EP3182394B1 - Control device and control method for monitoring and controlling a traffic section - Google Patents

Control device and control method for monitoring and controlling a traffic section Download PDF

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Publication number
EP3182394B1
EP3182394B1 EP16204615.5A EP16204615A EP3182394B1 EP 3182394 B1 EP3182394 B1 EP 3182394B1 EP 16204615 A EP16204615 A EP 16204615A EP 3182394 B1 EP3182394 B1 EP 3182394B1
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EP
European Patent Office
Prior art keywords
traffic
traffic participant
participant
section
predetermined
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EP16204615.5A
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German (de)
French (fr)
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EP3182394A3 (en
EP3182394A2 (en
Inventor
Akshay Singh
Ralf Junghans
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SWARCO Traffic Systems GmbH
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SWARCO Traffic Systems GmbH
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Publication of EP3182394A2 publication Critical patent/EP3182394A2/en
Publication of EP3182394A3 publication Critical patent/EP3182394A3/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered

Definitions

  • autonomous vehicles no longer allow passengers to intervene in the driving process.
  • Responsibility particularly in traffic zones, for example within signalized intersections, for example in the case of autonomous vehicles that have broken down or been involved in a traffic accident, could shift to vehicle manufacturers and vehicle workshops.
  • vehicles with electric drives the particular risk potential arises in particular from the fact that dealing with the charge status of the vehicle's energy source (e.g. filling level of an accumulator/battery) for the electric drive is not easy for every driver to master.
  • Situations may arise in which a driver of an electric drive vehicle searches for a charging opportunity due to a low state of charge of the energy source, while the state of charge continues to decrease until operation of the electric drive is no longer possible. If this event occurs before a charging option is found, such an electric vehicle can become stranded without the possibility of restarting.
  • This can also be done with the following
  • the disadvantages described occur in traffic zones, for example within signalized intersections.
  • the operator must ensure smooth and effective traffic flow in an intersection area.
  • the responsibility of such a traffic signal operator is also affected. In particular, this can increase.
  • the operator must also ensure smooth and effective traffic flow with a vehicle mix that includes autonomously or semi-autonomously controlled vehicles and/or vehicles with electric drives.
  • the intermediate and clearing times are designed in such a way that this requirement is met.
  • autonomous vehicles and vehicles with electric drives cannot simply be removed from the basic clearance area (or from a relevant area) in the event of a technical defect, for example, and can pose an increased safety risk, particularly at intersections with high entry speeds and/or poor visibility.
  • US 8,547,250 B1 a network of sensors for detecting vehicles and an associated control center for traffic signal control.
  • the control center can inform vehicles about (legal) traffic restrictions in the area of the vehicle and can also independently record and punish traffic violations by vehicles.
  • the invention specified in claim 1 is based on the object of providing traffic control taking into account the traffic safety-related challenges of the use or operation of autonomously and semi-autonomously controlled vehicles or vehicles with electric drives. According to a first aspect of the invention, the object is achieved by the features specified in claim 1.
  • the object is achieved by the features specified in claim 2.
  • the object is achieved by the features specified in claim 3.
  • the advantages achieved with the invention are, in particular, that traffic safety is improved or not worsened, even taking into account vehicle mixes that contain autonomously or semi-autonomously controlled vehicles and/or vehicles with electric drives.
  • the road user data of a respective road user can include not only position data of the respective road user but also other data linked to their traffic participation, such as speed data of the respective road user, acceleration data of the respective road user, and direction of travel data of the respective road user.
  • Triggering the signaling includes, for example, the decision about the signaling, the generation of control signals and their transmission.
  • control device further has a logging device which logs the fusion data of the respective road users on trajectories of the respective road users. If the anomaly occurs, the trajectories of road users located in the traffic section are predetermined The period of time before the anomaly occurred is taken into account. According to an advantageous development, the trajectories are taken into account by the triggering device when triggering the predetermined signaling.
  • the logged fusion data can also be used for analysis purposes.
  • the logged trajectories of the respective road users can also include, for example, information regarding the speed, acceleration and/or direction of movement of the respective road users.
  • the predetermined signaling consists of a flashing of a traffic signal system, a red light of the traffic signal system, an infrastructure-side warning display and a notification using car-to-infrastructure technology.
  • the predetermined signaling is not limited to this and may include any measures that can convey knowledge of the increased risk potential to road users and traffic management/traffic control components.
  • Car-to-infrastructure also known as C2I, is a technology for the wireless exchange of information and data between motor vehicles and elements of a transport infrastructure.
  • Elements of a traffic infrastructure include, but are not limited to, guide posts, street lamps, traffic lights and control cabinets.
  • Each of the predetermined road user types mentioned can be assigned a specific risk potential (for themselves or for other road users). For example, a broken down autonomously controlled vehicle poses particular dangers for incoming vehicles and their occupants. In contrast, a pedestrian who is still on a pedestrian crossing is particularly at risk.
  • the sensor device is one of a camera, a radar sensor, a lidar sensor, and an ultrasonic sensor, but is not limited to this.
  • the receiving device receives wirelessly using Car-to-X technology.
  • the fusion data of the respective road users include historical data from past points in time.
  • control device further has a prediction device which predicts future position data of the respective road users based on the historical data of the fusion data of the respective road users.
  • the object is achieved by the features specified in claim 10.
  • the object is achieved by the features specified in claim 11.
  • the object is achieved by the features specified in claim 12.
  • a seventh aspect of the invention the problem described above is also solved by the features listed in claim 13, in particular by a traffic signal system with a control device according to the first aspect of the invention.
  • a control device 10 according to the invention comprises a sensor device 11, a receiving device 12, a merging device 13, and a locking device 14.
  • the sensor device 11 scans the traffic section.
  • the receiving device 12 receives road user data from road users wirelessly, the road user data of a respective road user comprising position data of the respective road user and information associated with the position data relating to a road user type of the respective road user.
  • the merging device 13 maintains the position data of the respective road user and scanning information from the sensor device to form fusion data of the respective road user.
  • the detection device 14 determines, based on the fusion data of the respective road users and the information regarding the road user type of the respective road users, whether there is an anomaly in a presence history of a road user of a predetermined road user type in the traffic section.
  • Figure 3 shows a control method for a traffic control system with scanning the traffic section (S31), wireless reception (S32) of road user data from road users, the road user data of a respective road user comprising position data of the respective road user and information associated with the position data relating to a road user type of the respective road user, and merging (S33) the position data of the respective road user and from scanning information of the sensor device to fusion data of the respective road user, and with a determination (S34), based on the fusion data of the respective road user and the information regarding the road user type of the respective road user, whether an anomaly in a presence history of a road user of a predetermined road user type is present in the traffic section.
  • the procedure according to Figure 3 can be used by a device according to Figure 1 can be carried out, but is not limited to this.
  • the device according to Figure 1 can follow the procedure Figure 3 perform, but is not limited to.
  • control device 10 is in particular not based on the in Figure 1 limited to the elements shown.
  • control device 10 can additionally have a triggering device 21, a logging device 22, and/or a prediction device 23, as in Figure 2 shown schematically.
  • Autonomous vehicles are gradually being introduced through partial automation in a variety of areas, for example as robo-taxis/mini-buses, autonomous vehicles with electric drives, and in car sharing with an expanded business model (e.g. vehicles that move autonomously to an orderer/renter of the vehicle). ).
  • the object on which this invention is based is also characterized by the fact that legal changes, particularly with regard to responsibility, are to be expected from the new vehicle mix with autonomously controlled and/or electrically driven vehicles. If such a vehicle breaks down, the increased risk of an accident is a criterion for a monitoring and warning response, including intervention in its control.
  • the operator of a traffic signal system (LSA) and, for example, a responsible road construction authority/civil engineering authority will have an increased partial responsibility for these vehicle classes (especially for autonomous vehicles) compared to classic vehicle operation with individual driver responsibility, namely to keep the traffic flow safe and to react adequately to irregularities.
  • This response may include, for example, warning, controlling, and/or reporting.
  • such a check can be extended beyond the clearing time consideration to include cleared fords/lanes (green signal) or the monitoring of fords/lanes that are closed during these periods (red signal).
  • other traffic-related areas/spaces can also be subject to the control according to the invention, for example parking lots or other safety zones such as expressway entrances.
  • a traffic light system with at least one light signal unit 40 (e.g. a traffic light) and possibly further light signal units 40a, 40b (indicated by dashed lines) as well as with the control device 10 described above, which is connected to at least the light signal unit 40.
  • a traffic light system with at least one light signal unit 40 (e.g. a traffic light) and possibly further light signal units 40a, 40b (indicated by dashed lines) as well as with the control device 10 described above, which is connected to at least the light signal unit 40.
  • safety can be increased, for example at signalized intersections for the vehicle mix described.
  • C2X is a generic term for communication technologies in automotive and traffic technology and includes, for example, vehicle-to-vehicle communication (C2C, car-to-car) and vehicle-to-infrastructure communication (C2I, car-to-infrastructure).
  • C2C vehicle-to-vehicle communication
  • C2I vehicle-to-infrastructure communication
  • a road side unit For C2X, for example, a road side unit (RSU) is provided at potential locations (e.g. LSAs in urban areas, route stations in interurban areas) that supports bidirectional data traffic with vehicles and can pre- and/or post-process the data and a Communication to central services or control centers is enabled.
  • RSU road side unit
  • LSAs can be used, which, for example, provide a local signal time prediction for vehicles.
  • Tracking data tracking data, for example global position coordinates every second, e.g. GPS, GNSS, Galileo, GLONASS, Beidou
  • GNSS global position coordinates every second
  • Galileo Galileo
  • GLONASS Beidou
  • a control unit of a traffic signal system (e.g. control device 10), for example at a road intersection, can continuously monitor the vehicle coordinates (e.g. global position system-based, vehicle sensor-based) of vehicles (in particular highly automated and/or autonomously controlled vehicles and/or electrically driven vehicles) inside and outside of the signalized intersection area via a wireless communication network.
  • the control unit can then, if necessary, estimate the further course of a vehicle until it leaves the intersection area (leaving the intersection area), taking into account a lane assignment and/or movement patterns (trajectories) as well as a traffic situation prevailing in the intersection area.
  • information about the position of road users information regarding their speed, acceleration and/or direction of movement can also be used.
  • the estimation can take into account oversaturation at subsequent intersections and the resulting backlogs up to the current (signalized) intersection.
  • infrastructure-side sensors e.g. sensor device 11
  • a monitoring functionality or monitoring functionality in the area e.g. camera, radar, or combinations of such technologies
  • a monitoring functionality or monitoring functionality in the area e.g. camera, radar, or combinations of such technologies
  • movement patterns and presence statements deliver to the vehicles.
  • An intelligence functionality can be provided to monitor objects on/in areas/rooms.
  • an algorithm in a sensor used can make it possible to track objects (e.g. vehicles, pedestrians, Cyclists) and to determine their standstill or their (further) movement.
  • Sensors used for this are preferably sensors based on radar technology that are provided in a stationary manner. This also allows detection areas to be configured virtually. Furthermore, areas that should not be recorded or taken into account and/or hidden can be configured.
  • a fusion unit or calculation and fusion unit e.g. merging device 13
  • the control unit of the traffic signal system can fuse the two data sources, wireless reception of vehicle coordinates and sensory detection of vehicles.
  • control unit can be able to display a corresponding (special) signal image for all road users in real time (e.g. all signals are stopped to red, or all signals flash yellow) to make road users aware of the special situation (which poses a specific or increased safety risk).
  • a corresponding (special) signal image for all road users in real time (e.g. all signals are stopped to red, or all signals flash yellow) to make road users aware of the special situation (which poses a specific or increased safety risk).
  • special messages can be generated and transmitted in parallel using C2X technology, for example to other vehicles and to control centers.
  • trajectory information from vehicles can be mapped or assigned (mapping) to an area (e.g. basic clearance area of intersections, parking spaces, safety zones) if this area is monitored across the board with appropriate sensors.
  • area e.g. basic clearance area of intersections, parking spaces, safety zones
  • an LSA-side control reaction is used to determine this circumstance based on the historical trajectories from C2X and the sensor data from the area monitoring and then to determine the vehicle position with a C2X Identification (e.g. information regarding the type of road user, unique road user information).
  • C2X Identification e.g. information regarding the type of road user, unique road user information.
  • the determined position and the interference potential then lead to a reaction from the controller.
  • special signal images can be switched and the circumstance (or the danger posed by it) can be reported via C2X to a control center and/or other road users (in a certain area).
  • C2X does not have to be limited to vehicle-related communication alone, but can also include personal communication (pedestrians, cyclists), for example. This means, for example, approaching weak road users (pedestrians, cyclists) can be prioritized or taken into account by LSA safety circuits. Furthermore, traffic areas intended for these weak road users (e.g. pedestrian fords, bicycle lanes) can be monitored in accordance with the principle described above.
  • security in certain traffic zones can be increased even if wireless communication means are not available or are not reliably available for a short or long time.
  • the communication infrastructure of mobile phone providers (or alternatively mobile Internet) is used for the wireless transmission of road user data from road users (vehicle-to-infrastructure communication, e.g. position data from road users to the infrastructure, warning messages from the infrastructure to road users), failures or impairments will result
  • road user data from road users
  • vehicle-to-infrastructure communication e.g. position data from road users to the infrastructure, warning messages from the infrastructure to road users
  • Suitable measures may include, for example, that if a failure of these communication devices and paths is detected, a warning is issued to surrounding road users and/or a control center, and/or that if a failure of these communication devices and paths is detected, the determination of the existence of an anomaly in a presence history Road user of a predetermined type of road user in the traffic section is carried out only based on results of the sensor device and optionally further auxiliary data.
  • improvements in terms of safety can also be achieved from the approach according to the invention, for example at signalized intersections, even with a vehicle mix without autonomous and/or electrically driven vehicles.
  • the detection of vehicles that disrupt traffic flow and especially of vehicles that have broken down and/or are driving the wrong way in the basic area using infrastructure-based sensors fundamentally increases safety at signalized intersections or in traffic areas in general.

