EP2656335A2 - Procédé servant à l'identification sûre d'un véhicule, détecté par un capteur de rayonnement, dans une prise de vue - Google Patents

Procédé servant à l'identification sûre d'un véhicule, détecté par un capteur de rayonnement, dans une prise de vue

Info

Publication number
EP2656335A2
EP2656335A2 EP11833574.4A EP11833574A EP2656335A2 EP 2656335 A2 EP2656335 A2 EP 2656335A2 EP 11833574 A EP11833574 A EP 11833574A EP 2656335 A2 EP2656335 A2 EP 2656335A2
Authority
EP
European Patent Office
Prior art keywords
lane
vehicle
sensor
radar
measurement data
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.)
Withdrawn
Application number
EP11833574.4A
Other languages
German (de)
English (en)
Inventor
Christoph Gebauer
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.)
Jenoptik Robot GmbH
Original Assignee
Jenoptik Robot GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jenoptik Robot GmbH filed Critical Jenoptik Robot GmbH
Publication of EP2656335A2 publication Critical patent/EP2656335A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles

Definitions

  • invasive and non-invasive sensors which provide road traffic in a narrow surveillance area, e.g. B. only one lane covering, monitor within a road section (eg, induction loops, piezo strips, laser sensors and radar sensors). An assignment of the acquired measurement data, to one of these causing vehicles, is less problematic.
  • non-invasive sensors have been increasingly established, covering a wide range of surveillance, e.g. B. cover several lanes within a road section.
  • sensors are radiation sensors, in particular radiation sensors for laser or radar radiation, the sensor area of which forms the surveillance area which, in contrast to the invasive sensors, is not directly visible in the image acquisition but is invisible to the human eye over a roadway section.
  • the vehicles passing through the sensor area become adequate at several measurement times, which is also referred to as "tracking" (eg EP 2 048 515 A1 or DE 10 2007 038 364 A1).
  • tracking is to be understood quite generally as the repeated detection of measurement data relating to the position that changes over the passage through a sensor region.
  • the tracking data obtained when tracking an object are a sequence of measurement data, including measurement data for the position, which are respectively assigned to individual measurement times, wherein the distance of the measurement times from the repetition frequency of the measurement or the acquisition is determined.
  • the tracking data of a vehicle traveling through a sensor area of a radiation sensor describe the lane that describes the vehicle when driving through the sensor area, with which the tracking data can be used to identify the appropriate vehicle.
  • the vehicle a specific lane be assigned and thus identified in an image recording a traffic scene.
  • measured data should be understood to mean not only the data obtained by immediate measurement, but also those which can be derived from the data obtained directly by measurement.
  • Suitable for tracking sensors are those sensors that can detect the position and their change, such as radar sensors, laser scanners and video cameras with two-dimensionally arranged photosensitive receiver elements, also called matrix receiver, such.
  • DE 10 2007 022 373 A1 discloses a method for detecting traffic violations by detecting object tracking data by means of a radar sensor, which directs radar radiation onto a roadway in such a way that a plurality of vehicles simultaneously through a measuring range defined by the radar beam (radar lobe). following sensor range).
  • a radar device can be positioned next to the roadway or above the road, z. B. attached to a bridge.
  • the relative velocity of an object to the radar sensor, the distance of its radar radiation reflecting surfaces to the radar sensor and the angle at which the reflected radar radiation to the radar axis incident on the radar sensor derive.
  • a continuous speed measurement or a continuous distance measurement is performed by exploiting the Doppler radar effect or frequency shift keying principle (FSK) in evaluation of the phase difference Radar signals of different frequencies.
  • An angle measurement takes place z. B. by means of two receiving antennas via a triangulation measurement.
  • the measurements are carried out over a period of about 100 ms to a few seconds, depending on the vehicle speed between entry and exit from the radar cone z.
  • Example at a distance of 20 ms, whereby the vehicle lanes (hereinafter lane), which describes the appropriate vehicle can be determined with high accuracy.
  • the value triplets determined by the radar sensor, together with an associated measurement time, are assigned to a respective vehicle number (not the number plate of which is meant here), an entry time and an exit time (referred to as tracking data below).
  • the computer uses the tracking data to determine the lane of the infringement vehicle concerned and sends a signal to a camera for creating a picture (image capture) of the current traffic scene.
