DE102017212644A1 - Sensor system and method for determining at least one traffic situation - Google Patents

Abstract

The invention relates to a sensor system (10) and a method for determining at least one traffic situation on at least one roadway area (12) by means of the sensor system (10), which comprises:
a plurality of sensor units (14) arranged along the roadway area (12), which detect at least one measured variable characterizing the traffic situation and provide the measured data characterizing the detected measured variable;
- at least one communication device (16) which receives the measurement data provided by the sensor units (14) and transmits it to a processing device (18) of the sensor system (10); and
- The processing unit (18) which receives the measurement data from the communication device (16), aggregates and evaluates, whereby the traffic situation is determined based on the measurement data.

Description

The invention relates to a sensor system for determining at least one traffic situation on at least one roadway area, and to a method for determining at least one traffic situation on at least one roadway area by means of the sensor system.

In the course of a digitization of road traffic and an imminent introduction of highly automated driving (HAF) or autonomous driving, a robust and largest possible environment detection, especially for road users, desirable. Both for a basic functionality of highly automated or autonomous driving and in particular for safety-critical applications today's, mainly vehicle-based sensors offer neither a sufficient robustness nor a range or dynamics in the detection of the environment, which meet the future required requirements. Furthermore, in particular so-called blind areas can not be covered, in particular completely, in the surroundings detection. In other words, in particular the local environment detection of vehicles is limited to their local area. This problem basically affects the entire road network and thereby lane areas, especially on highways, highways and intersection areas.

According to the current state of the art, driver assistance systems form a first basis in the direction of highly automated or autonomous driving. However, the driver assistance systems with their vehicle-side sensors are limited in terms of a coverage area, data aggregation and interpretation of, in particular far-sighted or global, traffic situations. The prior art are vehicle-based radar sensors, which control a distance control to the direct person in front or a detection of the objects in a blind spot. These form one of the most important parts of current sensor systems. Furthermore, lidar sensors are used for geometry detection in the vicinity of a vehicle. For an object classification and / or a lane departure warning different camera systems are in use, which can also detect only the local traffic situation.

Radar systems and / or camera systems are also available on the part of a traffic infrastructure, which are primarily used for detecting a local traffic situation. The detection or determination of the local traffic situation with the systems just mentioned is limited, for example, to the monitoring of tunnels and / or generally critical points of the traffic infrastructure. Information acquired by the acquisition typically converges in a traffic control center, where subsequently a manual and / or (partially) automated data evaluation takes place. A disadvantage of the described infrastructure-side detection of traffic situations is the lack of a direct return channel to the road users in order to make the road users aware of particular traffic situations, in particular in real time. Furthermore, with the current infrastructure-side detection and / or regulation of traffic situations, there is usually only a one-off, locally limited coverage of the detection, which is restricted primarily to local influence (for example traffic light switching) without consideration of the total traffic load.

Object of the present invention is therefore to provide a way to detect at least one traffic situation on at least one lane area particularly advantageous or to determine.

This object is achieved by a sensor system having the features of patent claim 1 and by a method having the features of patent claim 11. Advantageous embodiments with expedient developments of the invention are specified in the remaining claims.

A first aspect of the invention relates to a sensor system for determining at least one traffic situation on at least one roadway area.

In order to be able to determine the at least one traffic situation in a particularly advantageous manner, the sensor system has a plurality of sensor units which are arranged along the roadway area and are each designed to detect at least one measured variable characterizing the traffic situation and to provide the measured data characterizing the detected measured variable. Furthermore, the sensor system has at least one communication device, which is designed to receive the measurement data provided by the sensor units and to transmit it to a processing device of the sensor system. The processing device is designed to receive, aggregate and evaluate the measurement data from the communication device in order to determine the traffic situation, in particular of the at least one roadway area, on the basis of the measurement data.

In other words, the sensor system according to the invention comprises a plurality of sensor units, which, in particular covering the whole area, along an example as a highway and / or Landway and / or crossing area trained roadway area, mounted or arranged. In this case, the roadway area may comprise, for example, a side strip and / or a driving area and at least one lane. The respective individual sensor unit can also be referred to as a sensor node. The processing device, which can be referred to as a background system, serves in particular for data aggregation of the measurement data provided by the sensor units. The processing device, in particular global, traffic situations or traffic states, derives from these measurement data, by means of which, for example, conclusions about the development of a traffic flow, in particular through the sensor system, can be obtained or obtained.

The at least one communication device of the sensor system, which can be referred to as a communication node, serves primarily to exchange measurement data between the sensor units and the processing device. For this purpose, the communication device can have at least one first communication interface for a communication with the sensor units, which receives, for example, the measurement data provided by the sensor units. In addition, the communication device can have a further communication interface, which is designed for communication between the processing device and the communication device.

Thus, the sensor system is designed to perform an areal real-time recording and real-time communication of the global traffic situation, which is especially true when a particularly large number of sensor units associated with the sensor system.

