EP0821334B1 - Procédé et dispositif de réglage de trafic - Google Patents

Procédé et dispositif de réglage de trafic Download PDF

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Publication number
EP0821334B1
EP0821334B1 EP96111984A EP96111984A EP0821334B1 EP 0821334 B1 EP0821334 B1 EP 0821334B1 EP 96111984 A EP96111984 A EP 96111984A EP 96111984 A EP96111984 A EP 96111984A EP 0821334 B1 EP0821334 B1 EP 0821334B1
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EP
European Patent Office
Prior art keywords
vehicle
vehicles
detectors
model
traffic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP96111984A
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German (de)
English (en)
Other versions
EP0821334A1 (fr
Inventor
Thomas Dr. Riedel
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Riedel Thomas Dr
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Individual
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Filing date
Publication date
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Priority to DE59607632T priority Critical patent/DE59607632D1/de
Priority to AT96111984T priority patent/ATE205321T1/de
Priority to EP96111984A priority patent/EP0821334B1/fr
Publication of EP0821334A1 publication Critical patent/EP0821334A1/fr
Application granted granted Critical
Publication of EP0821334B1 publication Critical patent/EP0821334B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles

Definitions

  • the invention relates to a method and Device for traffic control according to the preamble of the independent claims.
  • EP-A-0 476 562 uses the signals from the detectors to create a model.
  • the detectors coming signals not in their raw form Traffic control or regulation used, but they are used to create a model that matches the locations and the movement (e.g. speed) of individuals Vehicles, preferably essentially all vehicles, simulated.
  • the detector signals diverse and rich information about the Traffic can be determined. With this information can then a more efficient control of the Traffic can be carried out.
  • the detector signals are preferably used for this purpose used to track sizes used in the model, especially to create a vehicle in the model that Position and / or speed of an existing vehicle to correct or an existing vehicle delete the model. Furthermore, by means of the detector signals and / or with data from the model typical Values of individual sizes, e.g. the speed of a vehicle entering the simulation become. These sizes can be used to e.g. the initial speed of a new one created in the model Vehicle. These sizes are preferred constantly updated, so that a change in traffic behavior (e.g. due to rain or fog) leads to an adaptation of the model.
  • a change in traffic behavior e.g. due to rain or fog
  • first 1 shows a conventional system.
  • This System is to control traffic lights 2 at an intersection 1 provided.
  • a controller is used to control traffic lights 2 3 provided that receives signals DS from detectors 4.
  • the detectors 4 are generally simple vehicle detectors, which give a signal when a vehicle passes through its measuring range, e.g. Induction loops, Ultrasonic detectors, infrared detectors or even Cameras with image processing.
  • the controller 3 controls by means of traffic control signals VS the traffic lights 2 based on the detector signals DS.
  • the traffic lights 2 can be controlled directly, however, there is usually between controller 3 and the traffic lights 2 to ensure the necessary safety a local traffic light control is arranged.
  • Controller 3 Due to the detector signals DS the Controller 3 provides feedback on the current traffic situation. Because controller 3 has this feedback in its algorithms considered, it is a regulation in the sense the automatic. Instead of controller 3, however, can also simple control can be provided.
  • One control a route (an object to be controlled, here the Intersection or a system of several intersections) works without feedback; contrary to that the regulation of a route on a feedback. Feedback notice the result of an action, not only their requirements. With feedback it is possible to strive for a desired goal and to be verifiable to reach. The feedback is done by measuring the Condition of the route to be regulated.
  • Traffic junctions are controlled in conventional systems mostly through cyclical Sequence of phases that are displayed on the traffic lights. Measure to control a traffic intersection Detectors the traffic around the intersection (Private transport, public transport, pedestrians). Based on the measurements by the detectors, driving can certain road sections recognized and it can Vehicles are counted. According to criteria used in the design the rules have been chosen, the traffic lights Allotted phase lengths and sequences.
