EP1224644A1 - Vorrichtung zur steuerung des verkehrsflusses an einer kreuzung, insbesondere zur ampelsteuerung - Google Patents
Vorrichtung zur steuerung des verkehrsflusses an einer kreuzung, insbesondere zur ampelsteuerungInfo
- Publication number
- EP1224644A1 EP1224644A1 EP00975911A EP00975911A EP1224644A1 EP 1224644 A1 EP1224644 A1 EP 1224644A1 EP 00975911 A EP00975911 A EP 00975911A EP 00975911 A EP00975911 A EP 00975911A EP 1224644 A1 EP1224644 A1 EP 1224644A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor device
- receiver
- transmitter
- traffic light
- 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.)
- Granted
Links
Classifications
-
- 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
- Device for controlling the flow of traffic at an intersection in particular for controlling traffic lights
- the invention relates to a device according to the preamble of claim 1.
- Devices of the generic type are used to make the flow of traffic at intersections more fluid, in particular via traffic-dependent traffic light control.
- Known devices have e.g. Sensor devices that detect vehicles in the storage space in front of a traffic light and can initiate a traffic light control that is adapted to the detected vehicle density.
- the sensor devices used in generic devices are e.g. Induction loops which are laid in the lane at a distance of approx. 50 to 100 m in front of the traffic light and which are able to detect a vehicle traveling over the loop and send a corresponding signal to the computer controlling the traffic light.
- ground loops can easily be damaged by the vehicles rolling over them, due to weather or construction work, and are therefore relatively maintenance-intensive, with the associated high costs and traffic influences.
- ground loops only give spot measurements, ie the traffic situation, particularly in the intersection area, cannot be fully recorded. After all, ground loops do not allow clear vehicle classification.
- At least one lane is scanned by a sensor device in the region of the storage space.
- Storage space is essentially to be used to denote the distance to the traffic lights in which the traffic lights can be recognized from an approaching vehicle.
- the sensor device used in the device according to the invention has a transmitter which emits laser pulses all around in one or more planes and at least one receiver in order to detect the distance and angle of the points of incidence of the laser pulses on objects.
- the continuous series of revolving laser pulses generated by the transmitter will be referred to as beam fans.
- the receiver and transmitter are preferably arranged in the sensor device all around and facing the same direction.
- the sensor device is arranged in such a way that a lane leading to the traffic light in the storage space area is swept from above by a beam fan parallel to the direction of travel, thereby creating a profile of the objects in the lane, usually vehicles and the roadway.
- the density of the vehicles follows from the number of profiles in the covered storage space and the gaps between the profiles.
- An evaluation device is also provided in the device according to the invention, which processes the points of impact detected by the receiver per transmitter revolution in the beam fan.
- Related groups of impact points can be assigned to impact points, whereby fixed objects, e.g. the road surface can be saved as always available in a learning mode.
- Associated groups of points of impact between changes in distance or between significant changes to stored data cannot be assigned to fixed objects.
- the movement of non-fixed or unsaved objects is preferably tracked by calculating the location, the speed and the direction (vectorial) of the objects from the successive data of the beam fans.
- the evaluation device can thus determine whether the objects are in the relevant monitored area, when they leave the area, count the objects, classify them and evaluate them in terms of priority. The results of the evaluation device can then be used as a basis for the traffic light control. It goes without saying that all the tracks leading to the intersection should be monitored with the sensor device described, so that a common, optimized switching of all intersection lights is possible.
- the sensor device is arranged such that it sends the beam fan from above onto the lane to be monitored. Only in this way can it be reliably ruled out that interfering objects interrupt the light path and impair the measurement.
- the sensor device is preferably arranged in the upper region of the associated traffic light, particularly preferably at its free upper end. Since traffic lights are usually set up so that they can be uncovered even from a greater distance, this configuration ensures that the beam fan can also be sent freely and without interfering objects in between, such as trees, houses or the like , Of course, the sensor device can also be attached to a separate post or the like.
- the invention can be easily implemented in single-lane but also in multi-lane roads.
- multi-lane roads e.g. a sensor device can be provided which has a plurality of transmitters, each of which generates beam fans assigned to the individual lanes.