The sensor units are advantageously aligned or arranged on the at least one roadway area or along the roadway area such that a full-surface surrounding detection of the roadway area, in particular its lanes and possibly existing hard shoulder as well as adjacent edge areas inside and outside the lanes is made possible. A viewing area of the respective sensor unit can be made narrow, for example, in accordance with a local, local condition of a site of installation of the sensor unit and / or depending on a destination application. Furthermore, a respective sensor unit with respect to the roadway area can be aligned at any angle relative to the traffic lane or also be designed so that a full-area coverage with overlap to an adjacent sensor unit is formed. The detection range of the sensor system can also be arbitrarily extended or reduced by varying the number of sensor units.

The processing unit may further be configured to communicate bidirectionally with a traffic guidance system by means of a suitable communication platform.

In an advantageous embodiment of the invention, the sensor system is adapted to transmit the result data which characterize the determined traffic situation, and in particular by the processing unit, directly to at least one vehicle, the vehicle is as a road user in particular on the roadway area or this approaches. The direct transmission is understood in particular to mean that the result data is transmitted directly to the vehicle by the sensor system and not via the intermediary of a computing device that is different from the sensor system and the vehicle.

In other words, the sensor system can provide the result data determined by it and thus the traffic situation directly to a vehicle, which is located in particular on the roadway area. The communication between the sensor system and the at least one vehicle can be easily realized thanks to the increasing use of driver assistance systems which already provide a plurality of sensors. The sensors of the driver assistance system may provide the basis for communication with the sensor system. The implementation of the communication can therefore usually be done by simple modification of the existing sensors or sensors of the vehicle, for example by a software update, which limits the cost of implementing the sensor system according to the invention in the transport infrastructure to the infrastructure-side sensor system. In direct contrast, there exists in the prior art a so-called Car2X standard, which indeed provides the possibility of a return channel, for example, from a traffic control center to a vehicle, but an areal acquisition of global traffic conditions requires an almost complete market penetration of this radio technology on the vehicle side. The sensor system may be designed such that the communication or transmission of the data between the sensor system and the vehicle can take place by means of Car2X and / or, for example, G5.

In a further embodiment of the invention, the sensor system is designed to transmit the result data from the processing device directly to the at least one vehicle.

In a further embodiment of the invention, the sensor system is designed to transmit the result data from at least one of the sensor units directly to the at least one vehicle.

In a further embodiment of the invention, the sensor system is designed to transmit the result data from at least one communication device directly to the at least one vehicle.

By the possibility of communicating with the at least one vehicle via the respective sensor unit and / or the at least one communication device and / or the processing device, there is the advantage of creating a nationwide, in particular depending on the number of sensor units and beyond the number of communication devices , Communication structure, which may be formed, for example, bidirectional.

By means of such a communication structure, the sensor system is designed to transmit to the at least one vehicle, that is to say the at least one road user, the traffic situation characterizing data, in particular result data, or information particularly advantageous. By the abovementioned possibilities, both the respective individual sensor unit and / or the at least one communication device and / or the processing unit respectively transmit the result data and the measured data of the respective sensor unit obtained by the sensor system, which characterize the traffic situation, directly to the at least one vehicle can, information or data on the traffic situation at any point along the roadway area to the at least one vehicle or the road user are transmitted, thereby, for example, a detection range of each vehicle is virtually expandable.

As can be seen from the description, the communication, which in particular contains information about or the data of the sensor system, can take place in different ways between the sensor system and the at least one vehicle. The first possibility is the direct communication of at least one sensor unit and the least one vehicle, in particular as soon as the vehicle is within the field of vision of the sensor unit. In this way, information, in particular measurement data, can be transmitted to the at least one vehicle. By way of example, these measured data can characterize a relative distance of the vehicle from a roadway edge.

In a further embodiment of the invention, the sensor system is designed to receive data directly from the at least one vehicle. This means that the at least one vehicle can, in particular directly, communicate bidirectionally with the at least one communication device in order to obtain, for example, access to the measurement data of the sensor units connected or assigned to the communication device. Furthermore, by means of the communication device, the data aggregated in the processing device, in particular result data, can be transmitted to the vehicle and, for example, information about the largest possible global traffic situation can be made available to the at least one vehicle.

A local aggregation of the data can be done for example via a chaining of the sensor units to a common communication network. Thus, for example, a sensor unit, which is not directly related to the at least one communication device, for example, due to their location, transmit data via a further sensor units to the communication device, that is, the sensor system may be configured so that the sensor units, a so-called meshed mesh or mesh Train network. Furthermore, the sensor system can be configured such that the respective sensor unit communicates directly with the processing device, for example, on the basis of the respective installation location of the respective sensor unit or the installation location of the at least one communication device, in particular in relation to the location of the processing device.

