JP4159976B2 - Traffic signal control device, traffic signal control method, and storage medium - Google Patents

Description

  The present invention relates to a traffic signal control apparatus, a traffic signal control method, and a storage medium for controlling traffic signals provided at a plurality of intersections of a road according to traffic demand, in particular, predicting traffic demand in the near future and performing optimal control. About doing.

  In order to ensure the safety and smoothness of automobile traffic, it is necessary to appropriately control traffic signals provided at road intersections. In this traffic signal control, in order to cope with a sudden change in traffic situation, the traffic signal control device disclosed in Patent Document 1 collects traffic information by a vehicle sensor provided on the road, The vehicle profile data is created by predicting the change in the traffic situation ahead, the signal control parameter that minimizes the cost is selected using the created vehicle profile data, and the signal control is performed based on the selected parameter. When selecting this signal control parameter, the green time that minimizes the cost is calculated for the split that is currently displaying a green signal, and the subsequent splits are calculated, for example, every 5 minutes by the central signal controller. The standard signal control parameters updated by the cycle length and split are applied.

  Further, the traffic signal control method disclosed in Patent Document 2 uses vehicle quantity information and speed information flowing into the own intersection, and vehicle quantity information measured at the adjacent intersection sent from the adjacent intersection to the own intersection. The optimal split and cycle length are determined for the vehicle inflow of the next cycle.

  However, the traffic signal control device disclosed in Patent Document 1 applies the standard signal control parameters given from the central signal control device to the future signal control parameters used to predict the outflow traffic flow delivered to the adjacent intersection. Therefore, it is difficult to predict the outflow traffic flow several cycles ahead with high accuracy.

Further, in the traffic signal control method disclosed in Patent Document 2, since the vehicle quantity information sent from the adjacent intersection to the own intersection used for estimation of the number of vehicles flowing in several cycles is a measured value at the adjacent intersection, When the distance was short, it was not possible to cope with traffic condition fluctuations due to signal control at adjacent intersections.
JP 2001-134893 A JP 2002-245586 A

  The present invention improves such disadvantages and can accurately recognize changes in traffic conditions at the time to be controlled and dynamically change signal control parameters to optimally cope with sudden changes in traffic conditions. It is an object of the present invention to provide a traffic signal control device, a traffic signal control method, and a storage medium.

A traffic signal control device according to the present invention is a traffic signal control device for controlling a traffic signal provided at an intersection of a road, and includes an information transmission unit, a traffic flow measurement unit, an inflow information creation unit, a signal control constant calculation unit, and a signal The control unit and the outflow information creation unit, the information transmission unit exchanges various information via the transmission path with the traffic signal control device and the central management device provided at the adjacent intersection, the traffic flow measurement unit is the intersection The vehicle detection signal from the vehicle detector provided in each of the roads is sequentially input to measure the inflow traffic flow of the vehicle flowing into the intersection and the outflow traffic flow of the outflow vehicle. Using the outflow traffic flow information from the adjacent intersection and the travel time from the adjacent intersection received in the section, an inflow traffic flow table showing the predicted inflow number of the prediction range from a certain time before to a certain time after the current time create, create The inflow traffic flow table is compared with the measured value of the inflow traffic flow from a certain time before the current time measured by the traffic flow measurement unit. Paying attention to the changing point where the traffic volume of the inflow traffic flow rises from small to large, the arrival timing of the inflow traffic flow table is corrected and updated every predetermined time, and the signal control constant calculation unit is the inflow information creation unit Based on the near future traffic demand obtained from the inflow traffic flow table corrected in step 5, signal control parameters such as cycle length and split up to several cycles ahead are calculated as needed, and the signal control unit is determined by the signal control constant calculation unit The traffic signal provided at the intersection is controlled by the cycle length and split, and the outflow information creation unit is created by the outflow traffic flow and inflow information creation unit measured by the traffic flow measurement unit. The outflow traffic flow information is created by predicting the outflow traffic flow at regular intervals using the inflow traffic flow table, the branching rate, and the signal control parameters, and the information transmission unit is created in time series by the outflow information creation unit. The outflow traffic flow information is transmitted to the traffic signal control device at the adjacent intersection.

