SYSTEM FOR MONITORING A TRAFFIC SITUATION

Abstract

A system for monitoring a traffic situation includes at least one radar sensor unit for recording environmental data in a monitoring region of the radar sensor unit. A central processor evaluates the environmental data from the radar sensor unit and determines the traffic situation within the monitoring region based on the environmental data. A reference signal unit for outputting a reference signal to the radar sensor unit is configured to modulate a radar signal emitted by the radar sensor unit and to reflect a modulated radar signal back to the radar sensor unit as a reference signal. The processor identifies the modulated radar signal as a reference signal from the reference signal unit and recognizes a malfunction of the radar sensor unit if a reference signal is not received by the radar sensor unit.

Claims

1-10. (canceled)

11. A system for monitoring a traffic situation, the system comprising: at least one radar sensor unit for recording environmental data for a monitoring region of the radar sensor unit, said radar sensor unit being configured to emit radar signals in a direction of the monitoring region, to receive radar signals reflected by objects within the monitoring region towards said radar sensor unit and, based on received radar signals, to generate environmental data for the monitoring region; a processor connected to said at least one radar sensor unit for evaluating the environmental data and for determining the traffic situation within the monitoring region based on the environmental data received from said at least one radar sensor unit; and a reference signal unit configured to provide a radar signal emitted by said at least one radar sensor unit with a modulation to generate a modulated radar signal, and to reflect the modulated radar signal back to said at least one radar sensor unit as a reference signal; said processor being configured to identify the modulated radar signal as the reference signal from said reference signal unit and to recognize a malfunction of said at least one radar sensor unit if no reference signal is received by said at least one radar sensor unit.

12. The system according to claim 11, wherein said reference signal unit has a first reflection state and a second reflection state and wherein a radar signal reflected by said reference signal unit in the first reflection state deviates in at least one property from a radar signal reflected by said reference signal unit in the second reflection state, and wherein said reference signal unit is alternatingly switchable at a given switching frequency between the first reflection state and the second reflection state.

13. The system according to claim 12, wherein said reference signal unit has a first reflection area configured to reflect radar signals of said radar sensor unit, and wherein in the first reflection state, said reflection area is brought into a reflection position in which a reflection of the radar signal of said radar sensor unit is enabled and wherein in the second reflection state, said reflection area is brought into a non-reflecting position in which a reflection of the radar signals from said radar sensor unit is prevented.

14. The system according to claim 13, wherein said reference signal unit has a second reflection area configured to reflect radar signals of said radar sensor unit, and wherein in the second reflection state, said second reflection area is brought into a reflection position in which a reflection of the radar signals of said radar sensor unit is enabled by said second reflector unit.

15. The system according to claim 14, wherein said first reflection area and said second reflection area are arranged at mutually different distances from said radar sensor unit.

16. The system according to claim 14, wherein said reference signal unit comprises a first antenna array and a second antenna array each configured to reflect radar signals of said radar sensor unit and wherein said first reflection area is formed by said first antenna array and said second reflection area is formed by said second antenna array.

17. The system according to claim 14, wherein said reference signal unit comprises a reflector body with at least one body area having a reflection layer applied thereon, said reflection layer being configured to reflect radar signals, and at least one of said first reflection area or said second reflection area being formed by said reflection layer applied to said at least one body area.

18. The system according to claim 13, wherein said reference signal unit comprises an antenna array configured to reflect radar signals of said radar sensor unit and wherein said reflection area is formed by said antenna array.

19. The system according to claim 13, wherein said reference signal unit comprises a reflector body with at least one body area having a reflection layer applied thereon, said reflection layer being configured to reflect radar signals, and said first reflection area being formed by said reflection layer applied to said at least one body area.

20. The system according to claim 11, wherein said radar sensor unit is positionally fixed at a road section or a rail section that is to be monitored, and wherein said reference signal unit is positionally fixed in the monitoring region of said radar sensor unit.

21. The system according to claim 11, which comprises: a further radar sensor unit for recording environmental data for a further monitoring region of said further radar sensor unit, said further radar sensor unit being configured to emit further radar signals in a direction of the further monitoring region, to receive radar signals reflected by objects within the further monitoring region towards said further radar sensor unit and, based on the further radar signals reflected by the objects, to generate further environmental data for the further monitoring region; said further radar sensor unit being mounted on a self-driving vehicle; a further processor connected to said further radar sensor unit for evaluating the further environmental data and for determining the traffic situation within the further monitoring region based on the further environmental data from said further radar sensor unit; and wherein said reference signal unit is configured to provide further radar signals emitted by said further radar sensor unit with the modulation and to reflect back to said further radar sensor unit a further modulated radar signal as a further reference signal; and wherein said further processor is configured to identify the further modulated radar signal as a further reference signal of said reference signal unit and to recognize a malfunction of said further radar sensor unit if no further reference signal is received by said further radar sensor unit.

