Method for determining a system state of a traffic control system

Abstract

The invention relates to a method for determining a system state of a system (700), wherein the system (700) is designed as a traffic control system (700), wherein the following steps are carried out: - detecting at least one traffic-related characteristic value (500) of the system (700) by a characteristic value detection system (200), wherein the characteristic value (500) is in each case detected by a local measurement of a characteristic value detector (210) of the characteristic value detection system (200), - transferring the at least one detected characteristic value (500) to a decentralised data retention system (300), - carrying out an estimate (650) of the system state based on the at least one transferred characteristic value (500) by at least one state estimator (311), - carrying out a validation (670) of the estimated system state by at least one state verifier (312) in each case on the basis of at least one local measurement of the state verifier (312), - storing the validated system state in the data retention system (300).

Description

[0001] Method for determining a system state of a traffic control system

[0002] Description

[0003] The present invention relates to a method for determining a system state of a traffic control system, a determination system for this purpose, a computer program product and a data carrier signal.

[0004] The increasing volume of traffic in both passenger and freight transport and the rising demand for mobility in both private (car) and public transport (bus, train, etc.) are increasingly leading to traffic disruptions (e.g.

[0005] Motorway traffic jams, rush hour, overcrowded trains). Known traffic control systems or forecasts are predominantly based on historical data (e.g., ADAC traffic jam forecasts) or central traffic information based on the known actual situation (e.g., traffic and congestion reports on the radio). However, current systems, including route planners, which take both historical data and the actual situation into account, do not protect road users from being affected by unwanted traffic disruptions and only offer the fastest connection option at the time of route planning, which may not necessarily become reality during the journey. Influencing factors such as active traffic control systems (e.g., dynamic speed limits (e.g., in tunnels), traffic lights) cannot be fully taken into account. Furthermore, no central information or control system has all the information needed to provide all road users (cars, trucks, motorcycles, etc.) with the best possible speed.) to enable the fastest route for the intended route. Central control systems also perform selective control (e.g., control of tunnels or a busy motorway section). Any centralized systems could be further optimized in the future with the expected autonomous driving of cars. However, the problem remains that a traffic-free journey or mobility without disruption to traffic can only be achieved through active control, which, however, is the responsibility of each individual road user or driver and is therefore individual and unpredictable.

[0006] Autonomous vehicle movement is becoming increasingly important on public roads. This involves self-driving vehicles and / or transport systems that move in a targeted manner without the intervention of a human driver. The levels of autonomous driving of motor vehicles, such as automobiles, range from level 0 (no automation) to level 5 (driverless driving). However, there are currently still a large number of vehicles in circulation that are not designed for autonomous driving, especially driverless driving.

[0007] Furthermore, for many systems, especially cooperative systems such as the traffic distribution network, coordination of available actions depends on the reliable determination of the system state. For example, the autonomization of traffic creates challenges in the coordination of vehicles to ensure traffic safety, especially when non-autonomous vehicles are also on the road. One challenge here is to optimally, evenly, and efficiently coordinate a large number of vehicles while simultaneously ensuring the operational limits of the traffic distribution network are respected. Ensuring system safety is also a task. For example, it may be necessary to restrict certain actions in the traffic distribution network at all times. For example, rights and priorities for the execution of actions in the traffic distribution network must be enforced.Cooperative systems such as the traffic distribution network involve the problem of conflicts of interest between participating road users (stakeholders, e.g., car drivers), with a simultaneous obligation to act in accordance with traffic regulations, sometimes influencing each other. For example, high vehicle speeds could violate the traffic limits of the traffic network's operation, such as a permitted maximum speed.

[0008] Current in-vehicle navigation systems can perform individual route planning, but they are manufacturer-dependent and thus dependent on their information systems. However, such models have the disadvantage of assuming a central authority sets the rules, which can lead to a loss of efficiency and / or reduced transparency.

[0009] It is therefore an object of the present invention to at least partially remedy the disadvantages described above. In particular, it is an object to improve the determination of a system state of a traffic control system and, if appropriate, the coordination of available actions in a traffic control system based thereon. In this way, the risk of endangering traffic safety and / or the occurrence of critical conditions such as traffic disruptions, e.g., local traffic jams or overcrowded trains, can be reduced. Furthermore, the fastest possible arrival at a destination with only minimal traffic disruptions, preferably without traffic disruptions, can be enabled. Furthermore, it can be an object to reliably provide a determined system state to other participants in the system.

[0010] The above object is achieved by a method having the features of claim 1, by a detection system having the features of claim 12, by a computer program product having the features of claim 17 and by a data carrier signal having the features of claim 18. Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the method according to the invention naturally also apply in connection with the detection system according to the invention, as well as in connection with the computer program product according to the invention and also with the data carrier signal according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made reciprocal.