According to the traffic signal control method of the present invention, a vehicle detection signal from a vehicle detector provided in each direction of an intersection is sequentially input, and an inflow traffic flow of a vehicle flowing into the intersection and an outflow traffic flow of a vehicle flowing out are measured. Using the outflow traffic flow information from the adjacent intersection and the travel time from the adjacent intersection, the inflow traffic flow table showing the predicted inflow number in the prediction range from a certain time before the current time to a certain time after the current time is created. and the large inflow traffic flow table created, by comparing the measured values of the inflow traffic flow between the certain time before the current time, traffic volume of inflow traffic flow measured inflow traffic flow table created from small focusing on change point by correcting the arrival time of the incoming traffic flow table rises, and updated every predetermined time, and calculates the signal control parameters using the inflow traffic flow table correction, near term The cycle length and split are determined based on the traffic demand of the traffic, the traffic signal provided at the intersection is controlled by the determined cycle length and split, the measured outflow traffic flow, inflow traffic flow table, branching rate, and signal control parameters The spill traffic flow information is created by predicting the spill traffic flow at regular time intervals using, and the spill traffic flow information created in time series is transmitted to the adjacent intersection.

  Further, the determined split and cycle start point are finely adjusted so as to minimize the delay time in consideration of the arrival timing of the vehicle assumed in the inflow traffic flow table.

  Further, when the traffic signal is controlled by the determined cycle length and split, the split is extended or shortened using the measured inflow traffic volume and inflow traffic flow table.

  The storage medium of the present invention stores a processing program of the traffic signal control method and is readable by a computer.

  In this invention, the inflow traffic flow table creation process and the signal control parameter determination process based on the traffic demand in the near future, the signal control and the outflow traffic flow information creation process and the transmission process are sequentially repeated, and created in time series. By exchanging the outflow traffic flow information with a traffic signal control device that controls traffic signals at adjacent intersections, it is possible to reliably respond to changes in traffic conditions for signal control, and to meet traffic demand in the near future. Optimal traffic signal control can be performed accordingly.

  FIG. 1 is a block diagram of the traffic signal control system of the present invention. As shown in the figure, in the traffic signal control system, a plurality of traffic signal control devices 1 provided at each intersection are connected via a transmission line 2. The transmission line 2 is also connected to a central management device 3 provided in a control center, sub-center, or the like. The central management device 3 transmits parameters necessary for performing various calculations to each traffic signal control device 1 as necessary, and monitors the signal control execution state of each traffic signal control device 1.

The traffic signal control device 1 controls a traffic signal provided at an intersection of roads, and as shown in the block diagram of FIG. 2, an information transmission unit 4, a central processing unit 5, a traffic flow measurement unit 6, and a storage unit 7, an inflow information creation unit 8, a signal control constant calculation unit 9, an outflow information creation unit 10, and a signal control unit 11. The information transmission unit 4 exchanges various information with the traffic signal control device 1 and the central management device 3 provided at adjacent intersections via the transmission path 2. The central processing unit 5 controls various processes executed by the traffic signal control device 1. As shown in the road layout diagram of FIG. 3, the traffic flow measuring unit 6 sequentially inputs vehicle detection signals from the vehicle detectors 13 a to 13 h provided at each intersection 12 and flows into the intersection 12. The flow rate and the outflow traffic flow rate of the vehicle flowing out from the intersection 12 are measured. The storage unit 7 stores various information received by the information transmission unit 4, inflow traffic flow rate, outflow traffic flow rate, and the like measured by the traffic flow measurement unit 6. The inflow information creation unit 8 determines whether the current transmission time is 0 seconds, for example, 300 seconds before or after 300 seconds, based on the outflow traffic flow information from the adjacent intersection received by the information transmission unit 4 and the travel time from the adjacent intersection. The inflow traffic flow table showing the predicted inflow number in the prediction range up to the point where the traffic volume of the inflow traffic flow measured by the inflow traffic flow table and the traffic flow measurement unit 6 rises from small to large Paying attention, the arrival timing of the inflow traffic flow table is corrected and updated every fixed time, for example, every 10 seconds. The signal control constant calculation unit 9 calculates signal control parameters using the inflow traffic flow table created by the inflow information creation unit 8, and determines the cycle length and split based on the near future traffic demand. The outflow information creation unit 10 uses the outflow traffic flow measured by the traffic flow measurement unit 6, the inflow traffic flow table created by the inflow information creation unit 8, the branch rate, and the signal control parameter to keep the outflow traffic flow constant. The outflow traffic flow information is generated by predicting time, for example, every 10 seconds. The sequentially generated outflow traffic flow information is transmitted from the information transmission unit 4 to the traffic signal control device 1 at the adjacent intersection 12 via the transmission path 2. The signal control unit 11 controls the traffic signals 14 a to 14 d provided at each intersection 12 by the signal control parameter calculated by the signal control constant calculation unit 9.

