EP1032928B1 - Method and device for signalling local traffic delays - Google Patents

Description

The invention relates to a method and a Device for signaling local traffic disruptions and in particular to a method and an apparatus for Detect and display accidents and increased traffic and congestion caused by it.

To avoid traffic jams and accidents when traffic is heavy Traffic volumes have already become conventional traffic management systems along particularly heavy traffic sections, such as busy motorways etc., permanently installed. Such conventional fixed installed Traffic control systems have a variety of detection devices, for example the traffic density, the speed of the motor vehicle current, the Record environmental conditions (temperature, fog) etc. and motor vehicle traffic based on the respective detection signals along the predetermined section over scoreboards control such that a traffic jam or accidents be prevented as far as possible.

A disadvantage of such conventional traffic control systems is the fixed installation along a predetermined Route section, which is extremely high Acquisition costs result. It also has a such a permanently installed traffic control system only one low flexibility, since it is only the traffic in regulates or directs relatively short sections.

To increase flexibility, US 4,706,086 suggests a communication system between a variety of motor vehicles before, with signals and information accordingly the respective driving conditions of the motor vehicle a transmitting / receiving device by means of electromagnetic Radio waves is transmitted.

Furthermore, from US-A-5,426,544 is a Device and method for signaling local Known traffic disruptions in which the vehicle data or states of the motor vehicle, such as the speed, the route and direction, via communication facilities be transferred to each other. The transfer the respective data on another motor vehicle is done in an indirect way via an oncoming Motor vehicle. It also needs this conventional traffic information system a navigation module, a map module and an own position determination device to identify your own position. However, such conventional communication systems have the disadvantage that they are unconditionally a variety of need expensive items such as a map memory, a navigation module and a positioning module to recognize your own position.

EP-A-0 715 286 describes a method for signaling of local traffic disruptions according to the generic term of claim 1 and a device for signaling of local traffic disruptions according to the generic term of Claim 10 known.

The invention has for its object a method and a device for signaling local To create traffic disruptions that are relatively inexpensive is to produce, has a high flexibility and independent of permanently installed detection devices is.

This object is achieved with regard to the Process with the in claim 1 and with regard to Device with the measures specified in claim 11 solved.

Further advantageous refinements of the present Invention are the subject of the dependent claims.

More specifically, depending on a predetermined one Minimum signal level of an electromagnetic radio signal, each of which is emitted by a large number of vehicles a maximum group of Vehicles set. Individual transmitted with the radio signal Vehicle data showing the respective movement states the play vehicles that are within the reception range, are evaluated and saved repeatedly. Based on the stored vehicle data for each reference vehicle to be examined a relevant, Group of vehicles within the maximum group of vehicles to be considered Vehicles by evaluating the individual vehicle data determined. Then, based on the individual vehicle data of vehicles within the relevant group Group behavior determined. This group behavior is in Reference vehicle signals so that a driver in time about possible changes or dangers within his relevant vehicle group is informed. So you can Accidents and traffic jams can be recognized or avoided in good time.

The relevant ones are preferably determined Group of vehicles using a fractal method Darwinian object creation, whereby an order or Sequence within a group of vehicles continuously by looking at the respective vehicle data and subsequent weighting of a possible position probability is produced. This can already be done by a minimal number of vehicle data accurate positioning or order of respective vehicles within a group can be determined without using expensive systems to use for positioning.

A maximum group to be considered in each case can in particular by a maximum reception range of a receiving device result. However, you can also by a maximum Storage capacity must be set.

An identification code is preferably used as vehicle data to identify a particular vehicle Speed value for specifying an instantaneous speed of the vehicle and a distance parameter used. The one distance between the reference vehicle and the respective vehicles from the maximum group to be considered Distance parameters can, for example, from the reception field strength derived from the respectively transmitted radio signal become.

A deceleration / acceleration value, for example, are further vehicle data to indicate an instantaneous Deceleration / acceleration of the respective vehicle, a steering lock angle for specifying an instantaneous Steering lock of the respective vehicle Directional value for specifying an instantaneous absolute Direction, a position value to indicate an instantaneous absolute position of each vehicle, and a Brake signal value to indicate current use a braking device of the respective vehicle is conceivable. Furthermore, a group behavior value can also be used as the vehicle date be forwarded, the current Group behavior of one belonging to the reference vehicle relevant group.

The information signaled in the reference vehicle can Both visible and audible via a display device be made. But it can also lead directly to one Control the braking behavior of the reference vehicle or affect the engine control, which for example automatic full braking can be realized can.

Especially when there is a predetermined combination of individual vehicle data, i.e. states of motion, of a particular vehicle, can be an emergency signal be generated compared to the individual vehicle data signals enjoys increased priority. This can, for example if an acute danger occurs this state to groups from Vehicles are passed on, which makes them special rapid spread of information results. To an overlay to avoid a large number of emergency signals such an emergency signal is then only passed on to a greater extent (Repeater function) if its reception field strength is below one predetermined threshold falls.

The invention is described below using exemplary embodiments described in more detail with reference to the drawing.

Figur 1 eine schematische Darstellung einer Verkehrssituation auf einer Landstaße,

Figur 2 eine schematische Darstellung einer Verkehrssituation auf einer mehrspurigen Autobahn,

Figur 3 ein Blockschaltbild der Vorrichtung zum Signalisieren von lokalen Verkehrsstörungen gemäß einem bevorzugten Ausführungsbeispiel, und

Figur 4 eine Tabelle, die ein Beispiel für eine Abspeicherung von jeweiligen Fahrzeugdaten in einer Speichervorrichtung darstellt.

