EP1610279A1 - Method and system for the surveillance of moving vehicles - Google Patents

Method and system for the surveillance of moving vehicles 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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EP05291339A
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German (de)
French (fr)
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EP1610279B1 (en
Inventor
Richard Leger
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Idemia Identity and Security France SAS
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Sagem SA
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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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The method involves comparing calculated speed of each of multiple vehicles (9, 11, 12) with an allowed speed (V max). An image representative of a viewing angle of a Doppler effect dual frequency radar (2) is captured and stored when the vehicles exceed the speed (V max). A number (N) of vehicles situated in the angle is determined from reflection signals received by the radar, when the vehicle exceeds the speed to process image. An independent claim is also included for a system to monitor vehicles moving along trajectories.

Description

La présente invention concerne le domaine de la surveillance de véhicules en déplacement sur des voies de circulation.The present invention relates to the field of monitoring vehicles traveling on lanes.

Cette surveillance comprend généralement, d'une part, la mesure de la vitesse des véhicules à l'aide de dispositifs tels qu'un radar, un laser ou encore une paire de détecteurs pneumatiques situés dans la chaussée. D'autre part, elle comprend, en cas de la mise en évidence d'une infraction relative au dépassement d'une vitesse maximum autorisée, le déclenchement d'un appareil photographique pour procurer au moins une image du véhicule en infraction. L'image ou les images ainsi obtenues fournissent une représentation de la plaque d'immatriculation et éventuellement une représentation du visage du conducteur. Elles sont utilisées ensuite pour l'identification du véhicule et du conducteur, ainsi que pour l'établissement du constat d'infraction.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.

Le radar est en général disposé au bord de la route ou en hauteur, de telle sorte que l'angle entre la trajectoire des véhicules et l'axe de visée du radar soit de l'ordre de 20 à 25 degrés. Il mesure la projection sur son axe de visée de la vitesse du véhicule présent dans son champ de visée.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.

Des radars sont apparus, permettant de mesurer non seulement la vitesse, mais également la distance au radar d'un véhicule situé dans le faisceau. Ces radars permettent ainsi lorsqu'il y a plusieurs véhicules simultanément dans le faisceau et qu'un véhicule a commis un excès de vitesse, de déterminer lequel de ces véhicules est concerné par l'excès de vitesse.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.

Le document US 6 266 627 décrit une technique permettant de déterminer à la fois la vitesse et la position d'un véhicule à l'aide d'un radar monofréquence à effet Doppler pulsé, c'est-à-dire émettant des signaux par impulsions. Connaissant la vitesse de propagation de l'onde, on déduit du temps écoulé entre le signal émis et le signal réfléchi la distance à la cible.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.

Le document EP 0 933 648 décrit un système de mesure de trafic utilisant un radar bifréquence à effet Doppler. Un tel type de radar émet successivement des signaux à deux fréquences adjacentes. Par analyse du décalage de fréquence entre un signal émis par le radar et un signal reçu par le même radar et provenant d'une réflexion sur un véhicule du signal émis, on détermine la fréquence Doppler et donc la vitesse. La distance est déduite du décalage de phase entre les signaux réfléchis suite aux émissions successives aux fréquences alternées.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.

Généralement le traitement qui est réalisé par la suite sur des données d'infraction, qui comprennent les images capturées, les vitesses et les distances calculées et qui sont utilisées pour l'établissement du constat officiel d'infraction, diffère selon qu'un véhicule ou que plusieurs véhicules apparaissent sur l'image. Par exemple, certaines législations n'autorisent pas l'utilisation, dans un constat d'infraction officiel, d'une photo représentant plusieurs véhicules. Or le constat de la présence de plus d'un véhicule sur la photo est en général effectué tardivement. En effet, il a lieu souvent après qu'un agent officiel a reçu en bloc l'ensemble des données et qu'il a effectué une revue des photos fournies.Generally the treatment that is carried out subsequently on data offense, which include captured images, speeds and calculated distances and which are used for the establishment of the official statement offense, differs according to whether a vehicle or several vehicles appear on the image. For example, some legislations do not allow the use, in an official statement of offense, of a photograph representing several vehicles. However, 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.