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Description

Im Automobilbereich gibt es Entwicklungen hin zu autonom und teilautonom gesteuerten Fahrzeugen und Fahrzeugen mit Elektroantrieb.In the automotive sector, there are developments towards autonomous and semi-autonomous controlled vehicles and vehicles with electric drives.

Eine Einführung und ein Betrieb solcher autonom und teilautonom gesteuerter Fahrzeuge oder Fahrzeuge mit Elektroantrieb insbesondere im urbanen Bereich werfen rechtliche und vor allem sicherheitsrelevante Probleme auf.The introduction and operation of such autonomously and semi-autonomously controlled vehicles or vehicles with electric drives, especially in urban areas, raise legal and, above all, safety-related problems.

Insbesondere autonome Fahrzeuge (autonom gesteuerte Fahrzeuge) lassen keinerlei Eingriff von Passagieren in den Fahrablauf mehr zu. Die Verantwortlichkeit insbesondere in verkehrlichen Zonen beispielsweise innerhalb signalisierter Kreuzungen z.B. bei liegen gebliebenen oder in einen Verkehrsunfall verwickelten autonomen Fahrzeugen könnte sich hin zu Fahrzeugherstellern und Fahrzeugwerkstätten verschieben. Vergleichbares könnte für Fahrzeuge mit Elektroantrieb gelten. Bei Fahrzeugen mit Elektroantrieb rührt das besondere Gefährdungspotential insbesondere daher, dass der Umgang mit dem Ladezustand der fahrzeugseitigen Energiequelle (beispielsweise Füllstand eines Akkumulators/einer Batterie) für den Elektroantrieb nicht für jeden Fahrer einfach zu beherrschen ist. Es können Situationen auftreten, bei denen ein Fahrer eines Fahrzeugs mit Elektroantrieb aufgrund eines geringen Ladezustands der Energiequelle nach einer Lademöglichkeit sucht, während sich der Ladezustand weiter verringert, bis ein Betrieb des Elektroantriebs nicht mehr möglich ist. Tritt dieses Ereignis auf, bevor eine Lademöglichkeit gefunden ist, kann ein solches Fahrzeug mit Elektroantrieb ohne Neustartmöglichkeit liegenbleiben. Dies kann auch mit den nachstehend beschriebenen Nachteilen in verkehrlichen Zonen beispielsweise innerhalb signalisierter Kreuzungen auftreten.In particular, autonomous vehicles (autonomously controlled vehicles) no longer allow passengers to intervene in the driving process. Responsibility, particularly in traffic zones, for example within signalized intersections, for example in the case of autonomous vehicles that have broken down or been involved in a traffic accident, could shift to vehicle manufacturers and vehicle workshops. The same could apply to vehicles with electric drives. In vehicles with electric drives, the particular risk potential arises in particular from the fact that dealing with the charge status of the vehicle's energy source (e.g. filling level of an accumulator/battery) for the electric drive is not easy for every driver to master. Situations may arise in which a driver of an electric drive vehicle searches for a charging opportunity due to a low state of charge of the energy source, while the state of charge continues to decrease until operation of the electric drive is no longer possible. If this event occurs before a charging option is found, such an electric vehicle can become stranded without the possibility of restarting. This can also be done with the following The disadvantages described occur in traffic zones, for example within signalized intersections.

