EP1100050A1 - System and method of counting passengers for buses - Google Patents

System and method of counting passengers for buses Download PDF

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Publication number
EP1100050A1
EP1100050A1 EP00403122A EP00403122A EP1100050A1 EP 1100050 A1 EP1100050 A1 EP 1100050A1 EP 00403122 A EP00403122 A EP 00403122A EP 00403122 A EP00403122 A EP 00403122A EP 1100050 A1 EP1100050 A1 EP 1100050A1
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European Patent Office
Prior art keywords
vehicle
passengers
image
vision
counting
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EP00403122A
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German (de)
French (fr)
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EP1100050B1 (en
Inventor
Hoang Giang Nguyen
Patrick Paletto
Jean Michel Fortier
Alain Tranchant
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Renault Trucks SAS
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Renault SAS
Renault Vehicules Industriels SA
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit

Definitions

  • the present invention relates to a system and method counting, as well as detection, of passengers for bus, coach or any group transport vehicle.
  • Knowledge of instantaneous vehicle weight can be used to brake and steering control.
  • any passenger vehicle like coaches, buses, school buses by example, it is necessary to detect obstacles presenting at the doors and likely to interfere with the operation of the closing mechanisms doors.
  • the first belt counting mode uses five electrical contacts, distributed under the surface of the carpets, which react according to the weight of the person walking on the carpet. This solution is unreliable because some children may not be taken because of their low weight.
  • the second infrared barrier counting mode typically uses 2 to 4 infrared cells, which are attached to the edge of the doors and at the top of the doors. This mode is also unreliable because, depending on the albedo of people, cells may not detect people who do not reflect any signal back. Failure to detect people is due to the absorption of infrared by the tissues of their clothes. In the case of counting by ultrasonic barriers, the emitted beam can be dispersed for the physical fitness of people because ultrasound is specular.
  • the infrared pyrometry counting mode is used more particularly in banks. It is based on the same principle as barrier counting infrared but the wavelengths used in pyrometry are 3 to 5 microns and 8 to 12 microns, while the wavelengths used in the infrared barriers are 0.7 to 0.9 microns.
  • the fourth counting mode uses a camera which aims vertically at a checkerboard mark placed on the ground.
  • the counting is carried out using an integrated circuit which includes image processing with neural networks.
  • This fourth mode described in particular in the patent French FR 2 739 208 from FAIVELY TRANSPORT, allows distinguish the direction of movement of people.
  • the passenger detection function at bus door level it can be provided by example by pneumatic pressure sensors or by piezoelectric sensors fitted to the edges of the doors associated with means for measuring the current of electric motors for closing the doors.
  • An electrical signal is sent to the dashboard of the vehicle to authorize the driver to start.
  • a obstacle like a passenger's arm or foot remaining in the door may not be detected and get stuck while the driver starts his vehicle.
  • the invention aims to solve these two problems by offering a counting and detection system by camera coupled to presence detection means to confirm and remove the doubt.
  • the counting system comprises a device for acquiring images from one or more several digital matrix cameras, CCD type - Charge Coupled Device -, or CMOS - Complementary Oxide Semiconductor -, or APS-CMOS - Active Pixel Sensor CMOS -, miniature format, located in the mechanical structure of the bus type vehicle, at the level from each passenger access door either front of vehicle for passenger entry flow and back for the output stream. Means adequate lighting can be combined with cameras, in order to illuminate the scene happening in the vicinity of each door.
  • the images from the cameras are processed by a on-board electronic computer, with microprocessor all-or-nothing input / output circuit for alert the driver of the vehicle.
  • This calculator is intended to detect moving regions such as of travelers walking past the camera.
  • This detection is improved and confirmed by at least a presence detector, thermal infrared type or radar (wavelength between three and five microns, or eight and twelve microns).
  • the schematic section of the vehicle 1 in FIG. 1 is a cross section at a door 2.
  • a CCD camera 3 is placed inside the bus, under the ceiling light 4 above the opening area of the door.
  • a second camera 30 can be placed outside the bus 1 so that their two fields of vision 5 and 50 are complementary and cover the entire area opening door 2 allowing access to passengers.
  • vision providing image processing for the purpose to detect moving regions.
  • the regions are segmented with respect to the fixed background represented by the bus steps seen from above, or the doors side views.
  • a presence detector 8 of the type thermal infrared or radio frequency (radar or laser), is associated with the cameras and placed next to one of the two cameras. Its detection field 9 is narrow, with a diameter on the ground close to 20 cm for example, and headed towards the border between the interior and outside the bus at the access door to passengers.
  • Detection thermal confirms a segmentation detection before the actual count.
  • the system according to the invention therefore comprises two devices as described above, a first installed at the entrance door 2 of the passengers and a second at exit 20, the calculator carrying out instant counting of the number passengers inside the vehicle. Of more, the calculator can estimate the total weight of the vehicle payload at all times.
  • the method of counting the passengers actually present in the vehicle comprises, as shown in the functional diagram of FIG. 3, a first step e 1 of image acquisition at each door d 'access.
  • the processing of these digital video signals consists of a second step e 2 of segmenting the regions of each image, followed by a third step e 3 of detecting image segments qualified as "candidates", by a known morphological method for example .
  • a fourth processing step e 4 compares each candidate segment with a probable size criterion C T to determine the segments qualified as "candidates for human presence" during a fifth step e 5 . If the presence detector confirms the presence of “hot body” in some of these latter segments, during a step e 6 , a seventh step e 7 delivers a selection of image segments qualified as “candidates for human presence , suitable for counting ".
  • the computer can count the passengers present on the bus, by subtracting from the number of incoming passengers, estimated from a device placed above the front door, the number of outgoing passengers, estimated from another device placed above the exit door.
  • the computer can also estimate the total weight of the vehicle's payload.
  • the vision computer 7 is connected by a link series to the central electronic control unit 12 of the vehicle, to which it communicates the number of passengers as well as the estimate of the total instantaneous load of the vehicle in order to optimize the parameters of braking and / or gearbox by piloting actuators 13.
  • the detection of a passenger trapped in an access door is also carried out by the electronic computer 7 which compares, during a step e 9 , the image I f originating from the interior camera, or interior and exterior cameras when the device has two, after closing the door with a reference image I r taken just before closing. The method then determines an image qualified as "candidate", in step e 10 . Then, the computer performs a step e 11 of confirming the presence of a "hot body” in some of these "candidate” images by the infrared presence detector.
  • the vision computer 7 sends a signal, during a step e 12 of triggering an alert to an interface, for example an indicator light 10 placed in the driver's field of vision. It also sends, during an additional step e 13 , the image of the access door after closing on a display screen 11 placed in the driver's field of vision, on the dashboard for example. The driver can thus verify for himself the presence of an obstacle trapped in the door. Finally, it sends its confirmation signal to the central computer 12 of the vehicle which then controls the opening of the door where a person is detected trapped, by controlling the door motor 14, during a step e 14 .
  • the interest of the system lies in particular in multiple use of surveillance cameras passive access areas of the vehicle, especially for counting, detecting passengers or objects stuck in the doors, or even for the direct monitoring of entry and exit doors.
  • This system will reduce the cost of purchasing components, improve the mounting process and increase the intrinsic performance of vehicles public transport thanks to excellent accuracy passenger counting.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)
  • Traffic Control Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

