DE102016213224A1 - Method for track monitoring in a traffic area - Google Patents

Abstract

The present invention relates to a method for track monitoring in a traffic area, comprising receiving (S1) ambient signals which have been emitted by means of at least one static transmission unit (4) arranged statically in a traffic space, by means of at least one environmental sensor (FIG. 2), evaluating (S2) the received surrounding signals to see if there is an obstacle in the traffic space, and determining (S4) driving instructions for the vehicle (1) based on the detected obstacles.

Description

State of the art

The present invention relates to a method for track monitoring in a traffic area and to a vehicle having a device for track monitoring in a traffic area.

In many parking garages ultrasonic sensors are mounted on the ceiling, which detect the movement state of a parking lot from the distance of a reflective obstacle. Every two to three seconds these ultrasonic sensors emit an acoustic measuring pulse. If a reflex is now received from the floor of the parking lot, the parking is considered free, otherwise the parking is considered occupied. Such sensors are usually connected to each other with cables, whereby a sufficient power supply is ensured.

Furthermore, the term "valet parking" autonomously driving systems are known. In it, the positions of vehicles in a parking space are detected by means of cameras and the vehicles are controlled by means of radio communication.

In such a control of vehicles provide, for example, the necessary image processing and radio transmission from a control point of view dead times. These must be taken into account in a system design, which is why the maximum mobile speed is limited.

It is desirable that vehicles located in parking garages can orient themselves using conventional environmental sensors. The vehicles should be able to drive as autonomously as possible, i. the freedom of the track must be monitored with very high reliability. Control through the infrastructure and / or vehicle-to-vehicle communication must be quickly possible and errors in communication with the infrastructure must be quickly detected and lead to clear consequences in the handling of the vehicle. The vehicles should be able to drive as fast as possible, d. H. at least 6 km / h, preferably 10 km / h and ideally 30 km / h.

Preferably, the space should be monitored, which is located between parked vehicles that are parked in the respective traffic area. Thus, there could be present persons who z. B. after an unpredictable time out of a parked vehicle and could step directly from there on the road, be recognized in time and a warning will be generated. However, this requires a system architecture that does not lead to undesired signal propagation times through many communication paths using a variety of media with complex computation algorithms, such as, for example, image processing or evaluation of laser scans.

Disclosure of the invention

The method according to the invention for track monitoring in a traffic area comprises receiving surrounding signals which were emitted by means of at least one static transmission unit arranged statically in a traffic space, by means of at least one environment sensor arranged on a vehicle, evaluating the received ambient signals to detect whether an obstacle is present in the traffic space, and determining driving instructions for the vehicle based on the detected obstacles.

Furthermore, the invention relates to a device for track monitoring of a vehicle in a traffic area, comprising at least one arranged on the vehicle environment sensor which is adapted to receive environmental signals which have been sent by means of at least one statically arranged in a traffic space active transmitting unit, and an evaluation unit, configured to evaluate the received environment signals to detect if there is an obstacle in the traffic space and to determine driving instructions for the vehicle based on the detected obstacles.

The active transmission units are units which actively send out a signal. These typically have their own control electronics. Exemplary transmitting units are ultrasonic sensors, optical sensors and sensors which generate electromagnetic fields. Accordingly, the environment signal is for example an acoustic signal, a light signal or an electromagnetic signal. In particular, the transmission units are set up to detect objects in the traffic space. The transmitting units are preferably sensors of a parking guidance system, in particular occupied sensors. Each of the transmitting units thus emits an ambient signal which propagates in the traffic area.

An environmental sensor is a sensor that is configured to receive the environmental signal. Thus, the environment sensor is set up to receive and process a signal which has been transmitted by the transmitting unit. Exemplary environmental sensors are ultrasonic sensors, optical sensors and sensors that can receive and process electromagnetic fields. In particular, the environmental sensors are set up to detect objects in the environment of the vehicle. Thus, the environment sensor is preferably comprised by a distance warning system.

A driving instruction is an instruction by which a longitudinal guide and / or a transverse guide of a vehicle is controlled. Thus, for example, a braking or accelerating the vehicle or a steering angle of the vehicle can be instructed by a driving instruction.

When evaluating the received environment signals to detect whether an obstacle is in the traffic area, it is preferably checked whether a signal propagation between the transmitting unit and the surroundings sensor is affected by an obstacle and / or it is encoded in the received environment signal information which indicates that there is an obstacle in the traffic area. It is advantageous if a longitudinal movement of the vehicle is prevented when the received ambient signals correspond to those environment signals that occur in a busy lane in the traffic area. In other words, this means that a movement of the vehicle is only allowed if the surrounding signals indicate no obstacles in the traffic area to be traveled. Thus, collisions of the vehicle with objects in the traffic space can be prevented.

According to the invention thus not only those signals are evaluated, which are emitted by the vehicle itself, but such signals that are emitted as environmental signals from the arranged in the traffic space transmitting unit. For this purpose, a plurality of transmission units are preferably arranged in the traffic space. Thus, it is not necessary that a signal to be evaluated is first reflected on an object arranged in the traffic space. Emission of signals by the environmental sensor arranged on the vehicle is optional. However, it is advantageous if the surroundings sensor arranged on the vehicle is suitable both for actively transmitting a signal and for receiving and processing both reflections of this emitted signal and the ambient signals. Preferably, a plurality of environmental sensors are arranged on the vehicle.

Thus, an area in the traffic space that can be monitored is greatly increased. Thus, for example, a range of an ultrasonic sensor is limited to 5 meters, since particularly strong signal losses occur in the reflection of the ultrasonic signal. If the same signal is sent as an ambient signal from a transmitting unit which is not arranged on the vehicle but in the traffic area, a distance of significantly more than 10 meters can already be detected with the same signal strength. Furthermore, the method according to the invention also makes it possible to determine information for those regions of the traffic area which are not in the field of vision of the sensors arranged on the vehicle, in particular the environment sensors. In other words, the limitation of current sensors is overcome so that they can not see around corners. However, if an ambient signal is emitted by a transmitting unit located behind such a corner, then it is possible to also conclude that there are objects located behind this corner. The spatial separation of signal source and signal reception with signal evaluation a high system reliability is achieved.

The steps according to the invention of receiving surrounding signals and evaluating the received ambient signals as well as determining driving instructions are preferably carried out by a device arranged on the vehicle.

The dependent claims show preferred developments of the invention.

Preferably, the inventive method comprises determining a relative position of the transmitting unit relative to the vehicle based on the received ambient signals, wherein the driving instruction is additionally determined based on the relative position of the transmitting unit relative to the vehicle. Thus, movement of the vehicle can be controlled based on the location of the transmission units. Thus, for example, can be achieved in a simple manner that a vehicle avoids a collision with the transmitting unit or a position determination for the vehicle in closed spaces, such as tunnels or car parks, created in which no position determination is possible by means of GPS.

