EP3827423A1 - System zum steuern einer verkehrsführung an einer kreuzung - Google Patents
System zum steuern einer verkehrsführung an einer kreuzungInfo
- Publication number
- EP3827423A1 EP3827423A1 EP19748726.7A EP19748726A EP3827423A1 EP 3827423 A1 EP3827423 A1 EP 3827423A1 EP 19748726 A EP19748726 A EP 19748726A EP 3827423 A1 EP3827423 A1 EP 3827423A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- radar sensor
- radar
- traffic
- intersection
- sensor
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 21
- 230000005855 radiation Effects 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 239000000446 fuel Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/917—Radar or analogous systems specially adapted for specific applications for traffic control for marine craft or other waterborne vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0232—Avoidance by frequency multiplex
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0233—Avoidance by phase multiplex
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0234—Avoidance by code multiplex
Definitions
- intersections are objects in which several traffic routes meet. These can be intersections or junctions of two streets, but also, for example, freeway entrances and exits.
- the invention is not limited to road traffic routes. It can also be used for shipping traffic routes or air traffic routes.
- the routing of the individual traffic flows must ensure that, on the one hand, there are no accidents and, on the other hand, the individual traffic flows flow as efficiently as possible.
- corresponding signaling devices are available at the intersection, which are designed, for example, for traffic in the form of traffic lights.
- the signal systems can give a stop signal or a travel signal for different partial traffic flows, so that it can be controlled which traffic flows can pass the intersection area at what time.
- the traffic routing at an intersection is controlled as required.
- the traffic flow of the respective larger traffic route the free travel signal as standard and to only give the free traffic signal to the smaller traffic route if it is detected by appropriate sensors that a road user approaches the intersection on this smaller traffic route. Only in this case is the stop signal assigned to the traffic flow of the larger traffic route in the embodiment described, so that the road user can pass the intersection area on the smaller traffic route.
- Similar designs are known, for example, in the case of pedestrian traffic lights, in which a pedestrian who wants to cross a street at the traffic lights, for example, actuates an actuating element, for example in the form of a push button, and in this way the clearance signal, in the exemplary embodiment mentioned, the green traffic light , requests.
- the invention is therefore based on the object of improving a system for controlling traffic routing at an intersection.
- the invention achieves the object set by a system for controlling traffic routing at an intersection of at least two traffic routes, the system comprising a first radar sensor, which has a first detection area, for detecting road users on a first traffic route, a second radar sensor, the one has a second detection area for detecting road users on a second traffic route, the first detection area and the second detection area overlap in at least one overlap area, and has an electronic data processing device which is set up to provide the sensor data of the first radar sensor and the sensor data of the second radar sensor to combine at least partially to combination signals and to control the traffic routing at the intersection at least depending on the combination signals.
- the system preferably has at least one radar sensor for each traffic route that meets the intersection.
- radar sensors which is known from the prior art for detecting road users, has the advantage that it functions independently of the prevailing light and visibility conditions.
- the measurement result of a radar sensor is independent of daylight and works even in fog or blowing snow.
- a system for controlling traffic routing at an intersection of at least two traffic routes forms, the system comprising a first radar sensor, which has a first detection area, for detecting road users on a first traffic route, a second radar sensor, which has a second detection area a separate invention for detecting road users on a second traffic route and an electronic data processing device which is set up to control the traffic routing at the intersection depending on the sensor data of the first radar sensor and the sensor data of the second radar sensor. All preferred configurations can also be applied to such a system. This also applies in particular when the first detection area and the second detection area overlap in at least one overlap area.
- Each of the radar sensors used has a detection area in which it can detect several road users. The radar sensor emits radar radiation that is reflected by the respective road user.
- This reflected radar radiation is received by a receiver part of the radar sensor.
- Information about the position and the radial speed of the road user can be determined from the received data.
- the radial speed is preferably determined with a typical accuracy of less than 0.5 m / s, preferably less than 0.2 m / s, particularly preferably less than 0.1 m / s.
- the two detection areas of the various sensors overlap in at least one overlap area. This means in particular that road users located in this overlap area reflect radar radiation from a number of radar sensors and thus from each of the radar sensors whose detection areas are different overlap, can be detected so that multiple detection of these road users takes place.
- the radial speed and the position of the road user to each of the radar sensors with the overlapping detection range can be determined on the basis of the data of each of the radar sensors, it is advantageous for the accuracy, the resolution and the error safety, to combine the sensor data of several of these sensors in order to obtain information about the road user.
- the data processing device is set up to obtain information about road users from the sensor data, the information about road users in the overlap area being obtained from sensor data of the first radar sensor and sensor data of the second radar sensor.
- the sensor data are conventionally processed in several stages.
- a so-called raw target acquisition is carried out.
