EP3360120A1

EP3360120A1 - Device and method for a driving assistance system for a vehicle and device and method for a control entity for a controllable road sign

Info

Publication number: EP3360120A1
Application number: EP16777670.7A
Authority: EP
Inventors: Stephan Sorgatz
Original assignee: Volkswagen AG
Current assignee: Volkswagen AG
Priority date: 2015-10-07
Filing date: 2016-10-04
Publication date: 2018-08-15
Anticipated expiration: 2036-10-04
Also published as: US20180286227A1; EP3360120B1; DE102015016349B4; CN108701411A; WO2017060256A1; DE102015016349A1; CN108701411B; US11222533B2

Abstract

Exemplary embodiments relate to a device (1) for a driving assistance system for a vehicle (21). The device (1) comprises a control unit (2), which is designed to detect information concerning a position of a controllable road sign (20). In addition, the control unit (2) is designed to detect information concerning the position of the vehicle (21). The control unit (2) is also designed to determine information concerning at least one expected passing time, at which the vehicle (21) passes the controllable road sign (20), based on the information concerning the position of the vehicle (21) and the information concerning the position of the controllable road sign (20). The device (1) comprises a receiving and transmitting unit (4) which is designed to provide the information concerning the expected passing time at which the vehicle (21) passes the controllable road sign (20), to a control entity (3) for the controllable road sign (20). The receiving and transmitting device (4) is further designed to receive information from the control entity (3), concerning a period of time in which the controllable road sign (20) can be passed.

Description

description

Device and method for a driver assistance system

for a vehicle as well

Device and method for a supervisory body

for a controllable traffic sign

The present invention relates to an apparatus and a method for a

A driver assistance system for a vehicle, and an apparatus and method for a controllable traffic sign controller.

Traffic lights as a form of controllable traffic signs, for example

Traffic light intersections, can represent bottlenecks in traffic and be instrumental in the quality of a traffic flow. To increase a traffic flow, are structural

Measures, especially in urban areas, usually only conditionally possible.

Conventionally, at traffic light intersections usually two separate systems, namely the traffic light and the vehicle are considered. Especially in the field of traffic lights are already conventional systems used to generate knowledge to improve a current traffic condition and switching times of the traffic lights, so that a traffic flow increase is to be effected. These may, for example, be detectors in a roadway. However, conventional traffic lights at intersections are usually severely restricted in their switching behavior. In addition, conventional vehicles usually have no possibilities to obtain information about the switching behavior of the traffic light in advance, in order to adapt a driving strategy in advance to the switching behavior. By means of radio-based communication, it may be possible to exchange information between the two systems, traffic light and vehicle, and have a common objective function

To optimize traffic flow increase. In some conventional systems for

Traffic flow improvement, a driver is informed about a current traffic light state and any upcoming switching times by means of wireless technologies, such as mobile or WLAN. As a result, the driver can then be provided with a static speed recommendation. Thus, for example, the goal is pursued to the driver support and avoid stops at traffic lights, such as at the

Projects KOLINE http: /www.projekt-koline or KOLIBRI http: /www.kolibri-projekt.de.

Furthermore, in some conventional systems, detectors in the lane that can detect vehicles are used. With this information, traffic lights can adapt their signal phases within certain limits to the current traffic. Such systems are proposed, for example, by VanMiddlesworth, Dresner and Stone in the article "Replacing the Stop Signed Unmanaged Intersection Control for Autonomous Vehicles", published in 2008 in the proceedings of the 7th International Joint Conference on Autonomous Agents and Multi-Agent Systems. The article is based on the 2004 article "A reservation-based multi-agent system for intersection control" by Dresner and Stone. One version can be found in the proceedings of the event "The 5th IFAC Symposium on Intelligent Autonomous Vehicles". In terms of content, the authors propose a system based on wireless communication between vehicles or with the traffic light. Each individual vehicle in each step asks at the traffic light or the other vehicles whether it can cross the intersection at its preferred time. Then it receives an answer "Yes" or "No". In the case of "Yes", the vehicle accelerates in the next step with maximum acceleration without exceeding its maximum speed. In the case of "No", the vehicle delays in the next step with maximum delay. As a result, under unfavorable circumstances, no optimal traffic flow can be achieved. By alternately accelerating and decelerating, this strategy can also lead to extremely uncomfortable driving behavior.

There is therefore a need to provide an improved concept for improving traffic flow, in particular in the area of traffic signs. This need is met by apparatus and methods according to the independent claims.

Embodiments relate to a device for a driver assistance system, for example for a vehicle, with a control device, which is designed to determine information about a position of a controllable traffic sign. The control device is further configured to determine information about a position of the vehicle. The control device is also designed to determine information about at least one expected pass time at which the vehicle passes the controllable traffic sign. The information is based on the information about the position of the

Vehicle and the information about the position of the controllable traffic sign determined. The device also comprises a receiving and transmitting device. The receiving and transmitting device is designed to receive the information of the expected passing time where the vehicle passes the controllable traffic sign to provide a control authority for the controllable traffic sign. The receiving and transmitting device is further adapted to receive information over a period in which the controllable

Traffic sign is passable to receive from the supervisory authority. For some

Exemplary embodiments can be better adapted to a switching behavior of the traffic sign by the control body issuing a time period at which the traffic sign is passable. Because of that

If a vehicle is first given a prediction of an estimated or desired transit date, in some embodiments, the time period in which the

Traffic sign is passable to be adapted to the expected Passierzeitpunkt, or so determined or estimated traffic flows into the switching times of the controllable traffic sign.