Show it:

FIG. 1 shows a schematic illustration of a traffic situation on a country road,

FIG. 2 shows a schematic illustration of a traffic situation on a multi-lane motorway,

FIG. 3 shows a block diagram of the device for signaling local traffic disturbances according to a preferred exemplary embodiment, and

FIG. 4 is a table which represents an example of a storage of respective vehicle data in a storage device.

FIG. 1 shows a schematic illustration of a traffic situation, like for example on a country road can occur. In FIG. 1, the reference symbol denotes 0 is a reference vehicle, while reference numerals 1 to 4 Display vehicles in a preceding column. The Vehicles 0 to 4 each have transmitting / receiving devices, with which they can create their individual Send motion states or vehicle data or that of received vehicle data sent to the other vehicles. In the embodiment shown in Figure 1 is now only the transmission / reception device of the reference vehicle 0 is taken into account, taking particular care of their received data is turned off. It is assumed that the reference vehicle 0 at a certain distance behind the vehicle column from vehicles 1 to 4, but due to a road layout, for example through a forest, has no visual contact with the column.

It is assumed that at least one of the vehicles 1 to 4 of the column a corresponding transmitting / receiving device has like the reference vehicle 0 and thus its individual Vehicle data in the form of electromagnetic radio waves sending out. The transmitted vehicle data signals have an identification code as the minimum vehicle data IC that identifies a particular vehicle, and a speed value v representing the current speed of the respective vehicle.

It is also assumed that already in the column a group classification (described later) or -Order has taken place and the truck 4 as driving ahead Detected vehicle to which vehicles 3, 2 and follow 1 in that order. The group behavior this column can, for example, by a near same speed of 50 km / h, for example become. Now the following faster reference vehicle arrives 0 in the reception area of the radio signal of the Vehicle 1, so its vehicle data, that is at least the identification code IC of the vehicle 1 and its speed value v (50 km / h), for the reference vehicle 0 received with a predetermined reception field strength and stored. This process is carried out as long as until based on decision criteria described later a relevance check is considered to be fulfilled and the vehicle 1 recognized as relevant for the reference vehicle 0 becomes. In the same way, vehicles 2 to 4 are considered relevant vehicles recognized, creating one for the reference vehicle 0 relevant group of vehicles trained becomes. The training or relevance criteria for the training the relevant group of vehicles will be later described.

In this way, the reference vehicle receives 0 a variety of vehicle data from the column in front of him or relevant group of vehicles. Via an evaluation device the vehicle data of the relevant Vehicles evaluated and with the vehicle data of the reference vehicle 0 compared or related to each other. Depending on this comparison is now made the generation of a signal in the reference vehicle 0, the for example from a visible or audible display may exist to reduce speed. On this way, long before the visual contact to a relevant group of vehicles at an early stage Warning is given, causing accidents in a safe manner be avoided.

However, the generated signal value cannot only be an audible one or cause visible display in the reference vehicle 0, but also automatic braking or acceleration cause.

In this way, a method and a device are obtained to signal local traffic disruptions, that is extremely flexible and none at all permanently installed sensors or display devices required. The cost of such a signaling system of local traffic disruptions are therefore extraordinary low.

To increase the accuracy of the system, others can Vehicle data are recorded and transmitted. Such vehicle data are, for example, a deceleration value or acceleration value v, an instantaneous delay or acceleration of a particular vehicle Steering angle , which is an instantaneous steering angle of the respective vehicle indicates a directional value DIR, which, for example, uses a compass to determine the current represents the absolute direction of the respective vehicle, a position value POS, for example via a GPS system the current absolute position of each Vehicle indicates, or a brake signal value BRAKE, a current use of a braking device of the respective vehicle. In addition, a recognized group behavior value, for example the average speed of the entire group, as the vehicle date be sent out, creating a link between Groups result in superordinate groups can.

It is preferred to determine the relevant group from vehicles 1 to 4 a method for fractal Darwinian Object creation performed, such as it from German patent application DE 197 47 161 (registered on October 24, 1997). Here is one fractal, hierarchical object library especially to the Adapted to the requirements of traffic situations, whereby Property rules, for example, a specific driving situation determine the respective vehicle, context rules define the order within the group of vehicles and variation rules in the ongoing regrouping of vehicles, for example when overtaking, establish. The fractal, hierarchical object library owns typical traffic situations as basic objects, for example for driving on country roads, on motorways or in heavy city traffic. Typically one for each vehicle in a particular group A large number of vehicle data are examined at intervals, which, for example, changes the classification probability for a certain belonging to a Group or a specific position within a Group increased iteratively.

Because the use of the method for fractal Darwinian Object creation is a preferred method for Determine the relevant vehicles or vehicle groups the basic considerations below the fractal Darwinian object creation in general Played way.

Hereinafter, only two-dimensional are used Images considered as complex to be examined Structure or as objects with a complex context to be viewed as. Such structures to be examined However, the traffic situations described above can also be where the individual vehicles are located subordinate and superordinate objects or groups join together.

In the procedure described below, the detection and generating, for example, a traffic situation as a multiscale, fractal and evolutionary or Darwinian process understood. The single ones Objects of a traffic situation are considered as a kind treated by independent "living beings", which at the beginning of the The procedure itself is very vague, formal and unrealistic but if the procedure is carried out repeatedly change and become more concrete that they are always better adapt to a library of known objects, which, so to speak, form the wealth of experience of the computer.

