SE541480C2

SE541480C2 - Method and system for estimating traffic flow

Info

Publication number: SE541480C2
Application number: SE1750009A
Authority: SE
Inventors: Kuo-Yun Liang; Lars Hjorth
Original assignee: Scania Cv Ab
Priority date: 2017-01-10
Filing date: 2017-01-10
Publication date: 2019-10-15
Also published as: SE1750009A1; DE102018000016A1; DE102018000016B4; BR102017028574A2

Abstract

The present invention relates to a method for estimating traffic flow. The method comprises the steps of: detecting from one or more vehicles (V1, V2) the number of vehicles (1b, 1d, 1f , 2b, 2d, 2e) overtaking said one or more vehicles (V1, V2); and estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles (V1, V2). According to the method the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said vehicles comprises the step of utilizing one or more vehicles (V1, V2), the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles (V1, V2) being in motion during detection.The present invention also relates to a system for estimating traffic flow. The present invention also relates to a platoon. The present invention also relates to a computer program and a computer program product.

Description

METHOD AND SYSTEM FOR ESTIMATING TRAFFIC FLOW TECHNICAL FIELD The invention relates to a method for estimating traffic flow according to the preamble of claim 1. The invention also relates to a system for estimating traffic flow. The invention also relates to vehicle. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART Traffic estimation normally requires an infrastructure along the road, e.g. highway, in order to measure the traffic conditions over a certain time frame during a day at a particular location. Not only is it costly to build /install such infrastructure, it also takes time to build and set up. The purpose of traffic estimations is manifold. It may serve as a purpose for controlling the traffic of a road/highway by e.g. varying the speed limit depending on the traffic and for detecting accidents and warning other drivers for the detected accidents. Furthermore, traffic estimations can serve as a basis when deciding where and how new roads should be built.

Infrastructures in the form of highway control systems are often built in metropolitan cities in order to control the congestions on the roads to a certain extent. However, other cities and locations outside cities do not have such infrastructure built and would require to be built.

DE102014204577discloses an alternative way of estimating traffic in which vehicles standing still are utilized as sensors for acquiring traffic information and for calculating the number of passing vehicles.

There is however a need for further improving estimation of traffic flow.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for estimating traffic flow which is easy and efficient and does not require costly infrastructure installations.

Another object of the present invention is to provide a system for estimating traffic flow which is easy and efficient and does not require costly infrastructure installations.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for estimating traffic flow. The method comprises the steps of: detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles; and estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles. According to the method the step of detecting from one or more vehicles the number of vehicles overtaking said vehicles comprises the step of utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection.

Said vehicles having an allowed speed limit which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow may be any suitable vehicles comprising e.g. trucks, buses, cars with trailers, so called low-speed vehicles (LSV) or the like.

By thus utilizing one or more vehicles which are in motion during detection and which have an allowed speed limit which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow such as one or more trucks the traffic flow may be estimated in an easy and efficient way not require costly infrastructure installations.

By using such vehicles, e.g. trucks, generally moving slower than other vehicles such as cars information about the traffic flow of vehicles not having that speed limitation, e.g. cars will be easily detected in that those vehicles will generally overtake the vehicles performing the detection.

By using such vehicles, e.g. trucks, generally moving slower than other vehicles such as cars a network wide estimation may be established in an easy and efficient way in that such vehicles, e.g. trucks such as trucks in vehicle fleets, are very common on the roads such as highways, passing cities etc. so that information about traffic situation may collected and distributed in an easy and efficient way without said vehicles needing to adapt their routs or behaviour when performing the detection of the overtaking vehicles. Estimation of traffic flow may thus be performed on all locations where such vehicles, e.g. trucks, are driving and information about traffic flow and traffic estimations may thus be performed both in areas where already existing traffic flow estimation infrastructure exists, in which case the information may be used redundancy to further improve the traffic flow estimation, and where such infrastructure in not existing for easy traffic flow estimations there.

Such collected information could assist road administrations or other municipalities in order to enhance current infrastructure or provide otherwise not available information about traffic flow. The thus detected information about traffic flow and determined estimation of traffic flow may be stored in any suitable storage means such as external storage means comprising server units, the so called cloud or the like, and be made available for those who may have use of such information, e.g. road administrations, traffic announcers, for road planning etc.

According to an embodiment of the method the step of detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises utilizing on board sensing means of said one or more vehicles.