22. The system according to claim 12, wherein the given switching frequency between the first reflection state and the second reflection state lies between 60 MHz and 85 MHz.

Description

[0038] The above-described properties, features and advantages of this invention as well as the manner and means by which they are achieved are more clearly and distinctly described in the context of the following description of the greatly simplified representations of preferred exemplary embodiments. In the drawings, shown schematically:

[0039] FIG. 1 is a schematic representation of a system for monitoring a traffic situation according to one embodiment;

[0040] FIG. 2 is a further schematic representation of the system for monitoring a traffic situation according to a further embodiment;

[0041] FIG. 3 is a further schematic representation of the system for monitoring a traffic situation according to a further embodiment;

[0042] FIG. 4 is a further schematic representation of the system for monitoring a traffic situation according to a further embodiment;

[0043] FIG. 5 is a schematic representation of a reference signal unit of the system for monitoring a traffic situation according to one embodiment;

[0044] FIG. 6 is a schematic representation of the reference signal unit of the system for monitoring a traffic situation of FIG. 5 in a further state;

[0045] FIG. 7 is a further schematic representation of the reference signal unit of the system for monitoring a traffic situation according to a further embodiment;

[0046] FIG. 8 is a further schematic representation of the reference signal unit of the system for monitoring a traffic situation according to a further embodiment;

[0047] FIG. 9 is a schematic representation of the reference signal unit of the system for monitoring a traffic situation of FIG. 8 in a further state; and

[0048] FIG. 10 is a schematic representation of the reference signal unit of the system for monitoring a traffic situation of FIG. 8 in a further state.

[0049] FIG. 1 shows a schematic representation of a system 100 for monitoring a traffic situation according to one embodiment.

[0050] In the embodiment of FIG. 1, both the radar sensor unit 101 and also the reference signal unit 109 of the system 100 are arranged positionally fixed at a road section 113 for monitoring a traffic situation. In the embodiment shown in FIG. 1, the road section 113 is configured as a crossroads.

[0051] The radar sensor unit 101 comprises a monitoring region 103. The monitoring region 103 defines a region which the radar sensor unit 101 can monitor by emitting radar signals 105 and detecting reflected radar signals.

[0052] In an embodiment of FIG. 1, the reference signal unit 109 is arranged within the monitoring region 103 of the radar sensor unit 101.

[0053] The radar sensor unit 101 is further connected to a processor unit 107.

[0054] Furthermore, an object 108 is arranged in the monitoring region 103 of the radar sensor unit 101. The object 108 can be, for example, a traffic participant or another detectable object.

[0055] In order to determine the traffic situation within the monitoring region 103, the radar sensor unit 101 emits radar signals 105. The emitted radar signals 105 impinge upon the object 108 and are reflected by the object 108 back as reflected radar signals 106 to the radar sensor unit 101 which detects the reflected radar signals 106. On the basis of the detected reflected radar signals 106, the radar sensor unit 101 generates environmental data for the objects within the monitoring region 103. On the basis of this environmental data from the radar sensor unit 101, the processor unit 107 determines a traffic situation within the monitoring region 103. For the purpose of clarity in the drawing, in FIG. 1 only radar signals 105 which, firstly, impinge upon the object 108 and, secondly, which irradiate the reference signal unit 109 are shown. In order to determine the traffic situation within the monitoring region 103, additionally, radar signals 105 would be emitted which irradiate the entire monitoring region 103.

[0056] In the course of the emission of the radar signals 105 by the radar sensor unit 101 for determining the traffic situation within the monitoring region 103, radar signals 105 are reflected back to the radar sensor unit 101 by the reference signal unit 109 as a reference signal 111 in the form of modulated reflected radar signals. By way of the modulation of the reference signal 111 which is impressed upon the radar signals 105 by the reference signal unit 109 during the reflection process, the reference signal 111 detected by the radar sensor unit 101 can be identified by the processor unit 107 as a reference signal of the reference signal unit 109.

[0057] In the event that the radar sensor unit 101 detects the reference signal 111 of the reference signal unit 109, the processor unit 107 determines the functional state of the radar sensor unit as being viable and a malfunction of the radar sensor unit 101 can be ruled out.

