Procedures for operating a transport system and transport system

Abstract

The invention relates to a method for operating a traffic system (10), in particular a parking system, wherein the traffic system (10) is configured for the automated control of at least one vehicle (14) on a traffic area (12), in particular a parking area, wherein the traffic system (10) comprises a control system (20) for controlling the vehicle (14) on the traffic area (12) and a safety system (32) separate from the control system (20) for monitoring the traffic area (12), wherein the control system (20) determines control commands for the vehicle (14) and sends them to the vehicle (14) and monitors the position and movements of the vehicle (14), and wherein the safety system (32) monitors the position and movement of all road users present on the traffic area (12) and, upon detecting a critical situation for at least one road user, sends a signal to that road user.wherein the traffic system (10) comprises a sensor system (16) for detecting the traffic area (12) with at least one sensor (18) capable of outputting a sensor signal (26, 34), and a controller (36), wherein the controller (36) alternately provides the sensor signals (26, 34) to the control system (20) and the safety system (32). The invention further relates to a traffic system (10) for carrying out such a method.

Description

[0001] The invention relates to a method for operating a traffic system, in particular a parking system, and to such a traffic system.

[0002] Vehicle traffic systems are known from the prior art in which a permanent communication link is established and maintained between the vehicle and the traffic system while the vehicle is within the traffic system. Information can be exchanged between the vehicle and the traffic system via this communication link. In traffic systems where the system partially or completely takes over the control of the vehicle, driving instructions or control commands are sent to the vehicle via this communication link. Such traffic systems use direct communication, meaning a separate communication link is established with each vehicle, allowing individualized information, driving instructions, and control commands to be sent to and received from each vehicle.

[0003] These traffic systems have various systems for different functions. One function is the control of vehicles on the traffic surface, i.e., determining and transmitting routes or driving instructions to move the vehicle along the route, checking whether the vehicle is moving according to the transmitted route or driving instructions, and, if necessary, correcting the route or driving instructions. This function can be performed, for example, by a control system. Another function is the monitoring of the entire traffic surface to ensure the safety of the entire traffic surface and the road users moving on it. This function can be performed by a separate safety system.

[0004] Both the control system and the safety system require sensors to detect the traffic area and the road users or vehicles on the traffic area.

[0005] The control system and the safety system are typically separate because they have different requirements and are intended to function independently. For example, the control system has higher accuracy requirements to enable the most precise vehicle control possible. Therefore, the control system and the safety system usually have separate sensors for monitoring the road surface, with each sensor being adapted and optimized for the function and requirements of its respective system. This makes the systems more complex and increases installation costs, particularly for mounting and aligning the sensors.

[0006] The object of the invention is to provide a method for operating such a traffic system that enables a simpler design of such a traffic system. A further object of the invention is to provide such a traffic system.

[0007] To solve the problem, a method for operating a traffic system, in particular a parking system, is provided, wherein the traffic system is designed for the automated control of at least one vehicle on a traffic area, in particular a parking area. The traffic system comprises a control system for controlling the vehicle on the traffic area and a safety system, separate from the control system, for monitoring the traffic area. The control system determines control commands for the vehicle, sends them to the vehicle, and monitors the vehicle's position and movements. The safety system monitors the position of all road users present on the traffic area and, upon detecting a critical situation for at least one road user, sends a signal to that road user.The traffic system also includes a sensor system for detecting the traffic area with at least one sensor that can output a sensor signal, as well as a control system, wherein the control system alternately provides the sensor signals to the control system and the safety system.

[0008] The invention is based on the idea of ​​providing a single, shared sensor system for both the control system and the safety system, preferably capable of outputting sensor information that meets the requirements of both systems. A shared sensor system reduces the number of sensors required, thereby lowering system costs, particularly installation costs. Simultaneously, the control system ensures that both systems are supplied with all the necessary information to reliably perform their respective functions.

[0009] For example, sensor signals can be alternately provided to the control system and the safety system according to a fixed scheme to ensure that both systems reliably receive the information required for their respective functions. In particular, the further processing and handling of the information in the control system and the safety system, as well as any dependent functions of the traffic system, can be adapted to the defined scheme.