  • the camera is positioned and adjusted at a known fixed distance from the radar so that the optical axis (hereinafter camera axis) is aligned in fixed angular relation to the radar axis and the traffic scene is sharply imaged over a range of depths of focus by a predetermined distance, referred to as the photopoint ,
  • the object field of the camera not only extends over all the lanes over which the radar cone (sensor area) is directed, but is usually larger, also vehicles can be imaged in the recording, which at the time the camera is not or no longer in the radar cone.
  • the lane determined by the appropriate vehicle is shown in the figure. The insertion advantageously takes place in such a way that a marking representing the lane is superimposed on the pixels in the image which are to be assigned to the positions defined by the distance and the angle, which together form the lane, in the object field.
  • the identification is carried out solely on the basis of the radar relative measured lane without absolute reference to individual lanes of the road.
  • the marking of the lane can, according to DE 10 2007 022 373 A1 in the form of pixels, z. B. by points, crosses, triangles or the like or in the form of a line or area are displayed.
  • the overlay can be colored
  • a tolerance range can also be specified for the actual measurement data.
  • the object of the invention is to find a method with which the security of the identification of a vehicle detected by tracking in an image acquisition is increased.
  • the object of the invention is for a method for reliable identification of a vehicle detected by a radiation sensor in an image recording, in which by a vehicle over the duration of traversing the sensor area of a radiation sensor at several measuring times measured data for its speed and position are detected by means of a camera is created an image capture of an object area, which includes the sensor area, when the appropriate vehicle is at a predetermined photo point and from the measurement data to position the lane traveled by the vehicle is detected and this is faded into the image capture, solved in that using the measurement data for the position, the determined lane is extrapolated beyond the sensor area and displayed in the image acquisition.
  • the lane is extrapolated over the entire object area and superimposed into the image recording.
  • a representative length of the vehicle is determined using the measurement data of the position and the speed and the duration of the acquisition of the measurement data and the lane displayed in the image acquisition is interrupted over the representative length by an interruption where there is a vehicle in the picture on the pictured lane.
  • the interruption of the displayed lane begins at the photo point.
  • the lane is displayed in the form of a lightening the roadway shown lane.
  • Fig. 1 a original of an image recording with a car
  • FIG. 1 b drawing of an image taken in accordance with FIG. 1 a
  • Fig. 2a original of an image with a truck
  • FIG. 2b drawing of an image taken in accordance with Fig. 2a
  • any radiation sensor known from the prior art can be used which, as described at the beginning, detects measured data on the speed and the position of the vehicle when driving through a vehicle through its sensor area at several measuring times.
  • laser scanners or radar sensors can be used, as they were mentioned in the description of the prior art. They are aligned to the edge of the road and the road surface, as is known from known generic method for speed measurement, so that their sensor area, which is determined by the radar cone in a radar sensor and a laser scanner by the scan angle range, a section of the roadway preferably over all Covering lanes.
  • the object field of the camera must at least partially cover the sensor area.
  • the size ratio of the object field of the camera, determined by its opening angle, and the sensor area is typically different for the different radiation sensors.
  • the radiation angle is usually about 5 °, whereby the radar cone is generally narrower than the object field of a camera, which usually has an opening angle of about 20 °.
  • the radiation angle z. B between 20 ° and 40 °, so that the radar cone can have approximately the same width as the object field of the camera is wide.
  • the scan angle range of a laser scanner comprises, as detailed in the prior art, a dead area about the scan axis in which no useful measurement data for deriving a speed are received, why these measurement data are not evaluated. If the camera is aligned with the laser scanner in such a way that it at least partially encloses both subregions of the scan angle range in which useful measurement data for the derivation of a velocity are received, the dead region is enclosed by the object field.