[0011] The problem is solved by a method for determining a system state of a system, wherein the system is designed as a traffic control system, e.g. for vehicle traffic with (only) autonomous vehicles or for vehicle traffic with non-autonomous vehicles and simultaneously autonomous vehicles.

[0012] In the method according to the invention, it can be provided that the following steps are carried out, preferably one after the other in the specified order or in any order, whereby the steps can also be carried out repeatedly:

[0013] Recording at least one traffic characteristic value (or a plurality of traffic characteristic values) of the system by a characteristic value recording system, wherein the characteristic value is preferably recorded by a local measurement (in particular of a physical measurement variable on the system) of at least one characteristic value recorder of the characteristic value recording system, wherein different characteristic values ​​can also be recorded by different characteristic value recorders,

[0014] Transmitting the at least one recorded characteristic value to a decentralized data storage system, preferably by digital data transmission of the recorded characteristic value in the form of a digital measured value, and / or for distributing the at least one characteristic value to at least one or more different condition estimators,

[0015] Carrying out an estimation of the system state based on the at least one transmitted characteristic value by (the) at least one state estimator, preferably by combining one of the transmitted characteristic values ​​with further transmitted characteristic values, which have preferably been transmitted to the state estimator by different characteristic value recorders, Carrying out a validation of the estimated system state by at least one state tester based on at least one local measurement (in particular a physical measurement value on the system) of the state tester, e.g. by comparing the estimated system state with a system state from its own estimation based on at least one characteristic value which was recorded by the local measurement,

[0016] Storing the validated system state in the data storage system, e.g., through non-volatile storage.

[0017] This has the advantage that the system state can be determined and validated in a decentralized manner and thus determined and stored in a particularly reliable and transparent manner. The steps according to the invention can also make it possible for valid key figures to be available at all times. These figures are necessary for determining a valid system state across all participants and thus simultaneously describe a valid system state across all participants. System participants are understood to be, for example, the key figure recorders and / or state estimators and / or state testers. Furthermore, the transparency achieved by the method according to the invention can improve the security of the overall system, since all participants can act in a system-conducive and thus independent, yet joint, manner due to their shared knowledge of the system state.

[0018] The physical measurement can, for example, comprise or be at least one speed measurement in order to obtain the characteristic value that is specific to a speed of a road user, in particular a vehicle, in the traffic control system and / or the physical measurement can comprise or be a position measurement in order to obtain a characteristic value that is specific to a speed of the road user, in particular the vehicle, in the traffic control system. Preferably, for example, for a vehicle as a road user, a speed measurement is carried out as a physical measurement in order to obtain a characteristic value that is specific to a speed of the vehicle and, in particular simultaneously or substantially simultaneously, a position measurement is carried out in order to obtain a characteristic value that is specific to a position of the vehicle.The position of the road user, in particular of a vehicle as a road user, can also be understood as the (geographical) location of the road user, in particular of the vehicle. Furthermore, the position of the road user, in particular of a vehicle such as an aircraft, can also include an altitude of the road user, in particular of the vehicle. In particular, the characteristic value specific to the speed of the road user, in particular of the vehicle as a road user, and the characteristic value specific to the position of the road user, in particular of the vehicle, can form a common or related characteristic value, which is transmitted. Furthermore, the physical measurement can include a traffic density measurement and / or traffic volume measurement in order to obtain the characteristic value, which can be specific to a traffic density or traffic volume of a traffic distribution network.The measurement of traffic density and / or traffic volume can be carried out, for example, using a camera system. Alternatively or additionally, it is also conceivable that the physical measurement comprises or is, for example, an acceleration measurement in order to obtain the characteristic value that is specific to the acceleration of a road user, in particular a vehicle, in the traffic control system. The acceleration can be a positive acceleration or a negative acceleration (braking). Furthermore, it is conceivable that the physical measurement also comprises or is, for example, a direction of travel measurement or determination in order to obtain the characteristic value that is specific to the direction of travel of a road user, in particular a vehicle, in the traffic control system. In this way, a change in direction of travel, for example, can also be detected.

[0019] Road users can be understood as vehicles and / or living beings, especially humans.

[0020] The traffic parameters, such as speed and position, can also be understood as traffic-related parameters. Furthermore, the traffic distribution network can also be understood as a traffic network. The traffic distribution network can, in particular, comprise the interconnected traffic routes within the land network and / or the water network and / or the air network.