[0010] The fixed scheme can include, for example, times or time intervals, data amounts, and / or data volumes for sending the sensor signal to the control system and / or the safety system. The fixed scheme can also include different times or time intervals, data amounts, and / or data volumes for the different systems. For example, the time intervals or data amounts for the control system can be shorter and those for the safety system longer to increase the safety of the traffic system. For example, the transmission of information to the safety system might be interrupted only briefly, particularly for a non-safety-relevant period, to allow the information to be sent to the control system.

[0011] In particular, a preferred system can be determined so that the sensor signals are sent to the control system or the safety system by default, and are only sent to the safety system or the control system at specified times or time intervals, or when a specified amount and / or data volume is reached. Specifically, the selection can be made depending on the amount of data or information required by the respective systems.

[0012] For the control system and the safety system, times or time intervals, data quantities and / or data volumes for sending the sensor signals to the control system and the safety system may also be specified, whereby these may be specified separately for the control system and the safety system and / or may be in a fixed ratio to each other.

[0013] The timing or time intervals, data amounts, and / or data volume for transmitting sensor signals to the control system and the safety system can also be individually configured, particularly after evaluating the sensor signals and / or additional information from the control system and / or the safety system. Specifically, the current or predicted traffic situation on the road surface, or, for example, the potential emergence of safety-critical situations, can be taken into account. For instance, a route determined for a vehicle might require a small amount of data or a lower monitoring frequency, thus allowing a larger amount of data or a longer time interval to be made available to the safety system.

[0014] The control system, the safety system, or the controller can also request additional information, particularly sensor signals, from the safety system or the control system. This means that data exchange can take place between the systems. Specifically, it is known what information or information processing capabilities are available in the respective systems, so that this information can be queried as needed and does not have to be determined by the system itself.

[0015] The sensor signals are sent, for example, unprocessed to the control system and / or the safety system. The control system and the safety system can each process the sensor signals specifically. The sensors are selected so that the raw data, with appropriate system-level processing, can be used by both systems.

[0016] Alternatively, the sensor signals can be pre-processed, particularly depending on whether they are sent to the control system or the safety system. This means the sensor signals are optimized for the specific system. Specifically, the sensors can have different settings or pre-processing for the respective functions or systems.

[0017] For example, the preprocessing of sensor signals can include the provision of additional information required by the respective system by the sensor system.

[0018] To solve the problem, a traffic system, in particular a parking system, is further provided. The traffic system is designed for the automated control of at least one vehicle on a traffic area, especially a parking area. The traffic system comprises a control system for steering the vehicle on the traffic area and a separate safety system for monitoring the traffic area. The control system can determine and send control commands to the vehicle and monitor its position and movements. The safety system monitors the position of all road users present on the traffic area and, upon detecting a critical situation for at least one road user, sends a signal to that user.The traffic system includes a sensor system for detecting the traffic area, with at least one sensor capable of outputting a sensor signal, and a controller, wherein the controller alternately provides the sensor signals to the control system and the safety system, in particular by a method described above.

[0019] At least one sensor can be a camera, a LiDAR sensor, a radar sensor, or an ultrasonic sensor.

[0020] Further advantages and features will become apparent from the following description in conjunction with the attached drawings. These show: Fig. 1 a schematic representation of a transport system; Fig. 2 a schematic representation of the structure of the transport system Fig. 1; and Fig. 3 a schematic representation of the functioning of the transport system Fig. 1.

[0021] In the Fig. 1 and Fig. 2 is a traffic system 10 for controlling and monitoring vehicles 14 on a traffic area 12. In the embodiment shown here, the traffic area 12 is a parking space and the traffic system 10 is a parking system for vehicles 14. However, the traffic area 12 can also be any other area on which road users move or on which road users are to be controlled by the traffic system 10.