More preferably, the environment signals carry a coded information, wherein the coded information is associated with an instruction and the driving instruction is additionally determined based on the instruction. In this way, an optimal longitudinal guidance and / or transverse guidance can be created for the vehicle, which is adapted, for example, to specific situations in the environment of the transmitting unit. For example, the instruction may include a speed limit or a hold signal. Also, a specification of possible directions of movement for the vehicle can take place.

In particular, the coded information describes a distance to be observed by the vehicle to the transmitting active transmitting unit. In other words, this means that the instruction assigned to the encoded information states that a certain distance to the sender unit is to be maintained. Thus, an approach of the vehicle to a danger point can be avoided. Be through several transmitting units such distance transmitted in the coded information, a movement corridor for a movement of the vehicle can be created. Thus, a travel route for the vehicle can be determined without accurate cartographic information being available for the traffic space. In this way, a guidance of the vehicle can be made possible without there being a map of the traffic space. Thus, a particularly flexible method is created. A guidance of the vehicle is made possible by a corresponding positioning of the transmission units and correspondingly selected coded information.

It is advantageous if the ambient signals are transmitted by means of several static transmission units arranged statically in the traffic space, wherein a transmission time and / or a content of the respective transmitted ambient signals of the transmission units are predefined based on the relative position of the transmission units. Thus, either a particularly precise guidance of the vehicle or a particularly flexible positioning of the transmission units can be made possible. The environment signals of individual transmission units are thus matched to one another and, for example, a leading running light can be created from environment signals of a plurality of transmission units.

It is also advantageous if the received ambient signals are evaluated as to whether a first signal component is present, resulting from reflection-free transmission of the ambient signal between the transmitting unit and the surroundings sensor, the received ambient signals are evaluated to see whether a second signal component is present resulting from a reflection of the surrounding signal between this transmitting unit and the environment sensor, and an area belonging to the respective transmitting unit in the traffic area is considered to be unoccupied when both the first signal component and the second signal component is present. It is thus checked whether the environment signal has been transmitted to the environment sensor on a direct and indirect, ie reflective, transmission path. Since the second signal component is typically due to ground reflection, the absence of a signal component suggests that an absorbing object, ie an obstacle, is located between the transmitter unit and the surroundings sensor. In this way, particularly deeply arranged obstacles can be detected and / or obstacles are detected that do not touch the road surface in this area. At the same time, by means of the respective other signal component, it can be concluded that an ambient signal of the transmitting unit can be received at all, ie that it is available.

Furthermore, it is advantageous if the received ambient signals are evaluated to see whether a second signal component is present, which results from a reflection of the environment signal between this transmission unit and the environment sensor, and based on the second signal component is determined whether a range to be traveled in the Traffic space occupied by an object. In this way, obstacles can be detected that are outside a direct transmission path between the environment sensor and the transmission unit.

It is advantageous if there is a synchronization of a transmission process of the surrounding signals of two transmission units arranged in the traffic space to one another. In other words, this means that a timing of the transmission processes of two transmission units takes place. In this case, a position of the vehicle is preferably determined on the basis of a time difference between a reception of the surrounding signals of two or more transmitting units. By synchronizing thus takes place a timing, the environment signals are either sent at the same time or a predefined time interval between the emission of the surrounding signals of the two transmission units. In this way, for example, a simple differentiation of several environment signals of different transmission units is made possible.

It is also advantageous if the active transmitting unit is an optical transmitting unit and the surrounding signal is an optical signal, wherein the optical signal is transmitted intermittently at a specific interval frequency, and at least one of the environmental sensors is synchronized in time with the interval frequency. The environment sensor is an optical sensor, in particular a camera. In this case, the interval frequency is preferably an integer multiple of the image recording frequency of the camera. Thus, the environment signals of different transmission units can be distinguished.

Furthermore, it is advantageous if a reflection element is arranged in the traffic space and this is set up to reflect the environmental signal emitted by the transmission unit in a certain direction. As a result, a particularly flexible arrangement of the transmitting units is made possible and at the same time it is possible to monitor rooms in the traffic area in which no arrangement of transmitting units is possible. Also, a protection of the transmitting units is possible because, for example, a virtually hidden shoring is made possible.

More preferably, a position of the vehicle in the traffic space is determined based on the received environment signals. Thus, a guidance of the vehicle is made possible by the traffic area. A position of the vehicle in the traffic area is in particular a position determination of the current position of the vehicle in a map of the traffic area. Thus, it is possible to predict a movement trajectory for a movement of the vehicle.

Brief description of the drawings

Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawing is:

1 a flowchart of a method according to the invention for track monitoring in a traffic area,

2 a vehicle with a device according to the invention and a transmission unit arranged in the traffic space,

3 the vehicle with the device according to the invention and two transmission units arranged in the traffic space,

4 the vehicle with the device according to the invention and four transmission units arranged in the traffic space,

5 an exemplary traffic space in which the system according to the invention is arranged,

6 the vehicle with the device according to the invention, two transmission units arranged in the traffic space and a plurality of reflectors in a plan view,

7 the vehicle with the device according to the invention, two transmission units arranged in the traffic space and a plurality of reflectors in a lateral view,

8th the vehicle with the device according to the invention and a transmission unit arranged on a ceiling, and

9 a further exemplary traffic space in which the system according to the invention is arranged.

Embodiments of the invention

1 shows a flowchart of a method according to the invention for track monitoring in a traffic area. The method is carried out by an associated device for track monitoring of a vehicle in a traffic area.

This device comprises at least one on the vehicle 1 arranged environment sensor. In this first embodiment of the invention are several environmental sensors 2 arranged on the vehicle. The environment sensors 2 comprise a first ultrasonic sensor 2a , a second ultrasonic sensor 2 B , a third ultrasonic sensor 2c and a fourth ultrasonic sensor 2d , The first to fourth ultrasonic sensors 2a to 2d are on a vehicle front of the vehicle 1 arranged. The first to fourth ultrasonic sensors 2a to 2d are arranged on the front of the vehicle, that the distances between each adjacent ultrasonic sensors 2 are the same. Furthermore, the device comprises an evaluation unit 3 which with each of the environmental sensors 2 is coupled via a respective signal line. The evaluation unit 3 is an electronic processing unit which controls a sequence of the method according to the invention. The evaluation unit is preferred 3 a parking maneuver control unit, since such an image of the vehicle environment for controlling the vehicle anyway 1 needed.

The method is started with startup of the associated device. First, a first step S1 is executed. In this there is received ambient signals, which by means of at least one static transmission unit arranged statically in a traffic space 4 were emitted by means of the vehicle mounted on the environment sensors 2 ,

For this purpose, by means of the first to fourth ultrasonic sensor 2a to 2d Receive signals in the ultrasonic frequency range. Is the vehicle in one? 1 surrounding traffic space a transmitting unit 4 , For example, a first active transmitting unit 4a , then those of this first active transmitting unit 4a emitted signals as environmental signals from one or more of the first to fourth ultrasonic sensors 2a to 2d receive. To receive the signal from the transmitting unit 4a emitted environment signals by means of environment sensors 2 to allow based on the transmitting units 4 and the environmental sensors 2 on the same physical principle.