  A process when the traffic signal control device 1 of this traffic signal control system controls the traffic signal devices 14a to 14d provided at each intersection 12 will be described.

As shown in the flowchart of FIG. 4, the central processing unit 5 of each traffic signal control device 1 first performs an inflow traffic flow table creation process (step S1). In this inflow traffic flow table creation process, as shown in the flowchart of FIG. 5, the information transmission unit 4 of each traffic signal control device 1 receives, for example, every 10 seconds from the traffic signal control device 1 provided at the adjacent intersection 12. The transmitted outflow traffic flow information is received and stored in the storage unit 7 (step S11). As shown in the schematic diagram of FIG. 6, the outflow traffic flow information 21 at the adjacent intersection 12 includes an actually measured occupation rate, an actually measured outflow number, and a predicted outflow number every 10 seconds, for example. Further, the traffic flow measuring unit 6 inputs the sensing signals of the vehicle detectors 13 a to 13 d provided on the inflow side of each route of the intersection 12, measures the inflow traffic of each route, and sequentially stores it in the storage unit 7. Store (step S12). The inflow information creation unit 8 first calculates the travel time T of each inflow path from the link distance and link speed between the own intersection 12 and the adjacent intersection 12 (step S13). This travel time T is the vehicle transit time from the installation position of the vehicle detector 13 that detects the outflow vehicle provided at the adjacent intersection 12 to the stop line of the own intersection 12, and the speed is determined by the speed sensor between the intersections 12. If present, the average speed measured by the speed sensor is used. In addition, when there is no speed sensor, if the occupancy rate and traffic volume can be measured at the outflow point of the adjacent intersection 12, it can be calculated from the occupancy rate, traffic volume and average vehicle length, Use the updated link speed. Thereafter, the inflow information creation unit 8 uses the outflow traffic flow information 21 of the adjacent intersection 12 received by the information transmission unit 4 and the travel time T from the adjacent intersection 12 in each route calculated in the schematic diagram of FIG. As shown, an inflow traffic flow table 22 indicating the predicted inflow number in the prediction range from the current time 0 seconds to 300 seconds before and from the current time 0 seconds to 300 seconds later is created and stored in the storage unit 7 (step S14). ). When the inflow traffic flow table 22 is created, the outflow traffic flow information received from the adjacent intersection 12 is shifted by the travel time T for each inflow route. The data between the current time 0 seconds and the travel time T of the route n adopts the history of the actual number of outflows received from the adjacent intersection 12, and the latest data received from the adjacent intersection 12 until 300 seconds thereafter. Adopt outflow traffic flow information. Next, the inflow information creation unit 8 compares the created inflow traffic flow table 22 with the measured value 23 of the inflow traffic from the current time 0 seconds to 300 seconds before measured by the traffic flow measurement unit 6, The deviation of the arrival timing is corrected by paying attention to the changing point where the traffic volume of the created inflow traffic flow table 22 and the measured value 23 of the inflow traffic flow rises from small to large, that is, the timing when the head of the vehicle group arrives (step S15). . When the created inflow traffic flow table 22 is corrected, for example, as shown in FIG. 8A, the measured value 23 of the inflow traffic flow is actually measured as compared with the traffic change point A assumed in the inflow traffic flow table 22. When the traffic change point B is earlier by t seconds, the created inflow traffic flow table 22 is slid forward by t seconds and the travel time is corrected to (T−t). For example, as shown in FIG. 7B, when a traffic change point assumed in the inflow traffic flow table 22 occurs, a change point occurs in the actually measured traffic volume of the measured value 23 of the inflow traffic flow. If the vehicle group assumed in the inflow traffic flow table 22 has not arrived, the created inflow traffic flow table 22 is slid after a predetermined time, for example, 10 seconds, and the travel time is corrected to (T + 10 seconds). The creation of the inflow traffic flow table 22 and the correction of the arrival timing based on the actually measured values are updated every 10 seconds, for example. When the traffic volume is extremely small or when the saturated traffic flow continues, the change point of the arrival timing is not corrected because the change point of the traffic volume cannot be extracted.

