Abstract: A method and a system for controlling at least one of a traffic infrastructure device, an actuator of a traffic participant based on enhanced traffic data is provided. The method comprises steps of monitoring, by a trigger processor, an area; generating, by the trigger processor, trigger data in case a trigger event is determined in the monitored area and providing the generated trigger data indicating an area-of-interest to an image data source; obtaining image data on the area-of-interest based on the transmitted trigger data and transmitting the obtained image data to a traffic evaluation processor; evaluating, by the traffic evaluation processor, the obtained image data to generate enhanced traffic data on the area-of-interest; and outputting, by the traffic evaluation processor, the generated enhanced traffic data in a control signal, wherein the control signal is configured to control the traffic infrastructure device and/or the actuator of the traffic participant.

Abstract: Disclosed is a method of communicating directions to an end destination by one or more drones, the method having steps of moving via flying motion by a first drone between a first location and a second location along a travel path therebetween, wherein the second location is the end destination or an intermediate location; and displaying indicia on a first display panel of the drone that is indicative of directions to the second location.

Abstract: An advanced pedestrian warning or alert system is a system for automotive vehicles is described herein in various embodiments. This system detects if a vulnerable road user, for example a pedestrian, is at an unsafe distance from the moving vehicle. If a pedestrian is too close to the vehicle when the vehicle is in motion, then the system will issue auditory and/or visual warnings to notify the pedestrian back to safety.

Abstract: An autonomous vehicle incorporating a multimodal multi-technique signal fusion system is described herein. The signal fusion system is configured to receive at least one sensor signal that is output by at least one sensor system (multimodal), such as at least one image sensor signal from at least one camera. The at least one sensor signal is provided to a plurality of object detector modules of different types (multi-technique), such as an absolute detector module and a relative activation detector module, that generate independent directives based on the at least one sensor signal. The independent directives are fused by a signal fusion module to output a fused directive for controlling the autonomous vehicle.

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.

Abstract: A signal information distribution system is configured to distribute, to vehicles, signal information including a lighting start time and a lighting continuation interval of each of a plurality of signal lights installed at an intersection, each signal light being configured to light in a predetermined color. The system includes: a storage unit configured to store a timing table including scheduled lighting intervals of the plurality of signal lights; a monitor unit configured to observe lighting and extinction of the plurality of signal lights; a generation unit configured to generate the signal information, based on an actual lighting interval, of a predetermined signal light, obtained from an observation result of the predetermined signal light, and on the scheduled lighting interval, of the predetermined signal light, included in the timing table; and a distribution unit configured to distribute, to the vehicles, the signal information generated by the generation unit.

Abstract: Aspects of the present disclosure include a navigation system and computer-implemented methods for proactively re-routing vehicles based on an analysis of input component data obtained from the navigation-enabled devices. The navigation system scores the input component data to obtain a measure of frustration (e.g., a feeling of being upset or annoyed) of the user of the navigation-enabled device. The navigation system may provide a detour suggestion for display on the navigation-enabled device to persuade the user of the device to direct their vehicle to depart from its current location or route in an effort to remove the vehicle from traffic, and thereby reduce the frustration level of the user. The detour suggestion may include an alternative route to the original destination, or an alternative destination.

Abstract: A vehicle departure notification display device includes a road surface rendering unit which uses light to render a departure notification display having a prescribed shape on a road surface in the direction of travel of a vehicle, and a control unit which determines whether the departure notification display is required when the vehicle departs, controls the road surface rendering unit to render the departure notification display when determined to be required, and again controls the road surface rendering unit to stop the rendered departure notification display upon determining that notification of the departure notification display is to stop, wherein the control unit causes the road surface rendering unit to render the departure notification display upon detecting information indicating that a brake with which the vehicle is provided has switched from ON to OFF, serving as a determination that the departure notification display is required.

Abstract: A method for predicting traffic light information by using a LIDAR is provided. The method includes steps of: (a) on condition that each of metadata has been allocated for each of virtual boxes included in a region covered by the LIDAR, obtaining, by a server, at least part of start timing information and stop timing information of a plurality of vehicles for each of the virtual boxes; and (b) predicting, by the server, each of pieces of the traffic light information respectively corresponding to each of the virtual boxes by referring to at least part of the start timing information and the stop timing information of the vehicles for each of the virtual boxes.

