EP2192565A1 - Verfahren und Ampelsteuersystem zur Steuerung der Ampeln an mehreren Kreuzungen - Google Patents

Verfahren und Ampelsteuersystem zur Steuerung der Ampeln an mehreren Kreuzungen Download PDF

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Publication number
EP2192565A1
EP2192565A1 EP09174886A EP09174886A EP2192565A1 EP 2192565 A1 EP2192565 A1 EP 2192565A1 EP 09174886 A EP09174886 A EP 09174886A EP 09174886 A EP09174886 A EP 09174886A EP 2192565 A1 EP2192565 A1 EP 2192565A1
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EP
European Patent Office
Prior art keywords
vehicle
intersection
control system
traffic light
traffic
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.)
Withdrawn
Application number
EP09174886A
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English (en)
French (fr)
Inventor
Jens Christian Høybye OLSEN
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SACS - SAFE CROSSING SOLUTION K/S
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SaCS - Safe Crossing Solution K/S
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Filing date
Publication date
Application filed by SaCS - Safe Crossing Solution K/S filed Critical SaCS - Safe Crossing Solution K/S
Publication of EP2192565A1 publication Critical patent/EP2192565A1/de
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle

Definitions

  • the current invention relates to a traffic light control system for controlling the traffic lights in at least one intersection based on the position of a vehicle, comprising means for periodically determining the position of the vehicle, means for determining a next intersection at which the vehicle will arrive based on the periodically determined position and means for controlling the traffic lights in the next intersection.
  • processing means are provided in an emergency vehicle. Based on the position information received from a GPS system the processing means calculates a route from the emergency vehicle to an arrival point, such as an accident site or hospital. Via transmittal means the emergency vehicle warns the traffic lights on its route that the vehicle is on the way and tells the traffic lights to start changing to green.
  • the processing means calculates a new route, on which the new traffic lights are triggered to turn green.
  • a green wave is thereby provided for an emergency vehicle.
  • the route changes situations will occur where the emergency vehicle will arrive at traffic lights which have not had time to change since not enough time have elapsed for the traffic lights to fully switch to green or the traffic lights may not yet have received information to switch as the new route has not been updated.
  • processing means in the emergency vehicle will result in an expensive system, as each vehicle will have to be provided with processing means such as a computer and the required software, including extensive electronic map data containing data on the intersections and the roads network etc.
  • processing means such as a computer and the required software, including extensive electronic map data containing data on the intersections and the roads network etc.
  • a processing device is furthermore required at each traffic signal in case communication and instructions are received from several emergency vehicles that need to be computed.
  • a traffic light control system wherein no attention to the system is required from the driver of the vehicle.
  • a traffic light control system which is able to provide a green wave of traffic lights when the route of the vehicle is not known in advance.
  • a traffic light control system which is cheaper and simple to install than other known system.
  • control system further comprises
  • the central control unit can in one embodiment comprise a server having a memory, a storage space, and a processor unit.
  • a storage space which could be a hard drive or optical disc such as a CD or DVD rom, a database is stored comprising map data representing roads, traffic lights and intersections in a geographical area.
  • a program is furthermore stored on the storage space, said program is arranged for receiving the periodical position of the vehicle and comparing the position with the map data in the database.
  • the database and the program can within the scope of the present invention be stored on separate and in some cases also different types of storage space.
  • the program is adapted to receive the periodically position data and comparing the received position data with the map data in the database.
  • map data such as for example landmarks, buildings, roads, or intersections.
  • said program can comprise a GIS software program for, based on the current position of said vehicle, determining which intersection is the next intersection the vehicles will arrive at.
  • GIS Geographical Information System
  • Geographical Information System is a commonly used platform for analyzing and visualizing spatial data, such as data, which contain geographical data.
  • the function and application of GIS will not be discussed further as it is well known in the art.
  • GIS for People by David Davis, ESRI Press 2003 and “ Geographical Information Systems and Science” by Paul Longley, Michael Goodchild, David Maguire, and David Rhind, John Wiley & Sons and ESRI Press 2001 , can be mentioned among many sources of information on GIS.
  • the GIS software furthermore enables the traffic light control system to determine subsequent intersections at which the vehicle is likely to arrive at after passing the next intersection.
