EP2503529A1 - Procédé et dispositif destinés à détecter et classifier des véhicules en marche - Google Patents

Procédé et dispositif destinés à détecter et classifier des véhicules en marche Download PDF

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Publication number
EP2503529A1
EP2503529A1 EP12151272A EP12151272A EP2503529A1 EP 2503529 A1 EP2503529 A1 EP 2503529A1 EP 12151272 A EP12151272 A EP 12151272A EP 12151272 A EP12151272 A EP 12151272A EP 2503529 A1 EP2503529 A1 EP 2503529A1
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EP
European Patent Office
Prior art keywords
sensor
vehicle
sensor system
magnetic field
induction loop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12151272A
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German (de)
English (en)
Other versions
EP2503529B1 (fr
Inventor
Volker Isbert
Daniel Arnold
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales Deutschland GmbH
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Thales Defence Deutschland GmbH
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Filing date
Publication date
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Publication of EP2503529A1 publication Critical patent/EP2503529A1/fr
Application granted granted Critical
Publication of EP2503529B1 publication Critical patent/EP2503529B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • 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
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles

Definitions

  • the present invention relates to a method for detecting and classifying a moving vehicle that passes through a measuring range of at least one sensor device.
  • the subject of the invention is a sensor system which comprises at least one sensor device for detecting and classifying a vehicle traveling through a measuring range of the at least one sensor device.
  • the prior art it is known, for example, for the management of parking facilities for motor vehicles in parking lots or resting systems automatically operating sensor systems with only a single sensor type (possibly also several sensor devices of the same type) or for processing only one type of physical measurement use.
  • the sensor devices are usually installed in the area of an entrance and / or exit to the parking lot or rest area.
  • the detection of a vehicle essentially relates to detecting a vehicle
  • the classification of the vehicle essentially relates to the assignment of the detected vehicle to vehicle classes.
  • classifying the vehicle for example, between passenger cars (cars), trucks (trucks), buses, each with and without trailers, as well as motorcycles, etc. can be distinguished.
  • a method and a device for classifying a vehicle traveling on a roadway is, for example, from DE 10 2009 031 319 A1 known.
  • images of the passing vehicle are detected and processed, wherein a height profile of the vehicle is generated from the images. Based on the height profile, the vehicle is classified.
  • a disadvantage of the known methods or devices is that the classification reliability for the addressed applications is often insufficient. This has the consequence that a reliable statement about free parking on a parking or rest area, especially individual for the various types of vehicles, is not possible, or systems based on the customer (the purchaser of the sensor system for installation in parking). or rest areas) and are not accepted by the end user (the driver, especially the truck driver).
  • the present invention is therefore based on the object to provide a way to be able to determine the type or type of moving vehicles with a much higher accuracy and reliability.
  • classification of the vehicle is derived from various measurements of at least two different physical quantities.
  • the present invention is based on the idea to determine a vehicle based on mutually independent measurement signals.
  • the different measurement signals represent different physical quantities that do not affect each other and are detected by different sensors.
  • the different measurement signals are processed together so that the result signal of this
  • Processing has a higher information content than the individual signals of the various sensors. Based on the result signal, the type or type of vehicle can thus be determined much more reliably and accurately than would be possible via the individual signals.
  • Such a way of evaluating the individual signals is also referred to as sensor data fusion.
  • the present invention combines various mutually independent sensor signals representing different physical quantities in the field of vehicle classification.
  • Certain physical quantities are particularly good under certain environmental conditions and / or vehicle conditions and less suitable for vehicle classification under other environmental conditions and / or vehicle conditions.
  • Ambient conditions that can influence, for example, the reliability or accuracy of the classification are, for example, weather conditions, in particular outside temperatures, precipitation on the roadway, etc., or contamination of the sensors.