  • the regulator is provided with reliable information, on the other hand, that he gets the information in a form which he understands.
  • a control algorithm can or a control algorithm on the appearance of Detector pulses are difficult to build up, but rather on information about the number of vehicles and their speeds and positions in the driveways to the intersection: only when a controller knows these sizes can guide traffic in the best possible way. To this The purpose of the inventive execution of 2 realized device.
  • an observer 5 provided that processes the detector signals DS and controller 3 (or a controller) in more detail Information in the form of observer information BA forwards.
  • the observer is one Computer or program unit that is logical and / or physically between the detectors 4 and the controller 3 is switched.
  • the task of the observer 5 lies in designing a model of traffic. In the The formation and updating of the model is based on the Observers on the continuously incoming detector signals, previous detector signals and the positions of the traffic lights. It also draws on past experience Measurements or simulations, from which he in particular typical speeds and norms of behavior of the Vehicles determined.
  • the model that consists of these values is generated, the positions and are continuously simulated Speeds of individual vehicles in the range of Intersection or route.
  • the determined from the model Values especially e.g. the positions and speeds, but possibly also derived from it Information such as a column length in front of a traffic light, are then passed to the controller 3, which they for Calculation of traffic lights used at the intersection.
  • the controller 3 essential more meaningful input signals are made available, that enable more precise and efficient traffic regulation. It won't just be the presence of one Vehicle in a section of the route, but its location and movement.
  • Fig. 3 It is a matter of a one-way street 8 (with traffic in the figure from the left to the right), with a simple entrance 9 at one Intersection 1. At the intersection is a traffic light to be regulated 2 arranged. Before the intersection are along the Street 8 three detectors 4a, 4b, 4c at the positions xa, xb and xc. The last position xc lies on or after the traffic light stop bar 2.
  • the Observer 5 lists the vehicles according to the "vehicle table", which according to its model in the area the street 8 between the positions xa and xc. In this table there is one for each simulated vehicle Speed and a position entered. Further the table contains further information, e.g. if a certain vehicle has already been detected by a detector has been. In another version, the one below the observer maintains several vehicle tables for individual sections of the route.
  • the initial speed v0 is an empirical value that, as below described, obtained from previous measurements or simulations be or can be fixed.
  • the detector 4b checks the observer 5 in step 22 of FIG. 5 first of all whether in a vehicle is entered in the vehicle table, which currently in an environment Eb to Ab (see Fig. 3) should be from detector 4b, but still from detector 4b has not been detected.
  • Eb to Ab takes into account the fact that the speeds assumed by the observer 5 and the positions calculated from this are usually not correspond exactly to reality.
  • the observer can also determine at what average speed the vehicle moves between positions xa and xb Has. This average speed is for each Vehicle identified and used to be a typical Value for the initial speed v0 at position xa too calculate.
  • the observer finds 5 after a signal from Detector 4b in the vehicle table is not a suitable vehicle, so he assumes that the vehicle is between Position xa and xb newly inserted in the traffic. Accordingly, he adds a new vehicle to the vehicle table on, with an initial position xb and an initial velocity v1 (step 26).
  • the initial speed v1 can in turn be from previous measurements determined value or a predetermined size.
  • step 28 first checked in step 28 whether a vehicle in the vehicle table is listed, which is from detector 4c has not yet been detected and is in an area Ec to xc is located. In this case, an asymmetrical Tolerance range selected because the "simulation path" of the observer only extends to xc.
