EP3853833A1

EP3853833A1 - Method and device for influencing autonomous alternating light signaling systems

Info

Publication number: EP3853833A1
Application number: EP19774041.8A
Authority: EP
Inventors: Ludwig Trostel; Wolf Peter ZEPLIN
Original assignee: Smev AG Smart Mobility Evolution
Current assignee: Smev AG Smart Mobility Evolution
Priority date: 2018-09-20
Filing date: 2019-09-11
Publication date: 2021-07-28
Also published as: EP3853832A1; WO2020058057A1; DE102018123153A1; WO2020058055A1

Abstract

The invention relates to a method for influencing a plurality of alternating light signaling systems in a traffic route network, wherein the autonomous alternating light signaling systems placed along the predicted travel route are influenced such that each autonomous alternating light signaling system releases the traffic in the direction of the predicted travel route prior to or during the predicted arrival of the service vehicle. In addition to influencing the autonomous alternating light signaling systems placed along the predicted travel route, a priority support program is activated in other autonomous alternating light signaling systems in the immediate vicinity or in the immediate surroundings of the autonomous alternating light signaling systems placed along the predicted travel route, in response to which the priority control is carried out in the effective region in that not only autonomous alternating light signaling systems at intersections or road junctions lying ahead on the predicted travel route are influenced but also other autonomous alternating light signaling systems at intersections or road junctions lying in the vicinity or in the surroundings together with the autonomous alternating light signaling systems that are placed ahead of the utility vehicle and relate to the predicted travel direction on the predicted travel route are switched such that in a travel corridor for the at least one service vehicle, vehicles located on the lane of the predicted travel route can leave the travel corridor and no vehicle can drive into the travel corridor until the at least one service vehicle reaches this location.

Description

Method and device for influencing autonomous

Alternating light sign systems

TECHNICAL AREA

The present invention relates to a method for influencing a plurality of alternating light signal systems in a traffic route network according to the preamble of claim 1. The invention further relates to an apparatus and a computer program product for performing this method.

BACKGROUND OF THE INVENTION

In urban conurbations in particular, the traffic density is constantly increasing, with traffic congestion occurring not only at peak times. For drivers of emergency vehicles with right of way, such as police vehicles,

Fire-fighting vehicles or vehicles of the rescue service, this not only means a high stress load, but also the travel times for such vehicles with right of way to their places of use are significantly increased.In addition, with high traffic loads, the risk increases that an emergency vehicle with right of way when crossing Crossings or

Road junctions using the right of way collided with other, otherwise authorized vehicles.

STATE OF THE ART

It has therefore already been proposed several times to use emergency vehicles

Right of way on their way to the place of action not only to grant right of way by using special signals (flashing lights, Martinshorn), but also traffic Switching traffic light systems (traffic lights) to "free travel" (green) when the emergency vehicle approaches.

DE 28 55 625 A1 shows and describes an arrangement for controlling alternating light signal systems, in which an emergency vehicle that drives past a radio beacon stationed in front of the alternating light signal system to be influenced receives authorization information from this radio beacon and then sends a radio signal from the vehicle to activate the Alternating light signal system sends out. However, such an arrangement requires that both the vehicle and the corresponding alternating light signaling systems or switching devices connected to them must be equipped with appropriate radio transmitters and radio receivers and that additional radio beacons along the

Travel route must be provided, which causes a high expenditure on equipment and costs.

DE 195 08 043 C1 shows and describes a control arrangement for

Traffic signals in which an emergency vehicle is provided with a transmitter unit are sent several times in chronological sequence to a traffic light computer via the location coordinates of the emergency vehicle determined by means of a navigation receiver provided in the emergency vehicle, which determines the direction and the speed of the approaching emergency vehicle and when the emergency vehicle approaches

Vehicle at a traffic light switches this traffic light to green in the direction of travel.

From DE 196 01 024 A1 a system for optimizing the travel times of vehicles with special rights is known, in which the means of a

Position data determined in the navigation receiver in the emergency vehicle are sent via a radio link to a traffic control computer, which then switches a green wave for the route of the emergency vehicle. It is also proposed there to prematurely clear the direction of travel or the opposite direction of the emergency vehicle from the traffic by switching a red wave that congests the traffic at each traffic light in order to obtain a clear road behind the traffic light. DE 198 42 912 B4 shows and describes a method for releasing the route for emergency vehicles with special powers, with the emergency vehicle regularly determining the position data of the emergency vehicle

Emergency vehicle are telemetrically transmitted to an operations control center. in the

Emergency vehicle, the currently determined location coordinates of the emergency vehicle are stored with the computer located in the emergency vehicle

Coordinates of traffic lights of the corresponding territory compared.

All light signal systems on the way to the site are pre-selected in this computer and depending on the driving speed of the

Emergency vehicles are pre-registration signals in the direction of travel before

Traffic lights are sent to the emergency vehicle, whereby these traffic lights located on the route of the emergency vehicle are brought into a standby mode. The traffic light immediately in front of the emergency vehicle then receives a main registration signal, which causes the traffic light to switch to "free travel". This procedure allows that even short-term

Changes in the direction of travel of the emergency vehicle (e.g. choice of an alternative route to the place of action) without computing power to a traffic control computer

claim to be immediately available for switching a green wave. However, it is disadvantageous that the emergency vehicle must be equipped with a computer of considerable computing power and must also have a database of the traffic lights provided in the local street topology in an up-to-date form.

DE 10 2016 105 558 B3, which originated from the inventors, shows and describes a method for controlling alternating light signal systems which are controlled by a central traffic control computer. The emergency vehicle sends its position and directional data to a traffic control computer, which then influences the alternating light signal systems lying ahead along the predicted route as well as alternating light systems in their vicinity laterally to the route in such a way that the emergency vehicle finds a free driving corridor. This process, which is controlled via the central traffic control computer, only works with Alternating traffic light systems connected to the central traffic control computer. In areas with decentrally autonomously controlled alternating light systems, the operation of emergency vehicles cannot be accelerated using this method.

DE 10 2014 114 535 A1 describes a generic method for controlling light signal systems at traffic junctions on a route

Emergency vehicle known, in which the emergency vehicle periodically

Sends request signal and vehicle messages to light signal systems lying ahead on the route. The vehicle messages include information on the position and speed of the emergency vehicle and its route data. The

Light signal systems are each equipped with a receiving and transmitting unit and can thus receive the signals emitted by the emergency vehicle and also communicate with each other. Furthermore, each light signal system has a calculation unit in which the received signals are processed, and a control device which switches the light signal system to a priority program for the emergency vehicle (green wave). In addition, the

Light signal system sent an announcement information to the next light signal system lying on the route, which then in turn sent the corresponding ones

Carries out calculations and into a privilege program for the

Emergency vehicle switches and informs the next traffic light system.

The disadvantages of the prior art that are found in areas with autonomy

Controlled alternating light signal systems, particularly in the case of high traffic, should be overcome by the invention.

NAMES AND DEFINITIONS

Before going into detail on the invention and the exemplary embodiments of the invention shown in the figures and described below, some of the terms used in this description and the claims should be defined. The terms listed below refer here "Traffic network": a large-scale (e.g. cross-city or cross-urban) topology of traffic routes (e.g. streets,

Bike paths, footpaths, rail traffic routes);

"Alternating light sign": a commonly referred to as traffic light

Device for traffic control, this term encompassing not only light signal devices, but also mechanical pointer devices and future devices that communicate directly with a road user (e.g. a vehicle) for transmitting a traffic control signal to the road user;

"Alternating light sign systems": a group of mutually assigned and coordinated acting alternating light signs at a traffic junction (e.g. an intersection, a road junction or a pedestrian / cyclist crossing), here also terminologically

Alternating light signals at intersections of streets and

Railways are included;

"Autonomous alternating traffic light systems": alternating traffic light systems which are not controlled by a central traffic control computer but autonomously by a local control device;

"Central traffic control computer": a computer-based (regional or supra-regional) central control device for alternating light signal systems and their alternating light signals, which controls the alternating light signals centrally in a larger region (e.g. a district) of the traffic route network (regional) or in several larger regions (supraregional);

"Local control device": a computer-based

Control device that the alternating light signals a

Alternating light signal system (e.g. at an intersection) controls;

"Predicted route": one of one, for example

Navigation computer determined route on which the emergency vehicle is likely to drive to the destination;

"Predicted direction of travel": the direction in which the emergency vehicle is expected to travel along the predicted route eg the predicted route at an intersection to the right, the predicted direction of travel changes to the right at this point);

"Corridor": the lane or lanes of a road that the

Must use the emergency vehicle to drive along the predicted route in the predicted direction of travel (e.g. if the predicted direction of travel changes to the right at an intersection, the right-hand lane becomes part of the corridor at this intersection);

"Alternating traffic light system encounter plan": a time and / or route-dependent listing of the alternating traffic light system that the emergency vehicle will reach one after the other along its predicted route;