Passenger counting system comprises one or more digital cameras (3) mounted at each vehicle access or exit points such that its field of vision (5) totally covers the access area. The camera(s) are associated with a presence detector (8) and both are connected to an electronic calculator or computer which processes the captured images to detect any movement and associate it with physical persons. The procedure also relates to a method for detection and counting the number of passengers on board the bus. The presence detector can be an infrared, laser, or radar type detector.

Description

La présente invention concerne un système et un procédé de comptage, ainsi que de détection, de passagers pour bus, car ou tout véhicule de transport de groupes.The present invention relates to a system and method counting, as well as detection, of passengers for bus, coach or any group transport vehicle.

Dans le domaine du transport de groupes, la connaissance du nombre de passagers entrant et sortant du véhicule, notamment en différents endroits du bus loin des yeux du conducteur, est importante pour le contrôle dynamique du véhicule. La connaissance du poids à charge instantané du véhicule peut servir au contrôle du freinage et de la direction du véhicule. De plus, pour tout véhicule de transport de personnes, comme les autocars, les autobus, les cars scolaires par exemple, il est nécessaire de détecter des obstacles se présentant au niveau des portes et susceptibles de gêner le fonctionnement des mécanismes de fermeture des portes.In the area of group transport, the knowledge of the number of incoming and outgoing passengers of the vehicle, especially at different places on the bus away from the driver's eyes, is important for the dynamic vehicle control. Knowledge of instantaneous vehicle weight can be used to brake and steering control. Of plus, for any passenger vehicle, like coaches, buses, school buses by example, it is necessary to detect obstacles presenting at the doors and likely to interfere with the operation of the closing mechanisms doors.

Concernant le comptage des passagers d'un véhicule de transport en commun, il existe quatre modes de comptage actuels :

  • le comptage par tapis à contacts électriques ;
  • le comptage actif de proximité par barrières infrarouges ou ultrasons ;
  • le comptage passif de proximité par pyrométrie infrarouge ;
  • le comptage par caméra et traitement d'images.
Regarding the counting of passengers in a public transport vehicle, there are four current counting modes:
  • counting using electrical contact mats;
  • active proximity counting by infrared or ultrasonic barriers;
  • passive proximity counting by infrared pyrometry;
  • camera counting and image processing.

Le premier mode de comptage par tapis utilise cinq contacts électriques, répartis sous la surface du tapis, qui réagissent en fonction du poids de la personne qui marche sur le tapis. Cette solution est peu fiable car certains enfants peuvent n'être pas pris en compte à cause de leur faible poids.The first belt counting mode uses five electrical contacts, distributed under the surface of the carpets, which react according to the weight of the person walking on the carpet. This solution is unreliable because some children may not be taken because of their low weight.