In addition, the control device can be designed to determine information about a speed and / or information about an acceleration of the vehicle. The control device may then be configured to determine the information about the expected passing time based on the information about the speed and / or based on the information about the acceleration of the vehicle. In some embodiments, thereby the passing time can be estimated more accurately.

Additionally or alternatively, the control device may be configured to determine information about a planned route of the vehicle and to determine the information about the expected passing time based on the information about the planned route. In some embodiments, thereby, the expected passing time can be easily estimated. The expected pass time may be, for example, an estimate or a forecast. For example, the information about the planned route of the vehicle may be provided by a navigation device of the vehicle. Under certain circumstances, more can also be expected at the expected time of passage

Information about a planned route of the vehicle to the supervisory authority are provided, such as a direction indication, such as turn left, drive straight, turn right or the like.

Additionally or alternatively, the control device may be configured to determine information about a speed and / or information about an acceleration of at least one directly preceding vehicle. The control device can then be configured to determine the information on the expected Passierzeitpunkt, based on the information about the speed and / or based on the information about the acceleration of the directly preceding vehicle. In some embodiments, thereby the passing time can be estimated more accurately. In other words, in some embodiments, other information can be used to estimate the Passierzeitpunkt, for example, values that relate to a directly ahead moving vehicle, such as its speed, acceleration or a distance to this vehicle. As a result, the determination of the expected passage time can be improved in some embodiments.

In some embodiments, the controller may be configured to output information about a driving instruction. There is the information about the

Driving instruction on how to adapt a driving behavior of the vehicle in order to pass the controllable traffic sign in the period. The information may be determined, for example, based on the information about the period in which the controllable traffic sign is passable. In some embodiments, this can be a

Driving behavior of the vehicle, for example, with respect to a start, a stop, a speed and / or the like can be influenced so that the traffic sign can be passed without further stopping or with as little further stopping operations. In general, by embodiments, a way to improve the

Flow of traffic.

In addition, the information about the driving instruction can be provided so that an interface outputs the information for a user. In some embodiments, by giving the user the information on how to adjust his driving behavior, he can be reached to pass the traffic sign in the period. The display for a user may, for example, be visually on a display surface and / or acoustically.

Additionally or alternatively, the information about the driving instruction can also be provided so that a drive train of the vehicle is controlled, so that the vehicle passes the controllable traffic sign in the period. In some embodiments, a number of stop and start operations may be reduced by automatically affecting vehicle drivability. This may possibly reduce fuel consumption and / or emissions. It can not only be a speed recommendation issued, but may directly, without a detour via a driver of the vehicle, on a speed of the vehicle influence be taken. For example, the driving instruction can also be implemented automatically via a longitudinal control. In some embodiments, not only can a constant speed be calculated or determined, but an optimal or improved driving instruction, possibly including different speeds, output. Eventually, a speed at which the vehicle passes the traffic sign, for example a crossing speed of the vehicle via a traffic light intersection, may be maximum or improved or correspond to a desired speed of a driver of the vehicle.

The control device is designed in some embodiments to the

Update Passierzeitpunkt. In some embodiments, as the outlined process may be repeated, the determination of the time period may be based on current or repeatedly updated traffic data. Changes in the volume of traffic and / or driving behavior of the vehicle can be taken into account in the short term. The Passierzeitpunkt may possibly be repeated or updated several times per second.

Embodiments relate to a device for a controllable traffic sign control instance. The device comprises a control device, which is designed to receive information about at least one expected pass time at which at least one vehicle wants to pass the controllable traffic sign. The

Control device is further configured to determine and provide information about a period in which the controllable traffic sign is passable. In some embodiments, by registering the vehicle with the control authority by notifying the desired time of passing, a higher accuracy can be achieved than in systems where vehicles are detected by detectors in the roadway. In addition, more data can be collected and switching times planned in advance. In addition, the control instance can then with some

Embodiments additional information or sizes, for example, about a turn, a desired speed of the driver and / or the like be shared. In addition, in some embodiments, the controller may obtain or estimate an accurate number of vehicles that wish to pass the traffic sign, and not just a value estimated or determined by detectors.

In addition, the period in which the controllable traffic sign can be entered is determined based on the information about the at least one expected passing time become. In some embodiments, the period can be determined such that a vehicle can pass the traffic sign without stopping or with as few starting and stopping operations as possible.

In some embodiments, the controller is configured to obtain information about at least one expected pass time from a plurality of vehicles. In some embodiments, this may be a circuit of the

Traffic sign to be adapted to a traffic volume.

The controllable traffic signal control device may include a receiving and transmitting device in some embodiments. The

Receiving and transmitting device is designed to receive the information about the at least one expected passing time by means of wireless data transmission.

Additionally or alternatively, the receiving and transmitting device can be designed to the period in which the controllable traffic sign is passable by wireless

Provide data transmission. In some embodiments, this may allow the device to be controlled by the control entity

Traffic sign outside the vehicle is arranged. For example, the device may be located at or near the traffic sign. Additionally or alternatively, the device or the control instance may also be a higher-level control unit, which is arranged at a distance from the traffic sign, for example more than 1 km, 10 km, 100 km. For example, the communication can then also take place via a plurality of vehicles, which are located at a certain distance from the traffic sign, for example in a type of ad-hoc or multi-hop network, which is formed by the vehicles.