"Alternating light sign area map": a list of alternating light signs and / or alternating light sign systems that are in the

Environment of a respective alternating light sign system on the

forecast route are located, as well as corresponding

Topology information of this environment;

"Priority program": a control program for the alternating light signals of an alternating light signal system that runs on a local control unit of the alternating light signal system and that the respective local

Traffic control influenced such that an approximate

Emergency vehicle finds both a "free driving signal" (green traffic light) and a free driving corridor;

"Priority control": an influencing of alternating light signal systems, which temporarily replaces a currently active control program for the alternating light signals of an alternating light signal system with a priority program as a priority control program;

"Priority Request Message": a signal containing information that triggers priority control for an alternating traffic light system;

"Priority support program": a control program for the alternating light signals of a neighboring alternating light signal system in the vicinity of one located in a priority control

Alternating light signal system, which on a local control unit of the neighboring flashing light system expires and that

Traffic control in the vicinity of the alternating light signal system located in the priority control is influenced in such a way that the traffic flows out of the driving corridor for the emergency vehicle faster and can no longer flow into the driving corridor;

"Priority support control": an influencing of adjacent alternating light signal systems, which temporarily replaces a currently active control program for the alternating light signals of an alternating light signal system with a priority support program as a priority control program;

"Priority Support Message": a signal containing information indicating priority control for an adjacent one

Alternating light signal system triggers;

"Area of Effect": the environment ("environment") one in one

Priority control of the alternating light signal system, in which further neighboring alternating light signal systems, which do not directly affect the predicted direction of travel on the predicted travel route, are switched to a priority support program;

"Surroundings" of a route: the surroundings to the left and right of a predicted route;

"Surroundings" of an alternating light signal system: the surroundings to the left and right of the predicted route at the location of one on the predicted route of the emergency vehicle ahead in a predicted one

Alternating traffic light system lying around this direction

Alternating light sign system around.

The lateral extension of the "surroundings" away from the predicted route and thus the size of the "effective area" depends on the topology along the route and in particular at the location of the respective alternating light signal system. The size of the "effective range" can also depend on the current one

Traffic volume; it is advantageously not static, but

defined on demand. PRESENTATION OF THE INVENTION

The object of the present invention is to provide a method for accelerating emergency vehicles in areas with autonomous, not with a central one

Alternating traffic light systems connected to traffic control computers along a predicted route of at least one emergency vehicle with right of way for the purpose of priority control for the at least one emergency vehicle. Another object of the present invention is to provide such a method

to indicate at which the guarantee of free travel for the

Emergency vehicle is further improved to make travel times even shorter

To enable the place of use. After all, it is an object of the present

Invention to provide an apparatus for performing such a method and to create a computer program product for performing such a method.

The part of the object directed to the method is achieved by the method having the features of patent claim 1.

In a method for influencing a plurality of

Alternating traffic light systems in a traffic route network in which at least some of the alternating traffic light systems are autonomous alternating traffic light systems that are controlled not by a central traffic control computer but by local control units for the purpose of priority control for at least one

Emergency vehicle with right of way, whereby the influencing of at least the autonomous alternating light signal systems takes place on the basis of current position data and a direction of travel vector of the emergency vehicle in order to accelerate its journey on a predicted route, with the steps:

a) Providing position data of a destination for the at least one

Emergency vehicle;

b) Providing the current position data and the data of the current one

Direction of travel vector of the at least one emergency vehicle; c) providing topology information about the traffic network;

d) Providing information about existing in the traffic network

autonomous alternating light signal systems;

e) Predicting a route for the at least one emergency vehicle from its current position to the position of the destination, taking into account the driver's position represented by the direction vector

Emergency vehicle selected direction of travel;

f) influencing the autonomous alternating light signal systems relating to a predicted driving direction on the predicted driving route in such a way that the respective alternating light signal system releases the traffic in the direction of the predicted driving route before or when the predicted arrival of the at least one emergency vehicle,

It is characterized in that, in addition to influencing the autonomous alternating signaling systems located along the predicted route, in other autonomous alternating signaling systems in the immediate vicinity or in the immediate vicinity of the autonomous alternating signaling systems located along the predicted route, a priority support program is activated, whereupon the priority control takes place in an effective area , in which not only autonomous alternating traffic light systems at intersections or road junctions lying ahead on the predicted route are influenced, but also other autonomous alternating traffic light systems at intersections or road junctions that are nearby or in the vicinity of the one in front of the emergency vehicle predicted direction of travel on the autonomous autonomous route

Alternating traffic light systems are located, are switched so that vehicles in a driving corridor for the at least one emergency vehicle on the lane of the predicted route can leave the driving corridor and no vehicles can drive into the driving corridor until at least one emergency vehicle reaches this location. ADVANTAGES

The method according to the invention effects a large-area influencing of autonomously controlled alternating light signals and creates the prerequisite for an emergency vehicle approaching an autonomous alternating light signal system with right of way not only being able to influence the autonomous alternating light signal system immediately ahead on its route, as is known from the prior art , but that autonomous alternating traffic light systems that are not immediately ahead and are further away on the route can be influenced at an early stage. This makes it possible, even in heavy traffic or even traffic jams, in a central location

Traffic control computer controlled traffic route network or part of a

Traffic route network the driving corridor that the emergency vehicle on its

The route needs to be cleared so that the emergency vehicle almost always finds a free driving corridor and does not have to reduce its speed.

This results in faster and shorter mission trips to the site. Autonomous alternating light signal systems in the vicinity of the alternating light signal systems located in the predicted direction of travel are thus also included in the collective control, which are not controlled by a central traffic control computer (as in DE 10 2016 105 558 B3).

This influencing of the autonomous alternating light signal systems which do not directly affect the intended direction of travel of the emergency vehicle in a section of the route lying ahead and in its vicinity in the manner according to the invention has the effect that the driving corridor empties in good time in the direction of travel in front of the emergency vehicle. At the same time it prevents

Vehicles can drive into the driving corridor for the at least one emergency vehicle and possibly block it.

Metaphorically speaking, this gives the at least one emergency vehicle on its predicted route through an area with autonomous

Alternating light sign systems not only formally receive a green wave, but also receive it by means of the priority control according to the invention also essentially a free driving corridor, by pushing an effective area of this priority control along the predicted route and possibly to the left and right thereof, in which in addition to the green wave for the at least one

Emergency vehicle is caused to flow out of the driving corridor along the forecast route by switching the alternating light signal systems accordingly. This area of activity in front of the emergency vehicle forms a "cloud" of influenced alternating light signal systems and can therefore also be referred to as a "green cloud".

By influencing the autonomous ahead

Alternating light signal systems not only taking into account the current position data of the at least one emergency vehicle, but also taking into account its direction of travel vector, is the driver of the

Emergency vehicle not tied to a route predefined from the outside, but it can depend on the respective situation and the

Traffic events on site choose their route independently. The

Alternating light sign encounter plan is used when the direction of travel of the vehicle is identified as relevant for the determination of the predicted travel route

Emergency vehicle created and together with a

Priority message to those who are then ahead

Alternating light sign systems transmitted. The alternating traffic light systems that were switched to priority mode before the direction of travel changed and are no longer on the new route will return to their normal operating mode

switched back.

The priority control according to the invention is otherwise not up

Alternating traffic light systems are restricted to traffic on a road network, but can be any type of alternating traffic light system in one

Traffic network include, for example, signals of a

Rail network and / or barriers and traffic light systems

level railroad crossings. For example, signals for Rail vehicles are switched to STOP, to which at least one

To enable emergency vehicles to safely cross a railroad crossing or tram crossing.

A particular advantage of the inventive method is the fact that a central traffic control computer is not required to control the alternating traffic light systems along the predicted travel route, and the method can therefore be used in autonomous alternating traffic light systems. This is possible because, according to the invention, the autonomous alternating light signal systems can not only receive data as is known from the prior art, but are also able to transmit data further. The invention

The method is therefore particularly suitable for traffic route networks or parts thereof which do not have a central traffic control computer.

Further preferred and advantageous design features of the

The method according to the invention are the subject of dependent claims 2 to 13.

The influencing of the autonomous alternating light signal systems relating to the predicted direction of travel on the predicted route is preferably carried out with the following steps:

g) determining the autonomous alternating light signal systems located along the predicted travel route and creating a change light system encounter plan for the emergency vehicle along the predicted travel route;

h) Transmission of the alternating traffic light system encounter plan as well as a priority request message from the emergency vehicle or an external transmission unit to a next autonomous vehicle located on the predicted route of the emergency vehicle

Alternating light signal system or to a local assigned to it

Control unit;

i) Activation of a priority program for switching the next

Autonomous alternating light signal system in front of the reception the priority request message by a local control unit assigned to this nearest preceding autonomous alternating light system;

j) Submit the alternating sign system meeting plan and the

Priority request message from the nearest preceding autonomous alternating light system or from the local assigned to it

Control unit to the autonomous alternating light signal system following along the predicted travel route or to the local control unit and assigned to it

k) repeating steps i) and j) with the subsequent autonomous alternating light signal system.

