DE102018123153A1 - Method and device for influencing autonomous alternating light signal systems - Google Patents

Abstract

In a method for influencing a large number of alternating light signal systems in a traffic route network, in which at least some of the alternating light signal systems are autonomous alternating light signal systems that are controlled by local control units, autonomous alternating light signal systems located along the predicted route are determined and an alternating light system encounter plan for the emergency vehicle is determined created along the forecast route. The alternating traffic light system encounter plan and a priority request message are transmitted from the emergency vehicle or an external transmission unit to a next autonomous alternating traffic light system located on the predicted route or to a local control unit assigned to it. There, a priority program for the switching of this autonomous alternating light signal system is then activated by a local control unit assigned to it. In addition, the alternating light system encounter plan and the priority request message are transmitted from this alternating light system or from a local control unit assigned to it to the autonomous alternating light system following the predicted route (R) or to a local control unit assigned to it. Then these steps are repeated with the subsequent autonomous alternating light signal system.

Description

TECHNICAL AREA

The present invention relates to a method for influencing a large number of alternating light signal systems in a traffic route network according to the preamble of claim 1. The invention further relates to a device and a computer program product for carrying out this method.

BACKGROUND OF THE INVENTION

In urban conurbations in particular, the traffic density is constantly increasing, with traffic congestion occurring not only at peak times. For the drivers of emergency vehicles with right of way, for example police vehicles, fire engines or emergency services vehicles, this not only means a high level of stress, but also the travel times for such vehicles with right of way to their locations are significantly extended. In addition, with high traffic loads, the risk increases that an emergency vehicle with right of way collides when crossing intersections or road junctions using the right of way with other, otherwise authorized vehicles.

STATE OF THE ART

It has therefore already been proposed several times to grant emergency vehicles on their way to the place of operation not only the right of way by using special signals (flashing lights, Martinshorn), but also traffic light systems (traffic lights) when the emergency vehicle is approaching "free travel" (green ) to switch.

The 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 out a radio signal from the vehicle to activate the alternating light signal system. However, such an arrangement requires that both the vehicle and the corresponding alternating light signaling systems or switching devices connected to them must be equipped with appropriate radio transmitters and radio receivers and that additional radio beacons must be provided along the route, which causes a high level of expenditure on equipment and costs.

The DE 195 08 043 C1 shows and describes a control arrangement for traffic signals, in which an emergency vehicle is provided with a transmitter unit, via which the location coordinates of the emergency vehicle determined by means of a navigation receiver provided in the emergency vehicle are sent several times in time sequence to a traffic light computer, which calculates the direction and speed of the approaching emergency vehicle determined and when the emergency vehicle approaches a traffic light, this traffic light switches to green in the direction of travel.

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

The DE 198 42 912 B4 shows and describes a method for releasing the route for emergency vehicles with special powers, the emergency vehicle position data determined by means of a navigation receiver being transmitted telemetrically to an emergency control center on a regular basis. In the emergency vehicle, the currently determined location coordinates of the emergency vehicle are compared with the coordinates of light signal systems of the corresponding territory stored in a computer in the emergency vehicle. All light signal systems on the way to the site are pre-selected in this computer and, depending on the driving speed of the emergency vehicle, pre-notification signals are sent to traffic lights located in front of the emergency vehicle in the direction of travel, whereby these traffic lights 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". Although this procedure enables short-term changes in the direction of travel of the emergency vehicle (eg choice of an alternative route to the emergency location), without requiring computing power on a traffic control computer, are immediately available for switching a green wave. However, it is disadvantageous that the emergency vehicle must be equipped with a computer of considerable computing power and must also have a database of the traffic lights provided in the local street topology in an up-to-date form.

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

The disadvantages of the prior art, which arise in areas with autonomously controlled alternating light signal systems, are to be overcome by the invention.

NAMES AND DEFINITIONS

• - „Verkehrswegenetz“: eine großflächige (z.B. stadtübergreifende oder stadtteilübergreifende) Topologie von Verkehrswegen (z.B. Straßen, Radwegen, Fußwegen, Schienenverkehrswegen);
• - „Wechsellichtzeichen“: eine gemeinhin auch als Ampel bezeichnete Einrichtung zur Verkehrsregelung, wobei hier von diesem Begriff nicht nur Lichtsignaleinrichtungen, sondern auch mechanische Zeigereinrichtungen und künftige direkt mit einem Verkehrsteilnehmer (z.B. einem Fahrzeug) kommunizierende Einrichtungen zur Übermittlung eines Verkehrsregelsignals an den Verkehrsteilnehmer umfasst sind;
• - „Wechsellichtzeichenanlagen“: eine Gruppe von einander zugeordneten und aufeinander abgestimmt agierenden Wechsellichtzeichen an einem Verkehrsknoten (z.B. einer Kreuzung, einer Straßeneinmündung oder einem Fußgänger-/Radfahrerüberweg), wobei hier terminologisch auch Wechsellichtzeichen an Kreuzungen von Straßen und Schienenverkehrswegen eingeschlossen sind;
• - „autonome Wechsellichtzeichenanlagen“: Wechsellichtzeichenanlagen, die nicht von einem zentralen Verkehrsleitrechner, sondern autonom von einer lokalen Steuereinrichtung gesteuert werden;
• - „zentraler Verkehrsleitrechner“: eine computerbasierte (regional oder überregional) zentrale Steuerungseinrichtung für Wechsellichtzeichenanlagen und deren Wechsellichtzeichen, die die Wechsellichtzeichen in einer größeren Region (z.B. einem Stadtteil) des Verkehrswegenetzes (regional) oder in mehreren größeren Regionen (überregional) zentral steuert;
• - „lokale Steuerungseinrichtung“: eine computerbasierte Steuerungseinrichtung, die die Wechsellichtzeichen einer Wechsellichtzeichenanlage (z.B. an einer Kreuzung) steuert;
• - „prognostizierte Fahrtroute“: eine beispielsweise von einem Navigationscomputer ermittelte Fahrtroute, auf der das Einsatzfahrzeug voraussichtlich zum Fahrtziel fahren wird;
• - „prognostizierte Fahrtrichtung“: die Richtung, in der das Einsatzfahrzeug voraussichtlich entlang der prognostizierten Fahrtroute fahren wird (verläuft z.B. die prognostizierte Fahrtroute an einer Kreuzung nach rechts, so wechselt an dieser Stelle die prognostizierte Fahrtrichtung nach rechts);
• - „Fahrkorridor“: die Fahrspur oder Fahrspuren einer Straße, die das Einsatzfahrzeug benutzen muss, um auf der prognostizierten Fahrtroute in der prognostizierten Fahrtrichtung entlang zu fahren (wechselt z.B. an einer Kreuzung die prognostizierte Fahrtrichtung nach rechts, so wird an dieser Kreuzung die Rechtsabbiegespur Teil des Fahrkorridors);
• - „Wechsellichtzeichenanlagen-Begegnungsplan“: eine zeit- und/oder wegabhängig geordnete Auflistung jener Wechsellichtzeichenanlagen, die das Einsatzfahrzeug entlang seiner prognostizierten Fahrtroute nacheinander erreichen wird;
• - „Wechsellichtzeichenanlagen-Umgebungsplan“: eine Auflistung jener Wechsellichtzeichen und/oder Wechsellichtzeichenanlagen, die in der Umgebung einer jeweiligen Wechsellichtzeichenanlage auf der prognostizierten Fahrtroute gelegen sind, sowie entsprechende Topologieinformation dieser Umgebung;
• - „Vorrangprogramm“: ein Steuerungsprogramm für die Wechsellichtzeichen einer Wechsellichtzeichenanlage, das auf einer lokalen Steuerungseinheit der Wechsellichtzeichenanlage abläuft und das die jeweilige örtliche Verkehrslenkung derart beeinflusst, dass ein sich annäherndes Einsatzfahrzeug sowohl ein „Freie Fahrt“-Signal (grüne Ampel) als auch einen freien Fahrkorridor vorfindet;
• - „Vorrangsteuerung“: eine Beeinflussung von Wechsellichtzeichenanlagen, die ein aktuell aktives Steuerungsprogramm für die Wechsellichtzeichen einer Wechsellichtzeichenanlage temporär durch ein Vorrangprogramm als vorrangiges Steuerungsprogramm ersetzt;
• - „Vorranganforderungsbotschaft“: ein Information enthaltendes Signal, das eine Vorrangsteuerung für eine Wechsellichtzeichenanlage auslöst;
• - „Vorrangunterstützungsprogramm“: ein Steuerungsprogramm für die Wechsellichtzeichen einer benachbarten Wechsellichtzeichenanlage in der Umgebung einer in einer Vorrangsteuerung befindlichen Wechsellichtzeichenanlage, das auf einer lokalen Steuerungseinheit der benachbarten Wechsellichtzeichenanlage abläuft und das die Verkehrslenkung in der Umgebung der in der Vorrangsteuerung befindlichen Wechsellichtzeichenanlage derart beeinflusst, dass der Verkehr beschleunigt aus dem Fahrkorridor für das Einsatzfahrzeug abfließen und nicht mehr in den Fahrkorridor hineinfließen kann;
• - „Vorrangunterstützungssteuerung“: eine Beeinflussung von benachbarten Wechsellichtzeichenanlagen, die ein aktuell aktives Steuerungsprogramm für die Wechsellichtzeichen einer Wechsellichtzeichenanlage temporär durch ein Vorrangunterstützungsprogramm als vorrangiges Steuerungsprogramm ersetzt;
• - „Vorrangunterstützungsbotschaft“: ein Information enthaltendes Signal, das eine Vorrangunterstützungssteuerung für eine benachbarte Wechsellichtzeichenanlage auslöst;
• - „Wirkungsbereich“: das Umfeld („Umgebung“) einer in einer Vorrangsteuerung befindlichen Wechsellichtzeichenanlage, in dem weitere benachbarte Wechsellichtzeichenanlagen in ein Vorrangunterstützungsprogramm geschaltet werden.