[0021] It can be provided that at least one decision, in particular an action, is carried out by the system based on the validated system state. For example, this decision can concern a speed adjustment and / or a traffic route change, e.g., of a vehicle as a road user, within the system. For example, this speed adjustment and / or traffic route change can be implemented independently by an autonomous vehicle, in particular an autonomous, driverless vehicle. However, in the case of a non-autonomous vehicle, a recommendation, e.g., a speed recommendation and / or route recommendation, can be issued to a driver of the vehicle, e.g., via a display on the vehicle or via a mobile phone display.Generally speaking, depending on the validation, the system state can be used to make a decision and, in particular, an action within the system that affects multiple system participants, e.g., influencing traffic distribution. For the traffic control system, this could include, for example, vehicles and transport network operators, but also traffic control systems, which are interdependent. Through shared knowledge of the key figures or the system state, decisions can be made independently of one another. These decisions are directly validated in the context of the overall system and are only permissible if, for example, traffic safety is not compromised.

[0022] The invention can also provide the advantage of creating a transparent, secure, and decentralized platform that can simplify and automate decisions or actions of the system that affect the system state. For example, the decision or action can be a control of the traffic flow or the transport flow within the system. Traffic flow can also be understood as a mobility flow. In particular, the invention creates a transparent, secure, and decentralized platform that can simplify and automate mobility processes that require a system state of the traffic control system, in particular a traffic distribution network of a traffic control system. Furthermore, it can lead to time savings in mobility and thus also to a reduction in energy consumption.

[0023] Advantageously, a traffic control system according to the invention can be implemented by default with future vehicles in the traffic environment and, in the case of autonomous vehicles, also automatically, for example, by means of suggested control commands. However, it is also conceivable that non-autonomous vehicles can also be integrated into the traffic control system according to the invention, for example in the form of application software (app) for an application device, in particular a mobile device, e.g., a smartphone, or for a navigation system, in order to recommend a particularly advantageous route recommendation and / or a particularly advantageous driving or traffic behavior to the vehicle or a driver of the vehicle for the fastest possible arrival at the destination.

[0024] Furthermore, a further advantage can be provided by the invention in that a consensus is verified across all characteristic values, in particular measured values. In this way, the system state can be estimated with a high degree of certainty and reliability. For example, the various characteristic values ​​can be compared with one another, and preferably a deviation between the characteristic values, for example, can be compared with a predefined threshold value to determine whether a consensus exists. In particular, those characteristic values ​​that were recorded by different characteristic value recorders are compared with one another. Furthermore, the system state, which is estimated in a particularly decentralized manner, can also be taken into account.

[0025] The traffic control system is advantageously designed as at least one of the following system types:

[0026] - a system for controlling a traffic infrastructure, and / or

[0027] - a system for controlling land vehicles, in particular for controlling motor vehicles such as passenger cars and / or lorries and / or motorcycles, and / or

[0028] - a system for controlling aircraft, in particular for controlling airplanes and / or helicopters and / or drones, and / or

[0029] - a system for controlling watercraft, in particular ships, and / or

[0030] - a system for controlling a traffic monitoring system, and / or

[0031] - a system for controlling a traffic control system, and / or

[0032] - a system for controlling people, in particular for controlling pedestrians or individual travelers in local public transport and / or long-distance passenger transport. In particular, controlling by the system can also be understood as coordinating.

[0033] In particular, the system can be organized as a decentralized system in which no central authority sets the limits for the available actions, e.g. who can use the traffic distribution network and to what extent.

[0034] The decentralized data storage system can have a decentralized database such as a distributed ledger or blockchain or can be implemented as such.

[0035] If the decentralized data storage system is implemented as or has a blockchain, the data storage system can have a continuously expandable list of data records, called blocks, which can be linked together using cryptographic methods. Each block can contain a cryptographically secure hash of the previous block and / or a timestamp and / or transaction data. The terms "block" or "blocks" are understood below in a narrower sense to refer to such a block or blocks of a blockchain.

[0036] Furthermore, it can be provided within the scope of the invention that, during transmission, the at least one acquired characteristic value is transmitted to at least two different data storage instances of the data storage system, wherein, preferably depending on a predefined event (e.g., the number of newly received characteristic values ​​exceeds a threshold), at least or exactly one of the data storage instances is determined as the state estimator that performs the estimation. The predefined event is, for example, the number of transmitted characteristic values ​​exceeding a threshold. In other words, the state estimator can be determined repeatedly whenever this event occurs, for example, when the number of characteristic values ​​transmitted since the last determination by the state estimator again exceeds the threshold.In particular, to prepare the estimation, the state estimator can select individual data sets from the transmitted parameters to represent the current state of the entire system, which it considers valid. The estimation can then be performed based on the selected data sets. For example, speed and / or position measurements of the parameters, for example, from several vehicles, are selected and compared to perform the estimation.