The particularly advantageous solution here is the creation and the

Bucket chain-like transmission of the alternating traffic light system encounter plan, in which both the currently forecast route of the emergency vehicle and the topology of the traffic route network with its alternating traffic light systems are included, between the relevant autonomous alternating traffic light systems and the central traffic control computer. Corresponding messages can thus be generated on the basis of the alternating light sign encounter plan along a predicted route from an autonomous alternating light sign system to the next autonomous alternating light sign system in the manner of a bucket chain

be forwarded.

In step g), in addition to the autonomous alternating light signaling systems located along the predicted travel route, further autonomous alternating light signaling systems in the immediate vicinity or in the immediate vicinity of the autonomous alternating light signaling systems located along the predicted travel route are advantageously determined, and in step g) in addition to the alternating light signaling system encounter plan

Alternating light sign system maps for the other autonomous

Alternating light sign systems are created in the vicinity of the predicted route, each of which is located along the predicted route autonomous alternating light signal system are assigned. In steps h) and j), a priority support message is then transmitted to the other autonomous alternating light signaling systems in accordance with the applicable alternating light signaling system environment plan, and in step i) the priority support program is additionally activated for the switching of the other autonomous alternating light signaling systems.

Through this development of the invention, not only a linear green wave along the intended route of the. Is also in areas with autonomous alternating light signal systems not controlled by a central traffic control computer

Emergency vehicle created, but it is also influenced due to the data transmission function provided for the autonomous alternating light sign systems and the additional creation of the respective alternating light sign system environment map also alternating light sign systems in the vicinity of the intended or forecast route of the at least one emergency vehicle.

It is advantageous if the activation of the priority program in step i) takes into account the expected time of arrival of the emergency vehicle at the next autonomous alternating light signal system. This enables the clearing of the driving corridors in the area of alternating light signal systems further ahead to the arrival time of the

Optimize the vehicle at the respective location and only minimally affect the rest of the traffic flow.

The priority program is preferably deactivated again after the

Emergency vehicle has passed the alternating light signal system controlled by the priority program. This deactivation actively triggered by the emergency vehicle has the advantage of a time-controlled deactivation

immediate practical relevance, which also reduces the impairment of the remaining road users. If steps g) and h) are also repeated in step k), an updated alternating traffic light encounter plan and an updated priority request message being transmitted in step h), the advantage results that the alternating traffic light systems always have up-to-date data for the

get predicted route. Such a recursive implementation of the

Procedure enables a dynamic and to the current route and

Driving speed of the at least one emergency vehicle adapted

Priority circuit. If, on the basis of a decision by the driver, for example, the emergency vehicle leaves the originally predicted travel route and the navigation software then calculates a new travel route, this current information is transmitted to the next alternating traffic light system, which then transmits this information to the following alternating traffic light systems according to the newly calculated predicted travel route, which clears a new driving corridor. At the same time, the alternating light signal systems along the previously predicted route are reset to their normal operating mode.

In complex traffic route networks, some with autonomous

Alternating traffic light systems (for example on the outskirts) and provided with alternating traffic light systems (for example in the city center) controlled by a central traffic control computer, it is advantageous if one based on the topology information about the traffic network and the

predicted route determined impending exit of the

Emergency vehicle from an area of the traffic route network with autonomous alternating light signal systems not controlled by a central traffic control computer and an impending entry of the emergency vehicle into an area of the traffic route network with alternating light signal systems controlled by a central traffic control computer the position data of the destination, the current position data and the data of the current direction of travel vector of the at least one emergency vehicle is transmitted to the traffic control computer and if there is then priority control along the predicted one

Driving route following (centrally controlled) alternating traffic light systems from central traffic control computer is carried out. This variant creates an uninterrupted transition between the two for the emergency vehicle

Areas of the traffic network with different control of the

Alternating light signal systems, without the clearance of the driving corridor being interrupted during this transition.

It is advantageous if the alternating light signal systems are switched in the predicted direction of travel on the predicted route in such a way that oncoming traffic and / or cross traffic or vehicles willing to turn in the driving corridor can leave the driving corridor before at least one emergency vehicle has reached this location . This will make the

Clear the corridor in time for the arrival of the emergency vehicle.

It is also advantageous if, as an alternative or in addition, the switching of the autonomous alternating light signal systems in the predicted direction of travel on the

predicted travel route takes place in such a way that vehicles of cross traffic or turning traffic cannot drive into the driving corridor until at least one emergency vehicle has passed this location. This prevents vehicles from driving into the driving corridor.

The area of the effective area is preferably not static, but is adapted to the road topology along the predicted travel route and / or to the current traffic volume. In its smallest extent, the area of action can, for example, only include the traffic lights at a crossroad to be crossed, that is to say only the alternating light signals of the autonomous alternating light signal system lying ahead in the direction of travel. In the case of intersections of multi-lane roads with several turning lanes and a correspondingly complex set of traffic lights, the effective range can be selected to include all autonomous or interchangeable traffic light systems in the large area of the intersection. The area of effect can, however

for example, to be extended to autonomous alternating traffic light systems in secondary streets and / or at laterally adjacent intersections if this is the case due to traffic routing or traffic flow. Such a priority control, which can be adjusted with regard to its area of effect, can be referred to as a "dynamic green cloud".

In an advantageous development of the method according to the invention, which can be combined with other embodiments of the invention, the release of the traffic in the direction of the predicted travel route takes place in good time before the, depending on the traffic density on the predicted travel route

predicted arrival of the at least one emergency vehicle at the respective autonomous alternating light signal system relating to the predicted direction of travel on the predicted travel route that is in the driving corridor

Can set vehicles in motion and thus stationary traffic has changed to flowing traffic when the at least one emergency vehicle arrives. This further development of the method enables existing traffic jams to dissolve at least to such an extent that the vehicles which were previously in a traffic jam set in motion and can quickly form a rescue alley for the at least one emergency vehicle from this movement.

It is also an advantage if the alternating light signals of an autonomous

Alternating traffic light systems along the forecast route are switched in such a way that at a junction where the forecast direction of travel of the at least one emergency vehicle bends into an intersecting road, traffic lights for pedestrians or cyclists are switched to STOP, for example by displaying red light so that pedestrian and / or bicycle traffic is stopped over the confluent road. This enables the at least one emergency vehicle to turn quickly without having to stop because of pedestrian or cyclist traffic. This also increases the risk of turning accidents with the

Emergency vehicle reduced.

It is particularly advantageous if the provision of the current position data and the data of the current direction of travel vector of the at least one Emergency vehicle in step b) is carried out on an emergency computer in the emergency vehicle, preferably a mobile terminal, which, for example, an authorized person carries as the occupant of the at least one emergency vehicle, and if this data, together with authentication data of the emergency vehicle or this authorized person, forms part of the priority request message and

may be the priority support message. Such a

Emergency computers can easily be installed or retrofitted in an emergency vehicle or carried in the emergency vehicle by an authorized person.

A mobile solution using a mobile device, on the other hand, does one

It is not necessary to equip each emergency vehicle in question with appropriate hardware and software for carrying out the method according to the invention, as a result of which considerable costs can be saved. Only a few mobile devices, for example tablet computers or mobile telephones (smartphones), are required on which the software implementing the method (“app”) is stored in an executable manner. The emergency services are generally equipped with such official mobile devices, so that no additional hardware is required.

In all embodiments of the method according to the invention, it is advantageous if the sub-step of forecasting the route for the at least one emergency vehicle on the emergency computer by means of a computer running on it

Navigation software is carried out and if the sub-step of creating the alternating sign system encounter plan on the basis of this predicted route and a topology and

Property information about the alternating light sign systems of the

Traffic route network, which is stored in a data memory assigned to the emergency computer or connectable to the emergency computer, is carried out.

Smartphones and tablet computers are usually already equipped with a navigation software that can be run on them and sufficient Data storage space available, so even the purchase of separate

Navigation systems can be saved.

According to another advantageous embodiment of the method according to the invention, which can be combined with other embodiments, the current position data and the direction of travel vector of the at least one

Emergency vehicle together with the (authenticated) priority request signal also directly or indirectly to autonomous vehicles that are on the predicted route of the emergency vehicle. These autonomous vehicles are thereby prompted to clear the roadway required for the at least one emergency vehicle or not to drive on it at all. Autonomous

In this way, vehicles, i.e. motor vehicles that participate in road traffic without a driver, i.e. drive or hold autonomously without a driver, are informed and prompted early and independently of their own onboard sensors that the at least one emergency vehicle is near the ground, which is responsible for the at least one

Clear the emergency vehicle to clear the lane or not to drive on it at all. For example, such an autonomous vehicle can automatically receive one when receiving this information from the approaching emergency vehicle

prioritized driving mode can be switched, in which it automatically drives to the nearest edge of the road and remains there, provided that sensors of the autonomous vehicle next to the vehicle detect a free road width that is larger than a predetermined width required for the passage of emergency vehicles.

