QUALITY DETERMINATION METHOD, QUALITY DETERMINATION DEVICE, MOTOR VEHICLE

Description

[0001] The invention relates to a quality determination method for a traffic system for adjusting the speed of a motor vehicle, a quality determination device, and a motor vehicle.

[0002] In general, systems are known that are integrated into vehicles to, for example, obtain traffic light phases or other traffic data in road traffic, evaluate this data, and the like.

[0003] For example, an approach speed to the signal (e.g., traffic light) can be adjusted based on the switching time of a signal received from a vehicle, so that the vehicle does not have to stop in front of the signal, which can save fuel, reduce a subjective waiting time, and the like.

[0004] For example, a method is disclosed in US patent application 2014 / 0055288 which verifies a property derived from messages from a signaling system and compares it with a self-recorded property. However, this method could produce an incorrect result due to reception interference or faulty signal generation (e.g., due to a calibration error, poor prediction, etc.). Furthermore, no statistical statement about the signaling system can be made using this method.

[0005] A method for comparing signal phase data with vehicle movement data is disclosed in US patent application 2018 / 0150086. However, this method does not use data from a large number of road users.

[0006] The patent application DE 10 2012 216 788 A1 describes a method and a system for obtaining quality data concerning information on switching times and / or switching conditions of traffic lights and / or variable message signs.

[0007] The object of the present invention is to provide a quality determination method, a quality determination device, and a motor vehicle which at least partially overcome the aforementioned disadvantages.

[0008] This problem is solved by the quality determination method according to claim 1, by the quality determination device according to claim 10 and by the motor vehicle according to claim 11.

[0009] Further advantageous embodiments of the invention will become apparent from the dependent claims and the following description of preferred embodiments of the present invention.

[0010] As discussed above, there are known systems through which traffic data can be obtained from a traffic system.

[0011] However, it has been recognized that such systems can be prone to errors or inaccuracies, potentially preventing a comfortable, economical, environmentally friendly, safe, and / or fast journey.

[0012] Furthermore, data (e.g., confidence levels) transmitted by such systems can be evaluated in different ways, so that different evaluations of the same data can lead to different results, which is generally undesirable.

[0013] Furthermore, it was recognized that there is no procedure to determine the correctness, precision, quality, accuracy, and the like of the data obtained.

[0014] Therefore, some exemplary implementations concern a quality assessment procedure for a traffic system for adjusting the speed of a motor vehicle, comprising: Obtaining initial traffic parameter data from the traffic system, which are indicative of a parameter of the traffic system; wherein the parameter includes at least one traffic control piece of information, in particular a traffic light phase, and wherein the parameter further includes an expected phase change of the traffic light phase; Obtaining second traffic parameter data, which are indicative of the parameter of the traffic system, wherein the second traffic parameter data originates from a large number of road users; Determining the parameter from the first traffic parameter data; Determining the parameter from the second traffic parameter data; and comparing the parameter determined from the first traffic parameter data with the parameter determined from the second traffic parameter data to determine the quality of the first traffic parameter data;Predicting the phase change based on the parameter determined from the initial traffic parameter data, if a quality level is above a predetermined threshold; and adjusting a speed based on the predicted phase change.

[0015] The transport system can be any arrangement of elements along a transport route (on land or water) designed to regulate the flow of traffic.

[0016] In this context, an element can be a signaling system, such as a traffic light or traffic light system, a roundabout with appropriate control technology, an acoustic signaling system, a haptic signaling system, a signaling system based on electromagnetic signals (i.e., without sending a stimulus detectable by a road user, e.g., for an autonomously driving vehicle), and the like, whereby a combination of several different elements can also be in accordance with the invention.

[0017] The traffic system can be implemented, for example, on a road which has at least one traffic signal system (e.g. a traffic light).

[0018] The traffic system may further include a control arrangement which is designed to record, estimate, determine, acquire and / or transmit data which is indicative of at least one transmitted signal, traffic control information, and the like (e.g. a traffic light phase).

[0019] A quality determination method according to the invention uses initial traffic parameter data. The initial traffic parameter data are provided, for example, by the control arrangement and can correspond to the data described above.