  • the mapped sensor area along the imaged roadway is not substantially wider than the length of a vehicle, only the vehicle is covered, as long as the triggering time between the entrance and the exit is in or out of the sensor area. Information about the vehicle could be lost. If the triggering time is a time after the passage of the appropriate vehicle through the sensor area, the displayed lane is behind the appropriate vehicle shown in the image capture.
  • the superimposed lane is now to be determined by extrapolation, i. beyond the range which can be calculated from the measurement data for the position, can be displayed extended.
  • This extension preferably takes place over the entire image recording.
  • the distance that a vehicle travels between the entrance and the exit differs, in particular, if the radiation sensor is a radar sensor depending on the distance range in which the vehicle passes the radar cone away from the radar sensor, and knowledge of the route length is required in order to be aware of the duration the detection of the measured data and the speed with the help of the path-time law to be able to determine a representative length of the vehicle.
  • the radiation sensor is a radar sensor depending on the distance range in which the vehicle passes the radar cone away from the radar sensor
  • the duration of the acquisition of the measurement data is limited by a first and a last measurement time, at which the radiation of the radiation sensor is reflected at a respective vehicle.
  • the photo point is known by the fact that the triggering time with a predetermined time delay after the first acquisition of measurement data, i. after retraction on incoming traffic or after the last acquisition of measurement data, i. after exiting with outgoing traffic.
  • the time delay is so short that a different speed of the vehicles, especially when it comes to the detection of speed violations, where the possible speed difference between different vehicles is more limited, has only negligible effect on the position of the appropriate vehicle in the image acquisition. That is, the photo point and thus the position of the displayed, appropriate vehicles in the image recording differs essentially only when the vehicles describe different lanes, which is particularly true when driving on different lanes.
  • the mathematically determined lane and the extended lane developed therefrom by extrapolation must be converted into an image which is determined by the relative position of the optical axis of the camera relative to the sensor axis (such as the radar axis or scan axis), the magnification and the distortion of the camera lens is determined to display them in the image capture, matching the pictured object field.
  • the superimposed lane is projected as a strip or a broken strip on the road surface, which appears in the brightness significantly different from the road surface.
  • a brightened representation is advantageous.
  • FIGS. 1 and 2 an image document with a data bar and an image recording 1 is shown, in which, traveling on a roadway, at least one vehicle 2 is shown.
  • the roadway is shown brightened in front of and behind the vehicle 2 depicted at a given photo point along a strip 3 interrupted by the vehicle 2 and representing the traffic lane.
  • the length of the section of the road over which the strip 3 is interrupted corresponds to a length which is characteristic of the vehicle 2 depicted.
  • the section starts at the photo point for the appropriate vehicle 2.
  • an auxiliary strip 3.1 may be shown adjacent the depicted vehicle 2, with a length equal to the section the interruption.
  • an image pick-up 1 is created, which emphasizes, compared to the prior art, an appropriate vehicle 2 depicted in the image pickup 1 even more clearly than the appropriate vehicle 2.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un procédé permettant l'identification sûre d'un véhicule (2) détecté par un capteur de rayonnement, dans une prise de vue (1). Le procédé est caractérisé en ce qu'il permet de déterminer, à partir des données de mesure acquises pour la position du véhicule, sa voie de circulation empruntée qui est extrapolée au moyen de la prise de vue (1) et représentée dans la prise de vue (1). A partir de données de mesure acquises pour la vitesse et de la durée de saisie des données de mesure, on définit avantageusement une longueur représentative du véhicule, et la voie de circulation représentée dans la prise de vue (1) est interrompue sur la longueur représentative, à partir de l'instant de la photographie.
EP11833574.4A 2010-12-23 2011-12-15 Procédé servant à l'identification sûre d'un véhicule, détecté par un capteur de rayonnement, dans une prise de vue Withdrawn EP2656335A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010056406A DE102010056406A1 (de) 2010-12-23 2010-12-23 Verfahren zur sicheren Identifikation eines durch einen Strahlungssensor erfassten Fahrzeuges in einer Bildaufnahme
PCT/DE2011/075310 WO2012089205A2 (fr) 2010-12-23 2011-12-15 Procédé servant à l'identification sûre d'un véhicule, détecté par un capteur de rayonnement, dans une prise de vue