  • intersections are closely placed after each other and when only one traffic light is controlled at the time the vehicle will often arrive at the next traffic light before the traffic light fully has switched to green or maybe before the traffic light have begun switching. Therefore, when subsequent intersections are known the traffic lights in these intersections can start changing in due time before the vehicle arrives and thereby create wave of green lights which follows the vehicle.
  • the position determining means comprises a GPS receiver provided in the vehicle, for receiving signals from GPS satellites.
  • GPS Global Positioning System
  • the Global Positioning System is a system that comprises a number of GPS satellites.
  • the GPS receiver is located on the surface of the earth and receives signals transmitted from a number of GPS satellites. The receiver then calculates the time taken for each satellite signal to reach the GPS receiver, and from the difference in time of reception, determines the location of the GPS receiver.
  • the first and second communication means can advantageously be wireless. This allows the position of the emergency vehicle to be easily transmitted to the central control unit, even when the emergency vehicle is moving.
  • wireless communication such as communication on a regular radio channel, optical communication or by digital means.
  • GPRS General Packet Radio Service
  • GSM Global System for Mobile Communications
  • Common for these systems are that they comprises a method for controlling the traffic lights in at least one intersection based on the position of an vehicle comprising the steps of, periodically determining the position of the vehicle, determining a next intersection at which the vehicle will arrive based on the periodically determined position, controlling the traffic lights in the next intersection, determining subsequent intersections, which are the intersections at which the vehicle may arrive after passing the next intersection, and controlling the traffic lights in the subsequent intersections.
  • this step can comprise, loading data representing the periodically determined position of the vehicle to an electronic map having the position of the at least one intersection, determining the direction of the vehicle by comparing consecutive periodically determined positions, and comparing the direction and position of the vehicle with the positions of the at least one intersection.
  • the step of determining subsequent intersection which is the intersections at which the vehicle may arrive after passing the next intersection can easily be done by, comparing the direction of the vehicle and the position of the next intersection with the position of the at least one intersection.
  • control unit In order to control several vehicles at the same time and be able to resolve conflicts that may arise when the vehicles for example arrives at the same intersection at the same time the control unit can be located remotely from the vehicle.
  • the traffic light control system according to the invention in an alternative embodiment also can be used for ensuring that a one or more traffic lights are turned red. This is especially advantageously if e.g. the police is interested in ensuring that a getaway car does not leave a specific area or has to be manipulated into take a definite route.
  • the system according to the invention works in a similar way as described above, but instead of ensuring that the traffic lights turn green, the traffic lights simply turn red ensuring that the vehicle is intercepted by cutting off the vehicles possible escape route.
  • the getaway car is manipulated into taking a predetermined definite route, chosen e.g. by the police.
  • control system will both ensure, that the getaway car takes a predetermined route, advantageously leading the car into an area chosen by the police where the getaway car can be intercepted without risk to civilians, and also that the normal traffic is cut off along the predetermined route, ensuring that the getaway car does not collide with others, again minimizing the risk for civilians.
  • control unit is a central server.
  • an emergency vehicle 1 such as an ambulance, is shown.
  • the emergency vehicle 1 periodically receives its position data from GPS satellites 2. Based on the position data a GPS system (not shown) provided in the emergency vehicle 1 determines the speed and direction of the vehicle 1.
  • the vehicle's position, speed and direction are with regular intervals forwarded to a central server 3 that contain software to process the received data.
  • the central server controls traffic signals 4,5,6.
  • the software in the central server includes a digital map.
  • the position data received from the emergency vehicle 1 is compared to the digital map.
  • the central server 3 determines that the emergency vehicle is heading for the traffic light 4 as shown with solid arrow 7a.
  • the central server takes control of the traffic light 4 and turns it into green to allow the emergency vehicle to pass with minimal risk of crossing traffic.
  • the central server compares the map data stored in the central server and the received data, and deduces that from the traffic light 4 there are two possible routes of transport 7b,7c, as shown by the dotted arrows. On these routes 7b,7c the emergency vehicle 1 will arrive at traffic lights 5,6, respectively. Since the central server 3 has no way of knowing which of the routes 7b or 7c the emergency vehicle 1 will take, the central server 3 will take control of both traffic lights 5,6 and turn them both green in favor of the emergency vehicle arriving at fast speed.