[0020] For example, the control arrangement can determine a traffic light phase of at least one traffic light in the traffic system and provide an estimate of how long this traffic light phase will (still) last.

[0021] This estimate can be obtained from the traffic system as initial traffic parameter data in a quality determination method according to the invention.

[0022] For example, the traffic system can transmit the first traffic parameter data (cyclically) so that the first traffic parameter data can be received in a quality determination method according to the invention.

[0023] However, obtaining the data can also involve sending a request to the traffic system, so that the traffic system, in response to the request, provides the initial traffic parameter data.

[0024] Furthermore, in some embodiments, obtaining the data may include downloading the initial traffic parameter data (e.g., from a server).

[0025] In a quality determination method according to the invention, the acquisition can also be carried out by a combination of at least two acquisition methods. For example, part of the first traffic parameter data can be transmitted (cyclically) by the traffic system, while another part is provided by a request, and so on.

[0026] The first traffic parameter data are indicative of a parameter of the traffic system, i.e., in a quality determination method according to the invention, the parameter can be determined from the first traffic parameter data.

[0027] As previously discussed, a parameter can encompass a traffic light phase. Furthermore, a parameter can include an (estimated or defined) time at which the traffic light phase changes to another phase. In addition, the parameter can include road topology, lane information, a recommended speed, a likely time until a phase change, and a confidence level.

[0028] In some embodiments, the confidence of a signal (e.g., an estimated measurement error) is compared with a probable time until a phase change.

[0029] In some implementation examples, it is checked whether the first traffic parameter data are sent at a required frequency (e.g., based on a predefined standard).

[0030] In general, the first traffic parameter data are not limited to being indicative of exactly one parameter, because in a quality determination method according to the invention, a plurality (i.e., at least one) of parameters can also be determined from the first traffic parameter data.

[0031] The quality determination method according to the invention further comprises obtaining second traffic parameter data.

[0032] The second set of traffic parameter data may have the same or a different data structure than the first set of traffic parameter data; however, the source of reference for the second set of traffic parameter data is typically different from that for the first set of traffic parameter data.

[0033] According to the invention, the second traffic parameter data is obtained from a multitude of road users, or the multitude of road users provides the second traffic parameter data on a remote server or the like.

[0034] A road user can generally be any vehicle that is regulated by the traffic system, such as a motor vehicle, a motorcycle, a pedestrian (who is equipped with a suitable device to provide the first and second traffic parameter data), a bicycle, and the like.

[0035] In general, every road user can be equipped (or have a corresponding device) to both perform the quality determination method according to the invention and to provide the second traffic parameter data.

[0036] The second traffic parameter data can be determined by a device associated with one (or many) road user(s).

[0037] For example, each of the many road users can be equipped with a camera or the like, so that each road user can record traffic light phases of a traffic light system with a corresponding lane assignment, which are sent as second traffic parameter data to a device which is set up to carry out a quality determination method according to the invention.

[0038] In some embodiments, the second set of traffic parameter data, if they originate from a large number of road users and are therefore available as a large number of data sets, are first combined into one data set, for example by performing a statistical analysis (accumulation, calculation of a mean, determination of a measurement error, and the like).

[0039] In some embodiments, a large number of parameters are first determined from the large number of data sets, so that a final parameter can be determined from the large number of parameters, for example by a statistical analysis.

[0040] According to the invention, the quality determination method further comprises determining the parameter from the first traffic parameter data and determining the parameter from the second traffic parameter data, as already discussed.

[0041] Furthermore, the quality determination method according to the invention includes a comparison of the parameter determined from the first traffic parameter data with the parameter determined from the second traffic parameter data.

[0042] The comparison can include determining a deviation, a difference, a quotient, a rate, a significance, and the like, which allows a statement as to whether and to what extent the parameter determined from the first traffic parameter data differs from the parameter determined from the second traffic parameter data.

