FR3098307A1 - Method for estimating an instant of passage of a competitor at a fixed landmark of a race venue and associated computer product program - Google Patents

Abstract

Title: Method for estimating an instant of passage of a competitor at a fixed reference point of a race venue and associated computer product program The invention relates to a method for estimating an instant of passage (TP) d 'a competitor at a fixed landmark (21) of a race venue, the competitor being equipped with a geolocation sensor. The method comprises the following steps: - acquisition by a centralized server of a reference signal sent by the sensor, the reference signal comprising at least one reference position (P1) of the competitor at a reference instant (T1); - determination by the centralized server of a reference speed (V1) of the competitor at the reference instant (T1); and - estimation of the moment of passage (TP) by extrapolation of the reference instant (T1) at least as a function of the reference position (P1), of the known position (PR) of the fixed frame (21) and of the reference speed (V1). Figure for the abstract: Figure 3

Description

Method for estimating a moment of passage of a competitor at a fixed landmark of a race location and associated computer product program

The present invention relates to a method for estimating a moment of passage of a competitor to a fixed marker of a race location.

The present invention also relates to a computer program product implementing such an estimation method.

The race is for example a horse race, a cycle race, an athletic race, a water race or an automobile race.

In order to allow a follow-up of the race, it is known to measure the passage time of each competitor at a fixed marker of the place of the race, such as for example the passage time at mid-race.

It is known to measure this passage time manually thanks to a person equipped with a stopwatch and placed next to this reference point.

However, the human eye having a reaction time approximately equal to 0.25 seconds and that, for example, a racehorse moves at approximately 20 m/s, there is therefore a measurement uncertainty of 5 m around of the passage of the racehorse at the mark. Thus, the measurement of the manual lap time does not present a satisfactory precision to follow the race.

It is also known to improve this measurement accuracy by using a Wi-Fi terminal or any other radio signal receiver installed at the fixed benchmark and detecting the passage of a chip on board the competitor. The precision of such a method is about 3 meters which is not yet satisfactory to obtain precise times of passage of each competitor during the course of the race. In addition, this method requires the installation of an expensive measurement system comprising the various Wi-Fi hotspots at the race site.

There is therefore a need for an estimation method allowing a measurement of the passage time of the competitor at the level of the landmark even more precise while being inexpensive.

To this end, the subject of the invention is a method for estimating a moment of passage of a competitor to a fixed mark of a race location, the geographical position of the mark being known, the competitor being equipped with a geolocation sensor configured to receive and send geolocation signals, the method comprising the following steps:

- acquisition by a centralized server of a reference signal sent by the sensor, the reference signal comprising at least one reference position of the competitor at a reference time;

- determination by the centralized server of a competitor's reference speed at the reference time; And

- estimation of the passing time by extrapolation of the reference time at least as a function of the reference position, the known position of the fixed marker and the reference speed.

According to other advantageous aspects of the invention, the estimation method comprises one or more of the following characteristics, taken separately or in all technically possible combinations:

- each competitor is a racehorse during a horse race, the fixed landmark being chosen from the group consisting of: a race start line, a race finish line, an intermediate crossing point of the race ;

- the reference time is prior to the passing time;

- the reference speed is an instantaneous speed of the competitor at the reference instant included in the said reference signal;

- the determination of the reference speed is carried out by calculation of the centralized server according to the reference position and another position of the competitor;

- a fixed receiver is placed in the race location according to a known geographical position and configured to receive geolocation signals from a geolocation system in order to determine a positioning error by comparison between the known geographical position of the fixed receiver and the position of the fixed receiver determined using the geolocation signals received, the calculation method comprising, after the step of reception by the centralized server of the first signal, a step of determining an improved position of the competitor from the positioning error determined by the fixed receiver and the reference position from the sensor;

- the reference instant is prior to the passing instant and the additional instant is later than the passing instant, the time interval between the reference instant and the additional instant being less than 20 ms, advantageously less than 15 ms;

- the method comprises before the step of estimating the time of passage, a step of detection by the server of the passage of the competitor to the fixed marker by comparing the position of the competitor with the known position of the fixed marker;

- the method initially comprises a step of digitizing the race location in order to create a digital model of the race location, the digital model comprising the known position of the fixed marker and the position of the competitor, the detection of the passage of the competitor being carried out by comparison the position of the competitor with the known position of the fixed benchmark in the digital model;

- the position of the competitor is compared with the position of an orthogonal projection of the position of the fixed marker with respect to the main direction of movement of the competitor on the race site, the passage of the competitor being detected when the competitor intersects said orthogonal projection ; And

- the method comprises, after the estimation step, a step of transmission by the server of the moment of passage to an audiovisual terminal, in particular a television set, a smart phone, a digital tablet and/or a laptop computer.