La présente invention vise à proposer un procédé et un système permettant de tirer avantageusement parti des informations délivrées par un radar permettant la mesure de la vitesse et la distance d'un véhicule situé dans le champ de visée, pour optimiser le traitement des données d'infraction.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.

A cet effet, suivant un premier aspect, l'invention prévoit un procédé de surveillance de véhicules en déplacement le long de voies. La vitesse est mesurée par un radar à partir de signaux de réflexion reçus, pour des véhicules situés dans le champ de visée du radar. Le procédé comprend les étapes suivantes :

  • on calcule la vitesse des véhicules situés dans le champ de visée ;
  • on compare la vitesse calculée d'un véhicule à une vitesse autorisée ;
Le procédé comprend en outre les étapes suivantes en cas de dépassement de vitesse autorisée par un des véhicules :
  • on capture et on stocke une image représentative du champ de visée du radar, pour identifier le véhicule ;
  • à partir des signaux de réflexion reçus par le radar, on détermine un nombre de véhicules situés dans le champ de visée lors de la capture de l'image ;
  • et on traite l'image capturée et la vitesse pour le véhicule en dépassement, en fonction du nombre de véhicules déterminé.
For this purpose, according to a first aspect, the invention provides a method for monitoring vehicles moving along tracks. Velocity is measured by radar from received reflection signals for vehicles in the radar field of view. The method comprises the following steps:
  • the speed of vehicles in the field of view is calculated;
  • comparing the calculated speed of a vehicle with an authorized speed;
The method further comprises the following steps in case of exceeding the speed allowed by one of the vehicles:
  • capturing and storing an image representative of the field of view of the radar, to identify the vehicle;
  • from the reflection signals received by the radar, a number of vehicles located in the field of view are determined during the capture of the image;
  • and processing the captured image and the speed for the overtaking vehicle, according to the determined number of vehicles.

Le procédé selon l'invention permet d'adapter le traitement des données d'infraction dès la génération de ces données, et ce à partir des informations dont on dispose à ce stade. L'exploitation du nombre de véhicules peut être immédiate pour réaliser le traitement adapté. Il n'est pas nécessaire d'attendre l'intervention d'un opérateur pour ce faire.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.

Suivant un second objet, l'invention propose un système de surveillance de véhicules en déplacement le long de voies, qui comporte des moyens pour mettre en oeuvre un procédé selon le premier aspect de l'invention. Un tel système comporte ainsi un radar mesurant la vitesse à partir de signaux de réflexions reçus de chacun des véhicules situés dans le champ de visée du radar. Il comporte en outre des moyens de détermination d'infraction pour identifier un dépassement de vitesse autorisée par un des véhicules, des moyens de capture d'images pour capturer une image représentative du champ de visée et des moyens de stockage pour stocker ladite image, des moyens de détermination d'un nombre de véhicules pour déterminer le nombre de véhicules situés dans le champ de visée lors de la capture d'image, et des moyens de traitement pour traiter l'image capturée pour chaque véhicule en dépassement, ainsi que la vitesse mesurée associée, en fonction du nombre de véhicules déterminé.According to a second object, 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. Such 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.

D'autres particularités et avantages de la présente invention apparaítront dans la description ci-après d'exemples de réalisation non limitatifs, en référence aux dessins annexés, dans lesquels :

  • la figure unique représente un mode de réalisation de l'invention.
Other features and advantages of the present invention will appear in the following description of nonlimiting exemplary embodiments, with reference to the appended drawings, in which:
  • the single figure shows an embodiment of the invention.

