DE102018000016A1 - Method and system for estimating traffic flow - Google Patents

Abstract

The invention relates to a method for estimating traffic flow. The method comprises the steps of: detecting from one or more vehicles (V1, V2) the number of vehicles (1b, 1d, 1f, 2b, 2d, 2e) which comprises said one or more vehicles (V1, V2) overtake; and estimating the traffic flow on the basis of the thus determined number of the said vehicles (V1, V2) overtaking vehicles. In the method, the step of detecting, from one or more vehicles (V1, V2), the number of vehicles overtaking those vehicles, includes a step of deploying one or more vehicles (V1, V2) whose permissible maximum speed is restricted with respect to the generally applicable maximum speed for vehicles in the traffic flow, said one vehicle or said plurality of vehicles (V1, V2) moving in detection. The invention also relates to a system for estimating traffic flow. The invention also relates to a dressing. Furthermore, the invention relates to a computer program and a computer program product.

Description

TECHNICAL AREA

The invention relates to a method for estimating traffic flow according to the preamble of claim 1. The invention also relates to a system for estimating traffic flow. The invention also relates to a vehicle. Furthermore, the invention relates to a computer program and a computer-readable medium.

BACKGROUND OF THE INVENTION

The estimation of traffic conditions usually requires an infrastructure on the road, e.g. the highway to measure traffic conditions over a specific period of the day at a particular location. Building / installing such an infrastructure is not only expensive, it also takes time to set up and set up. The purposes of the estimation of traffic conditions are manifold. It may serve the purpose of controlling traffic on a road / highway by, for example, varying the speed limit as a function of traffic and detecting accidents and warning other drivers of detected accidents. Also, traffic estimates can serve as a basis for deciding where and how to build new roads.

Infrastructures in the form of highway control systems are often installed in metropolitan areas to some extent to control the occurrence of congestion on the roads. Outside of metropolitan areas, however, such infrastructures are usually lacking, so that an installation would be required.

The DE 102014204577 describes another possibility of estimating traffic conditions in which stationary vehicles are used as sensors for obtaining traffic information by calculating the number of passing vehicles.

There is a need to improve the estimation of traffic flow.

OBJECT OF THE INVENTION

An object of the invention is to provide a method of estimating traffic flow which is simple and effective and does not require the installation of expensive infrastructure.

Another object of the invention is to provide a traffic flow estimation system which is simple and effective and does not require the installation of expensive infrastructure.

BRIEF DESCRIPTION OF THE INVENTION

These and other objects, which will become apparent from the following description, are achieved by a method, a system, a vehicle, a computer program, and a computer-readable medium according to the appended independent claims. Preferred embodiments of the method and the system are described in the dependent claims.

In particular, an object of the invention is achieved by a method for estimating traffic flow. The method includes the following steps: for one or more vehicles, detect the number of vehicles overtaking or passing them; and estimating traffic flow based on the number of overtaking vehicles thus determined. In the method, the step of detecting the number of overtaking vehicles for one or more vehicles includes a step of using one or more vehicles whose permissible speed is limited in relation to the current general allowable speed limit for the vehicles in the traffic flow; one or more vehicles are in motion during detection.

The said vehicles with an allowable speed limit, which is limited relative to the current general speed limit for vehicles in the traffic flow, may be any suitable vehicles, such as e.g. Lorries, buses, cars with trailers, so-called low-speed vehicles (LSV) or the like.

This use of one or more vehicles which are in motion during detection and whose permitted speed limit is less than the applicable speed limit for other vehicles in the relevant traffic flow, such as lorries whose maximum permissible speed is less than the generally applicable speed limit, may be Traffic flow can be estimated in a simple and effective way without the use of costly infrastructure installations.

Through the use of such vehicles, such as trucks, which generally move slower than other vehicles, such as passenger cars, information about the traffic flow with respect to vehicles that do not have the aforementioned sharper speed restriction, such as passenger cars, can be detected in a simple manner, since the latter vehicles generally overtake the vehicles which perform the detection.

The use of such vehicles, such as trucks, which generally travel more slowly than other vehicles, such as passenger cars, can easily and effectively make an estimate of an entire transport network, as such vehicles, such as lorries, are often in use Associations on roads, especially highways, are on the road and cities etc., so that information about traffic conditions can be obtained and distributed in a simple manner, without the vehicles would have to change their routes or their driving behavior in the detection of the overtaking vehicles. The estimation of traffic flow can therefore be made at all locations where such vehicles, such as trucks, are underway, and information about traffic flow and traffic conditions can be obtained both in areas where a traffic flow estimation infrastructure already exists, with the information being used redundantly In particular, for further improvement of traffic flow estimation, and also in areas where such infrastructure does not exist for a simple traffic flow estimation.

Information collected in this way may be used by road authorities or other institutions to improve the current infrastructure or, more generally, to provide traffic flow information that would otherwise be unavailable. The traffic flow and estimated traffic flow information thus obtained may be stored in suitable storage devices, such as external storage such as servers, the so-called cloud, or the like, and may be made available to those using such information as, for example, road authorities, traffic news or route planning etc.

According to an exemplary embodiment of the method, the step of detecting the number of vehicles that overhaul the one or more vehicles includes the use of sensor means on board the one or more (overhauled) vehicles.

Through this use of on-board sensor devices of the one or more vehicles, the traffic flow estimation can be further improved by the fact that the detection during the normal travel of said vehicles is feasible.