[0022] The traffic system 10 has a sensor system 16 with multiple sensors 18 that monitor the entire traffic area 12 as well as all vehicles 4 and road users located on the traffic area 12. The sensors 18 can be any type of sensor, such as cameras, radar sensors, lidar sensors, or ultrasonic sensors, as well as other sensor types suitable for monitoring the traffic area 12. In particular, different sensor types can be used to ensure the most reliable monitoring possible of the entire traffic area and the road users located on it.

[0023] The traffic system 10 also has a control system 20 for controlling the vehicles 14. The control system 20 can also, if necessary, take over the control of other road users, provided they are equipped for external control and / or have a suitable communication unit for communicating with the traffic system 10. For the sake of simplicity, the function of the traffic system 10 for vehicles 14 is described below, although the procedure can also be applied analogously to other road users.

[0024] The control system 20 has a communication device 22 for establishing separate or joint communication links 24 to the vehicles 14, through which driving instructions and / or control commands can be sent for the respective vehicle 14.

[0025] The control system 20 is connected to the sensor system 16, so that the control system 20 can receive information from the sensor system 16 required for controlling the vehicles 14, such as location and / or movement information of the vehicles, as sensor signals 26 from the sensor system 16.

[0026] The control system can determine a driving route 28 within the traffic area 12 for each vehicle 14 based on the sensor signals from the sensor system 16 and generate corresponding driving instructions or control commands for the respective vehicle 14. These driving instructions or control commands can be sent to the respective vehicle 14 via the communication link 24.

[0027] The vehicles 14 each have a communication unit 30 for establishing the communication connection 24 with the communication device 22. For example, when entering the traffic area 12, the vehicle can register with the traffic system 10, whereby a unique identification of the vehicle 14 and an establishment of the communication connection 24 take place.

[0028] Via the communication unit 30 or the communication link 24, the vehicles 14 can receive control commands and forward them to a vehicle control unit. The vehicle control unit can then execute the control commands, enabling the vehicles 14 to be moved through the traffic area 12 by the traffic system 10, in particular remotely.

[0029] The traffic system 10 monitors the vehicles 14 within the traffic area 12 via the sensor system 16 and can, based on the sensor signals, correct the control commands or driving instructions for the vehicles 14 if necessary, in order to ensure, for example, that the vehicles 14 move along the determined routes 28 or to be able to react to critical situations or prevent their occurrence.

[0030] The control of the vehicles 14 is preferably carried out in a closed-loop control system in which the position and direction of movement of the vehicles 14 are repeatedly transmitted by the sensor system 16 to the control system 20, which then checks and compares this information with the control commands and the determined travel distance 28. If the position and / or direction of movement of a vehicle 14 deviates from the determined travel distance 28, or if travel along the travel distance 28 cannot be continued, for example due to obstacles, appropriately corrected control commands can be sent to the vehicle 14. If several vehicles 14 are in the parking system 10, the travel distances 28 for these vehicles are calculated so that they do not overlap.

[0031] Alternatively, the traffic system can also send the determined route 28 to the vehicle 12, and the vehicle 12 moves autonomously along this route 28. In this embodiment as well, the vehicle and its movements are continuously monitored by the traffic system 10 using the monitoring sensors 16. If the vehicle 12 deviates from the transmitted route 28, a corrected route 28 is determined and sent to the vehicle 12, or a warning message is sent to the vehicle 12.

[0032] Furthermore, the traffic system 10 has a safety system 32 that is completely separate from the control system 20. The safety system 32 monitors the entire traffic area 12, including road users located on the traffic area 12 who cannot be controlled by the control system 20. The safety system 32 is also connected to the sensor system 16 and can receive sensor signals 34 from it.

[0033] Based on the sensor signals 34 and, where applicable, the information from the control system 20, the movement paths of road users are determined and / or estimated, and it is checked whether critical or dangerous situations may arise, for example, if the movement paths of different road users overlap. If such a critical situation is detected and / or predicted by the safety system 32, the safety system 32 initiates measures to avoid the situation. For example, a signal, such as a warning signal or a behavioral instruction, is sent to at least one road user for whom a critical situation has been detected. The safety system 32 may have separate communication devices or may also access the communication device 22 of the control system 20.

