CN102951152A - Method for evaluating situation of vehicle approaching signaling system, involves determining approach information based on signaling data corresponding to upcoming signal change of signaling system - Google Patents
Method for evaluating situation of vehicle approaching signaling system, involves determining approach information based on signaling data corresponding to upcoming signal change of signaling system Download PDFInfo
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- CN102951152A CN102951152A CN2012103103941A CN201210310394A CN102951152A CN 102951152 A CN102951152 A CN 102951152A CN 2012103103941 A CN2012103103941 A CN 2012103103941A CN 201210310394 A CN201210310394 A CN 201210310394A CN 102951152 A CN102951152 A CN 102951152A
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- G—PHYSICS
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- 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]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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Abstract
The evaluation method involves determining approach information based on signaling data (108) corresponding to an upcoming signal change of a signaling system (106). Position data are determined corresponding to a vehicle (100) in front of the located external vehicle (102). The approach information has a stopping point of the vehicle before the signaling system. An approach distance, an approach speed or an approach acceleration of the vehicle at the signaling system and the position data are used to represent the data determined by a sensor system (114). Independent claims are included for the following: (1) an apparatus for evaluating a convergence position of a vehicle to a signaling system; and (2) a computer program product with program code for performing the evaluation method.
Description
Technical field
The present invention relates to a kind of for analyzing vehicle to the method for the close close situation of signalling apparatus, a kind of corresponding device and a kind of corresponding computer program.
Background technology
If as soon as possible its speed is correspondingly adapted with the current state of traffic lights near the vehicle of traffic lights, then can improve the magnitude of traffic flow and save energy.
DE 10 2,007 043 602 A1 have described a kind of method of adjusting the speed of vehicle before signalling apparatus
Summary of the invention
Under this background, by the present invention, proposed a kind of according to independent claims be used for to analyze vehicle to the method for the close close situation of signalling apparatus, proposed in addition a kind of device of use the method according to independent claims and proposed at last a kind of corresponding computer program according to independent claims.Each dependent claims and following specification sheets have provided favourable design plan.
By based on C2X communication, be vehicle to vehicle communication or Infrastructure to the function of vehicle communication, can traffic light status situation current and future be sent to the vehicle that drives towards traffic lights.At this, the data that transfer to vehicle can comprise the time length of the type of current traffic light status (for example, red, yellow or green), traffic light status and about these data of following one or following a plurality of traffic light status.Corresponding vehicle functions can use these data of transmitting, so that the close speed that the chaufeur of support unit is selected to optimize is near traffic lights.Can for example realize that this support maybe is embodied as this support " green ripple is auxiliary " (Gr ü ne-Welle-Assistant) in the situation that consider to optimize consumption of fuel.The vehicle that travels in the place ahead of between Zai Ben Che and the traffic lights other and can cause this car near the optimization of the traffic lights recommendation near the mistake of speed so that the free space between Ben Che and traffic lights reduces.
Can obtain the vehicle that travels previously at this car by means of the sensor that is placed on this car.Can use the relevant data of the vehicle that travels with the place ahead of being obtained by sensor, in order to determine more accurately the space that can use for this car between Ben Che and traffic lights.Can optimize thus this car near the close speed of traffic lights.
If vehicle outfitting has corresponding sensor, then can realize by the close speed of optimizing close traffic lights the additional benefit (Mehrnutzen) immediately to the buyer of vehicle.It also is possible improving traffic safety, and this is because the chaufeur of this car has obtained support near the crossing time.In addition by using constant speed controller (the automatic distance control (ACC) near the crossing time), and can realize improving driver comfort by the starting that improves is auxiliary.For with the data transmission of signal lamp to this car the data transmission channel of process do not need backward channel yet.For the C2X function, often be based on this car and also send for example its position.Foundation system of the present invention can be constructed to pure reception.The C2X position data that sends mistakenly works hardly, and this is because will obtain that travel in the place ahead or static object by the vehicle-mounted autonomous sensor of this car.Can carry out validity check to the data that receive by the C2X interface by means of the data that the sensor by this car obtains, vice versa.In the situation of the rising of the Disposing rate of vehicle configuration C2X function, be used for determining that this car becomes more accurate near the function of close the speed of traffic lights, this is because of replenishing vehicle-mounted autonomous sensing data with the C2X position data.
A kind ofly comprise the steps: for analyzing the method for vehicle to the close close situation of signalling apparatus
Determine near information based on the signal data relevant with the signal intensity on the horizon of described signalling apparatus and the position data relevant with the strange vehicle that is positioned at described vehicle front, wherein, describedly comprise halt point, the close distance of described approach of vehicles described signalling apparatus, the close speed of described approach of vehicles described signalling apparatus and/or the close acceleration/accel of described approach of vehicles described signalling apparatus of described vehicle before described signalling apparatus near information, and described position data represents the data that the sensor device by described vehicle draws.