  • Ambient conditions can also be a traffic situation in the measuring field of the sensors, for example a time interval with which several vehicles drive successively through the measuring field, the position of the vehicle relative to the sensors when passing through the measuring field, etc.
  • Vehicle conditions that influence the Accuracy or reliability of the classification may have, for example, the vehicle speed, the material composition of the vehicle, the material distribution of the vehicle, the weight
  • the various sensors or measured variables are preferably selected such that they complement each other under different environmental conditions and / or vehicle conditions, ie when the one sensor or the one measured variable gives less good results under certain ambient conditions and / or vehicle conditions, at least one of the other sensors provides better results under these environmental conditions and / or vehicle conditions.
  • a reliable and highly accurate classification of moving vehicles can be achieved on the basis of the result of the sensor data fusion regardless of the ambient conditions and / or vehicle conditions.
  • the method according to the invention is therefore based on the idea of making use of the fact that different types of sensor or different physical quantities taken on their own operate more or less well under different environmental conditions or vehicle states and enable a more or less reliable classification of vehicles , For this reason, a plurality of different sensor types, which detect different physical measured variables, are combined with one another in the method or sensor system according to the invention. The different measured variables detected by the individual sensor types are evaluated in correlation with one another in order to increase the reliability of the classification of vehicles.
  • the present invention can be used as part of a traffic and / or parking guidance system.
  • a parking guidance system it is possible to display the number of currently free parking facilities of a parking or rest area before entering the parking or rest area on electrically controllable scoreboards. This can be prevented that vehicles drive unnecessarily the parking or rest area. This can prevent traffic jams and speed up the flow of traffic.
  • the driver looking for parking space saves time and can immediately go to a free parking or rest area. This is particularly advantageous for truck drivers or bus drivers who need to take a break at statutory intervals.
  • the present invention is used.
  • each measurement is performed by at least one separate sensor device.
  • the sensor devices are part of a sensor system. For example, they can be embedded in the roadway, arranged laterally on the roadway and / or above the roadway.
  • the sensor devices have a detection range dependent on the sensor type and on the specific design of the sensor.
  • certain measuring ranges of the sensors result.
  • the measuring ranges of the individual sensors can be arranged separately from one another, or else they overlap completely or partially. Accordingly, the measurement signals of the various sensors can be detected offset in time from one another or simultaneously or quasi-simultaneously.
  • the sensor devices used are, in particular, non-contact sensors. When positioning the various sensor devices of the sensor system, care should be taken that there is no interference or interference between the sensors.
  • one of the Sensor means comprises an induction loop of an induction loop detector.
  • the induction loop forms an inductance of an electrical resonant circuit, so that a frequency of the electrical resonant circuit can be determined during passage of the induction loop through the vehicle.
  • the respectively current values of the frequency are detected at a plurality of successive points in time, so that a characteristic frequency curve results during the passage of the vehicle.
  • the induction loop becomes a coil whose inductance together with a capacitor provided in the induction loop detector forms the electrical oscillation circuit having a fixed resonance frequency.
  • the induction loop detector is an active sensor device. Due to the induction loop, a magnetic field is created during current flow, which also acts in the measuring range above the roadway. If a vehicle penetrates the magnetic field when passing through the measuring range, this also alters, among other things, the inductance of the induction loop, which leads to a resonance frequency change of the induction loop Resonant circuit leads.
  • the resonant frequency of the resonant circuit thus corresponds to a first physical quantity, which is used according to the invention for the classification of a vehicle.
  • the frequency response of the resonant circuit is correspondingly changed characteristically.
  • the frequency response may be affected by the size or dimensions of the vehicle, by the weight or contour of the vehicle, and by the materials or vehicle characteristics used for the vehicle.
  • one second measurement of a second physical variable independent of the first physical variable is performed with a second sensor device.
  • one of the sensor devices comprises a magnetic field sensor.