The following explanations are in principle independent of the sound frequency in which the environment sensors 2 and the transmitting units 4 operated, but with ultrasound higher spatial resolution is possible, while with lower sound frequencies, a higher range can be achieved more easily. For Schall also speaks that today many vehicles 1 are already equipped with sound sensors and some occupancy detections in traffic areas are already realized with sound.

Preference is given to several traffic transmission units in the traffic area 4 arranged. So is for example, next to the first transmission unit 4a a second transmission unit 4b , a third transmission unit 4c and a fourth transmitting unit 4c arranged in the traffic area. The transmitting units 4 For example, in this exemplary embodiment, ultrasonic sensors are located in a parking garage and serve to detect a presence of associated parking areas. Here are the transmitting units 4 arranged such that in each case a transmitting unit 4 assigned to a parking space of the parking garage. Each of the transmitting units 4 emits an ultrasound signal coming from the environmental sensors 2 of the vehicle 1 as an environment signal is received when the vehicle 1 within range of the transmitting units 4 is. At the same time by the transmitting units 4a to 4d sensed whether a parked vehicle on the respective transmitting unit 4 associated parking space is located.

Optionally send the to the vehicle 1 arranged environment sensors 2 also active signals off. Because the waveform of the environmental sensors 2 actively transmitted signals is known, they can be identified after reflection and thus distinguished from the surrounding signals.

After the first step S1, a second step S2 is executed. In this there is an evaluation of the received environment signals to detect whether an obstacle is in the traffic area. There are many possibilities that make it possible to detect an obstacle in the traffic area. Some particularly advantageous possibilities are described below. An obstacle is an object in the traffic area, which impairs a drive of the vehicle. In this embodiment, each object recognized in the traffic space is classified as an obstacle.

Is the environment of the vehicle 1 , ie the traffic space, and the associated position of the active transmission units 4 For example, based on the signal strength of the received ambient signal, it can be concluded, for example, whether there is an object between the associated transmitting active transmission unit 4 and the respective received environment sensor 2 located. But even if the traffic space of the evaluation unit 3 is not known cartographic, obstacles in the traffic area can be detected.

So can one of the environmental sensors 2 received ambient signals, for example, be evaluated to determine whether a first signal component is present, resulting from a reflectionless transmission of the environment signal between one of the transmitting units 4 and one of the environmental sensors 2 results. For example, those of the first ultrasonic sensor 2a received environment signals evaluated to the effect whether a first signal component is present, resulting from a reflection-free transmission of the environment signal between the first transmission unit 4a and the first ultrasonic sensor 2a results. Such a first signal component can be recognized, for example, by the fact that it has a particularly high signal amplitude, which, for example, is above a predetermined threshold value. Furthermore, the received ambient signals are evaluated to determine whether a second signal component is present, resulting from a reflection of the environment signal between the respective transmission units 4 and the respective environmental sensors 2 results. So are those of the first ultrasonic sensor 2a received environment signals evaluated to the effect whether a second signal component is present, resulting from a reflection of the surrounding signal between the first transmission unit 4a and the first environment sensor 2a results. Such a second signal component can be recognized, for example, by having a signal waveform identical to the first signal component, but which has a lower amplitude than this, for example an amplitude which is lower than the threshold value described above. An area between one of the transmitting units 4 and one of the environmental sensors 2 in the traffic area can then be regarded as unoccupied, if both the first signal component and the second signal component is present. For example, an area between the first transmission unit becomes 4a and the first ultrasonic sensor 2a considered as empty when the first ultrasonic sensor 2a receives both the first and the second signal component.

Alternatively or additionally, based on the second signal component, it is determined whether an area to be traveled in the traffic space is occupied by an object. Thus, for example, it can be assumed that there is always a direct signal path and a signal path reflected over the road surface between a transmitting unit 4 and an environment sensor 2 exists when there is no obstacle in the traffic space between the transmitting unit and the surroundings sensor. If the second signal component is not present, this means that it has been absorbed by an object. It can therefore be assumed that there is an object in this signal path. By evaluating the second signal component, conclusions can also be drawn as to whether there are objects in the traffic space which are not located directly between the receiving surroundings sensor 2 and the transmitting unit 4 lie. Thus exist especially in closed rooms for each environmental sensor 2 a plurality of second signal components, wherein, depending on which of the second signal components is considered, an occupancy of another region in the traffic space is checked.

After the second step S2, a third step S3 is executed. In the third step S3, a determination is made of a relative position of the transmitting units 4 opposite the vehicle 1 based on the received environment signals. Because the location of the environmental sensors 2 on the vehicle 1 It is known to do so based on a transit time difference that occurs between the reception of the environmental signal by two of the environmental sensors 2 results, a direction determined in which the environmental signal associated with the transmission unit 4 located opposite the vehicle. Furthermore, a transit time difference becomes a third of the environmental sensors 2 takes into account and from this a distance of the respective transmitting unit 4 to the vehicle 1 determined. Optionally or additionally, the distance is determined based on an environment map depicting the traffic volume, in which a position of the transmission unit is entered, if one is available.

After the third step S3, a fourth step S4 is executed. In this there is a determination of driving instructions for the vehicle 1 based on the detected obstacles and based on the determined relative positions of the transmitting units 4 opposite the vehicle 1 , Thus, for example, a transverse guide of the vehicle is controlled such that there is no collision between the vehicle and obstacles in the traffic area. Alternatively or additionally, a speed of the vehicle 1 so regulated that timely stopping the vehicle 1 is possible at any time before there is a collision between the vehicle and an object in the traffic area.

If there is an area map that shows the traffic area, then a current position of the vehicle 1 in the environment map based on the known relative position of the transmitting units 4 opposite the vehicle 1 and the position of the transmitting units 4 be determined in the area map. A vehicle navigation takes place in this case based on the area map.

Even if Umweltkare is not available, the vehicle can 1 based on the determined relative positions of the transmitting units 4 be routed through the traffic area. This is for example possible because the environment signals by means of the static transmission units arranged in the traffic space 4 are emitted, wherein a transmission time of each emitted ambient signals of the transmitting units based on the relative position of the transmitting units 4 are predefined to each other. For example, an acoustic running light can be created when the active transmitting units 4 according to their arrangement along a roadway send the environment signal offset in time. Here is the longitudinal / transverse guidance of the vehicle 1 based on a rule catalog. In this case, a rule of the rule catalog can either be a behavior of the vehicle 1 to a particular or to all transmitting units 4 define. For example, a rule says that to each of the transmitting units 4 a predetermined minimum distance is to be observed. Thus, the vehicle with a corresponding arrangement of the transmitting units 4 along the transmitting units 4 guided.