Betreiber von Lichtsignalanlagen bzw. allgemein von Verkehrsleitanlagen sind rechtsnormativ (beispielsweise im Rahmen der Straßenverkehrsordnung (StVO) und Richtlinien für die Planung und Signalisierung von Kreuzungen bzw. Richtlinien für Lichtsignalanlagen (RiLSA)) verpflichtet, eine Signalisierung beispielsweise entsprechend festgelegter Zwischen- und Räumzeiten in einem Kreuzungsbereich konfliktfrei zu gewährleisten. Konfliktfrei heißt in diesem Zusammenhang, dass sich Verkehrsteilnehmer insofern auf die Richtigkeit bzw. Geeignetheit der Signalisierung verlassen können, und dass diese Signalisierung Unfälle verhindert und nicht verursacht.Operators of traffic signal systems or traffic control systems in general are legally obliged (for example within the framework of the road traffic regulations (StVO) and guidelines for the planning and signaling of intersections or guidelines for traffic control systems (RiLSA)) to provide signaling, for example, according to specified intermediate and clearing times in one To ensure that the intersection area is conflict-free. In this context, conflict-free means that road users can rely on the correctness or suitability of the signaling and that this signaling prevents accidents and does not cause them.

Der Betreiber muss einen reibungslosen und effektiven Verkehrsablauf in einem Kreuzungsbereich sicherstellen.The operator must ensure smooth and effective traffic flow in an intersection area.

Bei Einsatz von autonomen Fahrzeugen wird somit auch die Verantwortung für einen solchen Betreiber von Lichtsignalanlagen tangiert. Insbesondere kann sich diese vergrößern. Der Betreiber muss den reibungslosen und effektiven Verkehrsablauf nämlich auch mit einem Fahrzeugmix gewährleisten, der autonom oder teilautonom gesteuerte Fahrzeuge und/oder Fahrzeuge mit Elektroantrieb umfasst.When using autonomous vehicles, the responsibility of such a traffic signal operator is also affected. In particular, this can increase. The operator must also ensure smooth and effective traffic flow with a vehicle mix that includes autonomously or semi-autonomously controlled vehicles and/or vehicles with electric drives.

Bei einem Fahrzeugmix ohne die genannten autonom oder teilautonom gesteuerten Fahrzeuge und Fahrzeuge mit Elektroantrieb wird davon ausgegangen, dass Fahrzeuge aus einer freigegebenen Richtung (beispielsweise eine Richtung mit anstehendem Grünsignal) einen Bereich einer Kreuzung (insbesondere einen Grundräumbereich) innerhalb von in einer Steuerung eingeplanten bzw. vorgesehenen Zwischenzeiten nach Ende der Freigabe (beispielsweise nach Ende des vorher anstehenden Grünsignals) bis zu einer Freigabe einer Konfliktrichtung (Beginn eines Grünsignals für eine Konfliktrichtung) räumen können.In the case of a vehicle mix without the above-mentioned autonomously or semi-autonomously controlled vehicles and vehicles with electric drives, it is assumed that vehicles from an approved direction (for example a direction with a pending green signal) enter an area of an intersection (in particular a basic clearing area) within the limits planned or provided interim times after the end of the release (for example after the end of the previously pending green signal) until a conflict direction is released (beginning of a green signal for a conflict direction).

Insbesondere sind die Zwischen- und Räumzeiten derart ausgelegt, dass diese Vorgabe erfüllt wird.In particular, the intermediate and clearing times are designed in such a way that this requirement is met.

Autonome Fahrzeuge und auch Fahrzeuge mit Elektroantrieb können aber beispielsweise bei einem technischen Defekt nicht einfach aus dem Grundräumbereich (bzw. aus einem relevanten Bereich) entfernt werden und können insbesondere an Kreuzungen mit hohen Einfahrgeschwindigkeiten und/oder schlechter Einsehbarkeit ein erhöhtes Sicherheitsrisiko darstellen.However, autonomous vehicles and vehicles with electric drives cannot simply be removed from the basic clearance area (or from a relevant area) in the event of a technical defect, for example, and can pose an increased safety risk, particularly at intersections with high entry speeds and/or poor visibility.

Es ist bekannt in Verkehrsbereichen Verkehrsteilnehmer (beispielsweise Fahrzeuge) zu erfassen.It is known to detect road users (e.g. vehicles) in traffic areas.

Beispielsweise beschreibt die Patentschrift US 8 547 250 B1 ein Netzwerk von Sensoren zur Erfassung von Fahrzeugen und eine damit verbundene Steuerzentrale zur Verkehrssignalsteuerung. Die Steuerzentrale kann Fahrzeuge auf (gesetzliche) Verkehrsbeschränkungen im Bereich des Fahrzeugs hinweisen und kann ferner Verkehrsverstöße von Fahrzeugen selbständig erfassen und ahnden.For example, the patent specification describes US 8,547,250 B1 a network of sensors for detecting vehicles and an associated control center for traffic signal control. The control center can inform vehicles about (legal) traffic restrictions in the area of the vehicle and can also independently record and punish traffic violations by vehicles.

Als weiterer Stand der Technik kann der US 2013/141576 A1 entnommen werden, die eine Bestimmung von Gefahren basierend auf Informationen von straßenbasierten Vorrichtungen in einem verkehrswesenbezogenen Kontext offenbart. Insbesondere sind der Druckschrift Verfahren und Vorrichtungen gemäß den Oberbegriffen der anhängenden unabhängigen Patentansprüche bekannt.As a further state of the art, the US 2013/141576 A1 which discloses determination of hazards based on information from road-based devices in a transportation-related context. In particular, the document discloses methods and devices according to the preambles of the appended independent patent claims.

Der im Patentanspruch 1 angegebenen Erfindung liegt die Aufgabe zugrunde, eine Verkehrssteuerung unter Berücksichtigung der verkehrssicherheitsrelevanten Herausforderungen des Einsatzes bzw. Betriebs von autonom und teilautonom gesteuerten Fahrzeugen oder Fahrzeugen mit Elektroantrieb bereitzustellen. Gemäß einem ersten Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 1 angegebenen Merkmale gelöst.The invention specified in claim 1 is based on the object of providing traffic control taking into account the traffic safety-related challenges of the use or operation of autonomously and semi-autonomously controlled vehicles or vehicles with electric drives. According to a first aspect of the invention, the object is achieved by the features specified in claim 1.

Gemäß einem zweiten Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 2 angegebenen Merkmale gelöst.According to a second aspect of the invention, the object is achieved by the features specified in claim 2.

Gemäß einem dritten Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 3 angegebenen Merkmale gelöst.According to a third aspect of the invention, the object is achieved by the features specified in claim 3.

Die mit der Erfindung erzielten Vorteile bestehen insbesondere darin, dass Verkehrssicherheit verbessert bzw. auch unter Berücksichtigung von Fahrzeugmixen, die autonom bzw. teilautonom gesteuerte Fahrzeuge und/oder Fahrzeuge mit Elektroantrieb enthalten, nicht verschlechtert wird.The advantages achieved with the invention are, in particular, that traffic safety is improved or not worsened, even taking into account vehicle mixes that contain autonomously or semi-autonomously controlled vehicles and/or vehicles with electric drives.

Insbesondere kann erst durch Kombination empfangener Koordinaten bzw. Positionsdaten und Ergebnissen einer sensorischen Erfassung eines Verkehrsteilnehmers in einem Verkehrsabschnitt eine tatsächliche Präsenz des Verkehrsteilnehmers sicher festgestellt werden und zusammen mit den Informationen zum Verkehrsteilnehmertyp auf ein jeweiliges von dem tatsächlich präsenten Verkehrsteilnehmer ausgehendes Gefährdungspotential geschlossen werden.In particular, only by combining received coordinates or position data and results of a sensory detection of a road user in a traffic section can an actual presence of the road user be reliably determined and, together with the information on the type of road user, a conclusion can be drawn about the potential danger posed by the road user who is actually present.

Es sei ergänzend angemerkt, dass die Verkehrsteilnehmerdaten eines jeweiligen Verkehrsteilnehmers nicht nur Positionsdaten des jeweiligen Verkehrsteilnehmers sondern weitere mit dessen Verkehrsteilnahme verknüpfte Daten wie beispielsweise Geschwindigkeitsdaten des jeweiligen Verkehrsteilnehmers, Beschleunigungsdaten des jeweiligen Verkehrsteilnehmers, und Fortbewegungsrichtungsdaten des jeweiligen Verkehrsteilnehmers umfassen können.It should also be noted that the road user data of a respective road user can include not only position data of the respective road user but also other data linked to their traffic participation, such as speed data of the respective road user, acceleration data of the respective road user, and direction of travel data of the respective road user.