It is advantageous if the transmission of the current position data and the travel direction vector as well as an (authenticated) priority request signal of the at least one emergency vehicle to autonomous vehicles takes place indirectly via at least one central telematics computer with which the autonomous

Vehicles are connected for data transmission. There, for example, the authenticity of the priority request signal and the corresponding authorization of the emergency vehicle can be checked by a higher-level entity before the corresponding signals and data are sent to the autonomous vehicles. However, it can also be advantageous if the transmission of the current position data and the travel direction vector as well as an (authenticated)

Priority request signal of the at least one emergency vehicle to autonomous vehicles is carried out directly from the emergency vehicle. As a result, the route of this information is not routed via a central station but directly from the emergency vehicle or via the telematics computer to the autonomous vehicles, which means that a faster flow of information can be achieved.

Basically, the idea described above is of influencing

to see autonomous vehicles by an emergency vehicle regardless of the idea of influencing alternating light signaling systems and represents an independent invention, either alone or in itself

Combination with influencing alternating light signal systems can be realized.

The part of the object directed to the device is achieved by a system having the features of claim 14.

This system for carrying out a method according to the invention has a traffic route network with a first area with a plurality of autonomous alternating traffic light systems and a second area with alternating traffic light systems controlled by a central traffic control computer. Furthermore, the system has at least one emergency vehicle with right of way that is moving in this traffic route network and whose journey is on a predicted one

The route within the traffic route network is or should be accelerated by means of the method according to the invention. In the at least one

An emergency computer is provided, which is preferably formed by a portable, mobile terminal and which has a transmitter for

Data transmission is functionally connected or has this, wherein a computer program is executably stored on the application computer, which at least step e) - and preferably also step h) - of the invention Procedure. The respective autonomous alternating light signal system or a control unit assigned to it is provided with a transmitter-receiver device or is functionally connected, with a computer program executable in the respective control unit which applies priority control to the assigned autonomous alternating light signal systems.

At least one position data transmitter and one direction vector vector transmitter are preferably provided in the emergency vehicle, the emergency computer being effectively connected to these transmitters or having these transmitters.

A navigation software is preferably stored executably on the application computer, with which a predicted travel route between the current position and a predefined travel destination can be determined.

Further preferably, the computer program which can be run in the respective control unit and which applies priority control to the assigned autonomous alternating light signal systems also executes at least steps i) and j) of the method according to the invention.

This system allows the method according to the invention to be implemented in a particularly advantageous manner, with the corresponding flard and software only having to be on board the emergency vehicle and capable of providing or determining the process-relevant data and transmitting it to the recipient. The autonomous alternating light signal systems or the control unit itself functionally connected to an autonomous alternating light signal system only requires additional software and a receiver and

Transmitter functionality for receiving and forwarding the from

Emergency vehicle transmitted data to the on the basis of this data

Traffic light switches along the predicted route of the at least one emergency vehicle and possibly in the area of the "green cloud"

influence. The individual alternating light signs themselves do not have to be included additional hardware or software can be equipped, so that the costs for the operator of the traffic network remain manageable.

In such a system, the application computer advantageously has a

Data storage device on or at least with such

Data query connected effectively. Information about the autonomous alternating traffic light systems of the traffic network is stored in the data storage device and the information that can be run on the application computer is stored

Computer program executes step g) using this stored data.

Finally, the invention is also based on claim 16

Computer program product directed, which is designed to carry out a method according to the present invention.

For this purpose, the computer program product contains a first computer program, which executes step e), preferably also executes step g) and triggers and controls step h), and which can be run on an emergency vehicle-side emergency computer, preferably a mobile terminal. The

Computer program product preferably further includes a second one

Computer program which executes step i) and triggers and controls step j) and which is functionally connected to a control computer which is functionally connected to the alternating light signals of a respective autonomous alternating light signal system

Control device can be stored executably, the first

Computer program and the second computer program are designed to be used for the purpose of data transmission, preferably encrypted against one another

Tamper-proof radio link to communicate with each other and wherein the second computer program is designed to be used for the purpose of

Data transmission, preferably encrypted via a radio link secured against manipulation, to communicate with another second computer program that runs on a control computer of another autonomous alternating light signal system. Such a computer program product thus essentially consists of two parts, namely a first part that is stored in a suitable computer device on board the emergency vehicle and a second part that is in a respective autonomous alternating light signal system or in a control computer of a control unit that is functionally connected to it of the

Alternating traffic light system and, if applicable (in the case of a traffic route network with autonomous and centrally controlled alternating traffic light systems), is also stored in a central traffic management computer.

The part of the computer program product provided in the emergency vehicle can be, for example, an app that runs on a mobile device carried along or in a vehicle navigation system of the emergency vehicle. For the part of the computer program product assigned to the alternating light signal system (and possibly a central traffic control computer), for example, an independent program layer can be provided in a multi-layer model of an alternating light signal controller.

Preferred embodiments of the invention with additional

Design details and further advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

It shows:

Fig. 1 shows a section of an inner-city road network, the

Part of the traffic network is with a schematic block diagram representation of the alternating traffic light systems there;

2 shows a symbolic schematic representation of the data transmission according to the method according to the invention; 3 shows a topology of another section from an inner-city road network which is part of the traffic route network;

3A shows a first section from FIG. 3;

3B shows a second detail from FIG. 3;

Fig. 4 is a symbolic schematic representation of the data transmission

according to the inventive method at a border in the area of autonomous alternating light signaling systems and

FIG. 5 shows a detail from FIG. 3 with an autonomous driver driving ahead

Vehicle.

PRESENTATION OF PREFERRED EMBODIMENTS

1 shows a simplified schematic illustration of a section of a traffic route network 1 which is not controlled by a traffic control computer and which comprises a plurality of road junctions 11, 12, 13, 14, 15, 16 and

Road junctions 10, 17, 18, 19 of different complex shapes. A road junction 10 and all shown road junctions 11, 12, 13, 14, 15, 16 are each equipped with an autonomous alternating light signaling system 2, 3, 4, 5, 6, 7, 8, which are provided in the traffic route network 1 to the flowing Regulate traffic.

Each of these autonomous alternating light signal systems 2, 3, 4, 5, 6, 7, 8 comprises a plurality of alternating light signals 21, 22, 23, 24, 25, 26, 27, 28; 31, 32, 33, 34, 35, 36, 37, 38; 41, 42, 43, 44, 45, 46, 47, 48; 51, 52, 53, 54, 55, 56, 57, 58; 61, 62, 63,

64, 65, 66, 67, 68; 71, 72, 73, 74, 75, 76, 77, 78; 81, 82, 83, 84, 85, 86, 87, 88, for example traffic lights for the respective lanes of a road, turn lights,

Pedestrian lights and bicycle lights as well as special light signals for the Public transport services. Warning light signs at tram or level crossings and the corresponding signals for rail tracks in the

Rail vehicles operating in the traffic route network can be counted among these alternating light signs in the broadest sense.

Even if driving autonomous vehicles in a public

Traffic route network with mixed operation at the time of registration has not yet been implemented or has only been implemented on a trial basis, the alternating light signs in the sense of the present invention can also include those future traffic control means, the information as to whether a lane is released ("green") or blocked ("red") to a respective vehicle - regardless of whether this is a driver-controlled or an autonomous vehicle. The term "alternating light sign" thus includes such future "virtual alternating light signs", classic traffic lights and light signals as well as historical mechanical traffic lights (e.g. pointer lights).

Therefore, the term "alternating light sign" in the definition used here can also be generally referred to as "traffic control information means".

In the illustration in FIG. 1, each of the alternating light signal systems 2, 3, 4, 5, 6, 7, 8 is assigned only eight alternating light signals; However, it is self-evident for the person skilled in the art that the number of alternating light signal systems

assigned alternating light signs can be smaller or larger as required.

Such an autonomous alternating light signal system 2, 3, 4, 5, 6, 7, 8 is conventionally provided at a traffic intersection, for example a street intersection, or at a road junction. It is not operatively connected to any regional or supra-regional, central traffic control computer, but has its own local control unit 20, 30, 40, 50, 60, 70, 80, which exclusively uses the alternating light signals 21, 22, 23, 24, 25, 26, 27, 28; 31, 32, 33, 34, 35, 36, 37, 38; 41, 42, 43, 44, 45, 46, 47, 48; 51, 52, 53, 54, 55, 56, 57, 58; 61, 62, 63, 64, 65, 66, 67,

68, 71, 72, 73, 74, 75, 76, 77, 78; 81, 82, 83, 84, 85, 86, 87, 88 of their autonomous alternating light signal system 2, 3, 4, 5, 6, 7, 8 autonomously controls according to at least one predefined or predefinable program, for example on a Computer 29, 39, 49, 59, 69, 79, 89 of the respective local control unit 20, 30, 40, 50, 60, 70, 80 runs. In exceptional cases there may also be alternating light signal systems 7, 8 which, due to intersections 15, 16 or road junctions which are very close to one another, are controlled by a local master control 700

Master computer 710 with computers 79, 89 of control units 70, 80

can be controlled coordinated.

