EP1610279A1 - Verfahren und System für die Überwachung von Fahrzeuge in Bewegung - Google Patents

Verfahren und System für die Überwachung von Fahrzeuge in Bewegung Download PDF

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Publication number
EP1610279A1
EP1610279A1 EP05291339A EP05291339A EP1610279A1 EP 1610279 A1 EP1610279 A1 EP 1610279A1 EP 05291339 A EP05291339 A EP 05291339A EP 05291339 A EP05291339 A EP 05291339A EP 1610279 A1 EP1610279 A1 EP 1610279A1
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EP
European Patent Office
Prior art keywords
vehicle
vehicles
speed
image
radar
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Application number
EP05291339A
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English (en)
French (fr)
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EP1610279B1 (de
Inventor
Richard Leger
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Idemia Identity and Security France SAS
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Sagem SA
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Publication of EP1610279B1 publication Critical patent/EP1610279B1/de
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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
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed

Definitions

  • the present invention relates to the field of monitoring vehicles traveling on lanes.
  • This monitoring usually includes, on the one hand, the measurement of speed of vehicles using devices such as radar, laser or a pair of pneumatic detectors located in the roadway. On the other hand, it includes, in the event of the detection of an offense relating to the exceeding a maximum permitted speed, triggering a photographic apparatus for providing at least one image of the vehicle in offense.
  • the image or images thus obtained provide a representation of the license plate and possibly a representation of the face of the driver. They are then used for the identification of the vehicle and the driver, as well as for the establishment of the statement of offense.
  • Radar is usually located at the edge of the road or high, from such that the angle between the trajectory of the vehicles and the line of sight of the radar is of the order of 20 to 25 degrees. It measures the projection on its axis of aiming the speed of the vehicle present in its field of view.
  • Radars appeared, making it possible to measure not only the speed, but also the distance to the radar of a vehicle located in the beam. These radars thus allow when there are several vehicles simultaneously in the beam and that a vehicle has committed an excess of speed, to determine which of these vehicles is affected by the excess of speed.
  • US 6,266,627 discloses a technique for determine both the speed and position of a vehicle using a radar pulsed Doppler monofrequency, that is to say, emitting signals by pulses. Knowing the speed of propagation of the wave, we deduce from time elapsed between the transmitted signal and the signal reflected the distance to the target.
  • EP 0 933 648 discloses a traffic measurement system using a two-frequency Doppler radar. Such a type of radar emits successively signals with two adjacent frequencies. By analysis of frequency offset between a signal transmitted by the radar and a signal received by the radar and from a reflection on a vehicle of the transmitted signal, one determines the Doppler frequency and therefore the speed. The distance is deducted from phase shift between the signals reflected after successive transmissions at alternating frequencies.
  • the treatment that is carried out subsequently on data offense differs according to whether a vehicle or several vehicles appear on the image.
  • some legislations do not allow the use, in an official statement of offense, of a photograph representing several vehicles.
  • the finding of the presence of more than one vehicle on the photo is usually done late. Indeed, it often takes place after an official agent has received all of the data in bulk and has made a review of the photos provided.
  • the present invention aims at providing a method and a system to take advantage of the information provided by a radar for measuring the speed and distance of a vehicle located in the field of view, to optimize the processing of offense data.
  • the method according to the invention makes it possible to adapt the treatment of infringement data as soon as these data are generated from information available at this stage.
  • the exploitation of the number of vehicles can be immediate to achieve the appropriate treatment. It is not necessary to wait for the intervention of an operator to do this.
  • the invention proposes a system of monitoring of vehicles traveling along lanes, which includes means for implementing a method according to the first aspect of the invention.
  • a system thus comprises a radar measuring the speed from of reflective signals received from each of the vehicles in the field aiming radar. It further comprises means for determining offense to identify a speeding violation authorized by one of the vehicles, image capture means for capturing an image representative of the field of view and storage means for storing said image, means for determining a number of vehicles for determine the number of vehicles in the field of view during the image capture, and processing means for processing the captured image for each passing vehicle, as well as the associated measured speed, according to the number of vehicles determined.
  • a system 1 installed on the edge of a road with three lanes V1, V2, V3. It comprises a two-frequency Doppler radar whose technology is known.
  • the radar 2 is for example similar to that described in EP 0 933 648.
  • the radar 2 is associated with a field of view extending around the line of sight U radar 2, about 5 degrees wide, which corresponds to a beam of waves transmitted by a transmitting and receiving antenna 3.
  • the line of sight U makes an angle of 20 to 25 degrees with the direction of channels V1, V2 and V3.
  • the radar 2 comprises means for regularly switching the frequency of the signal transmitted by the antenna 3, between a value f1 and a value f2.
  • the signal of frequency f1, respectively f2 is transmitted for a period of one microsecond (1 ⁇ s) before being switched to the frequency signal f2, respectively f1.
  • the successive transmission of a signal to f1 and a signal to f2 constitutes an emission cycle.
  • Each vehicle crossing the field of view during its pathways give rise to signals reflected by the antenna 3.
  • the radar 2 comprises among other means 4 signal processing operating on the signals transmitted by the antenna 3 and on the signals received by the antenna and coming from the reflection on vehicles crossing the field of aim of the radar 2, signals emitted. These means 4 of signal processing determine the speed of these vehicles and the distance between them. respectively separating from the radar 2.