The invention also relates to a computer program product comprising software instructions which, when executed by a processor, implement an estimation method as defined above.

These characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings, in which:

- Figure 1 is a schematic view of a tracking system according to the invention of a plurality of competitors during a race; And

- FIG. 2 is a flowchart representing the operation of the tracking system of FIG. 1;

- FIG. 3 is a diagrammatic representation of the reference time, the passing time and the additional time at the level of a fixed marker of the tracking system of FIG. 1; And

- Figure 4 is a flowchart representing the operation of a method for estimating the time of passage of a competitor to the fixed benchmark of Figure 3.

A tracking system 10 of a plurality of competitors 12 during a race is illustrated in Figure 1.

As seen in Figure 1, each competitor 12 is advantageously a racehorse 13 during a horse race.

Alternatively, each competitor 12 is a cyclist, an athlete or a nautical or automobile driver, etc.

The competitors 12 move on a race location 14. The race location 14 is, for example, a racetrack, a road circuit, an athletics track, a lake or a motor racing circuit.

The race location 14 comprises a start line 16 and a finish line 18 delimiting a course 20 to be carried out by the competitors 12. The start line 16 is configured to allow a simultaneous start of the competitors 12. The course 20 is configured to allow the movement of competitors 12 to the finish line 18.

The race location 14 further comprises at least one fixed marker 21.

Each fixed marker 21 is for example a post placed at the edge of the course 20.

Each fixed marker 21 is placed at a place of interest for monitoring the race, such as for example the start line 16, the finish line 18 or an intermediate waypoint of the race such as the mid-race.

The geographical position of each fixed marker 21 is known.

In the example of Figure 1, each racehorse 13 is ridden by a rider 22, called a "jockey", by means of a saddle 24 placed on the back of the racehorse 12. Horse racing is in particular a test canter, an obstacle course or a mounted trot test. Alternatively, racehorse 13 is equipped with a hitch called a “sulky”. The coupling comprises two wheels and a seat configured to receive the rider 22, then called "driver". Horse racing is then, for example, a harnessed trotting event.

The tracking system 10 includes a plurality of sensors 26, an antenna 28, and a centralized server 32.

In an advantageous embodiment, the tracking system further comprises a fixed receiver 34.

The plurality of sensors 26 is able to communicate with the centralized server 32 via the antenna 28.

Each competitor 12 is equipped with at least one sensor 26.

In the example of Figure 1, the sensor 26 is fixed on the saddle 24 of the racehorse 13 or on the hitch.

Alternatively, the sensor 26 is fixed on a bicycle, on a boat, on an automobile or directly on a garment of the competitor 12.

As can be seen in figure 2, each sensor 26 comprises a measurement module 36, a geolocation sensor 38, a battery 40, a memory 42 and a clock 44.

The measurement module 36 is configured to periodically generate a parameter relating to the geographical position of the associated competitor 12.

For this purpose, the geolocation sensor 38 configured to receive geolocation signals from a geolocation system 46 by satellites such as the GPS system (for "Global Positioning System" in English), Glonass, Beidou or Galileo and to generate a parameter relating to the geographical position of the corresponding competitor 12 in the race location 14.

The measurement module 36 is configured to communicate with the server 32 via the antenna 28.

In particular, the measurement module 36 is configured to periodically emit a geolocation signal comprising the generated parameter.

The term “periodically” is understood to mean reproducing at various predetermined intervals, the intervals possibly being regular.

According to an exemplary embodiment, the measurement module 36 is in the form of a programmable logic circuit of the FPGA (Field-Programmable Gate Array) type and/or software. In the latter case, the sensor 26 further comprises a computer comprising at least one processor and a memory, the software being stored in the memory of the computer and executable by the processor thereof.