Individual or all rules of such a rule catalog can also by the environment signal from one of the transmitting units 4 to the vehicle 1 be transmitted. If the surrounding signal is an ultrasound signal, a rule to be transmitted is encoded and, for example, modulated onto the ultrasound signal by means of a frequency modulation. Thus, the environment signals carry coded information, wherein the coded information is assigned an instruction, ie a rule, and the driving instruction is additionally determined based on the instruction.

In alternative embodiments, a transmission process of the surrounding signals of two transmission units arranged in the traffic space is synchronized 4 to each other. This means that these transmit units 4 send at the same time. Such synchronization takes place, for example, based on a frequency of a common voltage supply of the transmitting units 4 , In this case, a reception of the surrounding signal by the environmental sensors is also preferred 2 to a transmission period of the synchronized transmission units 4 customized. In this way, the ambient signals of other, possibly non-system, disturbing transmission units are filtered out.

The following is based on the 2 to 4 again on an application of ultrasonic sensors as environment sensors 4 received. In the vehicle 1 Depending on the direction of travel at least two ultrasonic sensors are installed, which preferably each at a corner of the vehicle 1 are arranged. Thanks to this large base distance of the environment sensors 4 and the relatively low propagation speed of the sound result when changing the relative position of the transmitting units 4 opposite the vehicle 1 large changes in the maturities that can be measured accurately.

Even if only one transmitting unit 4 exists as a sound source, resulting for each of the environment sensors 2 , as well as out 2 apparent, a direct propagation path 10 and an indirect pathway 11 , With four environment sensors 2 and only one transmitting unit 4 This results in eight space paths in front of the vehicle 1 be monitored. The transmitting unit is preferred 4 arranged at a height of 50 to 100 cm above the roadway, for example at the end of a parking space, for example, on an already existing railing. This will detect all objects in the altitude range. In addition, all objects along the indirect propagation path are detected by evaluating the ground reflex. If it can be assumed that no objects float above the ground, the transmitting unit can 4 Alternatively, be embedded near the ground or in the ground. These are preferably arranged at the end or at the edge of the roadway. This is useful, for example, in the case of a parking space without superstructures or for limiting the parking space or the roadway.

Also, a corresponding combination of already mentioned or hereinafter mentioned arrangements of the transmitting units 4 in the vertical as in the horizontal is possible, with each of the features mentioned reinforce mostly positive. Become more than one transmitting unit 4 used side by side, for example, the driving range can be marked as the lateral boundaries of the road and / or the parking lot and measured when approaching the corresponding space.

For two (eg side by side) transmission units 4 , for example, the in 3 shown first transmitting unit 4a and second transmitting unit 4b , and four environment sensors 2 , for example, the in 3 shown first to fourth ultrasonic sensor 4a to 4b , taking into account the ground reflections sixteen analyzed spatial directions. It is thus a particularly close-meshed monitoring of the environment of the vehicle 1 reached.

Alternatively or additionally, the transmitting units 4 also similar to milestones or km-stones be arranged laterally of a roadway. This is exemplary in 4 displayed. Also in this arrangement can from the different transit time relationships, the relative positions of the vehicle 1 opposite to the positions of the transmitting units 4 be detected very well. This arrangement of transmitting units 4 already arises today, if one with suitable ultrasonic sensors 2 equipped vehicle 1 in parking garages driving in which ultrasonic sensors 2 used for occupancy detection of shelves. Based on a transit time difference with one of the environment sensors 2 received ambient signals from a (eg pulse-emitting) transmitting unit 2 can be in a known spatial relationship of the mounting position of the ultrasonic sensors 2 on the vehicle 1 the orientation of the vehicle 1 regarding the transmission units 4 determine quickly.

With known transmission signal strength and transmission conditions can already from the state to the distance of the vehicle 1 to a transmitting unit 4 be inferred. Thus, the transmission conditions can be detected, for example, by sequential measurement during movement.

The 4 and 5 show scenes where the vehicle 1 not directly to the transmitting units to drive but this happens. It can therefore different types of actively transmitting transmitting units 4 with regard to their significance for the travel path of the vehicle 1 give. Their meaning may even be different from vehicle to vehicle. For example, if the transmitting units 4 the function of a busy sensor of a driving surface, such as a parking space, has. For a vehicle that wants to keep in this parking lot is the transmission of this transmission unit 4 an orientation for stopping while for another vehicle, such as a passing vehicle, the transmission of this transmission unit 4 is an orientation in the sense of a waymark.

When the vehicle 1 only moved when the received signals correspond to those of an undisturbed road, the vehicle remains 1 stand immediately. This happens, for example, in the event of a defect, in the event of interruption by any obstacle and in the case of additive interference signals.

Preference is given directly between environmental sensors 2 and transmitting units 4 spreading signals of reflections on the road in the evaluation differed in order to monitor both propagation paths separately. So it can be stopped even with a ground-level obstacle, even if none of the transmitting units 4 is installed near the ground.

In the following, an exemplary traffic space is described in which a system according to the invention is located. This one is in 5 shown. In the traffic area there are several transmission units 4 , In this case, the transmission units arranged in the traffic area fulfill 4 different functions. Thus, transmission units of the first type are in the traffic area 4p arranged, which allow a busy detection of parking areas. Furthermore, transmission units of the second type are in the traffic area 4w arranged, which mark a lane edge of driveways of the traffic area. In the traffic area is the vehicle 1 and a plurality of parking vehicles P. Further, there is a second vehicle in the traffic area 1 which, like the vehicle 1 equipped with the device according to the invention.

In one embodiment of a system according to the invention are on the vehicle 1 both at the vehicle front and at the rear of the vehicle several environment sensors 2 arranged. Preference is given both to the vehicle front as well At the rear of each vehicle environment sensors 2 on the outer contour of the vehicle, so leftmost and far right, arranged. This in 5 illustrated vehicle 1 therefore has two additional environment sensors 2' on.

In a preferred embodiment of the system according to the invention, several transmission units are located in the traffic area 4 at different positions whose transmission is designed so that their emissions to the vehicle 1 in the period of less 1s be received at the same time. In this regard, various methods, in particular modulation methods such as pulse modulation, pulse position modulation, frequency modulation, etc., are advantageous, which, in combination with spatially separated transmission, enable quasi-simultaneous operation.

The emissions of the transmitting units 4 indicate certain known locations in the traffic area, such as the center or the boundary of a traffic area, such as the parking lot and / or the trafficable lane and there are certain rules agreed as the vehicle 1 regarding the position of transmitting units 4 or aligns their emissions, such as so that a vehicle side is always aligned along one of the two possible or always centered the lane boundaries.

Through the evaluation unit 3 become transmissions of the transmitting units 4 , So surrounding signals, evaluated and affect the longitudinal and / or transverse guidance of the vehicle 1 corresponding.

Alternatively or additionally, in the system architecture also at least one of the vehicle 1 Outgoing broadcast play a role. Thus, for example, an (eg acoustic) transmission of a system intentionally or unintentionally actively transmitting in the traffic space causes a re-transmission with reference to this preceding transmission. This is done according to (as far as possible) all known active and passive "listening" environmental observers. By evaluating the signals received with this protocol, taking into account the known rules, a complex scene can be analyzed very inexpensively in a very short time.