In a further embodiment of the invention, the respective sensor unit has at least one measuring device, which is designed for a simultaneous measurement of distances and / or a respective movement characterizing property and / or a respective size of objects located on the roadway area, in particular vehicles. In other words, the sensor unit is designed to detect simultaneous measurements, for example by means of radar sensors and / or lidar sensors, of, for example, relative distances and angles to a plurality of objects, ie vehicles or road users, whereby, for example, the speed of the objects can be detected. Such an object is characterized by a plurality of measured variables which describe the properties of the object and can be derived at least partially from measurements of the at least one measuring device, such as a time-dependent speed and / or an acceleration. Further, an outer peripheral side size of the object, in particular the vehicle, in particular by means of radar sensors and / or lidar sensors. In addition, by the regular measurement of the distance, it means regularly, for example, in small time intervals, an evaluation or determination of a trajectory of the object possible. In this case, the trajectory can be determined on the basis of the majority of the sensor units over wide areas, or areas of the roadway area detected by the majority of the sensor units. The, in particular simultaneous, measurement has the advantage that it generates or delivers measurement data which can be evaluated, for example, by the processing device or evaluated so that the traffic situation can be well described. In other words, the at least one respective measured variable can be, for example, a relative distance, a relative angle, a radial velocity, which can be measured directly, in particular, directly with the respective sensor unit. From this, the measured variables x / y position of the vehicle, x / y size, x / y velocity, alignment (heading) and thus also the trajectory and track assignment can be extracted by various evaluations. A simultaneous measurement with several sensor units helps to robustly extract these so-called additional variables, to further improve the accuracy of all measured variables and to reduce a latency of the next sensor unit in object recognition.

In this embodiment, the measured variable includes or is the respective distance. Alternatively or additionally, the measured variable may include, for example, a number of vehicles located on or in the roadway area, in particular with respect to an area, and / or distances between such vehicles and / or a speed and / or an acceleration, with which, for example, one or more Vehicles pass or drive over the lane area. Overall, it is conceivable that the measured variable comprises a traffic density which, for example, characterizes a number of vehicles per area located on or in the road area. Alternatively or additionally, the measured variable may include respective sizes of vehicles located on or in the roadway area and / or a direction along which vehicles move in or on the roadway area.

In a further advantageous embodiment of the invention, the respective sensor unit has at least one data processing device for processing data provided by the respective measuring device and characterizing the respective distances. By means of the data processing device, it is already possible in the sensor unit to evaluate the measurement data of the respective at least one measuring device and thus to locally characterize at least the traffic situation for the local field of vision of the sensor unit. This results in the advantage that the respective sensor unit can communicate this data directly to a vehicle without detour via the communication device and / or the processing device, which ensures, for example, at least a partial operation of the sensor system in the event of failure of the at least one communication device and / or the processing device ,

In an advantageous embodiment of the invention, the processing device has at least one interface and is configured to provide data for a data visualization characterizing the determined traffic situation and / or data evaluation to an electronic data processing system different from the sensor system via the interface. Through the interface, the processing device can provide information, in particular data which, for example, are the measurement data transmitted by the respective sensor systems and / or the described traffic situation, to provide at least one data processing system. The data may be provided by the data processing system, which may be embodied, for example, as an app and / or web interface and / or software tool, for a service provider and / or an end user. This has the advantage that access to information about the traffic situation determined on the at least one roadway area is possible, in particular simpler. The interface can be designed so that a communication takes place in both directions, on the one hand to report the measurement data, for example, via the electronic data processing system, for example, to a traffic control technology, on the other hand to report aggregated information, such as a traffic jam situation, back to the vehicles or objects or road users , The data processing within the sensor system can be carried out on the processing device, that is, on the background system and / or distributed, that is, for example, on the respective data processing device in the respective sensor unit. Because the processing device has or can dispose of aggregated measurement data, in particular global, additional global traffic information can be obtained and corresponding information can be generated and sent back to the vehicles or road users.

In a further embodiment of the invention is a bidirectional data exchange between the communication device and the respective Sensor unit provided. As a result, for example, a particularly advantageous transmission of the measured data between individual sensor units via the communication device, so that they are provided, for example via a sensor unit, which is in the field of vision or in the communication area of the at least one vehicle, information which is not located in the field of vision of the vehicle sensor unit has aggregated.

A further embodiment of the invention is characterized in that a wireless data exchange between the respective sensor unit and the communication device and / or between the communication device and the processing device and / or the respective sensor unit and the processing device is provided. This means that a data exchange instead of by means of a wired embodiment of the sensor system without a wired connection between the respective sensor units and the communication device and / or between the communication device and the processing means can take place, whereby a particularly simple coverage of a traffic area by means of the sensor system is possible on, in particular expensive, cable connections can be dispensed with and thus a particularly simple and cost-reduced operation of the sensor system is possible.

In a further embodiment of the invention, the respective sensor unit is integrated into an infrastructure of the roadway area, such as guide posts, crash barriers, bridges, etc. Thus, the respective sensor unit can be designed such that it can be integrated, for example, directly into a guide post of the roadway area, in particular in such a way that the sensor unit is as little as possible visible.