[0037] The data storage instances can also be referred to as consumers of the metrics, the state estimators can also be referred to as creators, and the metric collectors can be referred to as producers.

[0038] The estimation enables the condition estimator to estimate a valid overall system and can be based on their internal system view and the key data collected by the key data collectors. Due to these requirements, condition estimators can be implemented, for example, as value-added services with expertise for the overall system—in the case of the transport sector, for example, as passenger cars, trucks, traffic control systems, transport operators, or even as transport network operators.

[0039] Algorithmically, estimation can be performed, for example, in the transport sector through traffic estimation (forecasts) and / or traffic condition estimation and / or through artificial intelligence. Numerous conventional estimation methods are known that can be used for this purpose. For a simple estimation, it may be sufficient to verify the plausibility of the transmitted parameters through one's own local measurements. For example, the system state can also be directly described simply by combining the parameters into a common data set or block.

[0040] It is also advantageous if the local measurements are each measurements on the system, which comprise at least one measurement of an acceleration and / or a speed and / or a position and / or a direction of travel and / or a change in direction of travel from the traffic control system, in particular of a road user from the traffic control system. For example, an acceleration of the road user, e.g. of a vehicle, and / or a speed of the road user can be measured or recorded by a speed sensor of the road user, and / or a position of the road user and / or a direction of travel or a change in direction of travel of the road user can be measured or recorded by a position sensor of the road user, and the characteristic value accordingly comprises this measured value(s).

[0041] Optionally, it is conceivable that additional characteristic value recorders are provided in order to record further characteristic values ​​of the system through their own local measurements at different positions in the system and to transmit these to the data storage system. The different positions can, for example, be different road users in the system, e.g. at different (geographical) positions and / or on different modes of transport of the traffic control system. Modes of transport of the traffic control system can be understood as roads and / or railways and / or waterways and / or airspace, for example. The transmission can be wireless and / or wired. In particular, the transmission can take place, for example, via a network such as the Internet and / or via a mobile network. For this purpose, the characteristic value recorders can, for example, have a network and / or an Internet interface and / or a radio interface.

[0042] It may optionally be possible for the estimation and validation to be carried out using the additional characteristic values, and preferably for the validation to be additionally carried out using a characteristic value of the system recorded by the local measurement of the condition checker in order to check the estimated system state. For this purpose, a new estimation can also be carried out, for example by comparing the characteristic values ​​with information about a traffic flow, in particular a traffic inflow, of road users at a first position with the characteristic values ​​with information about a traffic flow, in particular a traffic outflow, of road users at a second position. The use of one's own local measurement to provide at least one of the characteristic values ​​for comparison can thus serve to validate, in particular to check the plausibility of the estimated system state.

[0043] It can also be advantageous for the state checker (preferably independently of the state estimator) to again estimate the system state based on the at least one transmitted characteristic value and / or additional characteristic values. Subsequently, both estimated system states can be compared to determine any deviation. If the system states essentially agree (e.g., taking tolerances into account), the validation can be positive.

[0044] Advantageously, the invention further provides that, during validation, a deviation between the estimated system state and the newly estimated system state is determined in order to register an incorrect estimated system state depending on the deviation. Registration can be carried out, for example, by tamper-proof (e.g., encrypted) logging of the incorrect system state, i.e., the negative validation.

[0045] Furthermore, the invention can provide for the storage of the validated system state in the data storage system by creating a block containing the system state, and in particular additionally containing a timestamp and / or the transmitted characteristic value. This block can, for example, be a block of a blockchain to ensure tamper-proof storage. For storage purposes, the entities of the data storage system, such as characteristic value recorders or status checkers, can, for example, have a data storage device and / or a processing device such as a processor or computer.

[0046] According to an advantageous development of the invention, it can be provided that several status checkers are provided to perform the validation in parallel, wherein the estimated system status is then preferably marked as valid overall and, in particular, is only stored in the data management system if the majority of status checkers positively validate the estimated system status. For this purpose, digital communication can take place between the status checkers, for example, to communicate the validation results among themselves.

[0047] Optionally, it is conceivable that the estimated system state is summarized with a timestamp in a block structure and, in particular, transmitted from the state estimator to one or more state checkers for validation. In this way, a distributed storage of the estimated system state can take place, for example in a blockchain. Optionally, it is also conceivable that a transmission of the at least one recorded characteristic value to the decentralized data storage system takes place (only) if the transmission is agreed to, in particular actively agreed to. In other words, a query can be made as to whether the at least one recorded characteristic value can be transmitted to the decentralized data storage system. Thus, data transmission can only take place if, for example, a driver of a vehicle has actively agreed that recorded traffic characteristic values ​​may be transmitted to the decentralized data storage system.This allows rights to informational self-determination to be taken into account. In particular, the query can be a one-time query.