  • the system 1 further comprises a module 5 for determining the exceeding a maximum permissible speed value Vmax.
  • Speed Vmax is defined during a preliminary configuration operation of module 5.
  • the system 1 also includes a camera 6 whose field of view is representative of the field of view of the radar 2.
  • the field of view allows the reading of the number plates and / or identification of the driver's face of vehicles in the field at the moment of shooting.
  • the apparatus Shooting 6 is a digital camera. It has a flash allowing the illumination of the scene when shooting.
  • the system 1 also comprises storage means for storing These storage means 7 can store, for example, the data corresponding to the signals received or transmitted by the antenna 3, the image data captured by the camera 6, or the speeds and calculated distances.
  • the system includes a module 8 for determining the number of vehicles in the target area at a designated time, as well as means of constituting infringement data 10 for the establishment subsequent statements of offense.
  • the calculation of the speed of a vehicle is carried out by determining known manner the Doppler frequency generated by each vehicle present in the field of view.
  • the received signals and signals corresponding in frequency and phase to the transmitted signals are combined in the signal processing means 4, to provide a signal whose frequency is equal to the offset between the frequency of the reflected signal. and that of the transmitted signal.
  • This Doppler frequency f D is representative of the speed of the vehicle at the origin of the reflections. Indeed it is equal to 2 * V u / ⁇ , where Vu is the projection of the vehicle speed vector on the line of sight U and ⁇ is the wavelength of the transmitted signal. We deduce Vu, then the velocity V of the vehicle equal to Vu / cos ⁇ .
  • the digital processing conventionally comprises a frequency transformation of the signals by Fast Fourier Transform (FFT).
  • FFT Fast Fourier Transform
  • the signal processing means 4 are adapted to process the signals reflected by a vehicle so as to extract, in addition to the speed, the associated distance value. This is calculated from the phase differences between reflected signals and transmitted signals alternatively to f1 and f2.
  • ⁇ 2 - ⁇ 1 2 * d * ⁇ 1 - ⁇ 2 / ⁇ 1 * ⁇ 2 * 2 ⁇ , where d is the distance between the radar and the vehicle, ⁇ 1 and ⁇ 2 are the wavelengths respectively corresponding to the signals of frequency f1 and f2, and where ⁇ 1 , respectively ⁇ 2 are the phase differences between the signals transmitted and received at the frequency f1, respectively f2.
  • the speed and distance for vehicles 9, 11 and 12 respectively traveling on the tracks V1, V2 and V3 and crossing the field of view.
  • the module 8 during the observation of an overspeed authorized, it also triggers, simultaneously with the triggering of the shooting, the calculation, by the module 8, the number of vehicles then present in the field of view of the radar 2.
  • This calculation is made from the signals received by the antenna 3 of the radar and from the reflection on vehicles crossing the field of of the signals transmitted by the antenna and the data resulting from the processing of these signals by the processing means 4 of the radar 2.
  • the calculation of the V9 speed was determined from signals reflected from the emission at a instant T of a cycle (f1, f2)
  • a spectral image is obtained which includes lines respective Doppler frequencies for each vehicle having reflected this cycle of emitted signals. From the number of lines, we deduce a estimate of the number of vehicles present at time T in the field of referred. The number of vehicles is then taken equal to the number of rays.
  • an image can be determined spectrum from signals of a cycle (f1, f2) received by the antenna 3, said cycle signals (f1, f2) being those reflected by the vehicle in violation of the moment of the photo.
  • an image can be reconstructed spectral field of view as appearing at the moment of taking the photo, taking into account, for the constitution of this representation spectrum, the signals received by the antenna 3 and originating from the reflection of signals during a given number of cycles (f1, f2) preceding the instant of Photo taking.
  • N 1
  • a file is created for the establishment of a contract offense using image and speed data.
  • N is strictly greater than 1, in the case of use in a country where the law prohibits the sending to the owner of a vehicle of a statement of offense with an image where his vehicle is not the only one represented vehicle, proceed to the cessation of treatment, for example by destroying the corresponding data file.
  • a prior mapping of the pathways to be deduced from a measured distance between a vehicle in the field of view and the radar, a corresponding channel was previously established the correspondence between each channel, and the area where this path is represented in the photos.
  • All the files for establishing the statement of offense may be regularly forwarded to an official establishment center infringement findings, for example through established between the system 1 and the center. The identification of vehicle will be performed in this center.
  • the passage of a vehicle in the field of view of radar 2 gives place for example at about 50 analyzes. Each analysis corresponds to a particular Doppler frequency.
  • the result of each analysis includes the speed of the vehicle, the distance between the radar and the vehicle and possibly additional information such as the strength of the received signal, a indicator of the quality of the analysis, the duration of the analysis etc.
  • the module 5 of Determination of overshoot does not trigger the picture by the shooting means 6 and the calculation of the number of vehicles by module 8 at the end of a number of analyzes that have determined a speed greater than the speed maximum.
  • a method and a system according to the invention allow automatic monitoring and coin infringement report adapted to the number of vehicles located a priori on the captured image. Since this number can be determined as soon as images, we optimize the processing, for example by deleting the data including the image, speed, etc. for cases for which the findings infringement can not be established when several vehicles appear on image, because of legislation or case law. So we reduce the number of useless data stored, then transmitted on the links of communication.
EP05291339A 2004-06-25 2005-06-22 Verfahren und System für die Überwachung von Fahrzeuge in Bewegung Active EP1610279B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0407027A FR2872330B1 (fr) 2004-06-25 2004-06-25 Procede et systeme de surveillance de vehicules en deplacement
FR0407027 2004-06-25

