EP0277050A1 - Determination method for the trajectory of a body suitable to move about a road, and device using this method - Google Patents

Determination method for the trajectory of a body suitable to move about a road, and device using this method Download PDF

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Publication number
EP0277050A1
EP0277050A1 EP88400028A EP88400028A EP0277050A1 EP 0277050 A1 EP0277050 A1 EP 0277050A1 EP 88400028 A EP88400028 A EP 88400028A EP 88400028 A EP88400028 A EP 88400028A EP 0277050 A1 EP0277050 A1 EP 0277050A1
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Prior art keywords
image
fact
points
track
secondary image
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EP88400028A
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German (de)
French (fr)
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EP0277050B1 (en
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Serge Beucher
Jean Marc Blosseville
François Lenoir
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Association pour la Recherche et le Developpement des Methodes et Processus Industriels
Institut National de Recherche sur les Transports et leur Securite INRETS
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Association pour la Recherche et le Developpement des Methodes et Processus Industriels
Institut National de Recherche sur les Transports et leur Securite INRETS
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Priority to AT88400028T priority Critical patent/ATE75064T1/en
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    • 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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors

Definitions

  • the present invention relates to the methods for determining the trajectory of a body capable of moving over a portion of track, and more particularly to the methods making it possible to be able to determine the trajectory of vehicles of the automotive type on tracks such as roads, motorways, etc ..., over a relatively large distance and displacement surfaces of different shapes such as a rectilinear portion, two portions forming a crossroads, etc ...
  • the present invention also relates to the devices making it possible to implement these methods.
  • sensors which can give an image of the movement of vehicles.
  • Many sensors have been developed. For example, a sensor based on light rays directed towards the tracks traveled by vehicles has been developed. With these light beams generally returned by reflective surfaces arranged for this purpose on the roadways, are associated photosensitive receivers which deliver representative signals to their outputs, each time a vehicle cuts these light beams.
  • the signals delivered are only representative of the traffic at a given point and the sensors used are not flexible to use because they require elements to be placed on the roadway. It is therefore imposed on them a defined location and they cannot be moved without problems.
  • the elements placed on the road require frequent interventions, if only for cleaning the reflective surfaces.
  • the present invention aims to implement a method of determining the trajectory of a body such as, for example, a motor vehicle, on a portion of track, which allows the control of a large track surface, which does not require any particular addition to the portion of track to be monitored, and which can give a plurality of results defining all the parameters of traffic, in particular of motor vehicles.
  • the present invention also aims to provide a device for implementing the method.
  • the subject of the present invention is a method for determining the trajectory of a body like a vehicle on a relatively flat portion of track, characterized in that it consists: to form a main real image of said portion of track, in a plane forming a non-zero angle with that of said portion of track, - decomposing said main image formed into a plurality of points, to determine the relationship between the dimension of a unit length taken substantially at the level of said track portion and the dimension of its image formed in said main image, as a function of the number of points covered by said image and of the location of said unit length on said track portion, to determine a secondary image in said main image, this secondary image corresponding to a longitudinal reference linked to said vehicle located on said portion of track, - To determine the different successive positions of said secondary image by correlation of the number of points covered by this said secondary image, knowing that said secondary image corresponds, according to said relationship, to a constant length at said portion of track.
  • the present invention also relates to a device making it possible to implement said method.
  • the method makes it possible to determine the trajectory of a body such as a motor vehicle 1 over a portion 2 of track 3 ( Figure 1).
  • this portion of track is chosen so that its surface is substantially flat, regardless of its slope.
  • an image 4 is produced in a second plane 19 which makes a non-zero angle 5 with that of the portion of track and such that the line of intersection 6 of these two planes is outside the portion of way.
  • This image is advantageously produced by focusing means 7 such as, for example, a converging lens 8 arranged so that its optical axis 9 passes substantially through the center 10 of the track portion 2.
  • the edges 11, 12 of the track portion are substantially parallel and as the surface of this track portion is chosen to be flat, the image 4 formed is a trapezoid 13 whose large base 14 corresponds to the line of delimitation 15 of the portion of track which is closest to the line of intersection 6 of the two planes, while the small base 16 corresponds to the other line 17 of transverse delimitation of the portion of track 2.
  • These two lines of delimitation are, in fact, arbitrarily defined by the field of the lens 8 and also by the photosensitive surface 20 for receiving the image as defined below, in particular with regard to FIG. 2.
  • the image 4 is received on a photosensitive receiving surface 20 decomposed into a plurality of photosensitive points 21, each being perfectly addressed in a repository 22.
  • the reference system 22 is an orthonormal reference and the photosensitive points are distributed uniformly in lines 23 and in columns 24 such as, for example, in a frame hexagonal, to form a perfectly defined matrix.
  • the number of points 21 will be as large as possible per unit of area of the photosensitive receiving surface 20.
  • the method then consists in determining at the level of the track portion 2 the dimension of a unit length 30 and of measuring the dimension of its image on the receiving surface in number of points on this surface.
  • a relationship is determined between the dimension of the unit length taken substantially at the level of the track portion and the dimension of its image formed in the main image, as a function of the number of points covered by this image. and the location of the unit length on the portion of track between the two delimitation lines 15, 17.
  • the length of a bumper 31 of the vehicle 1 is defined. If the vehicle travels the portion of track 2 between the two limits 15 and 17, in the direction going from the limit 15 towards limit 17, it is obvious that the length of its bumper remains constant.
  • its image 32 formed on the receiving surface will vary by a length corresponding to a large number of points 33 located on the large base 14 of the trapezoid, up to a lower number of points 34 located on the small base 16
  • This correspondence is established according to a law translated by a formula relating the value of the angle 5 equal to "a”, the distance "h” from the optical center 35 of the lens 8 to the plane of the track portion 2, a length "L” taken at the level of the portion of track 2 (for example the length 30 represented in FIG.
  • the photosensitive definition points 21 of the image are given by the target 50 of a video camera 51 whose objective 52 is equivalent to the focusing lens 8 defined above.
  • the target 50 is made up of photosensitive dots which technicians know by the name of "pixels" and which can be read very easily and very quickly by the video technique of line-by-line scanning, each pixel having a perfectly defined address in the orthonormal coordinate system. 22.
  • an organ 54 for acquiring and processing data, and for producing result signals is connected to the output 53 of the video camera.
  • the organ 54 has its output 55 connected to the input 56 of a system for highlighting the results signals 57 such as, for example, a paper recorder or an afterglow screen, etc.
  • the organ 54 is, for example, a processor specialized in processing.
  • Figure 4 shows, by way of example, vehicles moving on the portion of track lit naturally by the sun, or else artificially. It can be seen that, in general, the portion of track 2 is of a relatively gray color, and that two types of contrast values appear when a vehicle moves on the track, and this regardless of the type lighting, this contrast however being more marked by natural lighting.
  • the metal roofs 62 of the vehicles although painted, have a power of reflection very much greater than that of the track portion, with the possible exception of continuous or discontinuous lines 61 painted on the roadways to delimit the tracks of circulation.
  • these lines being very narrow, they can be discriminated by their width, as can small objects located on vehicles and producing parasitic reflections, such as for example mirrors.
  • FIG. 5 represents a curve 70 giving the quantity of light on a line 23 of pixels of the target 50 of a video camera 51.
  • two portions 71, 72 of lower light intensity are represented which correspond to shaded areas on the portion of track 2 whose image is formed on the target.
  • the law defined above makes it possible to know the real length of an object at the level of the portion of track to which an image in the main image corresponds. From these portions 71, 72, it is therefore possible to eliminate those which cannot correspond to the transverse dimension of a motor vehicle mentioned above. In the example illustrated, the portion 71 must be rejected because it corresponds to an object whose dimension is not included in the predetermined range.
  • the portion 72 has a length corresponding to an object dimension included in the predetermined range, it is very likely that it is representative of the shadow of a vehicle.
  • This portion 72 therefore corresponds to a benchmark linked to a vehicle and the analysis of the evolution of this portion 72 along the main image 4 makes it possible to determine the trajectory of the vehicle on the track portion 2.
  • the processing unit 54 generally comprising a clock, it makes it possible to date the position of the vehicle on the track portion.
  • Figure 6 shows a curve 90 representing the amount of light on a line 23 of pixels of the photosensitive target of a video camera.
  • this curve comprises two portions 91, 92 corresponding to light-colored objects at the level of the track portion 2. These two portions could be used to discriminate objects whose dimensions are included within a certain range value, in the same way as described with reference to Figure 5.
  • a clear portion like the portion 92, if it corresponds to a length equivalent to a transverse dimension of a vehicle, may be used to determine the trajectory of a vehicle, in the same manner as described above.
  • the method can be implemented by using vehicle marking cumulatively in dark and light areas with respect to the roadway, in order to determine with more certainty the presence of a vehicle on the portion of track.
  • the analysis of the various images of the benchmarks linked to the vehicles can be carried out continuously but also sequentially, this latter way allowing the electronic circuits to be able to work out the signals representative of the results between each sequence, which makes it possible to produce a treatment 54 of a structure less complex than that necessary for continuous analysis.
  • FIG. 7 represents the graphic results of a sequential analysis on a portion of track between an origin "0" and an end "Xm", for seven successive sequences from t1 to t7, as they would be viewed on the paper unrolling continuously from a graphic recorder 57.
  • This graph shows, on the ordinate, the positions of the vehicles on the track portion and, on the abscissa, the dates of the sequences.
  • the track portion included six vehicles 80.
  • This graph makes it possible to determine the different trajectories 81 of the vehicles on this track portion: the trajectory 82 is that of a vehicle which has a constant speed between the instants t1 and t7, owing to the fact that the slope of this trajectory is constant.
  • the trajectory 85 is that of a vehicle having entered the portion of track at time t5.
  • the trajectory 84 is that of a vehicle which has had a constant speed between the instants t1 and t5 and which has accelerated after this instant t5, due to the increase in the slope of this trajectory.
  • the trajectory 88 is that of a vehicle which was on the portion of the track until the instant t3 and which left it at this instant to overtake the vehicle in front of it which has, for example, the trajectory 83 showing that 'it slowed down at time t3. If two portions of track corresponding to two lanes of traffic as illustrated in Figure 4 are simultaneously monitored in the same way, the trajectory 88 would appear at time t3 on the graph of the other portion of track, in continuity of that shown in Figure 7.
  • the trajectory 86 is that of a vehicle which stopped on the track between times t3 and t4 because its ordinate is constant.
  • the trajectory 87 is that of a vehicle which has left the portion of track between the instants t2 and
  • the device for implementing the method essentially comprises a camera of the video type, for example black and white, positioned on a bridge or a pylon, the processing electronics having no particular bulk and being an implementation relatively easy for those skilled in the art of computer science.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Road Paving Structures (AREA)
  • Numerical Control (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