The objects are structured hierarchically. Large or higher-level objects are therefore sub-objects or subordinate objects disassembled or smashed, while small or subordinate objects become too large or parent objects can be summarized. The procedure to adapt the objects to the object library thus on several levels (scales) instead. For this adjustment are compared to the object library a property rule for the objects and on the other hand Context rules between the objects as well as hierarchical ones Structures of importance.

Evolutionary algorithms are used to optimally adapt all objects and structures to create the most sensible solution. Among other things, the general Darwinian mechanisms are used, which are briefly described below:
Isolation, attraction

According to the present invention, isolation is to be understood as the delimitation of partial areas, for example of an image to be examined, from objects. This can be done by disassembling or smashing or segmenting according to certain algorithms. A method is preferably used for the segmentation, in which the similarity or affiliation between picture elements and picture segments is determined taking into account homogeneity criteria. Conversely, the small objects or subordinate objects can also be combined into large or superordinate objects. In this case, limiting this grouping to a certain number of group members corresponds to isolation. For example, a hierarchical object structure can be generated largely without knowledge and thus lead to a hierarchical abstraction of any given data set by combining smaller objects into larger objects if the application of a homogeneity criterion leads to a value that is below a threshold value. As a homogeneity criterion, for example, the difference between the size-weighted heterogeneity h of an object newly created by fusion or foundation and the sum of the heterogeneities of the original objects h ₁ or h ₂ weighted with the respective size n ₁ or n ₂ can be used. The difference .DELTA.h _weight of the weighted heterogeneity after and before, that is, registered in merging of two objects heterogeneity arises from the equation .delta.h wt = (n 1 + n 2 )H New - (n 1 H 1 + n 2 H 2 ) this difference should be as small as possible.

In particular, of all object pairs that are potentially eligible for a merger or foundation, those are those that have the smallest difference in weighted heterogeneity as a result of the merger or foundation. Where the difference of the weighted heterogeneity divided by the total size (.DELTA.h _wt ./. (N ₁ + n ₂₎₎ a certain predetermined threshold value, objects are fused at the merger. On the other hand, a new parent object is created while keeping, that is, storing in the object library, the smaller objects, that is, creating a new parent object when this difference in weighted heterogeneity divided by the total size is above a predetermined threshold. A subordinate object that is potentially interchangeable between two objects is always actually rearranged if this exchange or rearrangement results in the weighted heterogeneity of both objects according to the equation h _{weight after} <h _{weight before} ⇒
n _{1 after} h _{1 after} + n _{2 after} h _{2 after} <n _{1 before} h _{1 before} + n _{2 before} h _{2 before} is reduced.

This creates a hierarchical object structure Basic objects through foundations, smashing, fusion, dissolution, Subordination, grouping and regrouping of Objects. Here is a foundation where superordinate objects are generated, a smashing to Create subordinate objects opposite. The merger to create larger objects from a variety of Small objects represent the resolution to create smaller ones Objects from a large object. In the Subordination objects are captured and a parent Child object. In contrast, the Ungrouping a child from a parent Object ejected. When regrouping is done an exchange of subordinate objects.

The respective objects can be shared with other group members have special relationships. These relationships or context rules are also referred to as attractions. In static images, the attraction or the relationship in certain patterns with characteristic express relative distances, proportions or angles. In addition, each object has predetermined properties assigned, for example, their geometric Form in n-dimensional space in a condensed manner, reflect the color distribution, etc.

modifications

Which areas of a complex structure make sense is often to be called an object, as already mentioned in a first pass of the process not clearly definable. That is why disassembly takes place or assembling into objects from these areas in an iterative way. Objects are therefore provisional first created and later iteratively modified more specifically. Objects are changed in that Areas from them, such as subordinate objects, excluded or surrounding area, for example neighboring Objects to be incorporated. Another kind of Modification is the change of attractions or context rules.

A local modification of an object could be considered View mutation. But since there are different options from Variations from the local variation there will be the general one Term variation used.

Selection, fitness

When modifying the respective objects, their "Fitness" or "Classification probability" regarding the object library can be optimized. As a measure of theirs The similarity applies to fitness or classification probability of their bundled properties with the properties of objects from the prepared object library. There are a large number of possible objects in the object library with your possible properties or property rules filed, so significantly more objects than in the moment object to be examined (e.g. picture).

In addition, possible relationships or context rules the objects to each other, that is, their attraction in the Object library. The ones found in the picture Objects or structures then also have one more or less similarity, so the probability of classification to the possible attractions or context rules the corresponding objects in the object library.

Diversity, mating

A variety of objects can also serve as long-term memory and object structures are used. This means, that not only the absolute best (highest classification probability) of these objects or structures survived or continues to be used, but also less good objects (lower classification probability). Thereby go once found, but currently second-rate Opportunities not immediately lost. This diversity represents a memory for second or third class. This makes sense, as the second-rate in at the moment can be superior to a later development phase. The In addition to the variety of possible solutions Mutation another kind of variation possible. This one more Kind of modification is called "mating" or blending and Combining different solution structures.

reproduction

In nature through reproduction one "successful" living things the number of these kinds of living things increased. This will make the meaning of the special genetic codes increased since it is now parallel in two places can work. Do something similar at first Look for the objects when creating objects with a sequential working computers make no sense. With a dynamic System can do this at second glance be quite useful, even if it's one and the same Approach or the same object. In A dynamic system changes the environment of the Objects. That is why when it comes to object recognition and generation the importance of an object is increased by the fact that Object treated several times and thus the number increased virtually becomes. Are the reproduced objects beyond that modified, so it often makes sense to only one object plus the to store different modifications.

