EP4133470B1 - Method for controlling a flow of traffic on a roundabout - Google Patents

Description

The invention relates to a method for regulating a traffic flow in a roundabout. Furthermore, the invention relates to a roadside unit that is designed as a traffic control unit according to the invention.

A direct V2X (English: Vehicle to everything) communication, applications and methods of today, which are intended to cover more complex situations with several road users, only cover a part of the necessary traffic mechanisms, such as "Do Not Pass Warning DNPW" or "Emergency Vehicle Warning ". In order for networked and automated driving to be implemented safely, however, all traffic scenarios must be covered. Since networked and automated vehicles will have to drive through roundabouts just as smoothly in the future and/or be able to drive through roundabouts more efficiently, a method must be developed that covers this field. In V2X, there is V2I (vehicle-to-infrastructure) communication, where vehicles communicate with infrastructure elements directly. RSUs (Road Side Units) play an important role in such communication and can serve, for example, as virtual traffic lights and/or information distributors. These RSUs receive information from the road users in range via the network and distribute the relevant information to the road users affected by it, such as traffic jam information to road users who are approaching a traffic jam.

For example, from the DE 10 2017 201 048 A1 a method for controlling the flow of traffic in a roundabout is known, with an entry time being determined by means of sensor data evaluation and communication between autonomous vehicles.

From the U.S. 2019 215 668 A1 an assistance system for autonomous vehicles is known, with autonomous vehicles receiving sensor assistance data from an infrastructure in the area of a roundabout.

From the WO 2019 233 593 A1 a system for controlling autonomous vehicles is known, vehicles in the area of a roundabout communicating with a server that calculates an order in terms of entering the roundabout and sends it to the vehicles.

From the DE 10 2019 210 218 A1 a method for controlling the flow of traffic in a roundabout is known, in which an entry of an ego vehicle into the roundabout is regulated on the basis of traffic information from a number of road users, so that the need to decelerate when the ego vehicle enters the roundabout is reduced can.

From the DE 10 2015 219 467 A1 discloses a method for operating a central server that enables control maps containing traffic rules to be managed centrally.

The object of the invention is to manage resources of a roundabout in order to guide a traffic flow of road users through the roundabout without disruption.

The object is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are described by the dependent claims, the following description and the figures.

The traffic control unit receives messages from the road users, based on which route data of the road users can be determined for their journey through the roundabout. When a road user approaches the roundabout, he can share data regarding his current position and/or his destination with the traffic control unit, so that the traffic control unit can determine an optimized route for the road user according to a predetermined optimization criterion (path length, time, economy) on which the road user can drive through the roundabout from an entry or an entrance to a given exit of the roundabout. The route data can be calculated, for example, by an algorithm that is implemented in the traffic control unit and can be taken from the prior art relating to traffic flow optimization.

The invention provides a method for controlling traffic flow in a multi-lane roundabout. The traffic flow of road users in the roundabout is regulated by a traffic control unit. In other words, roundabout resources are managed by the traffic control unit. The resources include a route of a vehicle in the roundabout and/or a lane of the roundabout on which road users can be guided. The resources include a roundabout throughput capacity (road users per minute). The road users can approach the roundabout and be connected to the traffic control unit via a network, which enables communication between the road users and the traffic control unit. The communication can take place by means of messages that can be generated by the road users and/or the traffic control unit. In other words, the messages can be exchanged in the network between the road users and the traffic control unit in order to control the traffic flow or the road users through the roundabout. To drive in, a road user sends a predetermined message with a request to the traffic control unit. The message can be a request which can be sent over the network to the traffic control unit in order to have available or to request the resources of the roundabout.

The network can be, for example, a V2X (vehicle-to-everything) network and/or a V2I (vehicle-to-infrastructure) network and/or a general ad-hoc communication network, which represent preferred examples. It is generally a radio-based communication network. For example, the traffic control unit can be a Road Side Unit, RSU, which serves as a resource manager in the roundabout. The RSU can have an overview of the roundabout e.g. by supporting cameras or generally by at least one local sensor (e.g. radar sensor or LIDAR sensor or infrared sensor), which can be provided by one of the road users and/or permanently installed in the roundabout can. The messages can, for example, each represent the request described and/or a current position and/or route of a vehicle. Messages with a position and/or route can also be repeatedly generated by road users while they are in the roundabout. The messages can therefore summarize a current position and/or a calculated or planned route from and/or for a road user entering and/or driving in the roundabout and/or a request from an entering road user and/or a message sent by the traffic control unit contain a control signal (e.g. a wait command).