[0034] The requirements for the control system 20 and the safety system 32 regarding accuracy and vehicle control differ, so different sensors have been used for the systems so far. In the traffic system 10 shown here, a common sensor system 16 is used for both systems, i.e., both the control system 20 and the safety system 32, wherein the sensors 18 of the sensor system 16 are selected such that they can output sensor signals 26, 34 that meet the requirements of both the control system 20 and the safety system 32.

[0035] The sensor signals 26, 34 are alternately output either to the control system 20 or to the safety system 32 (see Fig.3), wherein the sensor system 16 has a controller 36 for outputting the sensor signals 26, 34 to the respective system 20, 32. The switching between sending the sensor signals 26, 34 to the control system 20 or the safety system 32, or the corresponding processing of the sensor signals, can, for example, be carried out according to a fixed scheme. This allows, for example, downstream processes, such as the control loop for controlling the vehicles 14, to be adapted to the scheme in which the sensor signals 26 are sent to the control system 20 in order to avoid undesirable delays.

[0036] The schema can, for example, include time intervals or points in time. Furthermore, such a schema can also include data sets or data volumes, for example, a single data record that comprises a complete representation of traffic area 12 and the road users located therein.

[0037] The time intervals, data amounts, or data volumes can define a fixed ratio between the control system 20 and the safety system 32. This means that the system switches to the other after a defined time, a defined data volume, or a specific amount of data. The ratio can be chosen such that one system receives more information than the other. In particular, this ratio can be defined according to the requirements of the respective systems 20 and 32.

[0038] In principle, one of the two systems 20, 32 can also be prioritized or designated as the standard system to which the sensor signals 26, 34 are sent, and the sensor signals 26, 34 are only sent to the other system 20, 32 at specified times.

[0039] Optionally, systems 20 and 32 can each determine their own information requirements and, if updated sensor signals 26 and 34 are needed, send a request to sensor system 16. For example, control system 20 or safety system 32 can check whether the last received sensor signals 26 and 34 are sufficient or whether updated information is required. For example, based on the last received sensor signals 26 and 34, safety system 32 can determine that the occurrence of critical situations can be reliably ruled out for a certain period of time, for example, if the distance between road users or obstacles is sufficiently large that no updated sensor signals 26 and 34 are required.

[0040] In principle, it is possible to switch between the schemes described above, for example depending on the information required by the control system 20 and the safety system 32.

[0041] The sensor signals 26, 34 are each optimized for the control system 20 and the safety system 32, meaning that they are individually pre-processed by the control 36 and the sensor system 16 respectively, whereby the processing of the sensor signals is preferably as minimal as possible.

[0042] Furthermore, a communication link 38 can exist between the control system 20 and the safety system 32. If the safety system 32 detects information relevant to the control system 20, it can send this information directly to the control system 20, so that the control system 20 receives this information before the switchover from sensor system 16 to control system 20 takes place.

[0043] Control system 20 and safety system 32 can each individually process or further process the sensor signals 26 and 34 for their respective uses. Optionally, preprocessing of the sensor signals 26 and 34 can also take place in sensor system 16, which may include adaptation to the specific requirements of control system 20 or safety system 32.

[0044] For example, preprocessing in sensor system 16 can also include sending additional information that is required or helpful for the respective system 20, 32. This additional information can be, for example, status information or diagnostic information from sensors 18. Status information can include temperatures, power consumption, access to work, and the condition of the sensors and other components of the sensor system. Diagnostic information can include information that allows conclusions to be drawn about the correct functioning of sensor system 16 or other components of the traffic system 10.

[0045] Furthermore, preprocessing can include preparing the sensor signals, for example converting them into an image or video format suitable for the subsequent system 20, 32, or filtering the sensor signals.