A method of determining the trajectory of a body (1) such as a vehicle body on a relatively plane path portion (2), the method being characterized in that it consists: in forming a main real image (4) of the path portion in a plane (19) at a non-zero angle (5) with the path portion; in decomposing said main image as formed into a plurality of points (21); in determining the relationship between the size of a unit length (30) taken substantially at the level of the path portion and the size of its image formed in the main image the size being a function of the number of points covered by the image and of the location of the unit length on said path portion; in determining a secondary image (32) in the main image, the secondary image corresponding to a longitudinal reference mark (31) related to the vehicle on the path portion; and in determining the various successive positions (32, 33, 34) of the secondary image by correlation of the number of points covered by the secondary image, given that the secondary image corresponds, according to the relationship, to a length which is constant on the path portion.

Description

La Présente invention concerne les procédé de détermination de la trajectoire d'un corps apte à se déplacer sur une portion de voie, et plus particulièrement les procédés permettant de pouvoir déterminer la trajectoire des véhicules du type automobile sur les voies comme les routes, autoroutes, etc..., sur une distance relativement importante et des surfaces de déplacement de différentes formes comme une portion rectiligne, deux portions formant un carrefour, etc... La présente invention concerne aussi les dispositifs permettant de mettre en oeuvre ces procédés.The present invention relates to the methods for determining the trajectory of a body capable of moving over a portion of track, and more particularly to the methods making it possible to be able to determine the trajectory of vehicles of the automotive type on tracks such as roads, motorways, etc ..., over a relatively large distance and displacement surfaces of different shapes such as a rectilinear portion, two portions forming a crossroads, etc ... The present invention also relates to the devices making it possible to implement these methods.