Le deuxième mode de comptage par barrières infrarouges utilise généralement 2 à 4 cellules infrarouges, qui sont fixées au bord des portières et en haut de celles-ci. Ce mode est également peu fiable car, dépendant de l'albédo des personnes, les cellules peuvent ne pas détecter des personnes qui ne réfléchissent aucun signal en retour. La non détection des personnes est due à l'absorption de l'infrarouge par les tissus de leurs vêtements. Dans le cas d'un comptage par barrières à ultrasons, le faisceau émis peut être dispersé pour la forme physique des personnes, car les ultrasons sont spéculaires.The second infrared barrier counting mode typically uses 2 to 4 infrared cells, which are attached to the edge of the doors and at the top of the doors. This mode is also unreliable because, depending on the albedo of people, cells may not detect people who do not reflect any signal back. Failure to detect people is due to the absorption of infrared by the tissues of their clothes. In the case of counting by ultrasonic barriers, the emitted beam can be dispersed for the physical fitness of people because ultrasound is specular.

Le mode de comptage par pyrométrie infrarouge est utilisé plus particulièrement dans les banques. Il est basé sur le même principe que le comptage par barrières infrarouges, mais les longueurs d'onde utilisées en pyrométrie sont de 3 à 5 microns et de 8 à 12 microns, alors que les longueurs d'onde utilisées dans les barrières infrarouges sont de 0,7 à 0,9 microns.The infrared pyrometry counting mode is used more particularly in banks. It is based on the same principle as barrier counting infrared but the wavelengths used in pyrometry are 3 to 5 microns and 8 to 12 microns, while the wavelengths used in the infrared barriers are 0.7 to 0.9 microns.

Pour ces deux premiers modes, il n'est pas possible de différencier à l'aide d'un seul capteur, les personnes entrant dans le véhicule de celles qui en sortent. De plus, la précision de comptage est supérieure à 6 %. Or, l'objectif actuel des organismes de transports publics, tels que la Régie Autonome des Transports Parisiens, est d'atteindre une précision de 1 à 2 %, c'est-à-dire de détecter 98 personnes sur 100 qui passent. For these first two modes, it is not possible differentiate using a single sensor, people entering the vehicle of those who come out. In addition, the counting accuracy is greater than 6%. However, the current objective of organizations public transport, such as the Régie Autonome des Transports Parisiens, is to achieve a precision of 1 to 2%, i.e. to detect 98 people out of 100 passing.

Le quatrième mode de comptage utilise une caméra qui vise verticalement un repère en damier placé au sol. Le comptage s'effectue à l'aide d'un circuit intégré qui inclut le traitement d'image avec réseaux de neurones. Ce quatrième mode, décrit notamment dans le brevet français FR 2 739 208 de FAIVELY TRANSPORT, permet de distinguer le sens de circulation des personnes.The fourth counting mode uses a camera which aims vertically at a checkerboard mark placed on the ground. The counting is carried out using an integrated circuit which includes image processing with neural networks. This fourth mode, described in particular in the patent French FR 2 739 208 from FAIVELY TRANSPORT, allows distinguish the direction of movement of people.

Concernant la fonction de détection de passagers au niveau des portes du bus, elle peut être assurée par exemple par des capteurs de pression pneumatique ou par des capteurs piézo-électriques équipant les bords des portes associés à des moyens de mesure du courant des moteurs électriques assurant la fermeture des portes.Regarding the passenger detection function at bus door level, it can be provided by example by pneumatic pressure sensors or by piezoelectric sensors fitted to the edges of the doors associated with means for measuring the current of electric motors for closing the doors.

Un signal électrique est envoyé au tableau de bord du véhicule pour autoriser le démarrage par le conducteur. Cependant, en raison de l'imprécision de mesure de la différence de pression entre les deux bords pneumatiques de chaque porte, ou de celle du courant électrique des moteurs entraínant les portes, un obstacle comme un bras ou un pied d'un passager subsistant dans la porte peut ne pas être détecté et rester coincé alors que le conducteur fait démarrer son véhicule. On ne peut détecter que des objets solides non déformables coincés dans les portes, car les obstacles déformables de petite taille comme une main ou un bras d'enfant ne s'opposent pas assez fortement aux forces mécaniques des portières et le courant consommé dans les moteurs de commande des portes ne dépasse pas un seuil fixé préalablement.An electrical signal is sent to the dashboard of the vehicle to authorize the driver to start. However, due to the inaccuracy of measuring the pressure difference between the two edges tires of each door, or that of the current electric motors driving the doors, a obstacle like a passenger's arm or foot remaining in the door may not be detected and get stuck while the driver starts his vehicle. We can only detect solid objects non-deformable stuck in the doors, because the small deformable obstacles like a hand or a child's arm don't clash strongly enough door mechanical forces and current consumed in the door control motors does not exceed a threshold set beforehand.

L'invention vise à résoudre ces deux problèmes en proposant un système de comptage et de détection par caméra couplée à des moyens de détection de présence pour confirmer et lever le doute.The invention aims to solve these two problems by offering a counting and detection system by camera coupled to presence detection means to confirm and remove the doubt.