Sur la figure unique est représenté un système 1 selon l'invention installé sur le bord d'une route comportant trois voies V1, V2, V3. Il comporte un radar 2 bifréquences à effet Doppler dont la technologie est connue. Le radar 2 est par exemple similaire à celui décrit dans le document EP 0 933 648. Le radar 2 est associé à un champ de visée s'étendant autour de l'axe de visée U du radar 2, de largeur d'environ 5 degrés, qui correspond à un faisceau d'ondes émises par une antenne d'émission et de réception 3. L'axe de visée U fait un angle de 20 à 25 degrés avec la direction des voies V1, V2 et V3. In the single figure is shown a system 1 according to the invention 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.

Le radar 2 comporte des moyens pour commuter régulièrement la fréquence du signal émis par l'antenne 3, entre une valeur f1 et une valeur f2. Dans un mode de réalisation, on prend par exemple f1 = f0 + ΔF/2 et f2 = f0 - ΔF/2, avec f0 = 24,125 GigaHertz (GHz) et ΔF = 800 kiloHertz (kHz). Le signal de fréquence f1, respectivement f2 est émis pendant une durée d'une microseconde (1 µs) avant d'être commuté sur le signal de fréquence f2, respectivement f1. L'émission successive d'un signal à f1 et d'un signal à f2 constitue un cycle d'émission.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. In one embodiment, for example, f1 = f0 + ΔF / 2 and f2 = f0 - ΔF / 2, with f0 = 24.125 GigaHertz (GHz) and ΔF = 800 kiloHertz (kHz). The signal of frequency f1, respectively f2 is transmitted for a period of one microsecond (1 μs) 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.

Chaque véhicule traversant le champ de visée lors de son cheminement sur les voies donne respectivement naissance à des signaux réfléchis captés par l'antenne 3.Each vehicle crossing the field of view during its pathways give rise to signals reflected by the antenna 3.

Le radar 2 comporte entre autres des moyens 4 de traitement du signal opérant sur les signaux émis par l'antenne 3 et sur les signaux reçus par l'antenne et provenant de la réflexion sur les véhicules traversant le champ de visée du radar 2, des signaux émis. Ces moyens 4 de traitement du signal permettent de déterminer la vitesse de ces véhicules et la distance les séparant respectivement du radar 2.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.

Le système 1 comporte en outre un module 5 de détermination du dépassement d'une valeur maximum de vitesse autorisée Vmax. La vitesse Vmax est définie lors d'une opération de configuration préalable du module 5.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.

Le système 1 comprend également un appareil de prises de vues 6 dont le champ de prise de vue est représentatif du champ de visée du radar 2. Le champ de prise de vue permet la lecture des plaques d'immatriculation et/ou l'identification du visage du conducteur des véhicules présents dans le champ de visée au moment de la prise de vue. Dans le mode de réalisation, l'appareil de prise de vues 6 est un appareil numérique. Il est doté d'un flash permettant l'illumination de la scène lors de la prise de vues.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. In the embodiment, the apparatus Shooting 6 is a digital camera. It has a flash allowing the illumination of the scene when shooting.

Le système 1 comporte par ailleurs des moyens de stockage de données 7. Ces moyens de stockage 7 peuvent stocker par exemple les données correspondant aux signaux reçus ou émis par l'antenne 3, les données d'images capturées par l'appareil photo 6, ou encore les vitesses et distances calculées.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.

Le système comprend un module 8 de détermination du nombre de véhicules présents dans le champ de visé à un moment désigné, ainsi que des moyens de constitution des données d'infraction 10 pour l'établissement ultérieur des constats d'infraction.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.

Le calcul de la vitesse d'un véhicule est réalisé en déterminant de façon connue la fréquence Doppler générée par chaque véhicule présent dans le champ de visée.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.