The roundabout is a multi-lane roundabout.

Before the respective road user enters, the traffic flow in the roundabout is therefore determined at least based on the messages. The messages sent by the road users enable the traffic control unit to recognize the current flow of traffic and/or a traffic jam in the roundabout. Alternatively and/or additionally, the traffic control unit on the Based on the sensor data of the sensors used in the roundabout, determine when which road user comes to the roundabout and/or where he is in the roundabout. The sensors can include at least one radar sensor and/or infrared sensor and/or LIDAR sensor, for example.

A message with a control signal is generated for the road user currently entering. In other words, the traffic control unit can send a control signal to the respective traffic user in order to determine whether and/or when the traffic user is provided with the resources of the roundabout. The control signal can represent a waiting signal, for example, which instructs the road user to wait at the roundabout. Alternatively or additionally, the control signal can represent a release signal, which means that the road user may enter the roundabout.

The message informs the respective road user when (in which time window) and/or along which route the road user can enter the roundabout. In other words, the message sent by the traffic control unit can contain one of two possible control signals and/or outputs: 1). The message may contain the wait signal when the roundabout's resources are currently not freely available and/or the roundabout is congested; 2). The message represents the entry clearance signal and/or resource data that can be used by the entering traffic user to navigate the roundabout in a manner consistent with other traffic users. The resources describe a lane and/or a complete route and/or a section of a lane (lane segment) on which the road user is to drive in the roundabout. The second possible output (release signal) can occur if no traffic jam is detected in the roundabout by the traffic control unit.

The advantage resulting from the invention is that the resources of the roundabout are managed in such a way that the flow of traffic through the roundabout can be ensured and/or regulated with a low risk of congestion.

The invention also includes embodiments that result in additional advantages.

One embodiment provides that the road users in the roundabout send out messages with positioning data and/or destination data and/or route data for the respective road user. In other words, the positioning data can indicate where the respective road user is currently located relative to the roundabout and/or where the road users who have entered the roundabout are located. The route data may describe traffic lanes of the roundabout planned or allocated by the traffic controller for a vehicle to travel through the roundabout. The embodiment has the advantage that the traffic control unit can use the positioning data and the route data of the road users to determine when which road users can or should drive into the roundabout, so that resources can be allocated to the following road users for driving through the roundabout.

The road users can be motor vehicles and/or bicycles, for example. Road users can represent vehicles that are in the roundabout and/or are approaching the roundabout. The road users can represent those vehicles that are connected to the traffic control unit via a network and/or that can send the messages to the traffic control unit.

One embodiment provides that routes of all road users are determined and/or adjusted to control the roundabout, so that the traffic flow in the roundabout is accident-free. With In other words, based on the messages, the traffic control unit can determine current, actually used routes and/or future routes to be traveled by the networked road users. According to the invention, the road users are allocated alternative routes for the roundabout if there is a traffic jam in the roundabout and/or a vehicle driving in front in the roundabout breaks down or breaks down. The alternative routes provide for a lane change. This has the advantage that the traffic flow through the roundabout can be accident-free and uninterrupted because the resources of the roundabout can be adjusted. In general, the traffic control unit acts as a joint route planner (path planning) or trajectory planner (path and speed planning) for the road users, which has the advantage that the behavior of the other road users is known and/or can be coordinated centrally.

One embodiment provides that the traffic control unit determines, at least based on the messages, whether a traffic jam is present or has occurred in the roundabout and/or the approaching road user may enter the roundabout. In addition to the messages, sensor data from at least one sensor of the traffic control unit and/or the road users can also be used. In other words, the traffic control unit can use sensor data to determine a current traffic situation in the roundabout in order to be able to decide whether and/or when the motorist entering or waiting at the roundabout may enter the roundabout. If a traffic jam is detected at the roundabout, the inbound motorist may be instructed to wait at the roundabout. The traffic jam can be recognized or detected on the basis of the messages and/or sensor data if the positioning data of the road users in the roundabout do not change over time. Alternatively and/or additionally, the traffic jam can be determined based on the travel time of at least one road user that the road user has driven in the roundabout. The travel time in case of traffic jams may be longer be than a travel time without traffic jams. The embodiment has the advantage that the traffic of the entering road users can be controlled based on the determination of the current traffic situation and/or a traffic jam in the roundabout.