The step of employing on-board sensor means of said one or more vehicles may include the use of one or more detectors arranged in connection with the one or more vehicles. The step of employing on-board sensor means of said one or more vehicles may include the use of one or more camera units and / or one or more laser scanner units and / or one or more radar units aboard said one or more Vehicles include. Each camera unit has a camera. Each laser scanner unit has a laser scanner. Each radar unit has a radar device.

According to an exemplary embodiment of the method, the step of detecting the number of vehicles that overhaul the one or more vehicles includes determining the relative speed of the overtaking vehicles with respect to the one or more vehicles.

By determining the relative speed of the overtaking vehicles, the traffic flow estimation is further improved.

The step of determining the relative speed of the vehicles overrunning the one or more vehicles includes a step of determining the speed of the one or more overhauled vehicles. Thus, the method has a step of determining the speed of said one or more obsolete vehicles.

The step of determining the relative speed of the vehicles overrunning the said one or more vehicles may include the use of any suitable on-board sensor means, such as suitable detectors, such as one or more radars, cameras and / or laser scanners, or the like.

The step of determining the relative speed of the vehicles overrunning the said one or more vehicles may include the use of vehicle-to-vehicle communication means to retrieve information regarding the speed of said overrunning vehicles, the information being obtained from the overtaking vehicles can be.

According to an embodiment of the method, the step of detecting the number of overtaking vehicles from said one or more Vehicles determine the frequency of overtaking vehicles (number per unit time).

According to an embodiment of the method, the step of detecting the number of overtaking vehicles from said one or more vehicles (that is, the information is obtained from the refurbished vehicles) includes a step of determining the time when the overtaking operation has taken place ,

The said one or more overhauled vehicles may also overtake other vehicles, such as low-speed vehicles (LSV), and this overtaking operation is also detected with the overhauled vehicles.

According to one embodiment, the method further includes a step of determining the position of said one or more overhauled vehicles. The step of determining the location of said one or more obsolete vehicles, in one embodiment, includes using a global navigation satellite system, GNSS, e.g. a global positioning system, GPS, for permanently determining the position of said one or more obsolete vehicles. The step of determining the position of said one or more retrofitted vehicles may also include determining map data relating to said position.

The global navigation satellite system, GNSS, e.g. the global positioning system, GPS, for the continuous (clocked) determination of the position of said one or more outdated vehicles is installed in the respective overhauled vehicle according to an embodiment.

The step of determining the position of said one or more retrofitted vehicles, in one embodiment, includes a step of extracting information from a vehicle-to-vehicle communication device from the vehicles that overrun the one or more vehicles.

According to one embodiment, the method further includes a step of determining the distance to vehicles in front of and / or behind said one or more vehicles.

By determining the distance to vehicles before and / or after the one or more (overhauled) vehicles, the traffic flow estimation can be further improved.

The step of determining the distance to vehicles before and / or after the one or more vehicles may include the use of any suitable on-board sensor means, e.g. the use of one or more camera units and / or one or more laser scanner units and / or one or more radar units on board of the one or more (overhauled) vehicles. Each camera unit has a camera. Each laser scanner unit has a laser scanner. Each radar unit has a radar device.

According to one embodiment, the method further includes a step of determining the distances between vehicles in front of and / or behind and / or beside the vehicles overtaking the one or more vehicles.

By such determination of the distances between vehicles in front of and / or behind the one or more (overhauled) vehicles and / or between the overhauling vehicles, the traffic flow estimation can be further improved.

The step of determining the distances to vehicles in front of and / or behind said one or more refurbished vehicles and any vehicles to be overtaken may include the use of suitable on-board sensor means, e.g. one or more camera units and / or one or more laser scanner units and / or one or more radar units aboard said one or more (overhauled) vehicles.

The sensor means for detecting the number of overhauling vehicles, the on-board sensor means for detecting the relative speed of the vehicle overhauling the at least one vehicle, the on-board sensor means for detecting the sensor means located on board said one or more overhauled vehicles Distance to vehicles before and / or after the one or more (obsolete) vehicles, and / or the on-board sensor means for detecting the distance between vehicles before and / or after the one or more (refurbished) vehicles and optionally the distance between overtaking vehicles may be means that are already on board as a matter of principle, or one or more of which may be different pieces of equipment upgraded.

The step of estimating traffic flow includes a step of estimating traffic density.

The traffic flow estimation step includes a step of estimating the average speed of the traffic, and in particular those vehicles having a maximum speed that is limited in relation to the maximum speed that is currently permitted and the speed of vehicles that are generally permitted allowed maximum speed to take.

The traffic flow estimation step includes a step of estimating the distribution of different vehicles such as cars, trucks, buses, etc.

According to one embodiment, the method further includes a step of using the estimated traffic flow to assess ways of uniting said one or more vehicles in a bandage.

Such use of the estimated traffic flow for the question of whether to combine said one or more vehicles in a federation can be efficiently answered, in particular taking into account environmental considerations, costs and / or energy consumption.

According to one embodiment, the method further includes a step of utilizing the estimated traffic flow for route planning for vehicles. The route planning can be done, for example, for vehicles, e.g. Truck, in a vehicle fleet.

In one embodiment, the method further includes a step of utilizing the estimated traffic flow to estimate the arrival time of particular vehicles. The estimated arrival time of certain vehicles is useful, for example, for e.g. Lorries, buses or the like, especially in a vehicle fleet with specific tasks.

According to one embodiment, the method further includes a step of exploiting the thus estimated traffic flow for the evaluation of possibilities for autonomous driving.