Dans le mode de réalisation considéré, les signaux reçus et des signaux correspondant en fréquence et phase aux signaux émis, sont combinés dans les moyens de traitement du signal 4, pour fournir un signal dont la fréquence est égale au décalage entre la fréquence du signal réfléchi et celle du signal émis. Cette fréquence Doppler fD est représentative de la vitesse du véhicule à l'origine des réflexions. En effet elle est égale à 2*Vu/λ, où Vu est la projection du vecteur vitesse du véhicule sur l'axe de visée U et λ est la longueur d'onde du signal émis. On en déduit Vu, puis la vitesse V du véhicule égale à Vu/cosα.In the embodiment considered, 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 / λ, where Vu is the projection of the vehicle speed vector on the line of sight U and λ is the wavelength of the transmitted signal. We deduce Vu, then the velocity V of the vehicle equal to Vu / cosα.

Le traitement numérique comporte de façon classique une transformation fréquentielle des signaux par Transformée de Fourier Rapide (FFT). Chaque véhicule se trouvant dans le champ de visée à un moment donné donne donc lieu à une raie apparaissant dans le domaine spatial, à la fréquence Doppler fD représentative de la vitesse de ce véhicule.The digital processing conventionally comprises a frequency transformation of the signals by Fast Fourier Transform (FFT). Each vehicle located in the field of view at a given moment therefore gives rise to a line appearing in the spatial domain, at the Doppler frequency f D representative of the speed of this vehicle.

Les moyens de traitement du signal 4 sont adaptés pour traiter les signaux réfléchis par un véhicule, de manière à en extraire, en plus de la vitesse, la valeur de distance associée. Celle-ci est calculée à partir des différences de phase entre des signaux réfléchis et les signaux émis alternativement à f1 et f2.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.

Ainsi la distance est liée à ces différences de phase par l'équation suivante : 2 - 1= 2*d* λ1 - λ2 / λ1 * λ2 *2π, où d est la distance entre le radar et le véhicule, λ1 et λ2 sont les longueurs d'onde correspondant respectivement aux signaux de fréquence f1 et f2, et où Φ1, respectivement Φ2 sont les différences de phase entre les signaux transmis et reçus à la fréquence f1, respectivement f2.Thus the distance is related to these phase differences by the following equation:  2 -  1 = 2 * d * λ1 - λ2 / λ1 * λ2 * 2π, where d is the distance between the radar and the vehicle, λ1 and λ2 are the wavelengths respectively corresponding to the signals of frequency f1 and f2, and where Φ 1 , respectively Φ 2 are the phase differences between the signals transmitted and received at the frequency f1, respectively f2.

Dans le module de détermination du dépassement 5, on compare la vitesse calculée V pour chaque véhicule avec Vmax.In the overflow determination module 5, the calculated speed V for each vehicle with Vmax.

Par exemple, en référence à la figure unique, on mesure la vitesse et la distance pour les véhicules 9, 11 et 12 cheminant respectivement sur les voies V1, V2 et V3 et traversant le champ de visée.For example, with reference to the single figure, 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.

En cas de dépassement de vitesse constaté, par exemple pour le véhicule 9, on déclenche immédiatement la prise d'une photo du champ de visée par l'appareil photo 6 et on stocke dans les moyens de stockage 7 un fichier comportant la photo numérique prise, la vitesse V9 et la distance d9 calculées pour le véhicule 9.In case of overtaking, for example for the vehicle 9, a photo of the referred to by the camera 6 and stored in the storage means 7 a file with taken digital photo, V9 speed and distance d9 calculated for the vehicle 9.

Selon l'invention, lors de la constatation d'un dépassement de vitesse autorisée, on déclenche également, simultanément au déclenchement de la prise de vue, le calcul, par le module 8, du nombre de véhicules alors présents dans le champ de visée du radar 2.According to the invention, 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.

Ce calcul est effectué à partir des signaux reçus par l'antenne 3 du radar et provenant de la réflexion sur les véhicules traversant le champ de visée, à partir des signaux émis par l'antenne et des données résultant du traitement de ces signaux par les moyens de traitement 4 du 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.

Des calculs plus ou moins complexes peuvent être effectués en fonction de la précision souhaitée pour le résultat.More or less complex calculations can be made in depending on the desired accuracy for the result.

