CN102981010B - For the method for the speed for carrying out confirmatory measurement target vehicle by camera - Google Patents
For the method for the speed for carrying out confirmatory measurement target vehicle by camera Download PDFInfo
- Publication number
- CN102981010B CN102981010B CN201210308789.8A CN201210308789A CN102981010B CN 102981010 B CN102981010 B CN 102981010B CN 201210308789 A CN201210308789 A CN 201210308789A CN 102981010 B CN102981010 B CN 102981010B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 title claims description 34
- 238000003384 imaging method Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 description 14
- 238000012544 monitoring process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to the detected speed of a kind of method, in the method a vehicle（v）It is by a target angle（φO）An and image angle（φB）Calculated and by the target angle（φO）With the image angle（φB）It is compared with one another to verify, the target angle is camera when a vehicle drives through the target area of camera in a time deviation between at least two moment（K）The angle surrounded, and the image angle is by the camera（K）The angle that the image of the vehicle surrounds with each other between the photograph successive in time of at least two moment shooting.
Description
Technical field
The present invention relates to a kind of method, particular by the detection that a vehicle is can confirm that in this method speed it is accurate
The vehicle spent and can travelled with speed with detection of the recognition imaging in photograph.Here, the only speed can be clearly
The vehicle of an imaging is assigned to, reliable identification can be realized.
Background technology
In Traffic monitoring field, invasive and non-invasive measurement sensor（Such as inductive loop, piezoelectricity bar, laser
Sensor, radar sensor）It is used for the speed for detecting vehicle.The measured value thereby obtained can be velocity amplitude or distance value or when
Between be worth, from these values can export measurement target vehicle velocity amplitude.Velocity measuring can be used for counting purpose, but major part is
Detection and punishment for traffic violations.To reach this purpose, Normal practice is a phase by means of being shot to violation vehicle
Piece to carry out file record to traffic violations, has generally legally been superimposed related data on the photograph, such as the speed of detection, date
And the time.
The speed that clearly specifying means detection can be precisely specified the vehicle to an imaging and also be only capable of
It is assigned to the vehicle.Not only when multiple vehicles are imaged in the photograph, this clearly specify is necessary, and when only
Single unit vehicle is also in this way, because here due to measurement error when being imaged（For example, caused by being reflected due to deflection beam）And lead
Cause the actual speed of vehicle of the measured speed with being imaged not corresponding.
It is largely used to realize the method specified explained in the presence of from known in the art.
In velocity measuring field, not using only non-invasive sensor（The measured value obtained by it, not only have detected car
Speed, and have detected the distance of vehicle）, also and invasive sensor, such as two piezoelectricity bars are used, they are each other
Between interval and their distances away from the camera that can shoot photograph be it is known, and detection speed specify can borrow
Help the distance to realize.The distance is the distance to sensor, wherein based on sensor relative to the relative position of camera
Knowledge, the distance of camera can also be exported to.Hereinafter, because the description of this invention is not critically important, in order to simply rise
See, it will be assumed that be provided for the sensor of velocity measuring（Or in the case of multiple sensors, such as two piezoelectricity bars）,
It is positioned in and camera identical position in the latter sensors of travel direction.Therefore, below, the distance can both be managed
Solve to mean the vehicle to the distance of the measurement sensor or the vehicle to the distance of the camera.
When vehicle travels measured area using non-invasive sensor it is invariable measure the distance of vehicle
In situation, it can be used for identifying in the distance that time that the camera is triggered is detected.
In the case of invasive sensor, be triggered in the camera that time the vehicle possible distance can be with
Determined from the known distance of the sensor and the speed detected.
By the intrinsic parameter of the camera and the camera axis of the camera relative to the road and relative to this
The position of sensor and the knowledge of arrangement, the distance detected can be assigned to the vehicle being imaged in the photograph.But not
Clearly it is possible that particularly if the photograph includes multiple tracks of the road, and so allow multiple vehicles same
When at the identical distance.
It can also happens is that, if because deflection beam reflection has caused a vehicle in addition to the vehicle of imaging
Through be measured, be thus deduced a different distance and（From derived from the distance）One different speed, and should be away from
From the vehicle that imaging is not derived from the speed.