One embodiment provides that the entering road user is assigned priority over another entering road user according to a chronological order of their requests. In other words, the traffic control unit can instruct an entering road user to wait a certain time at the roundabout. The traffic control unit can provide each entering traffic user with a time window in which the traffic user has to wait at the roundabout or in which he has to enter. The waiting time and/or the time window for the first arriving traffic user at the roundabout can differ from the waiting time for the following traffic user. The waiting time may depend on the traffic situation in the roundabout. This results in the advantage that the incoming traffic at the roundabout can be regulated in such a way that a balanced waiting time can be achieved for each traffic participant entering.

One embodiment provides that the traffic control unit assigns a rank to each road user, with the rank giving priority and/or lower priority to at least one other road user, and the flow of traffic in the roundabout is regulated based on the priority and/or lower rank of the road users . In other words, the traffic control unit can distribute the resources of the roundabout to the road users, preferably based on the positioning and/or arrival time at the roundabout and/or the planned routes of the road users. The positioning or position of a road user at the roundabout may represent an entrance or entrance to the roundabout where the road user is located in order to enter the roundabout. Additionally or alternatively, the incoming road user who Arrived first at the roundabout will be given priority. Alternatively and/or additionally, the priority of an entering road user can depend on the fact that no traffic jams occur on the planned route of the entering road user. Alternatively and/or additionally, the traffic flow of the roundabout can be regulated according to predetermined rules of the ranking between the entering road users and the driven-in road users. An entering road user can, for example, have a lower priority than a road user who has already entered the roundabout. The rank may additionally or alternatively depend on whether a road user is an ambulance or a private vehicle, with the former taking precedence. In general, the rank can be determined by a vehicle type (emergency vehicle or private vehicle or convoy vehicle). This results in the advantage that the traffic flow and/or the resources of the roundabout can be regulated without conflict through the application of priority rules and that a waiting time for priority road users can be avoided. The control signal already described can, for example, represent entry instructions, which can contain information relating to the assigned route and/or the assigned traffic lane of the roundabout and/or the rank of the road user. This has the advantage that the resources of the roundabout can be managed in such a way that no traffic jams can occur in the roundabout if an entering road user receives permission to drive into the roundabout.

In another situation, however, said control signal can also instruct an entering road user to wait at the roundabout for a specific time and/or until receipt of entry instructions. Alternatively and/or additionally, the waiting message can be generated if a traffic jam is detected in the roundabout. This results in the advantage that the incoming traffic flow or the entering road users at the roundabout can be controlled by the control signal.

The invention also includes a traffic control unit which is set up to carry out the steps of the method according to the invention which relate to the traffic control unit. In other words, a traffic flow in a roundabout can be regulated by the traffic control unit. For this purpose, the traffic control unit can have a data processing device or a processor device which is set up to carry out the steps of the method. For this purpose, the processor device can have at least one microprocessor and/or at least one microcontroller and/or at least one FPGA (Field Programmable Gate Array) and/or at least one DSP (Digital Signal Processor). Furthermore, the processor device can have program code which is set up to carry out the embodiment of the method according to the invention when executed by the processor device. The program code can be stored in a data memory of the processor device.

According to the invention, in one embodiment, the traffic control unit may be a road-side unit.

The invention also includes implementations in which the features of several of the described embodiments are combined in each case, insofar as the embodiments have not been described as mutually exclusive.

Fig. 1

eine schematische Darstellung zur Veranschaulichung einer Ausführungsform des erfindungsgemäßen Verfahrens;

Fig. 2

eine schematische Darstellung zur Regelung des Kreisverkehr basierend auf Vorrängen und Nachrängen der Verkehrsteilnehmer.

Exemplary embodiments of the invention are described below. For this shows:

1

a schematic representation to illustrate an embodiment of the method according to the invention;

2

a schematic representation of the control of the roundabout based on priority and lower priority of road users.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another and that each also develop the invention independently of one another. Furthermore, the described embodiments can also be supplemented by further features of the invention that have already been described.

In the figures, the same reference symbols designate elements with the same function.

