EP3407324A1 - Procédé de surveillance d'un véhicule au moyen d'au moins un véhicule aérien sans pilote, appareil de commande et véhicule aérien sans pilote - Google Patents

Procédé de surveillance d'un véhicule au moyen d'au moins un véhicule aérien sans pilote, appareil de commande et véhicule aérien sans pilote Download PDF

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Publication number
EP3407324A1
EP3407324A1 EP18172233.1A EP18172233A EP3407324A1 EP 3407324 A1 EP3407324 A1 EP 3407324A1 EP 18172233 A EP18172233 A EP 18172233A EP 3407324 A1 EP3407324 A1 EP 3407324A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
signal
aircraft
measurement
measuring
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
EP18172233.1A
Other languages
German (de)
English (en)
Other versions
EP3407324B1 (fr
Inventor
Michael Lehning
Maik Reiss
Lukas SCHIFFER
Marco LEIJSSEN
Stefan Kienitz
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
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Jenoptik Robot GmbH
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Publication date
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Publication of EP3407324A1 publication Critical patent/EP3407324A1/fr
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Publication of EP3407324B1 publication Critical patent/EP3407324B1/fr
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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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
    • 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

  • the present invention relates to a method for monitoring a vehicle by means of at least one unmanned aerial vehicle, to a corresponding control device and to an unmanned aerial vehicle.
  • Traffic monitoring devices are statically positioned so that the relevant measuring steps and the documentation of traffic violations are dependent on images of relatively short time windows in which, for example, a clear view of the vehicle to be monitored and this is not covered by neighboring vehicles. Often a system is used for several lanes, so that due to the positioning position differences in image quality depending on the lanes result.
  • section control measurements also called P2P measurements
  • P2P measurements are also fixed, d. H. static measuring arrangements known.
  • the present invention provides an improved method for monitoring a vehicle by means of at least one unmanned aerial vehicle, an improved control device and an improved unmanned aerial vehicle according to the main claims.
  • Advantageous embodiments will become apparent from the dependent claims and the description below.
  • At least one further measuring position can be determined using data representing a previous detection of the vehicle, and in the step of providing another control signal can be used to control the aircraft and / or another aircraft that has a further sensor device for Detecting the vehicle, are provided in the further measurement position via the communication device to detect the vehicle from the further measurement position
  • a drone Under an unmanned aerial vehicle, a drone, for example in the form of a quadrocopter, are understood.
  • the aircraft and / or the further aircraft can, for example, fly autonomously or be remotely controllable by an external control device.
  • a communication device can be understood as a transmitting or receiving unit for the wireless transmission or reception of data, for example via radio or WLAN. If at least two aircraft are used, the aircraft and the further aircraft can be controlled independently of each other.
  • the communication device can be realized as a component of the control device.
  • the control unit may for example be part of a stationary or mobile traffic monitoring device for monitoring vehicles.
  • the aircraft and the further aircraft may be directly or indirectly networked or networkable and, for example, be members of a drone network.
  • the data from the previous acquisition may be, for example, a first-time detected position, speed or class of the vehicle.
  • a measuring position or a further measuring position can be understood as meaning a position in which the vehicle can be detected with sufficiently high accuracy, ie. h., In which a respective measuring distance between the aircraft and the vehicle is as unimpaired.
  • the measuring position or the further measuring position can be determined continuously in order to enable a dynamic change of the measuring position or of the further measuring position.
  • the approach described here is based on the knowledge that a vehicle can be detected and monitored by means of at least one unmanned aerial vehicle. As a result, a sufficiently accurate detection of the vehicle can be ensured even at high speeds of the vehicle.
  • optimal photographing and measuring points can be determined without shading, for example by neighboring vehicles, so that separate measuring systems for detecting individual traffic lanes can be dispensed with.
  • By a dynamic adjustment of the measuring positions of the aircraft can also be Read-out window for reading data from an on-board unit can be significantly extended. As a result, read errors can be avoided. Also, this can be a costly and time-consuming tracking of the vehicle to be monitored by means of an emergency vehicle omitted.
  • Another advantage of the approach presented here is the possibility to carry out measurements from a bird's eye view and thus to obtain an overall overview of traffic offenses in a specific monitoring section.
  • the method comprises a step of receiving a measurement signal representing a detection of the vehicle by the sensor device from the measurement position, and / or a further measurement signal, the detection of the vehicle by the sensor device and / or the further sensor device from the further measurement position represents.