By thus using on board sensing means of said one or more vehicles the traffic flow estimation is further improved in that detection may be made during the normal drive of said vehicles.

The step of utilizing on board sensing means of said one or more vehicles may comprise utilizing one or more detectors arranged in connection to one or more of said vehicles. The step of utilizing on board sensing means of said one or more vehicles may comprise utilizing one or more camera units and/or one or more laser scanner units and/or one or more radar units on board said one or more vehicles. Each camera unit comprises a camera. Each laser scanner unit comprises a laser scanner. Each radar unit comprises a radar.

According to an embodiment of the method the step of detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises determining the relative speed of said vehicles overtaking said one or more vehicles.

By thus determining the relative speed of said vehicles overtaking said one or more vehicles the traffic flow estimation is further improved.

The step of determining the relative speed of said vehicles overtaking said one or more vehicles comprises the step of determining the speed of said one or more vehicles being overtaken. The method thus comprises the step of determining the speed of said one or more vehicles being overtaken.

The step of determining the relative speed of said vehicles overtaking said one or more vehicles may comprise utilizing any suitable on board sensing means comprising any suitable detector such as one or more radars, cameras, and/or laser scanners or the like.

The step of determining the relative speed of said vehicles overtaking said one or more vehicles may comprise utilizing a vehicle-to-vehicle communication arrangement for extracting information about speed of said vehicles overtaking said one or more vehicles from said vehicles overtaking said one or more vehicles.

According to an embodiment of the method the step of detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises the frequency of said vehicles overtaking said one or more vehicles.

According to an embodiment of the method the step of detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises the step of determining the time at which said overtaking took place.

Said one or more vehicles being overtaken may also overtake other vehicles such as e.g. low-speed vehicles (LSV), such overtaking also being detected from the vehicles being overtaken.

According to an embodiment the method further comprises the step of determining the position of said one or more vehicles being overtaken. The step of determining the position of said one or more vehicles being overtaken comprises according to an embodiment utilizing a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of said one or more vehicles being overtaken. The step of determining the position of said one or more vehicles being overtaken comprises of extracting map data of said position.

The Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle said one or more vehicles being overtaken is according to an embodiment arranged in the respective vehicle being overtaken.

The step of determining the position of said one or more vehicles being overtaken comprises according to an embodiment the step of extracting information via a vehicle-to-vehicle communication arrangement from said vehicles overtaking said one or more vehicles.

According to an embodiment the method further comprises the step of determining the distance to vehicles in front of and/or behind said one or more vehicles.

By thus determining the distance to vehicles in front of and/or behind said one or more vehicles the traffic flow estimation is further improved.

The step of determining the distance to vehicles in front of and/or behind said one or more vehicles may comprise utilizing any suitable on board sensing means comprising e.g. one or more camera units and/or one or more laser scanner units and/or one or more radar units on board said one or more vehicles. Each camera unit comprises a camera. Each laser scanner unit comprises a laser scanner. Each radar unit comprises a radar.

According to an embodiment the method further comprises the step of determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

By thus determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles the traffic flow estimation is further improved.

The step of determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles may comprise utilizing any suitable on board sensing means comprising e.g. one or more camera units and/or one or more laser scanner units and/or one or more radar units on board said one or more vehicles. Each camera unit comprises a camera. Each laser scanner unit comprises a laser scanner. Each radar unit comprises a radar.

The on board sensing means for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles, the on board sensing means for detecting the relative speed of said vehicles overtaking said at least one vehicle, the on board sensing means for detecting the distance to vehicles in front of and/or behind said one or more vehicles, and/or the on board sensing means for detecting the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles may be the same the on board sensing means or in one or more cases different the on board sensing means.

The step of thus estimating the traffic flow comprises the step of estimating the traffic density.

The step of thus estimating the traffic flow comprises the step of estimating the average speed of the traffic and speed of vehicles having allowed speed limit which is limited relative to the current generally allowed speed limit and speed of vehicles being allowed to follow the generally allowed speed limit.

The step of thus estimating the traffic flow comprises the step of estimating the distribution of different vehicles such as cars, trucks, buses etc.

According to an embodiment the method further comprises the step of utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles.

By thus utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles platooning may be performed more efficiently and on occasions when platooning is considered advantageous e.g. from an environmental point of view, cost point of view and/or energy consumption, e.g. fuel consumption, point of view.