Vehicle for example can be self-propelled vehicle, for example automobile or truck.Signalling apparatus can be the device for the traffic on the control road.Signalling apparatus especially can be configured to by suitable all-clear danger signal stops or the clearance road on traffic.For example signalling apparatus can be traffic lights or roadblock.Traffic lights can be constructed to send red optical signal, in order to stop traffic.For the traffic of letting pass, traffic lights can be constructed to send green optical signal.Roadblock can be constructed to, and hinders road by change in location as danger signal, and by further change in location as the all-clear road of letting pass.Signal data can comprise the information about following content: current which kind of signal that sends of signalling apparatus, signal data can also comprise the information about following content in addition: which kind of signal is current demand signal how long also will send and send after current demand signal.For example signal data can comprise the information about following content: when replace the danger signal of current transmission with all-clear, vice versa.Signal data can comprise the corresponding information about one or more follow-up signal cycle, namely for example about the information of next time signal intensity, about the information of after this follow-up signal intensity and in some cases about the information of further follow-up signal intensity.Signal data can also comprise about the information of position and additionally or alternatively comprise information about the useful direction of signalling apparatus.So, signalling apparatus can be constructed to take position data as form to send himself position and also may send together useful direction.Signal data can be sent or the infrastructure equipment of RST by the known signal device sends by signalling apparatus, the control setup that is used for the control signal device.Signal data can transfer to vehicle or be used for analyzing vehicle to the device of the close close situation of signalling apparatus by wireless transmission path or by the wave point that adopts suitable host-host protocol.The device that is used for analyzing near situation can be placed in the vehicle.Strange vehicle can be other vehicles between vehicle and signalling apparatus.Vehicle can move towards signalling apparatus along identical travel direction with strange vehicle.This vehicle can be positioned at identical track with this strange vehicle.Strange vehicle that is to say there is not other vehicle between this vehicle and this strange vehicle before can being located immediately at this vehicle.Sensor device can be placed on the vehicle.This sensor device can be configured to detect strange vehicle.For this reason, sensor device can be configured to receive and analyze electromagnetic wave or the sound wave that is sent or reflected by strange vehicle, and for example light or super sonic are in order to draw position data.Can with known, be used for the sensor of travel assist system of vehicle as sensing device.Position data can comprise the position of strange vehicle.Can be that actual position description or strange vehicle are with respect to the relative position of this vehicle this its.Can determine the halt point of strange vehicle and can determine the halt point of this vehicle before signalling apparatus based on this according to the position data of strange vehicle.According to the position of the position data of strange vehicle and this vehicle or according to the halt point of this vehicle also can be with this vehicle until signalling apparatus can with the distance of travelling be defined as vehicle to the close close distance of signalling apparatus.Can determine that with the signal data relevant with signal intensity on the horizon vehicle is to signalling apparatus close close speed and close acceleration/accel based on the available distance of travelling.Can determine so that near speed with near acceleration/accel, namely vehicle does not need to stop before signalling apparatus.If can not avoid vehicle before signalling apparatus, to stop, then can so select near speed, in order to minimize the energy resource consumption of vehicle.Can be further processed near information.The method not only relates to for for example determining near the method for speed thus, can also be additionally or the prompting that alternatively generates the demonstration of demonstration, braking prompting of optimum speed or best throttle position as the support to chaufeur.Based on also realizing automatically selecting speed near information, for example by acceleration/accel or " door of draining the oil " or automatically deceleration of enforcement, for example by braking.
According to an embodiment, position data comprises about the speed of strange vehicle and the information of position.Can be represented by self speed of strange vehicle or the strange vehicle relative velocity with respect to this vehicle about the information of speed.According to the information about speed can draw whether strange vehicle remains static, whether strange vehicle with constant speed motion, the maximum speed that for example allows, by the speed of traffic ground point measurement, for example speed of the speed of vehicle or minimizing.If strange vehicle remains static, then can draw the distance that before signalling apparatus, can use for this vehicle according to the distance between this vehicle and this strange vehicle.Available distance (namely at current strange vehicle location and belong to road between its stop position) is shorter, and is less near speed.If vehicle then can draw thus with constant speed motion, between strange vehicle and signalling apparatus, also has the larger idle distance that also can be used in this vehicle.If strange vehicle then can draw thus with the speed that the reduces speed of this vehicle (for example less than) motion, a small amount of idle distance that also can be used in this vehicle is only arranged in strange vehicle front.If strange vehicle movement then can be determined near speed based on the distance between strange vehicle and this vehicle and in the reference value in the idle highway section of strange vehicle front.Can be for example according to the speed of strange vehicle with additionally or alternatively pre-determine this reference value according to the velocity contrast between this vehicle and this strange vehicle.This reference value also can depend on the velocity variations of strange vehicle.For example predetermined reference value correspondingly can be stored in the memory device.