In order to eliminate this uncertainty, such as it is known that a variety of methods for non-invasive sensor, at these
In method by means of a measurement beam come detect the speed of vehicle and distance and the measurement target vehicle be it is tracked,
That is, when the vehicle travels measured area, the position change data of the repeated detection vehicle.Thus obtained tracking
Data describe the track that the vehicle is described when it travels and passes through the measurement zone（Mobile route）, thereby the tracking data can
Target vehicle is measured for identification.
It is usually possible to, such as passed through solution locus, the vehicle is assigned to some track, and therefore handing over
The vehicle identification is come out in the photograph of logical scene.However, this assumes that the road is significantly to be divided into the photograph
Multiple tracks.
DE102007022373A1 discloses a kind of method for detecting traffic violations, and this method is passed by a radar
Sensor detects target tracking data, and a radar beam is directed on a road by wherein radar sensor, so that
Multiple vehicles can travel the measurement zone limited by the radar beam simultaneously（Hereinafter referred to as monitoring section）.
In order to reach this purpose, a radar cell can be positioned as it is adjacent with the road or above the road, such as
Fixed on a bridge, wherein herein（Seen on from horizontal direction）The radar axis is consistent with the road direction.
Relative velocity, the mesh of the target relative to the radar sensor can be derived from the radar signal of reflection
Target reflects those surfaces of the radar beam and the distance of radar sensor and the radar beam of reflection reaches radar biography
Sensor and radar axis angulation.
By in the case of based on permanent radar sensor in DE102007022373A1, different frequency is being assessed
In the phase difference of the radar signal of reflection, by using Doppler radar effect or frequency shift keying（FSK）Principle generates continuously
Tachometric survey and/or continuous range measurement.Angular surveying be the triangulation for example realized by two reception antennas come
Perform.
In measurement process, if detecting a speed on predetermined threshold velocity, processor is just examined from these
The distance and angle value of survey determine a track and transmit a signal to camera to shoot the photograph of Current traffic scene.
The camera is arranged on the radar cell at known fixed range, and is configured such that optical axial（With
It is referred to as camera axis down）Alignd with a fixed angle relative to the radar axis, and the traffic scene is more than one
About predetermined distance of the depth of scene areas（It is referred to as point of taking a picture）Clearly it is imaged.
Because the target field of the camera extended all tracks, radar cone is also guided on these tracks, so
The multiple vehicles being located in that time that camera is triggered in radar cone may also be imaged in the photograph.
Now in order to definitely identify the violation vehicle in the photograph, by the violation vehicle as determined by by measurement
Track is superimposed upon on the photograph.This superposition is advantageously performed, so that representing that a mark of the track is superimposed on this
On those imaging points in photograph, and those imaging points are assigned to based on distance and angle and limit, be common in target field
With those positions for forming the track.That is, this identification is based on this track measured relative to the radar cell
And individually carry out, rather than utterly with reference to a single track of the road.
, should be it is advantageously possible to shoot multiple evidence photographs when a violation vehicle crosses, these evidence photographs
Show the vehicle at the diverse location on identified track.
It is as the fact that starting point, in a kind of method according to DE102007022373A1, because vehicle hides mutually
Keep off and cause definitely to detect each in violation of rules and regulations, in DE102010012811.2（It is undisclosed）In, except such as
Outside carry out target following described by DE102007022373A1, a video camera with matrix reception device has been used to hold
Row image trace, and the tracking data to being obtained carries out correlation inspection.In the case of correlation, one is partly overlapped
Mark be superimposed upon on the vehicle of one in these photographs imaging.
In the case of image trace, the track for determining vehicle is determined from the change in location of the vehicle of an imaging
Tracking data.
According to DE102010012811.2（It is undisclosed）The image trace of method needed in terms of processing and storage relatively
Higher expense.
The content of the invention
The present invention is based on a kind of specified purpose of method, and this method has relatively low take in terms of processing and storage
With.
It is used to verify that the method for the speed of the detection of vehicle to realize the purpose by means of camera by a kind of,
Multiple photographs have taken by a camera in this method, the camera is known relative to the position and arrangement of road
, multiple vehicles travel the target area by the camera on the road, and therefore the camera relative to traveling side
To position and arrangement and known, wherein, at least one moment t1, determine the vehicle to the distance e of the camera
(t1), calculated so as to the speed v according to the detection and by the knowledge of the travel direction in moment t1With it is at least one slightly
T at the time of afterwards2Between a target angle φ having been moved relative to the camera of the vehicleO, and wherein, it is described at least
Two moment t1And t2, in the case of respective by the camera shoot a photograph, and from these photographs the vehicle this
A little image A'(t1) and A'(t2) offset s' and these intrinsic parameters of the camera calculate an image angle φB, will
The image angle and target angle φOIt is compared.