Embodiments also relate to a driver assistance system with at least one device for a driving assistance system for a vehicle according to at least one of the described embodiments and at least one device for a controllable traffic signal control unit according to at least one of the described

Embodiments. In some embodiments, by influencing the driving behavior of the vehicle or individual road users and possibly one

Control of the signal states of the infrastructure or of the controllable traffic sign on the basis of highly up-to-date data about a traffic in the area of the traffic sign, a traffic flow can be increased. Under certain circumstances, by an optimized or improved driving style of the road user, possibly in conjunction with an optimized or improved switching behavior of the traffic sign increases traffic flow to the traffic sign and the number of stop and start operations can be reduced. In some embodiments, through the cooperation of the supervisory authority of the traffic sign with the vehicle by means of wireless communication, up-to-date data can be transmitted or exchanged from the vehicle to the traffic sign and from the traffic sign to the vehicle. The traffic sign may thus be in a position to the period or release and blocking times even more in terms of

Improve traffic flow increase, as it is possible by means of conventional detector systems. This may be possible, for example, as there is more detailed knowledge about a number and also intentions of the vehicles approaching the traffic sign. The vehicle, in turn, may in some embodiments be based on the

Information about the time period or about the release and blocking times, which the supervisory authority provides, plan its own crossing and possibly implement it partially or completely autonomously. Furthermore, in some embodiments, a realistic dynamics of the vehicles may be taken into account in a trajectory calculation and / or a determination or calculation of the time period.

Embodiments also relate to a method for a driver assistance system for a

Vehicle. This information about a position of a controllable

Traffic sign. Information about a position of the vehicle is also determined. Based on this information, information about at least one expected passing time is determined at which the vehicle is controllable

Traffic sign happens. Further, the information about the expected passing time at which the vehicle passes the controllable traffic sign is provided to a controllable traffic sign inspection authority. An information provided by the supervisory authority over a period in which the controllable traffic sign is passable is received.

Embodiments also relate to a method for a supervisory authority for a

controllable traffic sign. For this purpose, information about at least one expected Passierzeitpunkt to which at least one vehicle wants to pass the controllable traffic sign, determined. Then, information is determined over a period in which the controllable traffic sign is passable. The information is also provided. The individual processes or steps of the method can take place in the mentioned sequences and / or overlap partially or completely. Embodiments further provide a program having a program code for performing at least one of the above-mentioned methods when the program code is executed on a computer, a processor, a control module or a programmable hardware component.

In general, embodiments of the present invention may be implemented as a program, firmware, computer program, or computer program product having program code or data, the program code or data operative to perform one of the methods when the program resides on a processor or a computer programmable hardware component expires. The program code or the data can or can for example also on a machine-readable carrier or data carrier

be saved. The program code or the data may be present, inter alia, as source code, machine code or bytecode as well as other intermediate code.

Further advantageous embodiments will be described below with reference to the embodiments illustrated in the drawings, to which embodiments are generally not limited in total. Show it:

1 shows a schematic representation of a device for a driver assistance system for a vehicle according to an exemplary embodiment;

FIG. 2 shows a schematic illustration of a device for a controllable traffic sign control unit according to an embodiment; FIG.

3 shows a schematic representation of a method for a driver assistance system for a vehicle according to an exemplary embodiment;

4 shows a schematic illustration of a method for a controllable traffic sign control instance according to an exemplary embodiment; and

FIG. 5 shows a schematic illustration of a driver assistance system according to FIG

Embodiment.

In the following description of the attached figures, only a few

Exemplary embodiments show the same reference numerals may designate the same or similar components. Furthermore, summary reference numerals are used for components and objects that occur multiple times in one embodiment or in a drawing but are described together in terms of one or more features. Components or objects which are described by the same or by the same reference numerals may be the same, but possibly also different, in terms of individual, several or all features, for example their dimensions, unless otherwise explicitly or implicitly stated in the description.

In the following description of the attached figures showing embodiments, like reference numerals designate like or similar components. Further, summary reference numbers are used for components and objects that occur multiple times in one embodiment or in a drawing, but are described together in terms of one or more features. Components or objects which are described by the same or by the same reference numerals may be the same, but possibly also different, in terms of individual, several or all features, for example their dimensions, unless otherwise explicitly or implicitly stated in the description.

Although embodiments may be modified and changed in various ways, exemplary embodiments are illustrated in the figures as examples and will be described in detail herein. It should be understood, however, that it is not intended that

Rather, embodiments should be limited to the particular forms disclosed, but embodiments should cover all functional and / or structural modifications, equivalents, and alternatives that are within the scope of the invention. Like reference numerals designate like or similar elements throughout the description of the figures.