  • step 30 If such a vehicle is found (step 30), the observer knows that this vehicle is now run over the stop bar and thus the simulation route has left. The vehicle turns off accordingly removed from the vehicle table.
  • step 28 Vehicle If the observer does not find a suitable one in step 28 Vehicle, so it ignores the signal from the detector 4c, or he creates a new vehicle, which shortly afterwards, however, because it leaves the simulated area.
  • the observer create a model based on the detector signals and track which the individual vehicles in Range xa to xc simulated.
  • the detector signals are used to create, delete individual vehicles or correct their data.
  • the observer 5 carries out synchronization steps the values in the vehicle table by looking in simulation steps the vehicle positions due to the Vehicle speeds and other parameters continuously recalculated. The speeds will change accordingly track real or simulated information.
  • the observer checks whether traffic light 2 is red. If so, he reduces it its speed or set it to zero. Poses the observer based on that stored in the vehicle table Data that there is a traffic light in front of traffic light 2 Column has formed, he determines the end of it. Approaching If a simulated vehicle gets to this end, then it continues its speed back.
  • the observer determines that a simulated Vehicle exceeds the Ab position without it was detected by detector 4b, it assumes that the vehicle has left traffic (e.g. has been parked) and deletes it from the vehicle table. In another version, he can continue the vehicle keep in the model and e.g. only leave when it is also not detected by a next detector.
  • a further detector 4d is arranged at position xa public transport (or another, special vehicle type, e.g. Trucks, two-wheelers, etc.) detected. Then in the vehicle table the type of each vehicle is also listed. Thereby can provide additional information for the controller 3 to be provided. The vehicle type can also be used for a more individual simulation of the movements.
  • the number and position of the detectors is the adapted to the respective circumstances. The more detectors there are the greater the amount of measurable information, and the more accurate the state of the system be modeled. Also with the increase in measuring points the observer becomes more tolerant of faulty ones Measurements.
  • the synchronization of the simulated vehicles by means of the detector signals enables the vehicles track individually through the system and also their speeds to investigate.
  • the determined speed serves the observer to estimate the speed of vehicles to adapt to the first Times to be noted (during generation of vehicles in the observer).
  • each vehicle with position and Speed can be tracked through the entire system can also be a subsequent evaluation of parameters possible that directly through the detectors not are measurable (so the average speed or the length of the queue in a certain access to Crossing).
  • the observer leads both Simulation and synchronization steps by.
  • the observer uses in the simulation steps the data stored in the vehicle table, and Information about the current state of the street or crossing (e.g. the traffic light state) to the movements to calculate the vehicles of his model.
  • Information about the current state of the street or crossing e.g. the traffic light state
  • the synchronization steps leads the observer his model based on the signals from the detectors or correct it.
  • the process is based on the streets, Crossings, e.g. the positions of the detectors, the Signal paths and the desired synchronization, i.e. the Show route graphically.
  • FIG. 7 An example of such a representation of the Street 8 (without the entrance 9) according to FIG. 3 is in Fig. 7 shown.
  • the presentation comprises three areas: a simulation level 40, a synchronization level 42 and a detector plane 44.
  • the simulation level 40 defines the geometric structure of the route and the position of the detectors, traffic lights, etc. arranged thereon Street 8 itself is represented by a solid, directed line shown.
  • Points 4a, 4b and 4c correspond to Positions of the detectors 4a - 4c and are to scale arranged along the street.
  • the points Eb, Ab and Ec limit the tolerance ranges of the detectors.