Before going into detail on the invention and the exemplary embodiments of the invention shown in the figures and described below, some of the terms used in this description and the claims should be defined. The terms listed below refer here

• - "Traffic network": a large-scale (e.g. cross-urban or cross-urban) topology of traffic routes (e.g. roads, cycle paths, footpaths, rail traffic routes);
• - “Alternating light sign”: a device for traffic control, also commonly referred to as a traffic light, which not only includes 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 traffic light systems": a group of interchangeable and coordinated alternating traffic lights at a traffic junction (e.g. an intersection, a road junction or a pedestrian / cyclist crossing), where terminological alternating traffic signs are also included at intersections of roads and rail traffic routes;
• - "Autonomous alternating light signaling systems": alternating light signaling systems that 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 supraregional) central control device for alternating light signal systems and their alternating light signals, which centrally controls the alternating light signals in a larger region (eg a district) of the traffic route network (regional) or in several larger regions (supraregional);
• - “local control device”: a computer-based control device which controls the alternating light signals of an alternating light signal system (eg at an intersection);
• - “Predicted route”: a route determined, for example, by a navigation computer, on which the emergency vehicle is likely to travel to the destination;
• - “Predicted direction of travel”: the direction in which the emergency vehicle is expected to travel along the predicted route (for example, if the predicted route at an intersection turns to the right, the predicted direction of travel changes to the right at this point);
• - "Driving corridor": the lane or lanes of a road that the emergency vehicle must use to drive along the predicted route in the predicted direction of travel (e.g. if the predicted direction of travel changes to the right at an intersection, the right-hand lane becomes part of this intersection of the corridor);
• - "Alternating traffic light system encounter plan": a time and / or route-dependent list of those alternating traffic light system that the emergency vehicle will reach one after the other along its predicted route;
• - "Alternating light sign system map": a list of those alternating light signs and / or alternating light sign systems that are located in the surroundings of a respective alternating light sign system on the predicted route, as well as corresponding topology information of this environment;
• - "Priority program": a control program for the alternating light signals of an alternating light signal system that runs on a local control unit of the alternating light signal system and that influences the respective local traffic control in such a way that an approaching emergency vehicle is both a "free journey" - Signal (green traffic light) as well as a free driving corridor;
• - "Priority control": an influencing of alternating light signal systems, which temporarily replaces a currently active control program for the alternating light signals of an alternating light signal system with a priority program as a priority control program;
• - "Priority request message": a signal containing information that triggers priority control for a 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 an alternating light signal system located in a priority control, which runs on a local control unit of the neighboring alternating light signal system and which influences the traffic routing in the vicinity of the alternating light signal system located in the priority control in such a way that the Traffic accelerates out of the driving corridor for the emergency vehicle and can no longer flow into the driving corridor;
• - "Priority support control": an influencing of neighboring alternating light signal systems, which temporarily replaces a currently active control program for the alternating light signals of an alternating light signal system with a priority support program as a priority control program;
• - "Priority support message": a signal containing information that triggers priority support control for a neighboring alternating traffic light system;
• - "Effective area": the environment ("environment") of a variable light signal system in a priority control, in which other neighboring variable light signal systems are switched to a priority support program.

PRESENTATION OF THE INVENTION

The object of the present invention is to provide a method for accelerating emergency vehicles in areas with autonomous alternating light signal systems which are not connected to a central traffic control computer along a predicted route of at least one emergency vehicle with right of way for the purpose of priority control for the at least one emergency vehicle. Another object of the present invention is to provide such a method, in which the guarantee of free travel for the emergency vehicle is further improved in order to enable even shorter travel times to the emergency location. Finally, it is an object of the present invention to provide an apparatus for performing such a method and to create a computer program product for performing such a method.

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

1. a) Bereitstellen von Positionsdaten eines Fahrtziels für das zumindest eine Einsatzfahrzeug;
2. b) Bereitstellen der aktuellen Positionsdaten und der Daten des aktuellen Fahrtrichtungsvektors des zumindest einen Einsatzfahrzeugs;
3. c) Bereitstellen von Topologieinformation über das Verkehrswegenetz;
4. d) Bereitstellen von Information über im Verkehrswegenetz vorhandene autonome Wechsellichtzeichenanlagen;
5. e) Prognostizieren einer Fahrtroute für das zumindest eine Einsatzfahrzeug von dessen aktueller Position zur Position des Fahrtziels unter Berücksichtigung der durch den Fahrtrichtungsvektor repräsentierten, vom Fahrer des Einsatzfahrzeugs gewählten Fahrtrichtung;
6. f) Beeinflussen der eine prognostizierte Fahrtrichtung auf der prognostizierten Fahrtroute betreffenden autonomen Wechsellichtzeichenanlagen derart, dass die jeweilige Wechsellichtzeichenanlage vor oder bei der prognostizierten Ankunft des zumindest einen Einsatzfahrzeugs den Verkehr in Richtung der prognostizierten Fahrtroute freigibt,

sind erfindungsgemäß als weiteren Schritte vorgesehen:

• g) Ermitteln der entlang der prognostizierten Fahrtroute gelegenen autonomen Wechsellichtzeichenanlagen und Erstellen eines Wechsellichtzeichenanlagen-Begegnungsplans für das Einsatzfahrzeug entlang der prognostizierten Fahrtroute;
• h) Übermitteln des Wechsellichtzeichenanlagen-Begegnungsplans sowie einer Vorranganforderungsbotschaft vom Einsatzfahrzeug oder einer externen Übermittlungseinheit aus an eine auf der prognostizierten Fahrtroute des Einsatzfahrzeugs vorausgelegene nächste autonome Wechsellichtzeichenanlage oder an eine dieser zugeordnete lokale Steuereinheit;
• i) Aktivieren eines Vorrangprogramms für die Schaltung der nächsten vorausgelegenen autonomen Wechsellichtzeichenanlage auf den Empfang der Vorranganforderungsbotschaft hin durch eine dieser nächsten vorausgelegenen autonomen Wechsellichtzeichenanlage zugeordnete lokale Steuereinheit;
• j) Übermitteln des Wechsellichtzeichenanlagen-Begegnungsplans und der Vorranganforderungsbotschaft von der nächsten vorausgelegenen autonomen Wechsellichtzeichenanlage oder von der dieser zugeordneten lokalen Steuereinheit an die entlang der prognostizierten Fahrtroute folgende autonome Wechsellichtzeichenanlage oder an die dieser zugeordnete lokale Steuereinheit und
• k) Wiederholen der Schritte i) und j) mit der jeweils darauffolgenden autonomen Wechsellichtzeichenanlage.

In a method for influencing a large number of alternating traffic light systems in a traffic route network, in which at least some of the alternating traffic light systems are autonomous alternating traffic light systems which are controlled not by a central traffic control computer but by local control units, for the purpose of priority control for at least one emergency vehicle with right of way, whereby the influencing of at least the autonomous alternating light signaling systems takes place on the basis of current position data and a direction of travel vector of the emergency vehicle, in order to accelerate its journey on a predicted route, with the steps:

1. a) providing position data of a destination for the at least one emergency vehicle;
2. b) providing the current position data and the data of the current direction of travel vector of the at least one emergency vehicle;
3. c) providing topology information about the traffic network;
4. d) provision of information about autonomous alternating light signal systems present in the traffic route network;
5. e) Predicting a route for the at least one emergency vehicle from its current position to the position of the destination, taking into account the direction of travel represented by the direction of travel vector and selected by the driver of the emergency vehicle;
6. f) influencing the autonomous alternating light signal systems relating to a predicted direction of travel on the predicted travel route in such a way that the respective alternating light signal system releases the traffic in the direction of the predicted travel route before or upon the predicted arrival of the at least one emergency vehicle,

are provided according to the invention as further steps:

• g) determining the autonomous alternating light signal systems located along the predicted travel route and drawing up a change light system encounter plan for the emergency vehicle along the predicted travel route;
• h) transmitting the alternating traffic light system encounter plan and a priority request message from the emergency vehicle or an external transmission unit to a next autonomous alternating light system which is ahead of the predicted travel route of the emergency vehicle or to a local control unit assigned to this;
• i) activation of a priority program for the switching of the next preceding autonomous alternating light system upon receipt of the priority request message by a local control unit assigned to this next preceding autonomous alternating system;
• j) Transmission of the alternating traffic light system encounter plan and the priority request message from the next preceding autonomous alternating traffic light system or from the local control unit assigned to it to the autonomous alternating traffic light system following along the predicted route or to the local control unit assigned to it and
• k) repeating steps i) and j) with the subsequent autonomous alternating light signal system.

