EP1224644B1 - Device for controlling the flow of traffic at a crossroads, especially for controlling traffic lights - Google Patents
Device for controlling the flow of traffic at a crossroads, especially for controlling traffic lights Download PDFInfo
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- EP1224644B1 EP1224644B1 EP00975911A EP00975911A EP1224644B1 EP 1224644 B1 EP1224644 B1 EP 1224644B1 EP 00975911 A EP00975911 A EP 00975911A EP 00975911 A EP00975911 A EP 00975911A EP 1224644 B1 EP1224644 B1 EP 1224644B1
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- European Patent Office
- Prior art keywords
- traffic
- transmitter
- sensor device
- receiver
- traffic lights
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- 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 device according to the preamble of the claim 1.
- Generic devices are used to control the flow of traffic Intersections are more fluid, in particular via traffic-dependent traffic light control to design.
- Known devices have e.g. Sensor devices on that Detect vehicles in the storage space in front of a traffic light and one of the detected ones Can initiate vehicle density adapted traffic light control.
- the sensor devices used in generic devices are e.g. Induction loops in a distance of approx. 50 to 100 m in front of the traffic light of the roadway, and which are able to run over the loop Detect vehicle and a corresponding signal to the traffic light controlling computer.
- a disadvantage of the known floor loops is that they pass through them rolling vehicles, weather-related or easily damaged by construction work can take and are therefore relatively maintenance-intensive, with associated high costs and traffic influences. You also get with Ground grinding only selective measurements, i.e. you can see the traffic situation especially in the intersection area. Finally allow Ground grinding also no clear vehicle classification.
- US 4,908,615 shows a device for controlling the flow of traffic which is arranged at a traffic light.
- the device monitors one Roadway by means of a beam fan aligned parallel to the roadway is generated via a radar, the beam fan generated using only a small one Angled vertically looks at a small section of the storage space.
- a disadvantage of generic devices is that not all of the circuit the traffic light essential information is recorded.
- the object of the present invention is to provide a device for controlling the To create traffic at an intersection that opposes the traffic situation known systems more fully and thus a more precise adaptation e.g. the traffic light switch to the current traffic situation.
- the task is solved with a device that has the characteristic features of claim 1.
- the invention Device comprising at least one traffic light and one coupled to the traffic light Sensor device which has a beam transmitter which has at least one Lane in the storage space of the intersection in front of the traffic lights from above parallel to the direction of travel generated sweeping beam fan and a receiver with which the points of incidence of the beam fan are detectable, the sensor device has an evaluation device which is determined by the receiver Data determined the profile of the impact points of the beam fan and individual Assigns groups of spatially connected meeting points to objects.
- the beam transmitter of the sensor device is a circumferential laser pulse emitting transmitter, which is arranged so that the beam fan generated also one facing away from the storage space Side of the traffic light extending into the intersection, possibly even beyond Area.
- the use of the rotating laser scanner offers the advantage that a beam fan is generated that has a large scan angle. In this way can the transmitter look both from and to the rear, whereby monitoring of the intersection area becomes possible.
- WO 98/16801 shows a device for monitoring a roadway, wherein monitoring also by means of a laser transmitter Jet fan takes place.
- the device is designed so that only one Beam fan with a relatively small scan angle can be generated, so that with this device only monitoring the road but not the entire intersection area, as is possible with the present invention.
- the receiver and transmitter are preferably all-round in the sensor device and arranged looking in the same direction.
- the sensor device is arranged so that one to the traffic light leading lane in the storage area parallel to the direction of travel from above a beam fan is swept over and a profile of each on the Objects located in the lane, usually vehicles and the roadway created becomes.
- 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 in the device according to the invention provided that the detected by the receiver per transmitter revolution in the beam fan Impact points processed.
- Related groups of impact points objects can be assigned, whereby fixed objects, e.g. the road surface is saved as always available in a learning mode can be.
- Related groups of meeting points between Jumps in distance or between significant changes compared to saved Data cannot be assigned to fixed objects.
- the movement is preferably not fixed or not stored Objects tracked by location, speed with direction (vectorial) the objects are calculated 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, the objects count, classify and rate for priority. The results of the Evaluation devices can then be used as a basis for traffic light control.
- the sensor device is arranged that it sends the beam fan from above onto the lane to be monitored. Just this way it can be safely ruled out that interfering objects block the light path interrupt and interfere with the measurement.