Additionally or alternatively, position data can comprise the information about the velocity variations of strange vehicle.Can determine velocity variations by predetermined time period (for example can be several seconds kinds).Although if the also speed minimizing of far and strange vehicle of signalling apparatus then can draw thus, between this strange vehicle and signalling apparatus, also have other strange vehicle.Size according to velocity variations can draw, and strange vehicle in addition is in motion or static.Thus, can draw idle distance before strange vehicle according to velocity variations, it can be used in determines near speed.Can determine the foreseeable stop position of strange vehicle according to velocity variations.
This method can comprise that the position-based data draw the step of the stop position of strange vehicle thus.In aforementioned definite step, can determine near information based on the self-position of signal data, stop position and vehicle.For static strange vehicle, can draw stop position according to the distance between strange vehicle and this vehicle.For the strange vehicle that is in motion, speed that can be by adopting strange vehicle and the velocity variations that additionally or alternatively adopts strange vehicle walk always to draw stop position.Drawing of stop position can be based on according to the calculating of the current deceleration/decel of strange vehicle or based on the estimation to empirical value.By the understanding to the stop position reality of vehicle or that estimate, can determine can be for the distance of this vehicle.Stop position also can be used in the distance of determining between stop position and signalling apparatus.Therefore, can estimate according to stop position how many strange vehicles are arranged between this strange vehicle and signalling apparatus.
Therefore this method can comprise the step of the quantity that draws the strange vehicle between this vehicle and signalling apparatus.Can the position-based data and the position of signalling apparatus draw the quantity of the vehicle between this vehicle and signalling apparatus.In addition, in aforementioned definite step, determine near information based on the quantity of strange vehicle.The strange vehicle of waiting for before signalling apparatus is more, and the starting process of all strange vehicles of waiting for before signalling apparatus needs the more time when the signal intensity of signalling apparatus.Can determine near information, consider the needed time of starting process during for example near speed or near acceleration/accel.For example can determine near information based on a time period, this time period is according to until time period that the next signal of signalling apparatus changes and draw for the needed time period of starting process.If the time period of the all-clear state that arrives according to the next one of the quantity of vehicle and signalling apparatus, draw vehicle and can not during the all-clear state that the next one arrives, pass through signalling apparatus, then can be when determining near speed, the time period of the time period of the all-clear state of the extraly next arrival of consideration and the danger signal state of signalling apparatus following closely.Therefore can determine near information more accurately significantly by the quantity of considering the strange vehicle between this vehicle and signalling apparatus.
In aforementioned definite step, can determine near information based on the starting characteristic of strange vehicle.If strange vehicle has stopped or very peremptorily braking, it is significant that Here it is.Can consider by starting characteristic, even if after the signal intensity of signalling apparatus becomes all-clear, be not idle for the vehicle track, but the time period that at first can be determined according to starting characteristic by one period of this strange vehicle or other strange vehicle closure.This starting characteristic can comprise strange vehicle response in the appearance of all-clear or in response to be positioned at this strange vehicle front other strange vehicle starting, speed trend in time.Starting characteristic can and be stored based on empirical value.Therefore by considering to determine very exactly that according to the other time period that starting characteristic draws although signal intensity becomes all-clear within this other time period, the track still is closed for this vehicle near speed.
According to an embodiment, this method can comprise the step of or supplementary view data alternative with the position data of being transmitted.The position data of transmitting can represent the data by strange vehicle, another the strange vehicle that is positioned at vehicle front or the transmission of traffic infrastructure device.If the position data of transmitting is relevant with the strange vehicle that is obtained by the sensing device of vehicle, then the position data that is drawn by sensing device can be compared with the position data of transmitting, vice versa.If the position data of transmitting is relevant with at least one other strange vehicle, the position data that then can enoughly transmit is determined the quantity of the strange vehicle between this vehicle and signalling apparatus or is located immediately at the stop position of prediction of the strange vehicle of this vehicle front.The position data of transmitting can be transmitted by wireless communication.The traffic infrastructure device can be the device that obtains the vehicle in the scope of signalling apparatus, and can send the position data that is associated with accessed vehicle.For example the traffic infrastructure device can be constructed to obtain vehicle by the contact ring on graphical analysis or the track (Kontaktschleife).