ADVANTAGES

The method according to the invention effects a large-area influencing of autonomously controlled alternating light signals and creates the prerequisite for an emergency vehicle approaching an autonomous alternating light signal system with right of way not only being able to influence the autonomous alternating light signal system immediately ahead on its route, as is known from the prior art , but that autonomous alternating traffic light systems that are not immediately ahead and are further away on the route can be influenced at an early stage. This makes it possible to clear the driving corridor that the emergency vehicle needs on its route, even in heavy traffic or traffic jams, in a traffic route network that is not controlled by a central traffic control computer, or part of a traffic route network, so that the emergency vehicle almost always finds a free driving corridor and doesn't have to slow down. This results in faster and shorter mission trips to the site.

A particular advantage of the inventive method is the fact that a central traffic control computer is not required to control the alternating traffic light systems along the predicted travel route, and the method can therefore be used in autonomous alternating traffic light systems. This is possible because, according to the invention, the autonomous alternating light signal systems can not only receive data as is known from the prior art, but are also able to transmit data further. Corresponding messages can be forwarded on the basis of the alternating traffic light system encounter plan along a predicted route from an autonomous alternating traffic light system to the next autonomous alternating traffic light system in the manner of a bucket chain. The method according to the invention is therefore particularly suitable for traffic route networks or parts thereof which do not have a central traffic control computer.

As a result of the fact that the autonomous alternating light signal systems lying ahead are influenced not only taking into account the current position data of the at least one emergency vehicle, but also of its direction of travel vector, the driver of the emergency vehicle is not bound to a route which is predetermined from the outside, but can depend on it choose your route independently from the respective situation and the traffic situation on site. The alternating light sign encounter plan is recreated when the direction of travel of the emergency vehicle is identified as being relevant for determining the predicted travel route and is transmitted together with a priority request message to the alternating light sign systems which are then ahead. The alternating traffic light systems that were switched to priority mode before the direction of travel changed and are no longer on the new route are switched back to their normal operating mode.

The priority control according to the invention is incidentally not limited to alternating traffic light systems for traffic on a road network, but can include any type of alternating traffic light system in a traffic route network, for example also signals from a rail network and / or barriers and traffic lights at level crossings. For example, signals for rail vehicles can also be switched to HALT in order to enable the at least one emergency vehicle to safely cross a railroad-level crossing or a tram crossing.

Further preferred and advantageous design features of the method according to the invention are the subject of subclaims 2 to 12.

It is advantageous if the activation of the priority program in step i) takes into account the expected time of arrival of the emergency vehicle at the next autonomous alternating light signal system. This makes it possible to optimize the clearing of the driving corridors in the area of alternating light signal systems further ahead for the arrival time of the emergency vehicle at the respective location and to minimally impair the remaining traffic flow.

The priority program is preferably deactivated again after the emergency vehicle has passed the alternating light signaling system controlled by the priority program. This deactivation, which is actively triggered by the emergency vehicle, has the advantage of a direct practical relevance compared to a general time-controlled deactivation, which also reduces the impairment of the other road users.

If steps g) and h) are also repeated in step k), an updated alternating traffic light system encounter plan and an updated priority request message being transmitted in step h), the advantage results that the alternating traffic light systems always receive current data for the predicted travel route. Such a recursive implementation of the method enables a dynamic priority circuit that is adapted to the current route and speed of the at least one emergency vehicle. If, on the basis of a decision by the driver, for example, the emergency vehicle leaves the originally predicted travel route and the navigation software then calculates a new travel route, this current information is transmitted to the next alternating traffic light system, which then transmits this information to the following alternating traffic light systems according to the newly calculated predicted travel route, which clears a new driving corridor. At the same time, the alternating light signal systems along the previously predicted route are reset to their normal operating mode.

In complex traffic route networks, some of which are equipped with autonomous alternating traffic light systems (e.g. on the outskirts) and with alternating traffic light systems controlled by a central traffic control computer (e.g. in the city center), it is advantageous if one is based on the topology information about the traffic route network and the predicted travel route, the impending exit of the emergency vehicle from an area of the traffic route network with autonomous alternating traffic light systems not controlled by a central traffic control computer and an imminent entry of the emergency vehicle into an area of the traffic route network with alternating light signal systems controlled by a central traffic control computer, the position data of the destination, the current position data and the data of the current direction of travel vector of the at least one emergency vehicle are transmitted to the traffic control computer and if thereupon d The priority control of the (centrally controlled) alternating traffic light systems following along the forecast route is carried out by the central traffic control computer. This variant creates an uninterrupted transition for the emergency vehicle between the two areas of the traffic route network with different control of the alternating light signal systems, without the clearance of the driving corridor being interrupted during this transition.

A particularly preferred development of the method according to the invention, which can be combined with other embodiments of the method, is characterized in that in the step G ) in addition to the autonomous alternating light signal systems located along the predicted route, further autonomous alternating light systems in the immediate vicinity or in the immediate vicinity of the autonomous alternating signal systems located along the predicted route are determined in step G ) In addition to the alternating light sign encounter plan, alternating light sign group plans are created for the other autonomous alternating light sign systems in the vicinity of the predicted route, which are each assigned to an autonomous alternating light system located along the predicted route that in the steps H ) and j ) In addition, a priority support message is transmitted to the other autonomous alternating light sign systems in accordance with the applicable alternating light sign environment map and that in step i ) In addition, a priority support program is activated for the switching of the other autonomous alternating light signal systems, whereupon the priority control takes place in an effective range in which not only autonomous alternating light signal systems at intersections or road junctions lying ahead on the predicted travel route according to step f ) are influenced, but being in one in or before the step f ) executed step f ') Further autonomous alternating light signal systems at intersections or road junctions, which are located in the vicinity or in the vicinity of the autonomous alternating light signal systems located in front of the emergency vehicle, which affect the predicted direction of travel on the predicted route, in such a way that at least one in a driving corridor Emergency vehicle vehicles 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.

This further development of the method according to the invention also includes in the environment of the alternating light signal systems located in the predicted direction of travel in the collective control system without (as in the case of DE 10 2016 105 558 B3 ) a central traffic control computer is required. As a result, not only a linear green wave along the intended route of the emergency vehicle is created in areas with autonomous alternating signaling systems that are not controlled by a central traffic control computer, but alternating signaling systems are also created due to the data transmission function provided for the autonomous alternating signaling systems and the bucket-chain transmission of the alternating signaling system environment map the proximity of the intended or forecast route of the at least one emergency vehicle is also influenced. This influencing of the alternating light signal systems which do not directly affect the intended direction of travel of the emergency vehicle in a section of the route lying ahead and in its vicinity in the manner according to the invention has the effect that the driving corridor empties in front of the emergency vehicle in the direction of travel. At the same time, vehicles are prevented from entering the driving corridor for the at least one emergency vehicle and possibly blocking it.

Metaphorically speaking, the at least one emergency vehicle not only receives a green wave formally on its predicted route through an area with autonomous alternating light signal systems, but it also essentially receives a free driving corridor through the priority control according to the invention, in that it has an effective area of this priority control along the predicted route and If necessary, pushes to the left and right of it, in which, in addition to the green wave for the at least one emergency vehicle, the traffic lights flow out of the driving corridor along the predicted travel route by corresponding switching of the alternating light signal systems. This area of activity in front of the emergency vehicle forms a “cloud” of influenced alternating light signal systems and is therefore also referred to as a “green cloud”.

It is advantageous if the autonomous alternating light signal systems are switched in the predicted direction of travel on the predicted travel route in such a way that oncoming traffic and / or cross traffic vehicles or vehicles willing to turn in the driving corridor can leave the driving corridor before the at least one emergency vehicle reaches this location Has. This clears the driving corridor in good time from the arrival of the emergency vehicle.

It is also advantageous if, as an alternative or in addition, the switching of the autonomous alternating light signal systems in the predicted direction of travel takes place on the predicted travel route in such a way that cross-traffic or turning traffic vehicles cannot drive into the driving corridor until at least one emergency vehicle has passed this location. This prevents vehicles from driving into the driving corridor.

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

Such a priority control, which can be adjusted with regard to its area of effectiveness, is referred to as a “dynamic green cloud”.

In an advantageous development of the method according to the invention, which can be combined with other embodiments of the invention, the release of the traffic in the direction of the predicted travel route takes place in good time before the predicted arrival of the at least one emergency vehicle at the respective one, depending on the traffic density on the predicted travel route Predicted driving direction on the predicted driving route relating to autonomous alternating light signaling systems that vehicles standing in the driving corridor can start to move and thus stationary traffic has changed to flowing traffic when the at least one emergency vehicle arrives.