  • a magnetic field strength is determined during the passage of the magnetic field sensor through the vehicle.
  • the respective current values of the magnetic field strength are detected at a plurality of successive points in time, so that a characteristic magnetic field strength course results during the passage of the vehicle.
  • the magnetic field strength is preferably the earth's magnetic field strength.
  • the second measured physical variable can therefore be formed by the magnetic field strength, in particular the geomagnetic field strength.
  • the magnetic field sensor is a passive sensor device, for example in the form of a Hall sensor.
  • the various sensor devices are connected to a common computer system, for example via a communications network.
  • the individual sensor signals can then be transmitted via the network to the computer system, which can process and evaluate signals of the sensor devices centrally.
  • the communication network and the computer system are also part of the sensor system.
  • the communication network can be wired or wireless, eg. Via radio, be realized.
  • the transmission of the sensor signals to the computer system can take place according to any protocol.
  • the signal transmission takes place via a wireless Ethernet connection.
  • the at least two independent measuring signals of the at least two different physical quantities are merged with each other suitably combined and determined by evaluating the combined result signal, a resulting classification result.
  • the course of the measurement signals of the induction loop detector and the course of the earth's magnetic field strength are brought together. It is of course possible to determine other or additional physical quantities via other or further sensor devices. By additional sensors and the evaluation (correlation) of additional, independent of the other sensor signals sensor signals even greater accuracy and reliability of the classification of moving vehicles can be achieved.
  • the sound emission is analyzed, which is caused by a vehicle passing through the measuring range, and from the sound emission or the emission curve is closed taking into account further, different types of sensor signals on a particular vehicle.
  • harmonics of the sound generated by the moving vehicle can be analyzed by a so-called sound analyzer.
  • one of the sensor devices to comprise a video camera which determines, for example, a contour and / or a height profile of the vehicle traveling through the measuring range, it then being possible to deduce a specific vehicle type from the video signal taking into account further, different types of sensor signals.
  • Each other Sensor device whose sensor signal of different types of vehicle reacts in a characteristic manner, may be part of the sensor system according to the invention and can thus be used in the method according to the invention.
  • the sensor system it is furthermore possible for the sensor system to have means for outputting a classification result and / or means for transmitting the classification result to other electronic devices.
  • a current number of free parking spaces can be determined on a parking or rest area for different types of vehicles.
  • This information can be communicated to a driver of a vehicle prior to starting the parking or rest area by means of a suitable optical or acoustic output device, for example on a display panel.
  • An acoustic indication to the driver is also conceivable, for example. From outside the vehicle or via a provided in the vehicle radio or radio.
  • the information relating to the current number of free parking spaces for the various types of vehicles can be transmitted to a traffic control center and transmitted from there to radios and / or navigation devices. This will alert the driver to the current number of available parking spaces at a particular parking or rest area.
  • a navigation system could even be automatic or calculate a new route on the driver's command to drive to an alternate parking or rest area.
  • a direct wireless connection eg by means of BlueTooth
  • any other electronic receivers for example, to a smartphone
  • FIG. 1 12 shows a motor vehicle (car), a truck (truck), a bus, a delivery truck, a mobile home, an engine or any other vehicle with and without trailers and possibly be with any structure.
  • the roadway 14 preferably represents an entrance or an exit to a parking area of a parking or rest area 45 on a highway or expressway with a certain number of marked parking areas provided there whose occupancy state is to be detected or monitored (cf. FIG. 3 ).
  • the lane 14 could also represent a normal road or highway, for example, to be detected or monitored traffic.
  • the aim of the invention is to detect on the lane 14 within a predetermined measuring range 18 moving vehicles 12 and to classify with the highest possible reliability and accuracy for vehicle types (trucks, passenger cars, buses, motorcycles, etc.).
