EP3853833A1 - Procédé et dispositif pour agir sur des installations de signalisation lumineuse alternée autonomes - Google Patents

Procédé et dispositif pour agir sur des installations de signalisation lumineuse alternée autonomes

Info

Publication number
EP3853833A1
EP3853833A1 EP19774041.8A EP19774041A EP3853833A1 EP 3853833 A1 EP3853833 A1 EP 3853833A1 EP 19774041 A EP19774041 A EP 19774041A EP 3853833 A1 EP3853833 A1 EP 3853833A1
Authority
EP
European Patent Office
Prior art keywords
traffic
alternating light
route
emergency vehicle
autonomous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19774041.8A
Other languages
German (de)
English (en)
Inventor
Ludwig Trostel
Wolf Peter ZEPLIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Smev AG Smart Mobility Evolution
Original Assignee
Smev AG Smart Mobility Evolution
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smev AG Smart Mobility Evolution filed Critical Smev AG Smart Mobility Evolution
Publication of EP3853833A1 publication Critical patent/EP3853833A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the currently determined location coordinates of the emergency vehicle are stored with the computer located in the emergency vehicle
  • 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
  • the vehicle messages include information on the position and speed of the emergency vehicle and its route data.
  • 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
  • Controlled alternating light signal systems should be overcome by the invention.
  • Traffic network a large-scale (e.g. cross-city or cross-urban) topology of traffic routes (e.g. streets,
  • Traffic 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 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
  • Alternating light signal system (e.g. at an intersection) controls;
  • 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);
  • 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
  • forecast route are located, as well as corresponding
  • 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
  • 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
  • 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 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;
  • 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
  • the object of the present invention is to provide a method for accelerating emergency vehicles in areas with autonomous, not with a central one
  • Another object of the present invention is to provide such a method
  • Invention to provide an apparatus for performing such a method and to create a computer program product for performing such a method.
  • 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 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.
  • 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 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.
  • Vehicles can drive into the driving corridor for the at least one emergency vehicle and possibly block it.
  • 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”.
  • 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
  • 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
  • Alternating light sign systems transmitted.
  • 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
  • signals for Rail vehicles are switched to STOP, to which at least one
  • 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.
  • 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 method is therefore particularly suitable for traffic route networks or parts thereof which do not have a central traffic control computer.
  • 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:
  • 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
  • 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
  • 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 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.
  • 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.
  • 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.
  • 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
  • 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
  • Alternating traffic light systems for example on the outskirts
  • alternating traffic light systems for example in the city center
  • 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
  • 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.
  • 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.
  • 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
  • Such a priority control which can be adjusted with regard to its area of effect, can be referred to as a "dynamic green cloud”.
  • 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
  • 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.
  • STOP traffic lights for pedestrians or cyclists
  • 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
  • step b) 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
  • 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 does one
  • 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
  • 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
  • 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
  • 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.
  • Vehicles are connected for data transmission.
  • 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.
  • Priority request signal of the at least one emergency vehicle to autonomous vehicles is carried out directly from the emergency vehicle.
  • 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.
  • 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.
  • 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.
  • 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
  • Traffic light switches along the predicted route of the at least one emergency vehicle and possibly in the area of the "green cloud”
  • the application computer advantageously has a
  • 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.
  • Computer program product directed which is designed to carry out a method according to the present invention.
  • 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.
  • 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
  • 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 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.
  • an independent program layer can be provided in a multi-layer model of an alternating light signal controller.
  • Fig. 1 shows a section of an inner-city road network
  • 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
  • FIG. 3A shows a first section from FIG. 3
  • FIG. 3B shows a second detail from FIG. 3
  • Fig. 4 is a symbolic schematic representation of the data transmission
  • FIG. 5 shows a detail from FIG. 3 with an autonomous driver driving ahead
  • FIG. 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 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,
  • 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.
  • 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).
  • alternating light sign in the definition used here can also be generally referred to as "traffic control information means”.
  • 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,
  • 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
  • the emergency vehicle receives 9 or that
  • This data is, for example, about a first
  • Radio connection 92 transmitted from the operations control center 90 to the emergency vehicle 9.
  • 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
  • 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.
  • 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.
  • the deployment computer 94 has position information about that in the traffic route network 1
  • the deployment computer 94 determines the autonomous located along the predicted travel route R.
  • 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
  • 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.
  • 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
  • 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 sign at the intersection 12 switches to "green” and then the alternating light sign system 5 then switches to a corresponding one
  • 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.
  • Alternating light sign systems can be set up.
  • 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.
  • 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
  • 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 alternating traffic light systems are autonomous and are not controlled by any regional or supra-regional central traffic control computer.
  • 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
  • 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.
  • 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.
  • this Flaupt Beautime, 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.
  • 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
  • intersection K1 Turn right at intersection K1 and choose the cross-hatched alternative route B.
  • 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.
  • 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
  • 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
  • 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.
  • intersection K3 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
  • 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.
  • 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.
  • STOP which is symbolized by a circle with a cross.
  • 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
  • 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.
  • 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
  • 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.
  • the autonomous alternating light sign system 144 for the cross traffic are switched to "FIALT”
  • the alternating light signs for the oncoming traffic and for the Pedestrian traffic is switched to "HALT”
  • the emergency vehicle can thus reduce its traffic-related reduction
  • 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
  • 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
  • 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.
  • 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
  • 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
  • this advantage can also be achieved in a traffic network or in a part thereof, in which
  • FIG. 4 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.
  • 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 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.
  • 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.
  • the transmission takes place indirectly via the radio link 95 emanating from the emergency vehicle 9 to a central station 97 which
  • the operational computer 90 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.
  • 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
  • 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.