Note that an element referred to as being "connected" or "coupled" to another element may be directly connected or coupled to the other element, or intervening elements may be present. On the other hand, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements. Other terms used to describe the relationship between elements should be interpreted in a similar fashion (eg, "between" versus "directly therebetween,""adjacent" versus "directly adjacent," etc.). The terminology used herein is for the purpose of describing certain

Embodiments and is not intended to limit the embodiments. As used herein, the singular forms "a," "an," "an," and "the," are also meant to include the plural forms unless the context clearly indicates otherwise. Further, it should be understood that the terms such as "including," "including," "having," and / or "having," as used herein, indicate the presence of said features, integers, steps, operations, elements, and / or components. but does not preclude the presence or addition of one or more features, integers, steps, operations, elements, components, and / or groups thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly assigned to one of ordinary skill in the art to which the embodiments pertain. Further, it should be understood that terms, e.g. those in common use

Dictionaries are to be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not to be interpreted in an idealized or overly formal sense, unless expressly defined herein.

Fig. 1. shows a schematic representation of a device 1 for a driving assistance system for a vehicle according to an embodiment. Embodiments provide a driver assistance system with a device 1. The device 1 comprises a control device 2. The control device 2 can be, for example, any device that is designed to process at least one of the information or signals mentioned below. The controllers described herein may be implemented as a computer, processor or programmable hardware component. In some embodiments, the controller may also be implemented as a software or computer program that performs a corresponding function when executed on a processor, a computer, or a programmable hardware component. A programmable hardware component may include, for example, a processor, a computer processor (CPU = Central Processing Unit), a graphics processor (GPU = Graphics Processing Unit), a computer, a computer system, an application-specific integrated circuit (ASIC = Application-Specific Integrated Circuit) integrated circuit (IC = Integrated Circuit), a system-on-chip (SOC) system, a programmable logic element or a field programmable gate array with a micro-processor (FPGA = Field

Programmable gate array) may be formed.

The control device 2 is designed to determine information about a position of a controllable traffic sign. Here and below, information may be represented by a signal, value or date. For example, a signal may represent a binary, analog, digital or electrical value or information represented by a value. In this respect, the information can be represented as a number or a word, whereby the position can not then be displayed based on a corresponding coordinate system, for example a map.

The controllable traffic sign may be, for example, anything

Traffic signs act whose state is changeable and / or is adapted to cause a vehicle or other road users to interrupt his drive and to hold the traffic sign, such as a traffic light, a

Traffic light, a signal system, a traffic signal, a barrier or the like. The information about the position of the traffic sign may be, for example, a location of the traffic sign. In addition, other information about the traffic signs, traffic, waiting times can be transmitted, the type of stop, intersection, traffic light crossing, railroad crossing, tunnel entrance, for example, intersection topology or another traffic point, which is secured with the traffic sign. Determining the information about a position of a controllable traffic sign can, for example, by reading a corresponding information from a memory, from a

Navigation device that navigates the vehicle or the like, done. For this purpose, the memory and / or the navigation device can be coupled to the control device, so that an exchange of information, for example in the form of signals, is possible. Additionally or alternatively, the control device 2 may also determine the position of the controllable traffic sign by being controlled by a control entity 3 for the controllable traffic signal

Traffic sign receives a provided information. For example, the

Control instance 3 and the control device 2 via wireless signal transmission, such as wireless, wireless, mobile or the like may be coupled. In other words, the information about the position of the traffic sign may be stored in the traffic sign or a device 5 associated with the traffic sign, to be described in more detail later, and / or may be determined therefrom by GPS, for example. A

Transmitting device 7 of the device 5 can then be designed to provide the information about the position of the traffic sign. The control device 2 is further configured to determine information about a position of the vehicle. The information about a position of the vehicle can be provided, for example, via the navigation device that navigates the vehicle or a GPS sensor (abbr .: Global Positioning System) of the vehicle. For example, the memory, the navigation device and / or the GPS sensor can be coupled to each other in such a way that they can exchange signals. For example, the information about the position of the traffic sign can be determined by the traffic sign itself, for example because it is stored there. Then, the information can be transmitted to the vehicle, for example by wireless communication.

The control device 2 is further designed to be at least one expected

Passing time to determine when the vehicle passes the controllable traffic sign. At Passierzeitpunkt this may be an (estimated) expected value to which the vehicle arrives at the traffic sign. The Passierzeitpunkt may include a discrete time value or a period. The Passierzeitpunkt is determined based on the information about the position of the vehicle and the information about the position of the controllable traffic sign.

In some embodiments, further information can also be included in the determination of the passing time, for example information about a current one

Speed of the vehicle and / or possibly other information, such as a position and / or a speed of at least one preceding vehicle. For example, a radar sensor of the vehicle can be used to determine the values of a vehicle in front, for example a directly ahead vehicle

Vehicle, to determine.

Furthermore, the device 1 comprises a receiving and transmitting device 4, which with the

Control device 4 is arranged, which is adapted to provide the information of the expected Passierzeitpunkts at which the vehicle passes the controllable traffic sign, the control body 3 for the controllable traffic sign. The herein

described receiving and transmitting devices may include in typical embodiments transmitter or receiver components. These may include, for example, one or more antennas, one or more filters, one or more mixers, one or more amplifiers, one or more diplexers, one or more duplexers, and so on. For example, in embodiments, these can be at least one element of the group of WLAN communication module ("Wireless Local Area Network"), Bluetooth Communication module, cellular communication module, Universal Mobile Telecommunication System (UMTS) communication module, Long Term Evolution (LTE) communication module, communication module of a 5th generation cellular network, wireless communication module, and communication module for cellular

Mobile network. Provision may be, for example, sending or transmitting to the control entity 3. The control entity 3 can be any device that is designed to provide the controllable traffic sign

control, such as a programmable hardware component.