The object of the invention is also achieved by a system for estimating traffic flow. The system has means for detecting from one or more vehicles the number of vehicles overtaking those vehicles; and means for estimating traffic flow based on the number of vehicles overtaking said vehicles. According to the system, the means for detecting, from one or more vehicles, the number of vehicles overhauling those vehicles, means for employing as the one or more vehicles those whose maximum permissible speed is limited relative to the currently generally permitted maximum speed for the vehicle Vehicles of traffic flow, said one or more vehicles being in motion upon detection.

According to an exemplary embodiment of the system, the device with which the number of vehicles overtaking these vehicles is detected from one or more vehicles has sensor devices aboard said one or more vehicles.

According to an exemplary embodiment of the system, the device with which the number of vehicles overtaking these vehicles is detected from one or more vehicles has a device for determining the relative speed of said vehicles passing the one or more vehicles.

In one embodiment, the system further includes means for determining distances to vehicles in front of and / or behind said one or more vehicles.

In one embodiment, the system further includes means for determining the distances between vehicles in front of and / or behind said one or more vehicles and / or the distances between vehicles that override said one or more vehicles.

According to one embodiment, the system further comprises means for evaluating the thus estimated traffic flow for determining the possibilities of keeping said one or more vehicles in a federation.

The traffic flow estimation system is configured to perform the methods described herein.

The system according to the invention has the advantages as the described methods.

In particular, the object of the invention is achieved by a vehicle having a system as described herein.

The vehicle can be guided by a driver.

Also, the vehicle can be controlled remotely.

According to one embodiment, the vehicle is an autonomous vehicle.

In particular, the object of the invention is also achieved by a computer program for estimating traffic flow, wherein the computer program has a code which, when running in an electronic control unit or expiration in a computer connected to an electronic control unit causes the electronic control unit to one of the described here Perform procedure.

In particular, the object of the invention is also achieved by a computer-readable medium having instructions which, when executed by a computer, cause it to execute a method as described herein.

list of figures

• 1 zeigt schematisch ein Fahrzeug gemäß der Erfindung;
• 2 zeigt schematisch eine Draufsicht auf den Verkehrsfluss auf einer Autobahn mit einer Verkehrsflussabschätzung gemäß einem Ausführungsbeispiel der Erfindung;
• 3 zeigt schematisch ein Blockdiagramm eines Systems zum Abschätzen von Verkehrsfluss gemäß einem Ausführungsbeispiel der Erfindung;
• 4 ist ein Flussdiagramm eines Verfahrens zum Abschätzen von Verkehrsfluss gemäß einem Ausführungsbeispiel der Erfindung; und
• 5 zeigt schematisch einen Computer gemäß einem Ausführungsbeispiel der Erfindung.

For a better understanding of the invention, a description follows in detail of embodiments in conjunction with figures, wherein like reference numerals designate corresponding components:

• 1 schematically shows a vehicle according to the invention;
• 2 schematically shows a plan view of the traffic flow on a highway with a traffic flow estimation according to an embodiment of the invention;
• 3 schematically shows a block diagram of a system for estimating traffic flow according to an embodiment of the invention;
• 4 FIG. 10 is a flowchart of a method of estimating traffic flow according to an embodiment of the invention; FIG. and
• 5 schematically shows a computer according to an embodiment of the invention.

DESCRIPTION OF DETAILS

Hereinafter, the term "link" means a communication connection that may be a physical connection such as an opto-electronic communication wire, or a non-physical connection such as a wireless connection, such as a radio or microwave connection.

Hereinafter, the term "vehicles with a maximum permissible speed which is limited in relation to the currently generally permissible maximum speed for traffic flow vehicles" refers to any suitable vehicles whose maximum permitted speed is limited in relation to the currently generally permitted maximum speed for vehicles such as passenger cars, in the flow of traffic, these vehicles having the limited maximum speed being, for example, lorries, buses, passenger cars with trailers, or so-called low-speed vehicles (LSV) or the like.

1 schematically shows the side view of a vehicle V1 according to the invention. The exemplary vehicle V1 is a heavy duty vehicle in the form of a truck. The vehicle V1 has a maximum permissible speed that is restricted (less) than the currently permitted maximum speed for vehicles, such as passenger cars, in a traffic flow. The vehicle has a system I or is part of a system I for estimating traffic flow according to the invention.

2 shows a top view of a traffic flow on a highway (HW) and illustrates a traffic flow estimation according to one embodiment.

According to 2 the section of a highway HW has a first roadway R1 for driving in one direction according to 2 upward according to the arrow A1 and a second road R2 for driving in the opposite direction, ie in 2 down according to the arrow A2.

The first lane R1 has two lanes L1a, L1b and the second lane R2 has two lanes L2a, L2b, see 2 ,

A first vehicle V1 travels on the lane L1a of the lane R1 and a second vehicle V2 travels on the lane L2a, where the vehicles V1, V2 are heavy duty vehicles, such as trucks, and these vehicles have a limited top speed when driving on certain Roads, like here the roads R1, R2.

vehicles 1a . 1b . 1c . 1d . 1e . 1f . 2a . 2 B . 2c . 2d . 2e . 2f drive on the highway and illustrate a traffic flow. The mentioned vehicles 1a to 2f have no special limited Top speed, but can drive according to the normal speed limits on the roads R1, R2.

The said vehicles V1, V2, ie the lorries, have a maximum speed which is higher than the current maximum speed for the other vehicles mentioned 1a to 2f is lower in traffic flow.