Dans un mode de réalisation, on peut par exemple, si le calcul de la vitesse V9 a été déterminé à partir de signaux réfléchis suite à l'émission à un instant T d'un cycle (f1,f2), analyser les signaux reçus par l'antenne 3 qui proviennent de l'ensemble des réflexions suite à l'émission à l'instant T de ce cycle (f1, f2). On obtient une image spectrale qui comprend des raies respectives aux fréquences Doppler déterminées pour chacun des véhicules ayant réfléchi ce cycle de signaux émis. Du nombre de raies, on déduit une estimation du nombre de véhicules présents à l'instant T dans le champ de visée. Le nombre de véhicule est alors pris égal au nombre de raies.In one embodiment, for example, if the calculation of the V9 speed was determined from signals reflected from the emission at a instant T of a cycle (f1, f2), analyze the signals received by the antenna 3 which come from all the reflections following the emission at the instant T of this 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.

Dans un autre mode de réalisation, on peut déterminer une image spectrale à partir de signaux d'un cycle (f1, f2) reçu par l'antenne 3, lesdits signaux du cycle (f1,f2) étant ceux réfléchis par le véhicule en infraction au moment de la photo.In another embodiment, 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.

Dans un autre mode de réalisation on peut reconstruire une image spectrale du champ de visée tel qu'apparaissant à l'instant de prise de la photo, en prenant en compte, pour la constitution de cette représentation spectrale, les signaux reçus par l'antenne 3 et provenant de la réflexion de signaux pendant un nombre déterminé de cycles (f1, f2) précédant l'instant de prise de photo.In another embodiment, 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.

Une fois le nombre N de véhicules figurant sur la photo au moment de la prise de vue ainsi estimé à partir des signaux reçus par le radar, on traite le fichier stocké en mémoire 7 et constitué de l'image, de la distance et de la vitesse mesurées pour le véhicule en infraction dans les moyens de constitution des données d'infraction 10.Once the number N of vehicles appearing on the photo at the time of the shooting thus estimated from the signals received by the radar, we treat the stored in memory 7 and consisting of the image, the distance and the speed measured for the infringing vehicle in the means of compilation of infringement data 10.

Si N=1, on y constitue un fichier pour l'établissement un contrat d'infraction à l'aide des données d'image et de vitesse.If N = 1, a file is created for the establishment of a contract offense using image and speed data.

Si N est strictement supérieur à 1, on peut, dans le cas d'une utilisation dans un pays où la législation interdit l'envoi au propriétaire d'un véhicule d'un constat d'infraction comportant une image où son véhicule n'est pas le seul véhicule représenté, procéder à l'arrêt du traitement, par exemple en détruisant le fichier de données correspondant.If 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.

Dans un autre mode de réalisation, on a relevé préalablement une cartographie des voies permettant de déduire d'une distance mesurée entre un véhicule dans le champ de visée et le radar, une voie correspondante. On a également établi préalablement la correspondance entre chaque voie, et la zone où cette voie est représentée sur les photos.In another embodiment, 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. We have previously established the correspondence between each channel, and the area where this path is represented in the photos.

Ainsi, lors de la constitution de données d'infraction pour un véhicule en infraction par les moyens 10, on détermine à partir de la distance d au radar calculée par les moyens de traitement du signal 4, pour le véhicule en infraction considéré, la voie sur laquelle il se trouve.Thus, when constituting offense data for a vehicle in violation by the means 10, it is determined from the distance d to the radar calculated by the signal processing means 4, for the vehicle in offense, the route on which it is located.

