EP3113142A2 - Procede destine a la commande d'une installation de signaux - Google Patents

Procede destine a la commande d'une installation de signaux Download PDF

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Publication number
EP3113142A2
EP3113142A2 EP16170796.3A EP16170796A EP3113142A2 EP 3113142 A2 EP3113142 A2 EP 3113142A2 EP 16170796 A EP16170796 A EP 16170796A EP 3113142 A2 EP3113142 A2 EP 3113142A2
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EP
European Patent Office
Prior art keywords
phase
time
phases
release
public transport
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.)
Ceased
Application number
EP16170796.3A
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German (de)
English (en)
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EP3113142A3 (fr
Inventor
Andreas Poschinger
Alexander John
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Siemens Mobility GmbH
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Siemens AG
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Publication of EP3113142A2 publication Critical patent/EP3113142A2/fr
Publication of EP3113142A3 publication Critical patent/EP3113142A3/fr
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G08G1/083—Controlling the allocation of time between phases of a cycle

Definitions

  • the invention relates to a method for controlling a signaling system according to claim 1, a computing unit for carrying out the method according to claim 28 and a computer program product according to claim 29.
  • the object of the invention is to provide an improved method for controlling a signal system for traffic control.
  • An advantage of the method described is that an improved control of the signal system is achieved.
  • This advantage is achieved in a signal system with at least three signal groups, wherein the signal groups control intersecting traffic flows, that for each signal group at least one time range is provided with a release and at least one time range with a blocking, in particular based on traffic data, a sequence of at least three phases, each with fixed states (free or disabled) of the signal groups for each one time interval (Orbital period) is planned.
  • at least one planned phase has at least one optional subphase, with the optional subphase being carried out only on demand. If the optional sub-phase is not called, the optional sub-phase will not be performed at this time.
  • a time which has become free within the time interval due to the non-performed subphase is distributed according to a predetermined method to at least one other phase which has not failed during the time interval and is executed in the current time interval or in the next time interval.
  • Traffic data is, for example, a traffic volume, ie a number of vehicles entering the intersection per minute on the various roads and exiting from the intersection on the roads.
  • a traffic volume ie a number of vehicles entering the intersection per minute on the various roads and exiting from the intersection on the roads.
  • the lost time is distributed to the non-failed phases after a pre-scheduled portion of the non-emergent phases. This achieves a simple and fast adaptation.
  • the lost time is distributed by a model-based adaptation, in particular in the form of an optimization on the non-failed phases. This achieves a more individual adaptation to the present situation.
  • the planned sequence of the not yet executed phases of the time interval is changed in such a way that the optional phase is exchanged with the next phase if not requested. This allows the optional phase to be executed even later within the time interval.
  • a public transport vehicle can be served.
  • a phase is subdivided into a first sub-phase for mapping a minimum release time, a second sub-phase for representing a release time necessary for a performance of the traffic control, and a third sub-phase for a free release time of the signal groups.
  • the third subphase i. a free sub-phase of a phase for a main direction, as well as the third sub-phase and in particular the second sub-phase, but not the first sub-phase of the minimum period of an optional phase can be shortened to extend another phase, which is used to speed up public transport.
  • a simplification of the control method is achieved by omitting the optional phase at least partially or completely if the optional phase is not retrieved until a predetermined time.
  • the time durations of the sub-phases of a time interval are determined in a phase-dependent manner and adaptively as a function of traffic data, and the time durations of the phases are adapted accordingly.
  • phases or partial phases of a time interval can be derived as a function of predetermined time ranges and / or as a function of specified T times.
  • T-times are times that are fixed within the time interval, i. are specified within the circulation. For example, a T-time may be determined by an earliest start, a latest start, a earliest end, and / or a latest end of a release or a lock.
  • a start and an end time of release of the main directional phase are preferred only by a fixed maximum period of time, in particular to allow compatibility with a green wave for the traffic of the main direction.
  • a plurality of alternative phase sequences are provided, and in each of the alternative phase sequences, at least one optional phase for public transport is provided.
  • a request of the optional phase by a public transport vehicle is changed to the phase sequence with which the public transport vehicle can pass the intersection with a minimum delay, in particular without slowing down the public transport vehicle. This will further improve the prioritization of public transport.
  • An optional phase may be provided for a public transport vehicle or for a pedestrian or a vehicle.
  • a switching time forecast for at least one signal group of a signaling system is determined for the controller, wherein the signal system has a plurality of signal groups, the signal groups are blocked and released by a control method, depending on a control intervention, an order of releases and / or the number the release, for different possible sequences of controls during the next n time intervals for at least one signal group a minimum range of release is determined in such a way that the minimum range of the release by a control intervention only extend, but can not shorten.
  • a remaining time for the particular displayed release of the signal groups can only extend and only reduce a remaining time for the particular blocking of the signal groups displayed. In this way, a reliable time for release and / or blocking can be determined, displayed and passed on.
  • switching time forecasts for a release of the signal groups are determined for a plurality of predetermined control interventions (eg with public transport vehicle and without public transport vehicle).
  • probabilities of an arrival can be determined for the switching time forecasts.
  • the determined switching time forecasts and / or their probabilities are displayed and / or output, in particular transmitted to a vehicle.
  • a driver and / or a driver assistance system can obtain a more accurate assessment of the switching situation of the signal group.
  • a better adaptation of the driving behavior to the switching situation of the signal group or the entire signal system can be achieved, for example, to follow a green wave.
  • At least one expected value is calculated from the switching time forecasts and the probabilities of the switching time forecasts.
  • the expected value can be displayed or transmitted to a vehicle.
  • the expected value can be provided for consideration for at least one function in a vehicle.
  • the expected value for the engine control of a vehicle can be used.