[0058] In the event that the radar sensor unit 101 detects no reference signal of the reference signal unit 109, the processor unit 107 ascertains a malfunction of the radar sensor unit 101 and a monitoring of the traffic situation within the monitoring region 103 is ascertained as being malfunctioning and is possibly interrupted.

[0059] In the embodiment of FIG. 1, the reference signal unit 109 is designed exclusively as a reflector. An additional transmitter unit for emitting the reference signal 111 is not provided in the reference signal unit 109. The reference signals emitted 111 are based exclusively on the radar signals 105 emitted by the radar sensor unit 101.

[0060] The radar sensor unit 101 can be any desired commercially available radar sensor. The radar signals 105 emitted can be disposed in a frequency range that is typical for radar signals.

[0061] The modulation of the reference signals 111 is achieved by way of the reference signal unit 109 in that the reference signal unit 109 is switched alternatingly between the first reflection state and a second reflection state. The radar signals reflected by the reference signal unit 109 in the first and second reference states therein differ in at least one property. For example, the first reflection state can be realized in that a reflection of the radar signals 105 is enabled by the reference signal unit 109, whereas in the second reflection state, no reflection takes place at the reference signal unit 109.

[0062] As an alternative to the embodiment shown in FIG. 1, the system 100 can comprise a plurality of radar sensor units 101 in order, for example, to view a larger monitoring region or to enable a more exact monitoring of a road section with a complex arrangement. Furthermore, the system 100 can comprise a plurality of reference signal units 109 each of which is arranged to emit corresponding reference signals to the plurality of radar sensor units 101.

[0063] FIG. 2 shows a further schematic representation of the system 100 for monitoring a traffic situation according to a further embodiment.

[0064] As distinct from the embodiment of FIG. 1, in the embodiment of FIG. 2, the radar sensor unit 101 is arranged in a vehicle 115, in particular a self-driving vehicle 115. The processor unit 107 is also arranged in the vehicle 115. The reference signal unit 109, by contrast, is arranged positionally fixed at a road section 113. In particular, the reference signal unit 109 is arranged at a light signal installation 117. As distinct therefrom, the reference signal unit 109 can be arranged at any desired site of the road section 113 to be monitored.

[0065] Similarly to FIG. 1, the radar sensor unit 101 for monitoring the traffic situation within the monitoring region 103 emits radar signals 105, detects radar signals reflected from corresponding objects within the monitoring region 103, on the basis of the detected radar signals, generates environmental data which is evaluated by the processor unit 107 and a traffic situation is determined on the basis of the environmental data. For the avoidance of unnecessary repetition, these processes are not shown in FIG. 2.

[0066] Radar signals 105 emitted by the radar sensor unit 101 are reflected by the reference signal unit 109 and a reference signal 111 in the form of a modulated reflected radar signal is sent back to the radar sensor unit 101. On the basis of this reference signal 111, the processor unit 107 determines the functional state of the radar sensor unit 101, in that in the absence of a corresponding reference signal, the radar sensor unit is determined to be malfunctioning.

[0067] FIG. 3 shows a further schematic representation of the system 100 for monitoring a traffic situation according to a further embodiment.

[0068] The embodiment of FIG. 3 differs from the embodiment of FIG. 2 merely in that the radar sensor unit 101 and the processor unit 107 are arranged in a self-driving rail vehicle 119 which is travelling on a rail section 121.

[0069] FIG. 4 shows a further schematic representation of the system 100 for monitoring a traffic situation according to a further embodiment.

[0070] The embodiment shown in FIG. 4 is based upon the embodiment of FIG. 1. In addition to the features shown in FIG. 1, the system 100 in the embodiment of FIG. 4 comprises a further radar sensor unit 123 and a further processor unit 131, each of which is arranged in a self-driving vehicle 115. The further radar sensor unit 123 is configured to determine a traffic situation within a further monitoring region 125. For this purpose, the further radar sensor unit 123 emits further radar signals 127 which are reflected from objects within the further monitoring region 125 and are detected by the further radar sensor unit 123. On the basis of the detected further radar signals 127, the further radar sensor unit 123 generates environmental data on the basis of which the further processor unit 131 determines a traffic situation within the further monitoring region 125.

[0071] A detection of objects within the monitoring region 103 or of the further monitoring region 125 by the radar sensor unit 101 or the further radar sensor unit 123 is not shown in FIG. 4 for the sake of clarity.