A second aspect of the invention relates to a method for determining at least one traffic situation on at least one roadway area by means of a sensor system, wherein the sensor system has a plurality of sensor units arranged along the roadway area, which detect at least one measured variable characterizing the traffic situation and provide the measured data characterizing the detected measured variable. Furthermore, the sensor system comprises at least one communication device, which receives the measurement data provided by the sensor units and transmits it to a processing device of the sensor system. The processing device receives the measurement data from the communication device, aggregates and evaluates the received measurement data, whereby the traffic situation is determined on the basis of the measurement data.

Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention, and vice versa.

By means of the sensor system according to the invention with its sensor units distributed over the roadway area, in particular covering the whole area, and the at least one communication device and the processing device, which is connected to a traffic control center, for example, via the interface mentioned above, the data aggregation can be carried out at least by the processing device. The traffic situation derived from the aggregated data can be used in such a way that the sensor system according to the invention can be used to optimize the traffic flow. With the possibility of communication with at least one vehicle or road user can be directly influenced on the flow of traffic.

In order to be able to operate the sensor system in a particularly advantageous manner, the respective sensor units can be manufactured as inexpensively as possible so that the largest possible roadway area is or can be covered by the sensor units and the largest possible area of traffic can be detected.

The sensor units are used in particular the Umfeldfassung and can be distributed across the board in the transport infrastructure, this results in the advantage that sensors for environment detection are not exclusively locally in the vehicle, therefore, the environment can be comprehensively detected and obtained information about the global traffic situation. In this case, the form factor of the sensor units can be selected such that, for example, an invisible integration into existing traffic infrastructure can take place, for example in protective barriers, guide posts and / or lamp posts along the roadway area. The sensor system can be operated particularly advantageously if a large areal coverage of the roadway area takes place by a large number of sensor units, it is advantageous if the respective at least one measuring device of the respective sensor unit has and can utilize particularly cost-effective sensors. As a result, in contrast to a few but above-average expensive and possibly more precise sensors, a much larger detection range can be realized, as a result of which a particularly good cost-benefit ratio, in particular with regard to costs per detection area or detection area, can be achieved. In addition, allows the use of distributed sensor units, in particular by the given communication possibility between individual sensor units directly and / or via the at least one communication device and thereby the communication with the processing device a particularly low latency in the determination of the traffic situation and thus the possibility of coming as close as possible to a real-time recording of the traffic situation communication. Due to the extensive real-time detection and meshing with known latencies, the latency arising in the communication can be compensated for by prediction of trajectories of the objects, in particular vehicles on the roadway area.

The created by the sensor system, in particular novel functionality of detection or determination of at least one traffic situation can provide the basis for a variety of applications for traffic monitoring, especially with the aim of increased traffic safety and the detection of a global traffic situation or global traffic load conditions, which for example a Increasing the efficiency of traffic or a reduction in environmental impact can be done by a targeted control of, for example, light signals. Furthermore, the information required for autonomous or highly automated driving can be provided, with which the sensor system can make an important contribution to the future of mobility. Embodiments of the invention are explained in more detail below with reference to schematic drawings.

• 1 eine schematische Darstellung einer ersten Ausführungsform eines erfindungsgemäßen Sensorsystems, welches zwei an einem Fahrbahnbereich angeordnete Sensoreinheiten sowie ein Kommunikationseinrichtung und eine Verarbeitungseinrichtung umfasst, wobei die Sensoreinheiten und die Kommunikationseinrichtung ein Subsystem des Sensorsystem ausbilden und sich eine Fahrzeug auf einer Fahrspur des Fahrbahnbereichs befindet;
• 2 einen schematischen Aufbau der jeweiligen Sensoreinheit gemäß 1;
• 3 einen schematischen Aufbau der Kommunikationseinrichtung gemäß 1;
• 4 einen schematischen Aufbau der Verarbeitungseinrichtung gemäß 1;
• 5 eine schematische Darstellung eines jeweiligen Sichtbereichs zweier Sensoreinheiten in einer ersten beispielhaften Anordnung;
• 6 eine schematische Darstellung eines jeweiligen Sichtbereichs zweier Sensoreinheiten in einer zweiten beispielhaften Anordnung;
• 7 eine schematisches Darstellung eines jeweiligen Sichtbereichs mehrerer Sensoreinheiten und eines Sichtbereichs eines Fahrzeugsensors des Fahrzeugs in einer dritten beispielhaften Anordnung;
• 8 eine schematische Darstellung einer direkten Kommunikation zwischen der Sensoreinheit und dem Fahrzeug;
• 9 eine schematische Darstellung einer direkten Kommunikation zwischen der Kommunikationseinrichtung und dem Fahrzeug;
• 10 eine schematische Darstellung einer Kommunikation zwischen mehrerer Sensoreinheiten;
• 11 eine schematische Darstellung einer direkten Kommunikation zwischen der Sensoreinheit und der Verarbeitungseinrichtung; und
• 12 eine schematische Darstellung einer Kommunikation zwischen der Sensoreinheiten und der Verarbeitungseinheit mittels der Kommunikationseinrichtung.