On the contrary, the position data that is drawn by the sensing device of vehicle can represent the data that the environment harvester by vehicle draws.The environment harvester can be image collecting device by chance, such as camera.Can analyze the image that is gathered by the environment harvester by suitable graphical analysis, in order to gather strange vehicle and draw position data.Environment harvester (for example radar installation, laser radar apparatus or ultrasonic unit) also can be configured to transmitted signal and draw strange vehicle and position data based on the reflection of the signal that obtains.The data that drawn by the environment harvester can be used by other additional function of vehicle.
This method can comprise the steps, determines display, to show near information or according to the amount of determining near information by the chaufeur of interface to vehicle.For example display can be suitable for the speed of display optimization, the throttle position of display optimization and/or the preferred position of demonstration gear.By showing, can help to optimize close to signalling apparatus to chaufeur.
This method can also comprise the steps, determines control signal, to adjust the speed of vehicle based on close information.For example control signal can be used in automatic speed and regulates, i.e. for example acceleration/accel or " door of draining the oil ".Control signal also can be used in automatic retarding, for example braking.Especially, in this way can be based on the speed of adjusting vehicle near information.
The present invention has also realized a kind of for analyzing the device of vehicle to the close close situation of signalling apparatus, and it is constructed to carry out or implement the step of foundation method of the present invention in corresponding equipment.Can also be fast with this enforcement modification of device form and effectively solve the task of consisting of basis of the present invention by the present invention.
Here device can be interpreted as a kind of electric apparatus, and its processes sensor signal is also exported control signal accordingly.This device can have can be with hardware mode and/or the interface of constructing with software mode.In the structure with example, in hardware, described interface can for example be the part of so-called ASIC system, and described ASIC system comprises the various functions of device.Yet also possible is that described interface is distinctive, integrated circuit or is comprised of separate member at least in part.In the structure with software form, described interface can be software module, and described software module for example is present on the microcontroller that also has in addition other software modules.
Computer program with program code also is favourable, program code can be stored on the machine sensible carrier such as semiconductor memory, harddisk memory or optical memory, with be used for when this program at computing machine or install when implementing the method for the arbitrary embodiment in the executive basis aforementioned embodiments.
Description of drawings
The below exemplarily explains the present invention in detail according to appended accompanying drawing.In the accompanying drawing:
Fig. 1 shows the block diagram of embodiments of the invention;
Fig. 2 to Fig. 7 shows the schematic diagram according to the traffic conditions of embodiments of the invention; And
Fig. 8 shows the diagram of circuit of the method for embodiments of the invention.
The specific embodiment
In the explanation to the preferred embodiments of the present invention, for adopting same or analogous Reference numeral at the element that plays similar action shown in the different figure, no longer be repeated in this description these elements at this below.
Fig. 1 shows vehicle 100 and the strange vehicle 102 that moves to the signalling apparatus take traffic lights 106 as form on track 104.Move in the front of vehicle 100 from the strange vehicle 102 of travel direction.Traffic lights 106 is constructed to transmitted signal data 108.Traffic lights 106 can comprise transmitting antenna for this reason.Signal data 108 can comprise about the information of the current traffic light status of traffic lights 106 and about until the information of the time period of the variation of traffic light status on the horizon.At this and traffic lights representation signal device in the following embodiments.
Except installing 110, vehicle 100 also comprises receiving interface 112, sensor device 114, analytical equipment 116, read out instrument 118 and control setup 120.
Receiving interface 112 can comprise receiving wire or transmission/reception antennas.Receiving interface 112 is configured to receive the signal data 108 that is sent by traffic lights 106, and exports it to device 110.
According to an embodiment, strange vehicle 102 comprises sending set 122, and it is configured to send the position data of strange vehicle 102, for example current location and speed.In this case, other devices of receiving interface 112 or vehicle 100 are configured to receive by the position data of strange vehicle 102 transmission and with it and export device 110 to.Device 110 is configured to use the position data of transmitting, and with the additional or alternative position data that is drawn by analytical equipment 116, determines near information, for example near speed.
Therefore vehicle 100 comprises based on vehicle-mounted autonomic sensor 114 and vehicle auxiliary to 108 the traffic light status of communicating by letter of Infrastructure.
According to an embodiment, device 100 is parts of system, and this system is configured to process the C2X data of cursor will device (such as traffic lights 106), with close speed given in advance.In the situation of the vehicle 102 that is constructed in this system to consider travelling in the place ahead by processing the C2X data by the detection of vehicle-mounted autonomous sensor 114.