According to an embodiment the method further comprises the step of utilizing the thus estimated traffic flow for route planning for vehicles. The route planning may e.g. be for vehicles, e.g. trucks, in a vehicle fleet.

According to an embodiment the method further comprises the step of utilizing the thus estimated traffic flow for estimating time of arrival for certain vehicles. The estimated time of arrival for certain vehicles may be for vehicles, e.g. trucks, buses or the like, in e.g. a vehicle fleet having certain assignments.

According to an embodiment the method further comprises the step of utilizing the thus estimated traffic flow for considering possibilities for autonomous drive.

Specifically an object of the invention is achieved by a system for estimating traffic flow. The system comprises means for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles; and means for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles. According to the system the means for detecting from one or more vehicles the number of vehicles overtaking said vehicles comprises means for utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection.

According to an embodiment of the system said means for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises on board sensing means of said one or more vehicles.

According to an embodiment of the system said means for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises means for determining the relative speed of said vehicles overtaking said one or more vehicles.

According to an embodiment the system further comprises means for determining the distance to vehicles in front of and/or behind said one or more vehicles.

According to an embodiment the system further comprises means for determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

According to an embodiment the system further comprises means for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles.

The system for estimating traffic flow is adapted to perform the methods as set out herein.

The system according to the invention has the advantages according to the corresponding method claims.

Specifically an object of the invention is achieved by a vehicle comprising a system according as set out herein.

The vehicle may be driver operated. The vehicle may be remotely operated.

According to an embodiment the vehicle is an autonomous vehicle.

Specifically an object of the invention is achieved by a computer program for estimating traffic flow, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.

Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a plan view of traffic flow on a highway involving traffic flow estimation according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system for estimating traffic flow according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for estimating traffic flow according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter “vehicles having an allowed speed limit which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow” refers to any suitable vehicles having such allowed speed limit being limited relative to the current generally allowed speed limit for vehicles, such as cars, in the traffic flow, and may thus refer to trucks, buses, cars with trailers, so called low-speed vehicles (LSV) or the like.

Fig. 1 schematically illustrates a side view of a vehicle V1 according to the present invention. The exemplified vehicle V1 is a heavy vehicle in the shape of a truck. The vehicle V1 has an allowed speed limit of which is limited relative to the current generally allowed speed limit for vehicles, e.g. cars, in a traffic flow. The vehicle comprises or is comprised in a system I for estimating traffic flow according to the present invention.

Fig. 2 schematically illustrates a plan view of traffic flow on a highway HW involving traffic flow estimation according to an embodiment of the present invention.

Fig. 2 illustrates part of a highway HW having a first road R1 for driving in the upward direction of fig. 2 illustrated with arrow A1 and a second road R2 for driving in the opposite direction, i.e. in the downward direction of fig. 2 illustrated with arrow A2.

The first road R1 has two lanes L1a, L1b and the second road R2 has two lanes L2a, L2b as illustrated in fig. 2.

A first vehicle V1 is travelling on the lane L1a of the road R1 and a second vehicle V2 is traveling on the lane L2a, said vehicles V1, V2 being heavy vehicles in the shape of trucks, said vehicles V1, V2 having limited allowed speed limits when driving on certain roads such as said roads R1, R2.

Vehicles 1a, 1b, 1c, 1d, 1e, 1f, 2a, 2b, 2c, 2d, 2e, 2f are travelling on said highway and are illustrating traffic flow on said highway HW. Said vehicles 1a, 1b, 1c, 1d, 1e, 1f, 2a, 2b, 2c, 2d, 2e, 2f do not have limited allowed speed limits but are allowed to drive in accordance with the normal speed limits on such roads R1, R2.

Said vehicles V1, V2, i.e. said trucks, thus have an allowed speed limit which is limited relative to the current generally allowed speed limit for the vehicles 1a, 1b, 1c, 1d, 1e, 1f, 2a, 2b, 2c, 2d, 2e, 2f in said traffic flow.

In said lane L1a of the road R1 a vehicle 1c is driving ahead of said truck V1 at a distance D1c and another vehicle 1a is driving ahead of the vehicle 1c with a distance D1 a between said vehicles 1 a and a vehicle 1 e driving behind said truck V1 at a distance D1 e.