  The central processing unit 5 calculates signal control parameters using the inflow traffic flow table 22 updated every 10 seconds, and calculates signal control constants for determining the cycle length and split based on the traffic demand in the near future. This is performed by the unit 9 (step S2). When creating this signal control parameter, as shown in the flowchart of FIG. 9, the signal control constant calculation unit 9 first calculates the number of inflows after 300 seconds from the current time 0 seconds in the inflow traffic flow table 22 of each route. In total, the expected degree of saturation is calculated (step S21). Here, when paying attention to one inflow path j at the intersection 12, the predicted inflow path saturation degree ρij from the predicted cumulative traffic volume Qj and the saturated traffic flow rate Sj (set value) to flow in at the current number i is ρij = Calculated by (Qi / 300) / Sj, and the maximum value ρi = MAX (ρij) of the predicted inflow channel saturation ρij is set as the present predicted saturation. The sum ρ = Σρi of the displayed predicted saturation ρi is the intersection predicted saturation. The required cycle length Cn is calculated from this intersection predicted saturation ρ in units of 10 seconds as Cn = (1.5L + 5 + T) / (1−ρ) (step S22). Here, L is the loss time (set value), and T is the total value (set value) of the saturation calculation non-target steps. When the required cycle length Cn is calculated, if the intersection predicted saturation ρ is 1 or more, the required cycle length Cn is set to a preset upper limit value. The lower limit value of the necessary cycle length Cn is the sum of the minimum guaranteed seconds for each step. The central processing unit 5 transfers the calculated necessary cycle length Cn to the central management device 3 via the information transmission unit 4 as an automatically generated calculation value. Next, as shown in FIG. 10, the signal control constant calculation unit 9 calculates the accumulated demand value by integrating the values of the inflow traffic flow table 22 of all inflow paths or specific inflow paths toward the future. Then, a point at which the accumulated demand value changes rapidly is determined, and the time between the two points is set as the planned cycle length C (step S23). By reflecting the change point of the accumulated demand value in the cycle length in this way, it is possible to synchronize with the adjacent intersection. Further, when the change point of the accumulated demand value cannot be detected, the necessary cycle length Cn is set as the planned cycle length C. Further, in an operation that places importance on synchronization with adjacent intersections, the cycle length designated by the central management device 3 is set as the planned cycle length C. When an offset value is set, the difference between the current cycle end time and the next synchronization point is set as the necessary cycle length C. However, the planned cycle length C ≧ the required cycle length Cn.

The signal control constant calculation unit 9 determines the i-present basic split Si = ρi / ρ based on the ratio of the calculated intersection saturation ρ and i-present predicted saturation ρi, and determines the number of seconds for each present variable step. The number Ai is calculated by the following equation using the necessary cycle length C and the basic split Si shown (step 24).
Ai = (C−T−L) × Si−Bi
Here, Bi is the i fixed blue fixed step time.
The lower limit of the number of seconds Ai of each of the presently shown variable steps is (minimum guaranteed number of seconds + 1 second), the upper limit is (maximum monitoring time-1 second), and if the lower limit and the upper limit are violated, the lower limit The basic split Si is recalculated with the value or upper limit fixed. The determined basic split Si is finely adjusted in consideration of the arrival timing (step S25). As shown in FIG. 11, the stop time cost of each route can be calculated by the total sum ΣW of the number of staying units in each unit time for each of the present indications ψ1, ψ2, and ψ3. This staying number is the sum of the traffic volumes that have arrived after the previous blue display stop time, and the cost ΔW due to transmission delay is ΔW = (Wmax × 1...) Considering the propagation coefficient (5 m / s) of the transmission wave. 2) / 2 can be calculated. Here, Wmax is the staying number at the start of blue.
As shown in the following formula, the total delay time of each cycle having the respective indications ψ1, ψ2, and ψ3 is the sum of the total number ΣW of the staying number for each indication ψ1, ψ2, and ψ3 and the cost ΔW due to the transmission delay. Become.
Total delay time = (ΣW1 + ΔW1 + ΣW2 + ΔW2 + ΣW3 + ΔW3).
Therefore, for the preset variable split, the value of the variable step Ai is changed within the range of the maximum shortened seconds TS to the maximum extended seconds TE, and the total delay time of the next cycle is calculated for each case, and the total delay time is calculated. Is determined to be a variable step value. When the offset fine adjustment is performed together with the split fine adjustment, the cycle length C is changed within the range of the variable upper and lower limits, and the value of the variable step Ai is changed. The total delay time of the cycle is calculated, and the cycle length and variable step value that minimize the total delay time are determined.