Auf diese Weise kann effektiv auf ein erkanntes von einem tatsächlich präsenten Verkehrsteilnehmer ausgehendes Gefährdungspotential reagiert werden.In this way, an effective response can be made to a detected risk potential posed by a road user who is actually present.

Das Auslösen der Signalisierung schließt dabei beispielsweise die Entscheidung über die Signalisierung, die Erzeugung von Steuersignalen und deren Übertragung ein.Triggering the signaling includes, for example, the decision about the signaling, the generation of control signals and their transmission.

Gemäß einer vorteilhaften Weiterbildung der Erfindung weist die Steuervorrichtung ferner eine Protokolleinrichtung auf, die die Fusionsdaten der jeweiligen Verkehrsteilnehmer zu Trajektorien der jeweiligen Verkehrsteilnehmer protokolliert. Im Falle eines Vorliegens der Anomalie werden die Trajektorien von sich in dem Verkehrsabschnitt befindenden Verkehrsteilnehmern eines vorbestimmten Zeitabschnitts vor dem Vorliegen der Anomalie berücksichtigt. Gemäß einer vorteilhaften Weiterbildung werden die Trajektorien bei der Auslösung der vorbestimmten Signalisierung durch die Auslöseeinrichtung berücksichtigt.According to an advantageous development of the invention, the control device further has a logging device which logs the fusion data of the respective road users on trajectories of the respective road users. If the anomaly occurs, the trajectories of road users located in the traffic section are predetermined The period of time before the anomaly occurred is taken into account. According to an advantageous development, the trajectories are taken into account by the triggering device when triggering the predetermined signaling.

Dadurch kann beispielsweise nicht nur aus dem Umstand, dass eine Anomalie besteht, beispielsweise dass ein bestimmtes Fahrzeug (z.B. ein autonom gesteuertes Fahrzeug) eine Panne mitten in einem Grundräumbereich einer Kreuzung erleidet, sondern auch der zeitliche Verlauf des Fahrzeugs vor dem Auftreten der Anomalie berücksichtigt werden. Zudem können auch Bewegungsabläufe weiterer Verkehrsteilnehmer in Steuerentscheidungen einfließen. Auf diese Weise kann eine Signalisierung besonders lageangepasst ausgelöst werden.This means, for example, that not only the fact that an anomaly exists, for example that a specific vehicle (e.g. an autonomously controlled vehicle) suffers a breakdown in the middle of a basic clearing area of an intersection, but also the time course of the vehicle before the anomaly occurs can be taken into account . In addition, the movements of other road users can also be incorporated into control decisions. In this way, signaling can be triggered in a particularly position-adapted manner.

Die protokollierten Fusionsdaten können ferner für Analysezwecke verwendet werden.The logged fusion data can also be used for analysis purposes.

Die protokollierten Trajektorien der jeweiligen Verkehrsteilnehmer können ebenfalls beispielsweise Informationen bezüglich Geschwindigkeit, Beschleunigung und/oder Fortbewegungsrichtung der jeweiligen Verkehrsteilnehmer umfassen.The logged trajectories of the respective road users can also include, for example, information regarding the speed, acceleration and/or direction of movement of the respective road users.

Gemäß einer vorteilhaften Weiterbildung der Erfindung ist die vorbestimmte Signalisierung eines aus einem Blinken einer Lichtsignalanlage, einem Rotlicht der Lichtsignalanlage, einer infrastrukturseitigen Warnanzeige und einer Benachrichtigung mittels Car-to-Infrastructure-Technologie. Die vorbestimmte Signalisierung ist jedoch nicht darauf beschränkt und kann jegliche Maßnahmen umfassen, die die Kenntnis des erhöhten Gefahrenpotentials an Verkehrsteilnehmer und Verkehrsverwaltungs-/Verkehrssteuerkomponenten transportieren können.According to an advantageous development of the invention, the predetermined signaling consists of a flashing of a traffic signal system, a red light of the traffic signal system, an infrastructure-side warning display and a notification using car-to-infrastructure technology. However, the predetermined signaling is not limited to this and may include any measures that can convey knowledge of the increased risk potential to road users and traffic management/traffic control components.

Car-to-Infrastructure, auch mit C2I bezeichnet, ist dabei eine Technologie zum drahtlosen Austausch von Informationen und Daten zwischen Kraftfahrzeugen und Elementen einer Verkehrsinfrastruktur. Elemente einer Verkehrsinfrastruktur sind beispielsweise Leitpfosten, Straßenlampen, Lichtsignalanlagen und Steuerschaltschränke, sind jedoch nicht darauf beschränkt.Car-to-infrastructure, also known as C2I, is a technology for the wireless exchange of information and data between motor vehicles and elements of a transport infrastructure. Elements of a traffic infrastructure include, but are not limited to, guide posts, street lamps, traffic lights and control cabinets.

Jedem der genannten vorbestimmten Verkehrsteilnehmertypen kann ein bestimmtes Gefährdungspotential (für sich selbst oder für andere Verkehrsteilnehmer) zugeordnet werden. Beispielsweise birgt ein liegengebliebenes autonom gesteuertes Fahrzeug besondere Gefahren für einfahrende Fahrzeuge und deren Insassen. Im Gegensatz dazu ist ein Fußgänger, der sich noch auf einem Fußgängerüberweg befindet, insbesondere selbst gefährdet.Each of the predetermined road user types mentioned can be assigned a specific risk potential (for themselves or for other road users). For example, a broken down autonomously controlled vehicle poses particular dangers for incoming vehicles and their occupants. In contrast, a pedestrian who is still on a pedestrian crossing is particularly at risk.

Gemäß einer vorteilhaften Weiterbildung der Erfindung ist die Sensoreinrichtung eines aus einer Kamera, einem Radarsensor, einem Lidarsensor, und einem Ultraschallsensor, ist jedoch nicht darauf beschränkt.According to an advantageous development of the invention, the sensor device is one of a camera, a radar sensor, a lidar sensor, and an ultrasonic sensor, but is not limited to this.

Gemäß einer vorteilhaften Weiterbildung der Erfindung empfängt die Empfangseinrichtung drahtlos mittels Car-to-X-Technologie.According to an advantageous development of the invention, the receiving device receives wirelessly using Car-to-X technology.

Dies hat den Vorteil, dass in naher Zukunft die drahtlose Kommunikation zwischen beispielsweise Lichtsignalanlage und Fahrzeugen (fast) lückenlos möglich sein wird. Durch Verwendung dieser Technologie kann also von einer zukünftigen hohen Verfügbarkeit profitiert werden.This has the advantage that in the near future wireless communication between, for example, traffic signals and vehicles will be possible (almost) seamlessly. By using this technology, you can benefit from future high availability.

Das Vorliegen einer Anomalie gemäß der vorliegenden Erfindung ist nicht auf die Bedingungen gemäß ersten bis drittem Aspekt der Erfindung beschränkt.The existence of an abnormality according to the present invention is not limited to the conditions according to the first to third aspects of the invention.

Gemäß einer vorteilhaften Weiterbildung der Erfindung schließen die Fusionsdaten der jeweiligen Verkehrsteilnehmer Verlaufsdaten vergangener Zeitpunkte ein.According to an advantageous development of the invention, the fusion data of the respective road users include historical data from past points in time.

Dadurch kann beispielsweise nicht nur aus einer einzelnen Position zu einem bestimmten Zeitpunkt auf eine Anomalie geschlossen werden, beispielsweise dass ein bestimmtes Fahrzeug (z.B. ein autonom gesteuertes Fahrzeug) eine Panne mitten in einem Grundräumbereich einer Kreuzung erleidet, sondern auch der zeitliche Verlauf des Fahrzeugs zur Unterscheidung zwischen einer normalen Situation und einer aufgetretenen Anomalie berücksichtigt werden. Eine solche Unterscheidung kann also genauer vorgenommen werden.This makes it possible, for example, not only to draw conclusions about an anomaly from a single position at a certain point in time, for example that a specific vehicle (e.g. an autonomously controlled vehicle) suffers a breakdown in the middle of a basic clearing area of an intersection, but also to use the time course of the vehicle to differentiate between a normal situation and an anomaly that has occurred. Such a distinction can therefore be made more precisely.

Gemäß einer vorteilhaften Weiterbildung der Erfindung weist die Steuervorrichtung ferner eine Vorhersageeinrichtung auf, die basierend auf den Verlaufsdaten der Fusionsdaten der jeweiligen Verkehrsteilnehmer zukünftige Positionsdaten der jeweiligen Verkehrsteilnehmer vorhersagt.According to an advantageous development of the invention, the control device further has a prediction device which predicts future position data of the respective road users based on the historical data of the fusion data of the respective road users.