In said lane L1b of the road R1 a vehicle 1d and a vehicle 1b are driving, both having overtaken said truck V1 and driving with a distance D1 b between them and a vehicle 1f is driving a distance Did behind said vehicle 1d, said vehicle 1f being about to overtake said truck V1.

In said lane L2a of the road R2 a vehicle 2c is driving ahead of said truck V2 at a distance D2c and another vehicle 2a is driving ahead of the vehicle 2c with a distance D2a between said vehicles 2a and a vehicle 2f driving behind said truck V2 at a distance D2f.

In said lane L2b of the road R2 a vehicle 2d is overtaking said truck V2 and a vehicle 2b is driving having overtaken said truck V2 and driving with a distance D2b between them and a vehicle 2e is driving a distance D2d behind said vehicle 2d, said vehicle 2e being about to overtake said truck V2.

The truck V1 has on board sensing means SM1. Said on board sensing means comprises means for detecting from said truck V1 the number of vehicles overtaking said truck V1. Said on board sensing means SM1 further comprises means for determining the relative speed of said vehicles overtaking said truck V1. Said on board sensing means SM1 further comprises means for determining the distance to vehicles in front of and behind the truck V1. Said on board sensing means SM1 further comprises means for determining the distance between vehicles in front, behind and overtaking said truck V1. Said on board sensing means SM1 may comprise one or more camera units on board said one or more vehicles, each camera unit comprising at least one camera and/or one or more laser scanner units on board said at least one vehicle, each laser scanner unit comprising at least one laser scanner and/or one or more radar units on board said one or more vehicles, each radar unit comprising at least one radar.

Said on board sensing means SM1 comprises according to an embodiment said sensing means 112, said means 112a, said means 120 and said means 130 as described with reference to fig. 3 as describe below.

Said truck V1 is in motion and is detecting by means of said on board sensing means SM1 the number of vehicles overtaking said truck V1 comprising said vehicles 1b, 1d, 1f overtaking the truck V1, and at what time said overtaking occurred. Said truck V1 being in motion is according to an embodiment further detecting by means of said on board sensing means SM1 the relative speed of said vehicles overtaking the truck V1. Said truck V1 being in motion is according to an embodiment further detecting by means of said on board sensing means SM1 the distance to vehicles in front of and/or behind said truck V1 comprising said distances D1c and D1e. Said truck V1 being in motion is according to an embodiment further detecting by means of said on board sensing means SM1 the distance between vehicles in front of and/or behind and/or overtaking said truck V1 comprising said distances D1a, D1b and D1d.

The truck V2 has on board sensing means SM2. Said on board sensing means comprises means for detecting from said truck V2 the number of vehicles overtaking said truck V2. Said on board sensing means SM2 further comprises means for determining the relative speed of said vehicles overtaking said truck V2. Said on board sensing means SM2 further comprises means for determining the distance to vehicles in front of and behind the truck V2. Said on board sensing means SM2 further comprises means for determining the distance between vehicles in front, behind and overtaking said truck V2. Said on board sensing means SM2 may comprise one or more camera units on board said one or more vehicles, each camera unit comprising at least one camera and/or one or more laser scanner units on board said at least one vehicle, each laser scanner unit comprising at least one laser scanner and/or one or more radar units on board said one or more vehicles, each radar unit comprising at least one radar.

Said on board sensing means SM2 comprises according to an embodiment said sensing means 112, said means 112a, said means 120 and said means 130 as described with reference to fig. 3 as describe below.

Said truck V2 is in motion and is detecting by means of said on board sensing means SM2 the number of vehicles overtaking said truck V2 comprising said vehicles 2b, 2d, 2f overtaking the truck V2, and at what time said overtaking occurred. Said truck V2 being in motion is according to an embodiment further detecting by means of said on board sensing means SM2 the relative speed of said vehicles overtaking the truck V2. Said truck V2 being in motion is according to an embodiment further detecting by means of said on board sensing means SM2 the distance to vehicles in front of and/or behind said truck V2 comprising said distances D2c and D2f. Said truck V2 being in motion is according to an embodiment further detecting by means of said on board sensing means SM2 the distance between vehicles in front of and/or behind and/or overtaking said truck V2 comprising said distances D2a, D2b and D2d.

Said trucks V1, V2 are comprised in or utilized by a system, e.g. a system I according to fig. 3 as describe below, for estimating the traffic flow.