Showing:

• 1 a schematic representation of a first embodiment of a sensor system according to the invention, which comprises two arranged on a roadway area sensor units and a communication device and a processing device, wherein the sensor units and the communication device form a subsystem of the sensor system and a vehicle is on a lane of the lane area;
• 2 a schematic structure of the respective sensor unit according to 1 ;
• 3 a schematic structure of the communication device according to 1 ;
• 4 a schematic structure of the processing device according to 1 ;
• 5 a schematic representation of a respective field of view of two sensor units in a first exemplary arrangement;
• 6 a schematic representation of a respective field of view of two sensor units in a second exemplary arrangement;
• 7 a schematic representation of a respective field of view of a plurality of sensor units and a field of view of a vehicle sensor of the vehicle in a third exemplary arrangement;
• 8th a schematic representation of a direct communication between the sensor unit and the vehicle;
• 9 a schematic representation of a direct communication between the communication device and the vehicle;
• 10 a schematic representation of a communication between a plurality of sensor units;
• 11 a schematic representation of a direct communication between the sensor unit and the processing device; and
• 12 a schematic representation of a communication between the sensor units and the processing unit by means of the communication device.

In the figures, functionally identical elements are each provided with the same reference numerals.

1 shows a schematic representation of a first embodiment of a sensor system 10 which is at least two on a carriageway area 12 arranged sensor units 14 and a communication device 16 and a processing device 18 includes, wherein the sensor units 14 and the communication device 16 a subsystem 20 of the sensor system 10 train and get a vehicle 22 on a lane 24 of the carriageway area 12 located.

By means of the sensor system shown 10 can at least be a traffic situation on the roadway area 12 be particularly advantageous detected or determined, these are the sensor units 14 which are along the carriageway area 12 are each arranged to detect at least one of the traffic situation characterizing measurement and to provide the measured variable characterizing measurement data. The communication device 16 is designed to be that of the sensor units 14 to receive provided measurement data and to the processing device 18 of the sensor system 10 to convey. The processing device 18 is adapted to the measurement data from the communication device 16 to receive, aggregate and evaluate in order to determine the traffic situation based on the measurement data. The processing device 18 can be referred to as a so-called background system or English as a back-end. The processing device 18 can have any number of subsystems 20 , which in each case at least one communication device 16 and at least one sensor unit each 14 or only at least one sensor unit in each case 14 to be assigned, whereby the traffic situation for an enlarged lane area than the shown lane area 12 can be determined or can be, or can by the processing device 18 different carriageway areas 12 , each containing a subsystem 20 is arranged, monitored, that is, the respective traffic situation is determined. Furthermore, the respective sensor unit 14 the communication device 16 and / or it is at least one communication device 16 provided, which is not part of the sensor unit 14 is and with the sensor units 14 communicated.

So that the sensor units 14 and the communication device 16 and the processing device 18 Communicate with each other in an advantageous manner, that is, data, in particular the measured data obtained, can exchange, each of the just mentioned is at least one transmission element 26 assigned. Thus a data exchange between the respective sensor units 14 and the communication device 16 and / or between the communication device 16 and the processing device 18 and / or between the respective sensor unit 14 and the processing device 18 , in particular by means of the respective transmission element 26 Particularly easy to implement, the data exchange can be wireless, for example via a mobile network. The communication by means of the respective transmission elements 26 or the data exchange is bidirectional, that is in each case in both directions by a transmission element 26 to another transmission element 26 possible. In one embodiment, the transmission elements can be interconnected, that is to say connected by means of cables, with which a wired communication can be realized. A combination of wireless and wired communication can be realized in a further embodiment of the sensor system, so that, for example, geographic conditions and / or existing infrastructure could be taken into account, for example.

So that the respective sensor unit 14 the measured variable, in particular advantageous, record and thus can provide measurement data, has the respective sensor unit 14 at least one measuring device 28 on. The measuring device 28 For example, it is designed to provide simultaneous measurements of distances from itself on the roadway area 12 objects, such as the vehicle 22 , in particular relative to the sensor unit 14 allowed.

By the simultaneous measurement of distances and / or a property characterizing a respective movement and / or a respective size of a plurality of objects, it is possible for each object, for example the vehicle 22 to determine characterizing properties, so-called object properties. Alone by a continuous measurement of the distance between object (vehicle 22 ) and sensor unit 14 , for example, the location of the vehicle 22 , whose speed and / or acceleration are measured, whereby, for example, a trajectory of the vehicle 22 can be determined. In addition, by skillful fusion of the data, in particular measurement data, multiple sensor units 14 For example, additional information about the global traffic condition and / or an increase in accuracy or resolution can be achieved by, for example, forming a so-called synthetic aperture.