According to this measurement sensor for tachometric survey, sensed by means of the measurement sensor or another measurement
Device can similarly detect the distance.Here, speed survey can be carried out immediately before or while being performed for the method for checking
Amount.
It is imaged in an only vehicle in these photographs and target angle φOWith image angle φBIt is predetermined at one
The margin of tolerance in it is identical in the case of, it is inferred that the vehicle of the imaging is in fact with the speed of detection traveling
, for example to eliminate the measurement error as caused by the reflection of deflection beam.
In the case of multiple vehicles are imaged in these photographs, the speed of the detection can be assigned to its image
Through with an image angle φBCome the vehicle of the imaging shifted, the image angle in a predetermined tolerance range with the target angle
φOIt is identical.
Brief description of the drawings
An exemplary will be based on below and the present invention will be described in more detail referring to accompanying drawing, wherein：
Fig. 1 shows a figure sketch for explaining this method.
List of numerals
A(t1) vehicle is in moment t1Position
A(t2) vehicle is in moment t2Position
E distances
e(t1) in moment t1Distance
e(t2) in moment t2Distance
φOTarget angle
The operating range that s is covered
V speed
A'(t1) imaging vehicle in moment t1Position
A'(t2) imaging vehicle in moment t2Position
K cameras
The BE cameras K plane of delineation
The offset of the image of s' vehicles
φBImage angle
Embodiment
By means of the method according to the invention, both examined possibly with the aid of distance to be verified an arbitrary sensor
The speed surveyed, will pass through an other measurement sensor to detect multiple measurement target vehicles, the other measurement
Sensor is known relative to camera K position, or it is furthermore possible that by with for distance still to be tested
The sensor identical measurement sensor detected carrys out detection speed.
As introduction is explained, when vehicle crosses monitoring section, by means of different invasive and non-invasive sensors,
It is possible to the detection speed v and distance e to camera K.In order to the speed v according to determined by present invention checking, and/or it is
Speed v can be assigned to a vehicle being imaged in photograph, it is therefore necessary to not only determine and at least temporarily store this
Individual speed v, and there is a need to t at the time of determining and be at least temporarily stored in a triggering camera K1The measurement target
Distance e of the vehicle to camera K（As explained below）.Distance e used in measurement sensor and measuring principle and
Dexterously determined.
From following knowledge：Camera K relative to road and therefore relative to the position of travel direction and arrangement, when
Carve t1Distance e and the speed v that is detected of the measurement target vehicle to camera K, it is possible to be inferred to be covered at one
Operating range s, the vehicle is in predetermined moment t later2Affirmative has covered the operating range.Therefore, with a kind of this area
Method known to technical staff, it is possible to calculate the vehicle in moment t1With t2Between the angular region that is crossed relative to camera K
（By target angle φODetermined）.
If by moment t2Distance e be also incorporated into the calculating, it is possible to increase the degree of accuracy of this angle-determining.
That is determine the accurate location of vehicle at a time（The distance is based solely on, this is all impossible under any circumstance
's）It is unimportant, it is important that to determine target angle φ as explained aboveO.Physical location residing for vehicle is only used for illustrating
The basis illustrated.
Fig. 1 shows vehicle in moment t1Position A (t1) and in moment t2Position A (t2) and be accordingly associated
Distance e (t1) and e (t2), operating range s=f (v) for being covered, and the target angle φ of gainedO。
If use（Such as）One radar sensor is as a sensor for being used for velocity measuring, then from the radar
The position of sensor and the knowledge of arrangement（Determined by the radar angular being enclosed between main beam and the road edge, such as
20°）And from camera K relative to the position of the radar sensor and the knowledge of arrangement（Determined by camera axis）And
The knowledge of the distance detected by the radar sensor, it is also possible to derive the vehicle at the time of these photographs to camera K
Distance.
If use（Such as）Two piezoelectricity bars, then can be from following knowledge as a sensor for being used for velocity measuring
Derive the vehicle at the time of these photographs to camera K distance：The distance between second piezoelectricity bar and camera K with
And speed v at the time of after crossing second piezoelectricity bar in these photographs（Speed v is then and known）.