Le trafic des véhicules automobiles ne cesse d'augmenter depuis quelques années et cette augmentation n'est pas suivie, dans certaines régions, d'une évolution adaptée du réseau routier. Ceci fait que, dans certaines circonstances, il se produit des engorgements nuisant incontes­tablement à la circulation. Il a donc été pensé qu'il pourrait être remédié à ces inconvénients en contrôlant la circulation des véhicules.Motor vehicle traffic has been increasing for a few years and this increase is not followed, in certain regions, by an adapted evolution of the road network. This means that, in certain circumstances, bottlenecks are produced which undoubtedly impair circulation. It was therefore thought that these drawbacks could be remedied by controlling the circulation of vehicles.

Pour pouvoir effectuer ces contrôles, il a été nécessaire de réaliser des capteurs pouvant donner une image de la circulation des véhicules. De nombreux capteurs ont été mis au point. Il a par exemple été élaboré un capteur à base de rayons lumineux dirigés vers les voies parcourues par les véhicules. A ces faisceaux lumineux généralement renvoyés par des surfaces réfléchissantes disposées à cet effet sur les chaussées, sont associés des récepteurs photosensibles qui délivrent à leurs sorties des signaux représentatifs, chaque fois qu'un véhicule coupe ces faisceaux lumineux.In order to be able to carry out these checks, it was necessary to produce sensors which can give an image of the movement of vehicles. Many sensors have been developed. For example, a sensor based on light rays directed towards the tracks traveled by vehicles has been developed. With these light beams generally returned by reflective surfaces arranged for this purpose on the roadways, are associated photosensitive receivers which deliver representative signals to their outputs, each time a vehicle cuts these light beams.

Cette technique donne de bons résultats. Mais les signaux délivrés ne sont représentatifs que du trafic en un point déterminé et les capeurs utilisés ne sont pas d'une utilisation souple car ils nécessitent de placer des éléments sur la chaussée. Il leur est donc imposé un emplacement défini et on ne peut les déplacer sans problèmes. De plus, les éléments disposés sur la chaussée nécessitent des interventions fréquentes, ne serait-ce que pour le nottoyage des surfaces réfléchissantes.This technique gives good results. However, the signals delivered are only representative of the traffic at a given point and the sensors used are not flexible to use because they require elements to be placed on the roadway. It is therefore imposed on them a defined location and they cannot be moved without problems. In addition, the elements placed on the road require frequent interventions, if only for cleaning the reflective surfaces.

D'autres capteurs ont été réalisées pour augmenter la surface de surveillance. Tel est le cas d'un capteur constitué par une boucle magnétique noyée dans la chaussée. Ce capteur permet de pallier une partie des inconvénients mentionnés ci-avant mais son utilité reste encore trop ponctuelle et il est toujours lié à un endroit déterminé de la chaussée.Other sensors have been made to increase the surface of surveillance. Such is the case of a sensor constituted by a magnetic loop embedded in the roadway. This sensor overcomes some of the drawbacks mentioned above but its usefulness is still too punctual and it is always linked to a specific location on the road.

Aussi, la présente invention a-t-elle pour but de mettre en oeuvure un procédé de détermination de la trajectoire d'un corps comme, par exemple, un véhicule automobile, sur une portion de voie, qui permette le contrôle d'une grande surface de voie, qui ne nécessite aucun ajout particulier sur la portion de voie à surveiller, et qui puisse donner une pluralité de résultats définissant l'ensemble des paramètres d'un trafic, notamment de véhicules automobiles.Also, the present invention aims to implement a method of determining the trajectory of a body such as, for example, a motor vehicle, on a portion of track, which allows the control of a large track surface, which does not require any particular addition to the portion of track to be monitored, and which can give a plurality of results defining all the parameters of traffic, in particular of motor vehicles.

La présente invention a aussi pour but de réaliser un dispositif permettant de mettre en oeuvre le procédé.The present invention also aims to provide a device for implementing the method.

Plus précisément, la présente invention a pour objet un procédé de détermination de la trajectoire d'un corps comme un véhicule sur une portion de voie relativement plane, caractérisé par le fait qu'il consiste:
- à former une image réelle principale de ladite portion de voie, dans un plan formant un angle non nul avec celui de ladite portion de voie,
- à décomposer ladite image principale formée en une pluralité de points,
- à déterminer la relation entre la dimension d'une longueur unitaire prise sensiblement au niveau de ladite portion de voie et la dimension de son image formée dans ladite image principale, en fonction du nombre de points recouverts par ladite image et de l'emplacement de ladite longueur unitaire sur ladite portion de voie,
- à déterminer une image secondaire dans ladite image principale, cette image secondaire correspondant à un repère longitudinal lié audit véhicule se trouvant sur ladite portion de voie,
- à déterminer les différentes positions successives de ladite image secondaire par corrélation du nombre de points recouverts par cette dite image secondaire, sachant que cette dite image secondaire correspond, suivant ladite relation, à une longueur constante au niveau de ladite portion de voie.More specifically, the subject of the present invention is a method for determining the trajectory of a body like a vehicle on a relatively flat portion of track, characterized in that it consists:
to form a main real image of said portion of track, in a plane forming a non-zero angle with that of said portion of track,
- decomposing said main image formed into a plurality of points,
to determine the relationship between the dimension of a unit length taken substantially at the level of said track portion and the dimension of its image formed in said main image, as a function of the number of points covered by said image and of the location of said unit length on said track portion,
to determine a secondary image in said main image, this secondary image corresponding to a longitudinal reference linked to said vehicle located on said portion of track,
- To determine the different successive positions of said secondary image by correlation of the number of points covered by this said secondary image, knowing that said secondary image corresponds, according to said relationship, to a constant length at said portion of track.

La présente invention a aussi pour objet un dispositif permettant de mettre en oeuvre ledit procédé.The present invention also relates to a device making it possible to implement said method.

D'autres caractéristiques et avantages de la présente invention apparaîtront au cours de la description suivante donnée en regard des dessins annexés à titre illustratif, mais nullement limitatif, dans lesquels :

  • - les Figures 1 à 6 représentent des schémas permettant d'expliciter la mise en oeuvre du procédé selon l'invention, et
  • - la Figure 7 représente un exemple d'un résultat obtenu avec la mise en oeuvure du procédé selon l'invention.
Other features and advantages of the present invention will appear in the course of the following description given with reference to the drawings annexed by way of illustration, but in no way limiting, in which:
  • FIGS. 1 to 6 represent diagrams making it possible to explain the implementation of the method according to the invention, and
  • - Figure 7 shows an example of a result obtained with the implementation of the method according to the invention.