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

It is also advantageous if the alternating light signals of an autonomous alternating light signal system are switched along the predicted travel route in such a way that at a junction where the predicted driving direction of the predicted travel route of the at least one emergency vehicle bends into a merging street, light signals for people walking or for Cyclists, for example, can be switched to STOP by displaying a red light so that pedestrian and / or bicycle traffic is stopped via the confluent road. This enables the at least one emergency vehicle to turn quickly without having to stop because of pedestrian or cyclist traffic. This also reduces the risk of turning accidents with the emergency vehicle.

It is particularly advantageous if the provision of the current position data and the data of the current direction of travel vector of the at least one emergency vehicle in the step b ) on an emergency computer in the emergency vehicle, preferably a mobile device, which is carried, for example, by an authorized person 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, is part of the priority request message and, if applicable, the priority support message . Such a computer can be easily installed or retrofitted in an emergency vehicle.

A mobile solution by means of a mobile device, on the other hand, makes it unnecessary to equip each emergency vehicle with the appropriate hardware and software for carrying out the method according to the invention, which can save considerable costs. Only a few mobile end devices, for example tablet computers or mobile phones (smartphones), are required on which the software implementing the method (“app”) is stored in an executable manner. The emergency services are generally equipped with such official mobile devices, so that no additional hardware is required.

In all embodiments of the method according to the invention, it is advantageous if the sub-step of forecasting the route for the at least one emergency vehicle is carried out on the emergency computer by means of navigation software running thereon and if the partial step of creating the alternating sign system encounter plan is also based on the emergency computer this predicted route and topology and property information about the alternating traffic light systems of the traffic route network, which is stored in a data memory assigned to the application computer or connectable to the application computer. Smartphones and tablet computers are usually already equipped with a navigation software that can be run on them and available with sufficient data storage space so that the purchase of separate navigation systems can also be saved.

According to another advantageous embodiment of the method according to the invention, which can be combined with other embodiments, the current position data and the direction of travel vector of the at least one emergency vehicle, together with the (authenticated) priority request signal, are also transmitted directly or indirectly to autonomous vehicles which are on the forecast route of the Emergency vehicle. These autonomous vehicles are thereby prompted to clear the roadway required for the at least one emergency vehicle or not to drive on it at all. In this way, autonomous vehicles, i.e. motor vehicles that take part in road traffic without a driver, i.e. drive or hold autonomously without a driver, are informed early and independently of their own onboard sensors when the at least one emergency vehicle is approaching and prompted to clear the lane for the at least one emergency vehicle to clear or not to drive at all. For example, upon receipt of this information from the approaching emergency vehicle, such an autonomous vehicle can be automatically switched to a prioritized driving mode, 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 roadway width which is greater than a predetermined width required for the passage of emergency vehicles.

It is advantageous if the transmission of the current position data and the direction of travel vector as well as an (authenticated) priority request signal of the at least one emergency vehicle to autonomous vehicles takes place indirectly via at least one central telematics computer to which the autonomous vehicles are connected for data transmission. There, for example, the authenticity of the priority request signal and the corresponding authorization of the emergency vehicle can be checked by a higher-level entity before the corresponding signals and data are sent to the autonomous vehicles.

However, it can also be advantageous if the transmission of the current position data and the direction vector as well as an (authenticated) priority request signal of the at least an emergency vehicle to autonomous vehicles directly from the emergency vehicle. As a result, the route of this information is not routed via a central station but directly from the emergency vehicle or via the telematics computer to the autonomous vehicles, which means that a faster flow of information can be achieved.

Basically, the above-described idea of influencing autonomous vehicles by an emergency vehicle is to be seen independently of the idea of influencing alternating light signaling systems and represents an independent invention that can be implemented alone or in combination with influencing alternating light signaling systems.

The part of the object directed to the device is achieved by a system having the features of patent claim 13.

This system for carrying out a method according to the invention has a multiplicity of autonomous alternating light signal systems in a traffic route network and at least one emergency vehicle with right of way moving in this traffic route network, the travel of which is accelerated on a predicted route within the traffic route network by means of the method according to the invention. Provided in the emergency vehicle are at least one position data transmitter and a travel direction vector data transmitter as well as an application computer that is operatively connected to these transmitters or has these transmitters, which is preferably formed by a portable mobile terminal device and is functionally connected to or has a transmitter for data transmission. 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. According to the invention, it is provided that a computer program that executes at least the steps is executably stored on the application computer e ) and H ) of the method according to the invention, wherein preferably a navigation software is executably stored on the application computer, with which a predicted travel route between the current position and a predefined travel destination can be determined, and that a computer program is stored in the respective control unit which executes at least the 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 only the appropriate hardware and software having to be able to provide or ascertain the process-relevant data and transmit it to the recipient on board the emergency vehicle. The autonomous alternating light signal systems or the control unit itself which is functionally connected to an autonomous alternating light signal system only requires additional software and a receiver and transmitter functionality for receiving and for further transmission of the data transmitted by the emergency vehicle in order to use these data to switch the traffic lights along the predicted route of the at least one emergency vehicle and if necessary to influence in the area of the "green cloud". The individual alternating light signs themselves do not have to be equipped with additional hardware or software, as a result of which the costs for the operator of the traffic network remain manageable.

In such a system, the application computer advantageously has a data storage device or it is effectively connected to such a device, at least for data retrieval. Information about the autonomous alternating light signal systems of the traffic route network is stored in the data storage device and the computer program that can be run on the emergency computer executes the step using this stored data G ) out.

Finally, the invention according to claim 15 is also directed to a computer program product which is designed to carry out a method according to the present invention.

For this purpose, the computer program product contains a first computer program that performs the step e ) and preferably also the step G ) executes as well as the step H ) triggers and controls and that can be stored on a deployment computer on the deployment computer, preferably a mobile terminal. The computer program product also includes a second computer program that does the step i ) executes and the step j ) triggers and controls and that can be stored on a control computer of a control device functionally connected to the alternating light signals of a respective autonomous alternating light signal system, the first computer program and the second computer program being designed to transmit data, preferably encrypted, via a radio link secured against manipulation, communicate with one another and wherein the second computer program is designed to communicate with another second computer program, which runs on a control computer of another autonomous alternating light signaling system, for the purpose of data transmission, preferably encrypted via a radio link secured against manipulation.

Such a computer program product thus essentially consists of two parts, namely a first part, which is stored in a corresponding computer device on board the emergency vehicle, and a second part, which is stored in a respective autonomous alternating light system or in a computer of a control unit of the alternating light system functionally connected to it.

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

Preferred exemplary embodiments of the invention with additional design details and further advantages are described and explained in more detail below with reference to the accompanying drawings.

Figure list

• 1 einen Ausschnitt aus einem innerstädtischen Straßennetz, das Bestandteil des Verkehrswegenetzes ist, mit einer schematischen Blockdiagrammdarstellung der dortigen Wechsellichtzeichenanlagen;
• 2 eine symbolische schematische Darstellung der Datenübermittlung nach dem erfindungsgemäßen Verfahren;
• 3 eine Topologie eines anderen Ausschnitts aus einem innerstädtischen Straßennetz, das Bestandteil des Verkehrswegenetzes ist;
• 3A einen ersten Ausschnitt aus 3;
• 3B einen zweiten Ausschnitt aus 3;
• 4 eine symbolische schematische Darstellung der Datenübermittlung nach dem erfindungsgemäßen Verfahren an einer Grenze des Gebiets autonomer Wechsellichtzeichenanlagen und
• 5 einen Ausschnitt aus 3 mit einem vorausfahrenden autonomen Fahrzeug.

It shows:

• 1 a section of an inner-city road network, which is part of the traffic network, with a schematic block diagram representation of the alternating traffic light systems there;
• 2nd a symbolic schematic representation of the data transmission according to the inventive method;
• 3rd a topology of another section of an inner-city road network which is part of the traffic route network;
• 3A a first excerpt 3rd ;
• 3B a second section 3rd ;
• 4th a symbolic schematic representation of the data transmission according to the inventive method on a boundary of the area of autonomous alternating signal systems and
• 5 a cut out 3rd with an autonomous vehicle in front.

PRESENTATION OF PREFERRED EMBODIMENTS

In 1 is a simplified schematic representation of a section of a traffic route network not controlled by a traffic control computer 1 shown that a plurality of intersections 11 , 12th , 13 , 14 , 15 , 16 and road junctions 10th , 17th , 18th , 19th of different complex shapes. A road junction 10th and all the intersections shown 11 , 12th , 13 , 14 , 15 , 16 are each with an autonomous alternating light signal system 2nd , 3rd , 4th , 5 , 6 , 7 , 8th equipped in the traffic network 1 are provided to regulate the flow of traffic.

