Source: https://patents.google.com/patent/JPWO2015052953A1/en
Timestamp: 2020-01-19 16:41:50
Document Index: 132913905

Matched Legal Cases: ['art 32', 'art 12', 'art 22', 'art 22', 'art 21', 'art 22', 'art 22', 'art 34', 'art 23']

JPWO2015052953A1 - Vehicle guidance system, vehicle guidance method, management device, and control method therefor - Google Patents
Vehicle guidance system, vehicle guidance method, management device, and control method therefor Download PDF
JPWO2015052953A1
JPWO2015052953A1 JP2014063338A JP2015541448A JPWO2015052953A1 JP WO2015052953 A1 JPWO2015052953 A1 JP WO2015052953A1 JP 2014063338 A JP2014063338 A JP 2014063338A JP 2015541448 A JP2015541448 A JP 2015541448A JP WO2015052953 A1 JPWO2015052953 A1 JP WO2015052953A1
JP2014063338A
JP6515807B2 (en
2013-10-08 Priority to JP2013210848 priority
2017-03-09 Publication of JPWO2015052953A1 publication Critical patent/JPWO2015052953A1/en
2019-05-22 Publication of JP6515807B2 publication Critical patent/JP6515807B2/en
A vehicle guidance system according to the present invention is a vehicle guidance system for guiding a vehicle traveling on a road constituting a road network. The vehicle guidance system detects a flow rate of a vehicle on each road constituting the road network, and indicates flow rate information indicating a detection result. For each of the roads constituting the road network and the storage means for storing the flow rate information of the road generated by the flow rate detection means in association with the road identification information indicating the corresponding road The road into which the vehicle flows is identified as a candidate road, the flow rate information stored corresponding to the road identification information indicating the identified candidate road is acquired, and the vehicle on the candidate road is acquired based on the acquired flow rate information. A determining unit that determines a flow rate increase / decrease policy; and a guiding unit that guides the vehicle in accordance with the determination of the determining unit.
The present invention relates to a vehicle guidance system for guiding a vehicle traveling on a road, a vehicle guidance method, a management apparatus, and a control method therefor.
As a fundamental solution for eliminating traffic congestion, there are a method of constructing a road with sufficient capacity, and a method of shifting to alternative transportation means such as trains and airplanes. However, these methods require a great deal of time until an effect appears. In urban areas where traffic congestion is serious, it is difficult to secure land for road construction. Therefore, it is difficult to realize a method for constructing a road with sufficient capacity. In addition, the method of shifting to alternative means of transportation does not always provide a sufficient effect from the aspects of climate, culture, and security.
In view of this, various methods have been proposed in which an existing road is effectively used to reduce traffic congestion by utilizing an intelligent transport system (ITS). By using ITS, the effect can be obtained at an early stage although it is limited as compared with the fundamental solution to the above-described traffic jam.
As a method for reducing traffic congestion using ITS, there is a method of notifying a vehicle of traffic congestion information using a VICS (Vehicle Information and Communication System) (registered trademark).
Further, as another method, there is a method of guiding a vehicle to a detour that bypasses a congested road where the traffic jam occurs when a traffic jam occurs. However, with this method, when vehicles heading for a congested road are uniformly guided to a detour, the vehicles may concentrate on the detour and cause traffic congestion even on the detour.
Therefore, in Patent Document 1 (Japanese Patent No. 3822424), a vehicle is guided in a time-sharing manner to a congested road and a detour. By doing so, the vehicle can be distributed on the congested road and the detour.
Usually, the speed of the vehicle decreases in a section where the traffic jam occurs, and the flow rate of the vehicle on the traffic jam path significantly decreases. Therefore, even if the vehicle guidance is started after the occurrence of the traffic jam, it takes a certain time until the traffic jam on the traffic jam road is resolved. Therefore, the technique disclosed in Patent Document 1 has a problem that it is not possible to sufficiently reduce traffic congestion.