Clear

The number of possible solutions through reproduction does not grow too much and thus the optimization process slowed down unnecessarily, some of the solutions to be deleted.

Because the Darwinian algorithms are sometimes very specific are, it is not desirable to have all possible types of algorithms simultaneously for the whole to be examined Apply picture. Rather, it makes sense to start with the process or the "evolution" with very general formal algorithms to begin with. By comparison with the Object library becomes a first level of knowledge achieved, which can be used to target algorithms or use modification rules. This allows the Classification probability or fitness possibly increase. Preferably, more targeted Algorithms are used, which makes them increasingly sophisticated Objects with individual meaning and with always result in higher fitness or classification probability.

Below is the specialty of multiscale detailed of the method according to the invention, which is important for the analysis of complex structures Role play.

The similarity of an object to the object to be examined or the image with that of an object in the object library corresponds to a local fitness or local Classification likelihood. This local probability of classification is not enough, however, because even for objects with a very high fitness or classification probability ambiguity persists can, i.e. a similarly high local fitness or Classification probability for several objects of the Object library exists. Then often the context rules or the structure of the child objects of the the meaning of each object is only clearly recognizable.

Multiscale, that is, fractal approaches are therefore indispensable. The fractal treatment to be examined Structure, such as an image or one Traffic situation, therefore requires a fractal, hierarchical Object library, a fractal fitness or classification probability, a fractal variation and possibly a fractal reproduction and a fractal Clear. The fractal object library is a library in which not only the properties or property rules of objects, but also their possible inner and external relationships (internal and external context rules) and the modification rules are stored. This means that in the fractal object library is also stored, from which possible subordinate Objects the object can consist of, including the possible relationships of these subordinate objects, and in what relationships or contexts the object relates to parent objects. This is what it is about hierarchical information because the object is usually embedded in larger contexts and from subordinate objects with their special Relationships is established. From this hierarchical Structure can be compared to hierarchical structures hierarchical or fractal in the library Fitness or classification probability determined become.

Based on the local fitness or classification probability, resulting from the immediate comparison of the object with the objects of the object library builds on this local fitness becomes a fractal Fitness or classification probability calculated, resulting from local and hierarchical fitness composed. About the variation, these are fractal Classification probabilities optimized.

Figure 2 shows a further schematic representation of a Traffic situation, such as on a freeway exist.

Here, the reference symbol 0 again designates a reference vehicle, while the reference numerals 1 to 4 for the Reference vehicle 0 relevant vehicles or a relevant one Group of vehicles as they face in the direction of travel drive in front of the reference vehicle 0. The reference vehicle 0 has, for example, a maximum reception range, as indicated by the oval border. Within this maximum reception range is next to the relevant group of vehicles a variety of others Vehicles. On the one hand, reference numerals 5, 6, 10 denote and 12 the vehicles that are on the freeway in opposite directions Move direction, but also in the reception area of the reference vehicle 0. Furthermore denote the Reference numerals 7, 8, 9 and 11 vehicles, although in the drive in the same direction as the reference vehicle 0, but are behind it and therefore primarily not to be taken into account for the reference vehicle 0 or less are. All vehicles send and receive in more or less evenly spaced or continuously Vehicle data signals representing the respective vehicle data contain. Thus, for example, the reference vehicle goes 0 a variety of vehicle data, for example in Simplified form in table 4 shown are.

FIG. 4 shows a simplified representation of a tabular storage of the minimum vehicle data for the respective vehicles 0 to 12. In the left column, for example, the respective identification code of a received vehicle data signal is stored in binary form (0000 to 1100). The vehicle data received at times t _n-3 , t _n-2 , t _n-1 and t _n are stored in the further columns in the form of a speed value v and a respective reception field strength E.

The first line of the table according to FIG. 4 gives here the vehicle data of the reference vehicle 0, which as Comparison or as reference values for the other vehicle data serve. The reception field strength E is therefore not entered.

The table according to FIG. 4 will now be described in detail.

It is assumed that the reference vehicle has a speed v of 120 km / h. The vehicles 1 and 3 traveling in the right-hand lane of the motorway have the same speed v1 and v3 of 100 km / h, which is why they have increasing values for the reception field strengths for different times t _n-3 to t _n . The reception field strength increases because the distance to vehicles 1 and 3 is reduced due to the overtaking process by reference vehicle 0. In contrast, vehicles 2 and 4 have the same speed v2 and v4 of 120 km / h, which is why their reception field strength remains constant in proportion to the distance to reference vehicle 0.

The other values for the speed and the field strength of the others Vehicles 5 to 12. However, it should be noted that in particular the oncoming vehicles 5, 6, 10 and 12 due to the very high relative speed (for example v0 - v12 = 240 km / h) in the time pattern of the selected exemplary embodiment when passing through the maximum reception area of the reference vehicle 0 only one data value in the Leave memory, preferably as a ring memory is trained. This fact can be, for example, as Criterion for object recognition or object generation used to vehicles 5, 6, 10 and 12 as not exclude relevant group or as oncoming Classify group. In the same way, by appropriate Classification criteria a group of the following Vehicles 7, 8, 9 and 11 can be determined if for example a check of the respective delay times regarding the braking process or acceleration process takes place within the fixed group.

