EP2960883B1 - Détermination d'au moins une caractéristique d'un véhicule - Google Patents

Détermination d'au moins une caractéristique d'un véhicule Download PDF

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Publication number
EP2960883B1
EP2960883B1 EP14173551.4A EP14173551A EP2960883B1 EP 2960883 B1 EP2960883 B1 EP 2960883B1 EP 14173551 A EP14173551 A EP 14173551A EP 2960883 B1 EP2960883 B1 EP 2960883B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
image
line scan
scan camera
speed
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.)
Active
Application number
EP14173551.4A
Other languages
German (de)
English (en)
Other versions
EP2960883A1 (fr
Inventor
Andreas Jung
Marco Bartiromo
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.)
Vitronic Dr Ing Stein Bildverarbeitungssysteme GmbH
Original Assignee
Vitronic Dr Ing Stein Bildverarbeitungssysteme 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
Priority to PL14173551T priority Critical patent/PL2960883T3/pl
Priority to SI201430448T priority patent/SI2960883T1/en
Application filed by Vitronic Dr Ing Stein Bildverarbeitungssysteme GmbH filed Critical Vitronic Dr Ing Stein Bildverarbeitungssysteme GmbH
Priority to PT141735514T priority patent/PT2960883T/pt
Priority to LTEP14173551.4T priority patent/LT2960883T/lt
Priority to EP14173551.4A priority patent/EP2960883B1/fr
Priority to DK14173551.4T priority patent/DK2960883T3/da
Priority to NO14173551A priority patent/NO2960883T3/no
Priority to ES14173551.4T priority patent/ES2645504T3/es
Priority to HUE14173551A priority patent/HUE034573T2/en
Priority to RU2017101816A priority patent/RU2017101816A/ru
Priority to AU2015279273A priority patent/AU2015279273B2/en
Priority to US15/321,370 priority patent/US10515544B2/en
Priority to CA2953411A priority patent/CA2953411A1/fr
Priority to PCT/EP2015/064147 priority patent/WO2015197641A1/fr
Priority to CN201580033839.8A priority patent/CN106663372A/zh
Publication of EP2960883A1 publication Critical patent/EP2960883A1/fr
Application granted granted Critical
Publication of EP2960883B1 publication Critical patent/EP2960883B1/fr
Priority to CY20171101095T priority patent/CY1119472T1/el
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G08G1/017—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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors

Definitions

  • Arrangements and methods for detecting vehicles moving along a traffic lane with the aid of at least one camera and / or other devices for detecting the contour or spatial structure of the vehicle and optionally its speed are known, for example, from various applications for monitoring or traffic detection.
  • the detection and tracking of the vehicle by means of a LIDAR system which is estimated from the LIDAR data path and speed of the vehicle and are assigned to the subsequently determined contour and structure data.
  • the device comprises a LIDAR system, which is aligned to detect a vehicle at a distance from the receiving position of the camera and / or the other devices.
  • the arrangement according to the invention for determining at least one feature of a vehicle moving along a lane has a light-sensitive sensor for recording an image of the vehicle and an evaluation device for detecting the at least one feature on the image.
  • the photosensitive sensor is designed as a line camera, this line camera is arranged laterally next to the lane.
  • a conventional area camera detects a vehicle driving a lane in an image, for example with induction loops as a trigger for the camera, however, such an image is distorted in perspective in both image dimensions.
  • the use of a line camera has the advantage that the distance from the recorded part of the vehicle to the line scan camera remains essentially the same, so that neither a perspective distortion in the direction of the juxtaposed shots, nor a different light yield due to the distance between the vehicle and camera occurs , For this reason, it is provided according to the invention to use a line camera for the arrangement laterally next to the lane.
  • the position to the side of the lane allows a particularly effective recognition of numerous features of vehicles in the image, in particular their length, number of axes, characteristic shape or side lettering, which may be helpful for identification. Many of these features are not visible, for example, from a position above the lane.
  • the image is composed of successive shots of the line camera, the line scan camera works with a predetermined, possibly also with an adjustable sampling rate.
  • a further advantage is that the line scan camera with the evaluation device can be used for image evaluation without further measuring devices. Beginning and end of a vehicle can be detected by evaluating the continuously recorded line scans, so that advantageously no triggering of the recording must be made in order to obtain a complete image of the vehicle.
  • a camera type is to be understood which has only one light-sensitive line, a so-called line sensor, in contrast to the two-dimensional sensor, which has a plurality of lines.
  • Line sensors are light- or radiation-sensitive detectors, usually semiconductor detectors, which consist of a one-dimensional array of photodetectors or other detector elements.
  • the line scan camera is aligned obliquely to the traffic lane.
  • the orientation of the line scan camera is to be understood as the direction in which the light-sensitive line is aligned in order to receive light.
  • the vehicle moves in a direction of travel along the lane.
  • the arranged next to the lane line scan camera can thus record its side surface.
  • the line scan camera is aligned obliquely to the lane in the context of the invention.
  • a line camera oriented at an acute angle to the traffic lane in the direction opposite to the direction of travel of the vehicle, first the front of the vehicle and then its side surface are picked up, which has the advantage that recognition of the license plate and possible dangerous goods markings on the front of the vehicle Vehicle is enabled.
  • the line scan camera is likewise aligned obliquely to the traffic lane in the sense of the invention.
  • the side surface of the vehicle is picked up first and then its rear side, which also allows a license plate identification on the rear license plate.
  • the lines camera is aligned at an angle of about 30 ° to the lane, against the direction of travel of the vehicle, the angle of the line camera to a straight front of the vehicle is thus about 60 °.
  • the alignment of the line scan camera does not mean the orientation of the line sensor itself, which is generally arranged vertically, ie essentially at right angles to a plane formed by the traffic lane. Positioning at an angle of significantly less than 90 ° to the vertical would, however, also be conceivable in principle for the line sensor.
  • a lighting device is provided, wherein the lighting device is aligned at an angular distance of at least 7 ° from the orientation of the line scan camera.
  • the lighting device is used for illumination in low light conditions, especially at night.
  • An angular distance of at least 7 ° from the orientation of the line scan camera means that the light emitted by the illumination device, reflected by the vehicle and detected by the line scan camera, is deflected by at least 7 ° in the reflection.
  • the inventive method for determining at least one feature of a moving along a lane vehicle by means of the arrangement described hereinbefore provides that an image of the vehicle is taken with the line scan camera and the image is evaluated for detecting at least one feature of the vehicle.
  • An advantage of the method is that an identification of vehicles is made possible only with the aid of the line scan camera and an evaluation of the image.
  • the individual recorded lines or line scans are lined up in an image horizon, so that the image horizon corresponds to a time axis. Lines appearing along the horizontal image thus display a picture that is unchanged in time, which indicates that no vehicle passes this pixel of the line scan camera.
  • Such horizontal lines, or in particular an end of a horizontal line can be advantageously used for automatic detection of a moving vehicle.
  • an envelope including the image of the vehicle is created during the evaluation.
  • This can be at least one calculate the height, length and width of the vehicle taking into account a scanning rate of the line scan camera and a speed of the vehicle.