Abstract: In implementations of systems for generating indications of traversable paths, a computing device implements a navigation system to receive map data describing a map of a physical environment that includes a destination, locations of display devices and relative orientations of the display devices in the physical environment. The navigation system forms a navigation graph by representing the destination and the locations of the display devices as nodes of the navigation graph and connecting the nodes with edges that indicate traversable path segments in the physical environment. Request data is received describing a request for navigation to the destination and a source of the request. The navigation system generates indications of a traversable path to the destination for display by the display devices based on the navigation graph and the relative orientations of the display devices.

Abstract: A power adapter arrangement configured to provide power to a load is described. The power adapter arrangement may comprise a power adapter having a first interface comprising a first plurality of contact elements, and a second interface comprising a switch configured to control power applied to a load; and a control attachment removably coupled to the power adapter, wherein the control attachment comprises an actuator element configured to make contact with the power adapter in response to a manual actuation of the control attachment; wherein the power adapter further comprises a power control circuit configured to receive the power and provide the power to the load in response to a detection of a manual actuation of the toggle element.

Abstract: A system and a method for monitoring route devices in a transportation network includes one or more processors to receive sensed traffic control device information from first vehicle systems in a transportation network formed from interconnected routes. The sensed traffic control device information indicates states of traffic control devised at intersections between the routes in the transportation network. The one or more processors determine whether the sensed traffic control device information conflicts with stored traffic control device information stored in a database accessible by the one or more processors. The one or more processors send one or more bulletins to one or more second vehicle systems to change movement of the one or more second vehicle systems responsive to determining that the sensed traffic control device information conflicts with the stored traffic control device information.

Abstract: A network tap device is configured to join a secured network to be monitored through a joining process. The joining process includes communicating with the access point to obtain security keys of the monitored network and communicating with the access point to obtain a network address for the network tap device. After joining the secured network, the network tap device collects the network data on the secured network. Collecting the network data includes detecting network traffic on the monitored network, the network traffic containing encrypted data and unencrypted data, decrypting the encrypted data in the network traffic using the security keys to generate decrypted data, and adding the decrypted data and unencrypted data to the network data. The network tap device further transmits the collected network data to a monitoring workstation via a data transmission network.

Abstract: An approach is provided for preventing traffic over-reporting via identifying misleading traffic data. The approach involves, for example, detecting a connection attempt between a wireless communication infrastructure device and a plurality of probe devices. The wireless communication infrastructure device is associated with a known height. The approach also involves processing one or more wireless signals associated with the connection attempt to determine height data of the plurality of probe devices. The approach further involves determining based on the height data that at least two of the plurality of probe devices are carried by a single entity. The approach further involves providing data indicating the at least two of the plurality of probe devices as an output.

Abstract: A method and an electronic device for detecting a vehicle queue length are disclosed. The method includes: when determining that a traffic light turns green, obtaining vehicle information of each vehicle on a lane section to be detected in a first preset time period before a time point when the traffic light turns green; determining at least one vehicle that has a static position and a static time point on the lane section to be detected; determining a first queuing vehicle and a last queuing vehicle on the lane section to be detected based on the at least one vehicle that has the static position and the static time point on the lane section to be detected; and determining a vehicle queue length on the lane section to be detected based on a position of the first queuing vehicle and a position of the last queuing vehicle.

Abstract: A driver-assistance device includes a processor having hardware, in which the processor estimates intention related to a drive of a vehicle provided with the processor from input voice data; generates first intention information based on the estimation; transmits the first intention information to outside; and generates and outputs assistance information, which is for assisting the drive of the vehicle provided with the processor based on the first intention information estimated by the processor and second intention information which is intention related to a drive of another vehicle that receives the first intention information transmitted to the outside, the second intention information being estimated by another processor provided in the another vehicle.

Abstract: Methods and systems for optimizing traffic flow. The system includes a plurality of vehicles each having a location sensor configured to detect location data and a transceiver configured to communicate the location data. The system also includes a remote data server. The remote data server is configured to receive the respective location data from the plurality of vehicles. The remote data server is also configured to determine swarm traffic flow data based on the respective location data from the plurality of vehicles. The remote data server is also configured to determine adjusted traffic light timing data to optimize traffic flow based on the swarm traffic flow data. The system also includes a plurality of traffic lights coupled to the remote data server and configured to receive the adjusted traffic light timing data and illuminate the plurality of traffic lights based on the adjusted traffic light timing data.

