using communication between the vehicle travel control device (102) and the roadside device (101) mounted on each vehicle. However, the present invention is not limited to such a form, and the speed information may be calculated from the time change of the position on the receiving side of the position information.

In the above embodiment, the maximum allowable speed V _MAX is set for the intersection of the highest priority vehicle. Conversely, if the vehicle speed V of the highest priority vehicle is lower than V _MAX , the driving force control unit (304) is used. Although the speed V _{MAX is} increased to pass through the intersection, the present invention is not limited to such a form, the forced acceleration is always suppressed, and the highest priority vehicle follows the driving operation of the driver. It means that arbitrary traveling is allowed, and not only braking control but also acceleration control may be left to the driver.

  In the above embodiment, the case where two vehicles are about to enter the crossroad intersection is shown as an example in FIGS. 5 to 7, but the present invention is not limited to the crossroad intersection and is applicable to intersections of all shapes. In addition, the present invention can be similarly applied when three or more vehicles are about to enter.

  Further, in the above embodiment, as an example, as shown in FIG. 1, a roadside device 101 is installed at each intersection to be controlled, and each vehicle V (the vehicle travel control device 102) is connected to the roadside device 101. All calculations for performing inter-vehicle communication and determining priority, speed control amount and the like are performed in the roadside device 101, and each vehicle V only executes actual vehicle control based on the control instruction transmitted from the roadside device 101. However, the embodiment of the present invention is not limited to such examples. For example, each vehicle (the vehicle travel control device) directly communicates position information and speed information using inter-vehicle communication, and each vehicle autonomously has its own vehicle and a surrounding vehicle having a possibility of crossing with the own vehicle. It is also possible to calculate and determine the priority order for passing the intersection, and to control the vehicle speed of the host vehicle so as to pass the intersection according to this priority order.

  INDUSTRIAL APPLICABILITY The present invention can be used for an intersection traffic control system that controls and controls a vehicle traffic flow at an intersection where no vehicle signal is installed. The power source type, fuel type, appearance design, weight, size, running performance, etc. of the target vehicle are all unquestioned.

1 is a schematic overall view of an intersection traffic control system according to an embodiment of the present invention. It is a schematic block diagram of the roadside apparatus used in the intersection traffic control system which concerns on one Example of this invention. 1 is a schematic configuration diagram of a vehicle travel control device used in an intersection traffic control system according to an embodiment of the present invention. It is a flowchart which shows the flow of the intersection passage control processing in the intersection traffic control system which concerns on one Example of this invention. It is the schematic which shows an example of the traffic condition in case the parked vehicle which stops the traffic of a top priority vehicle exists on the advancing direction road of a top priority vehicle. It is the schematic which shows an example of the traffic condition in case the parked vehicle which prevents the passage of a top priority vehicle exists on the advancing direction road of a top priority vehicle. It is the schematic which shows an example of the traffic condition in case the road which passes immediately before a top priority vehicle approachs a control object intersection is a sharp curve road.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Intersection traffic control system 101 Roadside device 102 Vehicle travel control device 201 Communication unit 202 Storage unit 203 Obstacle detection unit 204 Main control unit 301 Communication unit 302 Own vehicle position detection unit 303 Vehicle speed detection unit 304 Storage unit 305 Driving force control unit 306 Braking force control unit 307 Alarm unit 308 Main control unit

Claims (9)

An intersection traffic control system for setting a priority for a vehicle entering an intersection and controlling a speed of the vehicle entering the intersection so as to pass through the intersection according to the set priority,
An intersection traffic control system, characterized in that, when an obstacle exists in a predetermined area including the intersection, the vehicle to enter the intersection is restricted from traveling to the road where the obstacle exists. An intersection traffic control system according to claim 1,
An intersection traffic control system characterized in that, when there is an obstacle, an intersection passing priority of a vehicle entering the intersection is about to travel to a road where the obstacle is present. An intersection traffic control system according to claim 1,
An intersection traffic control system, wherein when an obstacle is present, a vehicle entering the intersection is prohibited from traveling to a road on which the obstacle exists. An intersection traffic control system for setting a priority for a vehicle entering an intersection and controlling a speed of the vehicle entering the intersection so as to pass through the intersection according to the set priority,
An intersection traffic control system characterized in that, when a driver of a vehicle entering the intersection has a probability of executing braking control at the intersection at a predetermined value or more, the intersection passing speed of the vehicle is suppressed. An intersection traffic control system according to claim 4,
Observing whether or not a driver of a vehicle entering the intersection has executed braking control for reducing the intersection passing speed at the intersection, and calculating the probability based on the observed braking control execution history. Intersection traffic control system. An intersection traffic control system for setting a priority for a vehicle entering an intersection and controlling a speed of the vehicle entering the intersection so as to pass through the intersection according to the set priority,
An intersection traffic control system characterized by suppressing an intersection passing speed of a vehicle according to the characteristics of a road through which the vehicle entering the intersection enters the intersection. An intersection traffic control system according to claim 6,
The characteristic of the road is a curve radius,
An intersection traffic control system, characterized in that, when a curve radius of a road that passes when a vehicle entering the intersection enters the intersection is less than or equal to a predetermined value, the intersection passing speed of the vehicle is suppressed. An intersection traffic control system according to claim 6,
The characteristic of the road is slope slope,
An intersection traffic control system, characterized in that, when a slope of a road that passes when a vehicle entering the intersection enters the intersection is less than or equal to a predetermined value, the intersection passing speed of the vehicle is suppressed. An intersection traffic control system for setting a priority for a vehicle entering an intersection and controlling a speed of the vehicle entering the intersection so as to pass through the intersection according to the set priority,
The vehicle that is about to enter the intersection is a vehicle that is configured to execute both the four-wheel independent driving force distribution control by the driving force control and the four-wheel independent driving force distribution control by the braking force control, and An intersection traffic control system characterized in that, when four-wheel independent driving force distribution control is to be executed while passing through an intersection, the vehicle is caused to execute four-wheel independent driving force distribution control by braking force control.

Images