The system comprises means E for estimating the traffic flow based on the thus determined number of vehicles overtaking said trucks V1, V2. The means E for estimating the traffic flow may comprise any suitable processing means on board the respective truck V1, V2 and/or external processing means for processing said information about number of vehicles overtaking said trucks V1, V2. The means E for estimating the traffic flow may comprise means for considering the speed of said vehicles overtaking said trucks and/or determined distance/distances to vehicles in front of and/or behind said one or more vehicles and/or means for considering determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

Fig. 3 schematically illustrates a block diagram of a system I for estimating traffic flow according to an embodiment of the present invention.

The system I comprises an electronic control unit 100. The electronic control unit 100 may comprise one or more electronic control units. The electronic control unit 100 may comprise one or more electronic control units in the respective vehicle when there are more than one plough vehicle.

The system I comprises means 110 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles.

The means 110 for detecting from one or more vehicles the number of vehicles overtaking said vehicles comprises means 110a for utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection.

According to an embodiment of the system I said means 110 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises on board sensing means 112 of said one or more vehicles for detecting the number of vehicle overtaking said one or more vehicles comprising the point of time when each overtaking occurred.

The on board sensing means 112 of said one or more vehicles may comprise one or more detectors arranged in connection to one or more of said vehicles. The on board sensing means 112 of said one or more vehicles may comprise one or more camera units on board said one or more vehicles, each camera unit comprising at least one camera and/or one or more laser scanner units on board said at least one vehicle, each laser scanner unit comprising at least one laser scanner and/or one or more radar units on board said one or more vehicles, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

According to an embodiment of the system I said means 110 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises means 112a for determining the relative speed of said vehicles overtaking said one or more vehicles.

The means 112a for determining the the relative speed of said vehicles overtaking said one or more vehicles comprises means for determining the speed of said one or more vehicles being overtaken.

The system thus comprises means for determining the speed of said one or more vehicles being overtaken. The means for determining the speed of said one or more vehicles being overtaken may comprise a speedometer of the respective vehicle being overtaken.

The means 112a for determining the relative speed of said vehicles overtaking said one or more vehicles may comprise utilizing any suitable on board sensing means comprising any suitable detector such as one or more radars, cameras, and/or laser scanners or the like.

The means 112a for determining the relative speed of said vehicles overtaking said one or more vehicles may comprise a vehicle-to-vehicle communication arrangement for extracting information about speed of said vehicles overtaking said one or more vehicles from said vehicles overtaking said one or more vehicles.

According to an embodiment of the system I the means 110 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises detecting the frequency of said vehicles overtaking said one or more vehicles.

According to an embodiment of the system I the means 110 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises means for determining the time at which said overtaking took place.

According to an embodiment the system I further comprises means 120 for determining the distance to vehicles in front of and/or behind said one or more vehicles.

The means 120 for determining the distance to vehicles in front of and/or behind said one or more vehicles may comprise any suitable on board sensing means comprising e.g. one or more camera units on board said one or more vehicles, each camera unit comprising at least one camera and/or one or more laser scanner units on board said at least one vehicle, each laser scanner unit comprising at least one laser scanner and/or one or more radar units on board said one or more vehicles, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

According to an embodiment the system I further comprises means 130 for determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The means 130 for determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles may comprise any suitable on board sensing means comprising e.g. one or more camera units on board said one or more vehicles, each camera unit comprising at least one camera and/or one or more laser scanner units on board said at least one vehicle, each laser scanner unit comprising at least one laser scanner and/or one or more radar units on board said one or more vehicles, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

The on board sensing means 112 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles, the on board sensing means 112a for detecting the relative speed of said vehicles overtaking said at least one vehicle, the on board sensing means 120 for detecting the distance to vehicles in front of and/or behind said one or more vehicles, and/or the on board sensing means 130 for detecting the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles may be the same the on board sensing means or in one or more cases different the on board sensing means.

The system I comprises means 140 for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles. The means 140 for estimating the traffic flow may comprise any suitable processing means on board said vehicle and/or external processing means for processing said information about number of vehicles overtaking said at least one vehicle. The means 140 is according to an embodiment comprised in the electronic control unit 100.

The means 140 for estimating the traffic flow comprise means 142 for considering determined distance/distances to vehicles in front of and/or behind said one or more vehicles.

The means 140 for estimating the traffic flow comprise means 144 for considering determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The means 140 for estimating the traffic flow comprises means for estimating the traffic density.