A similar development of the protocol used in the system according to the invention with the aid of different media, such as radio, light, etc. is possible. Thus, in addition to or as an alternative to the ultrasound-based environment signals, a combination of environment sensors 2 and transmitting units 4 advantageous in which the environmental sensors 2 are executed as cameras and the transmitting units 4 Light sources are. By means of the angle measuring capabilities of the camera can be attached to the vehicle 1 through the evaluation unit 3 easily an angular position with respect to the emissions of the light sources are determined and a longitudinal and transverse guidance of the vehicle 1 be adjusted accordingly. Another possible combination with similar propagation speeds is radio such as radar and / or lidar. Again, the vehicle orientation in space can be easily determined based on the transit time differences.

In the in 5 shown traffic space is the vehicle 1 with the environment sensors 2 equipped, which can record, inter alia, environmental signals from the environment. Such environmental signals are, for example, as arrows in 5 illustrated transmissions of the transmitting units 4 , The transmitting units are preferred 4 arranged so that their emissions even when occupying an adjacent parking space by a parking vehicle P for locating the vehicle 1 are usable. These are different arrangements of the transmission units of the first kind 4p advantageous. Shown is an arrangement of the transmission units of the first kind 4p between the parked vehicles P, ie between the occupied by these parking areas. At the directly transmitted environment signal of a transmission unit of the first kind 4p The vehicle can orient itself very well.

By parked vehicles P caused by reflections on the one hand additional signal components and as a result of shadowing on the other deletions of otherwise occurring in an empty traffic space signals. Will one of the transmitting units 4 installed at a height of more than 50cm, it is possible to build up spatial measuring structures without spatial sensor technology (at least with short sound pulses) via ground reflex.

When positioning transmitter units 4 on a ceiling above the road surface, these transmitting units 4 easier as a busy sensor of the traffic space are thereby used relatively reliable that an associated area of the traffic area can only be used if exactly the reflection emanating from an empty lane on the vehicle 1 arrives. For all other reflections and / or absence of the empty-lane-reflex that area of the traffic area is considered to be impassable, resulting in a very high system reliability.

Against this background, other positioning of the transmission units of the first kind are also possible 4p , For example, near the road or in the road, possible. So are the transmitting units of the first kind 4p For example, in the middle of a parking space near the roadway so positioned that signal components are used for occupancy detection of the driving distance. These can also be used for orientation Passing by and / or positioning the vehicle 1 be used on the associated area of the traffic area. Using reflectors 5 directly at the installation site of the transmission units 4 and / or on the building environment, such as railings, floors, ceiling columns, etc., many features can be detected.

In a preferred form may be via the to the vehicle 1 sent ambient signals to the vehicle 1 For example, the quality of the "freedom" of a road section to be communicated. For example, the roadway section can be marked as "completely free" if no obstacles are detected along the entire route section between the parked vehicles P and along the route sections in question, ie, the respective transmission units of the first type 4p detects also between parked vehicles P white space and no movement. In such sections, the vehicle may 1 with increased speed, such as driving 30 km / h or 50 km / h.

As a "conditionally free" of the road section, for example, be marked if the actual road is indeed passable, but there is a residual risk that suddenly something gets on the road (eg a person currently located between the parked vehicles P), because it already There is movement between the parked vehicles P. In the case of broadcasts transmitted by one of the transmission units of the first type 4p can be emitted under one of the parked vehicles P, the vehicle 1 detect directly on the basis of directly or indirectly reaching signals, whether in addition to the existing P (based on the wheels) and the propagation further obstructing objects are detected and optionally detects whether their position changes, especially in the direction of the road moves.

Due to the spatial separation between transmitter and receiver, a high system reliability (ASIL) is achieved by simple means, because only if the emissions, so the environment signals, continuously and undisturbed the most redundant built environment sensors 2 reach the free condition is met and the corresponding area of the traffic area is considered freely passable. Static vehicle tires or structural fixed points follow a certain positioning logic (like two on an axis,) and can thus be included in the "free condition" to detect due to other causes, such as moving people, missing signals and accordingly to be able to react.

Further arrangements of transmitting units 4 can be installed along the used by several vehicles driveway. For example, the transmission units arranged in the traffic space are of the second type 4w the driveway. ln the in 5 shown traffic space are transmission units of the second kind 4w side of the roadway and between the transmission units of the second kind 4w should be driven. For example, the vehicle is driving 1 centered in certain sections to minimize the risk of collision with persons suddenly emerging between the parked vehicles P, or on a preferred side of the driveway to allow easy passage with oncoming traffic.

In order to avoid that the transmitting units of the second kind 4w obstruct the route, they are preferred to place outside the driving range, such as on the ceiling or near the ground. For example, a combination in a ground-level shoring is a functional combination of transmitting units of the first kind 4p and transmission units of the second kind 4w advantageous. This is exemplary in the 6 and 7 shown.

The installation of the transmission units 4 Near the ground, the surveillance allows for moving objects on the ground. The installation of the transmission units 4 between the parked vehicles P, so for example by arrangement between marked parking areas, allows monitoring of movements between the parked vehicles P and use of this information, for example, for traffic control.

The installation at the entrance / transition of driving areas used by several vehicles, such as at the transition from a driving area to a parking space, allows to monitor in a structural unit all adjacent rooms. The installation on the ceiling allows a vandal-resistant housing of the transmitting units 4 , protects it from dust, dirt etc. and allows contact between environment sensors 2 and transmitting units 4 also over parked vehicles P and other obstacles.

Including passive reflections in the transmission path of the surrounding signals allows cost-effective monitoring of a room with only narrow signal beam widths. In order to allow continuous orientation in several rooms, several shunting locations along a lane are recommended, so that there is a transitional area in which the vehicle 1 both at least at a nearby transmitting unit 4 as well as at least one more distant transmitting unit 4 can orient, such as other transmission units of the second kind 4w ,

In the in 5 shown traffic space characterize transmitting units of the second kind 4w the presence of a curve 6 in the lane by appropriate signaling and / or positioning. In the example shown, some of the transmission units are of the second type 4w namely, the transmission units of the second type located near the curve 4w` , along the route of the vehicle 1 arranged away from the usual roadway, so that the vehicle 1 in the curve 6 at the near the curve transmission units of the second kind 4w` oriented. Preferably, the transmitting unit located at the end of a straight line differs 7 not only on the basis of their broadcasts from the usual second-type transmission units 4w but also on the basis of their shoring position. For example, the transmitting unit located at the end of the straight line stands 7 The usual lane by shoring only at a height of about 100cm the vehicle 1 really in the way. The curve-oriented transmission units of the second kind 4w` mark the curve.