  • the speed of the vehicle can be determined based on an extension or compression of the image in the horizontal image relative to the actual aspect ratios on the vehicle, or be determined by means of a separate speed measurement.
  • a number and / or positions of wheels and / or axles of the vehicle are determined by finding round objects during the evaluation of the image.
  • an ellipticity is preferably determined by round objects found during the evaluation of the image.
  • a correction of the image is made by stretching or compression in the image horizontal.
  • a speed of the vehicle is calculated. This calculated speed is another feature of the vehicle, which can advantageously be determined by means of the line scan camera as the sole measuring device. Alternatively, the calculated speed may also be used to check a speed measured by a separate speed measuring device.
  • a classification and / or identification of the vehicle based on at least one of the following, obtained by evaluation of the image features is made: dimensions, number of axles, license plate, dangerous goods marking, shape of a windscreen and / or a side window and characteristic shapes of the vehicle.
  • FIG. 1 is a plan view of the lane 1 and the vehicle 2, while in the FIG. 2 a side view of the vehicle 2 is shown.
  • the arrangement according to the invention comprises a photosensitive sensor 3 for recording an image of the vehicle 2 and an evaluation device 4 for detecting the at least one feature on the image, wherein the evaluation device 4 can also be arranged remotely from the sensor 3.
  • the photosensitive sensor 3 is designed according to the invention as a line camera 3, wherein the line camera 3 is arranged laterally next to the traffic lane 1.
  • the arrangement according to the invention is particularly advantageously suitable for a method for axle classification or axle counting of vehicles 2 in flowing traffic.
  • the method is generally used for the classification of vehicles 2, in particular for the recognition of distinctive features, such as the vehicle manufacturer or dangerous goods indicator in motion.
  • an image of the mark suitable for automatic mark reading processing is taken.
  • an image of the vehicle 2 is created as an overview image of the entire scene.
  • four tasks from the field of traffic monitoring can be carried out by means of the one Line camera 3 side of the lane 1 are performed.
  • the line camera 3 is laterally arranged next to the traffic lane 1 so that the vehicle front 5 and the vehicle flank 6 are received cyclically by the passing vehicle 2.
  • an illumination 7 is preferably directed to the vehicle 2.
  • the angle between the line camera 3 and the vehicle 2 is generally freely selectable and can, depending on the application, be adjusted.
  • the aim is generally an angle as close as possible to 90 ° to the surface to be monitored. Since in the illustrated embodiment, both the vehicle front 5, and the vehicle edge 6 are to be recorded, an angle of about 60 ° on the front 5 offers, since this contains more detail information, as the edge 6, from which the light accordingly a more acute angle of 30 ° in the line camera 3 occurs.
  • ⁇ of more than 7 °.
  • an overexposure by the so-called retroreflective effect of license plates is advantageously avoided.
  • an image of the vehicle 2 is generated, thereby enabling a simple image processing of the same, since no partial images must be joined together or superimposed.
  • the method according to the invention is also advantageously suitable for determining a speed of the vehicle 2. Depending on how elliptically the wheels 8 are indicated schematically in the image, can be recalculated to the speed of the vehicle 2 from this.
  • the speed sensor 9 and the line camera 3 are located at the same position laterally beside the road 1.
  • the speed sensor 9 preferably provides the following data of the vehicle: position relative to the sensor, distance and speed of the vehicle. 2
  • FIG. 3 an image of a vehicle 2 produced by the method according to the invention is shown.
  • the image horizontals by a temporal sequence of successive line images along the replaced with t time axis and is therefore free from perspective distortion.
  • the distance from one pixel to the next pixel in the direction of the t-axis corresponds to the scanning rate or line frequency of the line camera 3 and is preferably adapted to the speed of the vehicle 2 determined by the speed sensor 9, so that no compressed or stretched images in the direction of the t-axis. Axis arise.
  • the image vertical in the direction of the Y axis corresponds to the orientation of the line sensor. 3
  • FIG. 3 shows the image of a truck 2 in motion.
  • the silhouette or envelope H of the vehicle 2 can be advantageously determined by simple edge filters. Even shadows passing through the image can be easily identified and will not lead to misjudgments, as is usually the case with Still Cameras, as no temporal reference can be made.
  • the geometric ones Information such as length, and / or height can be advantageously determined with the help of this edge image. If the positions of the vehicle axles are already known, it can advantageously be ruled out that the front of the vehicle 2 is also measured. The measurement of the vehicle length starts, for example, with the first detected axis. Depending on the type of vehicle identified, such as truck or car, the length can be corrected by an averaged factor.
  • Line scan cameras can operate at line frequencies up to 80 kHz, and thus advantageously offer more advanced capabilities that leverage data.
  • This invention enables with the line scan camera 3 as a single sensor and with only one data acquisition cycle to generate all the data needed, for example, for toll collection.
  • These are in detail, for example: recording a license plate image, recording an overview image, classification of the vehicle based on its axes and the vehicle geometry. It is also possible to recognize dangerous goods identifiers and to recognize the vehicle manufacturer. The fact that all data is generated in one step results in consistent data records that are integer. A misallocation of the data from multiple sensors can be advantageously avoided.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (15)