Normally, assuming that the total number of vehicles traveling on each road constituting the road network is constant, it is necessary to use up the road capacity of each road as much as possible in order to prevent as much congestion as possible. In other words, it is necessary to perform control from the viewpoint of increasing the sum of the flow rates of the vehicles on each road as much as possible in accordance with the traveling conditions of the vehicles on each road constituting the road network. The technique disclosed in Patent Document 1 does not consider the control from this viewpoint, and there is a problem that the occurrence of the traffic jam cannot be sufficiently suppressed.
An object of the present invention is to provide a vehicle guidance system, a vehicle guidance method, a management device, and a control method thereof that can suppress the occurrence of traffic jams.
The vehicle guidance device 20 performs guidance for a vehicle near the installed intersection 3.
In FIG. 2, an intersection 3-0 is connected to an intersection 3-1 via a road 2-1, is connected to an intersection 3-2 via a road 2-2, and is connected to an intersection 3- via a road 2-3. 3 and via the road 2-4 to the intersection 3-4. A vehicle that has entered the intersection 3-0 from the road 2-1 flows into one of the roads 2-2, 2-3, and 2-4.
Flow detection devices 10-1 to 10-4 are respectively installed on the roads 2-1 to 2-4. Each of the flow detection devices 10-1 to 10-4 is a vehicle on the road 2 where the own device is set. The flow rate information and road identification information indicating the detection result are transmitted to the server 30.
In FIG. 2, for example, when the road 2-1 is selected as the selected road, the server 30 identifies the roads 2-2 to 2-4 into which vehicles flow from the road 2-1, as candidate roads. Moreover, the server 30 determines the increase / decrease policy of the flow volume of the vehicle in each candidate road based on the flow volume information acquired from the flow volume detection apparatus 10-2 to 10-4 installed in the candidate road. Moreover, the server 30 outputs the control information which shows the increase / decrease policy of the flow volume of the vehicle in each candidate road to the vehicle guidance apparatus 20 installed in the intersection 3-0 which the roads 2-1 to 2-4 connect.
A flow rate detection device 10 illustrated in FIG. 3 includes a communication unit 11 and a flow rate detection unit 12.
The communication unit 11 communicates with the server 30 wirelessly or by wire. Specifically, the communication unit 11 communicates with the server 30 via a wireless communication network such as GSM (Global System for Mobile Communication) (registered trademark), 3G (3rd Generation), or LTE (Long Term Evolution). . The communication unit 11 communicates with the server 30 using a wireless LAN (Local Area Network), Bluetooth (registered trademark), Zigbee (registered trademark), or the like. The communication unit 11 communicates with the server 30 via a wired network such as FTTH (Fiber to the Home), xDSL (Digital Subscriber Line), ONU (Optical Network Unit).
The flow rate detection unit 12 periodically detects the flow rate of the vehicle and the vehicle speed on the road 2 where the flow rate detection device 10 is installed, and generates flow rate information indicating the detection result. In addition, the flow rate detection unit 12 causes the communication unit 11 to transmit the generated flow rate information and road identification information to the server 30. The flow rate detection unit 12 is an example of a flow rate detection unit.
The flow rate detection device 10 may include a plurality of flow rate detection units 12 to detect the flow rate and vehicle speed at a plurality of points on the road 2 where the flow rate detection device 10 is installed. Alternatively, the flow rate detection devices 10 may be installed at a plurality of points on one road, and each flow rate detection device 10 may detect the flow rate of the vehicle and the vehicle speed at the point where the own device is installed.
By detecting the flow rate of the vehicle and the speed of the vehicle at a plurality of points on one road 2, it is possible to detect variations in the flow rate of the vehicle and changes over time in the road 2. In general, in a road 2 connecting two intersections 3, a vehicle close to an inflow point (one intersection 3) into which a vehicle flows in is closer to the road 2 than a vehicle close to an outflow point (the other intersection 3) from which the vehicle flows out. It seems to stay for a long time. Therefore, a detection result closer to the actual situation can be obtained by weighting the detection result at the point close to the inflow point than the detection result at the point close to the outflow point.