1 shows a traffic control unit 20 through which the flow of traffic in a roundabout 10 can be directed. The traffic flow can include road users 30, 60 who have entered the roundabout 10 and/or who are driving towards the roundabout 10 in order to enter it. The road users 30, 60 can, for example, be motor vehicles, in particular passenger cars and/or passenger buses. The road users 30, 60 can be self-driving motor vehicles and/or motor vehicles driven by people and/or they can be motorcycles and/or bicycles.

The traffic control unit 20 may be a roadside unit that may be deployed in and/or at the roundabout 10 . Traffic control unit 20 may include a processor (not shown). The traffic control unit 20 can serve as a resource manager or participant manager in order to control the resources of the roundabout 10 and/or the traffic flow of the road users 30, 60 through the roundabout 10. The resources of the roundabout 10 can represent, for example, lanes and/or lane segments and/or routes of the road users 30, 60 from entering to leaving the roundabout 10.

The road users 30, 60 can be connected to the traffic control unit 20 via radio links in a data network or network 40 for short, via which they can communicate with one another. The network 40 can, for example, be a V2X (vehicle to everything) network and/or V2I (vehicle to infrastructure) and/or V2V (vehicle to vehicle) and/or another communication network. The road users 30, 60 can communicate with the traffic control unit 20 via the network 40 by means of messages 50. The messages 50 can be sent by the road users 30, 60 and/or the traffic control unit 20. The messages 50 can contain current positioning data for the road users 30 and/or route data for the road users 30 if they are sent or guided by the road users 30 . The messages 50 sent by the traffic control unit 20 can contain, for example, an instruction and/or a control signal with which the traffic flow of the roundabout can be regulated.

The traffic control unit 20 can use the messages 50 from the traffic participants 30 to determine when which traffic participant 30 comes to the roundabout 10 and/or where he is located in the roundabout 10 . The positioning data and destination data of the road users 30, which the road users 30 send to the traffic control unit 20 via the network 40, allows the traffic control unit 20 to determine when which oncoming road users 60 can drive into the roundabout. In addition, the traffic control unit 20 can use this data to determine a route or, in general, resources of the road users 60 for the subsequent journey through the roundabout 10 . There is thus an allocation of resources to the road users 60.

When an incoming road user 60 approaches the roundabout 10 , he can send a message 50 to the traffic control unit 20 . The message 50 from the incoming road user 60 can be a request to drive in and/or information regarding the current position of the road user 60 and/or planned destination or Driving direction or destination exit of the incoming road user 60 included. The traffic control unit 20 can determine the current traffic situation, for example a traffic jam and/or the availability of the resources of the roundabout 10, based on the messages 50 and/or sensor data from the road users 30 that have entered. Based on the current traffic situation of the roundabout 10, the traffic control unit 20 can generate a message 50, which can be sent to the entering road user 60.

This message 50 from the traffic control unit 20 can contain a corresponding control signal, through which the entering road user 60 is informed whether he can drive into the roundabout 10 or has to wait at the roundabout 10 . This message 50 can contain route data for the route to be traveled or, in general, resource data for the resources allocated to the road user. The control signal can represent an instruction to enter or an entry signal for the entering road user 60 when there is no traffic jam in the roundabout 10 and/or the resources of the roundabout 10 are freely available. The control signal can represent a waiting message or a waiting signal for the traffic participant 60 entering when the resources of the roundabout 10 are fully exhausted and/or a traffic jam in the roundabout 10 is determined by the traffic control unit 20 . The traffic control unit 20 can use the message 50 to select the resources of the roundabout 10 to be used and/or the route data of the road users 30 such that the flow of traffic through the roundabout 10 can be ensured without delay and/or without accidents. The route data can, for example, take into account when a road user 30 breaks down in the roundabout 10 and/or an accident occurs in the roundabout 10. In such a case, the following road users 30 are provided with alternative routes, with the alternative routes providing for a lane change. For this purpose, the assignment of the resources of the roundabout 10 is adjusted. The adjustment of the assignment of the Resources of the roundabout 10 can also take place when a road user 30, 60 has to drive through the roundabout 10 with a predetermined priority. For example, road users dealing with emergency services may have priority over normal traffic. The lanes or routes currently being used by the locked-in motorists may be released and/or adjusted to allow the motorists to proceed through the roundabout without having to stop for emergency services. A road user for an emergency service may be an ambulance and/or a police vehicle and/or a fire truck.