The means 140 for estimating the traffic flow comprises means for estimating the average speed of the traffic and speed of vehicles having allowed speed limit which is limited relative to the current generally allowed speed limit and speed of vehicles being allowed to follow the generally allowed speed limit.

The means 140 for estimating the traffic flow comprises means for estimating the distribution of different vehicles such as cars, trucks, buses etc.

According to an embodiment the system I further comprises means 150 for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles.

According to an embodiment the system is arranged to utilize the thus estimated traffic flow for route planning for vehicles. The route planning may e.g. be for vehicles, e.g. trucks, in a vehicle fleet.

According to an embodiment the system is arranged to utilize the thus estimated traffic flow for estimating time of arrival for certain vehicles. The estimated time of arrival for certain vehicles may be for vehicles, e.g. trucks, buses or the like, in e.g. a vehicle fleet having certain assignments.

According to an embodiment the system I further comprises means 160 for storing the thus estimated traffic flow.

The means 160 for storing the thus estimated traffic flow comprises according to an embodiment internal storage means on board said at least one vehicle. The internal storage means may be any suitable means for storing information such as a control unit, a computer or the like. The internal storage means is according to an embodiment comprised in the electronic control unit 100.

The means 160 for storing the thus estimated traffic flow comprises according to an embodiment external storage means external to said at least one vehicle. The external storage means may be any suitable external storage means such as a sever unit, a computer, a tablet or the like. The external storage means is thus according to an embodiment accessible to e.g. other vehicles, road administrations or other municipalities.

According to an embodiment the system I further comprises means 170 for determining the position of said one or more vehicles being overtaken. The means 170 for determining the position of said one or more vehicles being overtaken comprises according to an embodiment a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of said one or more vehicles being overtaken. The means 170 for determining the position of said one or more vehicles being overtaken comprises of extracting map data of said position.

The means 170 for determining the position of said one or more vehicles being overtaken comprises according to an embodiment means for extracting information via a vehicle-to-vehicle communication arrangement from said vehicles overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the on board sensing means 112 of said one or more vehicles for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data about number of vehicles overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 112a for determining the relative speed of said vehicles overtaking said one or more vehicles via a link 12a. The electronic control unit 100 is via the link 12a arranged to receive a signal from said means 112a representing data about speed of said vehicles overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 120 for determining the distance to vehicles in front of and/or behind said one or more vehicles via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data about distance to vehicles in front of and/or behind said one or more vehicles.

The electronic control unit 100 is operably connected to the means 130 for determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data about distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 140 for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles via a link 40a. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data about number of vehicles overtaking said one or more vehicles and according to an embodiment also data about relative speed of speed of said vehicles overtaking said one or more vehicles, said data comprising information about at what time the respective overtaking occurred.

The electronic control unit 100 is operably connected to the means 142 for considering determined distance/distances to vehicles in front of and/or behind said one or more vehicles via a link 42. The electronic control unit 100 is via the link 42 arranged to send a signal to said means 142 representing data about determined distance/distances to vehicles in front of and/or behind said one or more vehicles.

The electronic control unit 100 is operably connected to the means 144 for considering determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles via a link 44. The electronic control unit 100 is via the link 44 arranged to send a signal to said means 144 representing data about determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 140 for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles via a link 40b. The electronic control unit 100 is via the link 40b arranged to receive a signal from said means 140 representing data about estimated traffic flow based on the thus determined number of vehicles overtaking said vehicles and according to an embodiment also determined distance/distances to vehicles in front of and/or behind said one or more vehicles and/or determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 150 for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles via a link 50a. The electronic control unit 100 is via the link 50a arranged to send a signal to said means 150 representing data about estimated traffic flow based on the thus determined number of vehicles overtaking said vehicles and according to an embodiment also determined distance/distances to vehicles in front of and/or behind said one or more vehicles and/or determined distance/distances between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

The electronic control unit 100 is operably connected to the means 150 for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles via a link 50b. The electronic control unit 100 is via the link 50b arranged to receive a signal from said means 150 representing data about possibilities for platooning for said one or more vehicles.

The electronic control unit 100 is operably connected to the means 160 for storing the thus estimated traffic flow via a link 60. The electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data about estimated traffic flow.