Another property of the vehicle 22 which the determinable traffic situation of the roadway area 12 is characterized, for example, a, in particular outer peripheral side, size of the vehicle 22 , Depending on the design of the measuring device 28 , that is, according to the type of sensor or measuring technique used, is a determination of the size of the vehicle 22 easy to realize. For example, for the, in particular simultaneous, measurement of distances on the roadway area 12 located objects next to the vehicle 22 For example, another road user and / or people and / or animals may be advantageous to use a radar sensor and / or Lidarsensors. By using a radar sensor and / or Lidarsensors the outer peripheral side size can be co-determined quasi in the determination or measurement of distances. By the collectable information about the properties or object properties of the at least one object, is a determination of the traffic situation, in particular by the processing device 18 of the sensor system 10 particularly advantageous possible.

The vehicle 22 can be designed so that it has a driver assistance system, which allows at least a partially autonomous driving, this includes the driver assistance system, for example, a vehicle lidar 30 and a vehicle radar 32 ,

With the shown sensor system 10 is an areal real-time capture and Real-time communication of, in particular global, traffic situations possible. So that the traffic situation can be positively influenced, is a communication with the at least one vehicle 22 through the sensor system 10 intended. This can be achieved by real-time data acquisition of the global traffic situation by the sensor system 10 be used. This is the sensor system 10 designed so that result data, which characterize the determined traffic situation, directly to the vehicle 22 can be transmitted. The transmission can take place in particular when the vehicle 22 on the roadway area 12 drives or approaches this. To the transmission of the result data, or further for the vehicle 22 relevant information, directly and in as many areas or sections of the carriageway as possible 12 To be able to realize is the sensor system 10 designed such that the result data from the processing device 18 and / or the communication device 16 and / or the respective sensor units 14 directly to the vehicle 22 can be transmitted or transmitted.

2 shows a schematic structure of the respective sensor unit 14 according to 1 , The sensor unit 14 includes the transmission element 26 as well as the measuring device 28 , which is designed for example as a sensor and a radar system 34 has and / or associated with it. The measuring device 28 is in the embodiment shown a data processing device 36 the sensor unit 14 assigned, wherein the data processing device 36 processing of the measuring device 28 provided and, for example, the respective distance characterizing data processed or can process.

The transmission element 26 is a communication element 38 associated with which a data transfer, in particular the measurement data from the data processing device 36 to the transmission element 26 and thus to another sensor units 14 and / or the at least one communication device 16 and / or the processing device 18 realized. The radar system 34 the measuring device 28 has a viewing area 40 which passes through a field of view opening angle 42 is determined.

3 shows a schematic structure of the communication device 16 according to 1 , The communication device 16 includes the transmission element 26 , which with the associated communication element 38 a communication interface for acquiring the data transmitted by the at least one sensor unit 14 at least one of the sensor units 14 be provided. Furthermore, the transmission element 26 for communication with the processing device 18 be used. The data processing device 26 the communication device allows processing by the sensor units 14 provided data.

Furthermore, the communication device 16 a data processing device 36 on which a processing of the data which, for example, of at least one of the respective sensor units 14 provided and by the transmission element 26 the communication device 16 received and their communication element 38 can be conducted.

The communication device 16 is collectively designed to function as a communication interface for acquiring data from multiple sensor units 14 and for the communication, in particular transfer of the data, with the processing device 18 is usable.

4 shows a schematic structure of the processing device 18 according to 1 , The processing device 18 includes the transmission element 26 , which is another communication element 38 is assigned, thus the processing device 18 configured to receive or transmit measurement data and, for example, received measurement data to the processing device 18 associated data processing device 36 forward.

The data processing device 26 the processing device 18 is designed to provide measurement data of each to the sensor system 10 belonging sensor unit 14 receive and aggregate and / or can also save, for example. In this case, the reception of the measurement data indirectly via the communication device 16 and / or directly from the respective sensor unit 14 respectively. The data processing device 36 Furthermore, it is configured to determine the traffic situation from the data collected, in particular, in particular, on the basis of the measured data on the basis of the sensor units 14 covered carriageway area 12 to investigate. In other words, the data processing device 36 the processing device 18 for global data processing of the data of all aggregated sensor units 14 educated.

Via an interface 44 can the processing device 18 Data for a data visualization characterizing the determined traffic situation and / or data evaluation to one of the sensor system 10 provide different electronic data processing system.

Because both the sensor unit 14 and the communication device 16 and the processing device 18 each with its own data processing device 36 may have different capacity with respect to their capacity in data processing, an at least partial redundancy of information regarding the determined traffic situation is present.

Due to the redundancy, for example, a high reliability of the sensor system 10 ensures what further the communication capabilities of the sensor system 10 contribute. In addition, high availability of the sensor system 10 given, for example, in case of failure of a sensor unit 14 the sensor system 10 despite the traffic situation characterizing data can provide.

In particular, how 10 to 12 show a communication of the individual sensor units 14 with each other and / or each with the communication device 16 , as well as the processing device 18 that is between subsystem 20 and processing equipment 18 , is possible and these respective components just mentioned each with a vehicle 22 can communicate, a risk of loss of information can be kept small or minimized. In the case of loss of information, the redundancy provides for a fallback, allowing information to be generated despite the loss.