  • Communication between the different elements of the traffic light control system, i.e. the GPS satellites 2, the emergency vehicle 1, the central server 3 and the traffic lights 4,5,6 is in figure 1 indicated by jagged arrows.
  • This communication will typically be done via wireless communication such as GPRS, but in some cases standard communication wires can also do it.
  • the central server is in figure 1 shown as a standard server 3, having a significant amount of memory, storage space such as a hard drive or CD or DVD-rom, and a processor unit for processing data.
  • the central control unit can also comprise of several servers which geographically may be placed at different locations and communicate via a common network. In such a setting each server may control different areas of a traffic network and specific protocols may be provided for exchanging data, such as when an emergency vehicle crosses between areas of the traffic network controlled by separate servers within the network.
  • Such data exchange protocols and network configurations are known in the art and will therefore not be discussed further herein.
  • Figure 2 shows a partial view of a fictitious map 8. On the map 8 an exemplary route 9 of an emergency vehicle 1 is shown by the dotted line.
  • Each intersection is marked with a reference number and each road leading into or out of the intersection is marked with a letter.
  • the letter also indicates the compass direction, w being west, n being north, e being east and s being south, of the road compared to the center of the intersection.
  • w being west
  • n being north
  • e being east
  • s being south
  • the emergency vehicle enters intersection 10 from the south and exits the intersection via the east.
  • This situation is indicated as entering intersection 10 via 10s and leaving intersection 10 via 10e.
  • the traffic light 10e it should be understood that it is the traffic light you see when entering the intersection via 10e. Accordingly, a green light on traffic light 10e would allow you to proceed when arriving at intersection 10 from the east.
  • the central server When the emergency vehicle arrives at the intersection 10 from the south, the central server has already detected the emergency vehicles arrival and made sure to signal the traffic light 10s to turn green. At the same time the central server informs traffic lights in intersections 11, 12 and 13 that an emergency vehicle may arrive shortly and that traffic lights 11e, 12s and 13w respectively need to turn green. As the emergency vehicle leaves intersection 10 in a direction towards intersection 13, the central server returns traffic lights in intersections 11 and 12 to regular operation but maintains control of intersection 13, keeping the traffic light 13w green.
  • the central server knows that the emergency vehicle is heading towards intersection 13 the central server informs intersections 14, 15 and 16 that an emergency vehicle may arrive and that traffic lights 14s, 15w and 16n, need to be turned green.
  • intersection 13 the emergency vehicle turns left and exits the intersection 13 and heads towards intersection 14.
  • the central server thereby returns traffic lights in intersections 15 and 16 to normal operation and alerts intersections 12 and 17 that an emergency vehicle may arrive and that traffic lights 12e and 17s need to be turned green.
  • a green wave can therefore be provided for the emergency vehicle in such a way that if the emergency vehicle changes routes, for example because of roadwork, traffic, etc. the system will be able to quickly adapt and continue to be able to provide a green wave for the emergency vehicle.
  • FIG. 3 A flowchart of a basic process implemented in the central server to control the traffic lights encountered on the route of an emergency vehicle is shown in figure 3 .
  • step 30 When an emergency vehicle activates its sirens and responds to an emergency call, a signal is transmitted to the central server and a process is started as indicated by step 30 in figure 3 . As the process starts in step 31 the process receives position, speed and direction measurements 32 from the emergency vehicle.
  • step 33 Based on the data received in step 31 the process determines in step 33 which intersection the emergency vehicle will arrive at next and the direction from which it will arrive at the intersection. Since the emergency vehicle takes the route shown in figure 2 , the first intersection would be intersection 10 and the emergency vehicle will arrive from the south.
  • the process determines the First Wave FW parameter in step 34.
  • step 35 the traffic light indicated by the variable NI is set to green in order to provide a green light for the emergency vehicle when entering the intersection.
  • the traffic light 10s will be set to green.
  • the central server in step 36, initiates the traffic lights corresponding to the values stored in the parameter FW to change to green.
  • the traffic lights are given time to change such that when the emergency vehicle arrives at one of the possible traffic lights 11e, 12s or 13w, the light will be green.
  • step 37 After initiating the first wave the process proceeds to step 37 to update the variables OI and OFW.
  • the process then proceeds to step 38 where it once again receives the position, speed and direction measurements 32 from the emergency vehicle.
  • step 38 Based on the new measurements received in step 38 the process determines the next intersection parameter NI in step 39 and the first wave parameter FW in step 40.