Publications (1)

Publication Number Publication Date
EP2656335A2 true EP2656335A2 (fr) 2013-10-30

Family

ID=45954254

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11833574.4A Withdrawn EP2656335A2 (fr) 2010-12-23 2011-12-15 Procédé servant à l'identification sûre d'un véhicule, détecté par un capteur de rayonnement, dans une prise de vue

Country Status (6)

Country Link
US (1) US20130307969A1 (fr)
EP (1) EP2656335A2 (fr)
CN (1) CN103348391A (fr)
AU (1) AU2011351897B2 (fr)
DE (1) DE102010056406A1 (fr)
WO (1) WO2012089205A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013104411B3 (de) * 2013-04-30 2014-07-31 Jenoptik Robot Gmbh Verfahren zum Erfassen und Dokumentieren der Geschwindigkeiten mehrerer Fahrzeuge in einem Bilddokument
JP6803830B2 (ja) 2014-08-07 2020-12-23 イマジナリス エス．アール．エル． 改善された操作性を有するｘ線撮像デバイス
CN110930730B (zh) * 2019-12-26 2021-07-09 浙江省计量科学研究院 电子栅栏及压电触发辅助的测速雷达车辆判别装置及方法

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Publication number Priority date Publication date Assignee Title
CH654670A5 (de) * 1981-06-22 1986-02-28 Zellweger Uster Ag Verfahren und vorrichtung zur auswertung von signalen einer doppler-radar-geschwindigkeitsmesseinrichtung.
JP3169483B2 (ja) * 1993-06-25 2001-05-28 富士通株式会社 道路環境認識装置
JP3645196B2 (ja) * 2001-02-09 2005-05-11 松下電器産業株式会社 画像合成装置
CN100419813C (zh) * 2005-12-28 2008-09-17 浙江工业大学 基于全方位视觉传感器的道路监控装置
DE102007022373A1 (de) 2007-05-07 2008-11-13 Robot Visual Systems Gmbh Verfahren zur beweiskräftigen Erfassung der Geschwindigkeit eines Fahrzeuges
DE102007038364A1 (de) 2007-08-10 2009-02-12 Robot Visual Systems Gmbh Verfahren zur Geschwindigkeitsmessung von Fahrzeugen mittels Laserscanner
EP2048515B1 (fr) 2007-10-11 2012-08-01 JENOPTIK Robot GmbH Procédé pour déterminer et documenter des infractions à un feux de signalisation
DE102009007055A1 (de) * 2009-02-02 2010-08-05 Robot Visual Systems Gmbh Verfahren zur Messung der Geschwindigkeit eines Fahrzeuges und sichtbaren Zuordnung in einer Dokumentation
DE102009013667A1 (de) * 2009-03-24 2010-09-30 Jenoptik Robot Gmbh Verfahren zur Herstellung einer bekannnten festen räumlichen Beziehung zwischen einem Laserscanner und einer Digitalkamera zur Verkehrsüberwachung
DE102010012811B4 (de) * 2010-03-23 2013-08-08 Jenoptik Robot Gmbh Verfahren zur Messung von Geschwindigkeiten und Zuordnung der gemessenen Geschwindigkeiten zu angemessenen Fahrzeugen durch Erfassen und Zusammenführen von Objekt-Trackingdaten und Bild-Trackingdaten

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2012089205A2 *

Also Published As

Publication number Publication date
US20130307969A1 (en) 2013-11-21
AU2011351897A1 (en) 2013-07-11
CN103348391A (zh) 2013-10-09
DE102010056406A1 (de) 2012-06-28
WO2012089205A2 (fr) 2012-07-05
WO2012089205A3 (fr) 2012-08-30
AU2011351897B2 (en) 2015-02-12

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