A vehicle guidance device 20 shown in FIG. 4 includes a communication unit 21 and a vehicle guidance unit 22.
A specific example of the vehicle guidance unit 22 includes display means such as an electric bulletin board installed at the intersection 3. In this case, the vehicle guiding unit 22 displays an image or the like indicating the direction in which the vehicle is guided according to the control information.
The memory | storage part 32 memorize | stores various information temporarily or permanently. Specific examples of the storage unit 32 include flash memories such as HDD (Hard Disk Drive) and SSD (Solid State Drive), DRAM (Dynamic Random Access Memory), optical disks, and magnetic tables. The storage unit 32 is an example of a storage unit.
When the communication unit 31 receives the flow rate information and the road identification information transmitted from the flow rate detection device 10, the flow rate information storage unit 33 stores the flow rate information road and the road identification information in association with each other in the storage unit 32.
The determination unit 34 selects one road from the roads 2 constituting the road network as a selected road, and identifies a road into which a vehicle flows from the selected road as a candidate road. In addition, the determination unit 34 acquires the flow rate information stored in the storage unit 32 corresponding to the road identification information indicating the candidate road, and determines the flow rate increase / decrease policy of the vehicle on the candidate road based on the acquired flow rate information. To do. Further, the determination unit 34 causes the communication unit 32 to transmit control information indicating an increase / decrease policy of the flow rate of the vehicle on the candidate road to the vehicle guidance device 20 installed at the intersection 3 where the selected road and the candidate road are connected. . The determination unit 34 is an example of a determination unit.
Next, operation | movement of the vehicle guidance system 1 of this embodiment is demonstrated.
First, operation | movement of the flow volume detection part 12 is demonstrated with reference to the flowchart shown in FIG.
First, the flow rate detection unit 12 detects the number of vehicles passing through a specific point on the road 2 where the flow rate detection device 10 is installed and the speed of the vehicle within a certain time (step S101).
In the example illustrated in FIG. 2, for example, when the road 2-1 is selected as the selected road, the determination unit 34 specifies the roads 2-2 to 2-4 into which vehicles flow from the road 2-1, as candidate roads. The flow rate information of the roads 2-2 to 2-4 is acquired.
Next, the determination unit 34 determines whether the number of vehicles on the candidate road is larger than the target number of vehicles for each candidate road (step S124). The number of vehicles on the candidate road is the number of vehicles m in the above-described equation (1).
In general, the road capacity is constant regardless of the time zone. Therefore, when the number of vehicles existing on the road 2 increases and exceeds a certain value, the inter-vehicle distance decreases, so the average speed of each vehicle decreases. That is, there is a negative correlation between the number of vehicles on the road 2 and the average speed of the vehicles. Further, the flow rate Q of the vehicle on the road 2 is represented by the following formula (2).
Usually, since the average speed v of the vehicle has an upper limit, when the number of vehicles M is small, the flow rate Q increases linearly as the number of vehicles increases. On the other hand, as described above, when the number of vehicles M exceeds a certain value, the variation in the flow rate Q is reduced because the number of vehicles M and the average speed v of the vehicle have a negative correlation. Therefore, the flow rate Q can be approximated as an upward convex function as shown in FIG.
10A to 10C are diagrams for explaining the determination of the target number of vehicles using the convex planning problem. In the following description, the candidate roads are roads 2-2 to 2-4 shown in FIG. 2 and the target number of vehicles for each road is determined as an example.
Based on the flow rate information of the road 2, the number of vehicles on the road 2 at the detection time of the flow rate can be obtained. Further, a convex function indicating the relationship between the number of vehicles on the road 2 and the flow rate of the vehicle can be obtained based on the flow rate information of the road 2. 10A to 10C respectively show convex functions 50-1 to 50-4 indicating the relationship between the number of vehicles and the flow rate of the vehicles obtained from the flow rate information of the roads 2-2 to 2-4 shown in FIG. .
In order to obtain an optimal solution in the convex programming problem, it is known that the following equation (3) is a necessary and sufficient condition.