On effectue alors un traitement pour mettre en évidence sur l'image le véhicule concerné par l'infraction par rapport aux autres véhicules. On pourra par exemple effectuer un traitement automatique entourant la représentation de la voie concerné par une couleur rouge et entourant ainsi le véhicule en infraction. Dans un autre mode de réalisation, on pourra griser légèrement les zones correspondant aux représentations des voies autres que celle sur laquelle le véhicule se trouve. We then perform a treatment to highlight on the image the vehicle concerned by the infringement compared to other vehicles. We will be able to for example perform an automatic processing surrounding the representation of the path concerned by a red color and thus surrounding the vehicle in offense. In another embodiment, it will be possible to slightly gray areas corresponding to representations of tracks other than that on which the vehicle is.

Puis on constitue un fichier pour l'établissement du constat d'infraction officiel comportant l'image ainsi traitée et la vitesse du véhicule constaté en infraction.Then we create a file for the establishment of the statement of offense the image thus treated and the speed of the vehicle found in offense.

L'ensemble des fichiers pour l'établissement du constat d'infraction officiel pourront être régulièrement transmis à un centre officiel d'établissement de constats d'infraction, par exemple par l'intermédiaire de liaisons de télécommunication établies entre le système 1 et le centre. L'identification du véhicule sera effectuée dans ce centre.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.

Le passage d'un véhicule dans le champ de visée du radar 2 donne lieu par exemple à environ 50 analyses. Chaque analyse correspond à une fréquence Doppler particulière. Le résultat de chaque analyse comporte la vitesse du véhicule, la distance entre le radar et le véhicule et éventuellement des informations supplémentaires telles que l'intensité du signal reçu, un indicateur de la qualité de l'analyse, la durée de l'analyse etc.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.

Dans un mode de réalisation particulier de l'invention, le module 5 de détermination du dépassement ne déclenche la photo par les moyens de prise de vue 6 et le calcul du nombre de véhicules par le module 8 qu'au bout d'un nombre fixé d'analyses ayant déterminé une vitesse supérieure à la vitesse maximum.In a particular embodiment of the invention, 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.

Ainsi un procédé et un système selon l'invention permettent des opérations automatiques de surveillance et d'établissement de pièces de constat d'infraction adaptées au nombre de véhicules se trouvant a priori sur l'image capturée. Comme ce nombre peut être déterminé dès la prise d'images, on optimise les traitements, par exemple en effaçant les données comprenant l'image, la vitesse, etc pour des cas pour lesquels les constats d'infraction ne peuvent pas être établis lorsque plusieurs véhicules figurent sur l'image, du fait de la législation ou de la jurisprudence. Ainsi on diminue le nombre des données inutiles stockées, puis transmises sur les liaisons de communication.Thus, 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.

Claims (9)