In order to enable a rapid movement of several vehicles in the traffic area can road users, which surround the signals from transmitting units 4 shade this forward. For example, the vehicle repeats 1 the signals received on one side on its rear side with renewed transmission by means of the two additional environment sensors 2' , which are at the rear of the vehicle 1 are arranged. Optionally, the ambient signal is transmitted through the evaluation unit 3 reprocessed and supplemented, for example, so that the emitted repeated signal is marked as a recaptured environment signal and / or with what quality or spatial orientation of the vehicle 1 the environment signal with its environment sensors 2 has received. In 5 are the transmitting units of the first kind 4p positioned at a position opposite the entrance to a parking space. The environment signals are distributed with the help of reflections on the traffic area, such as in 2 shown that the vehicle 1 can reliably detect an occupancy of parking spaces based on the absence of environment signals.

This shoring concept reduces the number of shoring positions. For example, one of the transmitting units 4 between two parking spaces at their entrance, that is to be positioned at the border between the carriageway and the parking space. This is preferably realized only at every second parking space and / or only where two parking spaces meet (and not on a pillar or wall).

In a preferred embodiment, however, at an entrance of each parking space, ie at the transition from road to parking space, this each left and right, each with at least one of the transmitting units 4 Mistake. Thus, the space between properly parked on the parking spaces parked vehicles P can be monitored. From the same shoring position also signals for occupancy detection of parking spaces and signals for marking the edge of the lane of roads can be sent, as in 6 is shown and in 7 is shown in a second view. There is a transmitting unit of the first kind 4p immediately next to a transmission unit of the second kind 4w installed. Thanks to the at least partial "transmission" of the signals along the ground, it is possible to monitor what moves on the ground. Thus, a kind of signal barrier can be realized in order to be able to quickly recognize objects moving over the ground.

With the help of reflectors 5 , which are attached, for example, to structural boundaries, such as railings, walls, columns ceilings, etc., is medium by means of transmission units of the first kind 4p the parking space is also monitored. For example, at least a part of the surrounding signal, which of one of the transmission units of the first kind 4p was sent out only along the corridor between the parked vehicles P and then serves at the end of the parking space of the orientation when entering the parking space, either by the signal is centered in the parking space and / or along the left or right edge. This is indicated by the dashed arrows in 6 shown. If a parked vehicle P is in the parking space, the transmission unit of the first type is replaced 4p no return signal from the reflector 5 more, whereby an occupancy of the parking space is signaled. Otherwise, the reflex signals a free parking space. With a suitable signal and sensor selection, the room-monitoring environment signal can once again reach the transmission unit of the first type 4p be sent back from whose shoring position it was sent and / or to another shoring position. This in 6 System shown thus includes the active transmission units 4 which are arranged statically in the traffic space and reflection elements, namely the reflectors 5 which is arranged in the traffic space and is adapted to that of one of the transmission units 4 reflected ambient signal in a certain direction to reflect. Preferred is one of the transmitting units 4 sunk in the roadway, with at least one of the reflectors 5 this covers and the environment signal is deflected by a deflector through this reflector in the traffic area. This is exemplary in 7 shown.

Equivalent may be some or all of the first type transmission units 4p be positioned above the parking space on the ceiling, preferably between individual parking spaces, ie in an area in which typically a marking line adjacent parking spaces of the parking space separated from each other. This allows effective monitoring of the Space between the parked vehicles P. This is in 8th shown. With the help of spatial limitation, such as a Spreizgitterzauns, an edge reflection can be achieved, so that in an efficient manner, the entire parking space is spatially monitored. It is advantageous to use signals with a high separation capability, such as short pulses, for example in stochastic coding. Furthermore, the parking space by means of ground reflectors and optionally available passive reflectors 5 additionally monitored on the ground. Proportionally, the signal but also for signaling in the direction of the driving environment as an environmental signal to the vehicle 1 be transmitted.

Not shown is that with the help of reflectors 5 Also with only further above (especially only on the ceiling) mounted transmission units 4 a floor area can be monitored by the reflectors guiding at least part of the signal along the floor. The "antenna", ie the bell 8th or a reflector of the transmitting units 4 is designed according to the tasks so that in or out of the spatial directions, the required amount of signal is sent or received.

In a further embodiment, the transmission units of the first type take over 4p the function of the transmission units of the second kind 4w , This is exemplary in 9 shown. They preferably "screen" the used or unused parking space and with the same transmission they transmit location information to the vehicle 1 , Thus, even higher system reliability is possible with little installation effort. Likewise, the rule is preferred: only when the transmitted signals corresponds to the expected signal of a free space, the space can be traveled without collision.

Thus, if the room adjacent to the lane, which is occupied, for example, by moving persons or vehicles, is "screened" with one and the same surroundings signal as well as the driving room itself, then this system provides high system reliability. Since usually the pitches are arranged obliquely and in particular perpendicular to the running surface and signals propagate primarily linear, should preferably a reflector 5 be used. As mentioned above, suitable reflector positions are in particular the base, hip height and / or ceiling. Another possibility to achieve suitable reflections are reflex points distributed spatially on the free road.

ln the in 9 shown traffic space there is no transmission unit of the second kind 4w but the reflectors 5 reflect the emissions of the transmitting unit of the first kind 4p , With this very simply designed infrastructure, the traffic area can also be analyzed. Are the reflectors both near the ground and on the ceiling of a driving area 5 preferably arranged pointwise and distributed against each other (so that the echoes can be received offset in time), so can also by means of a vertical offset of the environment sensors 2 on the vehicle 1 a height information can be estimated. An intensive transillumination of the driving space and corresponding conclusions for the driving behavior of the vehicle 1 is possible. With appropriate arrangement, the traffic area can be completely illuminated. With suitable timing is also a combination of the emissions of the transmitting units 4 , which also illuminate the dormant room, with purely passive reflections, especially along the road, makes sense.

For communication between the vehicle 1 and the transmitting units are in particular continuous or quasi-continuous (time gaps are negligible with respect to the system reaction) emitted signals which allow a high spatial separation ability to separate direct propagation of ground reflections and reflections of adjacent objects can. In addition to classical pulses, pulse-compressed signals, such as chirps, are advantageous. In conjunction with a suitable coding, a direct seqeuncing or a stochastic coding is advantageous, in particular because of its high spectral efficiency. Pauses or quasi-pauses achieved by spectral coding are particularly advantageous in order to be able to separate extremely quiet received signals from loud ones.

It is also advantageous if all transmitting units 4 associated with the infrastructure. In the event of an error, the interruption of the power supply is sufficient to send transmissions 4 to prevent and so indirectly by failure of the protocol required emissions to the vehicle 1 to announce that all movements are to be stopped.

Also advantageous is a high verbaudichte, so that the emissions from the transmitting units 4 from at least one further transmitting unit 4 received and the appropriate coding used to be plausible. In order to keep the costs accordingly small for the transmitting units 4 inexpensive hardware, such as standard (ultra) sound sensors, optical detectors and actuators, such as LED lights with brightness sensors and or wireless technology such as Bluetooth or WLAN are used.