The battery 40 is capable of powering the sensor 26 electrically.

The battery 40 is for example a lithium-ion battery.

The memory 42 is configured to store the parameters generated by the measurement module 36. Thus, in the event of failure of the transmission of the parameters by the sensor 26, the parameters are available at the end of the race on the memory 42. The memory 42 is in particular a flash memory.

Clock 44 is suitable for measuring time.

The clock 44 is a clock internal to the sensor 26. Alternatively, the clock is regularly updated by the clock associated with the geolocation system 46.

The server 32 is configured to receive the signals transmitted by the sensors 26 and to process the parameters corresponding to these signals.

Referring to Figure 2, the server 32 includes a storage means 48 of the parameters generated by the sensors 26 over time, a processing module 50 of these parameters and a transmission module 52.

The processing module 50 is configured to estimate a passing time for one of the competitors 12 at one of the landmarks 21 of the race location 14.

To this end, the processing module 50 is capable of implementing an estimation method which will be described later.

The processing module 50 is further configured to determine, from the parameters stored in the storage means 48, for example the classification of the race, the speed of each competitor 12 or the distance traveled by each competitor 12 since the start of the race. race.

The transmission module 52 is configured to transmit at least one piece of information determined by the processing module 50 to at least one audiovisual terminal 54, visible in figure 2.

The audiovisual terminal 54 is in particular a television, a smart phone, a digital tablet and/or a laptop computer. The audiovisual terminal 54 is configured to receive and display each information received in the form of an enhanced television broadcast or post-race report.

The fixed receiver 34 is arranged in the place of race 14 according to a known geographical position, for example near the antenna 28, or even in the same box as the latter.

The fixed receiver 34 is configured to receive geolocation signals from the geolocation system 46 in order to determine a positioning error by comparison between the known geographical position of the fixed receiver 34 and the position of the fixed receiver 34 determined using the geolocation signals received.

The fixed receiver 34 is then configured to transmit a signal comprising the positioning error in particular towards the server 2. To do this, the fixed receiver 34 implements for example the technology called RTK for “Real Time Kinematic” in English or “ Real-time kinematics” in French.

Upon receipt of a signal comprising the positioning error transmitted by the fixed receiver 34, the centralized server 32 is then configured to determine an improved position of each competitor 12 from the positioning error determined by the fixed receiver 34 and the position from the elementary geolocation sensor 48 associated with this competitor 12.

The improved position of the competitor 12 on the race location 14 has an accuracy with respect to the real position of the competitor 12 of a few tens of centimeters or even up to a few centimeters.

A method for estimating a passing time T _p of one of the competitors 12 at one of the fixed landmarks 21 of the race venue 14, implemented by the processing module 50 of the centralized server 32, will now be described.

The estimation method includes an initial step 100 of digitizing the race location 14 in order to create a digital model of this race location 14.

The digital model is stored in the storage means 48 of the server 12.

The digital model includes the position of the start line 16, the course 20, the finish line 18 and each fixed marker 21.

The digital model includes the position of each competitor 12 at the race location 14.

Initially, 12 competitors are located at the 16 start line.

The start is given and the competitors 12 move along circuit 20 towards the finish line 18.

Each sensor 26 periodically generates a geolocation parameter and emits a signal comprising the geographical position of the associated competitor 12.

The antenna 28 receives and transmits the signals emitted by the sensors 26.

During a step 110, the processing module 50 of the centralized server 32 acquires the signals emitted by the antenna 28 then stores the position of each competitor 12 by means of the storage module 48.

Then, during a step 120, the processing module 50 updates the position of the competitors 12 in the digital model.

In parallel with the transmission of the geolocation signals from the sensors 26, the fixed receiver 34 receives geolocation signals emitted by the geolocation system 46.

The fixed receiver 34 compares the position determined from the geolocation signals with the known geographical position of the fixed receiver 34 and thus determines a positioning error.

Then, the fixed receiver 34 transmits a signal comprising the positioning error.

During a step 130, the server 32 then receives this signal comprising the positioning error and the processing module 50 determines an improved position of each racehorse 12 from the positioning error and the position resulting from the sensor 26 associated with this competitor 12.