Procédé de surveillance de véhicules (9, 11, 12) en déplacement le long de voies (V1, V2, V3), la vitesse étant mesurée par un radar (2) à partir de signaux de réflexion reçus, pour des véhicules situés dans un champ de visée dudit radar, ledit procédé comprenant les étapes suivantes : on détermine la vitesse respective des véhicules dans le champ de visée ; on compare la vitesse calculée de chaque véhicule à une vitesse autorisée (Vmax) ; et ledit procédé comprenant les étapes suivantes en cas de dépassement de vitesse autorisée par un desdits véhicules : on capture et on stocke une image représentative du champ de visée du radar pour identifier le véhicule ; à partir des signaux de réflexion reçus par le radar, on détermine un nombre (N) de véhicules situés dans le champ de visée lors de la capture de l'image ; et on traite l'image capturée en fonction dudit nombre de véhicules déterminé. A method of monitoring vehicles (9, 11, 12) traveling along tracks (V1, V2, V3), the speed being measured by a radar (2) from received reflection signals, for vehicles located in a field of view of said radar, said method comprising the following steps: the respective speed of the vehicles in the field of view is determined; comparing the calculated speed of each vehicle with an authorized speed (Vmax); and said method comprising the following steps in the event of an overspeed allowed by one of said vehicles: capturing and storing a representative image of the radar field of view to identify the vehicle; from the reflection signals received by the radar, determining a number (N) of vehicles located in the field of view during the capture of the image; and processing the captured image according to said determined number of vehicles. Procédé selon la revendication 1, selon lequel si ledit nombre est strictement supérieur à 1, on supprime au moins l'image capturée.The method of claim 1, wherein if said number is strictly greater than 1, at least the captured image is deleted. Procédé selon la revendication 1, selon lequel on calcule, pour les véhicules dans le champ de visée du radar, la distance les séparant respectivement du radar et si ledit nombre est supérieur à 1, on établit des éléments d'un constat d'infraction en mettant en oeuvre les étapes suivantes : on détermine sur l'image capturée pour le véhicule en dépassement de vitesse, à l'aide de la distance calculée pour le véhicule, la localisation de la représentation du véhicule concerné par le dépassement de vitesse ; on effectue un traitement pour mettre en évidence sur l'image, la représentation du véhicule concerné par rapport à la représentation des autres véhicules apparaissant sur l'image; et on associe à l'image ainsi traitée au moins la vitesse relevée pour le véhicule, pour établir un élément de constat d'infraction. Method according to claim 1, in which the distance separating them from the radar is calculated for the vehicles in the field of view of the radar and if said number is greater than 1, elements of a statement of offense are drawn up. implementing the following steps: the location of the representation of the vehicle concerned by the exceeding speed is determined on the image captured for the vehicle exceeding the speed, using the distance calculated for the vehicle; processing is performed to highlight on the image, the representation of the vehicle concerned in relation to the representation of the other vehicles appearing in the image; and associates with the image thus treated at least the speed recorded for the vehicle, to establish an element of statement of offense. Procédé selon l'une quelconque des revendications précédentes, selon lequel on effectue la mesure des vitesses et des distances à des instants de mesure déterminés et on considère qu'un véhicule est en dépassement de vitesse autorisée à un instant de mesure, lorsque les vitesses mesurées lors des derniers instants de mesure et attribuables à ce véhicule sont supérieures à une valeur de vitesse maximum.Method according to any one of the preceding claims, according to which we measure velocities and distances at times determined and it is considered that a vehicle is in excess of speed allowed at a time of measurement, when the speeds measured during last moments of measurement and attributable to this vehicle are superior at a maximum speed value. Système (1) de surveillance de véhicules en déplacement le long de voies (V1, V2, V3), comportant : un radar (2) mesurant, à partir de signaux de réflexions reçus, la vitesse de véhicules situés dans un champ de visée dudit radar ; des moyens (5) de détermination d'infraction pour comparer la vitesse calculée pour chaque véhicule à une vitesse maximum autorisée (Vmax) et déterminer un dépassement de vitesse autorisée ; des moyens (6) de capture d'images pour, en cas de dépassement de vitesse autorisée par un desdits véhicules, capturer une image représentative du champ de visée pour identifier le véhicule et des moyens de stockage (7) pour stocker ladite image ; des moyens (8) de détermination d'un nombre de véhicules pour déterminer, à partir des signaux de réflexions reçus par le radar, le nombre de véhicules (N) situés dans le champ de visée lors de la capture de l'image ; et des moyens (10) de traitement pour traiter l'image capturée et la vitesse