The subsystem 20 can form a so-called mesh network and can also communicate to the outside, for example with the processing device 18 , In this case, the mesh network can be designed so that as many sensor units 14 of the subsystem 20 directly with the largest possible number of each other sensor units 14 the same subsystem 20 communicate with each other. Thus, in case of failure, for example, a sensor unit 14 or in the event of a failure of at least one communication device 16 anyway information about the traffic situation to the vehicle 22 be directed, in case of failure of the processing device 18 no global, but only local traffic situations, which, for example, by the respective field of view 40 the respective sensor units 14 are possible. Even this limited local information can, like 7 shows, however, the field of vision of the vehicle 22 expand.

The 5 and the 6 each show a schematic representation of the respective viewing areas 40 two sensor units 14 in a first and second exemplary arrangement. The two have in 5 shown sensor units 14 an area of equal size viewing area 40 because the respective field of view opening angle 42 the respective measuring device 28 are the same. The respective sensor units 14 is like that on a roadside 46 of the carriageway area 12 arranged that the respective bisector of the respective Sichtbereichsöffnungswinkel 42 perpendicular to the longitudinal direction of the lane 24 is, or is a viewing direction of the respective field of view of the sensor unit 14 perpendicular to the longitudinal direction of the roadway area 12 , A distance 48 between the two sensor units 14 is chosen so that the viewing areas do not overlap. The distance results, for example, from a required coverage during detection, that is, viewing areas will often not overlap in practice, such as 6 shows however possible.

In contrast, in 6 only the lower of the two sensor units 14 so on the roadside 46 arranged as each one of the two sensor units 14 in 5 , The upper sensor unit 14 is arranged so that the bisector of the field of view opening angle 42 not perpendicular to the longitudinal direction of the lane 24 stands, furthermore, the Sichtbereichsöffnungswinkel 42 in this sensor unit 14 greater. As a result, there is an overlap 50 the two viewing areas 40 the two sensor units 14 comes. The exemplary embodiments are intended to show that the respective sensor unit 14 not perpendicular to the traffic lane 24 may be arranged, for example, a respective sensor unit 14 to the lane 24 be rotated, in particular depending on the data to be measured and / or local conditions.

The sensor units 14 are aligned so that on the track, which is on the lane 24 between the two in the distance 48 arranged sensor units 14 comes, a full-scale environment capturing the lane 24 is possible. The overlap 50 can increase the accuracy or the resolution of the measured data of this section of the roadway area 12 cause. Furthermore, the overlap 50 enable a complete detection of objects, that is, it can be a double detection avoided, which can occur, for example, when a vehicle is centered between two sensor units 14 is located so that one of the sensor units 14 a rear of the vehicle and the other of the sensor units 14 captured a front of the vehicle.

Depending on the arrangement of the field of view 40 Blind areas can be eliminated and a viewing area of the vehicle 22 virtually unlimited virtual expansion. The eliminate blind areas may include, in addition to the lanes, a footprint and / or adjacent edge areas. Of the viewing area 40 the respective sensor units 14 can be aligned according to local conditions, in particular at any angle relative to the lane, and / or arranged so that a full-coverage coverage with overlap 50 to adjacent sensor units 14 arises. This can depend on the desired accuracy or an assessment of a danger point of the roadway area 12 this is a cost issue.

7 shows a schematic representation of the respective field of view 40 several sensor units 14 and a field of view of a vehicle sensor or a vehicle vision area 52 of the vehicle 22 in a third exemplary arrangement. The arrangement of the individual sensor units 14 is the same in 5 , too, are the respective field of vision 40 the respective sensor units 14 equal. Through the subarea 54 of the carriageway area 12 is indicated that the arrangement of the sensor units 14 over the two lower, analogous to 5 , arranged sensor units 14 extends and thus a large roadway area 12 through the sensor system 10 is detected. By remotely collected measurement data, for example from the subarea 54 to the vehicle 22 transmitted, the viewing area is practically expanded virtually. For example, the vehicle 22 or whose users are informed of a traffic jam situation, if, for example, a sensor unit removed by a 5 km distance 14 detected jam end, in particular in real time, to the vehicle approaching the jam end 22 can be reported. This allows the vehicle 22 Initiate, for example, measures of a controlled slowdown at an early stage. The sensor system 10 thus supports the existing vehicle sensor system with regard to robustness and provides further redundancy for safety-critical applications.

8th shows a schematic representation of a direct communication between the respective sensor unit 14 and the vehicle 22 , where the communication between sensor system 10 and vehicle 22 can be done in different ways. A first possibility is, for example, the direct communication of the sensor unit 14 and vehicle 22 especially once the vehicle 22 in the respective field of vision 40 the respective sensor unit 14 located. In this way, for example, information about a relative distance of the vehicle 22 to the roadside 46 be transmitted.