Dies hat den Vorteil, dass Schätzungen bezüglich einem Auftreten bzw. Vorliegen einer Anomalie vorgenommen werden können. Beispielsweise kann anhand einer einzelnen Position zu einem bestimmten Zeitpunkt und von Positionen zu zurückliegenden Zeitpunkten darauf geschlossen werden, dass sich ein Verkehrsteilnehmer zwar noch in einem bestimmten Bereich befindet, eine rechtzeitige Räumung dieses Bereichs (und damit das Nichtvorliegen einer Anomalie) jedoch erwartet werden kann. Entscheidungen können also besonders lageangepasst getroffen werden.This has the advantage that estimates can be made regarding the occurrence or presence of an anomaly. For example, based on a single position at a certain time and positions at previous times, it can be concluded that a road user is still in a certain area, but that a timely evacuation of this area (and thus the absence of an anomaly) can be expected. Decisions can therefore be made particularly tailored to the situation.

Gemäß einem vierten Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 10 angegebenen Merkmale gelöst.According to a fourth aspect of the invention, the object is achieved by the features specified in claim 10.

Gemäß einem fünften Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 11 angegebenen Merkmale gelöst.According to a fifth aspect of the invention, the object is achieved by the features specified in claim 11.

Gemäß einem sechsten Aspekt der Erfindung wird die Aufgabe durch die im Patentanspruch 12 angegebenen Merkmale gelöst.According to a sixth aspect of the invention, the object is achieved by the features specified in claim 12.

Gemäß einem siebten Aspekt der Erfindung wird das vorstehend beschriebene Problem ebenfalls durch die im Patentanspruch 13 aufgeführten Merkmale gelöst, insbesondere durch eine Lichtsignalanlage mit einer Steuervorrichtung gemäß dem ersten Aspekt der Erfindung.According to a seventh aspect of the invention, the problem described above is also solved by the features listed in claim 13, in particular by a traffic signal system with a control device according to the first aspect of the invention.

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im Folgenden näher beschrieben.An exemplary embodiment of the invention is shown in the drawing and is described in more detail below.

Dabei zeigt

  • Figur 1 schematisch eine Steuervorrichtung gemäß einem Ausführungsbeispiel der vorliegenden Erfindung,
  • Figur 2 schematisch eine Steuervorrichtung gemäß einem Ausführungsbeispiel der vorliegenden Erfindung,
  • Figur 3 schematisch ein Steuerverfahren gemäß einem Ausführungsbeispiel der vorliegenden Erfindung, das durch die Steuervorrichtung der Figur 1 implementiert sein kann, und
  • Figur 4 zeigt schematisch eine Lichtsignalanlage mit der Steuervorrichtung gemäß einem Ausführungsbeispiel der vorliegenden Erfindung.
This shows
  • Figure 1 schematically a control device according to an exemplary embodiment of the present invention,
  • Figure 2 schematically a control device according to an exemplary embodiment of the present invention,
  • Figure 3 schematically a control method according to an embodiment of the present invention, which is carried out by the control device of Figure 1 can be implemented, and
  • Figure 4 shows schematically a traffic signal system with the control device according to an exemplary embodiment of the present invention.

Wie der Figur 1 zu entnehmen ist, die eine Steuervorrichtung gemäß einem Ausführungsbeispiel der vorliegenden Erfindung zeigt, umfasst eine erfindungsgemäße Steuervorrichtung 10 eine Sensoreinrichtung 11, eine Empfangseinrichtung 12, eine Zusammenführeinrichtung 13, und eine Feststelleinrichtung 14.Again Figure 1 can be seen, which shows a control device according to an exemplary embodiment of the present invention, a control device 10 according to the invention comprises a sensor device 11, a receiving device 12, a merging device 13, and a locking device 14.

Die Sensoreinrichtung 11 tastet den Verkehrsabschnitt ab. Die Empfangseinrichtung 12 empfängt Verkehrsteilnehmerdaten von Verkehrsteilnehmern drahtlos, wobei die Verkehrsteilnehmerdaten eines jeweiligen Verkehrsteilnehmers Positionsdaten des jeweiligen Verkehrsteilnehmers und den Positionsdaten zugeordnete Informationen bezüglich eines Verkehrsteilnehmertyps des jeweiligen Verkehrsteilnehmers umfassen. Die Zusammenführeinrichtung 13 führt die Positionsdaten des jeweiligen Verkehrsteilnehmers und Abtastinformationen der Sensoreinrichtung zu Fusionsdaten des jeweiligen Verkehrsteilnehmers zusammen. Die Feststelleinrichtung 14 stellt basierend auf den Fusionsdaten der jeweiligen Verkehrsteilnehmer und den Informationen bezüglich des Verkehrsteilnehmertyps der jeweiligen Verkehrsteilnehmer fest, ob eine Anomalie in einem Anwesenheitsverlauf eines Verkehrsteilnehmers eines vorbestimmten Verkehrsteilnehmertyps in dem Verkehrsabschnitt vorliegt.The sensor device 11 scans the traffic section. The receiving device 12 receives road user data from road users wirelessly, the road user data of a respective road user comprising position data of the respective road user and information associated with the position data relating to a road user type of the respective road user. The merging device 13 maintains the position data of the respective road user and scanning information from the sensor device to form fusion data of the respective road user. The detection device 14 determines, based on the fusion data of the respective road users and the information regarding the road user type of the respective road users, whether there is an anomaly in a presence history of a road user of a predetermined road user type in the traffic section.

Figur 3 zeigt ein Steuerverfahren für eine Verkehrssteueranlage mit einem Abtasten des Verkehrsabschnitts (S31), einem Drahtlosempfangen (S32) von Verkehrsteilnehmerdaten von Verkehrsteilnehmern, wobei die Verkehrsteilnehmerdaten eines jeweiligen Verkehrsteilnehmers Positionsdaten des jeweiligen Verkehrsteilnehmers und den Positionsdaten zugeordnete Informationen bezüglich eines Verkehrsteilnehmertyps des jeweiligen Verkehrsteilnehmers umfassen, einem Zusammenführen (S33) der Positionsdaten des jeweiligen Verkehrsteilnehmers und von Abtastinformationen der Sensoreinrichtung zu Fusionsdaten des jeweiligen Verkehrsteilnehmers, und mit einem Feststellen (S34), basierend auf den Fusionsdaten der jeweiligen Verkehrsteilnehmer und den Informationen bezüglich des Verkehrsteilnehmertyps der jeweiligen Verkehrsteilnehmer, ob eine Anomalie in einem Anwesenheitsverlauf eines Verkehrsteilnehmers eines vorbestimmten Verkehrsteilnehmertyps in dem Verkehrsabschnitt vorliegt. Figure 3 shows a control method for a traffic control system with scanning the traffic section (S31), wireless reception (S32) of road user data from road users, the road user data of a respective road user comprising position data of the respective road user and information associated with the position data relating to a road user type of the respective road user, and merging (S33) the position data of the respective road user and from scanning information of the sensor device to fusion data of the respective road user, and with a determination (S34), based on the fusion data of the respective road user and the information regarding the road user type of the respective road user, whether an anomaly in a presence history of a road user of a predetermined road user type is present in the traffic section.

Das Verfahren gemäß Figur 3 kann durch eine Vorrichtung gemäß Figur 1 durchgeführt werden, ist jedoch nicht darauf beschränkt. Die Vorrichtung gemäß Figur 1 kann das Verfahren gemäß Figur 3 durchführen, ist jedoch nicht darauf beschränkt.The procedure according to Figure 3 can be used by a device according to Figure 1 can be carried out, but is not limited to this. The device according to Figure 1 can follow the procedure Figure 3 perform, but is not limited to.

Die erfindungsgemäße Steuervorrichtung 10 ist insbesondere nicht auf die in Figur 1 gezeigten Elemente beschränkt.The control device 10 according to the invention is in particular not based on the in Figure 1 limited to the elements shown.

Gemäß einer Abwandlung kann die erfindungsgemäße Steuervorrichtung 10 zusätzlich eine Auslöseeinrichtung 21, eine Protokolleinrichtung 22, und/oder eine Vorhersageeinrichtung 23 aufweisen, wie in Figur 2 schematisch dargestellt.According to a modification, the control device 10 according to the invention can additionally have a triggering device 21, a logging device 22, and/or a prediction device 23, as in Figure 2 shown schematically.

Autonome Fahrzeuge werden schrittweise über die Teilautomatisierung in vielfältigen Bereichen eingeführt, beispielsweise als Robo-Taxis/Mini-Busse, autonome Fahrzeuge mit Elektroantrieb, sowie im Car-Sharing mit erweitertem Geschäftsmodell (beispielsweise Fahrzeuge, die sich autonom zu einem Besteller/Mieter des Fahrzeugs fortbewegen).Autonomous vehicles are gradually being introduced through partial automation in a variety of areas, for example as robo-taxis/mini-buses, autonomous vehicles with electric drives, and in car sharing with an expanded business model (e.g. vehicles that move autonomously to an orderer/renter of the vehicle). ).