The group of vehicles relevant to the reference vehicle 0 1 to 4 is set in a similar manner. in this connection a more precise classification can take place, for example for vehicles immediately ahead 2 and 4 and vehicles 1 and 3 traveling in the adjacent lane. Classification in such a multitude of subordinate ones and higher-level groups or objects are carried out on the The usual fractal Darwinian described above Wise. If a group of vehicles, for example the Vehicles 2 and 4, classified as a particularly relevant group, for example, their respective group behavior by arithmetically averaging their average speed, their delay behavior, etc. determined and with the vehicle data of the reference vehicle 0 be compared. Based on this comparison there is now a signaling, for example in the form of known traffic symbols, i.e. speed limits, displayed or otherwise visually or acoustically are displayed. But there is also the possibility the group behavior of the relevant group in this way evaluate that when a certain limit is exceeded for example, automatic braking of the reference vehicle 0 is done. There are a lot in this regard other control measures conceivable, such as a control of steering or acceleration.

In the exemplary embodiment described above the important one for determining the objects or groups Parameters of the distance based on the reception field strength of the received radio signal determined. In addition to the reception field strength can also other signals or measured values than for Distance between the respective vehicles and the reference vehicle proportional values are used.

Figure 3 shows a block diagram of the device for Signaling local traffic disruptions according to a preferred one Embodiment.

In FIG. 3, reference numeral 10 denotes a transmission - respectively. Receiving antenna, the reference numeral 20 a Transmit / receive switch to separate the receive channel from the transmit channel, the reference numeral 30 a filter device with which the respective radio signals of the respective vehicles accordingly their identification code are filtered out, reference numeral 40 a receiver and reference numeral 50 a transmitter. The filter device 30 can in addition, a detector for detecting the reception field strength of the respective radio signal. The recipient 40 and the transmitter 50 are with a microprocessor 60 connected to the control of the transceiver takes over. Reference numerals 90 to 140 show a variety of detection devices that the respective vehicle data of the vehicle. Reference numeral 90 denotes a detection device for detection the use of a brake pedal. Reference numeral 100 denotes a detection device having a value Θ according to an instantaneous steering angle. Reference numeral 110 denotes a detection device, which the current speed value v of the vehicle. Reference numeral 120 denotes a detection device that detects an instantaneous acceleration or delay value v of the respective Vehicle indicates. In addition, the device according to Figure 3 have a compass 130, the direction signal DIR indicates that the current direction of travel of the respective Vehicle. Furthermore, a GPS system (global positioning system) can be used, which is an absolute Position value POS for specifying an instantaneous absolute position. The detection devices 90 to 140 are for example with an input port of the microprocessor 60 and output signals of the detection devices 90 to 140 are used as vehicle data either via the transmitter 50 and the antenna 1 the other vehicles sent out or for a comparison the received vehicle data with the local vehicle data used.

Reference numeral 70 denotes a first storage device, in the example shown in Figure 4 Table can be filed. Preferably there is first storage device 70 from a ring buffer, the Storage locations repeated at predetermined intervals to be discribed. This can ensure, for example that the last received Vehicle data is stored in the first storage device 70 are.

In the event that a fractal Darwinian object creation as a procedure for determining the relevant group is used by vehicles, the device for Signaling of local traffic disruptions also a second storage device 80. In this second storage device 80 is then the fractal hierarchical Object Library.

The first storage device 70 and the second storage device 80 are via a bus system 170 with the microprocessor 60 connected, causing a data exchange is guaranteed. Provides the microprocessor during the evaluation the vehicle data states that the group behavior contradicting its relevant relevant group his own vehicle data, for example the speed the relevant group is significantly less than that Speed of its associated vehicle signaling either via the display device 150 or via a control device 160. In the display device 150 the respective signal becomes visible and / or audibly displayed, preferably the known characters can be used for a speed limit. In addition, there is a possibility that the Control device 160, for example, an automatic one Emergency braking is initiated when the evaluation of the received vehicle data with the local vehicle data results in an acute dangerous situation.

Such an acute dangerous situation can also be caused by an additional emergency signal that has a higher priority, sent out to the other vehicles, thereby in a particularly effective way, for example Mass collapse of vehicles can be prevented. Around to ensure maximum spread of the emergency signal, the receiver 40 has a threshold value decider which only emergency signals below a certain reception field strength evaluates and via the microprocessor 60 and sends the transmitter 50 out again, which makes results in a repeater function. Here it has again and amplifies the distress signal emitted the same identity code like the vehicle that originally made the distress signal sent out.

Because of the repeater function an extraordinary high reach beyond the respective groups each vehicle can be a relevance test for itself regarding the received emergency signal. It is checked whether the vehicle that issued the emergency signal originally sent out, belongs to a group, that are in no way relevant to the respective vehicle can be. A repeater function would be used in this case not done.

The ignition key preferably activates transmitters and Receiver of the respective vehicle. With that belong the parking Vehicles do not automatically belong to the relevant groups of vehicles.