Abstract: Embodiments of the present disclosure can provide a road traffic analysis method and an apparatus. The method can comprise obtaining a traffic parameter of a road intersection by analyzing road traffic information of the road intersection, determining a reference adjustment length for each phase of a traffic signal cycle corresponding to each lane of the road intersection based on the road traffic information and the traffic parameter. The traffic signal cycle has one or more phases. The method can also comprise determining a first adjustment length when a difference between the reference adjustment length and the first adjustment length satisfies a condition associated with the lanes of the road intersection and the corresponding traffic parameter, and adjusting the phases of the traffic light cycle at the road intersection based on the first adjustment length for each phase.

Abstract: A system and method of acquiring and maintaining location information associated with traffic apparatus deployed in connection with a traffic flow monitoring or regulation system are disclosed. In some implementations, an apparatus identifier may distinguish a particular traffic apparatus from others that are deployed in proximity, and a functional identifier may define a functionality of the particular traffic apparatus; positioning, orientation, and movement or acceleration data may also be provided for real-time or near real-time system applications. These apparatus data may be used to derive and to maintain a record of location data associated with each traffic apparatus deployed in a particular application.

Abstract: A backlight module (0), a display module (1) and control method thereof, and a storage medium, in the field of display technology. The backlight module (0) includes m backlight components (01), wherein m is larger than or equal to 2 and is an integer, the m backlight components (01) are capable of emitting light alternately, and the light rays emitted by any two of the m backlight components (01) do not overlap. The present disclosure solves the problem that the backlight module (0) has lower working stability. The working stability of the backlight module (0) is favorably improved. The backlight module (0) is used for the display module (1).

Abstract: A computer system includes a processor and a memory connected to the processor, and manages pieces of reward function information for defining rewards for states and actions of the control targets for each of the control targets. The pieces of reward function information includes first reward function information for defining the reward of a first control target and second reward function information for defining the reward of a second control target. When updating the first reward function information, the processor compares the rewards of the first reward function information and the second reward function information with each other, specifies a reward, which is reflected in the first reward function information from rewards set in the second reward function information, updates the first reward function information on the basis of the specified reward, and decides an optimal action of the first control target by using the first reward function information.

Abstract: Dynamically configurable traffic controllers and methods of using the same are disclosed. An example apparatus includes a first sensor to monitor traffic in a first area. The example apparatus further includes a second sensor to monitor traffic in a second area. The example apparatus also includes a projector to project light toward a floor when traffic is detected in both the first and second areas, the light to be visible from the first and second areas.

Abstract: The present disclosure relates to a communication method and system for converging a 5th-Generation (5G) communication system for supporting higher data rates beyond a 4th-Generation (4G) system with a technology for Internet of Things (IoT). The present disclosure may be applied to intelligent services based on the 5G communication technology and the IoT-related technology, such as smart home, smart building, smart-city, smart-car, connected car, health care, digital education, smart retail, security and safety services.

Abstract: The present disclosure provides new transportation design methods and a system that can improve road capacity, throughput, and travel safety as well as facilitate the current and future development of autonomous driving. The new methods and system basically eliminate all potential stopping, slowing down, and traditional crossing intersections in traffic. By mosaicking variously sized and shaped one-way loops in two-dimension and a myriad of ways and levels, the new design and system generally reduce possibilities of road accidents and utilization, reduce city pollution and improve energy efficiency, as well as encourage ride sharing and public transportation. The new design can always be compatible with existing streets and support progressive construction in phases at a controllable cost so it is practical in implementation.

Abstract: The system provides a way to detect potential impaired driving and to easily and automatically report it to enforcement officials. The system can create a video record of the impaired driving and send the video to an enforcement official who can be notified to intercept the impaired driver. In one embodiment, the system can be implemented on a stand-alone system or a smartphone. The system uses video recording technology and a tracking system to identify vehicles making excessive numbers of lane changes, failure to maintain a lane, unusual vehicle speed behaviors, and the like. Based on vehicle behavior, the system can determine if a particular vehicle is exhibiting behavior that indicates impaired driving. The system can record video of the vehicle behavior and send it to the nearest enforcement officer.