While such conventional autonomous alternating light signal systems 2, 3, 4, 5,

6, 7, 8 have so far not been operatively connected to one another over a large area, but rather stand-alone control solutions on the respective ones

Traffic intersections 11, 12, 13, 14, 15, 16 respectively

Road junctions 10, 17, 18, 19, the invention now connects at least some of the autonomous alternating light signal systems as required, namely in the example below the autonomous alternating light signal systems 2, 3,

4, 5, with each other and thereby creates an ad hoc network without control by a regional or supra-regional central traffic control facility. In this ad hoc network, individual autonomous alternating light signal systems 2, 3, 4, 5 or the control units 20, 30, 40, 50 assigned to them each form one

Network node. Each of the autonomous alternating light signal systems 2, 3, 4,

5, 6, 7, 8 with a data receiver 29 ', 39', 49 ', 59', 69 ', 79', 89 'and a data transmitter 29 ", 39", 49 ", 59", 69 ", 79" , 89 ", each with the computer 29, 39, 49, 59, 69, 79, 89 of the corresponding control unit 20, 30, 40, 50, 60, 70,

80 are effectively connected for data transmission.

1 also shows an emergency vehicle 9 with priority right of way, which is traveling in a current direction of travel with the current direction of travel vector R 'on one of the roads of the traffic route network 1 with a Martinshorn and flashing lights in order to drive to an application target. The emergency vehicle 9 stands over a

Radio connection 92 in connection with a control center 90 and is able, after authorization by the control center 90, the autonomous

Alternating light signal systems 2, 3, 4, 5, 6. 7, 8 to influence. This influencing takes place according to the method of the invention for the purpose of a priority control for the emergency vehicle 9 on its route to the destination through the area of the traffic route network 1, the alternating light signal systems 2, 3, 4, 5, 6, 7, 8 of which operate autonomously and are not controlled by a regional or national central traffic control computer.

Such priority control is based on the predicted travel route R of the emergency vehicle 9 and the local topography of the surroundings

Street intersection or junction and the alternating light sign arrangement determined at this junction or junction. First, the predicted driving corridor of the emergency vehicle on this will be specific

Intersection or junction and then it is decided which of the flashing lights at this intersection or

Road mouth as must be switched in order to clear the driving corridor from traffic and to keep it free for the emergency vehicle.

In the event of a mission, the emergency vehicle receives 9 or that

Emergency personnel in emergency vehicle 9 from operations center 90

Command with the data of the place of operation, i.e. the destination for the

Emergency vehicle 9. This data is, for example, about a first

Radio connection 92 transmitted from the operations control center 90 to the emergency vehicle 9. On board the emergency vehicle 9 there is an emergency computer 94 which receives the information about the location and the destination transmitted via the radio connection 92. This application computer 94 can be fixed in the

Emergency vehicle 9 to be installed. However, the deployment computer 94 is preferably operated by a tablet computer or a mobile radio device, for example one

Smartphone, formed on which an application computer program runs. The

Deployment computer 94 also has a position data transmitter and a direction vector vector transmitter as well as a transmitter connected to these transmitters for data transmission.

The deployment computer 94 is provided with navigation software or has access to a navigation computer located on board the deployment vehicle 9 in order to navigate the to be able to determine the current position of the emergency vehicle 9 and its direction of travel vector R 'in the current traffic route network 1. In addition, the deployment computer 94 has position information about that in the traffic route network 1

Existing autonomous alternating light signal systems 2, 3, 4, 5, 6, 7, 8. This information can either be retrieved from a data memory of the application computer 94 or from a data memory connected or connectable to it, or the application computer 94 receives this information via the radio connection 92 from the Operations center 90. Based on the known destination data, a proposal for a route R from the current location of the emergency vehicle to the destination is calculated by the navigation software or the navigation device. This predicted route R of the emergency vehicle 9 is shown symbolized by the arrows R in FIG. 1.

With the data of the predicted route R and the saved one

Position information about the autonomous alternating light signal systems 2, 3, 4, 5, 6, 7, 8 present in the traffic route network 1, the deployment computer 94 determines the autonomous located along the predicted travel route R.

Alternating light sign systems 2, 3, 4, 5 and creates one

Alternating sign system encounter plan for the emergency vehicle along the predicted route R. Of course, this can

Alternating sign system encounter plan outside of the

Mission computers 94, for example in the operations center 90, are created and transmitted to the mission computer 94 via the radio link 92. Based on the position of the emergency vehicle 9 known to him and the route R known to him, the emergency computer 94 takes the next autonomous alternating light signal system 2 from the alternating light sign encounter plan.

The deployment computer 94 then, as is symbolically represented in FIG. 2 by the lightning arrow, transmits the alternating sign system encounter plan and a priority request message to those on the transmitter via its transmitter

predicted route R of the emergency vehicle 9 ahead of the next autonomous alternating light signal system 2 transmitted by data radio as it is by the Letter symbol is shown symbolically in Fig. 2. These radio data signals are received by the data receiver 29 ′ of the control unit 20 and fed to the computer 29 of the control unit 20. The computer 29 checks the received one

Priority request message for authenticity and then activates one

Priority program for the circuit of the autonomous alternating light signal system 2, which the alternating light signals for the predicted route R for the

Emergency vehicle 9 at the road mouth 10 switches to free travel ("green"). Furthermore, the computer 29 determines from the current position of the emergency vehicle 9, the received alternating light system encounter plan and the predicted route R the alternating light system 3 following on the predicted route.

The alternating sign system encounter plan and the

Priority request messages are then from the computer 29

Control unit 20 of the autonomous alternating light system 2 via the

Data transmitter 29 "is transmitted to the autonomous alternating light signal system 3 following along the predicted travel route R, whereupon this also

Alternating light signal system 3 is placed in a corresponding priority program, which also changes signals at the intersection 11 for the predicted

Route R for the emergency vehicle 9 switches to free travel ("green").

The alternating sign system encounter plan and the

Priority request messages are then from the alternating light signaling system 3 to the next one lying ahead along the predicted travel route R.

Alternating light signal system 4 and further transmitted from this to the alternating light signal system 5 following in the predicted direction of travel R, whereupon the alternating light signal system 4 also changes to a corresponding priority program and the relevant for the predicted direction of travel R.

Alternating light sign at the intersection 12 switches to "green" and then the alternating light sign system 5 then switches to a corresponding one

Priority program changes and the for the predicted direction of travel R

relevant alternating light sign at intersection 13 switches to "green". The forwarding of the priority request signal and the

Alternating sign system encounter plan to the autonomous

Alternating light signal systems 2, 3, 4, 5 along the predicted route are made in the manner of a bucket chain, with the respective forwarding under

Taking into account the driving speed of the emergency vehicle 9, the respective distance between two successive alternating light signal systems and, if appropriate, taking into account the traffic density with a time delay.

In addition to this bucket-chain-like information transmission, the deployment computer 94 transmits updated position and time intervals

Directional data such as the current direction of travel vector R 'of the emergency vehicle 9 and an updated alternating sign system encounter plan as well as the priority request message together with the authorization authoritative.

Authentication data to the next autonomous alternating light signal system currently on the predicted route R of the emergency vehicle 9, which then processes this information as described above and forwards it along the bucket chain as updated information. If the driver of the

Emergency vehicle 9 spontaneously changes the route due to external influences, it is ensured in this way that priority switching of the relevant autonomous route along the new forecast route

Alternating light sign systems can be set up.

According to this variant of the invention, there is therefore at least one

Emergency vehicle 9 predictively switched a dynamic "green wave" in an area of a traffic route network 1 in which the alternating traffic light systems are switched autonomously and are not controlled by a regional or national traffic control computer.

The data transmissions between the at least one emergency vehicle 9 and the alternating light signal systems 2, 3, 4, 5, 6, 7, 8 and between the Alternating light signal systems 2, 3, 4, 5, 6, 7, 8 with each other are each encrypted via radio links secured against manipulation.

A particularly preferred and advantageous development of the method according to the invention is explained below in conjunction with FIG. 3.

In parallel to the establishment of a dynamic "green wave" for the emergency vehicle 9 described above, further autonomous ones

Alternating light signal systems 6, 7 in the vicinity of the autonomous alternating light signal systems 2, 3, 4, 5 located in front of the emergency vehicle 9 and relating to the direction of travel of the predicted route R ("green" or "red") are switched in such a way that in a driving corridor for the at least one Emergency vehicle 9 on the road of the predicted route R vehicles

Can leave the corridor before the emergency vehicle 9 reaches this location. These can be, for example, oncoming traffic, cross traffic or standing or willing to turn vehicles in the corridor. In addition, this additional traffic influence can cause vehicles to be unable to drive into the driving corridor until at least one emergency vehicle 9 has passed this location. Other autonomous alternating traffic light systems (e.g. the autonomous alternating traffic light system 8) of the traffic route network 1 are used by the

Priority control is not affected in this example.