Publications (2)

Publication Number Publication Date
EP1610279A1 true EP1610279A1 (de) 2005-12-28
EP1610279B1 EP1610279B1 (de) 2009-01-07

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EP (1) EP1610279B1 (de)
AT (1) ATE420421T1 (de)
DE (1) DE602005012180D1 (de)
FR (1) FR2872330B1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1990655A1 (de) 2007-05-07 2008-11-12 ROBOT Visual Systems GmbH Verfahren zur beweiskräftigen Erfassung der Geschwindigkeit eines Fahrzeuges
DE102010056405A1 (de) 2010-12-23 2012-06-28 Jenoptik Robot Gmbh Verfahren zur Erstellung eines Bilddokumentes, in dem ein durch ein Radargerät angemessenes Fahrzeug identifiziert werden kann und mit diesem Verfahren erstelltes Bilddokument
EP2535881A1 (de) * 2010-02-08 2012-12-19 Obshchestvo s ogranichennoj otvetstvennost'ju "Korporazija "Stroy Invest Proekt M" Verfahren und vorrichtung zur bestimmung der fahrgeschwindigkeit und koordinaten von fahrzeugen und nachfolgender erkennung derselben sowie automatischer aufzeichnung von strassenverkehrsverstössen
FR3027405A1 (fr) * 2014-10-20 2016-04-22 Morpho Determination du sens de deplacement d'un vehicule
CN108205902A (zh) * 2016-12-16 2018-06-26 北京迪科达科技有限公司 一种车速监测及报警系统