Pour cela, un premier objet de l'invention est un système de comptage et de détection de passagers dans un véhicule de transport en commun, comportant au moins un dispositif d'acquisition d'images, des moyens de visualisation de ces images par le conducteur et un calculateur électronique embarqué pilotant notamment des actionneurs de freinage, de boíte de vitesses et de fermeture des portes du véhicule, caractérisé en ce qu'il comporte :

  • un dispositif d'acquisition d'images à partir d'une ou plusieurs caméras numériques, de format miniature implantées dans la structure mécanique du véhicule, au niveau de chaque porte d'accès pour les passagers et dont le champ de vision englobe toute la zone d'accès ;
  • un détecteur de présence associé au dispositif d'acquisition d'images de chaque porte d'accès du véhicule, dont le champ de détection est dirigé vers la frontière entre l'intérieur et l'extérieur du véhicule ;
  • un calculateur électronique embarqué, dit de vision, assurant le traitement des images issues de chaque dispositif d'acquisition, destiné à détecter des régions en mouvement et à les faire correspondre aux personnes physiques détectées.
For this, a first object of the invention is a system for counting and detecting passengers in a public transport vehicle, comprising at least one device for acquiring images, means for the display of these images by the driver. and an on-board electronic computer controlling in particular braking actuators, gearboxes and closing the doors of the vehicle, characterized in that it comprises:
  • a device for acquiring images from one or more digital cameras, in miniature format located in the mechanical structure of the vehicle, at each access door for passengers and whose field of vision encompasses the entire area access;
  • a presence detector associated with the image acquisition device of each access door of the vehicle, the detection field of which is directed towards the border between the interior and the exterior of the vehicle;
  • an on-board electronic computer, called a vision computer, processing the images from each acquisition device, intended to detect moving regions and to match them to the physical persons detected.

Un second objet de l'invention est un procédé de comptage des passagers mis en oeuvre par un tel système, comportant les étapes suivantes :

  • e1 : acquisition d'images au niveau de chaque porte d'accès du véhicule ;
  • e2 : segmentation des régions de chaque image ;
  • e3 : détection de segments d'images qualifiés de "candidats" ;
  • e4 : comparaison de chaque segment "candidat" à un critère de taille probable (CT) ;
  • e5 : détermination de segments d'images de "candidats à une présence humaine" ;
  • e6 : confirmation de la présence de "corps chaud" dans certains de ces derniers segments d'images ;
  • e7 : sélection de segments d'images qualifiés de "candidats à une présence humaine aptes au comptage" ;
  • e8 : comptage du nombre de passagers présents dans le véhicule, par soustraction au nombre de passagers entrants du nombre de passagers sortants.
A second object of the invention is a method of counting passengers implemented by such a system, comprising the following steps:
  • e 1 : acquisition of images at each access door of the vehicle;
  • e 2 : segmentation of the regions of each image;
  • e 3 : detection of image segments qualified as "candidates";
  • e 4 : comparison of each “candidate” segment with a probable size criterion (C T );
  • e 5 : determination of image segments of "candidates for human presence";
  • e 6 : confirmation of the presence of "hot body" in some of these latter image segments;
  • e 7 : selection of image segments qualified as "candidates for human presence suitable for counting";
  • e 8 : counting the number of passengers present in the vehicle, by subtracting the number of incoming passengers from the number of outgoing passengers.

D'autres caractéristiques et avantages de l'invention apparaítront à la lecture de la description d'un exemple de réalisation, illustrée par les figures suivantes qui sont :

  • la figure 1 : une coupe schématique d'un véhicule au niveau d'une porte, équipée d'au moins une caméra et d'un détecteur de présence ;
  • la figure 2 : un schéma fonctionnel d'un système de comptage selon l'invention, dans un véhicule ;
  • les figures 3 et 4 : deux diagrammes fonctionnels du traitement d'image selon le procédé de comptage de l'invention.
Other characteristics and advantages of the invention will appear on reading the description of an exemplary embodiment, illustrated by the following figures which are:
  • Figure 1: a schematic section of a vehicle at a door, equipped with at least one camera and a presence detector;
  • FIG. 2: a functional diagram of a counting system according to the invention, in a vehicle;
  • Figures 3 and 4: two functional diagrams of image processing according to the counting method of the invention.

Les différents éléments portant les mêmes références sur les différentes figures remplissent les mêmes fonctions en vue des mêmes résultats.The different elements with the same references on the different figures fill the same functions for the same results.

Le système de comptage selon l'invention comprend un dispositif d'acquisition d'images à partir d'une ou plusieurs caméras numériques matricielles, de type CCD - Charge Coupled Device -, ou CMOS - Complementary Oxyde Semiconductor -, ou APS-CMOS - Active Pixel Sensor CMOS -, de format miniature, implantées dans la structure mécanique du véhicule de type bus, au niveau de chaque porte d'accès pour les passagers soit à l'avant du véhicule pour le flux d'entrée des passagers et à l'arrière pour le flux de sortie. Des moyens d'éclairage adéquat peuvent être associés aux caméras, afin d'éclairer la scène se passant au voisinage de chaque porte.The counting system according to the invention comprises a device for acquiring images from one or more several digital matrix cameras, CCD type - Charge Coupled Device -, or CMOS - Complementary Oxide Semiconductor -, or APS-CMOS - Active Pixel Sensor CMOS -, miniature format, located in the mechanical structure of the bus type vehicle, at the level from each passenger access door either front of vehicle for passenger entry flow and back for the output stream. Means adequate lighting can be combined with cameras, in order to illuminate the scene happening in the vicinity of each door.