In order to achieve a high security level, the transmission of another signal depends on transmitting units 4 in a preferred embodiment of the release by a communication participant, such as from a plausibilizing transmission unit 4 from. This release can for example via a cable network such as a LIN or a CAN, etc. from a transmitting unit 4 to another transmitting unit 4 be transmitted. Alternatively, however, the transmission of a transmitting unit 4 the reaction to the plausible transmission of another transmission unit 4 be.

In a preferred embodiment, the emissions of some transmitting units 4 , in particular those that mark the roadway, as the transmission units of the second kind 4w , an answer to the emissions of the moving vehicle 1 , where the answer runs according to certain rules that the vehicle 1 , ie the evaluation unit 3 , are known. In this way, unnecessary, the traffic space overcrowding, environmental signals are avoided and the vehicle 1 remains in control equivalent to the Vienna Convention. Alternatively, a random retransmission is conceivable.

A preferred coding form is a time coding characterizing the local conditions, such as synchronous flashing of transmitting units 4 , which are in the same position to the left and right of the track with a signal coding, which communicates the optimal by the system recommended pass-by position, such as "center between us", or "right drive wg. Left-sided traffic "etc.

In this respect, a particularly advantageous embodiment is chosen such that the surrounding signals of at least the transmitting units 4 used exclusively for the identification of multiple road users

Although traffic areas serve by the presence (eg passing the entrance barrier or by the emissions of environmental sensors 2 of the vehicle 1 ) are initiated, however, by which the system with the information known to the system, for example, concrete pass-by position, driving speed, recommended steering angle, be supplemented. On the one hand, this addition can be achieved by classical addition of transmissions eg to a time slot protocol and / or by modulation.

A further preferred temporal coding form is that the transmission units arranged sequentially one after the other along a travel path 4 respond according to a direction of travel by a temporal succession of emissions so that a predetermined direction of travel is communicated and detected based on the succession of a variety of environmental signals.

In a further preferred embodiment, the transmission units located along a route are also coded based on the coding 4 Marked as the vehicle 1 these transmitting units 4 has to pass regarding their position. Thus, for example, identify first environment signals of transmitting units 4 which are arranged on a first side of the road that they are to pass on the right side. Second ambient signals from transmitting units 4 which are arranged on a second side of the roadway indicate that they are left to pass. For example, in the case of an optical transmission unit, the first environment signal can be a green signal in optically perceivable color. Correspondingly, in the case of an optical transmission unit, the second environment signal can be, for example, a red signal in optically perceptible color. Alternatively, the first and second surround signal may be an equivalent signal, for example a different sequence of sequentially transmitted signals, and / or may have some modulation, such as an audio frequency of a sonic pulse.

By a spatial and temporal separation of the emissions of the surrounding signals, a high degree of robustness against interference or external influences is made possible, in particular in conjunction with encodings, preferably orthogonal.

Because the transmitting units 4 ideally in a frequency range of environment sensors 2 of the vehicle 1 work, it should also be broadcast break of all broadcast units 4 give. These serve as synchronization symbols and allow a time slot for communication for other sensors, such as parking aids.

Particularly in the case of inexpensive sensors, such as ultrasound sensors, it is also possible to use a plurality of positions for mounting the transmitter units 4 combined to achieve a correspondingly high redundancy. The transmitting units 4 can also serve to monitor the parking space between the parked vehicles P, which can not be achieved even by a centrally suspended on the ceiling surveillance camera.

The transmitting units 4 can provide additional reflectors for occupancy detection of the roadway 5 use.

So sends the vehicle 1 by means of environment sensors 2 For example, on his left side of the vehicle a first signal and on his right side of the vehicle, a second signal simultaneously or quasi-simultaneously. This emission can at least partially from the environment sensors 2 also be used for environment detection. The transmission units located along the roadway in the traffic space 4 repeat the emissions of environmental sensors 2 if the system considers that the traffic space between the vehicle 1 and the respective transmitting unit 4 free is. For this purpose, the system evaluates, for example, redundantly to two receiving positions of transmitting units 4 For example, on the first and second side of the roadway, both the first signal and the second signal have arrived.

The system preferably takes into account the emissions of the transmitting units 4 additionally required propagation paths, such as ground reflections in particular, so that the transmitting units only make transmissions when the received ground reflections of the first and second signals correspond to a free roadway and the other received signals (eg reflections on P parked along the roadway) confirm this.

The emissions of the transmitting units 4 , So the environment signals, refer to the initiating emissions preferred by the vehicle 1 went out, leaving all the receivers, especially the vehicle 1 , based on the emissions of the transmitting units 4 recognize the reference according to the agreed rules. Such rules can be, for example, a repetition of the transmissions after an agreed specific waiting time, wherein the transmissions of the transmitting units 4 by temporal, spectral etc. measures (return in a different frequency, time course such as transmission order, attachments of repeat flags, etc.), the emissions as repetition identified.

Are at the appropriate distance to the vehicle 1 both a left and a right side of the roadway located transmission unit 4 present, so send these two transmission units 4 simultaneously or quasi-simultaneously in such a time interval to each other that the vehicle 1 from the time interval its predetermined passage position between these two transmission units 4 can conclude.

By means of such a simple repeat protocol, it is possible to produce various emissions of the environment sensors 2 corresponding transmissions of the transmitting units 4 As a result, different solutions of the emissions of the environment sensors 2 , which are justified, for example, by different vehicle manufacturers, may be used. With such an extended Acknowledge protocol, all components are constantly checked for their functionality and a failure can be detected immediately. Disturbing objects influence the communication and are thus recognized.

The set of rules preferably contains the emissions of the transmission units 4 also rules for further / subsequent transmission units located along the travel path 4 , Preferably, these send after the preceding transmission units 4 have sent. They can be communicated in various ways, what they should send out, for example, by the subsequent transmission units 4 from the previous transmission units 4 via the measuring medium (sound, light, radio, etc.), equivalent to the extended Acknowledge or directly from the vehicle 1 , the core information of the signal transmission get notified and / or via separate communication channels, such as via a bus system, the transmitting units 4 connects with each other. In the latter case, the redundant transmission allows verification.

In this way, a kind of acoustic, optical or radio-technical "running light" arises along the road to be used, which is preferably triggered only by emissions of the environment sensors 2 and with rule-based reference to these so "lights up" that the course of the route is identified from the chronological order, according to the invention, this "running light" only lights up when the components detect a free path.

In a preferred embodiment, a recommended maximum speed is also transmitted. This can be realized, for example, using the Doppler effect. In the case of slow sound, for example, this is particularly easy in such a way that the transmissions of the transmitting units 4 in a relation to the initiating (in particular by the environment sensors 2 triggered) transmissions in accordance with agreed rules offset. For example, similar to a choirmaster, the transmitting units 4 send out the frequency position in which the subsequent transmission of environment sensors 2 should be sent. In this way, in particular with narrow-band transmission channels of the environment sensors used 2 ensure that the communication always takes place in the minimum attenuation of the transmission channels used.