- the position and / or radial speed of the road user who reflected the emitted radar radiation from the respective radar sensor are determined. All that is required is reflected radar beams that are received by a radar sensor.
- these raw targets are tracked. Changes in position and / or radial velocity over time are determined. In principle, this is also possible with the sensor data of only one sensor.
- the radar sensors have different locations and / or orientations
- the positions of the respective road user are advantageously determined by each of the radar sensors and the radial speeds of the road user relative to the respective sensor on the basis of sensor data of each of the individual radar sensors, while the tracking or “tracking” takes place on the basis of the combination signals.
- the sensor data of different radar sensors are already combined into combination signals before the raw target detection takes place.
- Each of these configurations means that information about individual traffic participants in overlap areas, on the basis of which the traffic control of the intersection is controlled by the electronic data processing device, is determined on the basis of sensor data from a plurality of radar sensors, which have been combined to form combination signals.
- This has a number of advantages. Since the radial speeds of a road user to two radar sensors spaced from one another run in different directions, it is possible in this way, for example, to determine the speed vector completely, at least within one plane. This is particularly advantageous if the Traffic routes in the area before the intersection are not straight, but in the form of curves.
- the reflection cross section which is a measure of the strength of the backscatter, can be very different in different directions.
- a cyclist who is exposed to radar radiation from the front has a significantly smaller reflection cross-section and thus generates a significantly smaller reflection signal than the same cyclist who is irradiated with the same radar radiation from the side, for example from the left or right.
- small road users such as pedestrians or cyclists, and in particular children, can be detected and tracked significantly better and more reliably by this combination of the sensor data from different radar sensors to form combination signals.
- the control of the traffic routing at an intersection is generally carried out on the basis of information about road users, which contains, for example, traffic volume, a speed distribution or a classification of vehicle and other road users.
- the combination of the sensor data from different radar sensors to combination signals can therefore provide the traffic management control with a better data basis.
- at least one of the radar sensors, but preferably several or particularly preferably all radar sensors, is set up and arranged to detect a road user also in an interior intersection and / or an enlarged interior intersection.
- an intersection is divided into an interior intersection area, an enlarged interior intersection area and an exterior intersection area.
- the traffic routes leading to the intersection form the outer area of the intersection. It ends at the respective stop lines of the individual traffic routes, regardless of whether they are part of a road marking or not.
- the interior of the intersection forms the area that is actually part of all traffic routes leading to the intersection. If two streets intersect at right angles, the interior of the intersection forms a rectangle if the traffic routes are different, and a square if they are the same width.
- Between the interior of the intersection and the exterior of the intersection is the expanded interior of the intersection, which is therefore delimited on one side by the respective stop lines of the traffic routes and on the other side by the interior of the intersection.
- This extended interior of the intersection contains, for example, pedestrian crossings, bike paths and other elements.
- the system preferably the first radar sensor (18) and / or the second radar sensor (20), is preferably set up from the sensor data (34, 36) of the respective radar sensor (18, 20) a position and a radial speed of road users in each case Determine the detection range of the respective radar sensor in one measurement cycle. This is particularly preferably already done within the respective radar sensor. In this way, the future traffic volume at the intersection, for example the traffic volume to be expected within the next half minute, can also be determined and the control of the traffic management can be coordinated accordingly. The larger the detection range of the respective radar sensors on the respective traffic route, the further in advance the control of the traffic routing can be adapted to the future traffic volume. The determination is preferably made by the respective sensors.
- a single measuring cycle which has, for example, a plurality, for example radar signals in the form of 128, 256 or 512, frequency ramps. This allows the position and the relative speed to be determined often and in quick succession. So that in particular tracking of the traffic participants (tracking of the raw targets) is possible in a precise and timely manner is.
- the position and the radial speed are determined by the electronic data processing device. In the described embodiments of the invention, this does not have to be realized by a single device, but can be distributed over various devices and sub-devices.
- the electronic data processing device When determining by the electronic data processing device, only sensor data of one of the radar sensors is preferably used to determine the position and the radial speed.
- the electronic data processing device is not only set up to control the traffic routing, but also to transmit information about registered traffic participants to other recorded traffic participants. This is particularly advantageous if the road user, for example a motor vehicle, has a corresponding interface in order to process this data.
- the Car-2-X technology is preferably used, particularly preferably in the form of the Car-2 infrastructure.
- the electronic data processing device is set up to transmit information about future control measures to registered road users.
- This information which is sent to the road user, can be shown to the driver, for example, on the display of a motor vehicle.
- the driver thus receives information early on, for example, that the signal that is valid for him, for example a traffic light, will change within the next few seconds. This prevents an abrupt and surprising braking due to a sudden change in signal.
- This is advantageous for the fuel consumption of the respective vehicle and, of course, also for traffic safety, since an abruptly braking vehicle represents a danger for subsequent road users.