- the sensor device is preferably in the upper area of the assigned Traffic light, particularly preferably arranged at its free upper end. There Traffic lights are usually set up so that they are uncovered even from larger ones With this configuration, distance can be recognized, that the beam fan is also free and without interfering objects in between, how trees, houses or the like are sent into the lane can. Of course, the sensor device can also be connected to a separate one Posts or the like are attached.
- the invention can be easily used with single, but also with multi-lane roads realize.
- multi-lane roads e.g. a sensor device is provided be that has multiple transmitters, each of the individual lanes generate assigned beam fans.
- Figure 1 shows a section through a roadway 10 with four tracks 11, 12, 13 and 14. In the case shown, tracks 11 and 12 lead out of the image plane and tracks 13 and 14 into the image plane. The tracks are through road markings 15 and 16 and separated by a median strip 17.
- FIG. 1 also shows one that cannot be recognized in this figure Traffic light 18 at the intersection, to which lanes 13 and 14 are in the direction of travel lead.
- a sensor device 19 is provided on the traffic light 18 as explained further below contains a transmitter, each of which has a beam fan 20, 21 from revolving laser beam pulses on the tracks 13 and 14 in the area of the storage space in front of the traffic light 18 sends.
- FIG. 2 shows the lane 10 with the lanes 11, 12, 13 and 14 and an intersection 30 into which the tracks 13 and 14 open out. Furthermore, the sensor 19 can be seen on the in this illustration Traffic light 18 not to be recognized is arranged.
- the beam fan generated by the sensor device 19 20 and 21 are in lanes 13 and 14 over an area 22 in front of the traffic lights extend into the intersection 30.
- the area 22 is chosen so large that approaching vehicles at a sufficient distance from the sensor device 19 recognized and taken into account when switching the traffic light 18 can be.
- the area 22 can e.g. correspond to the distance from which a Motorists can see the traffic light 18.
- the beam fans 20 can be and 21 extend beyond the traffic lights into the area of the intersection. It is even conceivable that, in addition to the intersection, the Cover the area of the tracks leading away from the intersection.
- FIG. 3 shows one that essentially corresponds to FIGS. 1 and 2.
- Sensor device 19 in side view. This representation shows the outer lane 14, the beam fan 21 assigned to this lane, and of objects 23, 24 detected in the beam fan, e.g. in the case shown a bus 23 and a car 24.
- the sensor device 19 in contrast to the known Ground grinding is not just a mere numerical occupancy of the Track 14 determined. Rather, the device 19 is capable of e.g. the right now 23 to be moved to the intersection 30 by the car 24 driving in front of it to differentiate in size.
- a preferably used sensor device 19 is shown in section in FIG. 4. It has a housing 32 with a motor 31, which has a shaft 33 rotates on the transverse a laser transmitter 25 and a receiver surrounding it 35 is attached.
- the transmitter and receiver can be e.g. according to DE 195 30 281 C2, Figure 1 may be formed.
- the laser transmitter 25 sends 33 laser pulses radially to the axis of the rotating shaft from the perpendicular over approximately 180 ° rotation of the shaft 33 in the embodiment clamp a beam fan 21 radiating downwards.
- a second Beam fan 20 becomes oblique to first beam fan 21 by deflecting the Laser beams on mirrors 28, 29 of the housing 32 during the upper revolution of the laser transmitter 25 / receiver 35 generated.
- Evaluation device determines from the respective start time of a transmitted Pulse and the reception time, which is determined with the built-in receiver 35 the impulse running time and from this the distance to the point of impact an object hit by the laser beam. From the angular position of the Wave 33 which e.g. is determined via angle encoders or other devices, the profile of the impact points measured in the beam fan can be determined.
Abstract
Description
Die Erfindung bezieht sich auf eine Vorrichtung nach dem Oberbegriff des Anspruches 1.The invention relates to a device according to the preamble of the claim 1.