The traffic control unit 20 can also serve as a virtual traffic light 80 with which the flow of traffic through the roundabout 10 can be regulated in the case of high traffic densities or when several road users 60 are entering in each direction to the roundabout 10 . In other words, a control signal from the traffic control unit 20 can serve as a green light or a red light to control incoming traffic.

2 shows a roundabout 10 through which the road users V1, V2, V3, V4 can be routed by the traffic control unit 20 based on a ranking with priority and/or lower priority. The priority and/or subordinate can be specified by rules that can already be provided to the traffic control unit 20 . The general traffic rules for guiding the road users V1, V2, V3, V4 through the roundabout 10 on the basis of priority or lower ranking can apply here (eg a roundabout with “right before left”). The road user V1, who has already driven in the roundabout 10, can have priority over the entering road users 60, for example. Additionally or alternatively, the ranks can be determined by a respective category of road users (eg emergency services or private).

Based on the messages 50 from road users V1, V2, V3, V4, the traffic control unit 20 can determine route data currently required by the road users V1, V2, V3, V4 and thus determine how the road users V1, V2, V3, V4 are in the roundabout 10 must behave in order to obtain coordination. The route data can, for example, describe lanes and/or lane segments and/or routes of the roundabout 10 on which the road users V1, V2, V3, V4 have to drive through the roundabout 10. The routes R1, R2, R3 can be assigned to the road users V1, V2, V3, V4 by the traffic control unit 20.

In one embodiment, the routes R1, R2, R3 of the roundabout 10 for the traffic participants V1, V2, V3, V4 only need to be planned by the traffic control unit 20 when the traffic participants V1, V2, V3, V4 receive a message from the traffic control unit 20 to drive in receive. The incoming road users V2, V3, V4 each follow the routes R1, R2, R3. The traffic participant V1 who has entered and is driving on the route R1 can have priority over the traffic participants V2, V3 and can continue to drive through the roundabout 10. The driving traffic participants V2, V3 have to wait because the route R1 can be traveled by the traffic participant V1. The driving traffic participants V2, V3 can receive a waiting message from the traffic control unit 20 so that the risk of an accident can be avoided. Since the route R3 is not planned for the traffic user V1 that has entered, this resource is available and the traffic control unit 20 can thus signal the traffic user V4 that is driving in to continue driving without having to wait at the roundabout 10 .

The traffic control unit 20 can define a time window in the waiting message in which the road users V2, V3 have to wait at the roundabout. The time window can be 30 or 60, for example, in a time range of 5 to 60 seconds. The time window can be determined by the traffic control unit 20 based on the current positioning and/or the speed of the road user V1 can be determined. The entering road user V2 can, for example, have a small time window to wait compared to the road users V3 and V4 because the road user V2 has to follow or drive the road user V1 on the same route. The time window can be increased if the traffic participant V1 that has entered the roundabout 10 is moving very slowly or at a speed that can be lower than a normal or permissible speed. The slow speed can be in the range from 0 (breakdown or traffic jam) to 30 km/h, for example. The time window can also depend on whether the traffic participant V1 who has entered has signaled to the traffic control unit 20 that he has arrived at the exit. In other words, the traffic control unit 20 can determine that the traffic participant V1 is leaving the roundabout 10 based on the messages 50 and/or sensor data, so that the time window can be calculated and/or adjusted for each entering traffic participant. The time window for the entering road users V2, V3 can be reduced, for example, if the traffic control unit 20 already knows that the road user V1 has driven through the roundabout 10. The time window for the incoming traffic participants (eg V3) can then be calculated depending on route data and/or destination data and/or parameters of the next traffic participant that has entered (eg V2), which can be determined in real time. The real-time parameters can represent, for example, an instantaneous speed and/or current positioning of the road user that has entered. Using the route data and the real-time parameters of the traffic participant V2 that has entered, the traffic control unit 20 can calculate or estimate a travel time that the traffic participant V2 needs to leave the roundabout 10 or to release the resources (e.g. use of lanes) of the roundabout 10 that entering road users V3 can be assigned. After the waiting time determined in the time window has elapsed, the respectively entering road user can be signaled to drive into the roundabout 10 . The traffic control unit can first V2 to retract signal because he can drive through roundabout 10 behind the V1. The time window can be calculated in the traffic control unit 20 using an algorithm.