Die dieser Erfindung zugrunde liegende Aufgabe ist auch davon geprägt, dass aus dem neuen Fahrzeugmix mit autonom gesteuerten und/oder elektrisch angetriebenen Fahrzeugen rechtliche Änderungen insbesondere bezüglich der Verantwortlichkeit zu erwarten sind. Sollte ein solches Fahrzeug liegenbleiben, ist das erhöhte Unfallrisiko ein Kriterium für eine Überwachungs- und Warnungsreaktion bis hin zu einem Eingriff in dessen Steuerung. Dem Betreiber einer Lichtsignalanlage (LSA) und beispielsweise einem zuständigen Straßenbauamt/Tiefbauamt wird für diese Fahrzeugklassen (vor allem für autonome Fahrzeuge) gegenüber dem klassischen Fahrzeugbetrieb mit individueller Fahrerverantwortung eine erhöhte Teilverantwortung zukommen, nämlich den Verkehrsablauf sicher zu halten und auf Unregelmäßigkeiten adäquat zu reagieren. Diese Reaktion kann beispielsweise Warnen, Steuern, und/oder Melden umfassen.The object on which this invention is based is also characterized by the fact that legal changes, particularly with regard to responsibility, are to be expected from the new vehicle mix with autonomously controlled and/or electrically driven vehicles. If such a vehicle breaks down, the increased risk of an accident is a criterion for a monitoring and warning response, including intervention in its control. The operator of a traffic signal system (LSA) and, for example, a responsible road construction authority/civil engineering authority will have an increased partial responsibility for these vehicle classes (especially for autonomous vehicles) compared to classic vehicle operation with individual driver responsibility, namely to keep the traffic flow safe and to react adequately to irregularities. This response may include, for example, warning, controlling, and/or reporting.

Während die Räumzeiten an Kreuzungen (beispielsweise durch die RiLSA 2010 festgelegte/empfohlene Zeiten) ablaufen, und danach, werden im Abfluss der Fahrspuren (nach dem Haltebalken) üblicherweise keine Überprüfungen (z.B. basierend auf Sensoren) mit dem Zweck durchgeführt, festzustellen, ob sich noch Verkehrsteilnehmer nach Ablauf der Räumzeiten in den Bereichen aufhalten. Auch werden keine solchen Überprüfungen bezüglich schwacher Verkehrsteilnehmer, wie Radfahrer und Fußgänger, durchgeführt. D.h., auch diese Gruppen sind bei Einsatz autonomer/automatisierter Fahrzeuge komplexer (unter Umständen nicht oder nicht wie beabsichtigt funktionierender) Technik ausgesetzt.During the clearing times at intersections (e.g. times set/recommended by RiLSA 2010) and afterwards, no checks (e.g. based on sensors) are usually carried out in the drainage of the lanes (after the stop bar) with the purpose of determining whether there are still Keep road users in the areas after the clearing times have expired. Nor are such checks carried out on vulnerable road users such as cyclists and pedestrians. This means that these groups are also exposed to complex technology (which may not work or not work as intended) when using autonomous/automated vehicles.

Beispielsweise kann eine solche Überprüfung über die Räumzeitbetrachtung hinaus ausgeweitet werden auf freigegebene Furten/Spuren (Grünsignal) bzw. das Überwachen der in diesen Zeiträumen gesperrten Furten/Spuren (Rotsignal). Zudem können neben Kreuzungen erfindungsgemäß auch weitere verkehrsbezogenen Bereiche/Räume der erfindungsgemäßen Steuerung unterliegen, beispielsweise Parkplätze oder andere Sicherheitszonen wie etwa Schnellstraßenauffahrten.For example, such a check can be extended beyond the clearing time consideration to include cleared fords/lanes (green signal) or the monitoring of fords/lanes that are closed during these periods (red signal). In addition, according to the invention, in addition to intersections, other traffic-related areas/spaces can also be subject to the control according to the invention, for example parking lots or other safety zones such as expressway entrances.

Beispielhaft zeigt Figur 4 jedoch eine Lichtsignalanlage (LSA) mit mindestens einer Lichtsignaleinheit 40 (z.B. einer Ampel) und gegebenenfalls weiteren Lichtsignaleinheiten 40a, 40b (gestrichelt angedeutet) sowie mit der vorstehend beschriebenen Steuervorrichtung 10, die mit zumindest der Lichtsignaleinheit 40 verbunden ist.Shows as an example Figure 4 However, a traffic light system (LSA) with at least one light signal unit 40 (e.g. a traffic light) and possibly further light signal units 40a, 40b (indicated by dashed lines) as well as with the control device 10 described above, which is connected to at least the light signal unit 40.

Gemäß der vorliegenden Erfindung kann unter Nutzung von kooperativen Standards der C2X-Technologie und infrastrukturseitiger Sensorik die Sicherheit beispielsweise an signalisierten Kreuzungen für den beschriebenen Fahrzeugmix erhöht werden.According to the present invention, using cooperative standards of C2X technology and infrastructure-based sensors, safety can be increased, for example at signalized intersections for the vehicle mix described.

C2X ist ein Oberbegriff für Kommunikationstechniken in der Automobil- und Verkehrstechnik und umfasst beispielsweise Fahrzeug-zu-Fahrzeug-Kommunikation (C2C, Car-to-Car) und Fahrzeug-zu-Infrastruktur-Kommunikation (C2I, Car-to-Infrastructure).C2X is a generic term for communication technologies in automotive and traffic technology and includes, for example, vehicle-to-vehicle communication (C2C, car-to-car) and vehicle-to-infrastructure communication (C2I, car-to-infrastructure).

Für C2X wird beispielsweise eine straßenseitige Einheit (RSU, Road Side Unit) an potentiellen Standorten (beispielsweise LSAs im urbanen Bereich, Streckenstationen im interurbanen Bereich) bereitgestellt, die bidirektionalen Datenverkehr mit Fahrzeugen unterstützt, und die Daten vor- und/oder nachverarbeiten kann und eine Kommunikation zu zentralen Diensten bzw. Steuerungszentralen ermöglicht.For C2X, for example, a road side unit (RSU) is provided at potential locations (e.g. LSAs in urban areas, route stations in interurban areas) that supports bidirectional data traffic with vehicles and can pre- and/or post-process the data and a Communication to central services or control centers is enabled.

Ferner können Funktionalitäten der Steuerung von LSAs genutzt werden, die beispielsweise eine lokale Signalzeitenvorhersage für Fahrzeuge bereitstellen. Verfolgungsdaten (Trackingdaten, beispielsweise sekündliche Globalpositionskoordinaten, z.B. GPS, GNSS, Galileo, GLONASS, Beidou) von Fahrzeugen können Steuerungszentralen und/oder den LSAs (beispielsweise zur Auswertung) bereitgestellt werden.Furthermore, functionalities of the control of LSAs can be used, which, for example, provide a local signal time prediction for vehicles. Tracking data (tracking data, for example global position coordinates every second, e.g. GPS, GNSS, Galileo, GLONASS, Beidou) of vehicles can be provided to control centers and/or the LSAs (for example for evaluation).

Dazu kann gemäß der vorliegenden Erfindung eine Steuereinheit einer Lichtsignalanlage (z.B. Steuervorrichtung 10) beispielsweise an einer Straßenkreuzung kontinuierlich die Fahrzeugkoordinaten (beispielsweise globalpositionssystembasiert, fahrzeugsensorbasiert) von Fahrzeugen (insbesondere von hochautomatisierten und/oder autonom gesteuerten Fahrzeugen und/oder elektrisch angetriebenen Fahrzeugen) innerhalb und außerhalb des signalisierten Kreuzungsbereichs über ein drahtloses Kommunikationsnetzwerk empfangen. Die Steuereinheit kann dann gegebenenfalls unter Berücksichtung einer Spurzuordnung und/oder von Bewegungsmustern (Trajektorien) sowie einer im Kreuzungsbereich vorherrschenden Verkehrssituation den weiteren Fahrverlauf eines Fahrzeugs bis zum Verlassen des Kreuzungsbereichs (Ausfahren aus dem Kreuzungsbereich) schätzen. Dazu können neben Informationen zur Position von Verkehrsteilnehmern insbesondere auch beispielsweise Informationen bezüglich deren Geschwindigkeit, Beschleunigung und/oder Fortbewegungsrichtung herangezogen werden.For this purpose, according to the present invention, a control unit of a traffic signal system (e.g. control device 10), for example at a road intersection, can continuously monitor the vehicle coordinates (e.g. global position system-based, vehicle sensor-based) of vehicles (in particular highly automated and/or autonomously controlled vehicles and/or electrically driven vehicles) inside and outside of the signalized intersection area via a wireless communication network. The control unit can then, if necessary, estimate the further course of a vehicle until it leaves the intersection area (leaving the intersection area), taking into account a lane assignment and/or movement patterns (trajectories) as well as a traffic situation prevailing in the intersection area. In addition to information about the position of road users, information regarding their speed, acceleration and/or direction of movement can also be used.