Realize the C2X data 108 of " the traffic light status function " of reception traffic lights 106 for this reason.C2X data 108 can be received by receiving interface 112.Vehicle 100 can be defined as traffic lights near close the speed of traffic lights 106 according to the position of the current location of C2X data 108 and vehicle and traffic lights 106 assists.If traffic lights is auxiliary only based on the C2X data 108 of traffic lights 106, then when determining near speed, do not consider to be positioned at the strange vehicle 102 in vehicle 100 the place aheads.Realize detecting the vehicle 102 that travels in the place ahead according to this embodiment by vehicle-mounted autonomic sensor 114 (for example radar, video or laser radar) thus.Realize thus determining approx detected associated vehicle 102 position in the future before traffic lights 106.For example can determine the stop position of associated vehicle 102, and additionally or alternatively can determine that travel in the place ahead or in the quantity of the front static vehicle 102 of traffic lights 106.By the vehicle-mounted autonomic sensor data of C2X data 108 with sensor 114 are merged mutually, can carry out the auxiliary new calculating of traffic lights.Can determine in the situation of the existence of having considered strange vehicle 102 that thus vehicle 100 is near the close speed of traffic lights 106.
Fig. 2 to Fig. 7 shows the schematic diagram according to the traffic conditions of embodiments of the invention.Show respectively in the track 104 vehicles 100 that drive towards traffic lights 106 at this.Traffic lights 106 all is in red light phase, namely sends danger signal.Vehicle 100 comprises that traffic light status is auxiliary, and vehicle 100 for example can be vehicle shown in Figure 1, and it comprises for determining the device of vehicle to the close speed of signalling apparatus.
Fig. 2 shows a traffic conditions, does not wherein have strange vehicle between vehicle 100 and traffic lights 106.Traffic lights 106 is configured to send C2X information at as shown in Figure 2 time point, and it comprises the information of " turing afterwards green at 3 seconds ".Vehicle 100 is configured to receive C2X information, and obtains thus about until the information of the time period of the signal intensity of traffic lights on the horizon 100 from the danger signal to the all-clear.Based on this C2X information and other data, the distance between vehicle 100 and traffic lights 106 for example, auxiliary close the speed that is configured to determine vehicle 100 of traffic light status, vehicle 100 reaches traffic lights 106 when the next green light phase with this close speed.Value near speed can be output.According to this embodiment, determine that near speed be the value of 50km/h, and realize " reaching green light with 50km/h " exported to the chaufeur of vehicle 100.In the situation that traffic light status is auxiliary pure based on C2X, under this traffic conditions, also can determine suitable close speed.
Fig. 3 shows a traffic conditions, and strange vehicle 102 is wherein arranged between vehicle 100 and traffic lights 106.The strange vehicle 102 that five waits of one row are arranged before traffic lights 106.Traffic lights 106 is constructed to send C2X information, and it comprises the information of " turing afterwards green at 3 seconds ".Corresponding to the embodiment among Fig. 2, vehicle 100 is configured to receive C2X information, and by means of the auxiliary close speed of determining and exporting vehicle 100 of traffic light status.According to this embodiment, traffic light status is auxiliary not to be determined near speed with the position data of strange vehicle 102.This has caused or the value of 50km/h has been defined as near speed, and to the chaufeur output " reach green light with 50km/h " of vehicle 100.In the situation that traffic light status is auxiliary pure based on C2X, the close speed of determining under this traffic conditions is improper, because do not consider static vehicle 102.
Fig. 4 shows the traffic conditions of having described according to Fig. 3, and five static strange vehicles 102 of a row are wherein arranged between vehicle 100 and traffic lights 106.Different from the embodiment that describes according to Fig. 3 is, according to embodiment shown in Figure 4, the auxiliary data of except the C2X information of " the turing afterwards green at 3 seconds " of using traffic lights 106, also using vehicle-mounted autonomic sensor of traffic light status, the data of the sensor device 114 of for example describing according to Fig. 1.Vehicle-mounted autonomic sensor is constructed to obtain the strange vehicle 102 that travels in the place ahead.Schematically show the scope of obtaining of the sensor of vehicle 100, one of the caudal end of the strange vehicle 102 of a row is arranged in this and obtains scope.Thus, can determine to be located immediately at static strange vehicle 102 before the vehicle 100 by sensor.For example can determine current location and the speed of a strange vehicle 102 of caudal end.Can further determine to be positioned at the estimate amount of the strange vehicle 102 before the traffic lights 106 according to the position of the position of a strange vehicle 102 of caudal end and known traffic lights 106.Traffic light status is auxiliary be configured to based on the position data that is drawn by sensor redefine as describe according to Fig. 3 pure based on C2X information and definite close speed.The auxiliary speed that is configured to recomputate optimization of this traffic light status is although there are strange vehicle 102 vehicles 100 to arrive traffic lights 106 with the speed of this optimization in green light phase.Alternatively, auxiliary can being configured to of traffic light status directly determined the close speed optimized according to C2X information and position data.Because according to this embodiment, the auxiliary usefulness of the traffic light status at least position data of a strange vehicle 102 of caudal end is determined near speed, compare with the embodiment that describes according to Fig. 3, and be the less close speed of 30km/h with the value of determining.The auxiliary chaufeur that is configured to output " reaching green light with 30km/h " is exported to vehicle 100 of traffic light status.In the traffic light status of the mixing of also using this car sensor device except the C2X technology is auxiliary, under traffic conditions shown in Figure 4, also can determine suitable close speed, because this car sensor device becomes possibility so that consider at least of caudal end in the static vehicle 102.