[0048] The invention also relates to a determination system for determining a system state of a system, wherein the system is designed as a traffic control system.The determination system can have the following components: a characteristic value acquisition system for recording at least one traffic characteristic value of the system, wherein preferably at least one characteristic value recorder of the characteristic value acquisition system is provided for recording the characteristic value in each case by a local measurement of the characteristic value recorder, a transmission device for transmitting the at least one recorded characteristic value to a decentralized data storage system, at least one state estimator for carrying out an estimation of the system state based on the at least one transmitted characteristic value, at least one state checker for carrying out a validation of the estimated system state in each case based on at least one local measurement of the state checker, the data storage system for storing the validated system state.

[0049] The detection system according to the invention thus offers the same advantages as those described in detail with reference to a method according to the invention. Furthermore, the detection system can be suitable for implementing the method according to the invention. The described components of the detection system can each comprise a computer program, in particular a computer program product, and / or a processor for executing the computer program in order to carry out at least one method step of a method according to the invention during execution and / or to provide the respective described purpose of the component.

[0050] A state estimator for performing an estimation of the system state based on the at least one transmitted characteristic value can also be protected separately. Furthermore, a state checker for performing a validation of the estimated system state based on at least one local measurement of the state checker can be protected separately.

[0051] Advantageously, the invention can provide that the characteristic value detector is designed as at least one of the following devices:

[0052] - a vehicle, in particular a vehicle sensor of a vehicle, preferably a speed sensor and / or a position sensor of a vehicle; e.g. speed and position measurement by means of a navigation system of the vehicle,

[0053] - a traffic monitoring system for road users, in particular a stationary and / or mobile traffic monitoring system, in particular with, for example, a camera system,

[0054] - a traffic control system for road users, e.g. a traffic light system, in particular with a camera system,

[0055] - an application device, in particular a mobile phone, e.g. a smartphone, wherein the application device is carried in the vehicle, wherein each of the respective characteristic value recorders can be designed to locally carry out the measurement to record the characteristic value, to store the characteristic value unambiguously in a local data structure, and to transfer the data structure to the data storage system for transmitting the characteristic value. In this case, a uniqueness check can also be carried out, for example, to check that the characteristic value is not saved multiple times. Furthermore, to ensure that the characteristic value recorder (producer) that the characteristic value is unique and therefore not repeatable, the characteristic value can also be linked to a timestamp (time of its recording) within the data structure.Furthermore, to ensure the immutability and security against forgery, the data structure can be digitally signed and / or encrypted by the person entering the key data. Encrypting the data structure during transmission to the data storage system is also conceivable to ensure confidentiality.

[0056] In particular, the traffic monitoring system for road users may comprise at least one or more satellites in order to enable, for example, an acceleration measurement and / or a position measurement and / or a speed measurement and / or a direction of travel measurement of road users in order to obtain traffic parameters.

[0057] It may be possible to collect various local measurements and / or additional data in addition to the measurement to create a characteristic value. This could be data that correlates with the system state, such as weather forecasts and / or a time of day and / or a season and / or induction loop-based (vehicle) counts and / or camera-based (vehicle) counts and / or traffic forecasts and / or public transport measurement data and / or measurement data from transport participation requests (e.g., ticket sales for local public transport and / or long-distance public transport).

[0058] According to an advantageous development of the invention, the data storage system can be designed in a decentralized manner by having several geographically distant instances, which in particular comprise several status estimators and / or status checkers. The instances can also be referred to as consumers of the characteristic values. To counteract the embezzlement or alteration of the characteristic values ​​by consumers, it can be provided that each characteristic value recorder (producer) forwards its own characteristic values ​​to at least two mutually independent consumers. Furthermore, it can be possible for the consumers in turn to forward the characteristic values ​​to other or all participating consumers. This can occur through direct communication or via a replication process between the consumers for a network of consumers. In the latter case, each consumer can send the characteristic values ​​to other known consumers, who in turn do the same.Within this process, the consumers or all consumers must ideally contribute to preventing transmission loops (e.g. by establishing a rule that each consumer may only forward the same key value, identifiable by the signature, once).

[0059] Furthermore, road users can be integrated into the traffic control system according to the invention, in particular into the decentralized data storage system, for example by means of application software (app) on an application device, e.g., a smartphone or a vehicle's navigation device. Thus, road users can act as producers of characteristic values ​​and / or as consumers and / or as condition assessors and / or as condition inspectors. Advantageously, road users such as non-autonomous vehicles can also be subsequently integrated into the traffic control system according to the invention, in particular into the decentralized data storage system, by means of application software (app). In this case, the application device, e.g., a smartphone and / or a vehicle's navigation system or navigation device, or the application software, is designed to be uniquely assigned to a road user.