Gattungsgemäße Vorrichtungen werden dazu eingesetzt, den Verkehrsfluß an Kreuzungen insbesondere über eine verkehrsabhängige Ampelsteuerung flüssiger zu gestalten. Bekannte Vorrichtungen weisen z.B. Sensoreinrichtungen auf, die jeweils im Stauraum vor einer Ampel Fahrzeuge detektieren und eine der detektierten Fahrzeugdichte angepaßte Ampelsteuerung veranlassen können.Generic devices are used to control the flow of traffic Intersections are more fluid, in particular via traffic-dependent traffic light control to design. Known devices have e.g. Sensor devices on that Detect vehicles in the storage space in front of a traffic light and one of the detected ones Can initiate vehicle density adapted traffic light control.
Die in gattungsgemäßen Vorrichtungen eingesetzten Sensoreinrichtungen sind z.B. Induktionsschleifen, die im Abstand von ca. 50 bis 100 m vor der Ampel in der Fahrbahn verlegt sind, und die in der Lage sind, ein über die Schleife fahrendes Fahrzeug zu detektieren und ein entsprechendes Signal an den die Ampel steuernden Computer zu senden. The sensor devices used in generic devices are e.g. Induction loops in a distance of approx. 50 to 100 m in front of the traffic light of the roadway, and which are able to run over the loop Detect vehicle and a corresponding signal to the traffic light controlling computer.
Nachteilig an den bekannten Bodenschleifen ist, daß sie durch die darüber hinweg rollenden Fahrzeuge, witterungsbedingt oder durch Bauarbeiten leicht Schaden nehmen können und daher relativ wartungsintensiv sind, mit damit verbundenen hohen Kosten und Verkehrsbeeinflussungen. Außerdem erhält man mit Bodenschleifen nur punktuelle Messungen, d.h. man kann die Verkehrssituation insbesondere im Kreuzungsbereich nicht vollständig erfassen. Schließlich erlauben Bodenschleifen auch keine eindeutige Fahrzeugklassifizierung.A disadvantage of the known floor loops is that they pass through them rolling vehicles, weather-related or easily damaged by construction work can take and are therefore relatively maintenance-intensive, with associated high costs and traffic influences. You also get with Ground grinding only selective measurements, i.e. you can see the traffic situation especially in the intersection area. Finally allow Ground grinding also no clear vehicle classification.
Demgegenüber zeigt die US 4,908,615 eine Vorrichtung zur Steuerung des Verkehrsflusses die an einer Ampel angeordnet ist. Die Vorrichtung überwacht eine Fahrbahn mittels eines parallel zur Fahrbahn ausgerichteten Strahlfächers der über ein Radar erzeugt wird, wobei der erzeugte Strahlfächer nur mit einen kleinen Winkel vertikal schräg auf einen kleinen Ausschnitt des Stauraums sieht.In contrast, US 4,908,615 shows a device for controlling the flow of traffic which is arranged at a traffic light. The device monitors one Roadway by means of a beam fan aligned parallel to the roadway is generated via a radar, the beam fan generated using only a small one Angled vertically looks at a small section of the storage space.
Nachteilig an gattungsgemäßen Vorrichtungen ist, daß nicht alle zur Schaltung der Ampel wesentlichen Informationen erfaßt werden.A disadvantage of generic devices is that not all of the circuit the traffic light essential information is recorded.
Aufgabe der vorliegenden Erfindung ist es, eine Vorrichtung zur Steuerung des Verkehrs an einer Kreuzung zu schaffen, die die Verkehrssituation gegenüber bekannten Systemen vollständiger erfaßt und damit eine genauere Anpassung z.B. der Ampelschaltung an die vorliegende Verkehrssituation ermöglicht.The object of the present invention is to provide a device for controlling the To create traffic at an intersection that opposes the traffic situation known systems more fully and thus a more precise adaptation e.g. the traffic light switch to the current traffic situation.
Gelöst wird die Aufgabe mit einer Vorrichtung, die die kennzeichnenden Merkmale des Anspruches 1 aufweist.The task is solved with a device that has the characteristic features of claim 1.