[0043] This determines the quality of the initial traffic parameter data. For example, the initial traffic parameter data may be faulty (e.g., due to an incorrect traffic light lane assignment, an inaccurate estimate of a traffic light phase, etc.), so that the parameter derived from the initial traffic parameter data is also faulty. If the specified deviation, etc., is above a predefined threshold, it can be determined that the quality of the initial traffic parameter data is insufficient; conversely, if the specified deviation, etc., is below (or equal to) the predefined threshold, it can be determined that the quality of the initial traffic parameter data is sufficient.

[0044] Therefore, in some embodiments, the quality determination procedure further includes: determining the quality of the initial traffic parameter data based on comparison; and deciding, based on the quality, whether the initial traffic parameter data should be considered in future use of the traffic system.

[0045] The quality can generally be a numerical value, a designation (such as sufficient), and the like.

[0046] If the quality is determined to be insufficient or if it is below a predetermined value, it may be decided that if a road user uses the transport system at a time after the quality has been determined, the first traffic parameter data will not be taken into consideration.

[0047] For example, if the initial traffic parameter data is indicative of a waiting time at a traffic light, if the quality is insufficient, it may be decided that the waiting time is not displayed to an occupant (e.g., a driver) of the road user, as it can be assumed that the waiting time determined from the initial traffic parameter data is incorrect.

[0048] This can be done, for example, via geofencing.

[0049] In some implementations, this can be achieved via an index (e.g., a blacklist) in which, for example, each traffic light is listed with a unique identifier (e.g., ID), allowing its position to be determined by identifying the identifier. If the quality is sufficient, the waiting time can be displayed.

[0050] In some embodiments, the comparison includes determining a statistical deviation of the parameter determined from the first traffic parameter data with the parameter determined from the second traffic parameter data.

[0051] The statistical deviation can be based on a sample test between the parameter determined from the first traffic parameter data and the parameter determined from the second traffic parameter data, such as a t-test, a chi-square test, a significance test, and the like.

[0052] The quality can then be determined from the calculated statistical deviation or from a significance value, and the like.

[0053] In some embodiments, the comparison includes a juxtaposition of an actual, determined allocation of lanes to a signaling system and an allocation of lanes to the signaling system provided by the traffic system, so that if there is a discrepancy between the two allocations in future use of the traffic system, the first traffic parameter data are not taken into account.

[0054] According to the invention, the parameter includes at least one traffic control information (e.g. a traffic light phase), as already discussed.

[0055] In some embodiments, at least one traffic control information is associated with a lane information, as described herein.

[0056] In some embodiments, where at least one traffic control information includes one or more traffic light phases, the parameter also includes an expected phase change of the traffic light phase.

[0057] According to the invention, the quality determination method further comprises: predicting the phase change based on the parameter determined from the initial traffic parameter data, if the quality is above a predetermined threshold. This can be the case if a probable waiting time or a probability for a future phase change time is determined as a parameter from the initial traffic parameter data. If the quality is above a predetermined value, a phase change can be predicted from the given probability with a (predetermined) accuracy, which may depend on the quality.

[0058] In some embodiments, the quality determination procedure also includes: transmitting the predicted phase change.

[0059] The predicted phase change can, for example, be transmitted to a remote server via network interfaces, radio protocols (e.g., mobile internet), and the like, so that other road users can access this information, thus advantageously not every road user has to carry out a quality determination method according to the invention.

[0060] According to the invention, the quality determination method further comprises: adjusting a speed based on the predicted phase change. For example, a road user may approach a traffic light where proceeding is currently not permitted. In this way, the speed can be reduced, for instance, so that the road user does not have to come to a complete stop, thus avoiding the need to accelerate again when proceeding is permitted, and so on.

[0061] However, adjusting speed can also include accelerating or coming to a complete stop.

[0062] In some embodiments, the second traffic parameter data are swarm data, whereby not only the multitude of road users must be part of the swarm, but also other systems which are set up to carry out a quality determination method according to the invention, such as a traffic monitoring system, a mobile phone, and the like, which advantageously increases the accuracy of the parameter determined from the second traffic parameter data.

[0063] In some embodiments, the first traffic parameter data includes signal phase and time data.

[0064] In some implementation examples, the initial traffic parameter data includes road topology data.

[0065] As is generally known, traffic systems can transmit standardized signals, such as SPaT data (Signal Phase and Time) and road topology data (MAP) according to ISO TS 19091, so that known first traffic parameter data can advantageously be used to carry out a quality determination method according to the invention.