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105160885A (zh) * 2015-07-31 2015-12-16 吉林大学 一种基于对危险品运输车辆识别的汽车安全行驶预警装置
CN110444026B (zh) * 2019-08-06 2021-07-09 北京万集科技股份有限公司 车辆的触发抓拍方法及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2678412A1 (fr) * 1991-06-28 1992-12-31 Laumonier Ateliers R Procede pour surveiller, et le cas echeant, photographier automatiquement des objets en mouvement sur une trajectoire predeterminee, et dispositif pour la mise en óoeuvre de ce procede.
EP0933648A1 (de) 1998-01-22 1999-08-04 CHL Netherlands B.V. Doppler-Radar-Verkehrserfassungssystem
DE19810302A1 (de) * 1998-03-10 1999-09-16 Wienand Hans Theo Geschwindigkeitsmeßgerät
US6266627B1 (en) 1996-04-01 2001-07-24 Tom Gatsonides Method and apparatus for determining the speed and location of a vehicle
GB2389947A (en) * 2002-07-25 2003-12-24 Golden River Traffic Ltd Automatic validation of sensing devices in a road traffic monitoring system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2678412A1 (fr) * 1991-06-28 1992-12-31 Laumonier Ateliers R Procede pour surveiller, et le cas echeant, photographier automatiquement des objets en mouvement sur une trajectoire predeterminee, et dispositif pour la mise en óoeuvre de ce procede.
US6266627B1 (en) 1996-04-01 2001-07-24 Tom Gatsonides Method and apparatus for determining the speed and location of a vehicle
EP0933648A1 (de) 1998-01-22 1999-08-04 CHL Netherlands B.V. Doppler-Radar-Verkehrserfassungssystem
DE19810302A1 (de) * 1998-03-10 1999-09-16 Wienand Hans Theo Geschwindigkeitsmeßgerät
GB2389947A (en) * 2002-07-25 2003-12-24 Golden River Traffic Ltd Automatic validation of sensing devices in a road traffic monitoring system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1990655A1 (de) 2007-05-07 2008-11-12 ROBOT Visual Systems GmbH Verfahren zur beweiskräftigen Erfassung der Geschwindigkeit eines Fahrzeuges
AU2008202015B2 (en) * 2007-05-07 2011-12-08 Jenoptik Robot Gmbh Method of verifiably detecting the speed of a vehicle
US8115670B2 (en) 2007-05-07 2012-02-14 Robot Visual Systems Gmbh Method of verifiably detecting the speed of a vehicle
EP2535881A1 (de) * 2010-02-08 2012-12-19 Obshchestvo s ogranichennoj otvetstvennost'ju "Korporazija "Stroy Invest Proekt M" Verfahren und vorrichtung zur bestimmung der fahrgeschwindigkeit und koordinaten von fahrzeugen und nachfolgender erkennung derselben sowie automatischer aufzeichnung von strassenverkehrsverstössen
EP2535881A4 (de) * 2010-02-08 2014-10-08 Ooo Korporazija Stroy Invest P M Verfahren und vorrichtung zur bestimmung der fahrgeschwindigkeit und koordinaten von fahrzeugen und nachfolgender erkennung derselben sowie automatischer aufzeichnung von strassenverkehrsverstössen
DE102010056405A1 (de) 2010-12-23 2012-06-28 Jenoptik Robot Gmbh Verfahren zur Erstellung eines Bilddokumentes, in dem ein durch ein Radargerät angemessenes Fahrzeug identifiziert werden kann und mit diesem Verfahren erstelltes Bilddokument
WO2012089206A1 (de) 2010-12-23 2012-07-05 Jenoptik Robot Gmbh Verfahren zur erstellung eines bilddokumentes, in dem ein durch ein radargerät angemessenes fahrzeug identifiziert werden kann und mit diesem verfahren erstelltes bilddokument
FR3027405A1 (fr) * 2014-10-20 2016-04-22 Morpho Determination du sens de deplacement d'un vehicule
EP3012657A1 (de) * 2014-10-20 2016-04-27 Morpho Bestimmung der bewegungsrichtung eines fahrzeugs
CN108205902A (zh) * 2016-12-16 2018-06-26 北京迪科达科技有限公司 一种车速监测及报警系统

Also Published As

Publication number Publication date
EP1610279B1 (de) 2009-01-07
FR2872330A1 (fr) 2005-12-30
FR2872330B1 (fr) 2006-10-06
ATE420421T1 (de) 2009-01-15
DE602005012180D1 (de) 2009-02-26

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