Wie aus dem Stand der Technik bekannt, besteht auch die erfindungsgemäße Vorrichtung aus mindestens einer Ampel und einer mit der Ampel gekoppelten Sensoreinrichtung, die einen Strahlsender aufweist, der mindestens einen eine Fahrspur im Stauraum der Kreuzung vor der Ampel von oben parallel zur Fahrtrichtung überstreichenden Strahlfächer erzeugt und einen Empfänger, mit dem die Auftreffpunkte des Strahlfächers detektierbar sind, wobei die Sensoreinrichtung eine Auswerteinrichtung aufweist, die aus den vom Empfänger ermittelten Daten das Profil der Auftreffpunkte des Strahlfächers ermittelt und einzelne Gruppen von räumlich zusammenhängenden Auftreffpunkten Objekten zuordnet.As is known from the prior art, there is also the invention Device comprising at least one traffic light and one coupled to the traffic light Sensor device which has a beam transmitter which has at least one Lane in the storage space of the intersection in front of the traffic lights from above parallel to the direction of travel generated sweeping beam fan and a receiver with which the points of incidence of the beam fan are detectable, the sensor device has an evaluation device which is determined by the receiver Data determined the profile of the impact points of the beam fan and individual Assigns groups of spatially connected meeting points to objects.
Erfindungsgemäß ist nun vorgesehen, daß der Strahlsender der Sensoreinrichtung ein umlaufend Laserimpulse abstrahlender Sender ist, der so angeordnet ist, daß der erzeugte Strahlfächer zusätzlich einen sich auf der dem Stauraum abgewandten Seite der Ampel bis in die Kreuzung hinein ggf. sogar darüber hinaus erstrekkenden Bereich abdeckt.According to the invention, it is now provided that the beam transmitter of the sensor device is a circumferential laser pulse emitting transmitter, which is arranged so that the beam fan generated also one facing away from the storage space Side of the traffic light extending into the intersection, possibly even beyond Area.
Die Verwendung des rotierenden Laserscanners bietet den Vorteil, daß ein Strahlfächer erzeugt wird, der einen großen Scanwinkel aufweist. Auf diese Weise kann die Sendeeinrichtung sowohl nach vom als auch nach hinten blicken, wodurch eine Überwachung des Kreuzungsbereichs möglich wird.The use of the rotating laser scanner offers the advantage that a beam fan is generated that has a large scan angle. In this way can the transmitter look both from and to the rear, whereby monitoring of the intersection area becomes possible.
Dies bietet den Vorteil, daß neben der Überwachung der Fahrbahn zusätzlich auch Fahrzeugstauungen im Kreuzungsbereich erkannt werden, und die Schaltung der Ampel entsprechend angepaßt werden kann. So kann bei Detektion eines Staus im Kreuzungsbereich die Ampelphase so geregelt werden, daß z.B. erst auf grün umgeschaltet wird, wenn die Kreuzung wieder frei ist, wodurch ein Rückstau auf den anderen Fahrbahnen der Kreuzung vermieden wird.This offers the advantage that in addition to monitoring the roadway vehicle congestion in the intersection area can also be detected, and the circuit the traffic light can be adjusted accordingly. For example, when a Traffic lights in the intersection area are regulated so that e.g. only on is switched green when the intersection is free again, causing a backwater is avoided on the other lanes of the intersection.
Die WO 98/16801 zeigt eine Vorrichtung zur Überwachung einer Fahrbahn, wobei die Überwachung ebenfalls mittels eines durch einen Lasersender erzeugten Strahlfächer erfolgt. Jedoch ist die Vorrichtung so ausgebildet, daß nur ein Strahlfächer mit relativ kleinen Scanwinkel erzeugbar ist, so daß mit dieser Vorrichtung nur eine Überwachung der Fahrbahn jedoch nicht des gesamten Kreuzungsbereich, wie bei der vorliegenden Erfindung möglich ist. WO 98/16801 shows a device for monitoring a roadway, wherein monitoring also by means of a laser transmitter Jet fan takes place. However, the device is designed so that only one Beam fan with a relatively small scan angle can be generated, so that with this device only monitoring the road but not the entire intersection area, as is possible with the present invention.
Bevorzugt sind Empfänger und Sender in der Sensoreinrichtung gemeinsam umlaufend und in dieselbe Richtung blickend angeordnet.The receiver and transmitter are preferably all-round in the sensor device and arranged looking in the same direction.
Erfindungsgemäß ist die Sensoreinrichtung so angeordnet, daß eine zur Ampel führende Fahrspur im Stauraumbereich parallel zur Fahrtrichtung von oben von einem Strahlfächer überstrichen wird und dabei ein Profil der jeweils auf der Fahrspur befindlichen Objekte, in aller Regel Fahrzeuge und der Fahrbahn erstellt wird. Die Dichte der Fahrzeuge folgt aus der Zahl der Profile im abgedeckten Stauraum und den zwischen den Profilen vorhandenen Lücken.According to the invention, the sensor device is arranged so that one to the traffic light leading lane in the storage area parallel to the direction of travel from above a beam fan is swept over and a profile of each on the Objects located in the lane, usually vehicles and the roadway created becomes. The density of the vehicles follows from the number of profiles in the covered Storage space and the gaps between the profiles.