  • the measurement signal and / or the further measurement signal are evaluated in order to monitor the vehicle.
  • the measuring signal or the further measuring signal may represent, for example, an image, a safety distance, a speed or a position of the vehicle.
  • the measurement position may represent a starting point of a section control path, while the optional further measurement position may represent an end point of the section control path. Accordingly, in the step of the evaluation, the measurement signal and / or the further measurement signal can be evaluated in order to determine an average speed of the vehicle.
  • a section control route may be understood to mean a section of the route on which a section control, i. H. a point-to-point measurement is performed to detect the vehicle. This embodiment enables reliable speed monitoring of the vehicle.
  • the measuring signal and the further measuring signal represent different measured variables.
  • different equipped, in particular partially equipped aircraft can be used to monitor the vehicle.
  • a position signal representing an actual position of the aircraft during the detection of the vehicle from the measurement position in the step of receiving, a position signal representing an actual position of the aircraft during the detection of the vehicle from the measurement position. Additionally or alternatively, a further position signal, which represents an actual position of the aircraft and / or of the further aircraft during the detection of the vehicle from the further measurement position, can be received.
  • the measurement signal and the further measurement signal can be evaluated using the position signal or, additionally or alternatively, the further position signal.
  • the measurement signal or, additionally or alternatively, the further measurement signal may represent a signal provided by reading an on-board unit of the vehicle.
  • An on-board unit may be understood to mean a vehicle-mounted radio for transmitting vehicle data such as license plate or location or data for charging tolls by wireless communication. As a result, the method for reading on-board units can be used.
  • a position for detecting the vehicle is determined from a bird's eye view as the measuring position or the further measuring position.
  • impairments in the signal transmission for example by shading, can be avoided.
  • This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
  • control unit which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.
  • a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon.
  • the control unit can have an interface which and / or may be formed by software.
  • the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
  • the sensor device may comprise, for example, a camera, a speed sensor, a GPS module or the communication device.
  • the communication device can be designed, for example, to read an on-board unit of the vehicle.
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.
  • FIG. 1 shows a schematic representation of two unmanned aerial vehicles 100, 102 and a control device 104 according to an embodiment.
  • the aircraft 100 has a sensor device 106 for detecting a vehicle 108.
  • the further aircraft 102 has a further sensor device 110 for detecting the vehicle 108.
  • the two sensor devices 106, 110 are each, for example, a camera, a speed sensor or a locating sensor, in particular a GPS module, or a combination of at least two of the mentioned sensor types.
  • the sensor devices 106, 110 are designed, for example, to detect deviating measured variables.
  • the two aircraft 100, 102 are in FIG FIG. 1 shown as a quadrocopter.
  • the control unit 104 which is implemented, for example, as a component of a ground station or a mobile traffic monitoring device, comprises a communication device 112 for wireless communication with the two aircraft 100, 102 or at least one of the aircraft 100, 102.
  • the control device 104 is designed to use Data representing, for example, a position or vehicle class of the vehicle 108 detected at an earlier time by means of at least one of the two aircraft 100, 102, a measurement position A and optionally at least one further measurement position B to determine.
  • the control unit 104 uses the measurement position A to generate a control signal 114 and sends it via the communication device 112 to the aircraft 100 in order to control it in the measurement position A, which here exemplifies a starting point of a section control path for determining an average speed of the vehicle 108.
  • the controller 104 optionally uses the measurement position B to generate another control signal 116 for controlling the further aircraft 102 and to send it via the communication device 112 to the further aircraft 102.
  • the further aircraft 102 is controlled into the further measuring position B, which represents an end point of the section control section by way of example here.
  • the controller uses 104 optionally the measuring position B to generate the further control signal 116 for controlling the one aircraft 100 and to send via the communication device 112 to the aircraft 100.
  • the aircraft 10 is controlled in the further measuring position B, which represents an end point of the section control section here by way of example.
  • the aircraft 100, 102 are configured to detect the vehicle 108 from its respective measurement position.
  • the sensor device 106 sends a measurement signal 118 representing the vehicle 108 to the communication device 112, while the further sensor device 110 transmits a further measurement signal 120 representing the vehicle 108 to the communication device 112 in the measurement position B.