Abstract: An apparatus for traffic control is disclosed. A method and a system also perform the functions of the apparatus. The apparatus includes an alert module that broadcasts an alert signal to a vehicle on a roadway. The alert indicates a presence of an alert zone along the roadway. The apparatus includes an alert zone module that broadcasts a location of the alert zone, where the alert signal has a signal strength sufficient for an autonomous vehicle control system of the vehicle to receive the alert signal a predefined distance before entering the alert zone as the vehicle approaches the alert zone. The apparatus includes an instruction module that broadcasts one or more instructions regarding driving within the alert zone.

Abstract: A motor vehicle including a lighting module that generates a set of symbols on the ground in the surroundings of the motor vehicle and a control device that controls the operation of the lighting module. The control device is designed such that it predicts the movement of a road user present in the surroundings of the motor vehicle based on information relating to the road user, and that it automatically adapts the set of symbols depending on the predicted movement of the road user.

Abstract: A device for providing a communication service is provided. The device receives an address for establishing a communication session. Environmental data from an environment of the device is collected. The device determines whether the address corresponds to a communication recipient for which the environmental data is to be sent to supplement the communication session. A request for the communication session is placed based on the address, and the communication session is established upon answer of the request. The environmental data is sent over the wireless network and to the communication recipient after establishing the communication session with the communication recipient and determining that the address corresponds to the communication recipient for which the environmental data is to be sent to supplement the communication service.

Abstract: A power adapter arrangement configured to provide power to a load is described. The power adapter arrangement may comprise a power adapter having a first interface comprising a first plurality of contact elements, and a second interface comprising a switch configured to control power applied to a load; and a control attachment removably coupled to the power adapter, wherein the control attachment comprises an actuator element configured to make contact with the power adapter in response to a manual actuation of the control attachment; wherein the actuator element is adapted to provide a signal to the power adapter in response to the manual actuation of the control attachment.

Abstract: In this disclosure, collaborative multi-agent-based TST is presented with dedicated intersection controllers that include software agents which read local and remote detection systems and then collaboratively optimize signal timing phases by considering the feedback of all controller agents that may be affected by a change. The disclosure also presents an augmented system which considers network input from handheld remote devices to update certain traffic light phase information and adapt to emerging emergency situations.

Abstract: Embodiments of the present disclosure disclose a method for position detection, a device, and a storage medium. The method includes: detecting a first lane line in a current image captured by a camera; performing an optimization on an initial transformation matrix reflecting a mapping relationship between a world coordinate system and a camera coordinate system based on a detection result of the first lane line; and obtaining a first 3D coordinate of a target object in the current image according to a transformation matrix optimized, and determining an ultimate 3D coordinate of the target object according to the first 3D coordinate.

Abstract: A system and a method for monitoring route devices in a transportation network includes one or more processors to receive sensed traffic control device information from first vehicle systems in a transportation network formed from interconnected routes. The sensed traffic control device information indicates states of traffic control devised at intersections between the routes in the transportation network. The one or more processors determine whether the sensed traffic control device information conflicts with stored traffic control device information stored in a database accessible by the one or more processors. The one or more processors send one or more bulletins to one or more second vehicle systems to change movement of the one or more second vehicle systems responsive to determining that the sensed traffic control device information conflicts with the stored traffic control device information.

Abstract: A method for determining a road construction site for a motor vehicle, with which a sensor system and a communications interface are associated, which includes: providing a first measurement signal of the sensor system, representing a sign of a first speed limit for the motor vehicle and determining a location-related actual speed identification according to the first measurement signal. The method also includes: providing mapped data including information relating to a location-related local speed limit and detecting a road construction site according to the actual speed identification and the mapped data.

Abstract: Systems and methods for localizing and tracking mobile objects are provided. A method includes determining an initial location of a node in a multi-hop network based on multi-lateration from an unmanned aerial vehicle. The method also includes applying an adaptive aperture to address a non-uniform velocity of the node based on the turn and a velocity vector. A determination whether localization for the node can be implemented using first hop nodes in the multi-hop network is made. In response to a determination that localization cannot be implemented using the first hop nodes, inertial sensor measurements associated with the node are accessed and the inertial sensor measurements are integrated with the adaptive aperture to improve localization accuracy.