  The central processing unit 5 sends the cycle length and split calculated by the signal control constant calculation unit 9 based on the near future traffic demand to the signal control unit 11 to control each traffic signal device 14a to 14d (step S3). When the signal control unit 11 controls the traffic signals 14a to 14d, the split flow is extended or shortened using the inflow traffic flow data measured by the traffic flow measurement unit 6, that is, the number of inflows after 0 seconds to 10 seconds. I do. When extending or shortening the split, the number of stays and planned number of passes in each route are also taken into consideration. In addition, sensitive control using the vehicle sensors 13a to 13d on the inflow side is also performed. When there is a traffic jam, the signal control constant calculation unit 9 does not calculate the signal parameter, but performs signal control of the traffic signals 14a to 14d in a fixed pattern.

  When the signal control is thus performed to control the vehicle passing through the intersection 12, the central processing unit 5 causes the outflow information generation unit 10 to perform the outflow traffic flow information generation process (step S4). In the process of creating outflow traffic flow information, as shown in the flowchart of FIG. 12, the traffic flow measurement unit 6 outputs detection signals output from the vehicle detectors 13e to 13h provided on the outflow side of each intersection 12 for a certain time, for example, Counting every second, the outflow traffic flow of each route is measured (step S31). The outflow information creation unit 10 records the number of outflows of each route measured by the traffic flow measurement unit 6 every predetermined time, for example, every 10 seconds, and the number of blue seconds displayed for each traffic signal 14a to 14d in 10 second increments. Hold for 300 seconds, compare with the historical data of the inflow traffic flow table, and calculate the branching rate for each display of each traffic signal 14a-14d (step S32). Then, the inflow traffic flow table 22 is compared with the scheduled display, and the predicted outflow number per 10 seconds is calculated in units of 0.1 using the branching rate corresponding to the display, and the outflow traffic flow information shown in FIG. 21 is created (step S33). The reason for calculating the number of outflows in units of 0.1 is to sufficiently reflect the calculation result of the outflow predicted number in the signal control. The information transmission unit 4 transmits the outflow traffic flow information 21 created by the outflow information creation unit 10 to the traffic signal control device 1 provided at the adjacent intersection 12 via the transmission path 2 (step S5).

  This inflow traffic flow table creation processing, signal parameter calculation processing, signal control and outflow traffic flow information creation processing and transmission processing are sequentially repeated, and traffic signals created in time series in the adjacent intersection 12 are provided as traffic signals. By mutually exchanging with the control device 1, it is possible to reliably respond to changes in traffic conditions with signal control, and to perform optimal traffic signal control according to traffic demand in the near future.

  In the above description, the inflow information creation unit 8, the signal control constant calculation unit 9, and the outflow information creation unit 10 are provided in the traffic signal control device 1. However, inflow traffic flow table creation processing and signal control parameter calculation are described. Programs for the processing and creation of outflow traffic flow information are stored in the storage unit 7 in advance, or, as shown in the block diagram of FIG. 13, these processing programs are stored in advance in an external storage medium 15 such as a magnetic disk or an optical disk. The processing program stored in the external storage medium 15 is read by the external storage medium I / F 16 of the traffic signal control device 1, stored in the storage unit 7, and the processing program stored in the storage unit 7 is used. These processes may be executed by the central processing unit 5.

It is a block diagram of the traffic signal control system of this invention. It is a block diagram which shows the structure of a traffic signal control apparatus. It is a block diagram of the intersection of a road. It is a flowchart which shows the control processing of a traffic signal control apparatus. It is a flowchart which shows the creation process of an inflow traffic flow table. It is a schematic diagram which shows the structure of outflow traffic flow information. It is a schematic diagram which shows the structure of an inflow traffic flow table. It is a schematic diagram which shows the correction process of the produced inflow traffic flow table. It is a flowchart which shows the calculation process of a signal control parameter. It is a change characteristic figure of accumulation demand for calculating a plan cycle length. It is a schematic diagram which shows the deviation correction of arrival timing. It is a flowchart which shows the preparation process of outflow traffic flow information. It is a block diagram which shows the structure of another traffic signal control apparatus.