[0060] It can also be advantageous for the condition estimator and / or condition tester to be simultaneously configured as a characteristic value recorder. This results in a bundling of the various tasks. Alternatively or additionally, the condition estimator and / or condition tester and / or characteristic value recorder and / or the data storage system can each comprise at least one data processing system (computer or server) or be configured as such.

[0061] The invention also relates to a computer program product comprising instructions which, when executed by a computer, cause the computer to execute at least one of the steps of a method according to the invention, in particular at least two of the steps of a method according to the invention. In particular, the computer is caused to execute at least two of the following steps:

[0062] - (1) Recording at least one electrical traffic characteristic value of the system by a characteristic value recording system, wherein the characteristic value is recorded by a local measurement of a characteristic value recorder of the characteristic value recording system, - (2) Transmitting the at least one recorded characteristic value to a decentralized data storage system,

[0063] - (3) Carrying out an estimation of the system state based on the at least one transmitted characteristic value by at least one state estimator,

[0064] - (4) performing a validation of the estimated system state by at least one state checker, each based on at least one local measurement of the state checker,

[0065] - (5) Storing the validated system status in the data storage system.

[0066] In particular, the computer program product can be implemented as application software (app) for an application device, e.g. a mobile device, and / or a navigation device or navigation system.

[0067] The computer program product according to the invention thus brings with it the same advantages as have been described with reference to a method according to the invention and / or with reference to a determination system according to the invention.

[0068] The invention also relates to a data carrier signal which transmits a computer program product according to the invention.

[0069] Thus, the data carrier signal according to the invention brings with it the same advantages as have been described with reference to a method according to the invention and / or with reference to a detection system according to the invention and / or with reference to a computer program product according to the invention.

[0070] Further advantages, features, and details of the invention will become apparent from the following description, which describes embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. They show:

[0071] Fig. 1 is a schematic representation for visualizing a method according to the invention, Fig. 2 is a schematic representation of a detection system according to the invention,

[0072] Fig. 3 is a schematic representation of a traffic control system.

[0073] In the following figures, identical reference numerals are used for the same technical features, even in different embodiments.

[0074] Figure 1 shows a method according to the invention for determining a system state of a system 700, wherein the system 700 is embodied as a traffic control system 700. According to a first method step 801, at least one traffic characteristic value 500 of the system 700 is acquired by a characteristic value acquisition system 200, wherein the characteristic value 500 is acquired in each case by a local measurement of a characteristic value acquirer 210 of the characteristic value acquisition system 200. According to a second method step 802, the at least one acquired characteristic value 500 is transmitted to a decentralized data storage system 300. Subsequently, according to a third method step 803, an estimation 650 of the system state can be performed based on the at least one transmitted characteristic value 500 by at least one state estimator 311.Thereafter, a validation 670 of the estimated system state can be carried out by at least one state checker 312 based on at least one local measurement of the state checker 312 according to a fourth method step 804. A fifth method step 805 is, if appropriate, the storage of the validated system state in the data storage system 300. Additionally, i.e. optionally, it is conceivable that the transmission of the at least one recorded characteristic value 500 to the decentralized data storage system 300 according to the second method step 802 only takes place if, according to a preceding method step 810, the transmission of the at least one recorded characteristic value 500 is agreed to, in particular actively agreed to, or has been (in advance).

[0075] Figure 2 visualizes a determination system 1 according to the invention for determining a system state of a traffic control system 700. A characteristic value acquisition system 200 may be provided for acquiring at least one traffic characteristic value 500 of the system 700, wherein at least one characteristic value acquisition device 210 of the characteristic value acquisition system 200 is provided for acquiring the characteristic value 500 by a local measurement of the characteristic value acquisition device 210. Furthermore, a transmission device 320 is provided for transmitting the at least one acquired characteristic value 500 to a decentralized data storage system 300.Furthermore, the determination system 1 can comprise at least one state estimator 311 for performing an estimation 650 of the system state based on the at least one transmitted characteristic value 500 and at least one state checker 312 for performing a validation 670 of the estimated system state, each based on at least one local measurement of the state checker 312. The data storage system 300 can also be part of the determination system 1 so that the validated system state can be stored in the data storage system 300.

[0076] Figure 3 shows an exemplary embodiment of a traffic control system 700 in which a method or detection system 1 according to the invention can be used. The arrows indicate communication 620 between the participants of the system 700.