In der erfindungsgemäßen Vorrichtung ist weiterhin eine Auswerteinrichtung vorgesehen, die die vom Empfänger pro Senderumlauf im Strahlfächer detektierten Auftreffpunkte verarbeitet. Zusammenhängende Gruppen von Auftreffpunkten können Objekte zugeordnet werden, wobei feststehende Objekte, z.B. die Straßenoberfläche in einem Lernmodus als immer vorhanden abgespeichert werden können. Zusammenhängende Gruppen von Auftreffpunkten zwischen Entfernungssprüngen oder zwischen deutlichen Änderungen gegenüber gespeicherten Daten können nicht feststehenden Objekten zugeordnet werden.An evaluation device is also in the device according to the invention provided that the detected by the receiver per transmitter revolution in the beam fan Impact points processed. Related groups of impact points objects can be assigned, whereby fixed objects, e.g. the road surface is saved as always available in a learning mode can be. Related groups of meeting points between Jumps in distance or between significant changes compared to saved Data cannot be assigned to fixed objects.
Bevorzugt wird die Bewegung nicht feststehender oder nicht gespeicherter Objekte verfolgt, indem der Ort, die Geschwindigkeit mit Richtung (vektoriell) der Objekte aus den aufeinanderfolgenden Daten der Strahlfächer berechnet wird. Die Auswerteinrichtung kann so ermitteln, ob sich die Objekte im relevanten überwachten Bereich befinden, wann sie den Bereich verlassen werden, die Objekte zählen, klassifizieren und bezüglich Priorität bewerten. Die Ergebnisse der Auswerteinrichtung können dann bei der Ampelsteuerung zugrunde gelegt werden. The movement is preferably not fixed or not stored Objects tracked by location, speed with direction (vectorial) the objects are calculated 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, the objects count, classify and rate for priority. The results of the Evaluation devices can then be used as a basis for traffic light control.
Es versteht sich, daß sinnvollerweise alle zur Kreuzung hinführenden Spuren mit der beschriebenen Sensoreinrichtung überwacht werden sollten, damit eine gemeinsame optimierte Schaltung aller Kreuzungsampeln möglich ist.It goes without saying that it makes sense to include all the tracks leading to the intersection the sensor device described should be monitored so that a common optimized switching of all crossing lights is possible.
Erfindungsgemäß ist die Sensoreinrichtung, wie oben erwähnt, so angeordnet, daß sie den Strahlfächer von oben auf die zu überwachende Fahrspur sendet. Nur so kann sicher ausgeschlossen werden, daß störende Gegenstände den Lichtweg unterbrechen und die Messung beeinträchtigen.According to the invention, as mentioned above, the sensor device is arranged that it sends the beam fan from above onto the lane to be monitored. Just this way it can be safely ruled out that interfering objects block the light path interrupt and interfere with the measurement.
Vorzugsweise wird die Sensoreinrichtung im oberen Bereich der zugeordneten Ampel, besonders vorzugsweise an ihrem freien oberen Ende angeordnet. Da Ampeln in aller Regel so aufgestellt werden, daß sie unverdeckt auch aus größerer Distanz erkannt werden können, ist bei dieser Ausgestaltung sichergestellt, daß der Strahlfächer ebenfalls frei und ohne dazwischen liegende störende Gegenstände, wie Bäume, Häuser oder dergleichen auf die Fahrspur gesendet werden kann. Selbstverständlich kann die Sensoreinrichtung aber auch an einem separaten Pfosten oder dergleichen befestigt werden.The sensor device is preferably in the upper area of the assigned Traffic light, particularly preferably arranged at its free upper end. There Traffic lights are usually set up so that they are uncovered even from larger ones With this configuration, distance can be recognized, that the beam fan is also free and without interfering objects in between, how trees, houses or the like are sent into the lane can. Of course, the sensor device can also be connected to a separate one Posts or the like are attached.