The electronic control unit 100 is operably connected to means 170 for determining the position of said one or more vehicles being overtaken via a link 70. The electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data about position of said one or more vehicles being overtaken.

Fig. 4 schematically illustrates a block diagram of a method for estimating traffic flow.

According to the embodiment the method for estimating traffic flow comprises a step S1. In this step are detected, from one or more vehicles, the number of vehicles overtaking said one or more vehicles by utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection.

According to the embodiment the method for estimating traffic flow comprises a step S2. In this step the traffic flow is estimated based on the thus determined number of vehicles overtaking said vehicles.

The step of determining the relative speed of said vehicles overtaking said one or more vehicles comprises the step of determining the speed of said vehicle being overtaken.

With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for estimating traffic flow. The program P comprises routines for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles by utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection. The program P comprises routines for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles. The routines for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises routines for utilizing on board sensing means of said one or more vehicles. The routines for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises routines for determining the relative speed of said vehicles overtaking said one or more vehicles. The program P comprises routines for determining the distance to vehicles in front of and/or behind said one or more vehicles. The program P comprises routines for determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles. The program P comprises routines for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.

When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.

Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles by utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles being in motion during detection. The signals received on data port 599 can be used by apparatus 500 for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles. The signals used for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises signals used for utilizing on board sensing means of said one or more vehicles. The signals used for detecting from one or more vehicles the number of vehicles overtaking said one or more vehicles comprises signals used for for determining the relative speed of said vehicles overtaking said one or more vehicles. The signals received on data port 599 can be used by apparatus 500 determining the distance to vehicles in front of and/or behind said one or more vehicles. The signals received on data port 599 can be used by apparatus 500 determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles. The signals received on data port 599 can be used by apparatus 500 utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles.

Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1. A method for estimating traffic flow, comprising the steps of: detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles; and estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles (V1, V2), characterized in that the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said vehicles comprises the step of utilizing one or more vehicles (V1, V2), the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles (V1, V2) being in motion during detection.

2. A method according to claim 1, wherein the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles (V1, V2) comprises utilizing on board sensing means (112) of said one or more vehicles (V1, V2).

3. A method according to claim 1 or 2, wherein the step of detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles (V1, V2) comprises determining the relative speed of said vehicles overtaking said one or more vehicles.

4. A method according to any of claims 1-3, comprising the step of determining the distance to vehicles in front of and/or behind said one or more vehicles.

5. A method according to any of claims 1-4, comprising the step of determining the distance between vehicles in front of and/or behind and/or overtaking said one or more vehicles.

6. A method according to any of claims 1-5, comprising the step of utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles.

7. A system (I) for estimating traffic flow, comprising means (110) for detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles; and means (140) for estimating the traffic flow based on the thus determined number of vehicles overtaking said vehicles, characterized in that the means (110) for detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said vehicles comprises means (110a) for utilizing one or more vehicles, the allowed speed limit of which is limited relative to the current generally allowed speed limit for the vehicles in said traffic flow, said one or more vehicles (V1, V2) being in motion during detection.

8. A system according to claim 7, wherein said means (110) for detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles (V1, V2) comprises on board sensing means (112) of said one or more vehicles (V1, V2).

9. A system according to claim 7 or 8, wherein said means (110) for detecting from one or more vehicles (V1, V2) the number of vehicles overtaking said one or more vehicles (V1, V2) comprises means (112a) for determining the relative speed of said vehicles overtaking said one or more vehicles (V1, V2).

10. A system according to any of claims 7-9, comprising means (120) for determining the distance (D1c, D1e, D2c, D2e) to vehicles (1c, 1e, 2c, 2f) in front of and/or behind said one or more vehicles (V1, V2).

11. A system according to any of claims 7-10, comprising means (130) for determining the distance (D1a, D1b, D1d, D2a, D2b, D2d) between vehicles (1a, 1c, 1b, 1d, 1 f, 2a, 2c, 2b, 2d, 2e) in front of and/or behind and/or overtaking said one or more vehicles.

12. A system according to any of claims 7-11, comprising means (150) for utilizing the thus estimated traffic flow for considering possibilities for platooning for said one or more vehicles (V1, V2).

13. A vehicle (V1) comprising a system (I) according to any of claims 7-12.

14. A vehicle according to claims 13, wherein said vehicle is an autonomous vehicle.

15. A computer program (P) for estimating traffic flow, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-6.

16. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claim 1 -6.