• gezieltes Erweitern oder Einschränken der Sendeund/oder Empfangsreichweite;
• Weitersenden von empfangener Information, das heißt von Fahrzeugdaten (da die Information immer wieder weitergegeben werden kann, ist eine enorme Reichweite denkbar.)
• gezieltes Ansprechen eines Fahrzeugs oder einer Gruppe mit bestimmter Eigenschaft. Dies kann durch das Mitsenden der Identifikationscodes der anzusprechenden Fahrzeuge geschehen, indem ein Sendefahrzeug die Empfänger mit einer bestimmten Eigenschaft anspricht wie zum Beispiel alle seiner maximalen Gruppe, die hinter dem jeweiligen Fahrzeug fahren (Sender bestimmt Gruppe direkt), oder durch Aussenden indirekter Informationen wie zum Beispiel "An alle Fahrzeuge, die in die gleiche Richtung wie das Bezugsfahrzeug fahren" (Empfänger entscheidet, ob er angesprochen ist).
• Bildung von Unter- und/oder Übergruppen, die jedes Fahrzeug für sich individuell immer wieder auf das Neue bestimmt. Hierbei wird die Übergruppe durch Interpretation weitergeleiteter Informationen gebildet: Gruppen in der Nähe des Bezugsfahrzeugs oder nahe Gruppen gleicher Fahrtrichtung, wobei eine Gruppe alle Fahr-zeuge im eingestellten Empfangsbereich darstellt und eine Untergruppe beispielsweise alle dem Bezugsfahrzeug und dessen Gruppe entgegenkommenden Fahrzeuge, alle Fahrzeuge der Gruppe des Bezugsfahrzeugs mit gleicher Fahrtrichtung, alle mit ähnlichem Fahrverhalten (zum Beispiel Geschwindigkeit), alle Fahrzeuge, die hinter oder vor dem Bezugsfahrzeug sind, usw. darstellen. Untergeordnete Untergruppen werden zum Beispiel durch alle Fahrzeuge gebildet, die hinter dem Bezugsfahrzeug sind und beschleunigen, usw.
• Bildung von Unter- und/oder Übergruppen, die sich dynamisch nach vorgegebenen Regeln (zum Teil in Absprache zwischen den Fahrzeugen) global ausbilden. Die globale Segmentierung (fraktal hierarchische Gruppierung hat den Vorteil, daß Gruppensprecher bestimmt werden können, die relevante Informationen zwischen den Gruppen austauschen.

Due to the limited transmission or reception range, a maximum group of vehicles to be considered has already been generated for each vehicle. However, this group can be expanded or restricted depending on the need or situation, for example by:

• targeted expansion or limitation of the transmission and / or reception range;
• Forwarding of received information, i.e. vehicle data (because the information can be passed on again and again, an enormous range is conceivable.)
• targeting a vehicle or group with a specific characteristic. This can be done by sending the identification codes of the vehicles to be addressed, by a sending vehicle addressing the receivers with a certain property, such as all of its maximum group that are driving behind the respective vehicle (transmitter determines group directly), or by sending indirect information such as Example "To all vehicles that drive in the same direction as the reference vehicle" (recipient decides whether he is addressed).
• Formation of sub-groups and / or super-groups, which each vehicle determines for itself individually again and again. Here, the super-group is formed by interpreting forwarded information: groups in the vicinity of the reference vehicle or close groups in the same direction of travel, with one group representing all vehicles in the set reception area and a sub-group, for example, all vehicles approaching the reference vehicle and its group, all vehicles in the group of the reference vehicle with the same direction of travel, all with similar driving behavior (for example speed), all vehicles that are behind or in front of the reference vehicle, etc. Subordinate subgroups are formed, for example, by all vehicles that are behind the reference vehicle and accelerate, etc.
• Formation of sub-groups and / or super-groups, which form dynamically globally according to predetermined rules (partly in consultation between the vehicles) The global segmentation (fractal hierarchical grouping has the advantage that group speakers can be identified who exchange relevant information between the groups.

• Bestimmung des relativen Abstands (Bezugsfahrzeug - anderes Fahrzeug):
• durch Messung der Feldstärke;
• durch zeitliche Analyse der Fahrmuster (zum Beispiel das jeweilige Fahrzeug bremst immer eine Sekunde vor dem Bezugsfahrzeug. Bei einer Geschwindigkeit von ... macht das ...);
• durch Abstandsmesser.
• Bestimmung der relativen Fahrtrichtung des Fahrzeugs, von dem die Information empfangen wurde:
• durch Messung der Zu- oder Abnahme der Feldstärke;
• durch Messung des Dopplereffekts (wenn relative Position bestimmt ist);
• durch zeitliche Analyse der Fahrmuster;
• durch Empfangen von absoluten Richtungsdaten (zum Beispiel Kompaß) und Vergleich mit den eigenen Richtungsdaten (des Bezugsfahrzeugs).
• Bestimmung der relativen Position (vor Bezugsfahrzeug - hinter Bezugsfahrzeug):
• durch Messung von Geschwindigkeitsdifferenzen (Bezugsfahrzeug - jeweiliges Fahrzeug) und Vergleich mit Abstandsänderungen. Ist das jeweilige Fahrzeug schneller als das Bezugsfahrzeug und ist das jeweilige Fahrzeug hinter dem Bezugsfahrzeug, muß der Abstand des jeweiligen Fahrzeugs zu dem Bezugsfahrzeug kleiner werden;
• durch zeitliche Analyse der Fahrmuster (zum Beispiel das jeweilige Fahrzeug bremst meistens vor dem Bezugsfahrzeug, also fährt es vor dem Bezugsfahrzeug);
• durch Peilsender oder -empfänger.
• Bestimmung der Fahrspur (Überholspur oder falsche Seite der Autobahn):
• durch Sender an den Straßenrändern und Vergleich der Feldstärken: falsch, richtig - links, rechts; durch zeitliche Analyse der Fahrmuster.