Camera K and measured value detection concurrent working.The camera can be a video camera or a static photograph
Machine, the still camera shoot at least two photographs successive in time.The camera is preferably being detected predetermined
Threshold velocity on speed v when start.Here, camera K must align relative to the road, so that its target field
At least in part with the monitoring area overlapping.Detect that vehicle was crossed within the period of the monitored area in the sensor, take a picture
The wherein imaging of machine K storages at least two has the photograph of measurement target vehicle.
Also show in Fig. 1 the vehicle of the imaging in camera K plane of delineation BE in first photograph when
Carve t1Position A'(t1) and in second photograph in moment t2Position A'(t2), and the offset s' of the image of vehicle,
The offset depends on speed v and distance e.From offset s' and camera K intrinsic parameter, it is possible to people in the art
Mode known to member calculates the image of vehicle angular region varied in these photographs（By image angle φBIt is determined that）.According to
The resolution ratio of camera K receiver matrix is higher, and the offset s' that can determine that is more accurate.
Then the image angle φ that will can be calculatedBWith the target angle φ calculatedOIt is compared, wherein in predetermined tolerance
Within both are consistent then from image angle φBThe image shift calculated confirms that the vehicle of imaging is with measured speed v
Traveling.
First, it may be possible to carry out to confirm the vehicle of only one imaging the degree of accuracy of this tachometric survey in this way, and
And secondly, in the case of multiple vehicles are by imaging, the measurement target vehicle can be identified.
Offset s' is determined by calculating the luminous flux vector between these photographs.To reach this purpose, numeral is used
Image processing method, these methods determine two photographs of at least measurement target vehicle（Shoot in succession in time）It
Between the offset s' in units of pixel（Image shift amount s'）.
Use the knowledge of camera K intrinsic parameter, it is also possible to the offset s' for the vehicle of seizing back confiscated property out（Target offset amount）.
Then can be by the real offset of the vehicle（Pass through the setting angle of camera, the camera to the vehicle
Distance and measured speed v knowledge are calculated）With seized back confiscated property from image shift amount s' from target offset amount compared with.
Both consistent vehicles for then confirming imaging in fact this measure target vehicle and the vehicle and be also in fact
Travelled with measured speed v.
From the quotient of the period between offset s' and described image, it is also possible to the speed v of the vehicle is estimated, so as to
In order to verify and by it compared with measured speed v.
These intrinsic parameters of camera can measure before this method starts, or by means of being held to multiple vehicles
Multiple values are compared to what is determined derived from row measurement and these photographs to being shot during this.
Time interval between two successive images should be it is short so that offset s' remain it is small.So
And because only the local offset s' of very little is easy to cause signal noise, it is preferred that shooting is more than only two phases
A series of photographs of piece.
Using the method according to the invention, realized using only two times of the vehicle upper successive photograph can this
Checking.For the evidence in traffic safety event, the image shot with typically collecting two fast successives under any circumstance.
In this respect, methods described can utilize recorded iconography, and can avoid using extra video system, should
Video system includes being used for hardware（For example, multiple assessment processors and illumination）Associated expense.
Claims (5)
1. a kind of method of speed (v) for confirmatory measurement target vehicle by means of camera (K), one in the method
Camera (K) shoots multiple photographs, and the camera is known relative to the position and arrangement of road, and multiple vehicles are at this
Traveling passes through the target area of the camera (K), and therefore position and row of the camera relative to the direction of traveling on road
Row are known, it is characterised in that：
In at least one moment t1, determine the vehicle to the distance (e (t of the camera (K)1)), so as to according to the speed (v) simultaneously
And by the knowledge of the travel direction, calculate in moment t1With at least one later moment t2Between the vehicle relative to this
Target angle (the φ that camera (K) has movedO)；
In at least one moment t1With at least one later moment t2, a photograph is shot by the camera (K), and
From the image A'(t of the vehicle in the photograph1) and A'(t2) offset (s') and the camera (K) intrinsic parameter meter
Calculate an image angle (φB), by the image angle (φB) and the target angle (φO) be compared.
2. the method as described in claim 1, it is characterised in that：
During this method is performed, using with determining this apart from one measurement sensor of measurement sensor identical used
Detect the speed (v).
3. the method as described in claim 1, it is characterised in that：
Before carrying out the method, using from determining that this is detected apart from a different measurement sensor of measurement sensor used
The speed (v).