  • a control device of a vehicle in particular a driver assistance system, can also use the expected value to control the vehicle in order, for example, to follow a green wave.
  • a time range for enabling a signal group is reduced if the signal group is not requested.
  • the minimum range of the release is determined and updated in particular for each signal group during the time interval at regular time intervals.
  • the number of vehicles arriving during a specified time interval is determined, wherein the determined number is used to determine therefrom a queue of vehicles upon a signal lock, wherein from the queue a travel trajectory for one or more vehicles arriving in a time interval is determined such that the number of stops and / or the fuel consumption and / or emissions are reduced.
  • other target function values can also be improved, in particular optimized.
  • a position and a minimum duration of release are not determined for signal groups of a secondary direction that have just been released, but a latest start of the release time. This is an indication of one end of the lock, i. Red residual time possible, without restricting the flexibility to redistribute the periods of failing partial phases.
  • remaining times of a given release time that are less than a certain threshold are no longer changed.
  • a predetermined end range in particular the last seconds of a release and / or a lock is no longer changed.
  • the end region can be contained in particular in phase transitions between the phases and can be parameterized individually for each phase transition. Furthermore, the minimum remaining periods can also be parameterized separately.
  • control actions are suppressed depending on the type of control intervention.
  • displays can be provided which indicate a time for a release of a signal group, ie a green time and / or a time for blocking a signal group, ie a red time for at least one, in particular for each signal group. Due to the selected control is running Release of a signal group by the display a remaining release time, ie a green remaining time displayed, which can only jump in the direction of a longer green remaining time. Due to the selected control, a remaining blocking time, ie a red remaining time, which can only jump in the direction of a shorter red residual time is indicated by the display when a signal group is blocked by the display.
  • the display can be provided on the signal system, in particular on the signal group. In addition, the display can also be arranged in a vehicle.
  • the release times of also requested or not failed phases are shortened, in particular to a small extent, in particular in the range of 1% to 10% of the time duration, taking into account a boundary condition of an intended use. For example, given a display of the release time, a maximum allowable reduction may be predetermined.
  • the displays are configured to compress a graphical display of green and / or red residual time.
  • a graphical display of green and / or red residual time e.g. 0.75 seconds can be represented as 1 second, so that forecast release times can be reduced to a small extent, without this noticing a driver of a vehicle.
  • a probability of a prognosis for a release and / or a blocking of a signal group is communicated to a driver of a vehicle, in particular displayed.
  • the graphical representation in particular a color intensity, may be different depending on a probability of the green remaining time and / or the red remaining time.
  • a public transport vehicle may log on to a controller at least a predetermined time prior to, in particular, its earliest arrival at a stop line.
  • the predetermined time may depend on how much e.g. a traffic light assistant to the duration of the forecast required, this in particular from the journey time from the stop line of a preliminary node to the stop line of its successor nodes, the required calculation time for the control process and all times required from the determination to processing and display of the remaining time in a traffic light assistant of a vehicle.
  • a designation e.g. in the event of a sudden interruption of an ongoing phase in the event of a gap in the flow of traffic instead, an adaptive calculation is performed per time interval, with failing times being distributed to other phases according to a calculation procedure.
  • the latest enable times of the phases are calculated from all variations of the possible phase reversals of the public transport phase, and the phases of the phases involved in public transport can be taken into account in calculating the minimum (and earliest) enable time of the signal groups respectively or not, depending on which calculation leads to a shorter release time.
  • a first phase is extended, the possible extension is not included in the residual green of the first phase, while the residual red of a third phase takes into account the maximum extension, i. e.g. neither the free green of the first phase nor the free green of the second phase is included in the green residual time of the first phase, as long as there is still the possibility that e.g. the free green of the first phase 1 is not used.
  • the latest release times of the phases are calculated from all variations of the possible phase sequences.
  • the phases of the phases that are involved in public transport are taken into account or not taken into account when calculating the minimum (and earliest) release time of the signal groups, depending on which calculation leads to a shorter release time.
  • the method is used for determining a switching time forecast for at least one signal group of a signal installation in the method for controlling the signal installation.
  • FIG. 1 shows a schematic representation of an intersection 1, in the four roads 2, 3, 4, 5 open.
  • Each road has a road leading to the intersection 1 and a road leading away from the intersection 1.
  • a signal group 6, 7, 8, 9 is provided on each road leading to the intersection 1.
  • Each signal group 6, 7, 8, 9, 6A, 8A, 13, 14 has its own arithmetic unit.
  • each signal group has display means and / or transmitting means with which information about a signal state of the signal group can be displayed and / or transmitted to a vehicle and / or to a further computing unit.
  • the four illustrated signal groups 6, 7, 8, 9, 6A, 8A represent a signal system for the intersection 1.
  • a blocking or release ie a free travel in the direction of travel
  • a direction of travel for example, a straight ahead, a right turn, and / or left turn understood.
  • the blocking is indicated eg with a red signal and the release with a green signal.
  • a transition signal for example in the form of a yellow signal, can be displayed between the release and the blocking.
  • the blocking is also referred to below as the red-time and the release as green-time.
  • detectors 11 are provided in or on the lanes of the streets 2, 3, 4, 5, which detect an approach of a vehicle 10 to the intersection 1 and / or a departure of the vehicle away from the intersection 1.
  • the detectors 11 may also be provided to detect, for example, an approach of a public transport vehicle to the intersection 1 and / or a removal of the public transport vehicle from the intersection.
  • a detector 11 may be provided to detect, for example in the form of a button, the desire of a pedestrian who wishes to release a pedestrian crossing over a road.
  • the detectors are logically connected to signal groups 6, 7, 8, 9, 6A, 8A.