- the beam fan emitted by the transmitter can of course not only cover the storage space in front of the traffic light. Rather, in its other end region, it can also extend into the intersection region or even beyond to the lane leading away from the intersection. In this way, not only the incoming but also the outgoing traffic can be detected with the sensor device according to the invention, which enables an even more sensible traffic light control.
- Fig. 1 shows a road leading to a traffic light in section with a sensor device according to the first variant of the invention.
- Fig. 2 shows a plan view of an intersection, in which the in
- Fig. 1 shown embodiment is provided.
- FIG. 3 shows a side view of a traffic light equipped with a transmission device according to FIG. 1.
- FIG. 1 shows a section through a roadway 10 with four lanes 11, 12, 13 and 14. In the case shown, lanes 11 and 12 lead out of the image plane and lanes 13 and 14 into the image plane. The tracks are separated from one another by road markings 15 and 16 and by a median strip 17. In addition, FIG. 1 shows a traffic light 18 located at an intersection that cannot be seen in this figure, to which the tracks 13 and 14 lead in the direction of travel.
- a sensor device 19 is provided on the traffic light 18 which, as explained further below, contains a transmitter which in each case sends a beam fan 20, 21 made of rotating laser beam pulses onto the tracks 13 and 14 in the area of the storage space in front of the traffic light 18.
- FIG. 2 shows the lane 10 with the lanes 11, 12, 13 and 14 and an intersection 30 into which the lanes 13 and 14 open.
- the sensor 19, which is arranged on the traffic light 18 which cannot be seen in this illustration, can also be seen.
- the beam fans 20 and 21 generated by the sensor device 19 extend in the tracks 13 and 14 over an area 22 in front of the traffic light into the intersection 30.
- the area 22 is chosen so large that approaching vehicles can be recognized at a sufficient distance from the sensor device 19 and can be taken into account when switching on the traffic light 18.
- the area 22 can e.g. correspond to the distance from which a motorist can recognize the traffic light 18.
- FIG. 3 shows one that essentially corresponds to FIGS. 1 and 2.
- the sensor device 19 in contrast to the known ground loops, not only determines a mere numerical occupancy density of the track 14. Rather, the device 19 is capable of e.g. to differentiate the size of the 23 to be moved straight onto the intersection 30 from the car 24 driving in front of it.
- a preferably used sensor device 19 is shown in section in FIG. 4. It has a housing 32 with a motor 31 which rotates a shaft 33, to which a laser transmitter 25 and a receiver 35 surrounding it are attached transversely.
- the transmitter and receiver can be e.g. be designed according to DE 195 30 281 C2, Figure 1.
- the laser transmitter 25 radially emits laser pulses 33 radially to the axis of the rotating shaft, which, in the exemplary embodiment, spans a first beam fan 21 radiating vertically downward over an approximately 180 ° rotation of the shaft 33.
- a second beam fan 20 is generated at an angle to the first beam fan 21 by deflecting the laser beams at mirrors 28, 29 of the housing 32 during the upper revolution of the laser transmitter 25 / receiver 35.
- An evaluation device (not shown) connected to the laser transmitter 25 / receiver 35 determines the pulse transit time and the distance to the point of impact from the respective start time of a transmitted pulse and the reception time, which is determined with the built-in receiver 35 an object hit by the laser beam.