- the Car-2-X technology is preferably used, particularly preferably in the form of the Car-2 infrastructure.
- the radar sensors and / or the electronic data processing device are set up. Assign participants to a vehicle class, a lane and / or a direction of travel. This information can also be used to control traffic management.
- the registered road user can be in the interior of the intersection, in the enlarged interior or in the exterior of the intersection, for example at a distance of more than 35 m, preferably more than 45 m, particularly preferably more than 75 m from the intersection.
- the assignment of the road user to a lane which can also be called a lane, for example via a trajectory recorded during the tracking, which the road user travels. This is particularly advantageous for the areas of the intersection where the corresponding lanes or lanes have not been identified by road markings. This is particularly the case in the interior of the intersection.
- one of the radar sensors and / or the electronic data processing device detects that a heavy vehicle, for example a truck, is approaching on one of the traffic routes at a speed at which it crosses the intersection shortly before or shortly after a traffic light signal is switched from If the drive reaches the stop signal, the control can extend the corresponding free travel phase for this traffic route by a few seconds in order to prevent an unnecessary abrupt and complete braking of this heavy road user. This also reduces the fuel consumption of the road user on the one hand, since starting and accelerating again is avoided, and on the other hand increases traffic safety since subsequent road users do not have to react to a truck suddenly braking.
- a heavy vehicle for example a truck
- the mass and / or speed of road users can be incorporated in the control of the traffic management in this way. If, for example, one of the radar sensors detects a truck on a right-turn lane and a cyclist on the cycle path next to it, this can also be included in the control. The relevant information can be transmitted to the truck and shown in the driver's display. Stuff are displayed so that the risk for the cyclist, which is caused by the fact that the driver of the truck overlooks the cyclist if necessary when turning right, can be drastically reduced. If the intersection has signal systems for different directions of travel and traffic of the respective traffic routes, for example separate traffic lights for right-handers, left-handers and for straight-ahead drivers, these can be controlled independently of one another.
- the radar sensors and / or the electronic data processing device detected traffic participants are assigned to a weighed lane. This is particularly advantageous if the detection range of the radar sensors projects relatively far, for example more than 100 meters, preferably more than 200 meters, particularly preferably more than 300 meters, into the respective traffic route. Since the lanes are generally not straight along this distance, it is advantageous for the efficient control of traffic routing that the vehicles can also be correctly assigned to these curved lanes.
- the system is preferably set up for the applications stop bar detection, queue length, advance detection, speed enforcement, red light enforcement and / or ETA (Estimated Time of Arrival) and / or for counting and / or classifying road users.
- Stop Bar Detection is the monitoring of a stop line. On the one hand, this includes monitoring whether road users adhere to current stop signals. On the other hand, by monitoring the area in front of a stop line, it can also be determined whether and if so when the respective lane or the respective traffic route should be switched from the stop signal to the free drive signal. This also applies to the "Queue Lenght" application.
- the length of the backlog in front of a traffic sign system is used to determine whether and if so when this traffic sign system changes from the stop signal to the free travel signal is switched.
- Advanced Detection incoming traffic is monitored that has not yet come to a standstill before a stop signal.
- This application can be used, for example, to control the length of a free travel signal by deciding when the optimal time is to switch the traffic sign system from the free travel signal to the stop signal in order to achieve the most efficient traffic control possible.
- the free driving phase can be controlled so that approaching particularly heavy road users do not have to brake. Traffic violations are detected in the “Speed Enforcement” and “Red Light Enforcement” applications.
- the "ETA” application determines the expected arrival time of a detected vehicle at an intersection. This can be used for intelligent control of a traffic light phase, for example.
- the first radar sensor and the second radar sensor are preferably synchronized in time, measurements being preferably carried out simultaneously, alternately or at different times. In this way, interference can be avoided and, moreover, the data from the two sensors can be well combined in the electronic data processing device.
- the first radar sensor and the second radar sensor are advantageously set up to transmit radar signals in the form of frequency ramps (FMCW), the radar signals being able to differ in frequency ramp duration, frequency ramp stroke and / or frequency ramp repetition frequency of the first and second radar sensors.
- the first radar sensor and / or the second radar sensor can be set up to transmit different frequency ramps simultaneously or in succession.
- the radar sensors have different frequency ramp signals, which can be found, for example, in the frequency ramp stroke, in the frequency ramp slope Frequency ramp duration and / or the frequency ramp repetition frequency, the signals from the different sensors can be distinguished well in the sensors and interference can be calculated.
- a distinction between the different radar radiations emitted by the different radar sensors and reflected by road users can also be ensured by the first radar sensor and the second radar sensor being set up to emit radar radiation of different frequencies.