  • This loop will continue to run until the emergency vehicle leaves the intersection specified by OI.
  • the emergency vehicle leaves intersection 10 and heads towards intersection 13 as indicated by the route in figure 2 .
  • step 41 the central server will reset the traffic lights in intersections represented by the values in the parameter OFW except for the traffic light towards which the emergency vehicle is heading, which is the traffic light represented by the parameter NI; OFW-NI.
  • the central server returns the traffic lights in the intersections to regular operation since the emergency vehicle is no longer heading in that general direction.
  • step 43 After resetting the old first wave of intersections the process proceeds to step 43 where it initiates the new first wave of intersections corresponding to the values stored in the parameter FW.
  • the central server takes control of not only the first intersection that the emergency vehicle is en route to, but also the subsequent intersections, the first wave, at which the emergency vehicle may arrive. It should be understood that depending on the situation a second, third, etc. wave may be defined. For example, in urban areas where the distances between intersections are short, several waves could be relevant. In order to allow the traffic lights in the intersection to properly and safely change in favor of the approaching emergency vehicle the traffic light change is initiated while the emergency vehicle is still several intersections away.
  • the second wave would be the intersections after the intersections 17, 19 and 21 with respect to the direction with which the emergency vehicle arrives in the intersection.
  • the intersections after intersection 17 when arriving at traffic light 17w are intersections 14, 25 and 26 and the corresponding traffic lights 14n, 25s and 26w need to start shifting to green.
  • the intersections after intersection 19 when arriving at traffic light 19e are intersections 23, 22 and 20 and the corresponding traffic lights 23e, 22n and 20s thereby need to start shifting to green.
  • intersections after intersection 21 when arriving at traffic light 21s are intersections 24 and 25 and the corresponding traffic lights 24s and 25w also need to start shifting to green. So, when the emergency vehicle arrives at traffic light 18s the second wave of traffic lights would be 14n, 25s, 26w, 23e, 22n, 20s, 24s and 25w.
  • the intersection 25 occurs two times, each time with a different approach direction, 25s and 25w respectively. Since it would create a traffic hazard to turn both these traffic lights to green, the central server also contains means to prioritize traffic lights in an intersection.
  • One way of prioritizing would be to give each traffic light in the intersection a priority with respect to each other. For example the traffic light 25n could be set to the highest priority level, 25e to the second highest priority level, 25s to the third highest priority level and finally traffic light 25w would have the lowest priority level. In the case mentioned above the traffic light 25s would have higher priority compared to traffic light 25w resulting in traffic light 25s turning green.
  • the skilled person could implement other types of prioritizing such as calculating the distance of the respective routes from the emergency vehicle to the traffic lights. The traffic light on the shortest route would then get the highest priority.
  • different times could be calculated for each intersection in the first wave, or in any other waves, at which the traffic lights changes to green within the intersections.
  • the determination of these times could be based on the distance to the intersection from the emergency vehicle, the speed of the emergency vehicle and/or on the time it takes to change the traffic lights in an intersection since some intersection can be larger and more crowded than others and therefore needs more time to change to green.
  • the position data can be forwarded directly to the central server where the speed and direction is calculated. This reduces the data transmission and a faster overall response time of the system is thereby achieved.
  • the changing sequence can also be different in various traffic light control systems according to the invention and even for individual traffic lights within one system. This allows the system to take into account special circumstances concerning specific intersection that requires that one type of intersections needs long time to change where others can change in relative short time. Such circumstances can for example be the number of roads leading out of the intersection and the traffic load in the intersection
  • emergency vehicle In the above description of the present invention the term emergency vehicle is used.
  • emergency vehicles would typically be fire engines, ambulances and police cars.
  • traffic light control system also could be implemented with other vehicles, such as cars in a cortege transporting terrorists, royals or other important personas.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)
  • Saccharide Compounds (AREA)
  • Navigation (AREA)
EP09174886A 2005-02-28 2006-02-27 Verfahren und Ampelsteuersystem zur Steuerung der Ampeln an mehreren Kreuzungen Withdrawn EP2192565A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DK200500305A DK200500305A (da) 2005-02-28 2005-02-28 A method and a traffic light control system for controlling the traffic lights in at least one intersection
EP06710972A EP1859426B1 (de) 2005-02-28 2006-02-27 Verfahren und ampelsteuersystem zur steuerung der ampeln an mehrerer kreuzung