The following parameters can be determined to determine the information required to form a group:

• Determination of the relative distance (reference vehicle - other vehicle):
• by measuring the field strength;
• by temporal analysis of the driving patterns (for example, the respective vehicle always brakes one second in front of the reference vehicle. At a speed of ... that does ...)
• by distance meter.
• Determining the relative direction of travel of the vehicle from which the information was received:
• by measuring the increase or decrease in field strength;
• by measuring the Doppler effect (when relative position is determined);
• by temporal analysis of driving patterns;
• by receiving absolute directional data (e.g. compass) and comparison with your own directional data (of the reference vehicle).
• Determination of the relative position (in front of reference vehicle - behind reference vehicle):
• by measuring speed differences (reference vehicle - respective vehicle) and comparison with changes in distance. If the respective vehicle is faster than the reference vehicle and the respective vehicle is behind the reference vehicle, the distance between the respective vehicle and the reference vehicle must be smaller;
• by temporal analysis of the driving patterns (for example, the respective vehicle usually brakes in front of the reference vehicle, i.e. it drives in front of the reference vehicle);
• by direction finder or receiver.
• Determining the lane (fast lane or wrong side of the motorway):
• by transmitter on the side of the road and comparison of the field strengths: wrong, right - left, right; through temporal analysis of driving patterns.

Furthermore, by limiting the reception or Transmission range, especially when using "burst" transmitters, the probability of receiving at the same time different transmitters can be kept small. This procedure has the disadvantage, however, that the number of received Information could become too small.

Therefore, coordinating the transmitters can be more advantageous his. This can be done by synchronizing or a "group tuning" of the transmitters happen. The synchronization can, for example, centrally using the radio clock signal happen.

According to a preferred embodiment, is defined in Send blocks sent. After every block there is a pause before the next vehicle can send. If If there is a group, the transmitters can choose one Define the order of their transmission blocks. For example, the Order in which the transmitters entered the group are.

Groups that come too close to each other and each other can interfere with each other with regard to a transmit clock are "merged" if they match (for example, the same Direction of travel) and therefore the group is not too big becomes. When merging, for example, the order within of the original groups and the Group, one of the members of which was first the merger has proposed to send first and then the second Group. If the group became too big through a merger or the two groups don't fit well together (for example Oncoming traffic), it must nevertheless be ensured that they do not send at the same time. This can be done, for example, using a "Zipper procedure" happen. This means that dependent how many groups meet, each the groups the transmission pauses between the individual programs so enlarged that the members of the other groups fit in between.

But there is often a rather continuous flow of traffic, which can be branched like a network. Not there all vehicles in a large network are synchronized with each other groups must be created artificially become. This can be done according to a fractal hierarchical method happen. Vehicles can be grouped together, vehicles be accepted by a group, merge groups, Group leaders are determined, groups smashed and / or supergroups are formed. If one If a sender approaches a group, he can use his group (if available) can be incorporated by pausing in the broadcast the other his concern to be accepted, Sparks.

Broadcast breaks are not just for enabling the Group dynamics, but also for sending a signal (Emergency signal) with high priority (accident, full braking) necessary.

Another way of creating synchronization groups would result from a special pair synchronization:

It is assumed that there is a group to which someone belongs would like to join. Every newcomer receives first once until he can assess the situation and reports then in a broadcast pause. The order of all involved then shifts.

Has the group entered in front of the reference vehicle Vehicle has the send number n, so the reference vehicle the transmission number n plus 1. Is n plus 1 above one Threshold, the reference vehicle is number one, however with a phase shift of 180 degrees. The Reference vehicle thus represents the first member of the second Group represents. The reference vehicle then sends in the enlarged Transmission breaks of the vehicles in front. The transmitter behind the reference vehicle is number 2 with 180 Degree phase. If in the group of the reference vehicle the number is reached, continue with number 1 and 0 degree phase of a third group. Third and first Group now send synchronously. If they are far enough from each other are distant, they don't bother each other.

Whenever groups should disturb each other, this happens "Zipper Procedure" in effect.

To prevent neighboring groups from becoming too much could also disrupt instead of those described above Phase shift of the transmission clocks the transmission frequencies can be easily moved so that adjacent groups (just like that) can no longer receive. So nevertheless information from one group to another Speakers of the groups can be determined (for example, the last Vehicles), which then operate on multiple frequencies work at the same time.

Claims (19)

1. A method for signaling local traffic disturbances, comprising the following steps which are performed in a reference vehicle:

   determining a maximum group of vehicles (1 to 12) to be examined associated with a reference vehicle (0) through reception of at least one individual vehicle data signal,

   repeatedly evaluating the at least one individual vehicle data signal and storing as individual vehicle data of at least one vehicle (1 to 12) from among the maximum group of vehicles (1 to 12) to be examined;

   determining at least one group of vehicles (1 to 4) having relevance for the reference vehicle (0) within the maximum group of vehicles (1 to 12) to be examined by evaluating the individual vehicle data;

   determining a group behavior of the at least one relevant group of vehicles (1 to 4) by evaluating the respective individual vehicle data of vehicles (1 to 4) within the relevant group of vehicles; and

   signaling information corresponding to the group behavior of the at least one relevant group of vehicles (1-4),

   characterized in that:

   relevant vehicle data is passed on to other vehicles and groups of vehicles.
2. The method according to claim 1, characterized in that determination of the at least one relevant group of vehicles (1 to 4) is performed with the aid of a method for fractal-darwinian object generation which consists of the following steps:

   preparing the fractal, hierarchical object library with predetermined objects and related property, context and modification rules;