Abstract: A traffic information interaction system is provided. The system includes a plurality of lighting apparatuses and a first electronic device. Each of the lighting apparatuses emits light according to received power, so as to indicate whether a corresponding path is passable with the emitted light. In addition, each of the lighting apparatuses further pushes information. The first electronic device generates a request according to received information, and transmits the request to a target lighting apparatus of the lighting apparatuses. The target lighting apparatus adjusts target information pushed by the target lighting apparatus according to the request.

Abstract: Embodiments of the present disclosure provide a method and apparatus for vehicle interaction for an autonomous vehicle. The method may include: determining, in response to determining that a running route of the autonomous vehicle at a currently arriving intersection overlaps with a running route of an opposing vehicle at the currently arriving intersection, a party having a right of way at the currently arriving intersection from the autonomous vehicle and the opposing vehicle a based on the running route of the autonomous vehicle and the running route of the opposing vehicle; and generating and transmitting a prompt message based on a determining result of the right of way, the prompt message being used for prompting the party having the right of way to go first and a party having no right of way to give way.

Abstract: A method for determining space allocation and signal timing of an isolated signalized intersection consists of at least one remote server and a processing module that is communicably coupled with the at least one remote server. A plurality of traffic-related data, wherein the plurality of traffic-related data reflects activity at the isolated signalized intersection, is received through the processing module. A space determination process is performed on the plurality of traffic-related data through the processing module. Next, a timing determination process is performed on the plurality of traffic-related data through the processing module in order to minimize the average intersection delay at the isolated signalized intersection. Based upon the results from the space determination process and the timing determination process a cycle length is determined for the isolated signalized intersection.

Abstract: Methods and apparatus, including computer program products, implementing and using techniques for identifying a driver of a vehicle. Measurement values representing the movement of a vehicle are received from one or more sensors measuring features relating to the movement of the vehicle. Instantaneous dimensions for measuring driver identification are defined. For each dimension statistical features within a given time frame are calculated and a feature map is built, including the time frame and the statistical features. A set of driving features is extracted from the feature map. The set of extracted driving features is compared with previously extracted sets of driving features to create a set of similarity metrics between two drivers. A classification model is trained based on the similarity metrics and is used with the similarity metrics to determine whether data pertaining to a new trip segment should be associated with a known or unknown driver.

Abstract: A stage light free from damage of sunlight includes a light body and a control assembly, and a light avoiding system. When the light body is in a power-on state, the control assembly controls the light avoiding system not to work; and when the light body is in a power-off state, the control assembly controls the light avoiding system to implement a light avoiding action. According to the present invention, smart light avoiding according to a sunlight status can be achieved by means of a light avoiding system. The light avoiding system has advantages of a high automatic recognition level, a flexible access system, and being cost-effective and easy to implement.

Abstract: An investigation assist system includes a server communicably connected to a first camera, one or more second cameras and a third camera; and a client terminal communicably connected to the server. The first camera captures a wide range of an intersection, the one or more second cameras capture identification information of a license plate and a face of a person in a vehicle entering the intersection, and the third camera captures outdoors. The server acquires and performs video analysis on videos thereby holding a video analysis result. The client terminal receives input of notified information including a date and a location on and at which an incident has occurred, determines to start a first investigation process, or a second investigation process, and tracks a suspect with the first investigation process or an escaping vehicle with the second investigation process.

Abstract: A driving assistance apparatus includes a trajectory information acquiring unit, an intersection registering unit, and a driving assistance unit. The intersection registering unit registers in a storage unit as a specific intersection, an intersection which a host vehicle passes through after another vehicle has passed through. The driving assistance unit makes a level of driving assistance performed in a predetermined area near the specific intersection higher than the level of driving assistance performed in the predetermined area near another intersection.

Abstract: An apparatus comprising a transceiver module and a processor. The transceiver may be configured to send/receive data messages to/from a plurality of vehicles. The processor may be configured to (i) determine a plurality of selected vehicles from the plurality of vehicles based on a selection criteria and (ii) calculate relative coordinates of the plurality of vehicles based on the data messages from the selected vehicles. The selection criteria may comprise determining (i) a target vehicle and (ii) at least two complementary vehicles. A predicted trajectory of the target vehicle may cross paths with a predicted trajectory of the apparatus. The complementary vehicles may be selected based on (i) an arrangement of the plurality of vehicles and (ii) speeds of the plurality of vehicles.