Les images issues des caméras sont traitées par un calculateur électronique embarqué, à microprocesseur muni d'un circuit d'entrée/sortie tout ou rien pour alerter le conducteur du véhicule. Ce calculateur est destiné à détecter des régions en mouvement telles que des voyageurs passant devant la caméra.The images from the cameras are processed by a on-board electronic computer, with microprocessor all-or-nothing input / output circuit for alert the driver of the vehicle. This calculator is intended to detect moving regions such as of travelers walking past the camera.

Cette détection est améliorée et confirmée par au moins un détecteur de présence, de type infrarouge thermique ou radar (de longueur d'onde comprise entre trois et cinq microns, ou huit et douze microns).This detection is improved and confirmed by at least a presence detector, thermal infrared type or radar (wavelength between three and five microns, or eight and twelve microns).

La coupe schématique du véhicule 1 sur la figure 1 est une coupe transversale au niveau d'une porte 2. Une caméra CCD 3 est placée à l'intérieur du bus, sous le plafonnier 4 au-dessus de la zone d'ouverture de la porte. Son champ de vision 5, de diamètre au sol voisin de 1,5 mètres par exemple, représenté en pointillés, englobe toute la zone d'accès du bus, soit les marches d'accès 6.The schematic section of the vehicle 1 in FIG. 1 is a cross section at a door 2. A CCD camera 3 is placed inside the bus, under the ceiling light 4 above the opening area of the door. Its field of vision 5, of diameter on the neighboring ground 1.5 meters for example, shown in dotted lines, covers the entire bus access area, i.e. the steps access 6.

Une seconde caméra 30 peut être placée à l'extérieur du bus 1 de telle sorte que leurs deux champs de vision 5 et 50 soient complémentaires et couvrent toute la zone d'ouverture de la porte 2 permettant l'accès des passagers.A second camera 30 can be placed outside the bus 1 so that their two fields of vision 5 and 50 are complementary and cover the entire area opening door 2 allowing access to passengers.

Comme le montre le schéma fonctionnel de la page 2, elles sont reliées à un calculateur électronique 7 dit de vision assurant le traitement d'images dans le but de détecter des régions en mouvement. Les régions sont segmentées par rapport au fond fixe que représentent les marches du bus vues de dessus, ou les portières vues latéralement.As shown in the block diagram on page 2, they are connected to an electronic computer 7 called vision providing image processing for the purpose to detect moving regions. The regions are segmented with respect to the fixed background represented by the bus steps seen from above, or the doors side views.

Pour rendre plus fiable l'identification des personnes et de leurs paquets par exemple, pour chaque porte d'accès du bus, un détecteur de présence 8, du type infrarouge thermique ou radiofréquence (radar ou laser), est associé aux caméras et placé à côté de l'une des deux caméras. Son champ de détection 9 est étroit, de diamètre au sol voisin de 20 cm par exemple, et dirigé vers la frontière entre l'intérieur et l'extérieur du bus au niveau de la porte d'accès des passagers.To make the identification of people more reliable and their packages for example, for each door bus access, a presence detector 8, of the type thermal infrared or radio frequency (radar or laser), is associated with the cameras and placed next to one of the two cameras. Its detection field 9 is narrow, with a diameter on the ground close to 20 cm for example, and headed towards the border between the interior and outside the bus at the access door to passengers.

Il est relié au calculateur 7 de vision dans le but de configurer la correspondance entre les régions segmentées par le traitement d'images et la présence de personnes physiques qu'il a détectée. La détection thermique confirme une détection par segmentation d'image, avant le comptage proprement dit.It is connected to the vision computer 7 for the purpose of configure correspondence between regions segmented by image processing and the presence of natural persons it has detected. Detection thermal confirms a segmentation detection before the actual count.

Le système selon l'invention comporte donc deux dispositifs tels que décrits auparavant, un premier installé au niveau de la porte d'entrée 2 des passagers et un deuxième au niveau de celle de sortie 20, le calculateur effectuant le comptage instantané du nombre de passagers présents à l'intérieur du véhicule. De plus, le calculateur peut estimer le poids total de la charge utile du véhicule, à tout moment.The system according to the invention therefore comprises two devices as described above, a first installed at the entrance door 2 of the passengers and a second at exit 20, the calculator carrying out instant counting of the number passengers inside the vehicle. Of more, the calculator can estimate the total weight of the vehicle payload at all times.