9 shows a schematic representation of a direct communication between the communication device 16 and the vehicle 22 , The vehicle 22 she can communicate with the communication device 16 To access, for example, access to the in the communication device 16 aggregated sensor data and / or by the processing device 18 in the communication device 16 provided data, in particular the global traffic situations.

10 shows a schematic representation of a communication between a plurality of sensor units 14 ,

11 shows a schematic representation of a direct communication between the respective sensor unit 14 and the processing device 18 ,

12 shows a schematic representation of a communication between the respective sensor unit 14 and the processing device 18 by means of the communication device 16 , The local aggregation of the data by the processing device 18 done as in 10 . 11 and 12 to see, for example via a chain of sensor units 14 ( 10 ). Due to the chaining, the sensor units are 14 to a common communication network by means of wired and / or wireless connection between the respective transmission elements 26 connected. The data are thereby, in particular by means of so-called hopping, to the communication device 16 forwarded, which in turn with the processing device 18 connected, how 12 shows. 11 shows the possibility that a direct communication between the respective sensor unit 14 and the processing device 18 takes place, which can be realized for example via mobile or other wireless technology. Alternatively, more than two sensor units 14 each to a subsystem 20 be summarized to connect to the processing device 18 via only one sensor unit 14 , which thus serves as a so-called gateway, and / or via a dedicated communication device 16 manufacture.

The illustrated embodiments of the sensor system 10 allow new functionalities, such as: a variety of applications for traffic monitoring, especially with the aim of increased road safety, for example, obstacle detection of lost cargo, detection of stagnant vehicles, detection of global traffic conditions and / or traffic jams, traffic statistics, efficiency gains or reduction of environmental pollution through targeted control of for example, light signals, route recommendations and provision of information essential for autonomous driving.

Claims (13)

Sensor system (10) for determining at least one traffic situation on at least one roadway area (12), with: a plurality of sensor units (14) which are arranged along the roadway area (12) and are each designed to detect at least one measured variable characterizing the traffic situation and to provide the measured data characterizing the detected measured variable; - at least one communication device (16) which is designed to receive the measurement data provided by the sensor units (14) and to transmit them to a processing device (18) of the sensor system (10); and - The processing device (18), which is adapted to receive the measurement data from the communication device (16) to aggregate and evaluate, thereby determining the traffic situation based on the measurement data. Sensor system (10) after Claim 1 , characterized in that the sensor system (10) is adapted to transmit result data, which characterize the determined traffic situation, directly to at least one vehicle (22). Sensor system (10) after Claim 2 , characterized in that the sensor system (10) is adapted to transmit the result data from the processing device (18) directly to the at least one vehicle (22). Sensor system (10) after Claim 2 or 3 , characterized in that the sensor system (10) is adapted to transmit the result data from at least one of the sensor units (14) directly to the at least one vehicle (22). Sensor system (10) according to one of Claims 2 to 4 , characterized in that the sensor system (10) is adapted to transmit the result data from at least the communication device (16) directly to the at least one vehicle (22). Sensor system (10) according to one of Claims 2 . 3 . 4 or 5 characterized in that the sensor system (10) is adapted to receive data directly from the at least one vehicle (22). Sensor system (10) according to any one of the preceding claims, characterized in that the respective sensor unit (14) at least one measuring device (28) for simultaneous measurement of distances to the respective sensor unit (14) and / or a characteristic characterizing each property and / or has a respective size of objects located on the roadway area (12). Sensor system (10) after Claim 7 , characterized in that the respective sensor unit (14) has at least one data processing device (36) for processing data provided by the respective measuring device (28) and characterizing the respective distances and / or movements and / or quantities. Sensor system (10) according to one of the preceding claims, characterized in that the processing device (18) has at least one interface (44) and is adapted, via the interface (44), data for a data visualization characterizing the determined traffic situation and / or data evaluation to provide a different from the sensor system (10) electronic data processing system. Sensor system (10) according to one of the preceding claims, characterized in that a bidirectional data exchange between the communication device (16) and the respective sensor unit (14) is provided. Sensor system (10) according to one of the preceding claims, characterized in that a wireless data exchange between the respective sensor unit (14) and the communication device (16) and / or between the communication device (16) and the processing device (18) and / or the respective Sensor unit (14) and the processing device (18) is provided. Sensor system (10) according to any one of the preceding claims, characterized in that the respective sensor unit (14) in an infrastructure of the roadway area (12) is integrated. Method for determining at least one traffic situation on at least one roadway area (12) by means of a sensor system (10), comprising: - a plurality of sensor units (14) arranged along the roadway area (12) which detect at least one measured variable characterizing the traffic situation and detect the detected traffic Provide measurement data characterizing measurement variable; - at least one communication device (16) which receives the measurement data provided by the sensor units (14) and transmits it to a processing device (18) of the sensor system (10); and - the processing unit (18) which transmits the measurement data from the communication device (16) receives, aggregates and evaluates, whereby the traffic situation is determined on the basis of the measured data.

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