Die Erfindung läßt sich problemlos bei ein-, aber auch bei mehrspurigen Straßen verwirklichen. Bei mehrspurigen Straßen kann z.B. eine Sensoreinrichtung vorgesehen werden, die mehrere Sender aufweist, die jeweils den einzelnen Fahrspuren zugeordnete Strahlfächer erzeugen.The invention can be easily used with single, but also with multi-lane roads realize. For multi-lane roads e.g. a sensor device is provided be that has multiple transmitters, each of the individual lanes generate assigned beam fans.
Genauso gut ist es aber auch möglich, bei z.B. zwei Fahrspuren einen Sender einzusetzen, der in einem Teil seines Umlaufes direkt auf die eine Fahrspur und in dem anderen Teil seines Umlaufes über Spiegel umgelenkt auf die andere Fahrspur sendet. Hierauf wird bei der Zeichnungsbeschreibung noch näher eingegangen. However, it is just as well possible to use e.g. two lanes to use a transmitter, which is in one part of its circulation directly in one lane and in the other part of its circulation via mirrors redirected to the other lane sends. This will be discussed in more detail in the description of the drawing.
Im folgenden soll die Erfindung von mehreren Abbildungen näher erläutert werden:
- Fig. 1
- zeigt eine zu einer Ampel führende Straße im Schnitt mit einer Sensoreinrichtung gemäß der ersten Variante der Erfindung.
- Fig. 2
- zeigt eine Aufsicht auf eine Kreuzung, bei der die in Fig. 1 gezeigte Ausführung vorgesehen ist.
- Fig. 3
- zeigt eine Seitenansicht auf eine mit einer Sendeeinrichtung gemäß Fig. 1 ausgestatteten Ampel.
- Fig. 4
- zeigt eine Schnittdetailansicht einer Sensoreinrichtung
- 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 embodiment shown in Fig. 1 is provided.
- Fig. 3
- shows a side view of a traffic light equipped with a transmission device according to FIG. 1.
- Fig. 4
- shows a sectional detail view of a sensor device
Figur 1 zeigt einen Schnitt durch eine Fahrbahn 10 mit vier Spuren 11, 12, 13 und
14. Im gezeigten Fall führen die Spuren 11 und 12 aus der Bildebene hinaus und
die Spuren 13 und 14 in die Bildebene hinein. Die Spuren sind durch Fahrbahnmarkierungen
15 und 16 sowie durch einen Mittelstreifen 17 voneinander getrennt. Figure 1 shows a section through a
Außerdem zeigt Figur 1 eine an einer in dieser Abbildung nicht zu erkennenden
Kreuzung befindliche Ampel 18, zu der in Fahrtrichtung die Spuren 13 und 14
hinführen.FIG. 1 also shows one that cannot be recognized in this
Erfindungsgemäß ist auf der Ampel 18 eine Sensoreinrichtung 19 vorgesehen, die
wie weiter unten erläutert einen Sender enthält, der jeweils einen Strahlfächer 20,
21 aus umlaufenden Laserstrahlimpulsen auf die Spuren 13 und 14 im Bereich
des Stauraumes vor der Ampel 18 sendet.According to the invention, a
Dies ist in der Figur 2 deutlicher zu erkennen, die die Fahrbahn 10 mit den Spuren
11, 12, 13 und 14 sowie eine Kreuzung 30 zeigt, in die die Spuren 13 und 14
einmünden. Weiterhin zu erkennen ist der Sensor 19, der auf der in dieser Darstellung
nicht zu erkennenden Ampel 18 angeordnet ist.This can be seen more clearly in FIG. 2, which shows the
In Fig. 2 wird deutlich, daß die von der Sensoreinrichtung 19 erzeugten Strahlfächer
20 und 21 sich in den Spuren 13 und 14 über einen Bereich 22 vor der Ampel
bis in die Kreuzung 30 hinein erstrecken. Der Bereich 22 wird so groß gewählt,
daß herannahende Fahrzeuge in ausreichendem Abstand von der Sensoreinrichtung
19 erkannt und bei der Schaltung der Ampel 18 berücksichtigt
werden können. Der Bereich 22 kann z.B. dem Abstand entsprechen, aus dem ein
Autofahrer die Ampel 18 erkennen kann.In Fig. 2 it is clear that the beam fan generated by the
Wie oben ausgeführt und in Fig. 2 angedeutet, können sich die Strahlfächer 20
und 21 über die Ampel hinaus in den Bereich der Kreuzung hinein erstrecken.