  • a central processing unit 12 may be provided, which with the detectors 11 and the signal groups and / or the arithmetic units of the signal groups is connected.
  • the central processing unit controls the signal groups depending on the traffic volume at the intersection. As a rule, a main direction is specified, which has priority for the control of the traffic.
  • a sequence of phases is provided for a time interval, ie a circulation time, which can be carried out during the time interval.
  • a failure and / or a shift and / or a shortening and / or an extension of a phase during the time interval may also occur as a function of traffic events.
  • it is determined for all signal groups whether the respective signal group is switched to a release for a free travel or to a blocking for the travel direction of the signal group.
  • the arithmetic units of the signal groups and / or the central arithmetic unit control the four signal groups depending on the determined phases. After the circulation period, the sequence of phases is repeated.
  • the signaling system can also be controlled independently of phases depending on the traffic volume at the intersection.
  • FIG. 2 shows an example of a basic phase sequence of phases for the control of the signal system of the intersection 1 with three phases 100,200,300.
  • the illustrated basic phase sequence has three phases 100, 200, 300.
  • a transitional phase 310, 120, 230 is shown between the phases 100, 200, 300.
  • a first phase transition 120 is shown.
  • a second phase transition 230 is shown.
  • a third phase transition 310 is shown.
  • the phase transitions can also be counted towards your respective target phase, to which they are transferred.
  • the first phase 100 may be subdivided into a necessary first subphase 100A and into a free second subphase 100B.
  • the second phase 200 may be subdivided into a necessary first subphase 200A and into a free second subphase 200B.
  • the third phase 300 may only have a necessary first subphase 300A.
  • a subphase may be provided for mapping a minimum release time. The sub-phases for the minimum release times are not shown. These are traffic minimum release periods, e.g. to compensate for detector errors.
  • the first phase 100 corresponds to the switching situation that the vehicles approaching the intersection 1 on the first street 2 and the third street 4 ( FIG. 1 ) and just want to drive over the intersection, have a release, ie green and allowed to drive over the junction 1.
  • the first signal group 6 is switched to release for a straight-ahead travel.
  • the third signal group 8 is also switched to a release, ie to green for a straight ahead.
  • the second and the fourth signal group 7, 9 and 6A, 8A are on blocking, ie switched to red and block further travel for the vehicles approaching from the second and the fourth street of the junction 1.
  • the first phase 100 is shown schematically with the first icon 13.
  • the straight travel direction of the first and the third road 2, 4 represents the main direction of the intersection 1.
  • the first phase 100 thus represents the coordinated phase, with which the main direction is switched.
  • the second phase 200 corresponds to the switching situation that the signal group 6A is switched so that the vehicles that approach on the first street 2 of the intersection 1 and want to turn left into the fourth street 5, get a release, ie green and drive allowed to.
  • the second phase 200 of the switching situation that the signal group 8A switched so is that the vehicles approaching from the third street 4 of the intersection 1 and turn left into the second street 3, also get a release, ie green.
  • the other signal groups 6, 7, 8, 9 are on blocking, that is switched to red.
  • the second phase 200 is shown schematically with a second icon 14.
  • the third phase 300 corresponds to the shift situation that the fourth signal group 9 is switched so that all vehicles approaching the intersection 1 on the fourth road 5, a release, i. Get green and drive over the intersection 1 allowed.
  • the third phase 300 means that the second signal group 7 is switched so that all vehicles approaching on the second street 3 of the intersection 1 are allowed to drive over the intersection 1.
  • Signal groups 6, 8, 6A, 8A are red, i. switched off.
  • the third switching state is shown schematically in the form of the third icon 15.
  • the other signal groups are blocking, i. switched to red.
  • At least one or more of the phases may be provided as an optional phase.
  • An optional phase will only be switched if there is a need for this phase.
  • the need is determined, for example, by an approach of a vehicle 10, which is detected by means of a detector 11.
  • the orbital period determines the time interval for the duration of the sequence of phases.
  • the sequence of phases of the basic phase sequence which in FIG. 2 is shown, repeats itself continuously. However, depending on the time of day or depending on the day of the week, different basic phase sequences may be provided, for example. Thus, the basic phase can also be changed.
  • a basic idea of the present method is to determine a basic phase sequence in such a way that all possible phases available for the signaling system are taken into account in the basic phase sequence.
  • the basic phase sequence of the phases is determined depending on the type of intersection, depending on the traffic volume and / or depending on a desired traffic control. It also takes into account optional phases that are only on demand and thus not always performed.
  • a round trip duration ie a duration for a basic phase sequence is determined, which is repeated over and over again.
  • a shortest time period for a release ie a shortest green time for each signal group and / or a longest duration for a block, ie a longest red time for each signal group, can be calculated.
  • Green time means a free ride for a given direction of travel.
  • the red time means a locked ride for a given direction of travel.
  • the green times of all signal groups of the signal plant change only in the direction of longer green times and the red times of all signal groups only in the direction of shorter red periods, i. for the better.
  • the shortest green time and / or the longest red time of at least one signal group, in particular of all signal groups for a time interval i. a round trip time is used for an indication or transmission of a remaining green time and / or remaining red time of the signal group.
  • the shortest green time and / or the longest red time of at least one signal group, in particular of all signal groups for a time interval, i. a circulation period are transmitted to the vehicles and are taken into account by the vehicle or by a driver assistance system, in particular by an autonomous driving system of the vehicle or by a driver of the vehicle.
  • An approach of the described method for a traffic-dependent control with a remaining time determination for the The red-time and / or the green-time of a signal group consists of specifying for at least one, in particular for each signal group, an earliest end of greening, ie an earliest end of free travel, which is not undershot. Furthermore, an approach of the method for traffic-dependent control with a remaining time determination is to specify for at least one, in particular for each signal group a latest Rotende, ie a latest end of the locked ride, which is not exceeded.