In addition, a parked vehicle P, which wants to become by moving out to a moving vehicle, this by means of its emissions via its environment sensors 2 communicate. For example, the system can communicate its exit clearance by transmitting devices 4 at the appropriate time (when the route is clear) respond accordingly.

Alternatively to the acoustic sensors and / or in combination with these can be on the vehicle 1 built optical environment sensors, such as cameras in the front of the vehicle, in the rear and / or in the sides (mirrors), which are used to generate a 360 ° all-round view, the locating function of the invention are realized.

In the near future, vehicles will be equipped with surrounding cameras, such as reversing cameras, front cameras and side cameras, which are often housed in the side mirrors. These can absorb angle information well. By means of pulsed light, which takes into account the image sampling frequency of 10/20/25/30/50 Hz of these cameras, information can be transmitted to them, for example, by a sequence of temporally successive pulses.

For color coding, the color of the signal can also be used. If a surface composed of a plurality of light points, for example a 7-segment display, is available for the transmission of the transmission units, a higher transmission rate familiar to the person skilled in the art and a spatial coding can be realized optically. However, due to the higher propagation speed, spatial separation of signals in parallel, such as direct signal and ground-reflex signal, becomes more difficult. There are solutions to this problem with the Lidar, where a signal is transmitted several times in a measuring situation.

In a continuation of such embodiments is located on the track displays as transmitting units 4 , which preferably illuminates the surface of the roadway with time-coded light according to known rules. As long as the vehicle 1 by means of environment sensors 2 this illuminated surface over the entire area recognizes or is between the vehicle and the transmitting units 4 the traffic area is free. The traffic area is literally shed light on this principle. A significant disturbance of the expected illuminated image is then an indication of an object in the illuminated room for the vehicle and can cause the vehicle to stop.

For example, networks of LED lights could be used as a display, with the mesh spacing must be selected according to the detection requirements. Preferably, these LED lights could not shine at the same time but the structure and / or the temporal sequence of lighting can be used for coding. For example, to indicate the direction of travel and / or speed.

Of course, classic color monitors or similar spatially extended lights / display surface can be used as optical transmitting units, for example in combination with a known from the field of football transmission ago changing band advertising.

The vehicle can be used to code and send signals 1 For example, by means of his used for daytime driving mostly LED lights a known to those skilled customary coding eg in color, lighting, time course of the luminosity or an AND operation thereof. It is easy to realize a chronological sequence of variable switch-on and switch-off times, which are transmitted as transmission units 4 used displays are suitably replayed.

With corresponding reflective properties of the soil, the spatial coding of the as transmission units 4 reflect the displays used in the ground, which allows the transmission reliability and the size of the monitored space to be extended accordingly.

In another solution, for example, one of the transmitting units 4 installed at the entrance of a parking space in the ground area and takes that of the environment sensors 2 emitted optical signal such as a temporal luminous sequence on. Thereupon, according to the rules of the transmitting unit 4 a temporal luminous sequence as, for example, with an opening angle of 30 ° opening light bar, primarily radiated between two parking is focused at focal point focusing reflectors at the other end of the space between the parked vehicles P and mirrored back to a located in the ceiling area at the parking space entrance mirror back becomes. From this mirror, the light signal reaches the vehicle 1 ,

If there is no obstacle both between the parked vehicle P and along the road to be traveled, they receive as environment sensors 2 used cameras of the vehicle 1 an uninterrupted lightbar, optimally with respect to the emissions from the vehicle 1 is coded according to the rules. That way, the entire path is included. A combination with lighting or signaling the occupancy of a driving area, for example by lighting only free driving surfaces or parking spaces is advantageous.

In addition to the above written disclosure, explicit reference is made to the disclosure of 1 to 9 directed.

Claims (11)

Method for monitoring infrastructure in a traffic area, comprising: receiving (S1) ambient signals which are generated by means of at least one static transmission unit ( 4 ) by means of at least one vehicle ( 1 ) environment sensor ( 2 ) - evaluating (S2) the received environment signals to detect whether an obstacle is in the traffic space, - determining (S4) driving instructions for the vehicle ( 1 ) based on the detected obstacles. The method of claim 1, further comprising: determining (S3) a relative position of the transmitting unit ( 4 ) opposite the vehicle ( 1 based on the received environment signals, wherein the driving instruction additionally based on the relative position of the transmitting unit ( 4 ) opposite the vehicle ( 1 ) is determined. Method according to one of the preceding claims, characterized in that the surrounding signals carry a coded information, the coded information is associated with an instruction and the driving instruction is additionally determined based on the instruction. A method according to claim 3, characterized in that the encoded information describes a distance from the vehicle ( 1 ) to the transmitting transmitting unit ( 4 ) is to be observed. Method according to one of the preceding claims, characterized in that the environment signals by means of several statically arranged in the traffic space active transmission units ( 4 ), wherein a transmission time and / or a content of the respectively transmitted ambient signals of the transmission units ( 4 ) based on the relative position of the transmitting units ( 4 ) are predefined to each other. Method according to one of the preceding claims, characterized in that: - the received ambient signals are evaluated to determine whether a first signal component is present, resulting from a reflection-free transmission of the surrounding signal between the transmitting unit ( 4 ) and the environment sensor ( 2 ), the received environmental signals are evaluated to determine whether a second signal component is present, which is the result of a reflection of the ambient signal between this transmitter unit ( 4 ) and the environment sensor ( 2 ), and - one of the respective transmitting unit ( 4 ) is considered to be unoccupied in the traffic space when both the first signal component and the second signal component is present. Method according to one of the preceding claims, characterized in that: - the received ambient signals are evaluated to determine whether a second signal component is present, resulting from a reflection of the surrounding signal between this transmitter unit ( 4 ) and the environment sensor ( 2 ), and it is determined on the basis of the second signal component whether an area to be traveled in the traffic space is occupied by an object. Method according to one of the preceding claims, characterized in that a synchronization of a transmission process of the surrounding signals of two transmission units arranged in the traffic area ( 4 ) takes place to each other. Method according to one of the preceding claims, characterized in that an active transmitting unit ( 4 ) is an optical transmission unit and the environment signal is an optical signal, wherein the optical signal is emitted intermittently at a certain interval frequency, and at least one of the environment sensors ( 2 ) is time synchronized with the interval frequency. Device for track monitoring of a vehicle ( 1 ) in a traffic space, comprising: - at least one on the vehicle ( 1 ) arranged environment sensor ( 2 ), which is adapted to receive ambient signals, which by means of at least one static transmission unit ( 4 ), and - an evaluation unit ( 3 ) configured to evaluate the received environment signals to detect if there is an obstacle in the traffic space and based on the detected obstacles driving instructions for the vehicle ( 1 ) to investigate. System comprising the device according to claim 10, further comprising: - the active transmitting unit ( 4 ), which is arranged statically in the traffic space, and - a reflection element ( 5 ), which is arranged in the traffic space and is adapted to that of the transmitting unit ( 4 ) reflected environment signal in a certain direction.

Images