In the lane L1a of the lane R1, a vehicle is traveling 1c in front of the truck V1 with a distance D1c and another vehicle 1a drives in front of the vehicle 1c at a distance D1a between said vehicles 1a and 1c while a vehicle 1e behind the truck V1 moves at a distance D1e.

In the lane L1b of the lane R1 drive a vehicle 1d and a vehicle 1b , both of which have overtaken the truck V1 and drive with a distance D1b between them, while a vehicle 1f at a distance D1d behind said vehicle 1d drives and is about to overtake the truck V1.

In the lane L2a of the lane R2, a vehicle is traveling 2c in front of the truck V2 at a distance D2c and another vehicle 2a drives in front of the vehicle 2c at a distance D2a while a vehicle 2f behind the truck V2 moves at a distance D2f.

In the lane L2b of the lane R2 overtakes a vehicle 2d the truck V2 and a vehicle 2 B has overtaken the truck V2 and drives with a distance D2b to the vehicle 2d while a vehicle 2e at a distance D2d behind the vehicle 2d drives and is about to overtake the truck V2.

The truck V1 has on board a sensor device SM1. This sensor device has means for detecting - starting from the truck V1 - the number of vehicles overtaking the truck V1. The sensor device SM1 on board furthermore has a device for determining the relative speed of the vehicles overtaking the truck V1. The sensor device SM1 further has means for determining the distance to vehicles in front of and behind the truck V1. Furthermore, the sensor device SM1 has means for determining the distance between vehicles passing in front of, behind and the truck V1 overtaking. The sensor device SM1 can furthermore have one or more camera units, for example also aboard the one or more vehicles, wherein each camera unit has at least one camera and / or one or more laser scanner units on board the at least one vehicle, each laser unit Scanner unit comprising at least one laser scanner, and / or one or more radar units aboard said one or more vehicles, each radar unit includes at least one radar device.

Said sensor device SM1 on board has, according to one embodiment, said sensor device 112 , said device 112a , said device 120 and said device 130 as related to 3 is described.

The truck V1 is in motion and detects by means of the abovementioned sensor device SM1 the number of vehicles which overtake the truck V1, ie the vehicles 1b . 1d . 1f , It is also noted at what time the overtaking takes place. The truck V1 in motion, according to one embodiment, also detects the relative speeds of the vehicles overtaking the truck V1 by means of the sensor device SM1 on board. The truck V1 in motion detects the distance to vehicles before and / or after the truck V1, in this case the distances D1c and D1e, by means of the sensor device SM1 on board. The truck V1 in motion detected according to an embodiment by means of on-board sensor device SM1, the distances between vehicles in front of and / or behind the truck V1 and / or between vehicles which overtake the truck V1, so here the distances D1a, D1b and D1d.

The truck V2 has an on-board sensor device SM2. This sensor device has a device for detecting, starting from the truck V2, the number of vehicles overtaking the trucks V2. The on-board sensor device SM2 further has a device for determining the relative speeds of said vehicles, which overtake the truck V2. The on-board sensor device SM2 further has a device for determining the distances to vehicles in front of and behind the truck V2. The sensor device SM2 further has a device for determining the distances between vehicles in front of and behind the truck V2 and distances between vehicles overtaking it. The sensor device SM2 may further comprise one or more camera units aboard said one or more vehicles, each camera unit comprising at least one camera, and / or one or more laser scanner units aboard said at least a vehicle, each laser scanner unit having at least one laser scanner, and / or one or more radar units, each radar unit comprising at least one radar device.

According to one embodiment, the onboard sensor device SM2 has the sensor device 112 , the device 112a , the device 120 and the device 130 , which are described in more detail with reference to FIG.

The truck V2 is in motion and detects by means of the on-board sensor device SM2, the number of vehicles overtaking the truck V2, here the vehicles 2 B . 2d . 2f , Wherein the times of the overtaking process are recorded. According to one exemplary embodiment, the truck V2 that is in motion also detects the relative speeds of the vehicles overtaking the truck V2 by means of the sensor device SM2 on board. The term "relative speed" here means, in particular, the speed in relation to the speed of the vehicle guiding the sensor device. According to one exemplary embodiment, the truck V2 that is in motion still detects the distances to vehicles in front of and / or behind the truck V2, in this case the distances D2c and D2f, by means of the sensor device SM2 on board. According to one embodiment, during the movement, the truck V2 continues to detect the distances between vehicles moving in front of and / or behind the truck V2 by means of the sensor device SM2 on board and / or of vehicles overtaking the truck V2, here the distances D2a , D2b and D2d.

The trucks V1, V2 are part of a system or are used by a system, eg a system I according to 3 , as described in more detail below, to estimate the traffic flow.

The system has means E for estimating traffic flow on the basis of the determined number of vehicles overtaking the trucks V1, V2. The means E for estimating the traffic flow may comprise suitable processors on board the respective trucks V1, V2 and / or externally provided processors for processing the information relating to the number of vehicles overtaking the trucks V1, V2. The flow estimation means E may include means for taking into account the speeds of said trucks overtaking vehicles and / or the distances / distances to vehicles in front of and / or behind said one or more vehicles and / or means for taking into account the determined distance / distances between vehicles in front of and / or behind the one or more vehicles and / or between these overtaking vehicles.

3 shows a block diagram of a traffic flow estimation system I according to an embodiment.

The system I has an electronic control unit 100 , The electronic control unit 100 can have one or more electronic control units. The electronic control unit 100 In particular, it may include one or more electronic control units in the respective vehicles when more than one vehicle is deployed.

The system I has a facility 110 for detecting, by means of one or more vehicles, the number of vehicles passing the one or more vehicles.