  • the geometric Structure of the route very simple. Because the intersection itself the representation does not exist from a single traffic lane, which from a line is represented with directional information. For more complex ones The geometric structure is more complicated and systems contains information about all traffic lanes, the directions of the traffic running on the tracks, the length the tracks, the crossings and the possibilities to one Lane change, the position of the traffic lights (traffic control signals), the locations and tolerance ranges of the detectors. she may also contain additional information such as e.g. any speed restrictions on the individual lanes or streets.
  • the synchronization level 42 of FIG. 7 defines the synchronization steps that the observer can perform.
  • This level contains synchronization symbols 46a, 46b, 46c. As shown in Fig. 8 , each symbol has four inputs 50 - 53 for Parameters from the range 40 and a signal input 54. Their function is explained below.
  • the detector plane 44 of FIG. 7 defines finally the detectors 4a - 4c.
  • the information of the simulation level 40 are used to define the simulation steps.
  • the simulation steps extend here each only over a single section between two Symbols (nodes) of the solid line of the simulation level 40.
  • the observer creates a vehicle list for each section. If a vehicle enters a section, it will (with position and speed and possibly driving behavior) in the respective vehicle list entered. Leaves the vehicle the section, it will be deleted from the list. Entry and deletion (as well as any other Events) generate signals or messages which are sent via the dashed lines to the synchronization level 42 be passed on.
  • the synchronization level information 42 are used to perform the synchronization steps define. These also only extend over a local section of the route through the respective synchronization symbol 46a, 46b, 46c defined is.
  • the synchronization steps are as follows explained briefly with reference to FIGS. 9-12.
  • the observer receives a detector signal on a detector input 54, as in FIG. 9 shown, a message via output 52 in step 60 submitted. This message is then generated in the simulator section an entry of a vehicle in the vehicle list of the corresponding route section. The simulator checks whether the vehicle is an already simulated vehicle corresponds.
  • connection 51 e.g. if a simulated vehicle drives over point Eb
  • a message on connection 51 e.g. if a simulated vehicle drives over point Eb
  • a message on connection 53 e.g. the first one in the list Vehicles
  • connection 52 If there is a message on connection 52 (which in turn triggered by the sequence shown in FIG. 9 is) in the list of the respective synchronization symbol the corresponding vehicle is determined and its Position on each connected to connection 52 Point set. Furthermore, the speed of the vehicle determined, from the times when the Vehicle was at the point that connected to port 50 and at the point that connects to port 52 and the distance between the two points. To do this a global list of times for each vehicle, to which it is at the points shown in area 40 arrived. Connection 53 is not with the simulation level connected, the vehicle is already removed from the list here deleted.
  • connection 50 If there is a message on connection 50, the Vehicle imprinted a speed based on experience based. (Measured travel time between Connection 50 and 52 for earlier vehicles.)
  • FIGS. 9-12 are simplified shown. Included in a practical implementation they e.g. additional test steps, as in Figures 4 to 6 are shown to determine whether a vehicle is out of traffic or new in this has occurred.
  • the works Compilation part not as a compiler in the classic sense, but as an interpreter, i.e. he translates that in Fig. 7 shown representation during the operation of the Observer.
  • the instructions generated by the compilation part are stored in the observer 5. You define the synchronization and simulation steps that be carried out by this.
  • the Observer 5 and controller 3 designed as separate computers, on which suitable programs are running. It is also conceivable, the controller and the observer as two separate Programs on a computer or as part of a individual program to implement.
  • controller 3 can also done via a graphical user interface that is complementary 7 is implemented for the definition according to FIG.
  • traffic was directed via traffic lights.
  • the inventive Concept can however also be applied if instead of or in addition to the traffic lights, others traffic control signals actuable by the controller are used such as adjustable speed limits, Detour boards or barriers.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
  • Circuits Of Receivers In General (AREA)