  • different variants of a future signaling of the signal groups of the signal system of the intersection can be calculated at each point in time of a control calculation, for example every second during a time interval.
  • the minimum end of green of all possible variants of the possible phases and for the end of rotation the maximum end of all possible variants of the possible phases can be determined.
  • the possible variants of the possible sequences of the phases are reduced during the cycle time, for example because a phase was not or was requested.
  • the request for an optional phase may e.g. be performed by a vehicle, by a public transport vehicle, by a pedestrian or by an emergency vehicle.
  • One idea of the proposed control design is to minimize the number of variants to be calculated. In one embodiment, this can be achieved by taking into account optional phases such that the phases can only partially or completely fail. In this case, it is sufficient to calculate only one variant at a time, taking into account all possible phases, including all optional phases.
  • control method can be extended in such a way that an optional phase during the round trip time a maximum of once, but may be requested at several time periods of the circulation. If the optional phase fails at a temporally first time range of the revolution, the optional phase is shifted further, for example, by exchanging the optional phase with a subsequent phase. The pushing forward can also take place more often, whereby the optional phase can also be complete.
  • an optional phase may be swapped in position with one or more phases in circulation.
  • control sequence variants of sequences of phases can be determined, which occur with different probabilities.
  • the remaining times of the green period and / or the red of each signal group of the different variants with their probabilities continuously during the round trip time can be determined.
  • expectation values for the red residue times and / or for the green residue times of each signal group can be determined during one revolution, in particular during one phase.
  • the expected values are taken into account, for example, by a control device for an automatic start-stop control of a vehicle in order to operate the vehicle engine as energy-efficiently as possible.
  • the different variants of the sequences of phases with or without the failure of the optional phases can also be used to indicate a probable, but not certainly present, green area in a signal assistant on the signal group or in a vehicle. This is for example advantageous for often failing optional phases. This procedure may be advantageous, for example, for low-speed public transport vehicles.
  • the proposed control concepts for considering cooperative systems such as remaining time displays and traffic light assistants can in principle be solved in different ways: freely programmed (user logic), closed (parametrized, no user logic) logic based approach (based on SLX, for example), closed approach (parameterized, no user logic) with adaptive elements and logics for the different variations of the sequences of the phases; closed, fully adaptive approach (parametrized, no user logic) including adaptive consideration of the public transport vehicle and any combinations thereof.
  • a minimum duration for a green end of a signal group and / or a maximum duration for a red end of a signal group can be displayed and / or transmitted to a vehicle. Furthermore, remaining durations for the green end and / or for the red end of the signal groups can be regularly updated during the circulation of the phases. However, it is preferred that a value calculated once for a minimum duration of one end of the green period, i. the free movement of a signal group only increased. A once calculated value for a maximum duration for an end of the red period, i. for a locked drive through the signal group is preferably only reduced. A predicted duration and probability for both the minimum duration for the founder, i. the end of the green period as well as the maximum duration for the Rotende, i. For example, the most likely variation of the sequence of phases may be used for the end of the red period, or the switching variant of the signal conditioning closest to an expected value.
  • a simplification of the complexity of the control task can be achieved by providing an embodiment with the following Properties are used: Processes of phases are specified in parameterized form and varied rule-based. As a rule, it may be provided that optional phases may be partially or completely canceled. In addition, it can be provided as a rule that optional phases are postponed in the event of non-demand within the circulation time. Parameterized phase sequences can have phases and phase components, which in turn may fail.
  • At least one or all phases have a first sub-phase for mapping minimum release times, a second sub-phase, i. a green time necessary for mapping release times necessary for traffic control performance and a third subphase for free release times, i. a free green time for at least one signal group.
  • the third subphase may be for a free release time of a coordinated phase, i. be shortened for the third phase of a main phase of development in order to extend another stage used to accelerate public transport.
  • the third sub-phase, and in particular the second sub-phase, but not the first sub-phase may be reduced for the minimum duration of an optional phase in order to extend another phase used to speed up local public transport.
  • a distribution of the green time on the signal groups can be done adaptively for a round trip time to be able to dispense with a desired, for example, optimal performance of the traffic control on a design can.
  • public transport can be intelligently prioritized, for example by using free green times.
  • a free green time is a green time, which is not needed for the performance of traffic control.
  • a distribution of the failed, optional phases can be adaptive, taking into account, for example, secondary conditions such as a wave position of the traffic flow to obtain a desired, in particular maximum performance of the traffic control.
  • the remaining times for a green phase and / or for a red phase for the signal groups are, for example, automatically determined and adjusted during the circulation.
  • a free programming can be superimposed on the proposed method, which can use the intermediate results of the proposed method, but is itself responsible for the correct determination of the remaining times of the green phase and / or the red phase of the signal groups.
  • phase-related representation is selected.
  • signal times for a green phase, a red phase, and transition phases for the signal groups are adaptively determined, so that it is known for each phase which time shares the intermediate phases and which time portions the signal durations for red, i. blocking or green, i. free travel are assigned.
  • the phase durations are determined for all possible sequences of the phases of the signal system, as well as the green remaining times and / or the red remaining times of the signals of the signal groups.
  • FIG. 2 shows, as already explained, an example of a basic phase sequence for a round trip time.
  • the ground phase sequence includes a third phase transition 310 required for switching the signal conditioning from the third to the first phase 300, 100.
  • the first phase transition 120 is provided, which is required for switching from the first to the second phase.
  • the second phase transition 230 is provided is needed to switch from the second to the third phase. From the third phase 300 is again switched to the beginning of the basic phase sequence and go through with the start of the third transition phase 310, the basic phase sequence again.