The device 110 with which one or more vehicles detect which number of vehicles overtake said one or more vehicles has a device 110a for deploying one or more vehicles whose maximum permissible speed is limited from the currently applicable maximum speed of vehicles in the traffic flow, said one or more vehicles being in motion during detection.

The aforementioned vehicles, whose maximum permitted speed is less than the current permissible maximum speed for vehicles in the traffic flow, may be any suitable vehicle, such as lorries, buses, trailers, so called Low Speed Vehicles (LSV) or the like.

According to an embodiment of the system I, the device has 110 for detecting the number of vehicles that overtake said one or more vehicles, on board a sensor device 112 as a component of the one or more vehicles for detecting the number of vehicles overtaking this or these vehicles, including the time of the respective overtaking operation.

The on-board sensor device 112 said one or more vehicles may include one or more detectors disposed in communication with the one or more vehicles. The named sensor device 112 Can one or more camera units aboard the said one or more said plurality of vehicles, each camera unit having at least one camera, and / or one or more laser scanner units, each laser scanner unit comprising at least one laser scanner, and / or one or more radar units, each radar unit comprising at least one radar unit contains. Each camera unit may have suitable means for aligning the at least one camera. Each laser scanner unit may have suitable means for aligning the at least one laser scanner. Each radar unit may have suitable means for aligning said at least one radar device.

According to an embodiment of the system I, said device has 110 for detecting the number of vehicles overtaking said one or more vehicles, means 112a for determining the relative speeds of the said one or said plurality of vehicles overtaking vehicles.

The device 112a in order to determine the relative speeds of the vehicles overtaking the said one or more vehicles, there is a device for determining the speed of the one or more overhauled vehicles.

Thus, the system has means for determining the speed of the one or more outdated vehicles. This speed determining device may each be a speedometer of the respective overhauled vehicle.

The device 112a For determining the relative speed of said vehicles overhauling the one or more vehicles, any suitable sensor device may be on board with a suitable detector, such as one or more radars, cameras and / or laser scanners, and the like.

The device 112a For determining the relative speed of vehicles overhauling the one or more mentioned vehicles, a vehicle-to-vehicle communication arrangement may comprise for retrieving information about the speed of the overtaking vehicles, the information being taken in particular from the overtaking vehicles.

According to an embodiment of the system I, the device detects 110 for the determination of the number of overtaking vehicles, the frequency of these overtaking vehicles which overtake said one or more vehicles.

According to an embodiment of the system I, the device has 110 for detecting the number of vehicles that overtake said one or more vehicles, means for determining the time at which the overtaking occurs respectively.

The said one or more overhauled vehicles may also overtake other vehicles, such as low-speed vehicles (LSV), such overtaking operations being detected also by the overhauled vehicles.

According to one embodiment, the system I further has a device 120 for determining the distance to vehicles in front of and / or behind said one or more vehicles.

The device 120 For determining the distances to vehicles in front of and / or behind said one or more vehicles, there may be any suitable on-board sensor device comprising, for example, one or more camera units aboard said one or more vehicles, each camera unit having at least one Camera has, and / or one or more laser scanner units aboard said at least one vehicle, each laser scanner unit has at least one laser scanner, and / or one or more radar units, each radar unit having at least one radar device. Each camera unit may have suitable means for aligning the at least one camera. Each laser scanner unit may have suitable means for aligning the at least one laser scanner. Each radar unit may have suitable means for aligning the at least one radar device.

According to one embodiment, the system I further has a device 130 for determining the distances between vehicles before and / or after and / or in the passing process with respect to said one or more vehicles.

The device 130 for determining the distances between vehicles in front of and / or behind and / or in passing with respect to said one or more vehicles, any suitable on-board sensing device may be included, eg one or more camera units on board said one or more vehicles , each camera unit at least one camera, and / or one or more laser scanner units, each laser scanner unit has at least one laser scanner, and / or one or more radar units, each radar unit having at least one radar device. Each camera unit may have any suitable means for directing the at least one camera. Each laser scanner unit may have suitable means for directing said at least one laser scanner. Each radar unit may comprise suitable means for directing said at least one radar device.

For the on-board sensor devices 112 with which from the one or more vehicles out the number of vehicles overtaking these vehicles is detected, the on-board sensor devices 112a with which the relative speed of said overtaking vehicles is detected, the sensor devices on board 120 with which the distances of vehicles in front of and / or behind the one or more vehicles is detected, and / or in the sensor devices on board 130 , with which the distances between vehicles in front of and / or behind and / or overtaking vehicle are detected, it may be one and the same onboard sensor device or it may be provided in one or more cases each separate sensor devices on board.

The system I has a facility 140 for estimating the traffic flow on the basis of the thus determined number of vehicles overtaking the said vehicles. The device 140 for estimating the traffic flow may include any suitable processors on board said vehicle and / or external processors for processing said information regarding the number of overtaking vehicles. The device 140 is in one embodiment in the electronic control unit 100 contain.

The device 140 to estimate the flow of traffic has a facility 142 to account for the detected distance / distances to vehicles before and / or after said one or more vehicles.

The device 140 to estimate the flow of traffic has a facility 144 for taking into account the detected distance / distances between the vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The device 140 for estimating traffic flow has means for estimating traffic density.

The device 140 For estimating the flow of traffic, means shall be provided for estimating the average speed of traffic and the speed of vehicles with a maximum authorized speed limited in relation to the generally applicable maximum speed and the speed of vehicles capable of driving at a speed corresponding to generally approved maximum speed.