Advantageously, the processing module 50 then corrects the position of each competitor 12 in the digital model during step 120.

Subsequently, only the transition from a single competitor 12 to a single benchmark 21 will be described, but those skilled in the art will understand that the estimation method applies analogously to a plurality of competitors 12 and a plurality of fixed markers 21.

The position of said fixed marker 21 will be denoted P _R thereafter.

When said competitor 12 is located close to the fixed marker 21, during a step 140, the processing module 50 acquires a geolocation signal called the reference signal sent by the sensor 26 associated with said competitor 12 during a step 110.

The reference signal comprises at least one reference position P ₁ of competitor 12 at a reference instant T ₁ .

Advantageously, the reference time T ₁ is prior to the passage time T _P .

In particular, the time interval between the reference instant T ₁ and the passing instant T _P is less than 15 ms.

During a step 150, the determination module 50 updates the position of the competitor 12 in the digital model by placing it at the reference position P ₁ , possibly corrected by the positioning error determined by means of the fixed receiver 34 .

Then the estimation method includes a step 160 of determination by the processing module 50 of the reference speed V ₁ of the competitor 12 at the reference time T ₁ .

In one embodiment, the reference speed V ₁ is an instantaneous speed of the competitor 12 at the reference instant T ₁ .

In this embodiment, the reference signal further comprises the reference speed V ₁ which is determined via the geolocation system 46.

As a variant, the determination of the reference speed V ₁ is carried out by calculation of the processing module 50 as a function of the reference position P ₁ and of another position of the competitor 12.

Advantageously, the time interval between the reference instant T ₁ and the instant associated with said other position is less than 20 ms.

Then, the estimation method comprises a step 170 of detection by the processing module 50 of the passage of the competitor 12 to the fixed marker by comparing the position of the competitor 12 with the known position P _R of the fixed marker 21.

In particular, the detection of the passage of the competitor 12 is carried out by comparing the position of the competitor 12 with the known position P _R of the fixed marker 21 in the digital model.

The position of the competitor 12 is then compared with the position of an orthogonal projection of the position P _R of the fixed marker 21 with respect to the main direction of movement of the competitor 12 on the place of race 14.

As visible in Figure 1, the orthogonal projection is a line extending from the center of the fixed marker 21 and crossing the course 20 in a direction orthogonal to the main direction of movement of the competitor 12.

By main direction, it is meant that the component of the speed vector of the competitor 12 along this direction is greater than the other components.

The passage of competitor 12 is detected when competitor 12 intersects the orthogonal projection, as seen in Figures 1 and 2.

Advantageously, the reference instant T ₁ is the last instant acquired by the processing module 50 just before the passage of the competitor 12 at the level of the marker 21.

After the determination step 170, the estimation method comprises a step 180 of acquisition by the centralized server 32 of an additional signal sent by the sensor 12 comprising an additional position P ₂ of the competitor 12 at an additional time T _{2 .}

Advantageously, the additional time T ₂ is after the transition time T _P.

The time interval between the reference instant T _P and the additional instant T ₂ is less than 20 ms, advantageously less than 15 ms.

Then during a step 190, the processing module 50 determines an additional speed V ₂ of the competitor 12 at the additional instant T ₂ .

Analogously to the reference speed V ₁ , the additional speed V ₂ is included in the additional signal or calculated by the processing module 50.

The method then comprises a step 200 of estimating the passage time T _p by extrapolation of the reference time T ₁ at least as a function of the reference position P ₁ , of the known position of the fixed marker 21 and of the reference speed V ₁ .

Advantageously, the estimation of the passage time T _P is performed as a function of an average between the reference speed V ₁ and the additional speed V ₂ .

In particular, in a first embodiment, the estimation of the passage time T _p is carried out by means of the formula:

T _P = T ₁ + 2 x (P _R – P ₁ ) / (V ₁ +V ₂ )

As a variant, in a second embodiment, the estimation of the passage time T _P is carried out by considering that the speed of the competitor 12 varies negligibly between the reference time T ₁ and the passage time T _P. The estimation of the passage time T _p is then carried out using the formula:

T _P = T ₁ + (P _R – P ₁ ) / V ₁

As a variant, in a third embodiment, the estimation of the passage time T _P is carried out by considering that the speed of the competitor 12 varies negligibly between the passage time T _P and the additional time T ₂ . The estimation of the passage time T _p is then carried out using the formula:

T _P = T ₁ + (P _R – P ₁ ) / V ₂

Then, during a step 210, the transmission module 52 transmits at least the estimated passage time T _P to an audiovisual terminal 54.