Claims (17)

  1. Procedé pour régler ou commander la circulation routière de véhicules sur un trajet (8) au moyen d'au moins un signal commandant la circulation routière (2), d'une unité de contrôle (3, 5) pour contrôler ce signal de circulation (2) et au moyen de détecteurs (4) pour la détection des véhicules, caractérisé par les étapes suivantes:
    création d'un modèle basé sur les signaux (DS) des détecteurs (4), ce modèle simulant des positions et des déplacements individuels de véhicules sur le trajet, et production de données d'observation (BA) dérivées du modèle, et
    exploitation des données d'observations (BA) pour commander au moins l'unique signal de circulation (2).
  2. Procédé selon la revendication 1, caractérisé en ce que les vitesses des différents véhicules sont simulées dans le modèle.
  3. Procédé selon une des revendications précédentes, caractérisé en ce que les signaux (DS) des détecteurs sont utilisés pour mettre à jour des données utilisées dans le modèle et en particulier pour créer un nouveau véhicule simulé, pour corriger les données d'un véhicule simulé, ou pour éliminer un véhicule simulé.
  4. Procédé selon la revendication 3, caractérisé en ce qu'un intervalle de tolérance (Eb, Ab) est attribué à au moins une partie des détecteurs (4b, 4c), les signaux de chacun de ces détecteurs (4b, 4c) étant examinés pour voir si selon le modèle un véhicule se trouve à l'intérieur de l'intervalle de tolérance en question, et en ce que dans l'affirmative la position du véhicule simulé est essentiellement assimilée à l'emplacement du détecteur en question.
  5. Procédé selon une des revendications précédentes, caractérisé en ce qu'au moins les paramètres suivant sont disponibles pour le calcul du modèle: la structure géométrique du trajet (9), la disposition des détecteurs (4) le long du trajet, la disposition des signaux routiers (2).
  6. Procédé selon la revendication 5, caractérisé en ce que les paramètres sont au moins en partie codés sous forme d'une représentation graphique, et que la représentation graphique est transformée en directives pour le calcul du modèle.
  7. Procédé selon la revendication 6, caractérisé en ce que le trajet (8) est représenté sous forme d'une ou de plusieurs lignes orientées.
  8. Procédé selon la revendication 4 et l'une des revendications 5 à 7, caractérisé en ce qu'un symbole de synchronisation (46a, 46b, 46c) est attribué à au moins une partie des détecteurs (4a, 4b, 4c), des points (Eb, Ab, Ec) du trajet indiquant le domaine de tolérance étant associés audit symbole de synchronisation.
  9. Procédé selon une des revendications précédentes, caracterisé en ce que les données d'observation (BA) comprennent une ou plusieurs des données suivantes: position de véhicules simulés, vitesse de véhicules simulés, comportement prévu du déplacement d'au moins certains véhicules simulés.
  10. Procédé selon une des revendications précédentes, caractérisé en ce qu'on détermine à partir des signaux des détecteurs des valeurs typiques de certaines données, en particulier des paramètres initiaux pour le déplacement des véhicules utilisés en particulier pour la simulation d'un véhicule nouvellement introduit dans la simulation, ces données étant de préférence constamment remises à jour.
  11. Procédé selon une des revendications précédentes, caractérisé en ce qu'on distingue au moins deux types différents de véhicules dans le modèle.
  12. Procédé selon une des revendications précédentes, caractérisé en ce que la création et la mise à jour du modèle comporte les étapes suivantes:
    mise en place d'au moins une liste des véhicules simulées à partir des signaux (DS) des détecteurs, un emplacement et une vitesse étant mémorisés pour chaque véhicule se trouvant sur le trajet ou sur un domaine partiel du trajet,
    remise à jour de l'emplacement de chaque véhicule à partir de sa vitesse,
    correction des emplacements des véhicules à partir des signaux (DS) des détecteurs (4).
  13. Procédé selon la revendication 12, caractérisé en ce qu'une accélération est mise en mémoire et remise à jour pour chaque véhicule.
  14. Procédé selon une des revendications précédentes, caractérisé en ce que pour la remise à jour du modèle on tient compte de l'état, respectivement des états, d'au moins l'unique signal (2) commandant la circulation.
  15. Installation pour régler le trafic de véhicules circulants sur un trajet (8) comportant au moins un signal (2) commandant la circulation, un dispositif de contrôle (3, 5) pour contrôler au moins l'unique signal (2) commandant la circulation et des détecteurs (4) pour la détection de véhicules, caractérisé en ce que le dispositif de contrôle comprend une section d'observation (5) et une section de réglage (3),
    la section d'observation (5) créant à partir de signaux (DS) des détecteurs (4), un modèle qui simule les emplacements et les déplacements individuels des véhicules sur le trajet et dérivant à partir de ce modèle des données d'observation (BA), et
    la section de réglage (3) réglant, respectivement commandant, le trafic sur le trajet à partir des données d'observation (BA).
  16. Installation selon la revendication 15, caractérisé en ce que la section d'observation (5) comporte une mémoire contenant au moins une liste de véhicules, une position une vitesse et de préférence une accélération étant mémorisées pour chaque véhicule simulé.
  17. Installation selon la revendication 16, caractérisée en ce qu'un type de véhicule est mémorisé en connection avec chaque véhicule simulé, et qu'au moins une partie (4d) des détecteurs (4) délivre un signal dépendant du type de véhicule.
EP96111984A 1996-07-25 1996-07-25 Procédé et dispositif de réglage de trafic Expired - Lifetime EP0821334B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE59607632T DE59607632D1 (de) 1996-07-25 1996-07-25 Verfahren und Vorrichtung zur Verkehrsregelung
AT96111984T ATE205321T1 (de) 1996-07-25 1996-07-25 Verfahren und vorrichtung zur verkehrsregelung
EP96111984A EP0821334B1 (fr) 1996-07-25 1996-07-25 Procédé et dispositif de réglage de trafic