Denkbar ist sogar, daß sie über die Kreuzung hinaus auch noch den von der
Kreuzung wegführenden Bereich der Spuren abdecken. As explained above and indicated in FIG. 2, the
Figur 3 zeigt eine im wesentlichen mit den Figuren 1 und 2 übereinstimmende.
Sensoreinrichtung 19 in Seitenansicht. Zu erkennen ist in dieser Darstellung die
äußere Fahrspur 14, der dieser Fahrspur zugeordnete Strahlfächer 21, sowie von
dem Strahlfächer erfaßte Objekte 23, 24, im gezeigten Fall z.B. ein Bus 23 und
ein PKW 24.FIG. 3 shows one that essentially corresponds to FIGS. 1 and 2.
Aus Fig. 3 wird deutlich, daß die Sensoreinrichtung 19 im Gegensatz zu den bekannten
Bodenschleifen nicht nur eine bloße numerische Belegungsdichte der
Spur 14 ermittelt. Die Einrichtung 19 ist vielmehr in der Lage, z.B. den sich gerade
auf die Kreuzung 30 zu bewegenden 23 von dem davor fahrenden PKW 24
größenmäßig zu differenzieren.From Fig. 3 it is clear that the
Eine bevorzugt verwendeter Sensoreinrichtung 19 ist in Figur 4 im Schnitt dargestellt.
Sie weist ein Gehäuse 32 auf mit einem Motor 31, welcher eine Welle 33
dreht, an der quer ein Lasersender 25 und einen diesen umgebender Empfänger
35 befestigt ist. Sender und Empfänger können im einzelnen z.B. gemäß DE 195
30 281 C2, Figur 1 ausgebildet sein.A preferably used
Der Lasersender 25 sendet radial zur Achse der rotierenden Welle 33 Laserimpulse
aus, die über etwa 180° Umlauf der Welle 33 im Ausführungsbeispiel lotrecht
nach unten strahlend einen ersten Strahlfächer 21 aufspannen. Ein zweiter
Strahlfächer 20 wird schräg zum ersten Strahlfächer 21 durch Umlenkung der
Laserstrahlen an Spiegeln 28, 29 des Gehäuses 32 während des oberen Umlaufes
des Lasersender 25/Empfängers 35 erzeugt.The
Eine an den Lasersender 25/Empfänger 35 angeschlossene, nicht dargestellte
Auswerteinrichtung ermittelt aus der jeweiligen Startzeit eines ausgesendeten
Impulses und der Empfangszeit, die mit dem eingebauten Empfänger 35 ermittelt
wird, die Impulslaufzeit und daraus die Entfernung bis zu dem Auftreffpunkt an
einem vom Laserstrahl getroffenen Gegenstand. Aus der Winkelstellung der
Welle 33, die z.B. über Winkelgeber oder sonstige Einrichtungen ermittelt wird,
läßt sich das Profil der im Strahlfächer gemessenen Auftreffpunkte bestimmen.A, not shown, connected to the
Mit einer Sensoreinrichtung in dieser Ausführung lassen sich mit einem Sender zwei Spuren überwachen, was eine erhebliche Kosteneinsparung bedeutet. Genauso gut ist es aber auch möglich, den Spuren jeweils einen direkt abstrahlenden Sender zuzuordnen.With a sensor device in this version can be with a transmitter monitor two lanes, which means significant cost savings. Just like that but it is also possible to give the tracks a direct radiation Assign channels.
Claims (5)
- Apparatus for controlling the flow of traffic at a road junction comprising at least one set of traffic lights and a sensor device coupled to the traffic lights, which includes a transmitter (25), which produces at least one beam fan (20, 21) scanning a traffic lane (13, 14) from above parallel to the driving direction in the waiting area of the road junction (22) before the traffic lights, and a receiver (35), with which the impingement points of the beam fan may be detected, the sensor device (19) having an evaluation device, which determines the profile of the impingement points of the beam fan (20, 21) from the data detected by the receiver (35), and associates individual groups of spatially coherent impingement points with objects, characterised in that the transmitter is a transmitter which emits rotating laser pulses and is so arranged that the beam fan which is produced additionally covers a region on the side of the traffic lights (18) remote from the waiting area (22) extending into the road junction (30) and optionally even beyond.