Each of these autonomous alternating light sign systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th comprises a plurality of alternating light signs 21 , 22 , 23 , 24th , 25th , 26 , 27 , 28 ; 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 ; 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 ; 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 ; 61 , 62 , 63 , 64 , 65 , 66 , 67 , 68 ; 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 ; 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 , for example traffic lights for the respective lanes on a street, turn lights, pedestrian lights and bicycle lights as well as special light signals for local public transport. Warning light signs at tram or level crossings at the same rail and corresponding signals for rail vehicles running on rail routes in the traffic network can be counted among these alternating light signs in the broadest sense.

Even if the driving of autonomous vehicles in a public traffic route network with mixed operation was not yet or only experimentally implemented at the time of registration, the alternating light signals in the sense of the present invention can also include those future traffic control means, the information as to whether a lane is released (" green ”) or blocked (“ red ”), to a respective vehicle - regardless of whether this is a driver-controlled or an autonomous vehicle. The term "alternating light sign" thus includes such future "virtual alternating light signs", classic traffic lights and light signals as well as historical mechanical traffic lights (e.g. pointer lights). Therefore, the term "alternating light sign" in the definition used here can also be generally referred to as "traffic control information".

In the representation of the 1 are each of the alternating light sign systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th only eight alternating light signs assigned; However, it is self-evident for the person skilled in the art that the number of alternating light signs assigned to an alternating light sign system can be smaller or larger as required.

Such an autonomous alternating light signal system is conventional 2nd , 3rd , 4th , 5 , 6 , 7 , 8th provided at a traffic intersection, for example a street intersection, or at a road junction. It is not connected to any regional or national, central traffic control computer, but has its own local control unit 20th , 30th , 40 , 50 , 60 , 70 , 80 on that exclusively the alternating light signs 21 , 22 , 23 , 24th , 25th , 26 , 27 , 28 ; 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 ; 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 ; 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 ; 61 , 62 , 63 , 64 , 65 , 66 , 67 , 68 , 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 ; 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 your autonomous alternating light signal system 2nd , 3rd , 4th , 5 , 6 , 7 , 8th autonomously controls according to at least one predefined or predefinable program, for example on a computer 29 , 39 , 49 , 59 , 69 , 79 , 89 the respective local control unit 20th , 30th , 40 , 50 , 60 , 70 , 80 expires. In exceptional cases, alternating light signal systems can also be used 7 , 8th give the due to very close intersections 15 , 16 or road junctions from a local master controller 700 whose master computer 710 with the computers 79 , 89 of the control units 70 , 80 can be controlled coordinated.

While such conventional autonomous alternating light signal systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th have so far not been in active connection with each other, but rather stand-alone control solutions at the respective traffic junctions 11 , 12th , 13 , 14 , 15 , 16 or road junctions 10th , 17th , 18th , 19th illustrated, the invention now combines at least part of the autonomous alternating light signaling systems as required, namely the autonomous alternating light signaling systems in the example below 2nd , 3rd , 4th , 5 , together and thereby creates an ad hoc network without control by a regional or supra-regional central traffic control facility. In this ad hoc network, individual, autonomous, alternating light signaling systems are formed 2nd , 3rd , 4th , 5 or the control units assigned to them 20th , 30th , 40 , 50 one network node each. For this purpose, each of the autonomous alternating light sign systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th with a data receiver 29 ' , 39 ' , 49 ' , 59 ' , 69 ' , 79 ' , 89 ' as well as a data transmitter 29 " , 39 " , 49 " , 59 " , 69 " , 79 " , 89 " provided, each with the computer 29 , 39 , 49 , 59 , 69 , 79 , 89 the corresponding control unit 20th , 30th , 40 , 50 , 60 , 70 , 80 are effectively connected for data transmission.

In 1 is also an emergency vehicle 9 represented with priority right of way, that in a current direction of travel with the current direction of travel vector R 'on one of the roads of the traffic network 1 is on the road with a siren and flashing lights to drive to a mission. The emergency vehicle 9 is via a radio link 92 with an operations control center 90 and is able to, after authorization from the operations center 90 who have favourited Autonomous Alternating Light Sign Systems 2nd , 3rd , 4th , 5 , 6 . 7 , 8th 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 network 1 , whose alternating light sign systems 2nd , 3rd , 4th , 5 , 6 . 7 , 8th work autonomously and are not controlled by a regional or supra-regional central traffic control computer.

Such priority control is based on the predicted route R of the emergency vehicle 9 and the local topography of the surroundings of an intersection or junction and the alternating light arrangement at this intersection or junction. Specifically, the predicted driving corridor of the emergency vehicle at this intersection or junction is first determined and then a decision is made as to which of the traffic lights at this intersection or junction must be switched and how to clear the driving corridor from traffic and keep it free for the emergency vehicle.

In the event of a mission, the emergency vehicle receives 9 or the emergency personnel in the emergency vehicle 9 from the operations center 90 an operation command with the data of the place of operation, i.e. the destination for the emergency vehicle 9 . This data is, for example, via a first radio connection 92 from the operations control center 90 to the emergency vehicle 9 transfer. On board the emergency vehicle 9 is a mission computer 94 present that over the radio link 92 receives transmitted information about the place of use and the destination. This mission computer 94 can be fixed in the emergency vehicle 9 be installed. Preferably the mission computer 94 however, formed by a tablet computer or a mobile radio device, for example a smartphone, on which an application computer program runs. The mission computer 94 also has a position data transmitter and a travel direction vector data transmitter as well as a transmitter connected to these transmitters for data transmission.

The mission computer 94 is equipped with navigation software or has access to one on board the emergency vehicle 9 navigation computer to the current position of the emergency vehicle 9 and its direction of travel vector R ' in the current traffic network 1 to be able to determine. The mission computer also has 94 Position information about those in the traffic network 1 existing autonomous alternating light signal systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th . This information is either from a data memory of the application computer 94 or retrievable from a data memory connected or connectable to it, or the application computer 94 receives this information via the radio link 92 from the operations center 90 . Based on the known destination data, a proposal for a route is made R from the current location of the emergency vehicle to the destination from the navigation software or the navigation device calculated. This predicted route R of the emergency vehicle 9 is in 1 through the arrows R represented symbolized.

With the data of the forecast route R and the stored position information about those in the traffic network 1 existing autonomous alternating light signal systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th the application computer determines 94 the along the forecast route R Autonomous alternating light signal systems 2nd , 3rd , 4th , 5 and creates an alternating traffic light system encounter plan for the emergency vehicle along the predicted route R . Of course, this alternating sign system encounter plan can also be used outside of the computer 94 , for example in the operations center 90 , created and sent to the mission computer 94 over the radio link 92 be transmitted. The intervention computer takes from the alternating light sign encounter plan 94 due to the position of the emergency vehicle known to him 9 and the route known to him R the next autonomous alternating light system 2nd .

From the emergency computer 94 are then as it is in 2nd is symbolically represented by the lightning arrow, via its transmitter the alternating traffic light system encounter plan and a priority request message to those on the predicted route R of the emergency vehicle 9 next autonomous alternating light system in front 2nd transmitted by radio data transmission, as indicated by the letter symbol in 2nd is represented symbolically. These radio data signals are from the data receiver 29 ' the control unit 20th received and the computer 29 the control unit 20th fed. The computer 29 checks the received priority request message for authenticity and then activates a priority program for switching the autonomous alternating light signal system 2nd , which is the alternating light sign for the forecast route R for the emergency vehicle 9 at the junction 10th switches to free travel ("green"). The computer also determines 29 from the current position of the emergency vehicle 9 , the received alternating sign system encounter plan and the predicted route R the next alternating traffic light system on the forecast route 3rd .

The alternating sign system encounter plan and the priority request message are then from the computer 29 the control unit 20th the autonomous alternating light signal system 2nd via their data senders 29 " to those along the predicted route R following autonomous alternating light signal system 3rd transmitted, whereupon also this alternating light signal system 3rd in a corresponding priority program, which is also at the intersection 11 the alternating light signs for the forecast route R for the emergency vehicle 9 switches to free travel ("green").

The flashing light encounter plan and the priority request message are then from the flashing light system 3rd to the next along the predicted route R Alternating light signal system in front 4th and from there to the one in the predicted direction of travel R next alternating light system 5 transmitted, whereupon also the alternating light signal system 4th switches to a corresponding priority program and the one for the predicted direction of travel R relevant alternating light signs at the intersection 12th switches to "green" and then the alternating light system 5 switches to a corresponding priority program and the one for the predicted direction of travel R relevant alternating light signs at the intersection 13 switches to "green".

The forwarding of the priority request signal and the alternating sign system encounter plan to the autonomous alternating sign systems 2nd , 3rd , 4th , 5 Along the forecast route, this is done in the manner of a bucket chain, with the respective forwarding taking into account the driving speed of the emergency vehicle 9 , the respective distance between two successive alternating light signal systems and, if necessary, taking into account the traffic density with a time delay.