The receiving and transmitting device 4 is further adapted to receive information about a period in which the controllable traffic sign is passable from the

To receive control instance. The period of time may be a discrete time value or an answer in the form of "yes" or "no" to a requested pass time,

differ. The period may be, for example, at least 1 second. Furthermore, the period can begin at a defined time. Optionally, the period can be defined by a time at which it begins and a time at which it ends.

FIG. 2 shows a schematic representation of a device 5 for a controllable traffic sign control entity 3 according to an exemplary embodiment. The device 5 comprises a control device 6, which is designed to obtain information about at least one expected passing time at which at least one vehicle wants to pass the controllable traffic sign. In the embodiment of FIG. 2, the control entity 3 comprises the device 5.

Embodiments also provide a control entity 3 with the device 5. Die

Control device 6 can receive the information about the expected passing time, for example, from the device 1 of the vehicle. The control device 6 is further configured to determine and provide information about a period in which the controllable traffic sign is passable. The provision of the information can take place, for example, via a receiving and transmitting device 7, which is designed to receive the information about the at least one expected passing time by means of wireless data transmission and / or by the period in which the controllable

Traffic sign is passable to provide by wireless data transmission. The receiving and transmitting device 7 and the control device 6 are coupled together. .)

FIG. 3 shows a schematic representation of a method 10 for a driver assistance system for a vehicle according to an embodiment. In the method 10, in a first operation 11, determination of information about a position of a controllable traffic sign takes place. For example, when approaching the controllable traffic sign equipped with a required radio technology, wireless communication with the vehicle also equipped with the radio technology may be started. The traffic light or the control authority of the traffic sign sends in the first process 1 1 information about a position of the traffic sign and possibly on an intersection topology to the vehicle. In another embodiment, the vehicle initiates such communication when it is determined that a controllable traffic sign is on the way.

In a second process 12, information about a position of the vehicle is determined. For example, the vehicle or its device 1 can now locate itself relative to the traffic sign with the aid of its own positioning system, for example GPS. Thus, the device 1 knows, among other things, how far away the vehicle is from the traffic sign and possibly with a correspondingly accurate location system on which lane it is located.

In a further process 13, at least one expected passing time is determined at which the vehicle passes the controllable traffic sign, based on the information about the position of the vehicle and possibly information about its current speed and / or plus other possible quantities and the information about the vehicle Position of the controllable traffic sign. In other words, the device 1 or the vehicle with this information and by means of its own

Desire desired speed, in which time interval it pass the traffic sign, for example, a traffic light crossing, preferably cross over.

Then, in a further process 14, provision is made of the information about the expected passing time at which the vehicle passes the controllable traffic sign for a control entity of the controllable traffic sign. For example, a planning interval or the passing time is sent to the traffic light by means of radio technology.

In a subsequent process 15, information about a period in which the controllable traffic sign is passable, received. This information is provided by the control entity 3. In some embodiments, those of the Traffic lights planned release and blocking times communicated to all currently in communication with the traffic lights vehicles. The traffic light system or the

Traffic signs may be equipped with a computing unit that manages all current planning intervals of all vehicles that have transmitted this, and on this basis calculates currently optimized release and blocking times. For some

Embodiments may also be only about the Passierzeitpunkt or a

Planning interval of a vehicle act.

The control device 2 of the vehicle can now determine information about a driving instruction based on the information provided by the control unit 6 or the traffic light. In other words, based on the time periods provided, which can also be expressed in terms of switching times, an approach of the vehicle to the traffic sign in terms of time and in a specific embodiment of a driving maneuver can be planned.

FIG. 4 shows a schematic illustration of a method 16 for a controllable traffic sign control instance according to an exemplary embodiment. In the method 16, in a first operation 17, an information is determined about at least one expected passing time, to which at least one vehicle controls the controllable

Traffic sign wants to pass. In a further process 18, a period in which the controllable traffic sign is passable is determined. Subsequently, in a process 19, provision is made of information about the period in which the controllable traffic sign can be passed.

FIG. 5 shows a schematic illustration of a driver assistance system 22 according to one exemplary embodiment. A vehicle 21 equipped with the device 1 approaches a controllable traffic sign 20, for example a traffic light intersection with a traffic light. The traffic sign 20 is assigned the control instance 3 or the device 5 for the control entity 3. The control entity 3 or its device 5, is designed to provide information for the controllable traffic sign 20 about a switching state. In some embodiments, the controllable traffic sign 20 or the control entity 3 or the device 5 may be equipped with a Car-2-X radio technology. The vehicle 21 receives from the control entity 3 information about a position of the

Traffic sign 20, for example, the position of the traffic light. For example, with the aid of own positioning systems, the vehicle 21 or the device 1 can associate with the traffic sign 20, which can also be referred to as a relevant signal group, and a distance to the traffic sign 20 or a stop line that specifies the traffic sign 20 determine. In other embodiments, the position may be determined, for example, via a map.

By means of a set driver's desired speed, the control device 2 of the device 1 of the vehicle 21 may, in some embodiments, determine, for example calculate or estimate, a time interval in which it can be controlled

Traffic sign 20 wants to pass the traffic light crossing. These data are transmitted as information about the expected Passierzeitpunkt possibly together with a current position of the vehicle 21 and possibly information about a lane on which it is located, for example by means of Car-2-Χ, to the control entity 3 and the traffic light system. In other embodiments, other sizes for determining the

Passing time punks or the time interval are used, for example, a momentary speed or behavior of at least one front vehicle, which can be identified for example by means of radar.