[0066] For example, a traffic system (e.g., a traffic light) can provide information about whether and how many people are at a road junction, as well as transmit switching times (phase changes), for example via a pWLAN (public wireless local area network).

[0067] This information (or first traffic parameter data according to the invention) can, in some embodiments, be transmitted to a vehicle via a mobile communication connection (e.g. radio protocol data) or, as discussed, via direct communication, such as pWLAN.

[0068] Verification of a source providing the initial traffic parameter data can be achieved using a Public Key Infrastructure (PKI) and / or by signing the initial traffic parameter data.

[0069] In some implementation examples, the first traffic parameter data (in the case of MAP) are indicative of an intersection layout, such as the arrangement of lanes and which direction of travel they are assigned to (e.g., separate left-turn lane, shared right-straight-ahead lane, and the like), and / or indicative of traffic signal groups with an assignment to the lane arrangement, e.g., which lane is associated with which traffic signal group.

[0070] In some implementations, the initial traffic parameter data (in the case of SPaT) is indicative of current phase information for the individual traffic light signal groups. It may also include an estimate of the next switching time.

[0071] In some implementation examples, the initial traffic parameter data is a combination of MAP and SPaT data.

[0072] In some embodiments, such information can be used to determine an optimal approach speed to a traffic light, thus advantageously saving fuel.

[0073] If a driver of a motor vehicle is already stopped at an intersection, the driver can be informed of the remaining waiting time. This can advantageously shorten the perceived waiting time.

[0074] Fig. 1 shows a road junction 1 with several lanes 2 to 7 and a conflict zone 8, whereby passage through the conflict zone 8 is controlled by a traffic light assigned to each lane (not shown).

[0075] Information about lanes 2 to 7 is contained in the road topology data, while phase information is contained in the signal phase and timing data, so that passage through conflict zone 8 is controlled by a combination of road topology data and signal phase and timing data.

[0076] In some embodiments, a road topology is determined based on the road topology data (first traffic parameter data), that is, for example, a traffic light is assigned to a lane, whereby the road topology is further determined with an actual route driven (from second traffic parameter data).

[0077] The actual route traveled can be determined using geodata (e.g., GPS), odometry, and the like.

[0078] The actual route can also be determined based on observed driving maneuvers (left, right, straight ahead, and the like).

[0079] This allows the quality of road topology data to be determined.

[0080] In some embodiments, the signal phase and time data (first traffic parameter data) are compared with a visual check of a current phase based on a camera (thus acquiring second traffic parameter data).

[0081] This allows the quality of the signal phase and time data to be determined.

[0082] Furthermore, a failed signal group assignment between road topology data and signal phase and time data may also occur, which can advantageously be checked by determining the quality of the road topology data and the signal phase and time data.

[0083] This allows verification of whether all required signal groups (or traffic light systems) of a traffic system are included in both the road topology data and the signal phase and time data.

[0084] Furthermore, revision totals of the road topology data and the signal phase and time data can be compared.

[0085] Furthermore, as is generally known, mandatory fields (based on a standard) can be included in both the road topology data and the signal phase and time data, whereby in some embodiments it can be determined whether all mandatory fields are sent or received, so that the quality can be advantageously determined more accurately.

[0086] Generally, if the detected quality falls below a predetermined threshold, the reception of initial traffic parameter data from a traffic system can be deactivated in a motor vehicle.

[0087] In some embodiments, the quality determination procedure also includes: adapting a route guidance based on the parameter.

[0088] For example, it can be determined that an incorrect traffic light lane assignment occurred in the initial traffic parameter data.

[0089] This can lead to a situation where, if there are two alternative (equally fast without traffic lights) routes to a destination, a road user would have to wait a long time at a traffic light if the road user's navigation is faulty due to an incorrect traffic light lane assignment.

[0090] Route guidance (i.e., navigation) can then be adjusted by correcting the traffic light lane assignment so that an alternative (faster) route can be calculated.

[0091] Some embodiments relate to a quality determination device which is set up to carry out a quality determination method according to the invention.