  • sensor devices 16 are embedded in the roadway 14 in such a way that, when driving on the roadway 14, they must necessarily be traversed or passed by the vehicle 12. This means that in a multi-lane roadway 14 in each lane, the sensor devices 16 are recessed (not shown). Of course, the sensor devices 16 may alternatively or additionally also laterally on the roadway 14 and / or above the roadway 14th be arranged. The sensor devices 16 have a detection range dependent on a sensor type and on the specific configuration of the sensor device 16. Depending on the arrangement of the sensor devices 16 relative to the roadway 14 on which the vehicle 12 to be classified travels, certain measuring ranges 18 of the sensor devices 16 result. The measuring ranges 18 of the individual sensor devices 16 can be arranged separately from one another, but they can also be wholly or partly overlap. The sensor devices 16 used preferably operate without contact.
  • two differently configured sensor devices 16 of a sensor system 26 which detect different physical quantities.
  • an induction loop 20 of an induction loop detector 27 (see. FIG. 2 ) and a magnetic field sensor 22, wherein the measuring range 18 of the sensor system 26 is defined by the arrangement of the two sensor devices 16 in the lane 16 and their detection ranges.
  • the induction loop 20 and the magnetic field sensor 22 are in FIG. 1 only symbolically represented.
  • further sensor devices 16 such as a so-called.
  • Sound Analyzer sound or microphone with frequency-selective filtering
  • a video camera in particular determines a contour and / or a height profile of the vehicle 12 traveling through the measuring area 18.
  • the first sensor device 16 is in the illustrated embodiment of FIG. 2 as an active sensor device 16, in particular as at least one induction loop detector 27 is formed.
  • the measurement signals of the detector 27 change so that the contour and / or the nature of the passing vehicle 12 results in a signal characteristic characteristic of the vehicle type during the passage of the vehicle 12.
  • the second sensor device 16 is formed in the illustrated embodiment as a passive sensor device 16, in particular as at least one magnetic field sensor 22, which may be realized for example as a Hall sensor.
  • a change in a magnetic field strength preferably the geomagnetic field strength
  • current values of the magnetic field strength are preferably detected at several successive times, so that a characteristic of the magnetic field strength during the passage of the vehicle 12 results characteristic of the vehicle by the contour and / or the nature of the passing vehicle 12.
  • the sensor types 22, 27 mentioned by way of example have different reliabilities in the classification of passing vehicles under different environmental conditions and / or vehicle conditions.
  • the magnetic field sensors 22 have a particularly high sensitivity or reliability in the classification of slow-moving vehicles 12
  • the induction loop detectors 27 have a particularly high sensitivity or reliability in the classification of fast-moving vehicles 12.
  • FIG. 2 shows an example of a complete sensor system 26 for carrying out the method for classifying moving vehicles 12.
  • a preferred application of the method is a determination of free parking spaces per type of vehicle on a parking lot (cf. FIG. 3 ).
  • the method can also be used, for example, to monitor roads or highways by vehicle type.
  • FIG. 2 shows by way of example four magnetic field sensors 22 and four induction loop detectors 27, wherein in each case a single magnetic field sensor 22 and a single induction loop detector 27 are combined to form a functional set 28.
  • a set of functions 28 may also include a plurality of sensors 16 of the same type.
  • At least one set of functions 28 in the lane 14 is installed in each entrance 41 and in each exit 42 of the parking area 43.
  • two of the four functional sets 28 may be installed in each case in an entrance 41 of the parking area 43 and the remaining two functional sets 28 in each case in an exit 42 of the parking area 43.
  • Another distribution and / or number of function sets 28 is of course also possible depending on the application.
  • Each function set 28 is connected via a communication network 30, for example via a local area network (LAN), for example an Ethernet network, and / or a wide area network (WAN), for example the Internet, to a computer system 32, which serves as an evaluation device for the signals generated by the induction loop detectors 27 and the magnetic field sensors 22 serves.
  • LAN local area network
  • WAN wide area network
  • the computer system 32 essentially comprises a server 34 with a database 36 connected thereto or integrated therein.
  • the server 34 can have an interface to a further network 38 for transmitting data, for example to a higher traffic control center, which transmits them via corresponding transmission channels, eg. TMC, GSM or UMTS, to car radios, navigation devices or any other mobile devices transmits.
  • TMC Transmission Control Center
  • GSM Global System for Mobile communications
  • UMTS transmission channels
  • each function set 28 is assigned its own evaluation unit, for example in the form of a computer system 32 or a server 34.
  • Executable on the computer system 32 is a computer program programmed to carry out the method according to the invention for detecting and classifying moving vehicles 12.