Fig. 5 shows the traffic conditions of having described according to Fig. 3, and five static strange vehicles 502 of a row are wherein arranged between vehicle 100 and traffic lights 106.Different from the embodiment that describes according to Fig. 3 is that all strange vehicles 502 are constructed to send its position data separately.Vehicle 100 is constructed to receive the position data of strange vehicle 502 and uses it for and determine near speed.Traffic lights 106 still is configured to send C2X information, and this information comprises the information of " turing afterwards green at 3 seconds ".According to this embodiment, the auxiliary C2X information of using on the one hand traffic lights 106 of traffic light status is determined near speed with the position data of strange vehicle 502 on the other hand.This has caused determined value is the close speed of 32km/h, and will export the chaufeur that " reaching green light with 32km/h " exports to vehicle 100, purely all dispose C2X based on C2X and all strange vehicles 502 in the situation that traffic light status is auxiliary, can consider that the position data that sent by strange vehicle 502 is with the speed of the optimization of calculating vehicle 100.
Fig. 6 shows the traffic conditions of having described according to Fig. 4, and five static strange vehicles 102,502 of a row are wherein arranged between vehicle 100 and traffic lights 106.Different from the embodiment that describes according to Fig. 4 is, two strange vehicles 502 are implemented as the C2X vehicle, and it is constructed to send its position data separately.The strange vehicle 102 of last in one row's strange vehicle 102,502, one of centre and tail end is not constructed to send its position data.Vehicle 100 is configured to receive the position data of strange vehicle 502 and uses it for and determine near speed.If only by using the position data that is sent by strange vehicle 502 to determine the close speed of vehicle 100, then may be wrong near the value of speed, because the strange vehicle 102 of tail end is not constructed to send its position data.Yet according to the present embodiment, vehicle 100 is configured to as describing ground according to Fig. 4, obtains the strange vehicle 102 of tail end and draws the position data of the strange vehicle 102 of this tail end by vehicle-mounted autonomic sensor.Can further determine to be positioned at the strange vehicle 102 before the traffic lights 106,502 estimate amount according to the position of the position of the strange vehicle 102 of this tail end and known traffic lights 106.According to this embodiment, can also determine more accurately strange vehicle 102,502 quantity, because can consider together the position data that sent by strange vehicle 502.Traffic light status is auxiliary to be configured to redefine as describe ground according to Fig. 3 pure based on the definite close speed of C2X information based on the position data of a strange vehicle 102 of the caudal end that is obtained by sensor with alternatively based on receiving the location information of coming from strange vehicle 502.The auxiliary speed that also is configured to recomputate optimization of traffic light status is although have strange vehicle 102,502 vehicles 100 to arrive traffic lights 106 with the speed of this optimization in green light phase.Alternatively, traffic light status is auxiliary can be configured to the position data of determining according to C2X information, by sensor and the position data that receives from strange vehicle 502 alternatively and directly determine the close speed optimized.Because according to the present embodiment, traffic light status is auxiliary to be determined near speed with one position data of at least caudal end in the strange vehicle 102, and compare with the embodiment that describes according to Fig. 3, the value of determining is the less close speed of 30km/h.The auxiliary chaufeur that is configured to output " reaching green light with 30km/h " is exported to vehicle 100 of traffic light status.In traffic light status was auxiliary, vehicle-mounted autonomic sensor obtained the strange vehicle 102 that travels in the place ahead and by considering that other C2X vehicle 502 recomputates the speed of the optimization of vehicle 100, draws thus better approximate.