The device 140 for estimating the traffic flow has a facility for estimating the distribution of different types of vehicles, such as passenger cars, trucks, buses, etc.

According to one embodiment, the system I further has a device 150 for using the traffic flow estimated in the described manner to calculate association formation possibilities (column formation) for said plurality of vehicles.

According to one embodiment, the system is configured to use the traffic flow estimated in the described manner for route planning for vehicles. The route planning can be done, for example, for vehicles, e.g. Truck, in a vehicle fleet.

In one embodiment, the system is configured to use the traffic flow so determined to estimate the arrival time of particular vehicles. The estimated time of arrival for certain vehicles may, for example, refer to vehicles, e.g. Lorries, buses or the like, in e.g. a vehicle fleet with specific tasks.

According to one embodiment, the system I further has a device 160 for storing the estimated traffic flow.

The device 160 for storing the estimated traffic flow has according to one embodiment, an internal memory on board said at least one vehicle. The internal storage device may be any device for storing information, such as a control unit, a computer or the like. The internal control unit is part of the electronic control unit according to one embodiment 100 ,

The device 160 for storing the estimated traffic flow has in one embodiment, an external storage device, externally with respect to the at least one vehicle. The external storage device may be any external storage means, such as a Server unit, a computer, a tablet or the like. The external storage device is thus accessible according to an embodiment for other vehicles, road authorities or institutions.

According to one embodiment, the system I further has a device 170 for determining the position of said at least one or said plurality of overhauled vehicles. The device 170 for determining the position of said one or more vehicles being overhauled, in one embodiment, has a global navigation satellite system, GNSS, eg, a global positioning system, GPS, for continuously determining the position of said one or more overhauled vehicles. The device 170 for determining the position of said one or more said vehicles to be overhauled, has means for extracting map data relating to the position.

The global navigation satellite system, GNSS, e.g. The global positioning system, GPS, for continuously determining the position of said one or more vehicles being overhauled, is disposed in the affected vehicle in accordance with one embodiment.

The device 170 for determining the position of said one or more of the vehicles being overhauled, in one embodiment, includes means for retrieving vehicle-to-vehicle communication information from the vehicles that overrun the one or more vehicles.

The electronic control unit 100 is about a connection 12 effectively connected to the on-board sensor device 112 the one or more named vehicles for detecting the number of vehicles overtaking those vehicles from the one or more vehicles. The electronic control unit 100 receives over the connection 12 a signal from the device 112 concerning data concerning the number of overtaking vehicles.

The electronic control unit 100 is about a connection 12a connected with the device 112a for determining the relative speeds of the vehicles overtaking said one or more vehicles. About the connection 12a receives the electronic control unit 100 a signal from the device 112a , which concerns data on the speeds of said overtaking vehicles.

The electronic control unit 100 is about a connection 20 connected with the device 120 for determining the distances to vehicles in front of and / or behind said one or more vehicles. The electronic control unit 100 receives over the connection 20 a signal from the device 120 concerning data on the distances to vehicles before and / or after said one or more vehicles.

The electronic control unit 100 is about a connection 30 connected with the device 130 for determining the distances between vehicles before and / or behind and / or in the passing process with respect to the one or more said vehicles. The electronic control unit 100 receives over the connection 30 a signal from the device 130 concerning data on the distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The electronic control unit 100 is about a connection 40a connected with the device 140 for estimating the flow of traffic based on the number of vehicles overtaken by said vehicles. The electronic control unit 100 sends over the connection 40a a signal to the device 140 concerning data on the number of said overtaking vehicles and, according to one embodiment, also relating to data on the relative speeds of said vehicles overtaking the one or more vehicles, the data containing information about when each overtaking took place.

The electronic control unit 100 is about a connection 42 connected with the device 142 to account for the detected distance / distances to vehicles in front of and / or behind said or said plurality of vehicles. The electronic control unit 100 sends over the connection 42 a signal to the device 142 , which relates data about the distances determined to vehicles in front of and / or behind said one or more vehicles.

The electronic control unit 100 is about a connection 44 connected with the device 144 for taking into account detected distance / distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles. The electronic control unit 100 sends over the connection 44 a signal to the device 144 concerning data on distance detected / distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The electronic control unit 100 is about a connection 40b connected with the device 140 for estimating traffic flow based on the determined number of vehicles passing the said vehicles. The electronic control unit 100 receives over the connection 40b a signal from estimated traffic flow data 140 corresponding to the determined number of vehicles passing the said vehicles and, in one embodiment, also detected distances / distances to vehicles in front of and / or behind said one or more vehicles and / or detected Distance / distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The electronic control unit 100 is about a connection 50a connected with the device 150 for employing the traffic flow estimated in the described manner for the calculation of possibilities for association formation (so-called platooning) with respect to said one or more vehicles. The electronic control unit 100 sends over the connection 50a a signal to the device 150 concerning estimated traffic flow data based on the determined number of vehicles passing the said vehicles and, according to one embodiment, the distance / distances to vehicles in front of and / or behind said one or more vehicles and / or determined distance / distances between Vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The electronic control unit 100 is about a connection 50b connected with the device 150 use the estimated traffic flow to calculate possibilities for platooning with respect to said one vehicle or with respect to said plurality of vehicles. The electronic control unit 100 receives over the connection 50b from the institution 150 a signal concerning data on possible association formations with respect to said one or more vehicles.

The electronic control unit 100 is about a connection 60 connected with the device 160 for storing the estimated traffic flow in the manner described. The electronic control unit 100 receives via the port 60 of the device 180 a signal concerning data about the estimated traffic flow.