Abstract

L'invention concerne un procédé pour agir sur une pluralité d'installations de signalisation lumineuse alternée dans un réseau de voies de circulation, le procédé consistant à agir sur les installations de signalisation lumineuse alternée autonomes agencées le long de l'itinéraire prévu, de sorte que l'installation de signalisation lumineuse alternée autonome respective laisse passer le trafic dans la direction de l'itinéraire prévu, avant ou à l'arrivée prévue du véhicule d'intervention. En plus d'agir sur les installations de signalisation lumineuse alternée autonomes agencées le long de l'itinéraire prévu, un programme d'assistance à la priorité est activé dans d'autres installations de signalisation lumineuse alternée autonomes situées à proximité directe ou au voisinage immédiat des installations de signalisation lumineuse alternée autonomes agencées le long de l'itinéraire prévu, la commande de priorité s'effectuant alors dans une zone d'action dans laquelle non seulement il est possible d'agir sur des installations de signalisation lumineuse alternée autonomes présentes au niveau de croisements ou d'embouchures routières situés en amont de l'itinéraire prévu, mais aussi dans laquelle d'autres installations de signalisation lumineuse alternée autonomes situées au niveau de croisements ou d'embouchures routières qui se trouvent à proximité ou au voisinage, proche des installations de signalisation lumineuse alternée autonomes situées en amont du véhicule d'intervention, associées à la direction de déplacement sur l'itinéraire prévu, sont commutées de sorte que des véhicules qui se trouvent dans le couloir de circulation réservé à l'au moins un véhicule d'intervention, sur la voie de circulation de l'itinéraire prévu, peuvent quitter le couloir de circulation et qu'aucune véhicule ne peut rentrer dans le couloir de circulation jusqu'à ce que l'au moins un véhicule d'intervention a quitté cet emplacement.
EP19774041.8A 2018-09-20 2019-09-11 Procédé et dispositif pour agir sur des installations de signalisation lumineuse alternée autonomes Pending EP3853833A1 (fr)

Applications Claiming Priority (2)

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DE102018123153.9A DE102018123153A1 (de) 2018-09-20 2018-09-20 Verfahren und Vorrichtung zur Beeinflussung von autonomen Wechsellichtzeichenanlagen
PCT/EP2019/074192 WO2020058057A1 (fr) 2018-09-20 2019-09-11 Procédé et dispositif pour agir sur des installations de signalisation lumineuse alternée autonomes

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EP19774041.8A Pending EP3853833A1 (fr) 2018-09-20 2019-09-11 Procédé et dispositif pour agir sur des installations de signalisation lumineuse alternée autonomes

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DE102021209699A1 (de) 2021-09-03 2023-03-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben von mehreren Infrastruktursystemen
DE102021133398A1 (de) 2021-12-16 2023-06-22 Gestigon Gmbh Steuerung von Verkehrsobjekten

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DE2855625C2 (de) * 1978-12-22 1983-07-28 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Anordnung zur Steuerung von Wechselverkehrslichtzeichen oder Weichen
DE19508043C1 (de) * 1995-03-07 1996-08-29 Peter Dunse Steueranordnung für Verkehrssignale
DE19601024A1 (de) * 1996-01-13 1997-07-17 Gordon Pipa Optimierung der Fahrzeiten von Fahrzeugen mit Sonderrechten, durch eine Beeinflußung der Ampelphasen
DE19842912B4 (de) * 1998-09-18 2005-02-03 Greenway Systeme Gmbh Verfahren zur Fahrwegfreischaltung für Einsatzfahrzeuge mit Sonderbefugnissen unter Nutzung des GPS-Systems und Steuereinrichtung zur Durchführung des Verfahrens
DK200500305A (da) * 2005-02-28 2006-11-30 Mpw K S A method and a traffic light control system for controlling the traffic lights in at least one intersection
DE102011107881A1 (de) * 2011-07-18 2013-01-24 Astrium Gmbh Optimierung von Rettungswegen für Einsatzfahrzeuge
DE102014114535B4 (de) * 2014-10-07 2019-04-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Steuerung von Lichtsignalanlagen (LSA) an Verkehrsknotenpunkten auf einem Fahrweg eines Einsatzfahrzeuges
DE102016105558B3 (de) * 2016-03-24 2017-05-11 Ludwig Trostel Verfahren und Vorrichtung zur Beeinflussung eines Verkehrsleitsystems

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