Abstract: Disclosed herein is an implementation of a Virtual Traffic Lights (VTL) application implemented as an app on a mobile computing device in which online mapping services provide information necessary to determine a lead vehicle among one or more vehicles approaching an intersection. The lead vehicle controls status of virtual traffic lights at the intersection. The information retrieved from in the online mapping service may be used to determine whether vehicles approaching intersection are moving closer or farther apart from each other, the direction of travel of the vehicles, the geographic location of the intersection, and the distance between each vehicle and the geographic location of the intersection.

Abstract: A driving assistance device communicates with an information processing device for providing driving assistance. The driving assistance device includes: an electronic control unit configured to: acquire signal information from the information processing device, the signal information indicating a time at which a traffic light on a traveling route displays a stop indication, the traveling route being a route on which a vehicle is traveling; make a prediction whether the vehicle should stop at the traffic light, based on a traveling state of the vehicle and the signal information; and perform the driving assistance and control an operation of the vehicle around the traffic light based on the prediction.

Abstract: The safety tripod includes a tripod, a flight driving machine mounted on the tripod to enable the tripod to fly, a landing base for seating the tripod on the ground when the tripod lands, and a standing guide mounted on the tripod to enable the tripod to stand up.

Abstract: A target pedestrian who is present within a range of a predetermined distance from a roadway is detected. Whether or not the target pedestrian has gazed at a crossing destination and whether or not the target pedestrian has performed a safety confirmation regarding vehicles traveling on the roadway are determined based on a gaze direction of the target pedestrian. As a result, when the target pedestrian has performed one action of either of gazing at the crossing destination and the safety confirmation, and then performed the other action within a predetermined amount of time, the target pedestrian is detected as a pre-crossing pedestrian who has an intention to cross the roadway. Consequently, a pedestrian who is attempting to cross the roadway can be accurately detected at a stage before the pedestrian actually starts crossing.

Abstract: The traffic signal recognition device includes a traffic signal recognition unit configured to perform processing for recognizing the traffic signal based on the result of imaging performed by a camera, an external situation recognition unit configured to recognize a size and position of a surrounding vehicle, and a occluded situation determination unit configured to determine whether or not the area in front of a host vehicle is in the traffic signal occluded situation, in which the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle. The traffic signal recognition unit is configured not to perform the processing for recognizing the traffic signal within a difficulty zone and not to perform the processing for recognizing the traffic signal if it is determined that the area in front of the host vehicle is in the traffic signal occluded situation.

Abstract: An investigation assist device includes a processor and a storage that records information on a road map including a plurality of intersections and captured videos of a plurality of cameras in correlation with a capturing time, camera information, and intersection information. The processor retrieves at least one vehicle satisfying a retrieval condition and extracts a traveling direction of the vehicle when passing through each of the plurality of intersections based on the captured videos of the plurality of cameras in response to a designation of the retrieval condition including information on time when an incident occurs and feature information on a vehicle causing the incident. The processor superimposes a traveling route of the vehicle on the road map based on the traveling direction extracted for each of the intersections and outputs the traveling route to an output unit.

Abstract: Various aspects are related to a traffic management system that may include: a token issuer associated with a first traffic-managing infrastructure, a token collector associated with a vehicle, and a token verifier associated with a second traffic-managing infrastructure, wherein the token issuer is configured to issue one or more tokens, wherein the token collector is configured to collect the one or more tokens when the vehicle is in a vicinity of the first traffic-managing infrastructure and send the one or more collected tokens to the token verifier when the vehicle is in a vicinity of the second traffic-managing infrastructure, wherein the token verifier is configured to trigger a control of the second traffic-managing infrastructure based on the one or more collected tokens.

Abstract: The reception unit receives the traffic light information at least a transition between first and second light colors of a traffic light at an intersection and turn-on times of the first and the second light colors, using a wireless signal received from a server via a transceiver. A position acquisition unit acquires a position of a vehicle. A passing speed range calculation unit calculates a speed range in which the vehicle is allowed to pass through the intersection in accordance with light colors of the traffic light, based on the traffic light information and on the position of the vehicle. The messaging unit outputs a message of driving assistance information including suggestions for deceleration or a passage possibility through the traffic intersection. A vehicle behavior storing unit stores content of the message and a behavior of the vehicle corresponding to the content of the message in a behavior memorizing unit.