[0077] It can be seen that so-called producers 210, i.e., the characteristic value recorders 210, can serve as participants in the traffic control system 700 for recording the at least one characteristic value 500. In this case, the characteristic values ​​500 can be distributed in such a way that, during transmission, the at least one recorded characteristic value 500 is transmitted to at least two different data storage instances 310, also referred to as consumers 310, of the data storage system 300 and / or is distributed among themselves by the consumers 310. Depending on a predefined event (e.g., the number of newly received characteristic values ​​500 reaches a threshold value), at least or exactly one of the data storage instances 310 can be designated as the state estimator 311, i.e., creator, which performs the estimation 650. In Figure 3, the characteristic values ​​500 transmitted via communication 620 are visualized as a circle.The characteristic values ​​500 can validate the consumers 310 and thus form a validated characteristic value chain 510. The estimation 650 and validation 670 can be performed based on the characteristic values ​​500, wherein the validation 670 can additionally be performed based on a characteristic value 500 of the system 700 acquired by the local measurement of the condition checker 312 in order to verify the estimated system state and / or to form the validated characteristic value chain 510 (through chain formation 610).

[0078] Storing the validated system state in the data storage system 300, and in particular the validated characteristic value chains 510, can optionally be done by forming a block 630 with the system state and / or with a timestamp and / or the transmitted characteristic value 500. It is clear that multiple state checkers 312 can be provided to perform the validation 670 in parallel, wherein the estimated system state is then marked as overall valid and, in particular, is only stored in the data storage system 300 if the majority of the state checkers 312 positively validate the estimated system state.

[0079] It can be provided that the characteristic values ​​500 or the selected data of the transmitted characteristic values ​​500 are combined into a block structure by the state estimator 311 or creator 311, particularly in the case of blockchain technology, together with the result of the estimation 650 (particularly a calculation of the estimation 650). In this case, the block 630, like the individual characteristic values ​​500, can be implemented uniquely and irrepeatably, e.g., with the aid of a temporal component, and / or can be signed to protect integrity. If the data storage system 300 has a blockchain 300, the blocks 630 within the blockchain 300 can build on one another. Therefore, it can be provided that a block 630 contains only a delta—i.e., a difference—of the system state with characteristic values ​​500 that have changed since the last block 630, or have been newly added or removed.

[0080] Block 630 can be sent by creator 311 to a selected group of additional consumers 310 (in particular, the condition checkers 312, also referred to as validators 312), which compare the result of the estimation 650 or calculation with their internal system view and the transmitted and thus collected characteristic values ​​500 of producers 210. In the transport sector, this can be achieved, for example, by comparing the solved traffic flow equations based on a traffic condition estimate. If the result and the characteristic values ​​500 in block 630 are plausible (i.e., slightly different), block 630 can be approved or rejected by the individual validators 312. For this purpose, a data exchange can take place between the validators 312, which can be implemented, for example, analogously to the described distribution of characteristic value data between consumers 310.If the majority of validators 312 reaches a positive result and approves block 630, it is considered valid and stored by creator 311 in the data storage system 300, in particular, attached to blockchain 300, and propagated among all consumers 310 analogously to key figures 500. The decentralized data storage system 300 is thus updated, and all consumers 310 receive an update on the state of the overall system. In this case, creator 311 and the matching validators 312 receive positive feedback. In the case of a negative vote, creator 311 receives negative feedback. The same can apply to validators 312 who do not agree with the majority or fail to fulfill their voting obligation.

[0081] The approach can be classified, for example, in the field of blockchain technology as a proof-of-stake approach. In this case, anonymity for the participants does not necessarily have to be implemented. The overall system state in this blockchain 300 can form the basis for all further decisions and transactions. Coordination can be based on a consumer and producer model in conjunction with a decentralized system 700, such as the blockchain 300, for trusted, shared information dissemination between individual, untrusted participants for data storage. Consumer 310 and producer 210 can be separate components, or they can also occur together or in combination.

[0082] The above explanation of the embodiments describes the present invention exclusively within the framework of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, without departing from the scope of the present invention. Reference symbols

[0083] Investigation system

[0084] Key figure recording system

[0085] Key figure recorder, producer

[0086] Data storage system, decentralized data storage system, blockchain

[0087] Data storage instance, consumer

[0088] State estimator, creator

[0089] Condition checker, validator

[0090] Transmission device

[0091] characteristic value

[0092] Key value chain, validated key value chain of the system state

[0093] Chain formation

[0094] communication

[0095] block

[0096] estimate

[0097] Validation

[0098] Traffic control system (system)