- frequency-modulated radar radiation FMCW
- the first radar sensor and the second radar sensor are preferably set up to emit phase-modulated radar radiation (PMCW), the digital codes used in each case for phase modulation differing, preferably being orthogonal to one another.
- PMCW phase-modulated radar radiation
- Figure 2 the intersection of Figure 1 with two schematically shown radar sensors and Figure 3 - the schematic sequence of a method for controlling the flow of traffic
- FIG. 1 shows an intersection 1, in which four traffic routes 2 meet.
- Each traffic route has a plurality of lanes 4, which can be provided for different directions of travel.
- each traffic route 2 has a cycle path 6 and a footpath 8 on both sides.
- the lanes 4 running towards the intersection have a stop line 10.
- the outer intersection area is delimited inward by a black square 12 which has been placed through the 4 stop lines 10. Anything outside the square 12 is referred to as the outer crossing area.
- the connecting lines 14 of the intersecting traffic routes 2 are defined in the form of an irregular square of the interior of the intersection.
- the connecting lines are shown as dashed lines drawn in bold and correspond to the course of the intersecting traffic routes 2, which they would have had without the intersection 1. Trajectories of motorized vehicles can intersect in this area. Some of these trajectories are shown as bold dotted lines.
- the area between the interior intersection 16 and the square 12 is the expanded interior intersection.
- FIG. 2 shows the same crossing 1 in plan view.
- a first radar sensor 18 and a second radar sensor 20 are now shown.
- the first radar sensor 18 monitors with its first detection area 22, the limits of which are schematically represented by two solid lines, in particular the traffic route 2 entering from the right.
- the radar sensor 20 monitors with its second detection area 24, the limits of which are shown schematically by two dashed lines are shown, the traffic route 2 entering from above is shown hatched, an overlap area 26 in which the first detection area 20 and the second detection area 24 overlap.
- Road users located in this overlap area 26 are consequently detected by both the first radar sensor 18 and the second radar sensor 20.
- this is in particular a pedestrian crossing 28 and a cyclist crossing 30, that is to say parts of the traffic routes, in which in particular Endangered road users, namely cyclists and pedestrians, cross a dangerous area, namely a road.
- FIG. 3 schematically shows the sequence of a method with which the traffic flow can be controlled.
- a first step 32 radar signals and sensor data are recorded by two radar sensors in the exemplary embodiment shown.
- the two radar sensors emit radar radiation that is reflected by the road users.
- Sensor data from the first radar sensor 34 and sensor data from the second radar sensor 36 are fed to a raw target detection 38, which can also be referred to as raw target detection and in which in particular the position and a radial speed of each individual traffic participant detected by the respective radar sensor, preferably in one single measurement cycle is determined.
- a controller 46 which is responsible for the actual control of the traffic route and the traffic flow.
Abstract
Description
Claims
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DE102018118150.7A DE102018118150A1 (de) | 2018-07-26 | 2018-07-26 | System zum Steuern einer Verkehrsführung an einer Kreuzung |
PCT/EP2019/068720 WO2020020655A1 (de) | 2018-07-26 | 2019-07-11 | System zum steuern einer verkehrsführung an einer kreuzung |
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EP3929593A1 (de) * | 2020-06-26 | 2021-12-29 | Kevin Podolski | Messsystem und messverfahren zur bestimmung der mehrdimensionalen geschwindigkeit von fahrzeugen |
KR102311219B1 (ko) * | 2021-04-26 | 2021-10-13 | 한국건설기술연구원 | 지하도로네트워크 교통류 모니터링 방법 및 그 장치 |
KR102364288B1 (ko) * | 2021-05-24 | 2022-02-17 | 주식회사보다텍 | 스마트 교차로 시스템용 지능형 레이다 센서 |
US11610478B2 (en) * | 2021-08-09 | 2023-03-21 | Peltbeam Inc. | Communication system and method for controlling cooperation between edge devices arranged in vehicle |
KR102590490B1 (ko) | 2022-09-19 | 2023-10-19 | 주식회사 노타 | 복수의 카메라를 이용하여 교차로의 회전류를 결정하는 방법 및 장치 |
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KR102581779B1 (ko) * | 2016-10-11 | 2023-09-25 | 주식회사 에이치엘클레무브 | 교차로충돌방지시스템 및 교차로충돌방지방법 |
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JP2021531590A (ja) | 2021-11-18 |
KR20210031975A (ko) | 2021-03-23 |
JP7362143B2 (ja) | 2023-10-17 |
CN112513952A (zh) | 2021-03-16 |
US20210286072A1 (en) | 2021-09-16 |
RU2765086C1 (ru) | 2022-01-25 |
DE102018118150A1 (de) | 2020-01-30 |
KR102530038B1 (ko) | 2023-05-10 |
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