In addition to this bucket-chain-like information transfer, the application computer transmits 94 at intervals, updated position and direction data such as the current direction vector R ' of the emergency vehicle 9 and an updated alternating sign system encounter plan as well as the priority request message along with the mission authoritative. Authentication data to the route currently being forecast R of the emergency vehicle 9 Next autonomous alternating light signaling system located in front, which then processes this information as described above and passes it along as updated information along the bucket chain. If the driver of the emergency vehicle 9 Due to external influences, the route changes spontaneously, this ensures that priority circuits of the autonomous alternating traffic light systems concerned are also set up along the new forecast route.

This variant of the invention therefore applies to the at least one emergency vehicle 9 anticipating a dynamic “green wave” in an area of a traffic network 1 switched in which the alternating light signal systems autonomously are switched and are not controlled by a regional or national traffic control computer.

The data transfers between the at least one emergency vehicle 9 and the alternating light signal systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th and between the alternating light signal systems 2nd , 3rd , 4th , 5 , 6 , 7 , 8th each other is encrypted using radio links that are protected against manipulation.

The following is used in conjunction with 3rd a particularly preferred and advantageous development of the method according to the invention is explained.

In parallel to the establishment of a dynamic “green wave” for the emergency vehicle described above 9 become further autonomous alternating light signal systems 6 , 7 in the area of the front of the emergency vehicle 9 located, the direction of travel of the predicted route R autonomous alternating light sign systems concerned 2nd , 3rd , 4th , 5 switched ("green" or "red") in such a way that in a driving corridor for the at least one emergency vehicle 9 on the lane of the predicted route R vehicles can leave the corridor before the emergency vehicle 9 reached this place. These can be, for example, oncoming traffic, cross traffic or standing or willing to turn vehicles in the corridor. In addition, this additional traffic control can cause vehicles to be unable to drive into the driving corridor until at least one emergency vehicle 9 passed this place. Other autonomous alternating light systems (e.g. the autonomous alternating light system 8th ) of the traffic network 1 are not affected by the priority control in this example.

The manner in which such priority control is carried out for at least one emergency vehicle by influencing autonomous alternating light signal systems in the vicinity of the autonomous alternating light signal systems directly affecting the direction of travel is described below with reference to 3rd explained.

In 3rd is a schematic of the topology of a road network 100 shown part of an urban transportation network 1 is. 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 traffic network 1 can next to the road network 100 for example, the network of inner-city trams as well as a network of local public transport buses traveling on separate lanes and, if necessary, even through the street network 100 include leading tram or railroad lines. The task of the emergency vehicle 9 consists of its current location P at the bottom of the picture 3rd to drive to a location E at the top left of the picture where, for example, a traffic accident has occurred. This location E also represents the destination Z. for the emergency vehicle 9 represents.

The navigation computer on board the emergency vehicle 9 originally had the diagonally hatched route as the shortest route to location E. A determined. The emergency vehicle on its way to date therefore already had the alternating traffic light systems ahead along the originally predicted route A the priority request signal communicates like this in conjunction with 1 and 2nd has been described.

This route A However, it has two sections that are critical for the rapid progress of the emergency vehicle E, namely the section A1 , where the emergency vehicle has to turn from a side street into a main street to the right and a little later has to turn left at an intersection. In this main street, 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 can expect a delay in his journey here. Furthermore, the driver of the emergency vehicle suspects 9 that in the section A2 the route A , that is, a traffic jam should already have occurred 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 at the next intersection K1 turn right and the cross-hatched alternative route B to choose. At the moment the emergency vehicle turns 9 at the crossroads K1 registers this on board the emergency vehicle 9 located navigation system or that on the application computer 94 running navigation software the change of direction of the emergency vehicle 9 . There will then be a new forecast route B for the emergency vehicle 9 calculated. The mission computer 94 immediately determines the route along the new forecast route B located autonomous alternating light sign systems and creates a new, updated alternating light sign encounter plan for the emergency vehicle 9 along the new forecast route B . The intervention computer then transmits 94 the new alternating sign system encounter plan as well as an updated priority request message together with the authentication data of the emergency vehicle or the authorized operator contained in the priority request message to the next one ahead autonomous alternating light signal system at the intersection K2 who activated their priority program and - as described in connection with the first example - the flashing light system encounter plan and an updated priority request message to the flashing light system 143 the next intersection K3 transmitted, which then in turn activates their priority program.

The area of the intersection K3 however, has a complex traffic routing because it is right next to the intersection K3 another intersection K30 is located, which is also controlled by traffic lights. Backlogs often occur in front of the alternating light signs at the intersection K30 on that up in the intersection K3 reach in. Therefore, it is not sufficient if the forecast direction of travel R of the emergency vehicle 2nd relevant alternating light sign of the intersection K3 switch to green, but it must be ensured beforehand that the is in the intersection K3 in front of the alternating light signs of the intersection K30 backlog traffic the intersection K3 can leave.

For this purpose, as in 3A is shown greatly enlarged, the alternating light signs 1431 , 1432 that the in the intersection K3 regulate incoming cross traffic, switched to "STOP", which is symbolized by a circle with a cross. Is at the crossroads K3 on the lane of the predicted direction of travel R Turning to the left is also permitted for oncoming traffic going straight ahead by means of the alternating light sign 1433 stopped. This enables left-handers to turn the lane of the predicted direction of travel R leave and for the emergency vehicle 9 free. Also the one on the road of the predicted route B leading left turn traffic from the opposite direction is indicated by the alternating light signal switched to "STOP" 1433 ' stopped while the alternating light signal 1434 that the direction of travel R of the emergency vehicle 9 on the forecast route B concerns, is switched to "free travel", which is symbolized by the straight-ahead arrow in a circle. This is the autonomous alternating light signal system 143 that immediately cross the intersection K3 concerned, switched so that none of the lane of the predicted route R of the emergency vehicle 9 blocking traffic flows into the intersection K3 flow in and possibly in the driving corridor on the lane of the predicted route R waiting vehicles can leave the corridor.

A control system for the autonomous alternating light signal system 143 the intersection K3 However, the alternating light sign belonging to this is not sufficient in the present case because of the immediately adjacent intersection K 30th with the also autonomous alternating light signal system located there 143 ' the traffic at the intersection K 3rd is negatively influenced in that it often leads to backlogs of cross traffic that reaches into the intersection K3 extends into it. For this reason, the alternating traffic light encounter plan and the priority request message from the autonomous alternating traffic light system 143 not just on the forecast route R Autonomous alternating light signal system in front 144 at the crossroads K4 transmitted, but also to the autonomous alternating light signal system 143 ' the adjacent intersection K30 . The influencing of the autonomous alternating light signal systems according to the invention is now in the area of the intersection K3 via the autonomous alternating light signal system 143 also on the also autonomous alternating light sign system 143 ' from the neighboring intersection K30 extended.

The area of effect 143 " the priority control extends from the intersection K3 Autonomous alternating light sign system concerned 143 to the neighboring intersection K30 assigned autonomous alternating light signal system 143 ' . This is done in the form of that of the intersection K3 outgoing traffic through the intersection K30 by the alternating light signal switched to "free travel" 1435 the neighboring intersection K30 can drain off, so the intersection K3 is cleared. The alternating light signs 1436 and 1437 the autonomous alternating light signal system 143 ' , which regulate cross traffic with regard to the aforementioned outflowing traffic, are switched to "HALT".

In this way, the area of effect 143 " the influencing of the autonomous alternating light signal systems from the intersection K3 to the intersection K30 expanded by two regarding the predicted direction of travel R Autonomous alternating light signal systems that are adjacent to one another laterally 143 , 143 ' be placed in a respective priority program. The described control of the autonomous alternating light system 143 ' ensures that 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 the intersection K3 upon arrival of the emergency vehicle 9 is cleared and the emergency vehicle 9 the crossroad K3 can run over without significant traffic-related reduction in speed.

Has the emergency vehicle 9 the crossroad K3 drive over, it must at the next crossing K4 turn left. This turn request is included in the alternating sign system encounter plan and thus the autonomous alternating sign system there 144 already known, because the alternating light sign encounter plan is already from the previous autonomous one Alternating light signal system 143 has been transmitted so that the autonomous alternating light signal system 144 their flashing lights at the intersection K4 can switch accordingly. This does not only include the alternating light signs of the autonomous alternating light sign system 144 switched to "HALT" for cross-traffic, but also the alternating traffic lights for oncoming traffic and for pedestrian traffic are switched to "HALT", so that only the alternating traffic lights relating to the route of the emergency vehicle are switched to "free travel". The emergency vehicle can do so without reducing its speed at the intersection due to traffic K4 turn left. At the next crossing K5 is again a straight line for the emergency vehicle in the manner already described 9 switched.