In the example illustrated in FIG. 10, the partial differential value obtained by partial differentiation of the convex function 50 in the vicinity of the number of vehicles 51 corresponds to the slope of the straight line 52 in contact with the convex function 50 in the vicinity of the number of vehicles 51. Therefore, the convex planning problem can be solved by increasing / decreasing the number of vehicles 51-2 to 51-4 so that the difference in inclination of the straight lines 52-2 to 52-4 shown in FIGS.
Here, the upward convex convex function has a characteristic that the differential value decreases as the variable increases, and the differential value increases as the variable decreases. Therefore, when the partial differential value of the convex function is large, the number of vehicles is increased, and when the partial differential value is small, the number of vehicles is decreased, whereby the difference between the partial differential values of the convex functions 50-1 to 50-4. Can be reduced. By repeating this operation, the number of vehicles assigned to each road 2 can be made asymptotic to a number that maximizes the sum of the flow rates of vehicles on each road 2.
In general, a drop in the flow rate of the vehicle on the road 2 is an indication that traffic congestion occurs on the road 2. Here, as in this embodiment, the target vehicle number is determined using the partial differential value of the convex function indicating the relationship between the flow rate of the vehicle and the number of vehicles, and the comparison between the target vehicle number and the actual vehicle number is performed. By determining the flow rate increase / decrease policy, the flow rate can be adjusted before the flow rate drops.
The increase / decrease amount of the number of vehicles may be changed according to the difference from the average of the partial differential values. From the characteristic of the convex function, it can be seen that when the difference from the average of the partial differential values is large, the distance to the target number of vehicles is longer than when the difference is small. Therefore, when the difference from the average of each partial differential value is large, the time required for determining the target number of vehicles can be shortened by increasing the increase / decrease amount of the number of vehicles.
Next, operation | movement of the vehicle guidance part 22 is demonstrated with reference to the flowchart shown in FIG.
First, the vehicle guidance part 22 acquires the control information received by the communication part 21 (step S131).
Next, the vehicle guidance part 22 performs guidance with respect to the vehicle according to the increase / decrease policy of the vehicle on each road 2 indicated by the acquired control information (step S132). As described above, a specific example of the vehicle guiding unit 22 includes display means. In this case, the vehicle guiding unit 22 displays an image for guiding the vehicle on the display unit.
In addition, in FIG. 12, when the vehicle guidance part 22 of the vehicle guidance apparatus 20 installed in the intersection 3-0 shown in FIG. 2 guides with respect to the vehicle which approachs the intersection 3-0 from the road 2-1. Will be described as an example. In FIG. 12, the road 2-4 is crowded than the road 2-3, the road 2-3 is crowded than the road 2-2, and the determination unit 34 includes the roads 2-4 and 2-3. Suppose that it is decided to reduce the flow rate of the vehicle at. Further, the determination unit 34 determines that the road 2-4 is more crowded than the road 2-3, so that the flow rate of the vehicle on the road 2-4 is reduced to be larger than the flow rate of the vehicle on the road 2-3. To do.
For example, the vehicle guidance unit 22 displays a road with a darker color as the road has a larger amount of flow reduction. As described above, the determination unit 34 determines that the flow rate of the vehicle on the road 2-4 is more greatly reduced than the road 2-3. In this case, the vehicle guiding unit 22 displays the road 2-4 in the darkest color, and then displays the road 2-3 in a color lighter than the road 2-4 and darker than the road 2-2.
By changing the display of each road according to the degree of congestion, a vehicle entering the intersection 3-0 from the road 2-1 can be guided to the vacant road 2-2.
For example, in the present embodiment, an example in which the vehicle guidance device 20 is installed at each intersection 3 in order to perform guidance for the vehicle has been described, but the present invention is not limited thereto. For example, a car navigation device having a display unit, a smartphone, a tablet terminal, or the like may be mounted on each vehicle, and an image for guidance may be displayed on the display unit included in these devices. By doing so, it is not necessary to install the vehicle guidance device 20, and the installation cost of the infrastructure can be suppressed.