Il est tout d'abord précisé que l'ensemble des Figures représente un même ensemble d'éléments permettant d'expliciter une mise en oeuvre du procédé selon l'invention. En conséquence, les mêmes références y désignent les mêmes éléments, quelles que soient les Figures sur lesquelles elles apparaissent.It is firstly specified that the set of Figures represents the same set of elements making it possible to explain an implementation of the method according to the invention. Consequently, the same references designate the same elements there, whatever the Figures on which they appear.

Le procédé permet de déterminer la trajectoire d'un corps comme un véhicule automobile 1 sure une portion 2 de voie 3 (Figure 1). De préfé­rence, cette portion de voie est choisie de façon que sa surface soit sensiblement plane, et cela quelle que soit sa pente.The method makes it possible to determine the trajectory of a body such as a motor vehicle 1 over a portion 2 of track 3 (Figure 1). Preferably, this portion of track is chosen so that its surface is substantially flat, regardless of its slope.

De cette portion de voie, on réalise une image 4 dans un deuxième plan 19 qui fait un angle 5 non nul avec celui de la portion de voie et tel que la ligne d'intersection 6 de ces deux plans soit en dehors de la portion de voie. Cette image est avantageusement produite par des moyens de focalisation 7 comme, par exemple, une lentille convergente 8 disposée de façon que son axe optique 9 passe sensiblement par le centre 10 de la portion de voie 2.From this portion of track, an image 4 is produced in a second plane 19 which makes a non-zero angle 5 with that of the portion of track and such that the line of intersection 6 of these two planes is outside the portion of way. This image is advantageously produced by focusing means 7 such as, for example, a converging lens 8 arranged so that its optical axis 9 passes substantially through the center 10 of the track portion 2.

Comme, en général, les bords 11, 12 de la portion de voie sont sensiblement parallèles et comme la surface de cette portion de voie est choisie plane, l'image 4 formée est un trapèze 13 dont la grande base 14 correspond à la ligne de délimitation 15 de la portion de voie qui est la plus proche de la ligne d'intersection 6 des deux plans, tandis que la petite base 16 correspond à l'autre ligne 17 de délimitation transversale de la portion de voie 2. Ces deux lignes de délimitation sont, en fait, arbitrairement définies par le champ de la lentille 8 et aussi par la surface photosensible 20 de réception de l'image telle que définie ci-après, notamment en regard de la Figure 2.As, in general, the edges 11, 12 of the track portion are substantially parallel and as the surface of this track portion is chosen to be flat, the image 4 formed is a trapezoid 13 whose large base 14 corresponds to the line of delimitation 15 of the portion of track which is closest to the line of intersection 6 of the two planes, while the small base 16 corresponds to the other line 17 of transverse delimitation of the portion of track 2. These two lines of delimitation are, in fact, arbitrarily defined by the field of the lens 8 and also by the photosensitive surface 20 for receiving the image as defined below, in particular with regard to FIG. 2.

En effet, l'image 4 est reçue sur une surface réceptrice photo­sensible 20 décomposée en une pluralité de points photosensibles 21, chacun étant parfaitement adressé dans un référentiel 22.Indeed, the image 4 is received on a photosensitive receiving surface 20 decomposed into a plurality of photosensitive points 21, each being perfectly addressed in a repository 22.

Avantageusement, dans un souci de facilité, notamment pour la réalisation des moyens de mise en oeuvre du procédé, le référentiel 22 est un repère orthonormé et les points photosensibles sont répartis uniformément en lignes 23 et en colonnes 24 comme, par exemple, dans une trame hexagonale, pour former une matrice parfaitement définie. Le nombre de points 21 sera le plus grand possible par unité d'aire de la surface réceptrice photosensible 20.Advantageously, for the sake of ease, in particular for carrying out the means for implementing the method, the reference system 22 is an orthonormal reference and the photosensitive points are distributed uniformly in lines 23 and in columns 24 such as, for example, in a frame hexagonal, to form a perfectly defined matrix. The number of points 21 will be as large as possible per unit of area of the photosensitive receiving surface 20.

Le procédé consiste alors à déterminer au niveau de la portion de voie 2 la dimension d'une longueur unitaire 30 et de mesurer la dimension de son image sur la surface réceptrice en nombre de points sur cette surface. D'une façon générale, il est déterminé une relation entre la dimension de la longueur unitaire prise sensiblement au niveau de la portion de voie et la dimension de son image formée dans l'image principale, en fonction du nombre de points recouverts par cette image et de l'emplacement de la longueur unitaire sur la portion de voie entre les deux lignes 15, 17 de délimitation.The method then consists in determining at the level of the track portion 2 the dimension of a unit length 30 and of measuring the dimension of its image on the receiving surface in number of points on this surface. In general, a relationship is determined between the dimension of the unit length taken substantially at the level of the track portion and the dimension of its image formed in the main image, as a function of the number of points covered by this image. and the location of the unit length on the portion of track between the two delimitation lines 15, 17.

Cette relation permet ainsi d'établir une loi de correspondance biunivoque entre une image longitudinale secondaire dans l'image principale 4 et une longueur réelle située sensiblement au niveau de la portion de voie.This relationship thus makes it possible to establish a one-to-one correspondence law between a secondary longitudinal image in the main image 4 and an actual length situated substantially at the level of the track portion.