  • the method works for the preferred embodiment as follows: When driving on the entrance 41 or the exit 42 of the parking area 43 by the vehicle 12, on the one hand, changes in the measurement signals of the induction loop detector 27 and, on the other hand, changes in the measured magnetic field strength are produced in the magnetic field sensor 22 when passing the corresponding function set 28 , While passing the function set 28 through the vehicle 12, the corresponding waveforms are transmitted to the computer system 32 via the communication network 30. An identification of the each active function set 28 (in which entrance 41 or exit 42 of the function set 28 is installed) is also transmitted.
  • the mere change of the substantially constant signal curves without passing vehicle 12 indicates the passage of the measuring area 18 through a vehicle 12, that is, the detection of a vehicle 12. Together with the information regarding the arrangement of the function set 28 can then be determined by the computer system 32, via which entrance 41 or exit 42 a vehicle 12 is driven.
  • the signal profiles of the sensors 22, 27 are evaluated by the computer system 32 in the manner of a sensor fusion, in particular by correlation of the signal profiles of the individual sensor types 22, 27.
  • the merged result waveform is then analyzed in the computer system 32. This can be realized, for example, by comparing typical features of the combined signal course with signal pattern patterns typical of certain vehicle types.
  • the typical waveform patterns may be stored in the database 36, for example. Based on the Result waveform, the vehicle can thus be determined much more reliable and accurate than would be possible on the individual signals, since this is a merging and combining complementary single measurements. In particular, the influences of environmental conditions and / or vehicle conditions on the reliability of the classification can be largely eliminated.
  • the individual signals can also be combined, combined or linked in any other way. It is conceivable, for example, to determine the speed of the passing vehicle 12 and to use the signal course of the one or the other sensor 22, 27 as a function of the ascertained speed. Furthermore, it would be conceivable to realize a multi-level classification of the vehicles 12, in which by means of at least one first type of sensor first a rough classification takes place (eg in trucks, buses or cars, motorcycles) and then using at least a second type of sensor taking into account the result of Rough classification takes a fine classification.
  • a first type of sensor first a rough classification takes place (eg in trucks, buses or cars, motorcycles) and then using at least a second type of sensor taking into account the result of Rough classification takes a fine classification.
  • the vehicle type of the function set 28 passing vehicle 12 is determined, ie, the vehicle 12 classified, it can in the embodiment of FIG. 3 where the method is implemented as part of a parking guidance system on a parking area 43 of a refueling and rest area 45, then the number of free parking spaces in the parking area 43 for the different types of vehicles (eg trucks, cars and others) are determined.
  • the maximum possible number of parking spaces per vehicle type for example, must be stored in the database 36. From the number of maximum available parking spaces for a particular vehicle type minus the number of driven over the entrance 41 to the parking lot 43 vehicles 12 of the vehicle type and plus the exit 42 from the parking lot 43 worn vehicles 12 of the vehicle type can for this vehicle type the number the available parking spaces are determined.
  • the current occupancy level of a parking area 43 for at least one vehicle type can, for example, be forwarded to a service facility 40. So it is for example possible that in good time before the entrance to the park area 43 the passing traffic of the occupancy status for at least one vehicle type, for example, on a display panel 44 visually displayed or a in the passing vehicles provided radio, radio, navigation device or other mobile device can be communicated acoustically and / or visually.
  • the communication between the service device 40 and the mobile terminals of the passing traffic vehicles may, for example, via BlueTooth or another radio transmission protocol.
  • the information regarding the current occupancy state of a parking or rest area 45 for the various types of vehicles can be transmitted to a traffic control center and from there to radios, navigation devices or other mobile devices are transmitted, for example.
  • TMC or a mobile protocol (eg GSM or UMTS)
  • GSM Global System for Mobile communications
  • UMTS Mobile Broadband Mobile communications
  • the occupancy level of the parking spaces per vehicle type can also be stored in the database 36 in order, for example, to plan corresponding long-term reconstruction measures for the parking area 43, whereby more parking spaces for a particularly frequented vehicle type can be set up. Accordingly, the occupancy level of the parking area 43 can thus be logged over a longer period of time to use this information for long-term transport planning.