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP96111984A EP0821334B1 (fr) 1996-07-25 1996-07-25 Procédé et dispositif de réglage de trafic

Publications (2)

Publication Number Publication Date
EP0821334A1 EP0821334A1 (fr) 1998-01-28
EP0821334B1 true EP0821334B1 (fr) 2001-09-05

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EP96111984A Expired - Lifetime EP0821334B1 (fr) 1996-07-25 1996-07-25 Procédé et dispositif de réglage de trafic

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EP (1) EP0821334B1 (fr)
AT (1) ATE205321T1 (fr)
DE (1) DE59607632D1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104966402A (zh) * 2015-06-05 2015-10-07 吉林大学 一种过饱和交通流交叉口排队溢出防控方法
CN105100630B (zh) * 2015-09-09 2018-01-12 苏州科达科技股份有限公司 用于摄像机的电网同步实现方法和装置

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GB0030068D0 (en) * 2000-12-11 2001-01-24 Lawrence Malcolm Highway vehicular traffic flow control
GB2385453A (en) * 2001-12-11 2003-08-20 Malcolm Graham Lawrence Highway vehicular traffic flow control
DE102004002808B4 (de) * 2003-03-07 2015-08-20 Deutsche Telekom Ag Verkehrssteuerungssystem
DE102004039854A1 (de) * 2004-08-17 2006-03-09 Siemens Ag Verfahren zum Ermitteln von Verkehrsinformationen, Verfahren zum Steuern des Verkehrs, sowie System zum Durchführen der Verfahren
DE102007045991A1 (de) * 2007-09-26 2009-04-02 Siemens Ag Verfahren zur Ermittlung von Verbrauchs- und/oder Emissionswerten
EP2280383B1 (fr) * 2009-07-31 2012-05-30 Siemens Aktiengesellschaft Procédé d'établissement d'informations de circulation pour un traject routier d'un réseau routier et calculateur de circulation destiné à l'exécution du procédé
CN102446417A (zh) * 2011-11-10 2012-05-09 中盟智能科技（苏州）有限公司 交通照相机抓拍控制的方法和装置
CN102915644A (zh) * 2012-09-17 2013-02-06 上海交大高新技术股份有限公司 无线智能交通控制系统及方法
DE102016212759B4 (de) * 2016-07-13 2019-01-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Freigabezeitbemessung bei einer verkehrsabhängig steuerbaren Lichtsignalanlage

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FR2351453A1 (fr) * 1976-05-11 1977-12-09 Thomson Csf Simulateur de circulation en temps accelere
US4370718A (en) * 1979-02-06 1983-01-25 Chasek Norman E Responsive traffic light control system and method based on conservation of aggregate momentum
EP0476562A3 (en) * 1990-09-19 1993-02-10 Hitachi, Ltd. Method and apparatus for controlling moving body and facilities
FR2711000B1 (fr) * 1993-10-08 1995-12-29 Garbarini Sa A Dispositif de gestion de feux de carrefours.

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104966402A (zh) * 2015-06-05 2015-10-07 吉林大学 一种过饱和交通流交叉口排队溢出防控方法
CN104966402B (zh) * 2015-06-05 2017-03-01 吉林大学 一种过饱和交通流交叉口排队溢出防控方法
CN105100630B (zh) * 2015-09-09 2018-01-12 苏州科达科技股份有限公司 用于摄像机的电网同步实现方法和装置

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DE59607632D1 (de) 2001-10-11
ATE205321T1 (de) 2001-09-15
EP0821334A1 (fr) 1998-01-28

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