  • the individual phases are in a necessary green time, i. the second subphase and a free green time, i. be divided into a third subphase.
  • the necessary green time is required to obtain a desired traffic control performance.
  • the free green time can also be reduced to optimize the control.
  • the necessary green time is 100A before the free green time 100B arranged.
  • the necessary green time 200A is also arranged before the free green time 200B.
  • the selected embodiment can be dispensed with a free green time.
  • FIG. 3 shows an example showing the basic phase sequence of the FIG. 2 represents, was waived on the free green period of the second phase 200.
  • the free green time 100B of the first phase 100 was compared FIG. 2 extended because the time interval for the round trip duration remains constant. The extension of the green phase is also possible for an already running phase.
  • FIG. 4 shows a switching situation in which the third phase 300, which was provided for example as an optional phase, has been completely eliminated.
  • the third phase 300 which was provided for example as an optional phase, has been completely eliminated.
  • only the first phase 100 and the second phase 200 are executed in extended form with respective transition phases 120, 210.
  • Phases can at least partially fail by first the free green time is reduced or preferably the free green time can be completely eliminated.
  • FIG. 3 is, for example, compared to the switching situation of FIG. 2 the green period 200B of the second phase 200 is omitted.
  • the free green time of a Phase can be omitted without dropping the performance of the traffic control below the desired performance.
  • a phase may also be completely eliminated if there is no requirement for the phase at the beginning of the optional required green phase of the phase. For phases that may fail in whole or in part, preferably no remaining time for the rot is determined or displayed as long as the phase has not been requested.
  • an additional boundary condition is that a green end of a signal of a signal group planned within the next predefined number x of seconds may not be preferred, the number x normally corresponding to the travel time from an adjacent intersection should be chosen to the present intersection and the required latency and calculation times.
  • a main directional phase with respect to its end of greening can be preferred if the phase-leading phase transition and the phase-leading phase transition have a time interval which is greater than the travel time from the preceding intersection to this intersection.
  • the restrictions can be reduced according to the number x of seconds to the maximum for a vehicle currently calculated travel time to the signal system.
  • a Green Wave Assistant tells a vehicle how fast the vehicle should go, so it can drive over an intersection without stopping.
  • the green wave assistant can be provided in the vehicle or at the signaling system.
  • a signal control which is executed for example by the central processing unit 12, optimal trajectories for the vehicles can be calculated, which are also based on the optimization of the signal times. In this way, optimization can be achieved with a microscopic traffic model and a rolling horizon. control engineering this results in a cascade control.
  • An external control circuit takes over the optimization of the light signal times on the basis of pre-calculated vehicle trajectories.
  • An internal control circuit attempts to implement the predicted trajectories by displaying optimum speeds or directly by autonomously driving the vehicles. An advantage of this method is that only those speeds are displayed to the driver, which are also mobile within the forecast accuracy of the traffic model. This avoids that the vehicle meets in compliance with the target speed determined by the traffic light assistant on vehicles that could not start after the release of a signal yet.
  • the described method can be used to achieve the prioritization of a public transport vehicle by means of a failure of a phase or with a change of phases.
  • a three-phase process according to FIG. 5 used with the following phase sequence: first phase 100, second phase 200, third phase 300.
  • the first phase 100 is executed in each time interval.
  • the second phase 200 and the third phase 300 are executed only on request.
  • an optional fourth phase 400 is provided, which is provided for example for a public transport vehicle such as for example for a bus or a tram and is switched only on request.
  • the fourth phase 400 may be switched at any time during the circulation time, but may occur a maximum of n times per revolution. In the example described, the number n is equal to 1.
  • the fourth phase 400 may each be provided between two phases, but only switched once during the circulation time.
  • An adaptive green time distribution is determined such that the worst-case phase sequence with a single occurrence of the fourth phase 400 is used for the calculation of the minimum green time of the signal groups, in particular for the minimum green time of the main direction.
  • This is for Example following phase sequence: first phase 100, fourth phase 400, second phase 200, third phase 300, as in FIG. 5 is shown schematically.
  • FIG. 5 shows a round trip time with a possible sequence of phases.
  • the round trip time begins with a third phase transition 310 from the third phase 300 to the first phase 100.
  • the first phase 100 has a necessary green time 100A and a free green time 100B.
  • phase transition 140 to the fourth phase 400 and, after the fourth phase 400, a phase transition 420 to the second phase 200.
  • the second phase 200 has a necessary green time 200A and a free green time 200B.
  • a phase transition 230 takes place to the third phase 300. Then, the circulation starts again from the beginning with the third phase transition 310.
  • the individual pictograms 13, 16, 14, 15 are shown for the phases.
  • the first phase 100 is shown using the first icon 13.
  • the fourth phase 400 is shown using a fourth icon 16.
  • the fourth phase 400 controls the fourth signal group 9 for a free travel for a public transport vehicle, which approaches from the fourth street 5 of the intersection 1 and wants to turn right into the first street 2.
  • the fourth phase 400 controls the first signal group 6A in the free travel manner for a public transport vehicle approaching from the first road 2 to the intersection 1 and turning to the left the fourth road 5.
  • the second phase 200 is shown using the second icon 14.
  • the third phase 300 is shown using the third icon 15.
  • the first phase 100 is a coordinated phase.
  • the coordinated phase is used for the main direction.
  • the coordinated phase may provide a signal assistant for a green wave and an indication of a red residual time for an autonomous driving system or navigation system.
  • the green area of the first phase 100 is correspondingly important.
  • the second and the third phase 200, 300 are performed only on request and have a lower green content. Accordingly important here is the remaining waiting time, that is the remaining red.