- the profile of the impact points measured in the beam fan can be determined from the angular position of the shaft 33, which is determined, for example, using angle sensors or other devices.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19953008 | 1999-10-27 | ||
DE19953008A DE19953008A1 (de) | 1999-10-27 | 1999-10-27 | Vorrichtung zur Steuerung des Verkehrsflusses an einer Kreuzung, insbesondere zur Ampelsteuerung |
PCT/EP2000/010506 WO2001031608A1 (de) | 1999-10-27 | 2000-10-25 | Vorrichtung zur steuerung des verkehrsflusses an einer kreuzung, insbesondere zur ampelsteuerung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1224644A1 true EP1224644A1 (de) | 2002-07-24 |
EP1224644B1 EP1224644B1 (de) | 2004-01-02 |
Family
ID=7927850
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00975911A Expired - Lifetime EP1224644B1 (de) | 1999-10-27 | 2000-10-25 | Vorrichtung zur steuerung des verkehrsflusses an einer kreuzung, insbesondere zur ampelsteuerung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1224644B1 (de) |
AT (1) | ATE257264T1 (de) |
DE (2) | DE19953008A1 (de) |
WO (1) | WO2001031608A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USRE46672E1 (en) | 2006-07-13 | 2018-01-16 | Velodyne Lidar, Inc. | High definition LiDAR system |
JP5741310B2 (ja) * | 2011-08-10 | 2015-07-01 | 富士通株式会社 | 車列長測定装置、車列長測定方法及び車列長測定用コンピュータプログラム |
US10627490B2 (en) | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
WO2017164989A1 (en) | 2016-03-19 | 2017-09-28 | Velodyne Lidar, Inc. | Integrated illumination and detection for lidar based 3-d imaging |
US10393877B2 (en) | 2016-06-01 | 2019-08-27 | Velodyne Lidar, Inc. | Multiple pixel scanning LIDAR |
EP3593166B1 (de) | 2017-03-31 | 2024-04-17 | Velodyne Lidar USA, Inc. | Integrierte lidar-beleuchtungsleistungssteuerung |
CA3062701A1 (en) | 2017-05-08 | 2018-11-15 | Velodyne Lidar, Inc. | Lidar data acquisition and control |
CN109690646B (zh) * | 2017-06-12 | 2021-07-20 | 北京嘀嘀无限科技发展有限公司 | 分析和调整道路状况的系统和方法 |
CN108154691B (zh) * | 2018-02-06 | 2020-10-30 | 中国汽车技术研究中心 | 一种基于专用短程通信的交通调节系统及方法 |
US10712434B2 (en) | 2018-09-18 | 2020-07-14 | Velodyne Lidar, Inc. | Multi-channel LIDAR illumination driver |
US11082010B2 (en) | 2018-11-06 | 2021-08-03 | Velodyne Lidar Usa, Inc. | Systems and methods for TIA base current detection and compensation |
US11885958B2 (en) | 2019-01-07 | 2024-01-30 | Velodyne Lidar Usa, Inc. | Systems and methods for a dual axis resonant scanning mirror |
US11556000B1 (en) | 2019-08-22 | 2023-01-17 | Red Creamery Llc | Distally-actuated scanning mirror |
CN111145563B (zh) * | 2019-12-17 | 2021-05-25 | 合肥学院 | 一种用于交叉口感应控制的车辆变道检测与控制方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4908615A (en) * | 1987-06-26 | 1990-03-13 | Texas Instruments Incorporated | Traffic light control system and method |
DE4042258A1 (de) * | 1990-03-21 | 1991-09-26 | Monte Bau U Handelsgesellschaf | Verkehrsampel |
US5572202A (en) * | 1995-04-03 | 1996-11-05 | Regel; Kenneth E. | Traffic signalling system |
DE19530281C2 (de) * | 1995-08-17 | 1999-01-07 | Johann Hipp | Vorrichtung zum optischen Erfassen von Hindernissen vor Fahrzeugen |
WO1998016801A1 (en) * | 1996-10-11 | 1998-04-23 | Schwartz Electro-Optics, Inc. | Intelligent vehicle highway multi-lane sensor |
-
1999
- 1999-10-27 DE DE19953008A patent/DE19953008A1/de not_active Withdrawn
-
2000
- 2000-10-25 WO PCT/EP2000/010506 patent/WO2001031608A1/de active IP Right Grant
- 2000-10-25 EP EP00975911A patent/EP1224644B1/de not_active Expired - Lifetime
- 2000-10-25 DE DE50004944T patent/DE50004944D1/de not_active Expired - Lifetime
- 2000-10-25 AT AT00975911T patent/ATE257264T1/de not_active IP Right Cessation
Non-Patent Citations (1)
Title |
---|
See references of WO0131608A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE19953008A1 (de) | 2001-05-03 |
DE50004944D1 (de) | 2004-02-05 |
EP1224644B1 (de) | 2004-01-02 |
WO2001031608A1 (de) | 2001-05-03 |
ATE257264T1 (de) | 2004-01-15 |
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