   forming basic objects in a hierarchical object structure including subordinate and superordinate objects;

   comparing the basic objects with the objects of the fractal, hierarchical object library, wherein a respectively formed basic object is evaluated to be unknown if no corresponding object having the corresponding property rules exists in the object library, and wherein a local classification likelihood is allocated to the respective formed basic object having the property rule if a corresponding object exists in the fractal, hierarchical object library, or several local classification likelihoods are allocated to the basic object having said property rule if several corresponding objects exist in said fractal, hierarchical object library;

   applying said context rules to respective objects in order to form and calculate respective fractal classification likelihoods;

   applying said alteration rules to respective objects in order to optimize the fractal classification likelihoods; and

   iterative execution of the steps of applying the context rules and the alteration rules for stepwise improvement of the fractal classification likelihoods.
3. The method according to claim 1 or 2, characterized in that the maximum group of vehicles (1 to 12) to be examined associated with the reference vehicle (0) is determined through a maximum reception range of its receiver (40).
4. The method according to claim 3, characterized in that the maximum reception range is a variable range of the receiver which is set in dependence on a determined traffic density and/or a reception disturbance resulting from overlap of the received vehicle data signals.
5. The method according to any one of the preceding claims, characterized in that the individual vehicle data comprise:

   an identification code (IC) for identifying a respective vehicle;

   a velocity value (v) for indicating the current speed of the respective vehicle; and

   a distance parameter- for indicating a distance between the reference vehicle (0) and the respective vehicles (1 to 12) from among the maximum group of vehicles (1 to 12) to be examined.
6. The method according to claim 5, characterized in that the individual vehicle data further comprise:

   a deceleration/acceleration value (v) for indicating a current deceleration/acceleration of the respective vehicle; and/or

   a steering angle () for indicating a current steering angle of the respective vehicle; and/or

   a 'direction value (DIR) for indicating a current absolute direction of the respective vehicle; and/or

   a position value (POS) for indicating a current absolute position of the respective vehicle; and/or

   a brake signal value (BREMS) for indicating a current use of a brake device of the respective vehicle; and/or

   group behavior values for indicating the current group behavior of a group of vehicles to be examined associated with the respective vehicle; and/or

   an emergency signal value for indicating a current emergency situation of the respective vehicle.
7. The method according to claim 6, characterized in that in accordance with a combination of predetermined individual vehicle data of a respective vehicle, the emergency signal having priority over the individual vehicle data value is generated.
8. The method according to any one of the preceding claims, characterized in that, depending on the signaled information, vehicle control is performed in the reference vehicle (0) by means of a control device (160).
9. The method according to claim 8, characterized in that the control is an engine control and/or a brake control.
10. Apparatus for signaling local traffic disturbances for use in a reference vehicle, including:

    detection means (90 to 140) for detecting local vehicle data of the reference vehicle which are to be transmitted;

    a transmitting/receiving device (10 to 50) for transmitting/receiving radio signals containing respective vehicle data to be transmitted/received;

    an evaluation device (60) for evaluating the data of a maximum data group to be examined, whereby at least one relevant data group is determined;

    a determining device (60) for determining a signal value in accordance with the data of the at least one relevant data group and the local vehicle data of the reference vehicle; and

    signaling means (150, 160) for signaling the determined signal value,

    characterized in that it further comprises:

    a field strength detection means (30 to 40) for detecting a respective field strength of the respective received radio signals; and

    memory means (70) for storing the respective received vehicle data as the maximum data group to be examined in accordance with an identity code (IC) allocating each radio signal to its respective transmitting vehicle, a time value, and the reception field strength of the respective radio signal, wherein

    relevant vehicle data is passed on from the reference vehicle to other vehicles and groups of vehicles.
11. The apparatus according to claim 11, characterized in that it comprises further memory means (80) for storing a fractal, hierarchical object library with the aid of which the at least one relevant data group is determined.
12. The apparatus according to claim 10 or 11, characterized in that said detection means comprises a brake signal sensor (90), a steering angle sensor (100), a velocity sensor (110), an acceleration/deceleration sensor (120), a direction sensor (130), a position sensor (140) and/or an emergency signal sensor.
13. The apparatus according to any one of claims 10 to 12, characterized in that said detection means (90 to 140) comprises a group behavior value determining device indicating the current group behavior of a relevant group of vehicles associated with the respective vehicle.
14. The apparatus according to any one of claims 10 to 13, characterized in that said signaling means is an indicator means (150) for audibly and/or visually representing the determined signal value.
15. The apparatus according to any one of claims 10 to 14, characterized in that said signaling means is a control device (160) for performing engine control and/or brake control.
16. The apparatus according to any one of claims 10 to 15, characterized in that said transmitting/receiving device comprises a detector device for recognizing a received emergency signal and passing on a corresponding amplified emergency signal when the reception field strength is below a specific reception field strength.
17. The apparatus according to claim 16, characterized in that the received emergency signal presents an emergency signal value and/or group behavior values of the vehicle emitting the emergency signal.
18. The apparatus according to claim 17, characterized in that it comprises an emergency signal evaluation device for evaluating the group behavior values associated with the emergency signal and adding them to the emergency signal to be passed on.
19. The apparatus according to claim 19, characterized in that the group behavior value pertaining to the emergency signal is a distance between the vehicle transmitting the emergency signal and the vehicle receiving the emergency signal, and the evaluation device adds up the respective distances into a total distance when passing on the emergency signal.

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