Comme exemple pratique, on suppose que l'on définit la longueur d'un pare-choc 31 du véhicule 1. Si le véhicule parcourt la portion de voie 2 entre les deux limites 15 et 17, dans le sens allant de la limite 15 vers la limite 17, il est bien évident que la longueur de son pare-choc reste constante. Par contre, son image 32 formée sur la surface réceptrice va varier d'une longueur correspondant à un nombre de points important 33 situés sur la grande base 14 du trapèze, jusqu'à un nombre de points plus faible 34 situés sur la petite base 16. Cette correspondance est établie selon une loi traduite par une formule reliant la valeur de l'angle 5 égale à "a", la distance "h" du centre optique 35 de la lentille 8 au plan de la portion de voie 2, une longueur "L" prise au niveau de la portion de voie 2 (par exemple la longueur 30 représentée sur la Figure 1), "x" la longueur de son image correspondante en nombre de points sur le plan de l'image 4, la distance "f" du plan de l'image 4 au centre optique 35 (c'est-à-dire sensiblement la distance focale de la lentille 8), et la distance "d" représentant la position de la longueur "L" sur la voie par rapport à un point origine qui est la projection du centre optique 35 sur le plan de la voie 2.As a practical example, it is assumed that the length of a bumper 31 of the vehicle 1 is defined. If the vehicle travels the portion of track 2 between the two limits 15 and 17, in the direction going from the limit 15 towards limit 17, it is obvious that the length of its bumper remains constant. On the other hand, its image 32 formed on the receiving surface will vary by a length corresponding to a large number of points 33 located on the large base 14 of the trapezoid, up to a lower number of points 34 located on the small base 16 This correspondence is established according to a law translated by a formula relating the value of the angle 5 equal to "a", the distance "h" from the optical center 35 of the lens 8 to the plane of the track portion 2, a length "L" taken at the level of the portion of track 2 (for example the length 30 represented in FIG. 1), "x" the length of its corresponding image in number of points on the plane of image 4, the distance " f "from the plane of the image 4 to the optical center 35 (that is to say substantially the focal distance of the lens 8), and the distance" d "representing the position of the length" L "on the channel by compared to a point of origin which is the projection of the optical center 35 on the plane of channel 2.

Cette loi est de la forme :

Figure imgb0001
This law is of the form:
Figure imgb0001

Dans ces conditions, soient un repère lié à un véhicule et son image dans l'image principale 4. Il est alors possible de déterminer la trajectoire du véhicule sur la portion de voie en suivant l'évolution de l'image du repère. L'évolution de cette image du repère se traduit essentiellement par une variation de longueur correspondant à une longueur constante au niveau de la voie, cette variation étant définie par la loi donnée ci-dessus, ce qui fait connaître les paramètres de la trajectoire du véhicule auquel est lié le repère dont l'image a été analysée.Under these conditions, let a marker linked to a vehicle and its image in the main image 4. It is then possible to determine the trajectory of the vehicle on the track portion by following the evolution of the image of the marker. The evolution of this image of the benchmark essentially results in a variation in length corresponding to a constant length at the level of the track, this variation being defined by the law given above, which makes the parameters of the vehicle trajectory known. to which the coordinate system whose image has been analyzed is linked.

Comme mentionné ci-dessus, il est donc nécessaire de connaître des valeurs de longueur d'une image secondaire dans l'imge principale. Pour faciliter la mise en oeuvre du procédé, les points de définition photosensibles 21 de l'image sont données par la cible 50 d'une caméra vidéo 51 dont l'objectif 52 est équivalent à la lentille 8 de focalisation définie ci-avant. La cible 50 est constituée de points photosensibles que les techniciens connaissent sous le nom de "pixels" et qui peuvent être lus très facilement et très rapidement par la technique vidéo du balayage ligne par ligne, chaque pixel ayant une adresse parfaitement définie dans le repère orthonormé 22.As mentioned above, it is therefore necessary to know the length values of a secondary image in the main image. To facilitate the implementation of the method, the photosensitive definition points 21 of the image are given by the target 50 of a video camera 51 whose objective 52 is equivalent to the focusing lens 8 defined above. The target 50 is made up of photosensitive dots which technicians know by the name of "pixels" and which can be read very easily and very quickly by the video technique of line-by-line scanning, each pixel having a perfectly defined address in the orthonormal coordinate system. 22.

Ainsi, pour chaque point ou pixel, est-il très facile de connaître électroniquement les informations concernant son état d'illumination et son adresse. Pour cela, un organe 54 d'acquisition et de traitement de données, et d'élaboration de signaux de résultats est connecté à la sortie 53 de la caméra vidéo. L'organe 54 a sa sortie 55 connectée à l'entrée 56 d'un système de mise en évidence des signaux de résultats 57 comme, par exemple, un enregistreur sur papier ou un écran à rémanence, etc... L'organe 54 est, par exemple, un processeur spécialisé dans le traitement.Thus, for each point or pixel, it is very easy to know electronically the information concerning its state of illumination and its address. For this, an organ 54 for acquiring and processing data, and for producing result signals is connected to the output 53 of the video camera. The organ 54 has its output 55 connected to the input 56 of a system for highlighting the results signals 57 such as, for example, a paper recorder or an afterglow screen, etc. The organ 54 is, for example, a processor specialized in processing.

Comme mentionnée ci-avant, il est nécessaire de pouvoir attribuer à chaque véhicule passant sur la portion de voie 2 un repère caractéristique lui étant lié, d'une longueur constante et se dissociant parfaitement de l'ensemble de la vue générale de la voie. La Figure 4 représente, à titre d'exemple, des véhicules se déplaçant sur la portion de voie éclairée naturellement par le soleil, ou bien artificiellement. On constate que, d'une façon générale, la portion de voie 2 est d'une couleur relativement grise, et qu'apparaissent deux types de valeurs de contraste lorsqu'un véhicule se déplace sur la voie, et ceci quel que soit le type d'éclairage, ce contraste étant cependant plus marqué par éclairage naturel.As mentioned above, it is necessary to be able to assign to each vehicle passing on the track portion 2 a characteristic reference being linked to it, of a constant length and dissociating itself perfectly from the whole of the general view of the track. Figure 4 shows, by way of example, vehicles moving on the portion of track lit naturally by the sun, or else artificially. It can be seen that, in general, the portion of track 2 is of a relatively gray color, and that two types of contrast values appear when a vehicle moves on the track, and this regardless of the type lighting, this contrast however being more marked by natural lighting.

Ces deux images contrastrées sont en fait l'ombre 60 d'une voiture projetée sur la voie et/ou sur elle-même. Pendant que la voiture parcourt toute la portion de voie 2, on peut considérer que la position du soleil et que l'orientation des rayons solaires ne changent pas, la distance parcourue par le véhicule étant de l'ordre de quelques dizaines de mètres, voire quelques centaines. De plus, cette ombre, à part de très rares exceptions, a une longueur qui peut être considérée comme parfaitement définie. Qu'elles soient les ombres de voitures ou de camions leur longueur est de l'ordre de 1,5 à 2,5 mètres.These two contrasting images are in fact the shadow 60 of a car projected onto the track and / or onto itself. While the car is traveling the entire portion of track 2, we can consider that the position of the sun and that the orientation of the sun's rays do not change, the distance traveled by the vehicle being of the order of a few tens of meters, or even few hundreds. In addition, this shadow, apart from very rare exceptions, has a length which can be considered as perfectly defined. Whether they are the shadows of cars or trucks, their length is around 1.5 to 2.5 meters.