Bei der Schätzung können beispielsweise Übersättigungen an nachfolgenden Kreuzungen und sich daraus ergebende Rückstaus bis zur aktuellen (signalisierten) Kreuzung berücksichtigt werden.For example, the estimation can take into account oversaturation at subsequent intersections and the resulting backlogs up to the current (signalized) intersection.

Ferner kann gemäß der vorliegenden Erfindung infrastrukturseitige Sensorik (z.B. Sensoreinrichtung 11) mit einer Überwachungsfunktionalität bzw. Monitoringfunktionalität in der Fläche (z.B. Kamera, Radar, oder Kombinationen solcher Technologien), die eine Detektion von Fahrzeugen beispielsweise im Grundräumbereich der Kreuzung ermöglicht, ebenfalls Bewegungsmuster und Präsenzaussagen zu den Fahrzeugen liefern.Furthermore, according to the present invention, infrastructure-side sensors (e.g. sensor device 11) with a monitoring functionality or monitoring functionality in the area (e.g. camera, radar, or combinations of such technologies), which enables detection of vehicles, for example in the basic area of the intersection, can also include movement patterns and presence statements deliver to the vehicles.

Zur Überwachung von Objekten auf/in Flächen/Räumen kann eine Intelligenzfunktionalität bereitgestellt sein. Insbesondere kann es ein Algorithmus in einem verwendeten Sensor ermöglichen, Objekte zu verfolgen (z.B. Fahrzeuge, Fußgänger, Fahrradfahrer) und deren Stillstand bzw. deren (Weiter-)Bewegung festzustellen. Dafür verwendete Sensoren sind bevorzugt auf Radar-Technologie basierende Sensoren, die stationär bereitgestellt sind. Damit lassen sich auch Erfassungsbereiche virtuell konfigurieren. Ferner lassen sich Bereiche konfigurieren, die nicht erfasst bzw. berücksichtigt und/oder ausgeblendet werden sollen.An intelligence functionality can be provided to monitor objects on/in areas/rooms. In particular, an algorithm in a sensor used can make it possible to track objects (e.g. vehicles, pedestrians, Cyclists) and to determine their standstill or their (further) movement. Sensors used for this are preferably sensors based on radar technology that are provided in a stationary manner. This also allows detection areas to be configured virtually. Furthermore, areas that should not be recorded or taken into account and/or hidden can be configured.

Zudem kann gemäß der vorliegenden Erfindung eine Fusionseinheit bzw. Berechnungs- und Fusionseinheit (z.B. Zusammenführeinrichtung 13) der Steuereinheit der Lichtsignalanlage die beiden Datenquellen, drahtloser Empfang von Fahrzeugkoordinaten und sensorische Detektion von Fahrzeugen, zur Fusion bringen.In addition, according to the present invention, a fusion unit or calculation and fusion unit (e.g. merging device 13) of the control unit of the traffic signal system can fuse the two data sources, wireless reception of vehicle coordinates and sensory detection of vehicles.

Als Ergebnis kann abgeleitet werden, ob sich mit bestimmter Wahrscheinlichkeit ein autonom gesteuertes Fahrzeug (bzw. teilautonom gesteuertes Fahrzeug bzw. Fahrzeug mit elektrischem Antrieb) in diesem Grundräumbereich befindet.As a result, it can be derived whether there is a certain probability of an autonomously controlled vehicle (or semi-autonomously controlled vehicle or vehicle with an electric drive) being in this basic clearing area.

Wird ein solches Fahrzeug nach Ende der vorgegebenen Räumzeit innerhalb des Grundräumbereichs detektiert (bzw. dessen Anwesenheit mit bestimmter Wahrscheinlichkeit abgeleitet), kann die Steuereinheit in der Lage sein, in Echtzeit ein entsprechendes (Sonder-)Signalbild für alle Verkehrsteilnehmer anzuzeigen (z.B. alle Signale stehen auf rot, oder alle Signale blinken gelb), um die Verkehrsteilnehmer auf die (ein bestimmtes bzw. erhöhtes Sicherheitsrisiko bergende) Sondersituation aufmerksam zu machen.If such a vehicle is detected within the basic clearing area after the end of the specified clearing time (or its presence is derived with a certain probability), the control unit can be able to display a corresponding (special) signal image for all road users in real time (e.g. all signals are stopped to red, or all signals flash yellow) to make road users aware of the special situation (which poses a specific or increased safety risk).

Ferner können erfindungsgemäß parallel spezielle Meldungen unter Verwendung der C2X-Technologie beispielsweise an andere Fahrzeuge und an Steuerungszentralen erzeugt und übermittelt werden.Furthermore, according to the invention, special messages can be generated and transmitted in parallel using C2X technology, for example to other vehicles and to control centers.

Erfindungsgemäß können beispielsweise Trajektorieinformationen von Fahrzeugen auf einen Bereich (z.B. Grundräumbereich von Kreuzungen, Parkplätze, Sicherheitszonen) abgebildet bzw. zugeordnet (Mapping) werden, wenn dieser Bereich mit entsprechender Sensorik flächendeckend überwacht wird.According to the invention, for example, trajectory information from vehicles can be mapped or assigned (mapping) to an area (e.g. basic clearance area of intersections, parking spaces, safety zones) if this area is monitored across the board with appropriate sensors.

Fällt ein Fahrzeug beispielsweise aus (samt Bordsteuerung bzw. Fahrerassistenzsystem) und es ist keine C2X-Kommunikation mehr möglich, und das Fahrzeug befindet sich in einer sicherheitsrelevanten Zone wie dem Grundräumbereich einer Kreuzung (und weitere vorstehend beispielhaft angeführte Bereiche), dient eine LSA-seitige Steuerungsreaktion dazu, diesen Umstand anhand der historischen Trajektorien aus C2X und den Sensorikdaten der Bereichsüberwachung festzustellen und dann die Fahrzeugposition mit einer C2X-Identifikation (z.B. Informationen bezüglich des Verkehrsteilnehmertyps, eindeutige Verkehrsteilnehmerinformationen) abzugleichen. Die ermittelte Position und das Störpotenzial führen dann zu einer Reaktion der Steuerung. Beispielsweise können Sondersignalbilder geschaltet werden, und der Umstand (bzw. die von diesem ausgehende Gefahr) kann über C2X an eine Steuerzentrale und/oder andere Verkehrsteilnehmer (in einem bestimmten Umkreis) gemeldet werden.For example, if a vehicle fails (including on-board control or driver assistance system) and C2X communication is no longer possible, and the vehicle is in a safety-relevant zone such as the basic clearing area of an intersection (and other areas listed above as examples), an LSA-side control reaction is used to determine this circumstance based on the historical trajectories from C2X and the sensor data from the area monitoring and then to determine the vehicle position with a C2X Identification (e.g. information regarding the type of road user, unique road user information). The determined position and the interference potential then lead to a reaction from the controller. For example, special signal images can be switched and the circumstance (or the danger posed by it) can be reported via C2X to a control center and/or other road users (in a certain area).

C2X muss sich dabei nicht allein auf fahrzeugbezogene Kommunikation beschränken, sondern kann auch beispielsweise personenbezogene Kommunikation (Fußgänger, Fahrradfahrer) einbeziehen. Dadurch können beispielsweise herannahende schwache Verkehrsteilnehmer (Fußgänger, Fahrradfahrer) priorisiert oder durch Sicherheitsschaltungen der LSA berücksichtigt werden. Ferner können dadurch für diese schwachen Verkehrsteilnehmer vorgesehene Verkehrsbereiche (z.B. Fußgängerfurt, Fahrradspuren) gemäß dem vorstehend beschriebenen Prinzip überwacht werden.C2X does not have to be limited to vehicle-related communication alone, but can also include personal communication (pedestrians, cyclists), for example. This means, for example, approaching weak road users (pedestrians, cyclists) can be prioritized or taken into account by LSA safety circuits. Furthermore, traffic areas intended for these weak road users (e.g. pedestrian fords, bicycle lanes) can be monitored in accordance with the principle described above.