  • the sensor device 106 optionally transmits the further measuring signal 120 representing the vehicle 108 to the communication device 112 in the measuring position B.
  • the two measuring signals 118, 120 represent different measured variables.
  • the control unit 104 is designed to determine the average speed of the vehicle 108 when driving the section control track by appropriately evaluating the two measurement signals 118, 120.
  • control unit 104 is designed to additionally or alternatively to the average speed determine an actual speed or a safety distance of the vehicle 108 or other vehicle-related or safety-relevant parameters on the basis of the measurement signals 118, 120.
  • at least one of the two sensor devices 106, 110 is designed to read out an on-board unit integrated in the vehicle 108 for detecting the vehicle 108 and to transmit corresponding data to the control unit 104.
  • the two aircraft 100, 102 each transmit their current actual position to the control unit 104 in addition to the measurement signals 118, 120, wherein the aircraft 100 transmits a corresponding position signal 122 to the communication device 112 and the further aircraft 102 transmits a corresponding further position signal 124 transmits to the communication device 112.
  • the control unit 104 is designed to evaluate the two measurement signals 118, 120 with the additional use of the two position signals 122, 124. Thus, any deviations between the respective actual and measuring positions of the two aircraft 100, 102 can be taken into account in the evaluation.
  • FIG. 1 the monitoring of the vehicle 108 takes place here by way of example by means of the two aircraft 100, 102, for example from a bird's eye view.
  • the two aircraft 100, 102 may have different altitudes when detecting the vehicle 108.
  • only one aircraft 100 or more than two aircraft 100, 102 can be used.
  • the control unit 104 can thus also be designed to control only one aircraft 100 or more than two aircraft 100, 102 for monitoring the vehicle 108 or also for the simultaneous monitoring of multiple vehicles.
  • FIG. 2 shows a schematic representation of a control device 104 according to an embodiment, such as one above with reference to FIG. 1 described control unit.
  • the control unit 104 includes a determination unit 210, which is designed to determine the two measurement positions A, B using measurement data 212, which represent a previous detection of the vehicle by means of at least one of the two aircraft, and these to a supply unit 220 of the control unit 104 to send.
  • the providing unit 220 is designed to provide the control signals 114, 116 using the two measuring positions A, B.
  • FIG. 3 shows a flowchart of a method 300 according to one embodiment.
  • the method 300 for monitoring a vehicle by means of at least one unmanned aerial vehicle can be performed, for example, by using a control device, as described above with reference to FIG FIGS. 1 and 2 is described, executed.
  • an initial detection ie, a measurement or a classification
  • the data of the initial detection come from a sensor device of a ground monitoring device for monitoring the vehicle.
  • the vehicle is classified, for example, or located in a digital map.
  • a step 320 using the data from the first detection, optimal measurement positions for re-detection of the vehicle are determined by means of the respective sensor devices of the aircraft.
  • the corresponding control signals for controlling the at least one aircraft are provided in their respective measurement position determined in step 320.
  • a further measurement is carried out at the respective optimal measurement positions. For example, the exact live positions of the at least one aircraft and other boundary conditions such as time, temperature, altitude or wind force are detected.
  • the actual measurement of the vehicle takes place in conjunction with the live positions of the at least one aircraft or of a drone network comprising at least two aircraft and the detected boundary conditions.
  • the steps 320, 330 may be carried out continuously in order to realize a dynamic adaptation of the measuring positions, for example as a function of a current position or speed of the vehicle or of ambient conditions such as shadowing.
  • the detection of the vehicle is thus carried out using a drone compound of at least two drones, also referred to as aircraft.
  • the vehicle is detected by a single, particularly dynamic drone that is capable of rapidly taking different measurement and photo or film positions one after the other.
  • a dynamic P2P measurement with exact position determination and airspeed determination can be carried out.
  • Partly equipped drones can also be used for this purpose.
  • a first drone of the drone compound may be equipped with a camera while a second drone is equipped with a speed sensor.
  • a third drone may in turn have a different equipment.
  • the drones can also be realized in full equipment.
  • the drones are self-sufficient drones.
  • the advantage of such a monitoring method is the dynamic finding of optimal measurement and photo points in which the vehicle to be monitored is not covered by neighboring vehicles. As a result, a sufficiently long communication time between the control unit and the aircraft can be ensured.
  • an exemplary embodiment comprises a "and / or" link between a first feature and a second feature
  • this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
EP18172233.1A 2017-05-17 2018-05-15 Procédé de surveillance d'un véhicule au moyen d'au moins un véhicule aérien sans pilote, appareil de commande et véhicule aérien sans pilote Active EP3407324B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017208333.6A DE102017208333A1 (de) 2017-05-17 2017-05-17 Verfahren zum Überwachen eines Fahrzeugs mittels zumindest eines unbemannten Luftfahrzeugs, Steuergerät und unbemanntes Luftfahrzeug