The way such priority control for at least one

Emergency vehicle by influencing autonomous alternating light signaling systems in the area of the autonomous autonomous driving direction

Alternating light signal systems takes place, is explained below with reference to FIG. 3.

The topology of a road network 100, which is part of an urban traffic route network 1, is shown schematically in FIG. 3. Also in this traffic route network, the alternating traffic light systems are autonomous and are not controlled by any regional or supra-regional central traffic control computer. The

In addition to road network 100, traffic route network 1 can also, for example, also the network of inner-city trams as well as a network of local public transport buses traveling on their own lanes and, if necessary, even 100 trams or trams leading through the street network

Include railroad tracks. The task of the emergency vehicle 9 is to drive from its current location P at the lower edge of the image in FIG. 3 to an emergency location E located at the upper left edge of the image, where, for example, a traffic accident has occurred. This location E also represents the destination Z for the emergency vehicle 9.

The navigation computer on board the emergency vehicle 9 originally determined the obliquely hatched route A as the shortest route to the location E. The emergency vehicle therefore already had the alternating light signal systems in front along the route it had previously covered

predicted route A transmits the priority request signal as described in connection with FIGS. 1 and 2.

This route A, however, has two for the rapid progress of the

Emergency vehicle E on critical sections, namely section A1, where the emergency vehicle has to turn from a side street into a flaup street to the right and a little later has to turn left at an intersection. In this Flauptstraße, for example, the rails of a tram run on the carriageway and there is a tram stop in this area. The driver of the emergency vehicle 9 knows this weak point and knows that he must expect a delay in his journey here. Furthermore, the driver of the emergency vehicle 9 suspects that a jam may already have occurred in section A2 of the route A, that is to say in the road leading to the accident site, due to the high traffic volume that regularly occurs there.

The driver of the emergency vehicle 9 therefore decides on the next one

Turn right at intersection K1 and choose the cross-hatched alternative route B. At the moment the emergency vehicle 9 turns at the intersection K1, the navigation system on board the emergency vehicle 9 registers or the navigation software running on the emergency computer 94, the change in direction of the emergency vehicle 9. A new predicted route B for the emergency vehicle 9 is then calculated. Of the

Deployment computer 94 immediately determines those along the new predicted one

Route B located autonomous alternating light sign systems and creates a new, updated alternating light sign encounter plan for the

Emergency vehicle 9 along the new predicted route B. Then, the emergency computer 94 transmits the new alternating sign system encounter plan and an updated priority request message together with the authentication data contained in the priority request message

Emergency vehicle or the authorized operator to the next autonomous alternating light system at the intersection K2, which is her

Priority program activated and - as has been described in connection with the first example - the alternating sign system encounter plan and an updated priority request message to the alternating light system 143 of the next intersection K3, which in turn activates its priority program.

The area of the intersection K3, however, has a complex traffic routing, since another intersection K30 is located directly next to the intersection K3 and is also traffic light-controlled. Backlogs often occur here

Alternating light sign at the intersection K30, which goes up to the intersection K3

reach in. It is therefore not sufficient if the forecast

The direction of travel R of the emergency vehicle 2 relevant alternating light signs of the intersection K3 are switched to green, but it must first be ensured that the traffic backing up into the intersection K3 before the alternating light signs of the intersection K30 can leave the intersection K3.

3A, the alternating light signs 1431, 1432, which regulate the cross traffic flowing into the intersection K3, are switched to "STOP", which is symbolized by a circle with a cross. Is at the intersection K3 on the carriageway of the predicted direction of travel R that Permitted to turn left, oncoming traffic driving straight ahead is also stopped by means of the alternating light sign 1433. This allows left turners to leave the lane of the predicted direction of travel R and for that

Clear emergency vehicle 9. The left turn traffic from the opposite direction leading over the lane of the predicted route B is also stopped by the alternating light signal 1433 'switched to "FIALT", while the

Alternating light sign 1434, which relates to the direction of travel R of the emergency vehicle 9 on the predicted route B, is switched to "free travel", which is symbolized by the straight-ahead arrow in a circle. In this way, the autonomous

Alternating light signal system 143, which directly affects the intersection K3, switched so that none of the lane of the predicted route R des

Traffic flows blocking the emergency vehicle 9 flowing into the intersection K3 and possibly waiting vehicles located in the driving corridor on the carriageway of the predicted route R can leave the driving corridor.

Controlling the alternating light signs belonging to the autonomous alternating light signal system 143 at the intersection K3 is not sufficient in the present case, however, since the traffic at the intersection K 3 is negatively influenced by the immediately adjacent intersection K 30 with the likewise autonomous alternating light signal system 143 'located there there is often a backlog of cross traffic that extends into the intersection K3. For this reason, the alternating sign system encounter plan as well as the

Priority request message is not only transmitted from the autonomous alternating light signal system 143 to the autonomous alternating light signal system 144 located at the intersection K4 along the predicted route R, but also to the autonomous alternating light signal system 143 'of the laterally adjacent intersection K30. The influencing of the autonomous alternating light signaling systems according to the invention is now extended in the area of the intersection K3 beyond the autonomous alternating light signaling system 143 to the likewise autonomous alternating light signaling system 143 'from the adjacent intersection K30. The area of action 143 "of the priority control thus extends from the autonomous alternating light signal system 143 relating to the intersection K3 to the autonomous alternating light signal system 143 'assigned to the adjacent intersection K30. This takes place in such a way that the traffic leading out of the intersection K3 via the intersection K30 through the switched to "free travel"

Alternating light signs 1435 of the neighboring intersection K30 can flow off, so that the intersection K3 is cleared. The alternating light signals 1436 and 1437 of the autonomous alternating light signal system 143 ', which regulate the cross traffic with regard to the aforementioned outflowing traffic, are switched to "FIALT" for this purpose.

In this way, the effective range 143 "of influencing the autonomous alternating light signaling systems is expanded from the intersection K3 to the intersection K30 by putting two respective autonomous alternating light signaling systems 143, 143 ', which are adjacent to one another laterally with respect to the predicted direction of travel R, into a respective priority program. The described Control of the autonomous alternating light signal system 143 'ensures that the traffic flows out of the intersection K3 and the described control of the autonomous

Alternating light signal system 143 prevents further flow of traffic into the intersection K3, so that the intersection K3 is cleared when the emergency vehicle 9 arrives and the emergency vehicle 9 the intersection K3 without any significant

reduced speed due to traffic.

If the emergency vehicle 9 passes the intersection K3, it must turn left at the next intersection K4. This turn request is in

Alternating light sign encounter plan included and thus already known to the autonomous alternating light sign system 144 there, because the

Alternating light sign encounter plan has already been transmitted by the previous autonomous alternating light sign system 143, so that the autonomous alternating light sign system 144 can switch its alternating light signals at the intersection K4 accordingly. For this purpose, not only the alternating light signs of the autonomous alternating light sign system 144 for the cross traffic are switched to "FIALT", but also the alternating light signs for the oncoming traffic and for the Pedestrian traffic is switched to "HALT", so that only the alternating light signs relating to the route of the emergency vehicle are switched to "free travel". The emergency vehicle can thus reduce its traffic-related reduction

Turn left at the intersection K4. At the following intersection K5 there is again a free one in the manner already described

Straight ahead for the emergency vehicle 9 switched.

The following intersections K6, K 7 and K8 on the predicted route B of the emergency vehicle 9 are part of a topologically more complex road system with a large number of intersections and road junctions located next to the predicted route B, which are also autonomous

Alternating light signal systems are provided (Fig. 3B). In a similar way as this in connection with the control of the alternating light signals of the autonomous

Alternating light signal systems 143, 143 'of the effective range 143 "around the

Intersections K3 and K30 have been described in the area of

Intersections K6, K 7 and K8 define a larger effective area 147 ", which includes the autonomous alternating light signal systems located in this area, namely the autonomous alternating light signal system 146 of the intersection K6 with the autonomous alternating light signal systems 146 'and 146" of the intersections or road junctions K60 adjacent to the intersection K6 and K61, the intersection K7 with its autonomous alternating light signal system 147 and the autonomous alternating light signal system 147 'of the road junction K70 adjacent to the intersection K7 and the autonomous alternating light signal system 148 of the intersection K8 and the autonomous alternating light signal system 148' at the road junction K80 adjacent to the intersection K8 and the autonomous one

Alternating light signal systems 148 "and 148 '" of the intersection K81 adjacent to the intersection K8 and the subsequent road junction K82. In this

Area of effect 147 "is also controlled in this

Effective area 147 "located autonomous alternating light signal systems, which is aimed at preventing the inflow of traffic into the driving corridor on the lane of the predicted route B and which at the same time ensures that vehicles that are in the driving corridor on the lane along the Route B are in the direction of travel R of the emergency vehicle 9, can leave this lane.