Der Grundidee der vorliegenden Erfindung folgend kann die Sicherheit in bestimmten verkehrlichen Zonen beispielsweise innerhalb signalisierter Kreuzungen auch dann erhöht werden, wenn Drahtloskommunikationsmittel kurzzeitig oder dauerhaft nicht oder nicht verlässlich zur Verfügung stehen.Following the basic idea of the present invention, security in certain traffic zones, for example within signalized intersections, can be increased even if wireless communication means are not available or are not reliably available for a short or long time.

Wird beispielsweise die Kommunikationsinfrastruktur von Mobilfunkanbietern (oder alternativ mobiles Internet) für die drahtlose Übertragung von Verkehrsteilnehmerdaten von Verkehrsteilnehmern verwendet (Fahrzeug-Zu-Infrastruktur-Kommunikation, z.B. Positionsdaten von Verkehrsteilnehmern zur Infrastruktur, Warnmeldungen von der Infrastruktur zu Verkehrsteilnehmern), führen Ausfälle bzw. Beeinträchtigungen dieser Kommunikationseinrichtungen und -wege gemäß der vorliegenden Erfindung nicht zu einem erhöhten Sicherheitsrisiko. Gemäß der vorliegenden Erfindung kann dazu beispielsweise eine Sicherheitsschicht vorgesehen sein, die einen solchen Ausfall erkennt und bei Erkennung geeignete Maßnahmen trifft. Geeignete Maßnahmen können beispielsweise umfassen, dass bei erkanntem Ausfall dieser Kommunikationseinrichtungen und -wege eine Warnung an umgebende Verkehrsteilnehmer und/oder eine Steuerungszentrale ausgegeben wird, und/oder dass bei erkanntem Ausfall dieser Kommunikationseinrichtungen und -wege die Feststellung eines Vorliegens einer Anomalie in einem Anwesenheitsverlauf eines Verkehrsteilnehmers eines vorbestimmten Verkehrsteilnehmertyps in dem Verkehrsabschnitt nur basierend auf Ergebnissen der Sensoreinrichtung und optional weiteren Hilfsdaten durchgeführt wird.For example, if the communication infrastructure of mobile phone providers (or alternatively mobile Internet) is used for the wireless transmission of road user data from road users (vehicle-to-infrastructure communication, e.g. position data from road users to the infrastructure, warning messages from the infrastructure to road users), failures or impairments will result These communication devices and paths according to the present invention do not lead to an increased security risk. According to the present invention, for example, one can do this Security layer must be provided that detects such a failure and takes appropriate measures if detected. Suitable measures may include, for example, that if a failure of these communication devices and paths is detected, a warning is issued to surrounding road users and/or a control center, and/or that if a failure of these communication devices and paths is detected, the determination of the existence of an anomaly in a presence history Road user of a predetermined type of road user in the traffic section is carried out only based on results of the sensor device and optionally further auxiliary data.

Im Übrigen lassen sich aus dem erfindungsgemäßen Ansatz auch Verbesserungen bezüglich der Sicherheit beispielsweise an signalisierten Kreuzungen auch bei einem Fahrzeugmix ohne autonome und/oder elektrisch angetriebene Fahrzeuge erzielen. Die Detektion von den Verkehrsablauf störenden und speziell von liegen gebliebenen und/oder falschfahrenden Fahrzeugen im Grundbereich mittels infrastrukturseitiger Sensorik erhöht grundsätzlich die Sicherheit an signalisierten Kreuzungen bzw. allgemein in Verkehrsbereichen.Furthermore, improvements in terms of safety can also be achieved from the approach according to the invention, for example at signalized intersections, even with a vehicle mix without autonomous and/or electrically driven vehicles. The detection of vehicles that disrupt traffic flow and especially of vehicles that have broken down and/or are driving the wrong way in the basic area using infrastructure-based sensors fundamentally increases safety at signalized intersections or in traffic areas in general.

Claims (13)

  1. Control apparatus (10) for monitoring a traffic section, comprising
    a sensor means (11) that senses the traffic section,
    a receiving means (12) that wirelessly receives traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    a merging means (13) that merges the position data of the respective traffic participant and sense information of the sensor means (11) into fusion data of the respective traffic participant, and
    a determination means (14) that determines whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if an autonomous motor vehicle, an automated motor vehicle, or an electrically or partially electrically driven motor vehicle is present within a base region of the road intersection region after a predetermined clearance time has elapsed, and by
    a triggering means (21) that triggers a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  2. Control apparatus (10) for monitoring a traffic section, comprising
    a sensor means (11) that senses the traffic section,
    a receiving means (12) that wirelessly receives traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    a merging means (13) that merges the position data of the respective traffic participant and sense information of the sensor means (11) into fusion data of the respective traffic participant, and
    a determination means (14) that determines whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if one or more bicyclists are present within a bicycle lane of the road intersection region after a predetermined permission time for the bicycle lane has elapsed, and by
    a triggering means (21) that triggers a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  3. Control apparatus (10) for monitoring a traffic section, comprising
    a sensor means (11) that senses the traffic section,
    a receiving means (12) that wirelessly receives traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    a merging means (13) that merges the position data of the respective traffic participant and sense information of the sensor means (11) into fusion data of the respective traffic participant, and
    a determination means (14) that determines whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if one or more pedestrians are present within a pedestrian passage of the road intersection region after a predetermined permission time for the pedestrian passage has elapsed, and by
    a triggering means (21) that triggers a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  4. Control apparatus (10) according to any one of claims 1 to 3, further comprising
    a logging means (22) that logs the fusion data of the respective traffic participants to trajectories of the respective traffic participants, and wherein
    in a case of presence of the anomaly, the trajectories of traffic participants present in the traffic section of a predetermined time period before the presence of the anomaly are taken into account.
  5. Control apparatus (10) according to any one of claims 1 to 4, wherein
    the predetermined signaling is one of a flashing of a light signal system (LSA), a red light of the light signal system (LSA), an infrastructure-side warning indication, and a notification using car-to-infrastructure technology.
  6. Control apparatus (10) according to any one of claims 1 to 5, wherein
    the sensor means (11) is one of a camera, a radar sensor, a lidar sensor, and an ultrasonic sensor.
  7. Control apparatus (10) according to any one of claims 1 to 6, wherein
    the receiving means (12) receives wirelessly using car-to-x technology.
  8. Control apparatus (10) according to any one of claims 1 to 7, wherein
    the fusion data of the respective traffic participants include history data of past points in time.
  9. Control apparatus (10) according to claim 8, further comprising
    a prediction means (23) that predicts future position data of the respective traffic participants based on the history data of the fusion data of the respective traffic participants.
  10. Control method for monitoring a traffic section, comprising
    sensing (S31) of the traffic section,
    wirelessly receiving (S32) traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    merging (S33) the position data of the respective traffic participant and sense information of the sensor means into fusion data of the respective traffic participant, and
    determining (S34) whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if an autonomous motor vehicle, an automated motor vehicle, or an electrically or partially electrically driven motor vehicle is present within a base region of the road intersection region after a predetermined clearance time has elapsed, and by
    triggering a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  11. Control method for monitoring a traffic section, comprising
    sensing (S31) of the traffic section,
    wirelessly receiving (S32) traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    merging (S33) the position data of the respective traffic participant and sense information of the sensor means into fusion data of the respective traffic participant, and
    determining (S34) whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if one or more bicyclists are present within a bicycle lane of the road intersection region after a predetermined permission time for the bicycle lane has elapsed, and by
    triggering a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  12. Control method for monitoring a traffic section, comprising
    sensing (S31) of the traffic section,
    wirelessly receiving (S32) traffic participant data from traffic participants, wherein the traffic participant data of a respective traffic participant comprises position data of the respective traffic participant and information associated with the position data regarding a traffic participant type of the respective traffic participant,
    merging (S33) the position data of the respective traffic participant and sense information of the sensor means into fusion data of the respective traffic participant, and
    determining (S34) whether there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section based on the fusion data of the respective traffic participants and the information regarding the traffic participant type of the respective traffic participants, wherein
    the traffic section is a traffic signal controlled road intersection region,
    characterized in that
    an anomaly exists in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section if one or more pedestrians are present within a pedestrian passage of the road intersection region after a predetermined permission time for the pedestrian passage has elapsed, and by
    triggering a predetermined signaling if there is an anomaly in a presence pattern of a traffic participant of a predetermined traffic participant type in the traffic section.
  13. Light signal system (LSA), comprising
    a control apparatus (10) according to any one of claims 1 to 9.
EP16204615.5A 2015-12-18 2016-12-16 Control device and control method for monitoring and controlling a traffic section Active EP3182394B1 (en)

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US11869358B2 (en) 2021-10-29 2024-01-09 Nortak Software Ltd. System and method for warning of a presence of a mobile target
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