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EP12151272.7A 2011-03-24 2012-01-16 Procédé et dispositif destinés à détecter et classifier des véhicules en marche Not-in-force EP2503529B1 (fr)

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DE201110014855 DE102011014855A1 (de) 2011-03-24 2011-03-24 Verfahren und Vorrichtung zum Erfassen und Klassifizieren von fahrenden Fahrzeugen

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EP3091372A1 (fr) * 2015-05-05 2016-11-09 Centro de Cálculo Igs Software S.L. Système de détection de véhicule
EP3329423A4 (fr) * 2015-07-30 2019-01-02 Municipal Parking Services Inc. Parcs de stationnement virtuels
WO2021078638A1 (fr) * 2019-10-25 2021-04-29 Fogtec Brandschutz Gmbh Système d'information de parc de stationnement
DE102020200816A1 (de) 2020-01-23 2021-07-29 Continental Automotive Gmbh Verfahren zur Vorhersage einer Belegung von Parkplätzen für Kraftfahrzeuge
US11756420B2 (en) 2020-08-27 2023-09-12 Q-Free Asa Vehicle detection system

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DE102015216908A1 (de) 2015-09-03 2017-03-09 Robert Bosch Gmbh Verfahren zum Erkennen von Objekten auf einer Abstellfläche
DE102016216275B4 (de) 2016-08-30 2023-01-12 Robert Bosch Gmbh Verfahren zum Bereitstellen von Größen zur Erlangung eines Services bei einer Servicestelle
DE102016223118A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts
DE102016223144A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts
DE102021005806A1 (de) 2021-11-23 2023-05-25 Raven Andy Girrbach Parkraum-Überwachungs-Ampel: "FP1 Allgemein" Variante 1 Parkraum-Überwachungs-Ampel: "FP1 Allgemein" Variante 2 Parkraum-Überwachungs-Ampel: "FP2 Auto & LKW" Parkraum-Überwachungs-Ampel: "FP3 Auto & LKW"

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Publication number Priority date Publication date Assignee Title
EP3091372A1 (fr) * 2015-05-05 2016-11-09 Centro de Cálculo Igs Software S.L. Système de détection de véhicule
EP3104197A1 (fr) * 2015-05-05 2016-12-14 Centro de Cálculo IGS Software, S.L. Systeme de detection de vehicule
EP3329423A4 (fr) * 2015-07-30 2019-01-02 Municipal Parking Services Inc. Parcs de stationnement virtuels
WO2021078638A1 (fr) * 2019-10-25 2021-04-29 Fogtec Brandschutz Gmbh Système d'information de parc de stationnement
JP2022546632A (ja) * 2019-10-25 2022-11-04 フォグテック ブランドシューツ ゲー・エム・ベー・ハー 駐車場情報システム
US11538320B2 (en) 2019-10-25 2022-12-27 Fogtec Brandschutz Gmbh Parking space information system
DE102020200816A1 (de) 2020-01-23 2021-07-29 Continental Automotive Gmbh Verfahren zur Vorhersage einer Belegung von Parkplätzen für Kraftfahrzeuge
US11756420B2 (en) 2020-08-27 2023-09-12 Q-Free Asa Vehicle detection system

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DE102011014855A1 (de) 2012-09-27

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