Fig. 7 shows a traffic conditions, and three strange vehicles 102 are wherein arranged between vehicle 100 and traffic lights 106.Relate to two static strange vehicles 102 that are parked in traffic lights 106 fronts at this.The 3rd strange vehicle 102 that wherein is positioned at vehicle 100 the place aheads is vehicles 102 of braking, and it is also moving at time point as shown in Figure 4, and to 102 motions of static strange vehicle.Vehicle 100 is configured to as obtaining the vehicle 102 of tail end and draw the position data of the strange vehicle 102 of this tail end of braking by vehicle-mounted autonomic sensor with describing according to Fig. 4.This position data can also comprise the trend of speed of strange vehicle 102 of the tail end that this is being braked or the trend of velocity variations except comprising present speed.Traffic light status is auxiliary to be constructed to determine based on the position data of the strange vehicle 102 of this tail end of braking the halt point 730 future, that calculate of the strange vehicle 102 of the tail end that this is being braked.Owing to also having other strange vehicle 102, the strange vehicle 102 of the tail end that this is being braked directly is not parked in traffic lights 106 fronts, but is parked in strange vehicle 102 back of last wait.Traffic lights 106 is configured to send C2X information, and it comprises the information of " turing afterwards green at 3 seconds ".Vehicle 100 is configured to receive C2X information.Traffic light status is auxiliary to be configured to calculate and export based on the C2X information of traffic lights 106 and the halt point 730 that calculates the close speed of vehicle 100.For example determine that near speed be the value of 42km/h, and will export the chaufeur that " reaching green light with 42km/h " exports to vehicle 100.
In traffic light status was auxiliary, vehicle-mounted autonomic sensor obtained the strange vehicle 102 that travels in the place ahead.Calculate possible halt point 730 and draw thus the speed of the optimization of vehicle 100.The deceleration value of the strange vehicle 100 that this can be for example travels according to the place ahead realizes.
According to Fig. 2 to embodiment illustrated in fig. 7, be apparent that, auxiliary with respect to pure traffic light status based on C2X, determine that by adopting at least one vehicle-mounted distinctive sensor the position data of at least one the place ahead strange vehicle 102 that travel or that the place ahead is static is favourable.
For pure traffic light status additional function based on C2X, as shown in Figure 2, usually be given for the speed of the optimization that reaches green light phase in conjunction with the stop line of traffic lights 106.At this, as shown in Figure 3, do not consider that travel in the place ahead or static strange vehicle 102.This can cause the speed of suggestion or regulation can cause that travel with the place ahead or static strange vehicle 102 collision, because be not consider these in the speed of calculating vehicle 100.Therefore, only when in the situation that there are not other strange vehicles 102 between traffic lights 106 and the Ben Che 100, as shown in Figure 1, pure system based on C2X suits.Can be as shown in Figure 3 system by the strange vehicle 102 that will be travelled for detection of the place ahead by the data of vehicle-mounted autonomous sensor improve this situation.
Pure system based on C2X can consider the strange vehicle 102 that travels in the place ahead by two modification.If the Disposing rate of C2X function has absolutely, that is to say that each vehicle 100,502 all disposes the C2X function, then all vehicles 100,502 all send its position to other vehicles or Infrastructure regularly.The traffic light status additional function can be considered the vehicle 502 that travels in the place ahead thus, as shown in Figure 5.May for example can reach the decades after implementing C2X＞50% high Disposing rate, and hundred-percent Disposing rate out of reach forever.If yet Infrastructure disposes additional sensor, for example video or contact ring drawing strange vehicle 102,502 position data, and output it to vehicle 100, even if then the strange vehicle 102 that travels of the place ahead does not configure C2X, system is place in operation immediately also.Yet, if draw position data with the sensor of vehicle 100, also can save the high cost of development of the additional sensor on the Infrastructure.Under many circumstances, the sensor on this car 100 can be used for other functions, for example is used for the radar of ACC.
According to an embodiment, such system is by auxiliary composition of traffic light status that receives necessary C2X data from Infrastructure.Infrastructure can be traffic lights 106, and the C2X data can be the information about the state of traffic lights 106, state duration and position.As shown in Figure 4, system thus calculated example as until the close speed of the optimization of the stop line before the traffic lights 106.The vehicle-mounted autonomic sensor of vehicle 100 obtains the place ahead vehicle 102 that travel or static, 502 relevant with this car 100.Because the self-position for example by known car 100 of GPS, the vehicle 100 that disposes this system can calculate the place ahead strange vehicle 102 that travel or that the place ahead static relevant with traffic lights 106,502 position.According to ride characteristic, for example the distance between decelerating behavior or the strange vehicle 102,502 that travels in traffic lights 106 and the place ahead can draw there are how many strange vehicles 102,502 approx between traffic lights 106 and Ben Che 100.For example can draw by the starting characteristic of hypothesis according to this value, when the strange vehicle 102 that travels in the place ahead, 502 passes through traffic lights 106 in the green light situation.Can adjust thus to the speed of vehicle 100 suggestions or regulation.
If the strange vehicle 102 that travels in the place ahead, 502 slows down, then can draw approx the strange vehicle 102 that travels in the place ahead, 502 halt point 730 according to strange vehicle 102,502 decelerating behavior, as shown in Figure 7.Just the strange vehicle 102 that is parked in traffic lights 106 places, 502 quantity can be drawn approx before the strange vehicle 102,502 that so travels forwardly stops, and the speed of vehicle 100 suggestion or regulation can be adjusted.