4. the purposes of the method as described in claim 1, it is characterised in that：
It is imaged in an only vehicle in photograph and the target angle (φO) and the image angle (φB) in a predetermined public affairs
In poor scope it is identical in the case of, the vehicle that is inferred that the imaging is travelled with the speed (v), to eliminate
The measurement error as caused by the reflection of deflection beam.
5. the purposes of the method as described in claim 1, it is characterised in that：
In the case of multiple vehicles are imaged in photograph, the speed (v) is assigned to its image with an image angle
(φB) come the vehicle of imaging that shifts, the image angle (φB) in a predetermined tolerance range with the target angle (φO) it is identical
's.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201110053284 DE102011053284B8 (en) | 2011-09-05 | 2011-09-05 | Method for verifying the speed of an adequate vehicle by means of a camera |
| DE102011053284.6 | 2011-09-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102981010A CN102981010A (en) | 2013-03-20 |
| CN102981010B true CN102981010B (en) | 2017-11-28 |
Family
ID=46512538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210308789.8A Active CN102981010B (en) | 2011-09-05 | 2012-08-27 | For the method for the speed for carrying out confirmatory measurement target vehicle by camera |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102981010B (en) |
| DE (1) | DE102011053284B8 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2645504T3 (en) * | 2014-06-23 | 2017-12-05 | Vitronic Dr.-Ing. Stein Bildverarbeitungssysteme Gmbh | Determination of at least one characteristic of a vehicle |
| CN104751633A (en) * | 2015-04-03 | 2015-07-01 | 上海铭联信息技术有限公司 | Vehicle detector |
| CN105818744A (en) * | 2016-04-27 | 2016-08-03 | 乐视控股（北京）有限公司 | Method and system for alarming overspeed condition of vehicle by monitoring |
| EP4201777A4 (en) * | 2020-09-21 | 2023-08-02 | Huawei Technologies Co., Ltd. | Fault diagnosis method and apparatus for vehicle speed measuring apparatus |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5809161A (en) * | 1992-03-20 | 1998-09-15 | Commonwealth Scientific And Industrial Research Organisation | Vehicle monitoring system |
| CN102136196A (en) * | 2011-03-10 | 2011-07-27 | 北京大学深圳研究生院 | Vehicle velocity measurement method based on image characteristics |
| JP2012203795A (en) * | 2011-03-28 | 2012-10-22 | Nissin Electric Co Ltd | Vehicle speed measurement method and vehicle overall image detection method using the same and vehicle number plate information erroneous recognition prevention method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2342800A (en) * | 1998-08-27 | 2000-04-19 | Monitron International Limited | Measuring vehicle speed |
| US6681195B1 (en) * | 2000-03-22 | 2004-01-20 | Laser Technology, Inc. | Compact speed measurement system with onsite digital image capture, processing, and portable display |
| DE102007022373A1 (en) * | 2007-05-07 | 2008-11-13 | Robot Visual Systems Gmbh | Method for conclusively detecting the speed of a vehicle |
| EP2338062B1 (en) * | 2008-10-15 | 2017-11-29 | Siemens AG Österreich | Method and system for determining a vehicle speed |
| DE102010012811B4 (en) * | 2010-03-23 | 2013-08-08 | Jenoptik Robot Gmbh | Method for measuring speeds and associating the measured speeds with appropriate vehicles by collecting and merging object tracking data and image tracking data |
-
2011
- 2011-09-05 DE DE201110053284 patent/DE102011053284B8/en active Active
-
2012
- 2012-08-27 CN CN201210308789.8A patent/CN102981010B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5809161A (en) * | 1992-03-20 | 1998-09-15 | Commonwealth Scientific And Industrial Research Organisation | Vehicle monitoring system |
| CN102136196A (en) * | 2011-03-10 | 2011-07-27 | 北京大学深圳研究生院 | Vehicle velocity measurement method based on image characteristics |
| JP2012203795A (en) * | 2011-03-28 | 2012-10-22 | Nissin Electric Co Ltd | Vehicle speed measurement method and vehicle overall image detection method using the same and vehicle number plate information erroneous recognition prevention method |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102011053284B8 (en) | 2012-09-06 |
| DE102011053284B3 (en) | 2012-06-21 |
| CN102981010A (en) | 2013-03-20 |
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