Le procédé de comptage des passagers réellement présents dans le véhicule, mis en oeuvre par le calculateur 7, comprend, comme le montre le diagramme fonctionnel de la figure 3, une première étape e1 d'acquisition d'images au niveau de chaque porte d'accès. Le traitement de ces signaux vidéo numériques consiste en une deuxième étape e2 de segmentation des régions de chaque image, suivie d'une troisième étape e3 de détection de segments d'image qualifiés de "candidats", par une méthode morphologique connue par exemple. Une quatrième étape e4 de traitement compare chaque segment candidat à un critère de taille probable CT pour déterminer les segments qualifiés de "candidats à une présence humaine" lors d'une cinquième étape e5. Si le détecteur de présence confirme la présence de "corps chaud" dans certains de ces derniers segments, au cours d'une étape e6, une septième étape e7 délivre une sélection de segments d'image qualifiés de "candidats à une présence humaine, aptes au comptage".The method of counting the passengers actually present in the vehicle, implemented by the computer 7, comprises, as shown in the functional diagram of FIG. 3, a first step e 1 of image acquisition at each door d 'access. The processing of these digital video signals consists of a second step e 2 of segmenting the regions of each image, followed by a third step e 3 of detecting image segments qualified as "candidates", by a known morphological method for example . A fourth processing step e 4 compares each candidate segment with a probable size criterion C T to determine the segments qualified as "candidates for human presence" during a fifth step e 5 . If the presence detector confirms the presence of “hot body” in some of these latter segments, during a step e 6 , a seventh step e 7 delivers a selection of image segments qualified as “candidates for human presence , suitable for counting ".

Enfin, à la huitième étape e8, le calculateur peut effectuer le comptage des passagers présents dans le bus, en soustrayant au nombre de passagers entrants, estimé à partir d'un dispositif placé au-dessus de la porte d'entrée, le nombre de passagers sortants, estimé à partir d'un autre dispositif placé au-dessus de la porte de sortie. Le calculateur peut également estimer le poids total de la charge utile du véhicule.Finally, in the eighth step e 8 , the computer can count the passengers present on the bus, by subtracting from the number of incoming passengers, estimated from a device placed above the front door, the number of outgoing passengers, estimated from another device placed above the exit door. The computer can also estimate the total weight of the vehicle's payload.

Le calculateur 7 de vision est connecté par une liaison série au calculateur central électronique 12 du véhicule, à qui il communique le nombre de passagers ainsi que l'estimation de la charge totale instantanée du véhicule dans le but d'optimiser les paramètres de freinage et/ou de boíte de vitesses par pilotage des actionneurs 13.The vision computer 7 is connected by a link series to the central electronic control unit 12 of the vehicle, to which it communicates the number of passengers as well as the estimate of the total instantaneous load of the vehicle in order to optimize the parameters of braking and / or gearbox by piloting actuators 13.

Comme le montre le diagramme fonctionnel de la figure 4, la détection d'un passager coincé dans une porte d'accès est réalisée également par le calculateur électronique 7 qui compare, lors d'une étape e9, l'image If issue de la caméra intérieure, ou des caméras intérieure et extérieure quand le dispositif en comporte deux, après la fermeture de la porte avec une image de référence Ir prise juste avant la fermeture. Le procédé détermine ensuite une image qualifiée de "candidate", à l'étape e10. Puis, le calculateur effectue une étape e11 de confirmation de présence d'un "corps chaud" dans certaines de ces images "candidates" par le détecteur de présence infrarouge.As shown in the functional diagram of FIG. 4, the detection of a passenger trapped in an access door is also carried out by the electronic computer 7 which compares, during a step e 9 , the image I f originating from the interior camera, or interior and exterior cameras when the device has two, after closing the door with a reference image I r taken just before closing. The method then determines an image qualified as "candidate", in step e 10 . Then, the computer performs a step e 11 of confirming the presence of a "hot body" in some of these "candidate" images by the infrared presence detector.

Dans un tel cas, le calculateur de vision 7 envoie un signal, au cours d'une étape e12 de déclenchement d'une alerte à un interface, par exemple un voyant lumineux 10 placé dans le champ de vision du conducteur. Il envoie également, lors d'une étape supplémentaire e13, l'image de la porte d'accès après fermeture sur un écran 11 de visualisation placé dans le champ de visualisation du conducteur, sur la planche de bord par exemple. Le conducteur peut ainsi vérifier lui-même la présence d'un obstacle coincé dans la porte. Enfin, il envoie son signal de confirmation au calculateur central 12 du véhicule qui commande alors l'ouverture de la porte où une personne est détectée coincée, en pilotant le moteur de porte 14, lors d'une étape e14. In such a case, the vision computer 7 sends a signal, during a step e 12 of triggering an alert to an interface, for example an indicator light 10 placed in the driver's field of vision. It also sends, during an additional step e 13 , the image of the access door after closing on a display screen 11 placed in the driver's field of vision, on the dashboard for example. The driver can thus verify for himself the presence of an obstacle trapped in the door. Finally, it sends its confirmation signal to the central computer 12 of the vehicle which then controls the opening of the door where a person is detected trapped, by controlling the door motor 14, during a step e 14 .