- Apparatus as claimed in claim 1, characterised in that two spaced beam fans (20, 21), which are associated with different traffic lanes (13, 14) of the waiting area (22), may be produced with the transmitter (25) by mean of mirrors (28, 29).
- Apparatus as claimed in one of the preceding claims, characterised in that the sensor device (19) is arranged in the upper region of a traffic light (18).
- Apparatus as claimed in one of the preceding claims, characterised in that the receiver (35) is arranged to look in the radiating direction of the transmitter (25) and to rotate with it.
- Apparatus as claimed in one of the preceding claims characterised in that the evaluation device determines the movement of detected objects by calculating the location, the speed and direction from the data detected by the receiver for successive beam fans.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19953008 | 1999-10-27 | ||
| DE19953008A DE19953008A1 (en) | 1999-10-27 | 1999-10-27 | Device for controlling the flow of traffic at an intersection, in particular for controlling traffic lights |
| PCT/EP2000/010506 WO2001031608A1 (en) | 1999-10-27 | 2000-10-25 | Device for controlling the flow of traffic at a crossroads, especially for controlling traffic lights |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1224644A1 EP1224644A1 (en) | 2002-07-24 |
| EP1224644B1 true EP1224644B1 (en) | 2004-01-02 |
Family
ID=7927850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP00975911A Expired - Lifetime EP1224644B1 (en) | 1999-10-27 | 2000-10-25 | Device for controlling the flow of traffic at a crossroads, especially for controlling traffic lights |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1224644B1 (en) |
| AT (1) | ATE257264T1 (en) |
| DE (2) | DE19953008A1 (en) |
| WO (1) | WO2001031608A1 (en) |
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 (en) | 2011-08-10 | 2015-07-01 | 富士通株式会社 | Train length measuring device, train length measuring method, and train length measuring computer program |
| US10627490B2 (en) | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
| JP7149256B2 (en) | 2016-03-19 | 2022-10-06 | ベロダイン ライダー ユーエスエー，インコーポレイテッド | Integrated illumination and detection for LIDAR-based 3D imaging |
| US10393877B2 (en) | 2016-06-01 | 2019-08-27 | Velodyne Lidar, Inc. | Multiple pixel scanning LIDAR |
| CA3057988A1 (en) | 2017-03-31 | 2018-10-04 | Velodyne Lidar, Inc. | Integrated lidar illumination power control |
| CN115575928A (en) | 2017-05-08 | 2023-01-06 | 威力登激光雷达美国有限公司 | LIDAR data acquisition and control |
| EP3455841A4 (en) * | 2017-06-12 | 2019-07-17 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for analyzing and adjusting road conditions |
| CN108154691B (en) * | 2018-02-06 | 2020-10-30 | 中国汽车技术研究中心 | Traffic regulation system and method based on special short-range communication |
| 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 (en) * | 2019-12-17 | 2021-05-25 | 合肥学院 | Vehicle lane change detection and control method for intersection induction control |
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 (en) * | 1990-03-21 | 1991-09-26 | Monte Bau U Handelsgesellschaf | Traffic light system with electronic and computer control - uses camera and/or other read device to monitor traffic conditions |
| US5572202A (en) * | 1995-04-03 | 1996-11-05 | Regel; Kenneth E. | Traffic signalling system |
| DE19530281C2 (en) * | 1995-08-17 | 1999-01-07 | Johann Hipp | Device for optically detecting obstacles in front of vehicles |
| 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/en not_active Withdrawn
-
2000
- 2000-10-25 AT AT00975911T patent/ATE257264T1/en not_active IP Right Cessation
- 2000-10-25 EP EP00975911A patent/EP1224644B1/en not_active Expired - Lifetime
- 2000-10-25 WO PCT/EP2000/010506 patent/WO2001031608A1/en active IP Right Grant
- 2000-10-25 DE DE50004944T patent/DE50004944D1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DE19953008A1 (en) | 2001-05-03 |
| DE50004944D1 (en) | 2004-02-05 |
| ATE257264T1 (en) | 2004-01-15 |
| WO2001031608A1 (en) | 2001-05-03 |
| EP1224644A1 (en) | 2002-07-24 |
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