[0099] - 805, 810 procedural steps

Claims

Patent claims for a method for determining a system state of a system (700), wherein the system (700) is implemented as a traffic control system (700), wherein the following steps are performed: Acquisition of at least one traffic characteristic value (500) of the system (700) by a characteristic value acquisition system (200), wherein the characteristic value (500) is each acquired by a local measurement of a characteristic value recorder (210) of the characteristic value acquisition system (200), Transmitting at least one recorded characteristic value (500) to a decentralized data storage system (300), Performing an estimation (650) of the system state based on the at least one transmitted characteristic value (500) by at least one state estimator (311), - Performing a validation (670) of the estimated system state by at least one state checker (312) using at least one local measurement of the state checker (312), - Storing the validated system state in the data storage system (300). Method according to claim 1, characterized in that, during transmission, the at least one recorded characteristic value (500) is transmitted to at least two different data storage instances (310) of the data storage system (300), wherein, depending on a predefined event, at least or exactly one of the data storage instances (310) is determined as the state estimator (311) which performs the estimation (650). A method according to claim 1 or 2, characterized in that the local measurements are each measurements on the system (700), which include at least one measurement of acceleration and / or velocity and / or position and / or direction of travel and / or change of direction from the traffic control system. A method according to any of the preceding claims, characterized in that further parameter acquisition devices (210) are provided to acquire further parameter values ​​(500) of the system (700) by means of separate local measurements at different positions of the system (700) and to transmit them to the data storage system (300).A method according to claim 4, characterized in that the estimation (650) and validation (670) are performed using the further characteristic values ​​(500), and that the validation (670) is additionally performed using a characteristic value (500) of the system (700) acquired by the local measurement of the condition monitor (312) in order to verify the estimated system state. A method according to any of the preceding claims, characterized in that the condition monitor (312), independently of the condition estimator (311), again performs the estimation (650) of the system state using the at least one transmitted characteristic value (500) and / or further characteristic values ​​(500). A method according to claim 6, characterized in that during the validation (670), a deviation of the estimated system state from the re-estimated system state is determined in order to register an erroneous estimated system state depending on the deviation. A method according to any of the preceding claims, characterized in that the validated system state is stored in the data storage system (300) by creating a block (630) containing the system state, and in particular additionally containing a timestamp and / or the transmitted identifier (500). A method according to any of the preceding claims, characterized in that several state checkers (312) are provided to perform the validation (670) in parallel, wherein the estimated system state is then marked as overall valid, and in particular is stored in the data storage system (300) only if the majority of the state checkers (312) positively validate the estimated system state.A method according to any of the preceding claims, characterized in that the estimated system state is summarized with a timestamp in a block structure and is transferred from the state estimator (311) to one or more state checkers (312) for validation. A method according to any of the preceding claims, characterized in that the transmission of the at least one recorded characteristic value (500) to the decentralized data storage system (300) only takes place if consent to the transmission is given, in particular if active consent is given.Determination system (1) for determining a system state of a system (700), wherein the system (700) is designed as a traffic control system (700), comprising: a characteristic value acquisition system (200) for acquiring at least one traffic characteristic value (500) of the system (700), wherein at least one characteristic value acquirer (210) of the characteristic value acquisition system (200) is provided for acquiring the characteristic value (500) by means of a local measurement of the characteristic value acquirer (210). a transmission device (320) for transmitting the at least one recorded characteristic value (500) to a decentralized data storage system (300), - at least one state estimator (311 ) to perform an estimation (650) of the system state based on the at least one transmitted characteristic value (500), - at least one condition monitor (312) to perform a validation (670) of the estimated system state by means of at least one local measurement of the condition monitor (312), - the data storage system (300) for storing the validated system state. Determination system (1) according to claim 12, characterized in that the characteristic value acquirer (210) is designed as at least one of the following devices: a vehicle, in particular a vehicle sensor of a vehicle, a traffic monitoring system for road users, a traffic control system for road users, an application device, in particular a mobile phone, e.g. a smartphone, or a navigation device of a vehicle, wherein each of the characteristic value acquirers (210) is designed to locally perform the measurement for acquiring the characteristic value (500), to uniquely store the characteristic value (500) in a local data structure, and to transfer the data structure to the data storage system (300) for transmitting the characteristic value (500).Investigation system (1) according to any one of claims 12 to 13, characterized in that the data storage system (300) is implemented decentrally by having several geographically separated instances, which in particular comprise several condition assessors (311) and / or condition monitors (312). Investigation system (1) according to any one of claims 12 to 14, characterized in that the condition assessor (311) and / or condition monitor (312) is each simultaneously implemented as a characteristic value acquirer (210). Investigation system (1) according to any one of claims 12 to 15, characterized in that the investigation system (1) is configured to execute the process steps of a method according to any one of claims 1 to 11. Computer program product comprising instructions which, when the program is executed by a computer, cause the computer to execute at least one step of the steps of a method according to any one of claims 1 to 11, in particular at least two steps of the steps of the method at least according to claim 1. Data carrier signal that the computer program product according to claim 17 transmits.

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