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Publication Number Publication Date
EP3407324A1 true EP3407324A1 (fr) 2018-11-28
EP3407324B1 EP3407324B1 (fr) 2022-02-09

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EP18172233.1A Active EP3407324B1 (fr) 2017-05-17 2018-05-15 Procédé de surveillance d'un véhicule au moyen d'au moins un véhicule aérien sans pilote, appareil de commande et véhicule aérien sans pilote

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DE (1) DE102017208333A1 (fr)

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* Cited by examiner, † Cited by third party
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CN115115956B (zh) * 2022-07-13 2024-02-13 国网江苏省电力有限公司泰州供电分公司 一种基于数字孪生的三维巡检数据信息融合系统

Citations (4)

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Publication number Priority date Publication date Assignee Title
US20100250022A1 (en) * 2006-12-29 2010-09-30 Air Recon, Inc. Useful unmanned aerial vehicle
WO2016015251A1 (fr) * 2014-07-30 2016-02-04 SZ DJI Technology Co., Ltd. Systèmes et procédés de poursuite de cible
US20160078759A1 (en) * 2012-08-06 2016-03-17 Cloudparc, Inc. Tracking a Vehicle Using an Unmanned Aerial Vehicle
EP3112967A1 (fr) * 2015-06-30 2017-01-04 Kabushiki Kaisha TOPCON Système de gestion de site, procédé de détection de vol et support lisible par ordinateur non transitoire stockant un programme de système de gestion de site

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2010205905C1 (en) * 2009-01-15 2018-06-14 Flyneye Pty Ltd System and method of aerial surveillance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100250022A1 (en) * 2006-12-29 2010-09-30 Air Recon, Inc. Useful unmanned aerial vehicle
US20160078759A1 (en) * 2012-08-06 2016-03-17 Cloudparc, Inc. Tracking a Vehicle Using an Unmanned Aerial Vehicle
WO2016015251A1 (fr) * 2014-07-30 2016-02-04 SZ DJI Technology Co., Ltd. Systèmes et procédés de poursuite de cible
EP3112967A1 (fr) * 2015-06-30 2017-01-04 Kabushiki Kaisha TOPCON Système de gestion de site, procédé de détection de vol et support lisible par ordinateur non transitoire stockant un programme de système de gestion de site

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DE102017208333A1 (de) 2018-11-22
EP3407324B1 (fr) 2022-02-09

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