Claims

[1] Method for operating a traffic system (10), in particular a parking system, wherein the traffic system (10) is configured for the automated control of at least one vehicle (14) on a traffic area (12), in particular a parking area, wherein the traffic system (10) comprises a control system (20) for controlling the vehicle (14) on the traffic area (12) and a safety system (32) separate from the control system (20) for monitoring the traffic area (12), wherein the control system (20) determines control commands for the vehicle (14) and sends them to the vehicle (14) and monitors the position and movements of the vehicle (14), and wherein the safety system (32) monitors the position and movement of all road users present on the traffic area (12) and, upon detecting a critical situation for at least one road user, sends a signal to that road user.wherein the traffic system (10) comprises a sensor system (16) for detecting the traffic area (12) with at least one sensor (18) capable of outputting a sensor signal (26, 34) and a controller (36), wherein the controller (36) alternately provides the sensor signals (26, 34) to the control system (20) and the safety system (32). [2] Method according to claim 1, characterized by , that the sensor signals (26, 34) are alternately made available to the control system (20) and the safety system (32) according to a fixed scheme. [3] Method according to claim 2, characterized by , that the fixed scheme includes times or time intervals, data quantities and / or data volumes for sending the sensor signal to the control system (20) and / or the safety system (32). [4] Method according to claim 3, characterized by, that the sensor signals (26, 34) are sent to the control system (20) or the safety system (32) as a standard procedure and that the sensor signals (26, 34) are only sent to the safety system (32) or the control system (20) at specified times or time intervals, or when a specified amount and / or volume of data is reached. [5] Method according to claim 3, characterized by , that for the control system (20) and the safety system (32) times or time intervals, data quantities and / or data volumes for sending the sensor signals to the control system (20) and the safety system (32) are specified, whereby these may be specified separately for the control system (20) and the safety system (32) and / or may be in a fixed ratio to each other. [6] Method according to claim 3, characterized by, that the sensor signals 26, 34) are sent to the control system (20) and the safety system (32) as standard, and that sending the sensor signals to the safety system (32) or the control system (32) only occurs on request by the safety system (32), the control system (20) or the controller. [7] Method according to any one of the preceding claims, characterized by , that the controller individually determines the times or time intervals, data amounts and / or data volumes for sending the sensor signals to the control system (20) and the safety system (32), in particular after evaluation of the sensor signals and / or additional information from the control system (20) and / or the safety system (32). [8] Method according to any one of the preceding claims, characterized by, that the control system (20), the safety system (32) or the controller (36) may request additional information, in particular sensor signals from the safety system (32) or from the control system (20). [9] Method according to any one of the preceding claims, characterized by , that the sensor signals (26, 34) are sent unprocessed to the control system (20) and / or the safety system (32). [10] Method according to any one of claims 1 to 9, characterized by , that the sensor signals (26, 34) are pre-processed, in particular depending on whether the sensor signals (26, 34) are sent to the control system (20) or the safety system (32). [11] Method according to claim 10, characterized by , that the preprocessing of the sensor signals (26, 34) includes the provision of additional information by the sensor system (16). [12] Traffic system (10), in particular a parking system, wherein the traffic system (10) is configured for the automated control of at least one vehicle (14) on a traffic area (12), in particular a parking area, wherein the traffic system (10) comprises a control system (20) for controlling the vehicle (14) on the traffic area (12) and a safety system (32) separate from the control system (20) for monitoring the traffic area (12), wherein the control system (20) determines control commands for the vehicle (14) and sends them to the vehicle (14) and monitors the position and movements of the vehicle (14), and wherein the safety system (32) monitors the position and movement of all road users present on the traffic area (12) and, upon detecting a critical situation for at least one road user, sends a signal to that at least one road user.wherein the traffic system (10) comprises a sensor system (16) for detecting the traffic area (12) with at least one sensor (18) that can output a sensor signal (26, 34), and a controller (36), wherein the controller (36) alternately provides the sensor signals (26, 34) to the control system (20) and the safety system (32), in particular by a method according to one of the preceding claims. [13] Transport system according to claim 12, characterized by , that at least one sensor (18) is a camera, a LIDAR sensor, a RADAR sensor or an ultrasonic sensor.

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