  • the fourth phase 400 is used in the proposed embodiment for the acceleration of an ⁇ PNV vehicle, that is, for the prioritization of a public transport vehicle, for example, a bus.
  • the fourth phase 400 is running, the first phase 100 is to be started, and the third phase 300 has been requested.
  • the second phase 200 and the fourth phase 400 were not requested.
  • Two predictions are calculated: a minimum remaining green phase duration of the first phase 100 that is sure to arrive 100%, and a maximum green remaining time period for the first phase 100 that occurs when the second phase 200 and fourth phase 400 are not requested.
  • the maximum remainder redness for the third phase 300 is calculated when the second phase 200 does not fail, and the minimum remainder redness for the third phase 300 when the second phase 200 and the fourth phase 400 fail.
  • the first phase 100 may be extended for public transport prioritization, that is, for the fourth phase 400.
  • phase components of other phases can be preferred.
  • only free green phases of another phase can be realized as an additional green phase of a current phase.
  • a free green phase 200B of the second phase 200 may be converted to an additional green phase 100B of the first phase 100. This procedure is advantageous if the public transport vehicle does not arrive at the designated public transport window, but rather later at the intersection.
  • the free green phase 100B of the first phase 100 can be shifted backwards if the public transport vehicle comes earlier than the planned public transport window. If, for example, the first phase 100 can be extended, the possible extension may be extended not included in the remaining green period of the first phase 100. In contrast, the residual red phase of the third phase 300 must take into account the maximum extension, that is, for example, neither the free green phase 100B of the first phase 100 nor the free green phase 200B of the second phase 200 may be included in the green residual time of the first phase 100, as yet the possibility exists that, for example, the free green time phase 100B of the first phase 100 is not used.
  • the time of the fourth phase 400 can be distributed to the following phases.
  • the next possible point in time for the fourth phase 400 is after the second phase 200 and thus the following phase sequence results: first phase 100, second phase 200, fourth phase 400, third phase 300.
  • first phase 100 third phase 300, and fourth phase 400.
  • the calculation for the greening time of the first phase 100 takes place with consideration only the proportion of time that can not fail. In the example, this is the time fraction for the free green phase 100B of the first phase 100.
  • the proportion of the free green component to the green residual duration of the first phase becomes 100 added.
  • the pre-registration of the public transport vehicle should, at best, at least as far before the beginning of public transport Windows lie, as the first phase 100 is a maximum of long. In this case, there is no residual time jump for the releases that end in the first phase 100.
  • the maximum rotation end of the second phase 200 results from the phase sequence first phase 100, fourth phase 400, second phase 200, third phase 300 when the free green component 200B of the second phase 200 is used to extend the public transport phase.
  • the maximum end of rotation results from the less favorable of the two possible following phase sequences first phase 100, second phase 200, third phase 300 and fourth phase 400 or first phase 100 , second phase 200, fourth phase 400 and third phase 300.
  • both possible phase sequences are equally favorable.
  • the shortest end of the green phase i. the far end of the signal and the longest end of the red phase, i. determines the end of the signal.
  • the shortest end of greening changes significantly during normal pre-logon times only if the green period is greater than the pre-logon time for the initiation of an optional phase.
  • co-ordination is less problematic the longer the duration is.
  • the coordinated phase in this example the first phase 100, is never significantly shifted. It is assumed that at most the free green period, ie the third subphase, can be omitted from the coordinated phase. Assuming that a pre-registration eg of a public transport vehicle arrives at least 20 seconds before the earliest arrival, ie before the beginning of a public transport time window, can for the coordinated phase, ie in a main direction always a meaningful prediction of the maximum red time and the minimum green time can be achieved.
  • the proposed method causes the optional fourth phase 400, in this example, the public transport phase to be pushed on until it is either requested by an incoming public transport vehicle or finally fails.
  • a new phase sequence results, which must be taken into account in the calculation of the red residual time and the green remaining time.
  • a generalization of this method of partial phase shifting is a partial phase change.
  • the fourth phase 400 is pushed backward by the phase sequence not only in an otherwise identical phase sequence, but the fourth phase sequence 400 can also be interchanged with each subsequent phase.
  • the phase sequence of the other phases may change.
  • an example is also shown that a phase change can lead to double annotations of a phase.
  • Doppelanalismfe should also be avoided for performance reasons.
  • FIG. 6 shows the shift of the fourth phase 400 with respect to the phase sequence of FIG. 5 backwards after the second phase 200.
  • FIG. 7 shows a further shift of the fourth phase 400 to a time after the third phase 300.
  • the circulation begins with a transition phase 410 from the fourth phase 400 to the first phase 100.
  • a transition phase 120 comes to the second phase 200
  • a transitional phase 230 arrives at the third phase 300.
  • a transitional phase 340 arrives at the fourth phase 400.
  • the sequence then begins again from the front.
  • the first phase has a necessary and a free green phase 100A, 100B.
  • the second phase 200 has a necessary and a free green phase 200A, 200B.
  • the transition phases represent phases in which no signal group has a green phase, but a switching of the signals takes place.
  • those in the FIGS. 5, 6, 7 phase sequences used only for calculating the minimum green times and / or the maximum red times used without the optional phases, in particular the fourth phase must actually be realized.
  • tx circulating seconds are designated within the orbital period of a phase sequence.
  • the signal system with the detectors is designed in such a way that the arrival of a public transport vehicle is detected no later than 25 seconds before arriving at the signal group at the fastest course of the journey or 30 seconds at the slowest course of the journey.
  • this example yields the following simple pattern for determining the earliest green end of the first phase 100.
  • the earliest possible green end of the first phase 100 is the end of the necessary green component 100A.
  • the end of the estate will always be fixed and will be greater than or equal to the required green share of 100A.