The following crossings K6 , K7 and K8 on the forecast route B of the emergency vehicle 9 are part of a topologically more complex road system with a large number of routes alongside the predicted route B located intersections and road junctions, which are also provided with autonomous alternating light signal systems ( 3B) . In a similar way as this in connection with the control of the alternating light signals of the autonomous alternating light signal systems 143 , 143 ' of the effective range 143 " around the crossroads K3 and K30 around has been described in the area of crossings K6 , K7 and K8 a larger scope 147 " defined, which includes the autonomous alternating light signal systems located in this area, namely the autonomous alternating light signal system 146 the intersection K6 with the autonomous alternating light signal systems 146 ' and 146 " that of the intersection K6 neighboring intersections or road junctions K60 and K61 , the intersection K7 with its autonomous alternating light signal system 147 as well as the autonomous alternating light signal system 147 ' that of the intersection K7 neighboring road junction K70 and the autonomous alternating light signal system 148 the intersection K8 as well as the autonomous alternating light signal system 148 ' at the intersection K8 neighboring road junction K80 and the autonomous alternating light signal systems 148 " and 148 '"that of the intersection K8 neighboring intersection K81 and the following junction K82 . In this area 147 " control is also carried out in this area 147 " Autonomous alternating light signaling systems, which is aimed at a flow of traffic into the driving corridor on the lane of the predicted route B to prevent and at the same time ensures that vehicles that are in the driving corridor on the lane along the route B in the direction of travel R of the emergency vehicle 9 are able to leave this lane.

At the two subsequent crossings K9 and K10 it is again sufficient, just the autonomous alternating light signal systems of the respective intersection K9 respectively K10 to influence and a free straight ahead for the emergency vehicle 9 to switch.

This particularly preferred embodiment of the method according to the invention for influencing a large number of autonomous alternating traffic light systems in a traffic route network without a regional or supra-regional central traffic control system thus ensures that the at least one emergency vehicle 9 along its predicted route R not only finds a green wave, but also finds a driving corridor freed from traffic situations that slow down the drive of the emergency vehicle (traffic jams, stationary cross traffic, waiting turning traffic, etc.), so that the emergency vehicle 9 can drive at a significantly higher driving speed than has been the case up to now and thus reaches the job site faster. At the same time, the risk of accidents for the emergency vehicle is reduced, since there are no or hardly any "disturbing" vehicles in the emergency vehicle 9 exempted corridor are on the way.

The described traffic situations in which the application of the method according to the invention accelerates the deployment of the at least one deployment vehicle 9 and a reduction in the risk of accidents are only given as examples. 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 by corresponding switching of the autonomous alternating light signaling systems in the area of an intersection or road junction or even a level crossing with rails, and in the vicinity thereof, to influence the traffic clearly before the emergency vehicle arrives in such a way that the driving corridor is in the direction of travel of the forecast route R of the emergency vehicle 9 before arrival of the emergency vehicle 9 is driven empty or free and that at the same time driving into the driving corridor is prevented. As a result, the emergency vehicle not only finds the “green wave” when approaching, but also a free driving corridor. According to the present invention, this advantage can also be achieved in a traffic route network or in a part thereof in which only autonomous or predominantly autonomous alternating light signal systems are present.

Another modified variant of the present invention is in 4th shown. There is in the direction of the predicted route R of the emergency vehicle 9 behind the last autonomous alternating light signal application 3 ' on the forecast route R the border G to the traffic network 1' belonging area I. the autonomous alternating light sign systems 2 ' , 3 ' and it also starts to the traffic network 1' belonging area II in which the alternating light sign systems 4 ' and their alternating light signs, as well as further alternating light sign systems from a central traffic control computer 1000 are controlled. On this border G is one of the alternating traffic light systems near the border 3 '; 4 ' in the area of I. or in the area II , for example the last autonomous alternating light signal system 3rd `or the first with the traffic calculator 1000 connected alternating light signal system 4 ' , trained to be one of those on the route R of the emergency vehicle 9 past alternating light signal system 2 '; 3 ' received message to the central traffic control computer 1000 to transmit. This further influencing the forecast route R of the emergency vehicle 9 in the area of II located centrally controlled alternating light signal systems is then carried out by the traffic control computer in a known manner, as is the case, for example, in German patent 10 2016 105 558 B3 is described.

In 5 is shown a situation in which on the predicted route R in front of the emergency vehicle 9 an autonomous vehicle 110 in the for the emergency vehicle 9 predicted direction of travel R "drives. This autonomous vehicle 110 takes part in road traffic without a driver. As it is by the symbols for radio links 95 , 96 is shown, the position data and the direction of travel vector R ' from the emergency vehicle 9 transmitted directly or indirectly to autonomous vehicles driving ahead on the route. The transmission of signals and data over the radio links 95 , 96 is of course encrypted and secured against manipulation from outside.

In the example shown, the transmission takes place indirectly via that of the emergency vehicle 9 outgoing radio link 95 first to a central station 97 that, for example, from the emergency computer 90 or from a regional or supra-regional central traffic control computer 1000 or can be formed by any other computer or can be functionally assigned to it. From this central station 97 will send a signal to one with the station 97 functionally connected control computer 98 transmitted, which can be, for example, a fleet information computer or telematics computer, the autonomous vehicle in question 110 assigned and with which this autonomous vehicle 110 is connected or connectable.

The control computer 98 in turn transmits a signal over the radio link 96 on on the forecast route R autonomous vehicles driving, for example to the autonomous vehicle driving ahead 110 , which means that the emergency vehicle is approaching 9 be informed. 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 indicated by the symbolized flashing signals 112 ' , 114 ' the right direction indicator 112 , 114 of the autonomous vehicle 110 is represented symbolically. Before that, sensors of the autonomous vehicle 110 next to the vehicle 110 detects a free lane width that is larger than a predetermined width required for the passage of emergency vehicles.

Such influencing of autonomous vehicles can in principle also take place separately and independently of the influencing of alternating light signal systems according to the invention.

It goes without saying that the invention is not limited to a priority control for a single emergency vehicle, but can also be used for a plurality of emergency vehicles, for example a fire engine. It is also a matter of course that, in a traffic route network in which a plurality of emergency vehicles with right of way are traveling at the same time, precautions are taken to prevent two emergency vehicles approaching an intersection or a road junction from different directions simultaneously with a green traffic light in their respective direction of travel find.

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

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 2855625 A1 [0004]
• DE 19508043 C1 [0005]
• DE 19601024 A1 [0006]
• DE 19842912 B4 [0007]
• DE 102016105558 B3 [0008, 0024, 0085]

Claims (15)