[0072] Further radar signals 127 emitted by the further radar sensor unit 123 are reflected from the reference signal unit 109 which is arranged within the further monitoring region 125, and further reference signals 129 in the form of modulated reflected further radar signals are transferred by the reference signal unit 109 to the further radar sensor unit 123. On the basis of the further reference signals 129 detected by the further radar sensor unit 123, the further processor unit 131 determines the functional state of the further radar sensor unit 123 in that if a further reference signal 129 is not detected by the further radar sensor unit 123, a malfunction of the further radar sensor unit 123 is ascertained.

[0073] Via the modulation of the further reference signals 129, these further reference signals 129 are unambiguously identifiable by way of the further processor unit 131 as reference signals of the reference signal unit 109. For this purpose, the system 100 in the embodiment of FIG. 4 comprises a radio transfer unit 133 which is connected to the processor unit 107. Via the radio transfer unit 133, by means of the emission of corresponding radio signals 135 to the processor unit 131, information is transferred, on the basis of which the further processor unit 131 can identify the modulation of the further reference signals 129.

[0074] In practice, therefore, a self-driving vehicle 115 could drive in the transmitting region of the radio transfer unit 133 and could receive therefrom, by means of a transfer via the emission of the radio signals 135, the information that is needed to decode the reference signals of the reference signal unit 109 in order thereby to identify unambiguously the reference signals of the reference signal unit 109 as reference signals.

[0075] After the transfer of the decoding function by way of the radio transfer unit 133 to the further processor unit 131 of the self-driving vehicle 115, as soon as the road section 113 in which the reference signal unit 109 is arranged enters the further monitoring region 125, said vehicle could receive the further reference signals 129 via the further radar sensor unit 123 and, on the basis of the transferred decoder information, could unambiguously identify them as reference signals.

[0076] It can thus be achieved that any self-driving vehicles which reach the road section monitored by the system 100 are supplied with the necessary information by means of which any self-driving vehicles decode the reference signals of the reference signal unit or the plurality of reference signal units of the system 100 and can thus identify them as reference signals.

[0077] Therefore, for any self-driving vehicles, the system 100 is able to check the functioning of the radar sensor units of the vehicles by means of the reference signals emitted by the reference signal unit 109.

[0078] FIG. 5 and FIG. 6 show a schematic representation of a reference signal unit 109 of the system 100 for monitoring a traffic situation according to one embodiment in two states.

[0079] In the embodiment of FIG. 5 and FIG. 6, the radar sensor unit 101 comprises a radar logic system 137 and a radar antenna array 139. Both components are components of commercially available radar sensors. By means of radar logic 137 and the radar antenna array 139, the radar sensor unit 101 is capable of emitting radar signals 105.

[0080] Furthermore, in FIG. 5 and FIG. 6, a first reflection area 141 and a second reflection area 143 of the reference signal unit 109 are shown. The first reflection area 141 and the second reflection area 143 are spaced from one another by a spacing 145.

[0081] In FIG. 5, the case is shown in which the first reflection area 141 is in a reflection position and radar signals 105 of the radar sensor unit 101 are reflected from the first reflection area 141 of the reference signal unit 109.

[0082] In FIG. 6, the case is shown in which the first reflection area 141 is in a non-reflection position in which no reflection of the radar signals 105 takes place, whereas the second reflection area 143 is arranged in a reflection position and a reflection of the radar signals 105 from the second reflection area 143 takes place.

[0083] Due to the spacing 145 between the first reflection area and the second reflection area, a difference exists in the size of the distance travelled between the radar signals reflected from the first reflection area 141 and the radar signals reflected from the second reflection area 143.

[0084] This distance difference of the radar signals reflected from the different reflection areas is detectable by the radar sensor unit 101. Thus, by way of an alternating switching between the state of the reference signal unit 109 shown in FIG. 5 and the state thereof shown in FIG. 6, a modulated reference signal can be generated, wherein portions of radar signals reflected from the first reflection area 141 and portions of radar signals reflected from the second reflection area 143 alternate.

[0085] By way of the switching between the first reflection state of the reference signal unit 109 shown in FIG. 5 and the second reflection state shown in FIG. 6, any modulated reference signal can thus be generated with any modulation frequency.

[0086] Alternatively, any desired information can be impressed upon the reference signal by corresponding switching between the two reflection states.

[0087] FIG. 7 shows a further schematic representation of the reference signal unit 109 of the system 100 for monitoring a traffic situation according to a further embodiment.