At the two subsequent crossings K9 and K10 it is again

it is sufficient to influence only the autonomous alternating light signal systems of the respective intersection K9 or K10 and to switch a straight line for the emergency vehicle 9.

This particularly preferred embodiment of the method according to the invention for influencing a plurality of autonomous alternating light signal systems in a traffic route network without a regionally or supra-regionally central

The traffic control system thus ensures that the at least one emergency vehicle 9 not only finds a green wave along its predicted route R, but also one that brakes the vehicle's journey

Traffic situations (traffic jams, stationary cross traffic, waiting

Turn traffic, etc.) freed driving corridor finds, so that the emergency vehicle 9 can drive at a significantly higher driving speed than has been the case so far and thus reaches the site faster. At the same time, this reduces the risk of accidents for the emergency vehicle, since no or hardly any "disturbing" vehicles are traveling in the corridor freed for the emergency vehicle 9.

The traffic situations described in which the application of the

The method according to the invention, which accelerates the operation of the at least one emergency vehicle 9 and reduces the risk of an accident, is only given as an example. The method according to the invention can of course also be used for many other traffic situations and local topologies of traffic route networks, the core idea of the invention being implemented each time, in addition to switching a "green wave" for the emergency vehicle 9

Corresponding switching of the autonomous alternating light signaling systems in the area of an intersection or road junction or even a rail-like one

Level crossing as well as in the surrounding area the traffic well before arrival to influence the emergency vehicle so that the driving corridor in the direction of travel of the predicted route R of the emergency vehicle 9 before the arrival of the

Emergency vehicle 9 is driven empty or free and that at the same time

Entry into the driving corridor is prevented. This will find that

Emergency vehicle when approaching not only the "green wave" in front, but also a free driving corridor. According to the present invention, this advantage can also be achieved in a traffic network or in a part thereof, in which

only autonomous or predominantly autonomous alternating light signal systems are available.

Another modified variant of the present invention is shown in FIG. 4. There lies in the direction of the predicted travel route R of the emergency vehicle 9 behind the last autonomous alternating light signal application 3 'on the predicted one

Route R the boundary G of the area I belonging to the traffic route network 1 'of the autonomous alternating light signaling systems 2', 3 'and an area II also begins to belong to the traffic route network 1', in which the alternating light signal systems 4 'and their alternating light signs, as well as further alternating light sign systems from a central one Traffic control computer 1000 are controlled. At this limit G is one of the alternating light signal systems 3 'near the border; 4 'in area I or in area II, for example the last autonomous alternating light signaling system 3' or the first alternating light signaling system 4 'connected to the traffic computer 1000, designed to include an alternating light signaling system 2' located on the route R of the emergency vehicle 9; 3 'received message to the central

Transmit traffic control computer 1000. This further influencing of the centrally controlled alternating light signal systems located on the predicted route R of the emergency vehicle 9 in area II is then carried out by the traffic control computer in a known manner, as is described, for example, in German patent 10 2016 105 558 B3.

5 shows a situation in which an autonomous vehicle 110 travels on the predicted route R in front of the emergency vehicle 9 in the direction of travel R ″ predicted for the emergency vehicle 9. This autonomous vehicle 110 takes take part in road traffic without a driver. As indicated by the symbols for radio links 95,

96, the position data and the direction of travel vector R 'are transmitted from the emergency vehicle 9 directly or indirectly to autonomous vehicles traveling ahead on the route. The transmission of signals and data over the radio links 95, 96 is, of course, encrypted and secured against manipulation from outside.

In the example shown, the transmission takes place indirectly via the radio link 95 emanating from the emergency vehicle 9 to a central station 97 which

For example, can be formed by the operational computer 90 or by a regional or supra-regional central traffic control computer 1000 or by any other computer or can be functionally assigned to it. From this central station

97 is a signal to a functionally connected to station 97

Transfer control computer 98, which is, for example, a

Fleet information computer or telematics computer can act, to which the autonomous vehicle 110 in question is assigned and to which this autonomous vehicle 110 is connected or can be connected.

The control computer 98 in turn transmits a signal via the radio link 96 to autonomous vehicles traveling on the predicted route R, for example to the autonomous vehicle 110 driving ahead, which are thereby informed of the approach of the emergency vehicle 9. The autonomous vehicle 110 is then automatically switched to a prioritized driving mode, in which it automatically drives to the nearest edge of the road as it drives through the road

symbolized flashing signals 112 ', 114' of the right direction indicators 112, 114 of the autonomous vehicle 110 is symbolically shown. Previously, sensors of the autonomous vehicle 110, in addition to the vehicle 110, detected a free lane width that is larger than a predetermined one for the passage of

Emergency vehicles is the required width. Such influencing of autonomous vehicles can in principle also be carried out separately and independently of the influencing of

Alternating light sign systems take place.

It goes without saying that the invention is not limited to a priority control for a single emergency vehicle, but can also be used for a plurality of emergency vehicles, for example a fire engine. It is also a matter of course that in a traffic route network in which a plurality of emergency vehicles with right of way are traveling at the same time,

Precautions have been taken to prevent two emergency vehicles approaching an intersection or a road junction from different directions from simultaneously finding a green traffic light in their respective direction of travel.

Reference symbols in the claims, the description and the drawings serve only for a better understanding of the invention and are not intended to limit the scope of protection.

Claims

1. Method for influencing a plurality of alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3', 4 '; 143, 143', 144, 146, 146 ', 147, 147', 148, 148 ',

148 ", 148 '") in a traffic route network (1; 1') in which at least some of the alternating traffic light systems are autonomous alternating traffic light systems (2, 3, 4,

5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") that are not from a central traffic control computer but from local control units (20, 30, 40, 50 , 60, 70, 80) are controlled for the purpose of priority control for at least one emergency vehicle (9) with right of way, the influencing of at least the autonomous

Alternating light sign systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '" ) on the basis of current position data and a direction of travel vector (R ') of the emergency vehicle (1) in order to accelerate its journey on a predicted route (R), with the steps:

a) providing position data of a destination (Z) for the at least one emergency vehicle (9);

b) providing the current position data and the data of the current direction of travel vector (R ') of the at least one emergency vehicle (9); c) providing topology information about the traffic network (1;

1 ');

d) providing information about in the traffic network (1; T)

existing autonomous alternating light signal systems;

e) Predicting a route for the at least one

Emergency vehicle (9) from its current position to the position of the destination (Z) taking into account the by the

Direction of travel vector (R ') representing the direction of travel selected by the driver of the emergency vehicle (9);

f) Influencing a predicted direction of travel (R) on the

autonomous autonomous route predicted

Alternating light sign systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148'") such that the respective alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143 , 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") before or when the forecast arrival of the at least one emergency vehicle (9) the traffic in the direction of the forecast route (R. ) releases,

characterized,

that in addition to influencing the predicted along

Autonomous alternating light signal systems (143, 144, 146, 147, 148) located in other autonomous alternating light signal systems (143 ',

146 ', 147', 148 ', 148 ", 148'") in the immediate vicinity or in the immediate vicinity of the autonomous alternating light signal systems (143, 144, 146, 147, 148) located along the predicted route (B)

Priority support program is activated, whereupon the

Priority control takes place in an effective area (143 ", 147"), in which not only autonomous alternating light signal systems (143, 144, 146, 147, 148) occur at intersections (K3, K4, K5, K6, K6, K6, K6, K7, K8, K9, K10) or road junctions in accordance with step f), but also other autonomous alternating light signal systems (143 ', 146', 147 ', 148', 148 ", 148") at intersections (K30, K60, K61, K81) or

Road junctions (K70, K80, K82) that are nearby or in the

Environment next to the one in front of the emergency vehicle (9)

predicted direction of travel (R ") on the predicted travel route (B) relating to autonomous alternating light signal systems (143, 144, 146, 147, 148) are switched in such a way that in a driving corridor for the at least one emergency vehicle (9) on the lane of the predicted route (B) vehicles can leave the driving corridor and no vehicles can drive into the driving corridor until at least one emergency vehicle (9) reaches this location.