Further, if the destination of each vehicle is known by a navigation function or the like, the candidate roads may be limited to roads that are candidates for the movement route to the destination. By doing so, it is possible to avoid guiding to a road that is far from the destination of the vehicle.
Moreover, you may make it change the inflow permission time which controls the signal installed in the intersection 3 and permits the inflow of the vehicle to each road. In addition, when the road 2 is a toll road and the vehicle guide unit 22 has a function of charging according to the traveling road of the vehicle, a difference is made in the toll according to the congestion degree of each road 2, An incentive may be given to a vehicle that has traveled on the existing road 2 (for example, a fee may be reduced).
Moreover, in this embodiment, although the determination part 34 determines the increase / decrease policy of the flow volume of a vehicle independently for every candidate road, it is not restricted to this. For example, the determination unit 34 uses not only the flow information on the candidate roads but also the flow information on the roads into which the vehicles flow from the candidate roads (hereinafter referred to as the subsequent roads), and determines the increase / decrease policy of the vehicle flow on the candidate roads It may be determined.
Specifically, the determination unit 34 calculates the target number of vehicles to the number of target vehicles on the candidate road and the number of vehicles on the subsequent road 2, and determines the smaller one as the number of target vehicles on the candidate road.
By doing so, it is possible to determine the increase / decrease policy of the flow rate of the vehicle on the candidate road in consideration of the situation of the road subsequent to the candidate road. For this reason, even when there is a road that becomes a bottleneck (a road where traffic congestion is likely to occur) after the candidate road, the flow rate of the vehicle on each road 2 can be adjusted so that traffic congestion does not occur as much as possible.
Moreover, in this embodiment, although the vehicle guidance system 1 demonstrated using the example provided with the flow volume detection apparatus 10, the vehicle guidance apparatus 20, and the server 30, it is not restricted to this. For example, the function of the server 30 may be distributed to the vehicle guidance device 20 without providing the server 30.
FIG. 13 is a diagram illustrating a configuration of a vehicle guidance system 1a in which the functions of the server 30 are distributed to the vehicle guidance device. In FIG. 13, the same components as those in FIG.
The communication unit 11a communicates with the vehicle guidance device 20a. Here, the flow rate detection device 10a and the vehicle guidance device 20a are physically close to each other. Therefore, by using a short-distance wireless network such as a wireless LAN, an ad hoc network, or a DTN (Delay Tolerant Network), communication between the flow rate detection device 10a and the vehicle guidance device 20a can be performed with a lower cost configuration. Become. Note that a network construction method using a wireless LAN, an ad hoc network, a DTN, or the like is well known to those skilled in the art and is not directly related to the present invention, and thus description thereof is omitted.
The memory | storage part 23 memorize | stores various information temporarily or permanently. The storage unit 23 is an example of a storage unit.
Moreover, in this embodiment, although demonstrated using the example which calculates | requires target vehicle number by solving a convex plan problem, it is not restricted to this. For example, if the flow rate of a vehicle on a specific road decreases and signs of traffic congestion are seen, the stability of the system may be regarded as decreased, and the vehicle guidance system may be operated to avoid congestion of the vehicle. .
One of the methods for performing the operation as described above is a method using the Langevin equation. In this method, the potential term of the Langevin equation is multiplied by a variable that evaluates the stability of the system. When the system is stable, the potential term is dominant, and when the system is unstable, the noise term is dominant. Operate the system so that Hereinafter, an equation obtained by multiplying the potential term of the Langevin equation by a variable for evaluating the stability of the system is referred to as a fluctuation equation.
The flow rate detection unit 12 may cause the communication unit 11 to transmit the identification information of the flow rate detection device 10 and the road identification information to the server 30 when the flow rate detection device 10 is activated. In this case, if the server 30 stores the identification information of the flow rate detection device 10 and the road identification information in association with each other, the flow rate detection unit 12 thereafter identifies the flow rate detection device 10 instead of the road identification information. Information may be transmitted.