[0092] The quality control device can be a switching arrangement in a motor vehicle. For example, a quality control device can have elements designed to carry out the quality control procedure.

[0093] For example, the quality determination device can have a network interface for obtaining the first traffic parameter data, an image acquisition element for obtaining the second traffic parameter data, a processor for determining the parameter from the first and second traffic parameter data and for comparing the determined parameters, without limiting the present invention thereto. For example, the method can also be carried out by a central on-board computer integrated into a motor vehicle, and the like.

[0094] Some embodiments relate to a motor vehicle which includes a quality determination device according to the invention.

[0095] The term "motor vehicle" can refer to any vehicle powered by an engine (e.g., internal combustion engine, electric motor, etc.), such as a car, a motorcycle, a truck, a bus, agricultural or forestry tractors, which participates in a traffic flow.

[0096] In some embodiments, a quality determination method according to the invention is carried out in a vehicle (e.g., via direct communication). However, the present disclosure is not limited to this, because the first and second traffic parameter data can be provided by a backend (e.g., a remote server) or can also be provided in the (or in another) backend, so that a motor vehicle according to the invention can also be configured to transmit second traffic parameter data (e.g., traffic light phases recorded by a camera) to the backend (e.g., via mobile network).

[0097] Exemplary embodiments of the invention are now described by way of example and with reference to the accompanying drawing, in which: Fig. 1 schematically an embodiment of a road junction at which a quality determination method according to the invention can be carried out; Fig. 2 a quality determination method according to the invention; Fig. 3 a coordinate system for comparing the parameter determined from the first traffic parameter data with the parameter determined from the second traffic parameter data; Fig. 4 a bar chart that represents the precision of a predicted time and; Fig. 5 a motor vehicle according to the invention with a quality determination device according to the invention.

[0098] An embodiment of a quality determination method 10 according to the invention is described in Fig. 2 depicted.

[0099] In section 11, initial traffic parameter data are obtained, as described herein.

[0100] In section 12, second traffic parameter data are obtained, as described herein.

[0101] In section 13, the parameter is determined from the first traffic parameter data, as described herein.

[0102] In section 14, the parameter will be determined from the second traffic parameter data, as described herein.

[0103] In section 15, the parameter determined from the first traffic parameter data is compared with the parameter determined from the second traffic parameter data, as described herein.

[0104] Fig. 3 Figure 20 shows a coordinate system on which a past time is plotted on an abscissa 21, and on which a time until a phase change of a traffic light is shown on an ordinate 22.

[0105] For the sake of simplicity, two traffic light phases are shown here, however the present invention is not limited to two traffic light phases.

[0106] Furthermore, a zero line 23 is shown, where values ​​below the zero line 23 indicate a traffic light phase that causes a road user to stop (e.g. red) and values ​​above the zero line 23 indicate a traffic light phase that causes the road user to continue driving (e.g. green).

[0107] The coordinate system 20 also contains a probable time 24 (dotted line) at which a phase change is to take place, which is based on a determination according to the invention from first traffic parameter data transmitted by a signal light system (as a traffic system according to the invention).

[0108] Furthermore, the coordinate system 20 contains a real time 25 (solid line) at which a phase change takes place, which is based on a determination according to the invention from second traffic parameter data, which originate from swarm data from a large number of road users.

[0109] The second set of traffic parameter data was determined by monitoring the traffic system through the large number of road users, while the first set of traffic parameter data is based on an estimate of the probability of when a phase change will occur.

[0110] Thus, a comparison according to the invention can take place between the probable time 24 (as a parameter determined from the first traffic parameter data) and the actual time 25 (as a parameter determined from the second traffic parameter data).

[0111] Fig. 4 Figure 30 shows a bar chart, where on an abscissa 31 a predicted time (as a parameter determined from the first traffic parameter data) before a phase change is shown, and where on an ordinate 32 a precision of the predicted time compared to an actual time (as a parameter determined from the second traffic parameter data) is shown.

[0112] The bars in bar chart 30 have different fill levels, 33 to 36, where fill level 33 (no fill) represents a precision of less than one second. This means that the actual time is one second longer or shorter than the predicted time.