  1. Dispositif de détermination d'au moins une caractéristique d'un véhicule (2) se déplaçant le long d'une voie de circulation (1), comportant un capteur photosensible (3) destiné à enregistrer une image du véhicule et un dispositif d'exploitation (4) pour détecter l'au moins une caractéristique sur l'image, dans lequel le capteur photosensible est réalisé sous forme d'une caméra linéaire, la caméra linéaire étant orientée obliquement par rapport à la voie de circulation, soit dans le sens inverse au sens de circulation du véhicule, soit dans le sens de circulation du véhicule.
  2. Dispositif selon la revendication 1, caractérisé en ce que la caméra linéaire est orientée suivant un angle d'environ 30° par rapport à la voie de circulation, dans le sens inverse du sens de circulation du véhicule.
  3. Dispositif selon une des revendications précédentes, caractérisé en ce qu'il est prévu un dispositif d'éclairage (7), le dispositif d'éclairage étant orienté à une distance angulaire d'au moins 7° par rapport à l'orientation de la caméra linéaire.
  4. Dispositif selon une des revendications précédentes, caractérisé en ce qu'il est prévu un dispositif de mesure de vitesse pour mesurer une vitesse du véhicule lors de l'enregistrement de l'image.
  5. Dispositif selon une des revendications précédentes, caractérisé en ce qu'il est prévu une commande de la caméra linéaire, une vitesse de balayage des lignes enregistrées étant réglable par la commande.
  6. Dispositif selon la revendication 5, caractérisé en ce que la vitesse de balayage est adaptable par la commande à la vitesse du véhicule mesurée au moyen d'un dispositif de mesure du véhicule.
  7. Procédé de détermination d'au moins une caractéristique d'un véhicule (2) se déplaçant le long d'une voie de circulation (1) au moyen d'un dispositif selon une des revendications précédentes, dans lequel une image du véhicule est enregistrée par la caméra linéaire (3) et l'image est exploitée pour détecter au moins une caractéristique du véhicule.
  8. Procédé selon la revendication 7, caractérisé en ce que les lignes enregistrées sont alignées les unes sur les autres dans une axe horizontale de l'image, les lignes apparaissant le long de l'axe horizontale de l'image étant utilisées pour détecter le véhicule.
  9. Procédé selon la revendication 8, caractérisé en ce qu'une courbe enveloppe circonscrite dans l'image du véhicule est établie.
  10. Procédé selon la revendication 9, caractérisé en ce qu'au moins une dimension parmi la hauteur, la longueur et la largeur du véhicule est calculée en tenant compte d'une vitesse de balayage de la caméra linéaire et d'une vitesse du véhicule à partir de la courbe enveloppe.
  11. Procédé selon une des revendications 7 à 10, caractérisé en ce qu'un nombre et/ou une position des roues et/ou des essieux du véhicule est déterminé en cherchant les objets ronds lors de l'exploitation de l'image.
  12. Procédé selon une des revendications 7 à 11, caractérisé en ce qu'une ellipticité d'objets ronds trouvés lors de l'exploitation de l'image est déterminée.
  13. Procédé selon la revendication 12, caractérisé en ce que, en tenant compte de l'ellipticité, une correction de l'image est effectuée par étirement ou écrasement dans l'axe horizontale de l'image.
  14. Procédé selon la revendication 13, caractérisé en ce que, en tenant compte de l'ellipticité de la vitesse de balayage de la caméra linéaire, une vitesse du véhicule est calculée.
  15. Procédé selon une des revendications 8 à 14, caractérisé en ce qu'une classification du véhicule est réalisée en partant d'au moins une des caractéristiques suivantes obtenues par exploitation de l'image : dimensions, nombre d'essieux, immatriculation, marquage de marchandises dangereuses, forme d'un pare-brise avant et/ou d'une vitre latérale et formes caractéristiques du véhicule.
EP14173551.4A 2014-06-23 2014-06-23 Détermination d'au moins une caractéristique d'un véhicule Active EP2960883B1 (fr)