The vehicle guidance system 1b of this embodiment is different from the vehicle guidance system 1 of the first embodiment in that the flow rate detection device 10 is deleted and the server 30 is changed to a server 30b.
A vehicle 40 illustrated in FIG. 17 includes a communication unit 41 and a position detection unit 42.
The position detection unit 42 periodically detects the position of the vehicle 40, and causes the communication unit 41 to transmit position information indicating the detected position and position detection time information indicating the time at which position detection is performed to the server 30b. The position detector 42 receives, for example, a GPS signal from a GPS (Global Positioning System) satellite, and detects the position of the vehicle 40 using the received GPS signal. The position detection unit 42 is an example of a position detection unit.
Next, operation | movement of the vehicle guidance system 1b of this embodiment is demonstrated.
The position information storage unit 35 performs the following processing with the communication unit 31b receiving information transmitted from the vehicle 40 as a trigger.
First, the position information storage unit 35 acquires vehicle information, flow rate information, and position detection time information received by the communication unit 31b (step S211).
First, the traveling road detection unit 36 acquires position information for each vehicle 40 from the storage unit 32 in time series (step S221).
Next, the operation of the flow rate detection unit 37 will be described with reference to the flowchart shown in FIG.
Next, an example of a flow rate detection method in the present embodiment will be described.
In the present embodiment, the speed of the vehicle 40 is calculated based on the equation (4). However, the present invention is not limited to this, and the vehicle 40 detects the speed and uses the information indicating the detected speed as the vehicle 40. May be transmitted to the server 30 in association with vehicle information, position information, and position detection time information. As a method of detecting the speed in the vehicle 40, a method of calculating based on a time change of the position of the vehicle 40, a method of mounting an acceleration sensor on the vehicle 40, and a method of calculating based on a time change of acceleration detected by the acceleration sensor, There is a method of obtaining via CAN (Controller Access Network). By detecting the speed directly in the vehicle 40, the flow rate information can be acquired based on the more accurate speed information.
Note that a program for realizing all or part of the functions of the vehicle guidance system according to the present invention is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed. The processing of each unit may be performed as necessary. Note that the “computer system” here includes an OS (Operation System) or hardware such as peripheral devices.
The “computer-readable recording medium” refers to a storage device such as a magneto-optical disk, a ROM (Read Only Memory), a portable medium such as a nonvolatile semiconductor memory, and a hard disk built in the computer system. Further, the “computer-readable recording medium” is a program that dynamically holds a program for a short time, like a communication line when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be for realizing a part of the above-described functions, and may be capable of realizing the above-described functions in combination with a program already recorded in the computer system.
This application claims the priority on the basis of the Japanese application 2013-210848 for which it applied on October 8, 2013, and takes in those the indications of all here.
The determining means calculates, for each of the candidate roads, a partial differential value obtained by partially differentiating a convex function indicating the relationship between the flow rate of the vehicle and the number of vehicles obtained from the flow rate information of the candidate roads by the number of vehicles. A vehicle guidance system, wherein the number of vehicles for which the difference between the partial differential values is equal to or less than a predetermined value is determined as the target number of vehicles for each of the candidate roads.
JP2015541448A 2013-10-08 2014-05-20 Vehicle guidance system, vehicle guidance method, management apparatus and control method thereof Active JP6515807B2 (en)
JPWO2015052953A1 true JPWO2015052953A1 (en) 2017-03-09
JP6515807B2 JP6515807B2 (en) 2019-05-22
JP2015541448A Active JP6515807B2 (en) 2013-10-08 2014-05-20 Vehicle guidance system, vehicle guidance method, management apparatus and control method thereof
US10417554B2 (en) * 2014-05-22 2019-09-17 Lee J. Scheffler Methods and systems for neural and cognitive processing
CN104812654A (en) 2015-07-29 Dynamically providing position information of transit object to computing device
JP5430235B2 (en) 2014-02-26 Information processing apparatus and program
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