[0113] Fill level 34 represents a precision of less than two seconds. Fill level 35 represents a precision of less than three seconds. Fill level 36 represents a precision of less than five seconds.

[0114] If, in bar chart 30, one fill level is above another, this means that the predicted time is longer than the actual time. If one fill level is below another, this means that the predicted time is shorter than the actual time.

[0115] For example, on bar 30 of the bar chart on the far left, ninety percent of all predictions are accurate to within one second, while the remaining ten percent are up to two seconds too short.

[0116] Fig. 5 Figure 1 shows a motor vehicle 40 according to the invention, which has a quality determination device 41 according to the invention, which in this embodiment is designed as a central on-board computer and which is equipped to carry out a quality determination method according to the invention.

[0117] The quality determination device 41 controls a network interface 42 through which first and second traffic parameter data are received. Furthermore, the quality determination device 41 controls a camera device 43, which is configured to acquire second traffic parameter data (as camera data) by recording traffic light phases.

[0118] Furthermore, the vehicle 40 is equipped to provide the second traffic parameter data via the network interface 42 to, for example, a remote server, so that this data can be added to swarm data. Reference symbol list

[0119] 1 Intersection 2 - 7 Lane 8 Conflict zone 10 Quality assessment procedure 11 Obtaining first traffic parameter data 12 Obtaining second traffic parameter data 13 Determining parameters from the first traffic parameter data 14 Determining parameters from the second traffic parameter data 15 Comparing the parameter determined from the first traffic parameter data with the parameter determined from the second traffic parameter data 20 Coordinate system 21 Abscissa 22 Ordinate 23 Zero line 24 Probable time 25 Actual time 30 Bar chart 31 Abscissa 32 Ordinate 33 Fill level for precision of less than one second 34 Fill level for precision of less than two seconds 35 Fill level for precision of less than three seconds 36 Fill level for precision of less than five seconds 40 Motor vehicle 41 Quality assessment device 42 Network interface 43 Camera device

Claims

1. Quality determination method (10) for a traffic system (1), for adjusting the speed of a motor vehicle (40), comprising: obtaining (11), from the traffic system (1), first traffic parameter data which are indicative of a parameter of the traffic system (1), wherein the parameter comprises at least one piece of traffic control information, in particular a traffic light phase, wherein the parameter further comprises an expected phase change of the traffic light phase; obtaining (12) second traffic parameter data which are indicative of the parameter of the traffic system, wherein the second traffic parameter data originate from a plurality of road users; ascertaining (13) the parameter from the first traffic parameter data; ascertaining (14) the parameter from the second traffic parameter data; comparing (15) the parameter ascertained from the first traffic parameter data with the parameter ascertained from the second traffic parameter data to determine the quality of the first traffic parameter data; predicting the phase change based on the parameter ascertained from the first traffic parameter data when a quality is above a predetermined threshold value; and adjusting the speed based on the predicted phase change.

2. Quality determination method (10) according to claim 1, further comprising: determining the quality of the first traffic parameter data based on the comparison; and deciding, based on the quality, whether the first traffic parameter data will be considered during future use of the traffic system.

3. Quality determination method (10) according to claim 1, wherein the comparison comprises ascertaining a statistical deviation of the parameter ascertained from the first traffic parameter data in relation to the parameter ascertained from the second traffic parameter data.

4. Quality determination method (10) according to claim 1, wherein the at least one piece of traffic control information is associated with a piece of lane information (2 - 7).

5. Quality determination method (10) according to claim 1, further comprising: transmitting the predicted phase change.

6. Quality determination method (10) according to claim 1, wherein the second traffic parameter data are swarm data.

7. Quality determination method (10) according to claim 1, wherein the first traffic parameter data comprise signal phase data and time data.

8. Quality determination method (10) according to claim 1, wherein the first traffic parameter data comprise road topology data.

9. Quality determination method (10) according to claim 1, further comprising: adjusting route guidance based on the parameter.

10. Quality determination device (41) which is designed to carry out a quality determination method (10) according to any of the preceding claims.

11. Motor vehicle (40) comprising a quality determination device (41) according to claim 10.