Priority Applications (16)

Application Number Priority Date Filing Date Title
SI201430448T SI2960883T1 (en) 2014-06-23 2014-06-23 Determination of at least one vehicle characteristics
PT141735514T PT2960883T (pt) 2014-06-23 2014-06-23 Determinação de pelo menos uma característica de um veículo
LTEP14173551.4T LT2960883T (lt) 2014-06-23 2014-06-23 Bent vienos transporto priemonės ypatybės nustatymas
EP14173551.4A EP2960883B1 (fr) 2014-06-23 2014-06-23 Détermination d'au moins une caractéristique d'un véhicule
DK14173551.4T DK2960883T3 (da) 2014-06-23 2014-06-23 Bestemmelse af mindst én køretøjsegenskab
NO14173551A NO2960883T3 (fr) 2014-06-23 2014-06-23
ES14173551.4T ES2645504T3 (es) 2014-06-23 2014-06-23 Determinación de al menos una característica de un vehículo
HUE14173551A HUE034573T2 (en) 2014-06-23 2014-06-23 Definition of at least one feature of a vehicle
PL14173551T PL2960883T3 (pl) 2014-06-23 2014-06-23 Określanie co najmniej jednej cechy pojazdu
CN201580033839.8A CN106663372A (zh) 2014-06-23 2015-06-23 确定车辆的至少一个特征
RU2017101816A RU2017101816A (ru) 2014-06-23 2015-06-23 Определение по меньшей мере одного признака транспортного средства
AU2015279273A AU2015279273B2 (en) 2014-06-23 2015-06-23 Determination of at least one feature of a vehicle
US15/321,370 US10515544B2 (en) 2014-06-23 2015-06-23 Determination of at least one feature of a vehicle
CA2953411A CA2953411A1 (fr) 2014-06-23 2015-06-23 Determination d'au moins une caracteristique d'un vehicule
PCT/EP2015/064147 WO2015197641A1 (fr) 2014-06-23 2015-06-23 Détermination d'au moins une caractéristique d'un véhicule
CY20171101095T CY1119472T1 (el) 2014-06-23 2017-10-20 Καθορισμος τουλαχιστον ενος γνωρισματος ενος οχηματος

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14173551.4A EP2960883B1 (fr) 2014-06-23 2014-06-23 Détermination d'au moins une caractéristique d'un véhicule

Publications (2)

Publication Number Publication Date
EP2960883A1 EP2960883A1 (fr) 2015-12-30
EP2960883B1 true EP2960883B1 (fr) 2017-08-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP14173551.4A Active EP2960883B1 (fr) 2014-06-23 2014-06-23 Détermination d'au moins une caractéristique d'un véhicule

Country Status (16)

Country Link
US (1) US10515544B2 (fr)
EP (1) EP2960883B1 (fr)
CN (1) CN106663372A (fr)
AU (1) AU2015279273B2 (fr)
CA (1) CA2953411A1 (fr)
CY (1) CY1119472T1 (fr)
DK (1) DK2960883T3 (fr)
ES (1) ES2645504T3 (fr)
HU (1) HUE034573T2 (fr)
LT (1) LT2960883T (fr)
NO (1) NO2960883T3 (fr)
PL (1) PL2960883T3 (fr)
PT (1) PT2960883T (fr)
RU (1) RU2017101816A (fr)
SI (1) SI2960883T1 (fr)
WO (1) WO2015197641A1 (fr)

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DE102018200991A1 (de) * 2018-01-23 2019-07-25 Friedrich-Alexander-Universität Erlangen-Nürnberg Verfahren und Anordnung zur Bestimmung der Geschwindigkeit eines Fahrzeugs
JP7108486B2 (ja) * 2018-07-20 2022-07-28 三菱重工機械システム株式会社 車両検知器
CN111161542B (zh) * 2018-11-08 2021-09-28 杭州海康威视数字技术股份有限公司 车辆识别方法及装置
CN116453075B (zh) * 2023-06-14 2023-09-08 山东省科学院海洋仪器仪表研究所 一种基于图像处理的货车轮轴识别方法及系统

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Also Published As

Publication number Publication date
AU2015279273B2 (en) 2018-07-05
US20170148315A1 (en) 2017-05-25
AU2015279273A1 (en) 2017-01-19
PL2960883T3 (pl) 2018-02-28
US10515544B2 (en) 2019-12-24
NO2960883T3 (fr) 2018-01-06
CA2953411A1 (fr) 2015-12-30
EP2960883A1 (fr) 2015-12-30
CY1119472T1 (el) 2018-03-07
SI2960883T1 (en) 2018-02-28
HUE034573T2 (en) 2018-02-28
WO2015197641A1 (fr) 2015-12-30
PT2960883T (pt) 2017-11-14
CN106663372A (zh) 2017-05-10
LT2960883T (lt) 2017-12-27
ES2645504T3 (es) 2017-12-05
RU2017101816A (ru) 2018-07-23
DK2960883T3 (da) 2017-11-13
RU2017101816A3 (fr) 2018-07-23

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