The entering road user V2 can be signaled to wait when the road user V3 has entered the roundabout 10 or has previously received a green light to enter. Traffic user V3 can receive a waiting message from traffic control unit 20 to wait if traffic user V4 has entered roundabout 10 . Since the traffic control unit 20 can determine the exact positioning of the traffic participants entering based on the messages 50, the incoming traffic can be regulated in such a way that the use of resources can also be optimized.

So that automated road users can be guided safely through a roundabout, the use of an RSU is therefore preferred. The RSU serves as a subscriber manager and resource manager and has an overview of the environment, for example by supporting cameras. Using standard V2X messages (messages), an RSU receives the information from the various networked road users and can use this to calculate when which road user is coming to the roundabout or where it is in the roundabout. With positioning data and route data that road users send to the RSU via V2X, the RSU can determine when which road user can or should enter the roundabout and uses this data to plan the route and resources for the following road users to drive through the roundabout determine. Since the RSU knows about all participants, it can distribute resources better and point road users to the right lanes and possibly give priority and lower priority to keep traffic flowing. This system works for all types of roundabouts.

This technology creates the possibility of guiding automated and networked vehicles through all kinds of roundabouts. The RSU control unit (traffic control unit) calculates the best routes for all participants and shares them with each road user. It also helps traffic flow and accident reduction.

Overall, the examples show how a method for controlling a traffic flow in a roundabout can be provided.

Claims (10)

1. A method for regulating a traffic flow in a multi-lane roundabout (10),

   wherein the traffic flow is regulated by a traffic control unit (20), by which road users (30, 60), which have entered the roundabout (10) and/or approach the roundabout (10) to enter it, are networked in a network (40) and communicate via messages (50), and wherein a road user (60) transmits a request to the traffic control unit (20) as a message (50) for entering, wherein before entry of the respective road user (60), the traffic flow in the roundabout (10) is determined based on the previous messages (50), wherein a control signal is generated for the respectively entering road user (60) as a message (50), to inform the road user (60) when and/or along which route the road user (60) is to enter and/or pass through the roundabout (10), wherein

   resources of the roundabout (10) are managed by the traffic control unit (20), wherein the resources describe a lane or a partial section of the lane, on which the road user (60) is to drive, and the message (50) represents the data of the resources, which are allowed to be used by the entering road user (60) to drive in the roundabout such that it is matched with other road users, wherein the road users get allocated alternative routes for the roundabout by an adaptation of the association of the resources of the roundabout if a jam occurs in the roundabout and/or a preceding vehicle fails or breaks down in the roundabout, wherein the alternative routes provide a lane change such that the traffic flow through the roundabout can flow without accident and in uninterrupted manner.
2. The method according to claim 1, wherein the road users (30) in the roundabout (10) emit messages (50) with positioning data and/or destination data and/or route data of the respective road user (30).
3. The method according to any one of the preceding claims, wherein routes of all of the road users (30) are determined and/or adapted by the traffic control unit (20) for regulating the roundabout (10), in order that the traffic flow in the roundabout (10) is guided without accident.
4. The method according to any one of the preceding claims, wherein it is determined if a jam is present in the roundabout (10) and/or the entering vehicle (60) is allowed to enter the roundabout (10), by the traffic control unit (20) based on the messages (50).
5. The method according to any one of the preceding claims, wherein priority is assigned to the respective entering road user (60) over another entering road user (60) according to a temporal order of the requests thereof.
6. The method according to any one of the preceding claims, wherein the traffic control unit (20) assigns a rank to each road user (30, 60), wherein a priority and/or lower priority over at least one different road user (30, 60) results by the rank, and the traffic flow in the roundabout (10) is regulated based on the priorities and/or lower priorities of the road users (30, 60).
7. The method according to any one of the preceding claims, wherein the control signal contains an instruction at least for one road user (60), which allows the entering road user (60) to enter the roundabout (10).
8. The method according to any one of the preceding claims, wherein the control signal indicates a waiting message at least for one road user (60), which requests the entering road user (60) to wait.
9. A traffic control unit (20), wherein the traffic control unit (20) is configured to perform the steps of a method, relating to the traffic control unit (20), according to any one of the preceding claims.
10. The traffic control unit (20) according to claim 9, wherein the traffic control unit is a road side unit.

Images