  • the greening end may also be later than the end of the necessary and the free green portion 100A, 100B, by using the free green portion 200B of the second phase 200 for an extension of the green portion of the first phase 100. If, for example, no public transport vehicle arrives at the end of the necessary green component 100A, the green end of the first phase shifts each time back for a set time, for example one second, until the end of the free green component 100A has been reached.
  • a public transport vehicle in the first phase 100 may cause the first phase 100 to be extended by a maximum of 6 seconds.
  • 6 seconds of the entire free green phase 200B of the second phase 200 are used for the extension of the green phase of the first phase 100.
  • the free green phase of the first phase can be up to 6 seconds longer, while the free green portion of the second phase and up to 6 seconds can be shorter, ie can be omitted.
  • the pre-logon time at which the detector 11 detects the arrival of the public transport vehicle prior to the actual arrival at the appropriate signal group is 25 seconds during a fast transit of the public transport vehicle, then in this case the pre-log-in time is too short by 2 seconds Open the public transport phase in good time.
  • the pre-registration time is Therefore, so short, since the beginning of the pre-logon time actually 1 second before the end of the necessary green phase should start 100A of the first switching time 100 to decide in good time whether the free green phase 100B of the first switching time 100 can be completely eliminated.
  • the reliable green remaining time of a phase can only be extended by a second if the flexibility is to be maintained that a public transport vehicle can request a fourth phase 400 at any time. Because of this property, it is proposed to also transmit information about the waveform to vehicles without the fourth phase.
  • a probability with the waveform can be transmitted, the indicates the probability of the waveform. The probability can also be specified averaged for every second.
  • a public transport vehicle is approaching the intersection and requesting a fourth phase 400, or the situation that a high priority signal intervention, for example, by a police vehicle, fire brigade or ambulance, takes place on the vehicles transferred to.
  • a high priority signal intervention for example, by a police vehicle, fire brigade or ambulance.
  • a public transport prioritization can be achieved by means of phase change. It is assumed that a traffic situation in which there is a main corridor with pronounced morning peak and evening peak. Left turns are frequented only in the main load direction and signaled specifically. In central location there is a tram. The secondary direction also has at times a pronounced traffic demand.
  • FIG. 10 shows in a schematic representation by means of pictograms a basic phase sequence for a circulation.
  • the basic phase sequence is: first phase 100, second phase 200, third phase 300 and then the fourth phase 400.
  • the first phase 100 also serves public transport (public transport), which in this case is realized by the tram. Public transport should have free access to the intersection without stopping.
  • public transport public transport
  • FIG. 11 shows a schematic representation of an adaptive signal plan of the basic phase sequence for a round trip time.
  • the orbital period begins with a phase transition 410 in which the first phase 100 is transitioned from the fourth phase.
  • phase transition 120 follows, with which the second phase 200 is transferred.
  • phase transition 230 takes place, with which the third phase 300 is transferred.
  • phase transition 340 takes place, with which the fourth phase 400 is transferred.
  • the first phase 100 means signaling the first and third signal groups 6,8 in such a way that vehicles from the first street 2 and from the third street 4 have a clearance over the intersection.
  • the second phase 200 means a signaling of the signal groups 8 and 8A in such a way that vehicles of the third street 4 in straight drive over the intersection and vehicles of the third street 4, which want to turn left into the second street 3, a release, ie a have free travel.
  • the third phase 300 means a signaling of the second signal group 7 and the fourth signal group 9 in such a way that vehicles approaching from the second street 3 and the fourth street 5 of the intersection 1 and just want to drive over the intersection 1, a release ie have free ride.
  • the fourth phase 400 means a signaling of the signal groups 6 and 6A in such a way that vehicles approaching on the first street 2 of the intersection 1 and want to drive straight over the intersection 1 or turn left into the fourth street 5, one Release received.
  • the fourth phase 400 also serves public transport, in which the tram either wants to drive straight across the intersection 1 or wants to turn left into the fourth street 5.
  • the first and the third road 2, 4 represent the main load direction.
  • the second road 3 and the fourth road 5 represent the secondary direction.
  • public transport prioritization based on the FIGS. 12 to 15 represented possible phase sequences during a circulation period.
  • the public transport windows also use the free green phase 100B of the first phase 100 the necessary green phases 300 and 400 of the third phase 300 and the fourth phase 400.
  • the necessary green phases 300 and 400 of the third phase 300 and the fourth phase 400 can be shifted in one revolution to an earlier or later circulation.
  • the green phase of the first phase 100 can be advanced and extended by 13 seconds.
  • public transport can interfere with the short-term overload of the third phase 300 and the fourth phase 400.
  • a corresponding overload can be compensated for by assigning the free green phase 100A of the first phase 100 to the third phase 300 and to the fourth phase 400 in subsequent rounds. Due to phase failures, in the example particularly likely for the second phase 200, the flexibility increases due to the attributed phase transition for another 12 seconds.
  • the first phase can be exchanged with every phase of the basic phase sequence. Corrections are necessary if this results in unfavorable signaling.
  • the second phase 200 which is the lower green phase, is replaced by a fifth phase 500 in this case.
  • the fifth phase 500 is still exchanged with the fourth phase 400.
  • the fifth phase 500 includes signaling the signal group 6A in such a way that vehicles approaching the intersection 1 on the first street 2 and want to turn left into the fourth street 5 receive a release.
  • the fifth phase 500 includes a signaling of the signal group 8A in such a way that vehicles approaching on the third street 4 of the intersection 1 and to the left in to turn off the second street 3, get a clearance.
  • This driving situation is in a fifth pictogram 17 in FIG. 13 shown.
  • each of the variants results from the necessary green components of the phases, ie by the second sub-phases an additional flexibility.