The electronic control unit 100 is about a connection 70 connected with the device 170 for determining the position of said one or more vehicles which are being overhauled. The electronic control unit 100 receives over the connection 70 from the institution 170 a signal concerning data on positions of said one vehicle or said plurality of vehicles being overhauled.

4 shows a block diagram for a method for estimating the traffic flow.

According to an embodiment of the method for estimating traffic flow, the method includes the step S1. In this step, starting from one or more vehicles, the number of vehicles that overrun said one or more vehicles is detected, with the maximum permissible speed of said one or more vehicles being restricted ) is considered to be the generally applicable maximum running speed for vehicles in the traffic flow and wherein said one or more vehicles are in motion during detection.

According to one embodiment, the method for estimating traffic flow has a step S2. In this step, the traffic flow is estimated on the basis of the determined number of vehicles passing the said vehicles.

According to an exemplary embodiment of the method, the step of detecting the number of vehicles overtaking said one or more vehicles includes the use of on-board sensor devices of said one or more vehicles.

Through the use of on-board sensor devices of said one or more vehicles, the traffic flow estimation is further enhanced by the fact that the detection can be performed during normal travel of said vehicles.

The step of employing on-board sensor means of said one or more vehicles may include the use of one or more Include detectors, which are arranged on or in said one vehicle or on or in said plurality of vehicles. The step of employing on-board sensor means of said one or more vehicles may include the use of one or more camera units and / or one or more laser scanner units and / or one or more radar units on board said one vehicle or vehicles include several vehicles mentioned. Each camera unit has a camera. Each laser scanner unit has a laser scanner. Each radar unit has a radar device.

According to an embodiment of the method, the step of detecting the number of vehicles passing the said one or more vehicles from the overhauled vehicles includes determining the relative speeds of the vehicles overtaking said one or more vehicles.

The step of determining the relative speeds of said overtaking vehicles includes a step of determining the speed of said overtaken vehicles.

The step of determining the relative speeds of the vehicles overhauling said vehicle or said plurality of vehicles may involve the use of onboard sensor devices using any suitable detector such as one or more radars, cameras and / or laser scanners, or the like.

According to one embodiment, the method further includes the step of determining the distances to vehicles in front of and / or behind said one or more vehicles.

The step of determining the distances to vehicles in front of and / or behind said one or more vehicles may include the use of any suitable on-board sensor devices, for example one or more camera units and / or one or more laser scanner units and / or one or multiple radar units aboard said one or more vehicles. Each camera unit has a camera. Each laser scanner unit has a laser scanner. Each radar unit has a radar device.

According to one embodiment, the method further comprises a step of determining the distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles.

The step of determining the distances between the vehicles before and / or behind and / or in passing with respect to said one or more vehicles may include the use of any onboard sensor devices, for example one or more camera units and / or one or more a plurality of laser scanner units and / or one or more radar units aboard said one or more vehicles. Each camera unit has a camera. Each laser scanner unit has a laser scanner. Each radar unit has a radar device.

In one embodiment, the method further includes a step of using the estimated traffic flow to calculate the platooning opportunities for the one or more vehicles.

According to an embodiment, the method further comprises a step of using the estimated traffic flow to calculate the possibilities for autonomous driving.

5 shows a diagram for a device 500 , The control unit 100 according to 3 According to one embodiment, a device 500 exhibit. The device 500 has a non-volatile memory 520 , a data processor 510 and a read / write memory 550 , The non-volatile memory 520 has a first memory section 530 in which a computer program, such as an operating system, is stored for controlling the functions of the device 500 , Furthermore, the device has 500 a bus controller, a serial communication port, input / output devices (I / O), an analog / digital converter (A / D), a time data input and transmission unit, an event counter, and an interrupt controller (not shown). The non-volatile memory 520 has a second memory section 540 ,

A computer program P is provided with routines for estimating traffic flow. The program P has routines to detect from one or more vehicles the number of vehicles that overruns said one or more vehicles using one or more vehicles whose maximum permitted speed is limited relative to the generally applicable maximum speed for Vehicles in the traffic flow, said vehicle or a vehicle said plurality of vehicles are in motion during detection. The program P has routines for estimating traffic flow on the basis of the thus determined number of vehicles passing the said vehicles. The routines for detecting the number of vehicles overtaking those vehicles from one or more vehicles include routines for deploying onboard sensor devices of said one or more vehicles. The routines for detecting from one or more vehicles the number of vehicles overhauling said one or more vehicles include routines for determining the relative speeds of said vehicles overrunning the one or more vehicles. The program P has routines for determining the distances to vehicles in front of and / or behind said one or more vehicles. The program P has routines for determining the distances between vehicles before and / or behind and / or in the overrunning condition with respect to said one or more vehicles. The program P has routines for using the thus determined traffic flow for the calculation of possibilities of platooning for said one or more vehicles. The computer program P may be stored in executable form or in compressed form in a separate memory 560 and / or in a read / write memory 550 ,

If it is found here that the data processor 510 performs a specific function, then it means that the data processor 510 executes a specific part of the program, which is in a separate memory 560 is stored, or a certain part of a program stored in the read / write memory 550.

The data processor 510 can with a data communication port 599 via a data bus 515 communicate. The non-volatile memory 520 is set up for communication with the data processor 510 over the data bus 512 , The separate storage 560 is set up for communication with the data processor 510 via a data bus 511 , The read / write memory 550 is set up for communication with the data processor 510 via a data bus 514 , To the data communication port 599 For example, you can connect to the control unit 100 be connected.