[0088] In the embodiment in FIG. 7, the first reflection area 141 is realized by a first antenna array 151 and the second reflection area 143 is realized by a second antenna array 149. The first antenna array 147 is connected via a high frequency switch 151 to a control logic system 153. The second antenna array 149 is connected via a further high frequency switch 152 to the control logic system 153.

[0089] Via the control logic system 153 and the two high frequency switches 151, 152, the two antenna arrays 147, 149 can be switched on and off alternatingly. In a switched-on state, the two antenna arrays 147, 149 are designed to reflect radar signals 105 of the radar sensor unit 101, whereas in a switched-off state, the antenna arrays 147, 149 cannot cause any reflection of the radar signals 105.

[0090] The first antenna array 147 and the second antenna array 149 are separated from one another in the embodiment of FIG. 6 by the spacing 145.

[0091] By way of alternating switching on and off of the first and second antenna arrays 147, 149, the first reflection state of the reference signal unit 109 shown in FIG. 5 and the second reflection state of the reference signal unit 109 shown in FIG. 6 can thus be created alternatingly. By way of the alternating switching on and off of the first and second antenna arrays 147, 149, a reference signal 111 modulated as desired can thus be created.

[0092] FIG. 8, FIG. 9 and FIG. 10 show a further schematic representation of the reference signal unit 109 of the system 100 for monitoring a traffic situation according to a further embodiment in three states.

[0093] In the embodiment of FIG. 8, FIG. 9 and FIG. 10, the reference signal unit 109 comprises a reflector body 155 which comprises at least one body area 157 onto which a reflection layer 159 which is configured to reflect radar signals is applied. In the embodiment of FIG. 8, FIGS. 9 and FIG. 10, the reflector body 155 is configured as a cuboid body. Alternatively, the reflector body 155 can have any desired form with a body area 157.

[0094] In FIG. 8, the case is shown in which the body area 157, in particular the reflection layer 159 is arranged in the reflection position and a reflection of the radar signals 105 emitted by the radar sensor unit 101 are reflected by the reflection layer 159.

[0095] FIG. 9 shows the case that the reflection layer 159 is rotated by 45° out of the reflection position so that a reduction in the reflecting capability of the reflection layer 159 is created. In FIG. 9, the orientation of the radar sensor unit 101 and of the reflector body 155 and the direction of emitted radar signals 105 is identical to those shown in FIG. 8. The case shown in FIG. 9 differs from that in FIG. 8 only in a rotation of the reflector body 155 through 45°.

[0096] FIG. 10 shows the case that the reflection layer 159 is rotated by 90° out of the reflection position so that a reflection of the radar signals 105 by the reflector body 155 cannot occur. In FIG. 10, the orientation of the radar sensor unit 101 and of the reflector body 155 and the direction of the emitted radar signals 105 is identical to those shown in FIG. 8. The case shown in FIG. 10 differs from that in FIG. 8 only in a rotation of the reflector body 155 through 90°.

[0097] In that the reflector body 155 is switched between the states shown in FIG. 8, FIG. 9 and FIG. 10, a modulation of the reflected radar signals and thus a modulated reference signal 111 can be generated. For this purpose, the reflector body 155 can be rotated about the rotation axis 161, for example, with any desired selectable rotation speed, so that with a corresponding frequency, the reflection layer 159 is brought into the reflection position and an amplitude-modulated reference signal 111 can be generated in that portions with reflected radar signals and portions without reflected radar signals follow one another alternately. By way of the arbitrarily settable rotation speed, a reference signal modulated with any desired frequency can be generated. Thus, any desired encoding can be applied to the reference signal.

[0098] As an alternative to the embodiments shown in FIGS. 1 to 4, the reference signal unit 109 can be arranged, for example, on vehicles. Thus, via corresponding radar sensor units which are either installed positionally fixed at a road section or rail section to be monitored or are installed on other vehicles, information relating to the respective vehicle can be exchanged via suitably modulated reference signals.

[0099] Thus, information relating to the traffic situation can be exchanged between individual vehicles. Alternatively, information can be exchanged between a positionally fixed system and a moving vehicle. For example, via the reference signal unit installed on a vehicle, a signal or information item transferred from another vehicle or from a positionally fixed sensor unit can be confirmed as received by way of a correspondingly modulated reference signal.

[0100] Although the invention has been illustrated and described in detail with the preferred exemplary embodiment, the invention is not restricted by the examples disclosed and other variations can be derived therefrom by a person skilled in the art without departing from the protective scope of the invention.