  • the necessary green components of the phases which have failed during one revolution must be made up in the next rounds. Further flexibility results from a phase failure that most likely occurs for the second phase and the fifth phase, respectively.
  • the phase durations can be commensurate with one Readaptation can also be calculated adaptively. This is particularly useful if phases can fail, the time gained can be used for both public transport and for improving the flow of traffic. If necessary, advancing or delaying portions of the phases may also be purely rule-based, for example by means of balancing.
  • the use of readaptation also has the advantage that the approaches public transport prioritization can be combined by a phase failure and public transport prioritization by a phase shift.
  • the main directional phase can not be interchanged with each phase of idle phase.
  • the public transport phase could be placed as a precipitated phase between straight and right as well as left turn.
  • the residual red times and residual green times are then calculated analogously to the method of partial phase shifting (phase change with subsequent phase).
  • the maximum Red time and the minimum green time from all possible phase sequences taking into account all possible phase extensions determined.
  • the earlier there is a pre-registration for a public transport vehicle the earlier the actual sequence of phases to be used is known. The sooner the sequence of phases to be used is known, the lower the number of variants to be calculated.
  • the aim should be to place the pre-registration time of the public transport vehicle so early that only one possible phase sequence exists at any one time.
  • phase sequences Due to the necessary correction of the phase sequence to avoid double annotations, such as replacement of the second phase 200 by the fifth phase 500 and exchange of the fifth phase 500 with the fourth phase 400, it is proposed that the possible phase sequences are not determined automatically, but manually can be specified. On the one hand, a high degree of planning flexibility is achieved by enabling phase sequences that would not arise due to the described rule-based approach. In addition, this achieves a reduction of the possible variants.
  • An advantage of the described method is to provide switching times for the signaling system on the basis of control scenarios.
  • a philosophy of the described method is to determine the best possible switching times and switching time forecasts for a given setpoint behavior of the traffic signal system including a public transport phase in order to develop cooperative systems, e.g. to allow with vehicles.
  • the quality of voluntary public transport can be voluntarily sacrificed in order to increase the quality of cooperative systems.
  • the signal groups 6, 6A, 7, 8, 8A, 9 have for the possible directions of travel, for example, a first display, for example in red for disabled, a second display, for example in yellow for transition phase, and a third display, for example in green for free ride on.
  • each signal group 6, 6A, 7, 8, 8A, 9 can have a display for a Rotende and / or a display for a Grünende.
  • the display for the green end preferably shows an earliest green end.
  • a latest Rotende is preferably displayed for the display for the Rotende.
  • a registration of a public transport vehicle at the intersection can be done by means of a detector 11, which detects the approach of the public transport vehicle towards the intersection.
  • a detector 11 which detects the approach of the public transport vehicle towards the intersection.
  • several detectors may be provided in the direction of travel in front of the intersection 1 in a road. It can be done by means of a far-off detector, a pre-registration of the public transport vehicle.
  • the second detector which is located closer to the intersection, a main registration of the public transport vehicle can take place.
  • a deregistration of the public transport vehicle can take place after the public transport vehicle has crossed the intersection and passed the further detector.
  • FIG. 16 shows a schematic representation of a vehicle 10 having a transceiver unit 22, a controller 21 and a display 23.
  • the transceiver unit 22 is designed to receive information, in particular forecasts for green times, red periods and / or probabilities for green times and / or red periods, in particular residual green times and / or residual red periods from the arithmetic units of the signal groups and / or from the central arithmetic unit 12.
  • the control unit 21 can perform the function of a motor control and / or the function of a driver assistance system. Using the engine control and / or the driver assistance system, the speed of the vehicle can be adjusted depending on the information received.
  • the controller 21 may be configured to use the display 23, the information, in particular green, red, residual green and / or residual red Represent signal groups and / or probabilities for the times.
  • a remaining time of a release and / or blocking of a signal group can be displayed, with the remaining time in particular being displayed in a time-delayed manner.
  • a predicted release time can be displayed shortened and / or a predicted lock time displayed extended.
  • the remaining time of a release area and / or the remaining time of a blocking area can be displayed graphically, wherein the graphical representation, in particular a color intensity of the graphical representation is selected differently depending on a probability for the remaining time. For example, different colors and / or different graphic representations can be selected for the different probabilities.

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EP16170796.3A 2015-06-30 2016-05-23 Procede destine a la commande d'une installation de signaux Ceased EP3113142A3 (fr)

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US20220114887A1 (en) * 2019-06-25 2022-04-14 Board Of Regents, The University Of Texas System Collaborative distributed agent-based traffic light system and method of use

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DE102012110099B3 (de) 2012-10-23 2014-01-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Prädiktionseinheit einer Lichtsignalanlage zur Verkehrssteuerung, Lichtsignalanlage und Computerprogramm

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DE10241706B4 (de) * 2002-09-09 2006-03-23 Siemens Ag Verfahren zum Steuern des Verkehrs an einem Knotenpunkt eines Straßennetzes
US8823548B2 (en) * 2010-06-15 2014-09-02 Global Traffic Technologies, Llc Control of traffic signal phases
DE102011018821B4 (de) * 2010-06-28 2014-01-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur verkehrsabhängigen Steuerung einer Lichtsignalanlage

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DE102012110099B3 (de) 2012-10-23 2014-01-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Prädiktionseinheit einer Lichtsignalanlage zur Verkehrssteuerung, Lichtsignalanlage und Computerprogramm

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220114887A1 (en) * 2019-06-25 2022-04-14 Board Of Regents, The University Of Texas System Collaborative distributed agent-based traffic light system and method of use
US11715371B2 (en) * 2019-06-25 2023-08-01 Board Of Regents, The University Of Texas System Collaborative distributed agent-based traffic light system and method of use

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