Par contre, les toitures métalliques 62 des véhicules, bien que peintes, ont un pouvoir de réflexion très largement supérieur à celui de la portion de voie, à l'exception éventuellement des lignes 61 continues ou discontinues peintes sur les chaussées pour délimiter les voies de circulation. Cependant, ces lignes étant très étroites, elles peuvent par leur largeur être discriminées, de même que les objets de faibles dimensions situés sur les véhicules et produisant des réflexions parasites, comme par exemple les rétroviseurs.On the other hand, the metal roofs 62 of the vehicles, although painted, have a power of reflection very much greater than that of the track portion, with the possible exception of continuous or discontinuous lines 61 painted on the roadways to delimit the tracks of circulation. However, these lines being very narrow, they can be discriminated by their width, as can small objects located on vehicles and producing parasitic reflections, such as for example mirrors.

On peut ainsi très facilement repérer les véhicules en prenant en considération l'ombre 60 qu'ils projettent, ou l'émission lumineuse plus claire qu'ils émettent, ou une combinaison des deux phénomènes.It is thus very easy to spot the vehicles by taking into consideration the shade 60 that they project, or the lighter light emission that they emit, or a combination of the two phenomena.

La Figure 5 représente une courbe 70 donnant la quantité de lumière sur une ligne 23 de pixels de la cible 50 d'une caméra vidéo 51. A titre d'exemple, sont représentées deux portions 71, 72 de plus faible intensité lumineuse qui correspondent des zones d'ombre sur la portion de voie 2 dont l'image est formée sur la cible. Or, la loi définie ci-avant permet de connaître la longueur réelle d'un objet au niveau de la portion de voie auquel correspond une image dans l'image principale. De ces portions 71, 72, on peut donc éliminer celles qui ne peuvent pas correspondre à la dimension transversale d'un véhicule automobile rappelée ci-avant. Dans l'exemple illustré, la portion 71 doit être rejetée car correspondant à un objet dont la dimension n'est pas comprise dans la fourchette prédétermineé.FIG. 5 represents a curve 70 giving the quantity of light on a line 23 of pixels of the target 50 of a video camera 51. By way of example, two portions 71, 72 of lower light intensity are represented which correspond to shaded areas on the portion of track 2 whose image is formed on the target. However, the law defined above makes it possible to know the real length of an object at the level of the portion of track to which an image in the main image corresponds. From these portions 71, 72, it is therefore possible to eliminate those which cannot correspond to the transverse dimension of a motor vehicle mentioned above. In the example illustrated, the portion 71 must be rejected because it corresponds to an object whose dimension is not included in the predetermined range.

Par contre, si la portion 72 une longueur correspondant à une dimension d'objet comprise dans la fourchette prédéterminée, il est fort probable qu'elle soit représentative de l'ombre d'un véhicule.On the other hand, if the portion 72 has a length corresponding to an object dimension included in the predetermined range, it is very likely that it is representative of the shadow of a vehicle.

Bien entendu, comme les ombres des véhicules ont une certaine hauteur, il sera pris en consisération un certain nombre de courbes 70 successives. Si la portion 72 se retrouve dans presque toutes ces courbes, il est alors presque certain que l'on a repéré un véhicule sur la portion de voie 2.Of course, as the shadows of the vehicles have a certain height, it will be taken into account a number of successive curves 70. If the portion 72 is found in almost all of these curves, then it is almost certain that a vehicle has been spotted on the portion of track 2.

Cette portion 72 correspond donc à un repère lié à un véhicule et l'analyse de l'évolution de cette portion 72 le long de l'image principale 4 permet de déterminer la trajectoire du véhicule sur la portion de voie 2.This portion 72 therefore corresponds to a benchmark linked to a vehicle and the analysis of the evolution of this portion 72 along the main image 4 makes it possible to determine the trajectory of the vehicle on the track portion 2.

L'organe de traitement 54 comportant généralement une horloge, il permet de dater la position du véhicule sur la portion de voie.The processing unit 54 generally comprising a clock, it makes it possible to date the position of the vehicle on the track portion.

Il a été décrit ci-dessus l'analyse de la reconnaissance d'un véhicule en fonction d'un repère sombre. Mais on peut aussi utiliser un repérage à partir de zones claires. La Figure 6 représente une courbe 90 représentant la quantité de lumière sur une ligne 23 de pixels de la cible photosensible d'une caméra vidéo. A titre illustratif, cette courbe comporte deux portions 91, 92 correspondant à des objets de couleur claire au niveau de la portion de voie 2. Ces deux portions pourront être utilisées pour discriminer des objets dont les dimensions sont comprises dans une certaine valeur de fourchette, de la même façon que décrite en regard de la Figure 5. Une portion claire, comme la portion 92, si elle correspond à une longueur équivalente à une dimension transversale d'un véhicule, pourra être utilisée pour déterminer la trajectoire d'un véhicule, de la même façon que décrite ci-dessus.The analysis of the recognition of a vehicle as a function of a dark marker has been described above. But one can also use a marking starting from clear zones. Figure 6 shows a curve 90 representing the amount of light on a line 23 of pixels of the photosensitive target of a video camera. By way of illustration, this curve comprises two portions 91, 92 corresponding to light-colored objects at the level of the track portion 2. These two portions could be used to discriminate objects whose dimensions are included within a certain range value, in the same way as described with reference to Figure 5. A clear portion, like the portion 92, if it corresponds to a length equivalent to a transverse dimension of a vehicle, may be used to determine the trajectory of a vehicle, in the same manner as described above.

Bien entendu, le procédé pourra être mis en oeuvre en utilisant un marquage de véhicule cumulativement par zones sombres et claires par rapport à la chaussée, afin de déterminer avec plus de certitude la présence d'un véhicule sur la portion de voie.Of course, the method can be implemented by using vehicle marking cumulatively in dark and light areas with respect to the roadway, in order to determine with more certainty the presence of a vehicle on the portion of track.

L'analyse des différentes images des repères liés aux véhicules peut être effectuée de façon continue mais aussi de façon séquentielle, cette dernière façon permettant aux circuits électroniques de pouvoir élaborer les signaux représentatifs des résultats enter chaque séquence, ce qui permet de réaliser un organe de traitement 54 d'une structure moins complexe que celle nécessaire pour l'analyse en continu.The analysis of the various images of the benchmarks linked to the vehicles can be carried out continuously but also sequentially, this latter way allowing the electronic circuits to be able to work out the signals representative of the results between each sequence, which makes it possible to produce a treatment 54 of a structure less complex than that necessary for continuous analysis.