Method for influencing a large number of alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3', 4 '; 143, 143', 144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148"') in a traffic route network (1; 1 '), in that at least some of the alternating light signal systems are autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2', 3 '; 143 , 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') that are not from a central traffic control computer but from local control units (20, 30, 40, 50, 60, 70, 80) are controlled for the purpose of priority control for at least one emergency vehicle (9) with right of way, the influencing of at least the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') on the basis of current position data and a direction of travel vector (R') of the emergency vehicle (1), in order to accelerate its journey on a predicted route (R), with the steps: a) area setting position data of a destination (Z) for the at least one emergency vehicle (9); b) providing the current position data and the data of the current direction of travel vector (R ') of the at least one emergency vehicle (9); c) providing topology information about the traffic route network (1; 1 '); d) providing information about autonomous alternating traffic light systems present in the traffic route network (1; 1 '); e) predicting a route for the at least one emergency vehicle (9) from its current position to the position of the destination (Z), taking into account the direction of travel represented by the direction vector (R ') and selected by the driver of the emergency vehicle (9); f) influencing the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146') relating to a predicted direction of travel (R) on the predicted travel route, 147, 147 ', 148, 148', 148 ", 148"') such that the respective alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2', 3 '; 143, 143', 144 , 146, 146 ', 147, 147', 148, 148 ', 148 ", 148"') before or when the forecast arrival of the at least one emergency vehicle (9) releases the traffic in the direction of the forecast route (R), characterized by the further steps g) determining the autonomous alternating light signal systems located along the predicted travel route (R) (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') and drawing up an alternating sign system encounter plan for the emergency vehicle (9) along the predicted travel route (R); h) Transmission of the alternating light signal meeting plan and a priority request message from the emergency vehicle (9) or an external transmission unit to a next autonomous alternating light signal system (2, 3, 4, 5, 6, 7) located on the predicted route (R) of the emergency vehicle (9) , 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') or to a local control unit (20, 30, 40, 50, 60, 70, 80); i) Activation of a priority program for switching the next preceding autonomous alternating light system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ' , 148, 148 ', 148 ", 148"') upon receipt of the priority request message by one of these nearest autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') associated local control unit (20, 30, 40, 50, 60, 70, 80); j) Transmission of the alternating traffic light encounter plan and the priority request message from the nearest autonomous alternating traffic light system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147 , 147 ', 148, 148', 148 ", 148"') or from the local control unit (20, 30, 40, 50, 60, 70, 80) assigned to them to the autonomous alternating light signal system following along the predicted travel route (R) (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') or to the local control unit (20, 30, 40, 50, 60, 70, 80) assigned to this and k) repeating steps i) and j) with the subsequent autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"'). Procedure according to Claim 1 , characterized in that the activation of the priority program in step i) taking into account an expected time of arrival of the emergency vehicle (9) at the next autonomous alternating light signaling system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"'). Procedure according to Claim 1 or 2nd , characterized in that the priority program is deactivated again after the emergency vehicle (9) has controlled the autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144 , 146, 146 ', 147, 147', 148, 148 ', 148 ", 148"'). Method according to one of the preceding claims, characterized in that steps g) and h) are repeated in step k), an updated alternating traffic light encounter plan and an updated priority request message being transmitted in step h). Method according to one of the preceding claims, characterized in that in one based on the topology information about the Traffic route network (1; 1 ') and the predicted route (R) of the impending exit of the emergency vehicle (9) from an area (I) of the traffic route network (1') with autonomous alternating traffic light systems (2 ', 3' not controlled by a central traffic control computer) ) and an impending entry of the emergency vehicle (9) into an area of the traffic route network (1 ') with alternating light signal systems (4') controlled by a central traffic control computer (1000), the position data of the destination (Z), the current position data and the data of the current one Direction vector (R ') of the at least one emergency vehicle (2) are transmitted to the traffic control computer (1000) and that the priority control of the alternating traffic light systems (4') following along the predicted travel route (R) is carried out by the central traffic control computer (1000). Method according to one of the preceding claims, characterized in that - in step g), in addition to the autonomous alternating light signal systems (143, 144, 146, 147, 148) located along the predicted travel route (B), further autonomous alternating light signal systems (143 ', 146', 147 ', 148', 148 ", 148"') in the immediate vicinity or in the immediate vicinity of the autonomous alternating light signal systems (143, 144, 146, 147, 148) located along the predicted travel route (B), - that in step g) in addition to the alternating light sign encounter plan, alternating light sign group plans for the other autonomous alternating light sign systems (143 ', 146', 147 ', 148', 148 ", 148"') are created in the vicinity of the predicted route (B), each one autonomous alternating light signaling systems (143, 144, 146, 147, 148) located along the predicted route (B) are assigned - that in steps h) and j) an additional V priority support message to the other autonomous alternating light signaling systems (143 ', 146', 147 ', 148', 148 ", 148"') is transmitted in accordance with the applicable alternating light signaling system environment plan and - that in step i) additionally for switching the other autonomous alternating light signaling systems (143 ', 146', 147 ', 148', 148 ", 148"') a priority support program is activated, whereupon the priority control takes place in an effective range (143 ", 147") in which not only autonomous alternating light signal systems (143, 144 , 146, 147, 148) at intersections (K3, K4, K5, K6, K7, K8, K9, K10) lying on the forecast route (B) or road junctions according to step f), but that in an in or Step f ') carried out before step f)) further autonomous alternating light signal systems (143', 146 ', 147', 148 ', 148 ", 148") at intersections (K30, K60, K61, K81) or road junctions (K70, K80, K82) that are close or are switched in the area next to the autonomous alternating light signal systems (143, 144, 146, 147, 148) located in front of the emergency vehicle (9) and relating to the predicted travel direction (R ") on the predicted travel route (B), such that in a driving corridor for the at least one emergency vehicle (9) on the road of the predicted route (B) vehicles can leave the driving corridor and no vehicles can drive into the driving corridor until the at least one emergency vehicle (9) reaches this location. Procedure according to Claim 6 , characterized in that the switching of the alternating light signaling systems (143, 144, 146, 147, 148) in the predicted direction of travel (B) takes place on the predicted route in such a way that oncoming traffic and / or cross traffic vehicles or vehicles in the driving corridor that are willing to turn Can leave the driving corridor before the at least one emergency vehicle (9) has reached this location and / or that the switching of the alternating light signal systems (143, 144, 146, 147, 148) in the predicted direction of travel (R ") on the predicted route (B ) takes place in such a way that vehicles of cross traffic or turning traffic cannot drive into the driving corridor until at least one emergency vehicle (9) has passed this location. Procedure according to Claim 6 or 7 , characterized in that the area of the effective area (143 ", 147") along the predicted travel route (B) is not static, but is adapted to the road topology along the predicted travel route (B) and / or to the current traffic volume. Method according to one of the preceding claims, characterized in that the release of the traffic in the direction of the predicted travel route (R; B) as a function of the traffic density on the predicted travel route (R; B) in good time before the predicted arrival of the at least one emergency vehicle ( 9) at the respective autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; relating to the predicted direction of travel (R ") on the predicted travel route (R; B); 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') takes place that vehicles standing in the driving corridor can start to move and thus stationary traffic on arrival of the has converted at least one emergency vehicle (9) into flowing traffic. Method according to one of the preceding claims, characterized in that the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') are switched along the forecast route (R; B) in such a way that at a junction where the forecast direction (R ") of the forecast route (R, B) of the at least one emergency vehicle (9) bends into a junction road, light signals for pedestrians or cyclists are switched to STOP, for example by displaying red light, so that pedestrian traffic and / or bicycle traffic is stopped via the junction road. Method according to one of the preceding claims, characterized in that the provision of the current position data and the data of the current direction of travel vector (R ') of the at least one emergency vehicle (9) in step b) on an emergency computer (94) in the emergency vehicle (9), preferably a mobile terminal, which is carried, for example, by an authorized person as the occupant of the at least one emergency vehicle (9), and that these data, together with authentication data of the emergency vehicle (9) or this authorized person, are part of the priority request message and, if appropriate, the priority support message. Method according to one of the preceding claims, characterized in that the sub-step of forecasting the route for the at least one emergency vehicle (9) is carried out on the emergency computer (94) by means of navigation software running thereon, and in that on the emergency computer (94) the partial step of Creation of the alternating traffic light system encounter plan on the basis of this predicted route (R; B) and topology and property information about the alternating traffic light system of the traffic route network (1; 1 '), which is assigned to the emergency computer (94) or to the emergency computer () 4 ) connectable data storage is stored, is carried out. System for carrying out a method according to one of the preceding claims, comprising a traffic route network (1; 1 ') which comprises a plurality of autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2', 3 '; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"'), and at least one emergency vehicle (9) moving in the traffic route network (1; 1') with right of way, whose travel on a predicted travel route (R; B) within the traffic route network (1; 1 ') is to be accelerated by means of the method, wherein in the emergency vehicle (9) at least one position data transmitter and one travel direction vector data transmitter as well as one or these transmitters effectively connected to these transmitters The use computer (94), which is preferably formed by a portable mobile terminal, is provided, which is functionally connected to or has a transmitter for data transmission, the respective autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 14 3, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') or an associated control unit (20, 30, 40, 50, 60, 70, 80) with a transceiver device (29 ', 29 "; 39 ', 39 ";49',49"; 59 ', 59 ";69',69"; 79 ', 79 ";89',89") is provided or functionally connected, characterized in that a computer program is stored on the application computer (94) in such a way that at least steps e) and h) of the method according to one of the preceding claims executing, preferably a navigation software is stored on the application computer (94) so that a predicted travel route (R; B) between the current position and a predetermined travel destination (Z) can be determined, and that in the respective control unit (20, 30 , 40, 50, 601, 70, 80) a computer program is executably stored which executes at least steps i) and j) of the method according to one of the preceding claims. System according to Claim 13 , characterized in that the application computer (94) has a data storage device or is at least effectively connected to such a data storage device in the information about the autonomous alternating light signal systems (2, 3, 4, 5, 6, 7, 8; 2 ', 3 '; 143, 143', 144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148"') of the traffic network (1; 1 ') is stored, and that this on the application computer (94 ) executable stored computer program using this stored data executes step g). Computer program product for performing a method according to one of the Claims 1 to 12th , comprising - a first computer program which executes step e) and preferably also step g) and triggers and controls step h) and which can be stored on an emergency computer (94) on the emergency vehicle, preferably a mobile terminal, - a second Computer program that executes step i) and triggers and controls step j) and that on a control computer (20, 30, 40, 50, 60, 70, 80) one with the alternating light signals (21, 22, 23, 24, 25 , 26, 27, 28; 31, 32, 33, 34, 35, 36, 37, 38; 41, 42, 43, 44, 45, 46, 47, 48; 51, 52, 53, 54, 55, 56 , 57, 58; 61, 62, 63, 64, 65, 66, 67, 68, 71, 72, 73, 74, 75, 76, 77, 78; 81, 82, 83, 84, 85, 86, 87 , 88) of a respective autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3'; 143, 143 ', 144, 146, 146', 147, 147 ', 148, 148', 148 ", 148"') functionally connected control device (20, 30, 40, 50, 60, 70, 80) is executable, - wherein the first computer program and the second computer program are designed to communicate with one another for the purpose of data transmission, preferably encrypted via a radio link secured against manipulation, and the second computer program is designed to communicate with the purpose of data transmission, preferably encrypted via one against manipulation secure radio connection, with a further second computer program, which on a control computer (20, 30, 40, 50, 60, 70, 80) of a further autonomous alternating light signal system (2, 3, 4, 5, 6, 7, 8; 2 ', 3 '; 143, 143', 144, 146, 146 ', 147, 147', 148, 148 ', 148 ", 148"') is running to communicate.

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