L'intérêt du système réside en particulier dans l'utilisation multiple des caméras de surveillance passive des zones d'accès du véhicule, notamment pour le comptage, la détection des passagers ou des objets coincés dans les portes, ou bien encore pour la surveillance directe des portes d'entrée et de sortie.The interest of the system lies in particular in multiple use of surveillance cameras passive access areas of the vehicle, especially for counting, detecting passengers or objects stuck in the doors, or even for the direct monitoring of entry and exit doors.

Ce système permettra de réduire le coût d'achat des composants, d'améliorer le procédé de montage et d'accroítre les performances intrinsèques des véhicules de transport en commun grâce à une excellente précision du comptage des passagers.This system will reduce the cost of purchasing components, improve the mounting process and increase the intrinsic performance of vehicles public transport thanks to excellent accuracy passenger counting.

Claims (13)

Système de comptage et de détection de passagers dans un véhicule de transport en commun, comportant au moins un dispositif d'acquisition d'images, des moyens de visualisation de ces images par le conducteur et un calculateur électronique embarqué pilotant notamment des actionneurs de freinage, de boíte de vitesses et de fermeture des portes du véhicule, caractérisé en ce qu'il comporte : un dispositif d'acquisition d'images à partir d'une ou plusieurs caméras (3) numériques, de format miniature implantées dans la structure mécanique du véhicule, au niveau de chaque porte d'accès (2) pour les passagers et dont le champ de vision (5) englobe toute la zone d'accès ; un détecteur de présence (8) associé au dispositif d'acquisition d'images de chaque porte d'accès du véhicule, dont le champ de détection est dirigé vers la frontière entre l'intérieur et l'extérieur du véhicule ; un calculateur électronique (7) embarqué, dit de vision, assurant le traitement des images issues de chaque dispositif d'acquisition, destiné à détecter des régions en mouvement et à les faire correspondre aux personnes physiques détectées. System for counting and detecting passengers in a public transport vehicle, comprising at least one device for acquiring images, means for displaying these images by the driver and an on-board electronic computer controlling in particular braking actuators, gearbox and closing the vehicle doors, characterized in that it comprises: a device for acquiring images from one or more digital cameras (3), in miniature format installed in the mechanical structure of the vehicle, at each access door (2) for passengers and whose field of view vision (5) encompasses the entire access area; a presence detector (8) associated with the image acquisition device of each vehicle access door, the detection field of which is directed towards the border between the interior and exterior of the vehicle; an on-board electronic computer (7), called a vision computer, processing the images from each acquisition device, intended to detect moving regions and to match them to the detected natural persons. Système selon la revendication 1, caractérisé en ce que chaque dispositif d'acquisition d'images, au niveau de chaque porte d'accès du véhicule, comprend deux caméras (3, 30) dont l'une (3) est placée à l'intérieur du véhicule et l'autre (30) est placée à l'extérieur de telle sorte que leurs deux champs de vision (5, 50) soient complémentaires et couvrent toute la zone d'ouverture de la porte.System according to claim 1, characterized in that each image acquisition device, at the level of each vehicle access door, includes two cameras (3, 30) one of which (3) is placed inside of the vehicle and the other (30) is placed outside of so that their two fields of vision (5, 50) are complementary and cover the entire area door opening. Système selon l'une des revendications 1 ou 2, caractérisé en ce que des moyens d'éclairage sont associés au dispositif d'acquisition d'images, destinés à éclairer la scène au niveau de chaque porte d'accès.System according to one of claims 1 or 2, characterized in that lighting means are associated with the image acquisition device, intended to illuminate the scene at each access door. Système selon la revendication 1, caractérisé en ce que le détecteur de présence (8) est de type infrarouge thermique.System according to claim 1, characterized in that the presence detector (8) is of the infrared type thermal. Système selon la revendication 1, caractérisé en ce que le détecteur de présence (8) est de type radiofréquence, radar ou laser.System according to claim 1, characterized in that the presence detector (8) is of the type radio frequency, radar or laser. Système selon la revendication 1, caractérisé en ce que le calculateur électronique (7) de vision comprend un circuit d'entrée-sortie tout ou rien relié à un interface d'alerte au conducteur.System according to claim 1, characterized in that the electronic vision computer (7) comprises an all-or-nothing input-output circuit connected to a driver alert interface. Système selon la revendication 6, caractérisé en ce que l'interface d'alerte est un voyant lumineux (10) placé dans le champ de vision du conducteur du véhicule.System according to claim 6, characterized in that that the alert interface is an indicator light (10) placed in the driver's field of vision of the vehicle. Système selon la revendication 1, caractérisé en ce que le calculateur électronique (7) de vision est relié, par une liaison série, au calculateur central électronique (12) du véhicule auquel il communique le nombre de passagers présents dans le véhicule et l'estimation de la charge totale instantanée pour le pilotage des actionneurs de freinage et de boíte de vitesses. System according to claim 1, characterized in that the electronic vision computer (7) is connected by a serial link to the central computer electronic (12) of the vehicle to which it communicates the number of passengers in the vehicle and the estimate of the total instantaneous load for the piloting of brake and gearbox actuators speeds. Procédé de comptage des passagers mis en oeuvre par un système selon l'une des revendications 1 à 5, caractérisé en ce qu'il comporte les étapes suivantes : e1 : acquisition d'images au niveau de chaque porte d'accès du véhicule ; e2 : segmentation des régions de chaque image ; e3 : détection de segments d'images qualifiés de "candidats" ; e4 : comparaison de chaque segment "candidat" à un critère de taille probable (CT) ; e5 : détermination de segments d'images de "candidats à une présence humaine" ; e6 : confirmation de la présence de "corps chaud" dans certains de ces derniers segments d'images ; e7 : sélection de segments d'images qualifiés de "candidats à une présence humaine aptes au comptage" ; e8 : comptage du nombre de passagers présents dans le véhicule, par soustraction au nombre de passagers entrants du nombre de passagers sortants. Passenger counting method implemented by a system according to one of claims 1 to 5, characterized in that it comprises the following steps: e 1 : acquisition of images at each access door of the vehicle; e 2 : segmentation of the regions of each image; e 3 : detection of image segments qualified as "candidates"; e 4 : comparison of each “candidate” segment with a probable size criterion (C T ); e 5 : determination of image segments of "candidates for human presence"; e 6 : confirmation of the presence of "hot body" in some of these latter image segments; e 7 : selection of image segments qualified as "candidates for human presence suitable for counting"; e 8 : counting the number of passengers present in the vehicle, by subtracting the number of incoming passengers from the number of outgoing passengers. Procédé de détection de passagers coincés dans une porte d'accès d'un véhicule, par un système selon l'une des revendications 1 à 5, caractérisé en ce qu'il comporte les étapes suivantes : e9 : comparaison de l'image (If), acquise au niveau de chaque porte d'accès du véhicule, après la fermeture desdites portes avec une image de référence (Ir) prise juste avant cette fermeture ; e10 : détermination d'images qualifiées de "candidates" ; e11 : confirmation de la présence de "corps chaud" dans ces images "candidates". Method for detecting passengers trapped in an access door of a vehicle, by a system according to one of claims 1 to 5, characterized in that it comprises the following steps: e 9 : comparison of the image (I f ), acquired at each access door of the vehicle, after the closing of said doors with a reference image (I r ) taken just before this closing; e 10 : determination of images qualified as "candidates"; e 11 : confirmation of the presence of "hot body" in these "candidate" images. Procédé de détection selon la revendication 10 par un système selon l'une des revendications 1 à 7, caractérisé en ce qu'il comporte une étape supplémentaire (e12). de déclenchement d'une alerte à un interface, tel qu'un voyant lumineux (10).Detection method according to claim 10 by a system according to one of claims 1 to 7, characterized in that it comprises an additional step (e 12 ). triggering of an alert at an interface, such as an indicator light (10). Procédé de détection selon la revendication 10, caractérisé en ce qu'il comporte une étape supplémentaire (e13) d'envoi de l'image de la porte d'accès après fermeture sur un écran de visualisation (11) placé dans le champ de vision du conducteur.Detection method according to claim 10, characterized in that it comprises an additional step (e 13 ) of sending the image of the access door after closing on a display screen (11) placed in the field of driver's vision. Procédé de détection selon la revendication 10, caractérisé en ce que l'étape d'envoi du signal de confirmation, issu de l'étape (e11), au calculateur central (12) du véhicule, commande alors l'ouverture de la porte en pilotant son moteur (14), lors d'une étape supplémentaire (e14).Detection method according to claim 10, characterized in that the step of sending the confirmation signal, originating from step (e 11 ), to the central computer (12) of the vehicle, then controls the opening of the door by driving its motor (14), during an additional step (e 14 ).
EP00403122A 1999-11-09 2000-11-09 System and method of counting passengers for buses Expired - Lifetime EP1100050B1 (en)