mesurée pour chaque véhicule en dépassement, en fonction dudit nombre de véhicules déterminé. System (1) for monitoring vehicles traveling along tracks (V1, V2, V3), comprising: a radar (2) measuring, from received reflection signals, the speed of vehicles located in a field of view of said radar; an offense determination means (5) for comparing the calculated speed for each vehicle with a maximum allowed speed (Vmax) and determining an authorized overspeed; image-capturing means (6) for, in the event of an overspeed allowed by one of said vehicles, capturing an image representative of the field of view for identifying the vehicle and storage means (7) for storing said image; means (8) for determining a number of vehicles for determining, from the reflection signals received by the radar, the number of vehicles (N) located in the field of view during the capture of the image; and processing means (10) for processing the captured image and the measured speed for each overtaking vehicle, based on said determined number of vehicles. Système (1) selon la revendication 5, dans lequel si ledit nombre (N) de véhicules situés dans le champ de visée lors de la capture de l'image est strictement supérieur à 1, les moyens (10) de traitement de l'image et de la vitesse procèdent à un arrêt du traitement des données relatives au véhicule en dépassement.System (1) according to claim 5, wherein if said number (N) vehicles in the field of view when capturing the image is strictly greater than 1, the means (10) for processing the image and the speed stop the processing of vehicle data in excess. Système (1) selon la revendication 5, comportant en outre : des moyens (4) de calcul de distance pour calculer la distance séparant le radar (2) de chaque véhicule situé dans le champ de visée ; des moyens (10) de localisation pour, lorsque ledit nombre est supérieur à 1, déterminer sur l'image capturée pour un véhicule, à l'aide de la distance calculée pour ledit véhicule, la localisation de la représentation dudit véhicule ; des moyens (10) de mise en évidence pour effectuer un traitement pour mettre en évidence sur l'image par rapport aux autres véhicules représentés sur l'image, le véhicule concerné et associer à l'image ainsi traitée à la vitesse relevée pour le véhicule, afin d'établir un élément de constat d'infraction. System (1) according to claim 5, further comprising: distance calculating means (4) for calculating the distance separating the radar (2) from each vehicle located in the field of view; location means (10) for, when said number is greater than 1, determining on the captured image for a vehicle, using the distance calculated for said vehicle, locating the representation of said vehicle; highlighting means (10) for performing a processing to highlight on the image with respect to the other vehicles shown in the image, the vehicle concerned and associating with the image thus processed at the speed read for the vehicle , in order to establish an element of a statement of offense. Système (1) selon l'une quelconque des revendications 5 à 7 précédentes, dans lequel le radar (2) effectue les mesures de vitesse et de distance des véhicules dans le champ de visée à des instants de mesure déterminés et dans lequel les moyens (5) de détermination d'infraction considèrent qu'un véhicule est en dépassement de vitesse autorisée à un instant de mesure, lorsque les vitesses mesurées lors des derniers instants de mesure et attribuables à ce véhicule sont supérieures à une valeur de vitesse maximum.System (1) according to one of Claims 5 to 7 in which the radar (2) carries out the measurements of speed and distance of vehicles in the field of view at times of measurement determined and in which the means (5) for the determination of consider that a vehicle is over speeding authorized to a moment of measurement, when the speeds measured during the last moments of measured and attributable to this vehicle are greater than a speed value maximum. Système (1) selon l'une quelconque des revendications 5 à 8, dans lequel le radar est un radar Doppler bi-fréquences.System (1) according to one of Claims 5 to 8, wherein the radar is a dual frequency Doppler radar.
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DE102010056405A1 (en) 2010-12-23 2012-06-28 Jenoptik Robot Gmbh A method of creating an image document in which a vehicle appropriate to a radar apparatus can be identified and an image document created by this method
WO2012089206A1 (en) 2010-12-23 2012-07-05 Jenoptik Robot Gmbh Method for generating an image document in which a vehicle measured by a radar device can be identified and image document generated with this method
FR3027405A1 (en) * 2014-10-20 2016-04-22 Morpho DETERMINING THE DIRECTION OF MOVEMENT OF A VEHICLE
EP3012657A1 (en) * 2014-10-20 2016-04-27 Morpho Determining the direction of travel of a vehicle
CN108205902A (en) * 2016-12-16 2018-06-26 北京迪科达科技有限公司 A kind of vehicle-speed monitoring and alarm system
CN109946483A (en) * 2019-04-15 2019-06-28 北京市计量检测科学研究院 Test the speed standard set-up for a kind of scene

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ATE420421T1 (en) 2009-01-15
FR2872330A1 (en) 2005-12-30
FR2872330B1 (en) 2006-10-06
EP1610279B1 (en) 2009-01-07

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