Be at the data port 599 Data received, they are temporarily in the second memory section 540 saved. If the received input data is temporarily stored, the data processor performs 510 the code described in more detail above. The at the data connection 599 Signals received by the device 500 may be used to detect from one or more vehicles the number of vehicles that overhaul said one or more vehicles using one or more vehicles whose maximum permissible speed is limited relative to the general one current permissible maximum speed of the vehicles in the traffic flow, wherein said one or more vehicles are in motion during detection. The at the data connection 599 received signals may be from the device 500 be used to estimate the flow of traffic based on the so determined number of vehicles that overtake the said vehicles. The signals used to detect the number of overtaking vehicles include signals using on-board sensor means of said one or more vehicles. The signals used to detect from the one or more vehicles the number of vehicles passing these vehicles include signals used to determine the relative speeds of the vehicles passing the one or more vehicles. The signals received at the data port 599 may be from the device 500 used to determine the distances to vehicles in front of and / or behind said one or more vehicles. The at the data connection 599 received signals may be from the device 500 be used to determine the distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles. The at the data connection 599 received signals may be from the device 500 be used to calculate from the estimated flow of traffic opportunities for association formation with respect to said vehicles.

Parts of the methods described herein may be used by the device 500 by means of the data processor 510 which executes the program that is in the separate memory 560 or in the read / write memory 550 is stored. Leads the device 500 If the program is off, parts of the procedure described here or the whole procedure will be executed.

The above description of preferred embodiments of the invention is illustrative and illustrative. The description is not intended to be exhaustive or to limit the invention to the specific embodiments. A specialist is a modification and Changes obviously. The embodiments have been chosen and described more fully so as to best explain the principles of the invention and their practical application, thus enabling one skilled in the art to understand the invention and its various embodiments and modifications.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102014204577 [0004]

Claims (16)

A method of estimating traffic flow, comprising the steps of: detecting from one or more vehicles (V1, V2) the number of vehicles that are overtaking said one or more vehicles; and estimating traffic flow on the basis of the thus determined number of vehicles passing the said vehicles (V1, V2), characterized in that the step of detecting comprises one or more vehicles (V1, V2) of the number of vehicles passing the said vehicles , comprising a step of using one or more vehicles (V1, V2) whose maximum permissible speed is restricted in relation to the applicable general speed limit for vehicles in the traffic flow, said one vehicle or said plurality of vehicles ( V1, V2) are in motion during detection. Method according to Claim 1 wherein the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles (V1, V2), the use of in-board sensor means (112) of a vehicle or said plurality of vehicles (V1, V2). Method according to Claim 1 or 2 wherein the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking these vehicles includes determining the relative speeds of the vehicles overtaking said one or more vehicles. Method according to one of Claims 1 to 3 with a step of determining the distances to vehicles in front of and / or behind said one or more vehicles. Method according to one of Claims 1 to 4 with the step of determining the distances between vehicles before and / or behind and / or in the passing process with respect to said one or more vehicles. Method according to one of Claims 1 to 5 method, comprising the step of using the thus determined traffic flow to calculate opportunities for association formation with respect to said one or more vehicles. A traffic flow estimation system (1) comprising: means (110) for detecting, from one or more vehicles (V1, V2), the number of vehicles overrunning said one or more vehicles; and means (140) for estimating the traffic flow on the basis of the thus determined number of vehicles overtaking said vehicles, characterized in that the means (110) for converting from one or more vehicles (V1, V2) the number of these vehicles Vehicles), means (110a) for employing one or more vehicles whose maximum permissible speed is limited with respect to the applicable general speed limit for vehicles in the traffic flow, said vehicle or said plurality of vehicles (V1, V2) are in motion during detection. System according to Claim 7 wherein said means (110) for detecting, from one or more vehicles (V1, V2), the number of vehicles overtaking said one or more vehicles (V1, V2), on board sensor means (112) of the comprising a vehicle or said plurality of vehicles (V1, V2). System according to one of Claims 7 or 8th wherein said means (110) for detecting from one or more vehicles (V1, V2) the number of vehicles passing the one or more vehicles (V1, V2) comprises means (112a) for determining the relative speeds of the vehicles to identify said vehicle overtaking a vehicle or said plurality of vehicles (V1, V2). System according to one of Claims 7 to 9 a device (120) comprising the distances (D1c, D1e, D2c, D2e) to vehicles (1c, 1e, 2c, 2f) in front of and / or behind said one or more vehicles (V1, V2) to determine. System according to one of Claims 7 to 10 , comprising means (130) for detecting the distances (D1a, D1b, D1d, D2a, D2b, D2d) between vehicles (1a, 1c, 1b, 1d, 1f, 2a, 2c, 2b, 2d, 2e) before and / or or behind and / or in overtaking with respect to said one or more vehicles. System according to one of Claims 7 to 11 , comprising means (150) for using the thus estimated traffic flow to calculate possibilities for association formation of said one or more vehicles (V1, V2). Vehicle (V1) with a system (I) according to one of the Claims 7 to 12 , Vehicle according to Claim 13 wherein said vehicle is an autonomous vehicle. Computer program (P) for estimating traffic flow, the computer program (P) having a program code which, when executed in an electronic control unit (100) or in a computer (500) connected to the electronic control unit (100), is the electronic Control unit causes to carry out the steps according to claims 1 to 6. Computer-readable medium having instructions which, when executed by a computer, cause it to perform the method according to any one of Claims 1 to 6 perform.

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