A titre illustratif, la Figure 7 représente les résultats graphiques d'une analyse séquentielle sur une portion de voie entre une origine "0" et une fin "Xm", pour sept séquences successives de t1 à t7, tels qu'ils seraient visualisés sur le papier se déroulant en continu d'un enregistreur graphique 57. Sur ce graphique, sont représentées, en ordonnées, les positions des véhicules sur la portion de voie et, en abscisses, les dates des séquences. Ainsi, à l'instant t1, la portion de voie comportait six véhicules 80. Ce graphique permet de déterminer les différentes trajectoires 81 des véhicules sur cette portion de voie :
- la trajectoire 82 est celle d'un véhicule qui a une vitesse constante entre les instants t1 et t7, du fait que la pente de cette trajectoire est constante.
- la trajectoire 85 est celle d'un véhicule ayant pénétré sur la portion de voie à l'instant t5.
- la trajectoire 84 est celle d'un véhicule qui a eu une vitesse constante entre les instants t1 et t5 et qui a accéléré après cet instant t5, du fait de l'augmentation de la pente de cette trajectoire.
- la trajectoire 88 est celle d'un véhicule qui était sur la portion de voie jusqu'à l'instant t3 et qui l'a quittée à cet instant pour doubler le véhicule devant lui qui a, par exemple, la trajectoire 83 montrant qu'il a ralenti à l'instant t3. Si deux portions de voie correspondant à deux bandes de circulation comme illustré sur la Figure 4 sont surveillées simultanément de la même façon, la trajectoire 88 apparaîtrait à l'instant t3 sur le graphique de l'autre portion de voie, en continuité de celle représentée sur la Figure 7.
- la trajectoire 86 est celle d'un véhicule qui s'est arrêté sur la voie entre les instants t3 et t4 du fait que son ordonnée est constante.
- la trajectoire 87 est celle d'un véhciule que est sorti de la portion de voie entre les instants t2 et t3.By way of illustration, FIG. 7 represents the graphic results of a sequential analysis on a portion of track between an origin "0" and an end "Xm", for seven successive sequences from t1 to t7, as they would be viewed on the paper unrolling continuously from a graphic recorder 57. This graph shows, on the ordinate, the positions of the vehicles on the track portion and, on the abscissa, the dates of the sequences. Thus, at time t1, the track portion included six vehicles 80. This graph makes it possible to determine the different trajectories 81 of the vehicles on this track portion:
the trajectory 82 is that of a vehicle which has a constant speed between the instants t1 and t7, owing to the fact that the slope of this trajectory is constant.
- The trajectory 85 is that of a vehicle having entered the portion of track at time t5.
the trajectory 84 is that of a vehicle which has had a constant speed between the instants t1 and t5 and which has accelerated after this instant t5, due to the increase in the slope of this trajectory.
the trajectory 88 is that of a vehicle which was on the portion of the track until the instant t3 and which left it at this instant to overtake the vehicle in front of it which has, for example, the trajectory 83 showing that 'it slowed down at time t3. If two portions of track corresponding to two lanes of traffic as illustrated in Figure 4 are simultaneously monitored in the same way, the trajectory 88 would appear at time t3 on the graph of the other portion of track, in continuity of that shown in Figure 7.
- The trajectory 86 is that of a vehicle which stopped on the track between times t3 and t4 because its ordinate is constant.
the trajectory 87 is that of a vehicle which has left the portion of track between the instants t2 and t3.

A la description précédente, on voit qu'il est donc possible de surveiler en continu le trafic sur une grande portion de voie, en déterminant un grand nombre de paramètres qui sont, notamment, la densité, la vitesse instantanée et moyenne des véhicules, la position des véhicules, leur changement de direction, sans avoir la nécessité d'installer des éléments particuliers sur la chaussée. Le dispositif de mise en oeuvre du procédé comprend essentiellement une caméra du type vidéo, par exemple noir et blanc, positionnée sur un pont ou un pylone, l'électronique de traitement ne présentant pas d'emcombrement particulier et étant d'une mise en oeuvure relativement aisée pour les hommes de l'art en informatique.In the preceding description, it can be seen that it is therefore possible to continuously monitor traffic on a large portion of track, by determining a large number of parameters which are, in particular, the density, the instantaneous and average speed of the vehicles, the position of vehicles, their change of direction, without the need to install special elements on the road. The device for implementing the method essentially comprises a camera of the video type, for example black and white, positioned on a bridge or a pylon, the processing electronics having no particular bulk and being an implementation relatively easy for those skilled in the art of computer science.

De plus, avec le procédé tel que décrit ci-dessus, il est possible d'analyser le trafic simultanément sur plusieurs portions de voies, par exemple des portions faisant entre elles des angles non nuls comme des bretelles d'autoroutes avec les autoroutes, et même des portions sécantes comme, par exemple, des carrefours.In addition, with the method as described above, it is possible to analyze the traffic simultaneously on several portions of lanes, for example portions making non-zero angles between them such as highway ramps with highways, and even intersecting portions like, for example, crossroads.

Claims (14)