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP06710972.8 Division 2006-02-27

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EP2192565A1 true EP2192565A1 (de) 2010-06-02

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EP06710972A Not-in-force EP1859426B1 (de) 2005-02-28 2006-02-27 Verfahren und ampelsteuersystem zur steuerung der ampeln an mehrerer kreuzung
EP09174886A Withdrawn EP2192565A1 (de) 2005-02-28 2006-02-27 Verfahren und Ampelsteuersystem zur Steuerung der Ampeln an mehreren Kreuzungen

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EP06710972A Not-in-force EP1859426B1 (de) 2005-02-28 2006-02-27 Verfahren und ampelsteuersystem zur steuerung der ampeln an mehrerer kreuzung

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EP (2) EP1859426B1 (de)
AT (1) ATE447753T1 (de)
DE (1) DE602006010185D1 (de)
DK (2) DK200500305A (de)
ES (1) ES2336138T3 (de)
WO (1) WO2006090346A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014114535A1 (de) 2014-10-07 2016-04-07 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Steuerung von Lichtsignalanlagen (LSA) an Verkehrsknotenpunkten auf einem Fahrweg eines Einsatzfahrzeuges
WO2020058057A1 (de) * 2018-09-20 2020-03-26 Smev Ag Smart Mobility Evolution Verfahren und vorrichtung zur beeinflussung von autonomen wechsellichtzeichenanlagen

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
US8909462B2 (en) 2011-07-07 2014-12-09 International Business Machines Corporation Context-based traffic flow control
TR201819029A2 (tr) * 2018-12-11 2019-02-21 Abdurrahim Cifci Akilli trafi̇k işiklari si̇stemi̇
CN112767680B (zh) * 2020-11-30 2022-03-29 北方工业大学 一种基于轨迹数据的绿波交通评价方法

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US5014052A (en) 1983-04-21 1991-05-07 Bourse Trading Company, Ltd. Traffic signal control for emergency vehicles
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DE19601024A1 (de) * 1996-01-13 1997-07-17 Gordon Pipa Optimierung der Fahrzeiten von Fahrzeugen mit Sonderrechten, durch eine Beeinflußung der Ampelphasen
DE19842912B4 (de) 1998-09-18 2005-02-03 Greenway Systeme Gmbh Verfahren zur Fahrwegfreischaltung für Einsatzfahrzeuge mit Sonderbefugnissen unter Nutzung des GPS-Systems und Steuereinrichtung zur Durchführung des Verfahrens
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014114535A1 (de) 2014-10-07 2016-04-07 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Steuerung von Lichtsignalanlagen (LSA) an Verkehrsknotenpunkten auf einem Fahrweg eines Einsatzfahrzeuges
DE102014114535B4 (de) 2014-10-07 2019-04-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Steuerung von Lichtsignalanlagen (LSA) an Verkehrsknotenpunkten auf einem Fahrweg eines Einsatzfahrzeuges
WO2020058057A1 (de) * 2018-09-20 2020-03-26 Smev Ag Smart Mobility Evolution Verfahren und vorrichtung zur beeinflussung von autonomen wechsellichtzeichenanlagen
WO2020058055A1 (de) * 2018-09-20 2020-03-26 Smev Ag Smart Mobility Evolution Verfahren und vorrichtung zur beeinflussung von wechsellichtzeichenanlagen

Also Published As

Publication number Publication date
DK200500305A (da) 2006-11-30
DK1859426T3 (da) 2010-03-22
EP1859426A1 (de) 2007-11-28
EP1859426B1 (de) 2009-11-04
WO2006090346A1 (en) 2006-08-31
ATE447753T1 (de) 2009-11-15
ES2336138T3 (es) 2010-04-08
DE602006010185D1 (de) 2009-12-17

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