Of course, a plurality of vehicles may be equipped with devices 1. The control unit 3 or the traffic light can then the information of all vehicles 21, which are equipped with devices 1 and currently in communication with the

Consider, in order to determine with the help of this highly up-to-date traffic data information over a period in which the traffic sign 20 passable. For example, optimized release and blocking times can be calculated. Moreover, in some embodiments, it may be possible to combine a conventional technology for detecting a traffic situation, for example sensors in the roadway, with the driver assistance system 22. In some embodiments, a quality of traffic detection can be improved as well as not with the

Device 1 equipped vehicles can be detected or taken into account.

In some embodiments, different target functions may be on their

Basis the controllable traffic sign 20 can determine its release and blocking times, be feasible. The target functions may, for example, be specifications in which way the traffic flow is to be optimized, for example with regard to emission, fuel consumption, flow, noise and / or the like. In some embodiments, various target functions may come into question, on the basis of which the control device 2 of a single vehicle 21 plans a passage, or outputs the information about the driving instruction. Thus, a vehicle can be characterized by being in the Know ahead of a period or a time window in which a pass or a crossing is possible to perform better energy-saving measures such as sailing or recuperation in some embodiments. For example, it may be possible for the controllable traffic sign 20, such as a signal system, to attempt to realize as much as possible the information about the expected pass times, which may also be referred to as preferred pass intervals obtained from the equipped vehicles 21 , For example, a sum of the squares of the differences of the planned crossover time and the actual crossover time of the individual vehicles in the target function could be minimized. This may possibly result in that an enabling time for individual crossing arms can be determined or calculated approximately analogously to a strength of a traffic stream located on the crossing arm. Among other things, in some embodiments such an objective function can also prevent vehicles from having to wait disproportionately long on a low-traffic side arm of an intersection. In addition, in some embodiments, pedestrian inquiries may also be required

Consider, for example, on the basis of forecasts or heuristics, so possibly not equipped with the device 1 road users in a

Optimization of the release and blocking periods can be incorporated.

The planned period in which the controllable traffic sign 20 is passable or the planned release and blocking times is then communicated by the control entity 3 to the vehicles 21 equipped with the device 1. The vehicles 21 can now plan the specific design of their crossing on the traffic light junction and possibly implemented automatically, for example, by a corresponding control of a drive train of the vehicle 21. For example, can be output from the control device 2 information about a driving instruction, the information about the Driving instruction indicates how to adapt a driving behavior of the vehicle 21 in order to pass the controllable traffic sign 20 in the period. For example, the drive train can be controlled via an interface of a driver assistance system, for example via a system for automatic distance control (abbr .: ACC system or ADC of: Active Distance Control). The control can be done, for example, longitudinally controlled. Longitudinally controlled may mean, for example, that the device is able to influence the speed of the vehicle, for example by braking and / or accelerating. For example, there are no automatic steering movements, as in a transverse control possible.

The vehicle 21 may also receive information about other road users in some embodiments, for example via an on-board sensor system and / or Radio messages of the subscribers and / or the control unit 3 of the controllable traffic sign 20. The information about the driving instruction can be used in some cases

Embodiments based on this information about other road users are issued or the information can also be included in the choice of the driving maneuver to be performed. As a result, in some embodiments, an execution of subsequent manoeuvers may be initiated in which the vehicle 21 follows its forward or a directly ahead vehicle. For example, here too

different strategies can be realized. In other embodiments, other objective functions underlying the traffic light and auto-tuning may also be selected.

In addition, in some embodiments, the information about the driving instruction may indicate how to adapt a driving behavior such that in the period vehicles 21 that are on a lane pass the traffic sign 20 in the same period of time.

For example, vehicles 21 that are on a track and the device 1 may have a common passage of the traffic sign 20 or one

coordinate common crossing over the intersection. This can be done for example via wireless communication.

The described methods 10 and 16 or a corresponding algorithm can

for example, run cyclically, for example, with a repetition rate of at least 1 Hz, 5Hz or 10Hz. As a result, in some embodiments, a change of a

Switching state of the controllable traffic sign 20, for example, the period in which the traffic sign 20 passable, possibly due to changes in a

Traffic demand, be possible at any time or in a timely manner. Additionally, in some embodiments, individual vehicles 21 may be highly dynamically responsive to changes in their environment.

In some embodiments, the control entity 3 or at least the device 5 may also be spatially associated with the controllable traffic sign 20. In other embodiments, the control entity 3 and / or the device 5 may be arranged spatially detached from the traffic sign 20. In some embodiments, devices 1 and 5 do not communicate directly with one another. Optionally, the data transfer can also take place via a plurality of vehicles 21 with the device 1. In other words, in some embodiments, the expected

Passierzeitpunkt or the transit times of vehicles 21 on the traffic light junction not necessarily managed by the traffic light. It may then also be possible, for example, that Vehicles 21 having the device 1 to each other determine a period in which each vehicle 21 can pass the controllable traffic sign 20. For example, the vehicles 21 may then tune and / or communicate a crossover strategy via an intersection.