2. The method according to claim 1,

characterized, that influencing the autonomous direction of the predicted driving direction (R) on the predicted driving route

Alternating light sign systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146,

146 ', 147, 147', 148, 148 ', 148 ", 148'") with the following steps: g) determining the autonomous alternating light signal systems (2, 3, 4, 5, 6) located along the predicted travel route (R) , 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") and creating an alternating sign system encounter plan for the

Emergency vehicle (9) along the predicted route (R);

h) Transmission of the alternating traffic light system encounter plan and a priority request message from the emergency vehicle (9) or an external transmission unit to one on the

predicted route (R) of the emergency vehicle (9)

next nearest autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") or to a local control unit (20, 30, 40, 50, 60, 70, 80) assigned to this;

i) Activation of a priority program for switching the next preceding autonomous alternating light system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ' , 148, 148 ', 148 ", 148'") upon receipt of the priority request message by one of these nearest autonomous ones

Alternating light sign system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '" ) assigned local control unit (20, 30, 40, 50, 60, 70, 80);

j) Submit the alternating sign system encounter plan and the priority request message from the nearest autonomous alternating sign system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147 , 147 ', 148, 148', 148 ", 148 '") or from the local control unit (20, 30, 40, 50, 60, 70, 80) assigned to them to the autonomous alternating light signal system following the predicted travel route (R) (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148'") or to the local control unit (20, 30, 40, 50, 60, 70, 80) assigned to this and

k) repeating steps i) and j) with the following one

autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 ' ").

3. The method according to claim 2,

characterized,

that in step g) in addition to those predicted along the

Route (B) located autonomous alternating light signaling systems (143, 144, 146, 147, 148) further autonomous

Alternating light signal systems (143 ', 146', 147 ', 148', 148 ", 148 '") in the immediate vicinity or in the immediate vicinity of the autonomous alternating light signal systems (143, 144, 146, 147, 148) located along the predicted route (B) ) it is determined that in step g) in addition to the alternating light sign encounter plan, alternating light sign environment plans for the other autonomous alternating light sign systems (143 ', 146', 147 ',

148 ', 148 ", 148'") are created in the vicinity of the predicted route (B), each of which is assigned to an autonomous alternating light signal system (143, 144, 146, 147, 148) located along the predicted route (B),

that in steps h) and j) an additional one

Priority support message is transmitted to the other autonomous alternating light signal systems (143 ', 146', 147 ', 148', 148 ", 148 '") in accordance with the applicable alternating light signal environment plan and

that in step i) the priority support program is additionally activated for the switching of the other autonomous alternating light signal systems (143 ', 146', 147 ', 148', 148 ", 148 '").

4. The method according to claim 2 or 3,

characterized,

that the activation of the priority program in step i) under

Taking into account an expected time of arrival of the

Emergency vehicle (9) at the nearest autonomous

Alternating light sign system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '" ) he follows.

5. The method according to any one of the preceding claims,

characterized,

that the priority program is deactivated again after the

Emergency vehicle (9) the autonomous controlled by the priority program

Alternating light sign system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '" ) happened.

6. The method according to any one of claims 2 to 5,

characterized,

that steps g) and h) are also repeated in step k), an updated alternating sign system encounter plan and an updated priority request message being transmitted in step h).

7. The method according to any one of the preceding claims,

characterized,

that based on the topology information about the

Traffic network (1; T) and the forecast route (R)

impending emergence of the emergency vehicle (9) from an area (I) of the traffic route network (T) with not from a central one

Autonomous alternating traffic light systems (2 ', 3') controlled by the traffic control computer and an impending entry of the emergency vehicle (9) into an area of the traffic route network (T) with a central one

Traffic control computer (1000) controlled alternating traffic light systems (4 ') the position data of the destination (Z), the current position data and the data the current direction of travel vector (R ') of the at least one

Emergency vehicle (2) are transmitted to the traffic control computer (1000) and that the priority control of the alternating light signal systems (4 ') following along the predicted route (R) from the central

Traffic control computer (1000) is carried out.

8. The method as claimed in one of the preceding claims,

characterized,

that the switching of the alternating light signal systems (143, 144, 146, 147, 148) in the predicted driving direction (B) takes place on the predicted driving route in such a way that vehicles of oncoming traffic and / or of the

Cross traffic or vehicles willing to turn in the driving corridor can leave the driving corridor before the at least one emergency vehicle (9) has reached this location,

and or

that the switching of the alternating light signal systems (143, 144, 146, 147, 148) in the predicted travel direction (R ") on the predicted travel route (B) is such that vehicles of cross traffic or of

Turn traffic cannot drive into the corridor until at least one emergency vehicle (9) has passed this place.

9. The method according to any one of the preceding claims,

characterized,

that the area of the effective area (143 ", 147") along the predicted route (B) is not static, but to the

Road topology along the predicted route (B) and / or is adapted to the current traffic volume.

10. The method according to any one of the preceding claims,

characterized,

that the release of traffic in the direction of the forecast route (R; B) depending on the traffic density on the forecast Route (R; B) so in time before the forecast arrival of the

at least one emergency vehicle (9) on the respective autonomous alternating light signaling system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143) that relates to the predicted driving direction (R ") on the predicted driving route (R; B) , 143 ',

144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148'") takes place in the

Driving corridor can set stationary vehicles in motion and thus stationary traffic has changed to flowing traffic when the at least one emergency vehicle (9) arrives.

11. The method according to any one of the preceding claims,

characterized,

that the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3';

143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") are switched along the predicted route (R; B) in such a way that at a junction where the predicted direction of travel (R ") of the predicted route (R, B) of the at least one emergency vehicle (9) bends into a confluent road, light signals for pedestrians or cyclists are switched to FIALT, for example by displaying red light, so that the Pedestrian traffic and / or the

Bicycle traffic is stopped across the confluent road.

12. The method according to any one of the preceding claims,

characterized,

that the provision of the current position data and the data of the current direction of travel vector (R ') of the at least one emergency vehicle (9) in step b) is carried out on an emergency computer (94) in the emergency vehicle (9), preferably a mobile terminal, which is authorized, for example Person as the occupant of the at least one emergency vehicle (9) and that this data together with authentication data of the emergency vehicle (9) or this authorized person is part of the

Priority request message and, if applicable, the

Priority support message are.

13. The method according to any one of the preceding claims,

characterized,

that the sub-step of forecasting the route for the at least one emergency vehicle (9) is carried out on the emergency computer (94) by means of a navigation software running thereon and

that on the application computer (94) the sub-step of creating the alternating sign system encounter plan based on this predicted route (R; B) and a topology and

Property information about the alternating light sign systems of the

Traffic route network (1; T), which can be connected to the application computer (94) or connected to the application computer (94)

Data storage is stored, is carried out.

14. System for carrying out a method according to one of the preceding claims, with a traffic route network (1; T) which defines an area (I) with a plurality of autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ',

3 '; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") and an area (II) controlled by a central traffic control computer (1000)

Alternating traffic light systems (4 '), and at least one emergency vehicle (9) moving in the traffic route network (1; T) with right of way, whose travel accelerates on a predicted route (R; B) within the traffic route network (1; T) by means of the method should be characterized,

that in the at least one emergency vehicle (9) there is an emergency computer (94) which is preferably formed by a portable mobile terminal and which is functionally connected to or has a transmitter for data transmission,

that a computer program is executably stored on the application computer, which carries out at least step e) of the method according to the invention, that the respective autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") or one of these assigned control unit (20, 30, 40, 50, 60, 70, 80) with a transceiver device (29 ', 29 ";39',39"; 49 ', 49 ";59',59"; 69 ', 69 ";79',79"; 89 ', 89 ") or is functionally connected and

that in the respective control unit (20, 30, 40, 50, 60, 70, 80)

Computer program is stored executable, the assigned autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148 ', 148 ", 148'") with priority control.

15. System according to claim 14,

characterized,

that the application computer (94) has a data storage device or is at least effectively connected to such a data storage device, in the information about the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") of the traffic network (1; 1') is stored, and

that that which can be run on the application computer (94)

Computer program using this stored data executes step g).

16. Computer program product for carrying out a method according to one of claims 1 to 13, comprising

a first computer program which executes step e) and preferably also step g) and triggers and controls step h) and which can be run on an emergency computer on the emergency vehicle (94), preferably a mobile terminal, and a second computer program which Executes step i) and triggers and controls step j) on a control computer (20, 30, 40, 50, 60, 70, 80) one with the alternating light signals (21, 22, 23,

24, 25, 26, 27, 28; 31, 32, 33, 34, 35, 36, 37, 38; 41, 42, 43, 44, 45, 46,

47, 48; 51, 52, 53, 54, 55, 56, 57, 58; 61, 62, 63, 64, 65, 66, 67, 68, 71,

72, 73, 74, 75, 76, 77, 78; 81, 82, 83, 84, 85, 86, 87, 88) one respective autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") functionally connected control device (20, 30, 40, 50, 60, 70, 80) is executable,

the first computer program and the second

Computer programs are designed to run for the purpose of

Data transmission, preferably encrypted using a counter

Tamper-proof radio connection, with each other

communicate and

wherein the second computer program is designed, for the purpose of data transmission, preferably encrypted via a radio link secured against manipulation, with a further second computer program which is located on a control computer (20, 30, 40, 50, 60, 70, 80) of a further autonomous Alternating light signal system (2, 3, 4,

5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148 '") is running.