That Fig. 8 shows is according to an embodiment of the invention, be used for analyzing vehicle to the diagram of circuit of the method for the close close situation of signalling apparatus.The method can be implemented in the system of the vehicle 100 shown in the accompanying drawing of for example front.In step 841, receive the signal data relevant with the signal intensity on the horizon of signalling apparatus of signalling apparatus.In step 843, draw at least one position data that is positioned at the strange vehicle of this vehicle front by suitable sensor, and it is provided to further processing.In step 845, determine near information based on signal data and position data, for example near speed.For example determine so that at this namely vehicle for example need not to stop just can passing through signalling apparatus ideally near speed.In optional other step, can receive the position data that is sent by sending set by the strange vehicle that is positioned at this vehicle front, and additionally use it for and determine near information.Can repeat to carry out continuously the step of the method.Can adjust continuously by this way near information.For example can repeat to implement the step for the signal data that receives signalling apparatus, until vehicle stops by this signalling apparatus or before this signalling apparatus always.
Embodiment shown in the described and figure only is exemplary selection.Different embodiment can fully or about single feature be bonded to each other.An embodiment can also replenish by the feature of other embodiment.Can repeat in addition enforcement and implement steps of a method in accordance with the invention to be different from described order.
Claims (11)
1. one kind is used for analyzing vehicle (100) to the method for the close close situation of signalling apparatus (106), and described method comprises the steps:
Based on the signal data (108) relevant with the signal intensity on the horizon of described signalling apparatus (106) and with the strange vehicle (102 that is positioned at described vehicle (100) the place ahead; 502) relevant position data determines that (845) are near information, wherein, describedly comprise halt point, the close distance of described approach of vehicles described signalling apparatus, the close speed of described approach of vehicles described signalling apparatus and/or the close acceleration/accel of described approach of vehicles described signalling apparatus of described vehicle before described signalling apparatus near information, and described position data represents the data that the sensor device (114) by described vehicle draws.
2. method according to claim 1, wherein, described position data comprises about described strange vehicle (102; 502) position and the information of speed.
3. according to the described method of any one in the aforementioned claim, wherein, described position data comprises about described strange vehicle (102; The information of velocity variations 502).
4. according to the described method of any one in the aforementioned claim, also comprise based on described position data drawing described strange vehicle (102; The step of stop position 502) (730) wherein, in the step of described definite (845), is determined described near information based on the self-position of described signal data (108), described stop position and described vehicle (100).
5. according to the described method of any one in the aforementioned claim, comprise that the position based on described position data and described signalling apparatus draws the strange vehicle (102 that is positioned between described vehicle (100) and the described signalling apparatus (106); The step of quantity 502) wherein in described definite step, is determined described near information based on the quantity of described strange vehicle.
6. according to the described method of any one in the aforementioned claim, wherein, in the described step of determining (845), based on described strange vehicle (102; 502) starting characteristic is determined described near information.
7. according to the described method of any one in the aforementioned claim, comprise the step that substitutes or replenish described position data with the position data of being transmitted, the described position data of transmitting represents the data by described strange vehicle (502), another the strange vehicle (502) that is positioned at described vehicle front or the transmission of traffic infrastructure device.
8. according to the described method of any one in the aforementioned claim, wherein, described position data represents the data that the environment deriving means (114) by described vehicle (100) draws.
9. according to the described method of any one in the aforementioned claim, comprise the steps: to determine display, with described near information or according to the described amount of determining near information to the chaufeur demonstration of described vehicle by interface, and/or comprise the steps: to determine control signal, to adjust the speed of described vehicle based on described close information.
10. one kind is used for analyzing vehicle (100) to the device of the close close situation of signalling apparatus (106), and it is constructed to the step of the described method of any one among the implementation basis claim 1-9.
11. the computer program with program code is used for when described program each described method of executive basis claim 1 to 9 when device is implemented.
Applications Claiming Priority (2)
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| DE102011081609A DE102011081609A1 (en) | 2011-08-26 | 2011-08-26 | Method for evaluating situation of vehicle approaching signaling system, involves determining approach information based on signaling data corresponding to upcoming signal change of signaling system |
| DE102011081609.7 | 2011-08-26 |
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| CN102951152A true CN102951152A (en) | 2013-03-06 |
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| CN (1) | CN102951152B (en) |
| DE (1) | DE102011081609A1 (en) |
| FR (1) | FR2979458B1 (en) |
| IT (1) | ITMI20121408A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102011081609A1 (en) | 2013-02-28 |
| ITMI20121408A1 (en) | 2013-02-27 |
| FR2979458A1 (en) | 2013-03-01 |
| CN102951152B (en) | 2016-05-11 |
| FR2979458B1 (en) | 2018-09-21 |
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