In the control instance 3 and the traffic sign 20 may be in some

Embodiments, for example, in contrast to other road users, such as the vehicle 21 to act a central, automaker-independent entity. The

Control entity 3 can in some embodiments organize a binding traffic control and can therefore be selected as a communication partner in a highly complex traffic maneuver of passing a controllable traffic sign 20, such as a traffic light crossing, as a communication partner. The control entity 3 can function as an information distributor between different vehicles 21 in some embodiments, for example because of their central positioning. In addition, in some embodiments, pedestrian traffic and vehicular traffic that is not equipped with the device 1 may be better taken into account when the vehicle

Control entity 3, a management and calculation of the period in which the vehicle 21 can pass the traffic sign 20, which can also be referred to as vehicle pass horizons, takes over.

In embodiments based on the Car-2-Χ technology, an adequate and sufficient range for the function can be achieved. Compared to systems based on mobile technology, shorter latencies may be possible.

In some embodiments, the highest possible and balanced

Traffic flow can be achieved. This can be a so-called traffic light target function. The concrete embodiment could be defined in a traffic light objective function. The highest and most balanced flow of traffic can be a universal measure that all road users and also cities and municipalities are interested in raising. If the period in which the traffic sign is passable or the release and lock times are calculated and communicated to the individual vehicles 21, it may be desirable that the vehicles 21 with the device 1 try to reduce their own consumption. Optionally, additional collusion of vehicles 21 equipped with the device 1 over a common crossing may be positive, for example, in terms of fuel consumption or emission reduction. For example, such arrangements may also be executed across manufacturers in some embodiments.

In some embodiments, it may be possible for the control entity 3, for example in the form of a traffic light system, to have extremely precise knowledge of a current traffic situation. The quality of this knowledge may possibly increase with an increase in equipment level, that is to say with a number of vehicles 21 which have the device 1 and want to pass the traffic sign 20. In some embodiments, additional information may be provided by conventional traffic detection technologies, for example by means of sensors in a pavement. By greatly increasing knowledge of the current traffic situation, it may then be possible to substantially improve a traffic light circuit or a traffic flow.

By influencing the switching time of the traffic light or the controllable

Traffic sign 20 by the vehicle 21 and the subsequent dynamic calculation or determination of optimal trajectories or information about a driving instruction can be achieved in some embodiments, a prolonged forecast. The information about a driving instruction or the specific trajectories can, for example, be optimal in terms of differently definable target functions. In other words, in some embodiments, which may also be referred to as cooperative optimization of a traffic light phase and a vehicle driving maneuver, realistic driving dynamics can be taken into account in the planning of the trajectories and the release times of the traffic light or the traffic sign 20. This may eventually lead to much more realistic driving maneuvers than with conventional systems. It may be necessary to consider realistic dynamics to successfully install embodiments in the vehicle 21.

In embodiments in which the control entity 3 determines the release times or periods in which the traffic sign 20 is passable, the individual lanes, the logic may be more intelligent than in some conventional systems in which a so-called first-come first-serve principle (from engl .: Who comes first, is served first principle) is realized.

In addition, compared to other conventional systems, where for each

Vehicle request at a planned transit time over the intersection only "Yes" or "No" is reported back, in some embodiments, a large number of calculations and avoiding requests and passing can be scheduled earlier, which in turn can lead to better quality results. This may be the case, for example, because in the system according to embodiments, if the answer to a corresponding request with an expected passing time would be "No", not only a "No" is communicated, but also the whole of the device 1 of the vehicle 21 Time horizon is already blocked. This can either be done explicitly or at least implicitly, by providing the period in which the

Traffic sign 20 is passable.

The devices 1 and 5 according to embodiments can be used in all vehicles and traffic lights, which have the necessary technology. For example, the vehicle 21 may have a possibility of longitudinal regulation by means of driver assistance systems, for example distance controls (for example ACC), a hardware for a radio-based

Communication with the supervisory authority 3 and / or other road users, for example according to the Car-2-X standard have. Further, the vehicle may, for example, a way for an own location of the vehicle, for example via GPS, and a

Arithmetic unit, which may include the device 1 have. The traffic sign 20 or the traffic light system can also with the necessary radio technology and with a corresponding processing unit for the management of vehicle inquiries and

Signal state optimization, for example, the control instance 3, be equipped.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-Ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals, which can cooperate with a programmable hardware component or cooperate such that the respective method is performed.

A programmable hardware component may be implemented by a processor, a

A computer processor (CPU = Central Processing Unit), a graphics processor (GPU = Graphics Processing Unit), a computer, a computer system, an application-specific integrated circuit (ASIC = Application-Specific Integrated Circuit), an integrated circuit (IC = Integrated Circuit) One-chip system (SOC = system on chip), a programmable logic element or a field programmable gate array may be formed with a microprocessor (FPGA = Field Programmable Gate Array).

The digital storage medium may therefore be machine or computer readable. Thus, some embodiments include a data carrier having electronically readable control signals capable of interacting with a programmable computer system or programmable hardware component such that one of the methods described herein is performed. An embodiment is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the

Program for performing any of the methods described herein is recorded.