Explanation of symbols

1; traffic signal control device, 2; transmission path, 3; central management device, 4; information transmission unit,
5; Central processing unit, 6; Traffic flow measurement unit, 7; Storage unit, 8; Inflow information creation unit,
9; Signal control constant calculation unit, 10; Outflow information creation unit, 11; Signal control unit,
12; intersection, 13; vehicle detector, 14; traffic signal, 15; external storage medium,
21: Outflow traffic flow information, 22: Inflow traffic flow table.

Claims (7)

A traffic signal control device for controlling a traffic signal provided at an intersection of roads,
An information transmission unit, a traffic flow measurement unit, an inflow information creation unit, a signal control constant calculation unit, a signal control unit, and an outflow information creation unit,
The information transmission unit exchanges various information via a transmission line with a traffic signal control device and a central management device provided at an adjacent intersection,
The traffic flow measurement unit sequentially inputs a vehicle detection signal from a vehicle detector provided in each direction of the intersection and measures an inflow traffic flow of the vehicle flowing into the intersection and an outflow traffic flow of the vehicle flowing out,
The inflow information creation unit uses the outflow traffic flow information received from the adjacent intersection and the travel time from the adjacent intersection received by the information transmission unit to calculate the predicted range from a certain time before the certain time to a certain time later. Create an inflow traffic flow table showing the predicted number of inflows , and compare the inflow traffic flow table created with the measured value of the inflow traffic flow from a certain time before the current time measured by the traffic flow measurement unit. The arrival flow of the inflow traffic flow table is corrected every predetermined time by paying attention to the change point where the traffic volume of the inflow traffic flow measured by the created inflow traffic flow table and the traffic flow measurement unit rises from small to large. Updated to
The signal control constant calculation unit calculates signal control parameters such as cycle length and split up to several cycles ahead based on the near future traffic demand obtained from the inflow traffic flow table corrected by the inflow information creation unit,
The signal control unit controls the traffic signal provided at the intersection by the cycle length and split determined by the signal control constant calculation unit,
The outflow information creation unit uses the outflow traffic flow measured by the traffic flow measurement unit, the inflow traffic flow table created by the inflow information creation unit, the branching rate, and the signal control parameter to keep the outflow traffic flow constant. Create outflow traffic flow information by forecasting every hour,
The information transmission unit transmits the outflow traffic flow information created in time series by the outflow information creation unit to a traffic signal control device at an adjacent intersection. 2. The traffic signal according to claim 1, wherein the signal control constant calculation unit finely adjusts the determined split and cycle start point so as to minimize the delay time in consideration of the arrival timing of the vehicle assumed in the inflow traffic flow table. Control device. When the traffic signal is controlled by the cycle length and split determined by the signal control constant calculation unit, the signal control unit uses the inflow traffic volume and the inflow traffic flow table measured by the traffic flow measurement unit. The traffic signal control device according to claim 1 or 2, wherein the split is extended or shortened. Sequentially input vehicle detection signals from vehicle detectors installed at each intersection, and measure the inflow traffic flow of vehicles flowing into the intersection and the outflow traffic flow of vehicles flowing out. Using the information and travel time from adjacent intersections, create an inflow traffic flow table that shows the predicted inflow traffic volume in the prediction range from a certain time before the current time to a certain time after the current time. Compare the measured value of the inflow traffic flow for a certain time before the current time, pay attention to the change point where the traffic volume of the measured inflow traffic flow rises from small to large Correct the arrival timing of the traffic flow table, update it every predetermined time, calculate the signal control parameters using the corrected inflow traffic flow table, and cycle based on the traffic demand in the near future The traffic signal at the intersection is controlled by the determined cycle length and split, and the outflow traffic flow is constant using the measured outflow traffic flow, inflow traffic flow table, branching rate and signal control parameters. A traffic signal control method characterized by generating outflow traffic flow information by predicting every time and transmitting the outflow traffic flow information created in time series to an adjacent intersection. The traffic signal control method according to claim 4, wherein the determined split and cycle start point are finely adjusted so as to minimize the delay time in consideration of the arrival timing of the vehicle assumed in the inflow traffic flow table. The traffic signal control according to claim 4 or 5, wherein when the traffic signal is controlled by the determined cycle length and split, the split is extended or shortened using the measured inflow traffic volume and inflow traffic flow table. Method. A computer-readable storage medium storing the processing program of the traffic signal control method according to claim 4.

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