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WO2015057144A1 (en) * 2013-10-16 2015-04-23 Scania Cv Ab Method and system for managing the stopping of a motor vehicle
EP2924663A1 (en) * 2014-03-26 2015-09-30 Airbus Operations GmbH Automatic head count determination on board a means of transport
CN104537733A (en) * 2014-11-21 2015-04-22 王敏 Intelligent control system suitable for intermontane road junction
US10487565B2 (en) 2016-10-03 2019-11-26 Sensotech Inc. Time of flight (TOF) based detecting system for an automatic door
IT201700014880A1 (en) * 2017-02-10 2018-08-10 Iveco France Sas ACCESS MONITORING SYSTEM FOR A ROAD VEHICLE
EP3360730A1 (en) * 2017-02-10 2018-08-15 Iveco France S.A.S. Surveillance system for doors of a vehicle
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EP3473521A1 (en) * 2017-10-20 2019-04-24 MAGNA STEYR Fahrzeugtechnik AG & Co KG Passenger transport vehicle
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RU2785198C1 (en) * 2022-05-18 2022-12-05 Акционерное общество "Штрих-М" Stereovision-based passenger counter
RU2789708C1 (en) * 2022-05-18 2023-02-07 Акционерное общество "Штрих-М" Passenger counter

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FR2800895A1 (en) 2001-05-11

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