For example, a program according to one embodiment may implement one of the methods during its execution by, for example, reading or writing one or more data into memory locations, optionally switching operations or other operations in transistor structures, amplifier structures, or other electrical, optical, magnetic or caused by another operating principle working components. Accordingly, by reading a memory location signals, data, values, sensor values or other information can be detected, determined or measured by a program. A program can therefore acquire, determine or measure quantities, values, measured values and other information by reading from one or more storage locations, as well as effecting, initiating or executing an action by writing to one or more storage locations and other devices, machines and

Control components.

The embodiments disclosed in the foregoing description, the following claims and the attached figures as well as their individual features can be used both individually and in any combination for the realization of an embodiment in their different designs are important and implemented. In some other embodiments, features may appear in others

Embodiments are disclosed as a device feature, also be implemented as a method features. Furthermore, where appropriate, features that may be present in some

Embodiments are implemented as method features, in others

Embodiments may be implemented as device features.

List of Reference Devices

control device

supervisory

Receiving and transmitting device

contraption

control device

Receiving and transmitting device

method

Determine

Provide

Receive

method

Determine

Provide

controllable traffic sign

vehicle

Driving Assistance System

Claims

claims

Device (1) for a driving assistance system for a vehicle (21), comprising: a control device (2) which is designed to determine information about a position of a controllable traffic sign (20);

wherein the control device (2) is further configured to determine information about a position of the vehicle (21);

wherein the control device (2) is designed to determine information about a speed and / or an information about an acceleration of at least one directly preceding vehicle;

wherein the control device (2) is further configured to determine information about at least one expected passing time at which the vehicle (21) passes the controllable traffic sign (20) based on the information about the position of the vehicle (21) and the vehicle Information about the position of the controllable traffic sign (20) and the information about the speed and / or the information about the acceleration of the directly preceding vehicle; and

a receiving and transmitting device (4), which is designed to transmit the information of the expected passing time, at which the vehicle (21) passes the controllable traffic sign (20), to a controllable traffic sign control unit (3) (20)

provide; and

wherein the receiving and transmitting device (4) is further adapted to receive information from the control entity (3) for a period of time in which the controllable traffic sign (20) is passable.

2. Device according to one of the preceding claims, wherein the control device (2) is designed to determine information about a speed and / or information about an acceleration of the vehicle (21), and wherein the control device (2) is formed, the information about the expected passing time, based on the information about the speed and / or based on the information about the

To determine acceleration of the vehicle (21).

3. Device according to one of the preceding claims, wherein the control device (2) is adapted to receive information about a planned route of the vehicle (21) determine, and wherein the control device (2) is adapted to determine the information on the expected passing time, based on the information on the planned route.

4. Device according to one of the preceding claims, wherein the control device (2) is adapted to output information about a driving instruction, wherein the

Information about the driving instruction indicates how to adapt a driving behavior of the vehicle (21) to pass the controllable traffic sign (20) in the period of time, based on the information about the period in which the controllable traffic sign (20) is passable.

5. The apparatus of claim 4, wherein the control device (2) is designed to provide the information about the driving instruction, so that an interface outputs the information for a user and / or a drive train of the vehicle (21) is driven accordingly, so a driving behavior of the vehicle (21) is adapted to pass the controllable traffic sign (20) in the period.

6. Device according to one of the preceding claims, wherein the control device (2) is designed to update the Passierzeitpunkt.

Device (5) for a control entity (3) for a controllable traffic sign (20), having the following features:

a control device (6) which is designed to receive information about at least one expected time of passage, to which at least one vehicle (21) controls the control

Traffic sign (20) wants to pass; and

wherein the control device (6) is further adapted to determine information over a period in which the controllable traffic sign (20) is passable, and

provide.

8. Apparatus according to claim 7, wherein the period in which the controllable

Traffic sign (20) is passable, is determined based on the information about the at least one expected Passierzeitpunkt.

A device according to claim 8, wherein the control means (6) is arranged to obtain information about at least one expected passing time from a plurality of vehicles (21).

10. Device according to one of claims 7 to 9, further comprising a receiving and transmitting device (7), wherein the receiving and transmitting means (7) is adapted to the information about the at least one expected passing time by means of wireless

Receive data transmission and / or the period in which the controllable

Traffic sign (20) is passable to provide by wireless data transmission.

1 1. A method (10) for a driver assistance system (22) for a vehicle (21) having the following features:

Determining (1 1) information about a position of a controllable traffic sign

(20);

Determining (12) information about a position of the vehicle (21);

Determining information about a speed and / or information about a

Acceleration of at least one directly preceding vehicle;

Determining (13) information about at least one expected passing time at which the vehicle (21) passes the controllable traffic sign (20) based on the information about the position of the vehicle (21) and the information about the position of the controllable traffic sign and the Information about the speed and / or the information about the acceleration of the directly preceding vehicle;

Providing (14) the information about the expected time of passage to which the vehicle

(21) the controllable traffic sign (20) passes, a supervisory authority for the

controllable traffic signs (20); and

Receiving (15) information for a period of time in which the controllable

Traffic sign (20) is passable by the supervisory authority.

12. A method (16) for a control unit (3) for a controllable traffic sign (20), comprising:

Determining (17) information about at least one expected pass time at which at least one vehicle (21) wishes to pass the controllable traffic sign (20);

Determining (18) a period in which the controllable traffic sign (20) is passable; Providing (19) information about the period in which the controllable

Traffic sign (20) is passable.

A program code program for carrying out the method of claim 11 or 12 when the program code is executed on a computer, processor, control module or programmable hardware component.