1. Procédé de détermination de la trajectoire d'un corps (1) comme un véhicule sur une portion de voie (2) relativement plane, caractérisé par le fait qu'il consiste:
- à former une image réelle principale (4) de ladite portion de voie, dans un plan (19) formant un angle (5) non nul avec celui de ladite portion de voie,
- à décomposer ladite image principale formée en une pluralité de points (21),
- à déterminer la relation entre la dimension d'une longueur unitaire (30) prise sensiblement au niveau de ladite portion de voie et la dimension de son image formée dans ladite image principale, en fonction du nombre de points recouverts par ladite image et de l'emplacement de ladite longueur unitaire sur ladite portion de voie,
- à déterminer une image secondaire (32) dans ladite image principale, cette image secondaire correspondant à un repère longitudinal (31) lié audit véhicule se trouvant sur ladite portion de voie,
- à déterminer les différentes positions successives (32, 33, 34) de ladite image secondaire par corrélation du nombre de points recouverts par cette dite image secondaire, sachant que cette dite image secondaire correspond, suivant ladite relation, à une longueur constante au niveau de ladite portion de voie.1. Method for determining the trajectory of a body (1) like a vehicle on a relatively flat portion of track (2), characterized in that it consists:
- forming a main real image (4) of said track portion, in a plane (19) forming an angle (5) not zero with that of said track portion,
- decomposing said main image formed into a plurality of points (21),
- determining the relationship between the dimension of a unit length (30) taken substantially at the level of said track portion and the dimension of its image formed in said main image, as a function of the number of points covered by said image and of the 'location of said unit length on said track portion,
- determining a secondary image (32) in said main image, this secondary image corresponding to a longitudinal reference (31) linked to said vehicle located on said track portion,
- determining the different successive positions (32, 33, 34) of said secondary image by correlation of the number of points covered by this said secondary image, knowing that said secondary image corresponds, according to said relationship, to a constant length at said portion of track. 2. Procédé selon la revendication 1, CARACTERISE PAR LE FAIT QUE la formation d'images est obtenue par focalisation au moyen d'une lentille optique convergente (8).2. Method according to claim 1, CHARACTERIZED BY THE FACT THAT the formation of images is obtained by focusing by means of a converging optical lens (8). 3. Procédé selon la revendication 1, CARACTERISE PAR LE FAIT QUE ladite pluralité de points sont des points photosensibles (21).3. Method according to claim 1, CHARACTERIZED BY THE FACT THAT said plurality of points are photosensitive points (21). 4. Procédé selon la revendication 3, CARACTERISE PAR LE FAIT QUE ladite pluralité de points sont répartis sur une trame (23, 24) d'une matrice définie par rapport à un référentiel (22).4. Method according to claim 3, CHARACTERIZED BY THE FACT THAT said plurality of points are distributed over a frame (23, 24) of a matrix defined with respect to a frame of reference (22). 5. Procédé selon la revendication 4, CARACTERISE PAR LE FAIT QUE ladite trame est hexagonale.5. Method according to claim 4, CHARACTERIZED BY THE FACT THAT said frame is hexagonal. 6. Procédé selon l'une des revendications 1 à 5, CARACTERISE PAR LE FAIT QUE la détermination de ladite image secondaire (32) est obtenue à partir d'au moins un repère (31, 60, 62) lié au véhicule, ledit repère étant optiquement contrasté par rapport à ladite voie.6. Method according to one of claims 1 to 5, CHARACTERIZED BY THE FACT THAT the determination of said secondary image (32) is obtained at from at least one marker (31, 60, 62) linked to the vehicle, said marker being optically contrasted with respect to said lane. 7. Procédé selon la revendication 6, CARACTERISE PAR LE FAIT QUE ledit repère est une repère sombre (60).7. Method according to claim 6, CHARACTERIZED BY THE FACT THAT said mark is a dark mark (60). 8. Procédé selon la revendication 7, CARACTERISE PAR LE FAIT QUE ledit repère sombre est une partie de l'ombre projetée dudit véhicule.8. Method according to claim 7, CHARACTERIZED BY THE FACT THAT said dark mark is a part of the projected shadow of said vehicle. 9. Procédé selon le revendication 6, CARACTERISE PAR LE FAIT QUE ledit repère est une repère clair (62).9. Method according to claim 6, CHARACTERIZED BY THE FACT THAT said mark is a clear mark (62). 10. Procédé selon la revendication 9, CARACTERISE PAR LE FAIT QUE ledit repère clair est donné par une réflextion lumineuse sur une partie de la carrosserie dudit véhicule.10. The method of claim 9, CHARACTERIZED BY THE FACT THAT said clear reference is given by a light reflection on a part of the body of said vehicle. 11. Procédé selon la revendication 6, CARACTERISE PAR LE FAIT QUE ledit repère est un ensemble d'un repère sombre et d'un repère clair.11. The method of claim 6, CHARACTERIZED BY THE FACT THAT said mark is a set of a dark mark and a light mark. 12. Procédé selon l'une des revendications précédentes, CARACTERISE PAR LE FAIT QUE la détermination des différentes positions successives de ladite image secondaire par corrélation du nombre de points recouverts par cette dite image secondaire s'effectue par comparaison du nombre de cesdits points par rapport à une fourchette de nombres de points déterminée en fonction de la position de ladite image secondaire (32) dans ladite image principale (4).12. Method according to one of the preceding claims, CHARACTERIZED BY THE FACT THAT the determination of the different successive positions of said secondary image by correlation of the number of points covered by this said secondary image is carried out by comparison of the number of said points relative to to a range of number of points determined as a function of the position of said secondary image (32) in said main image (4). 13. Procédé selon l'une des revendications précédentes, CARACTERISE PAR LE FAIT QUE la détermination des différentes positions successives de ladite image secondaire par corrélation du nombre de points recouverts par cette dite image secondaire s'effectue suivant l'un des procédé suivants, analyse en continu ou analyse séquentielle.13. Method according to one of the preceding claims, CHARACTERIZED BY THE FACT THAT the determination of the different successive positions of said secondary image by correlation of the number of points covered by this said secondary image is carried out according to one of the following method, analysis continuously or sequential analysis. 14. Dispositif permettant de mettre en oeuvre le procédé selon l'une des revendications précédentes, CARACTERISE PAR LE FAIT QU'il comporte une caméra vidéo (51) dont la cible (50) est définie par une pluralité de pixels, un processeur de traitement (54) des signaux délivrés à la sortie (53) de ladite caméra, et un enregistreur (57) dont l'entrée (56) est reliée à la sortie (55) du processeur de traitement.14. Device making it possible to implement the method according to one of the preceding claims, CHARACTERIZED BY THE FACT THAT it comprises a video camera (51) whose target (50) is defined by a plurality of pixels, a processing processor (54) signals delivered to the output (53) of said camera, and a recorder (57) whose input (56) is connected to the output (55) of the processing processor.
EP88400028A 1987-01-14 1988-01-07 Determination method for the trajectory of a body suitable to move about a road, and device using this method Expired - Lifetime EP0277050B1 (en)

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Also Published As

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FR2609566A1 (en) 1988-07-15
US4839648A (en) 1989-06-13
ATE75064T1 (en) 1992-05-15
ES2031608T3 (en) 1992-12-16
FR2609566B1 (en) 1990-04-13
EP0277050B1 (en) 1992-04-15
CN88100677A (en) 1988-08-31
DE3869978D1 (en) 1992-05-21

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