The audiovisual terminal 54 receives and displays the passing time T _P .

It can then be seen that the invention has a certain number of advantages.

The invention indeed allows a precise estimation of the passage time T _P of the competitor 12 at the mark 21.

In particular, the invention allows a precision of less than 5 cm and thus an error rate on the transit time T _P of less than 4%.

In addition, the invention is inexpensive to implement. Indeed, the invention only uses the sensors 26 and does not require the installation of additional equipment on the race site 14.

It is thus possible to follow precisely and inexpensively 12 competitors during the race by obtaining the times of passage in different points of interest of the course 20.

Claims (13)

Method for estimating a time of passing (T _P ) of a competitor (12) at a fixed landmark (21) of a race location (14), the geographical position (P _R ) of the landmark (21) being known, the competitor (12) being equipped with a geolocation sensor (38) configured to receive and send geolocation signals, the method comprising the following steps:
- acquisition (110) by a centralized server (32) of a reference signal sent by the sensor (38), the reference signal comprising at least one reference position (P ₁ ) of the competitor at a reference instant (T ₁ );
- determination (150) by the centralized server (32) of a reference speed (V ₁ ) of the competitor (12) at the reference instant (T ₁ ); And
- estimation (190) of the passage time (T _P ) by extrapolation of the reference time (T ₁ ) at least as a function of the reference position (P ₁ ), of the known position (P _R ) of the fixed benchmark (21) and the reference speed (V ₁ ). Estimation method according to claim 1, in which each competitor (12) is a racehorse (13) during a horse race, the fixed marker (21) being chosen from the group consisting of: a starting line ( 16) of the race, a finish line (18) of the race, an intermediate waypoint of the race. Estimation method according to claim 1 or 2, in which the reference time (T ₁ ) is prior to the passage time (T _P ). Estimation method according to any one of the preceding claims, in which the reference speed (V ₁ ) is an instantaneous speed of the competitor (12) at the reference instant (T ₁ ) included in the said reference signal. Estimation method according to any one of Claims 1 to 4, in which the determination of the reference speed (V ₁ ) is carried out by calculation of the centralized server (32) as a function of the reference position (T ₁ ) and from another position of the competitor (12). Estimation method according to any one of the preceding claims, in which a fixed receiver (34) is placed in the race location (14) according to a known geographical position and configured to receive geolocation signals from a geolocation (46) in order to determine a positioning error by comparing the known geographical position of the fixed receiver (34) and the position of the fixed receiver (34) determined using the geolocation signals received, the calculation method comprising after step of reception by the centralized server (32) of the first signal a step of:
- determination (130) of an improved position of the competitor (12) from the positioning error determined by the fixed receiver (34) and the reference position (P ₁ ) from the sensor (38). Estimation method according to any one of the preceding claims, comprising, after the step of determining the reference speed (V ₁ ) of the competitor (12) at the reference instant (T ₁ ), the following steps:
- acquisition (170) by the centralized server (32) of an additional signal sent by the sensor (38) comprising an additional position (P ₂ ) of the competitor (12) at an additional instant (T ₂ );
- determination (180) of an additional speed (V ₂ ) of the competitor (12) at the additional instant (T ₂ );
the estimation of the passage time (T _P ) being carried out as a function of an average between the reference speed (V ₁ ) and the additional speed (V ₂ ). Estimation method according to claim 7, in which the reference instant (T ₁ ) is prior to the passing instant (T _P ) and the additional instant (T ₂ ) is later than the passing instant ( T _P ), the time interval between the reference instant (T ₁ ) and the additional instant (T ₂ ) being less than 20 ms, advantageously less than 15 ms. Estimation method according to any one of the preceding claims, comprising, before the step of estimating the passing time (T _P ), a step of:
- detection (160) by the server (32) of the passage of the competitor (12) to the fixed marker (21) by comparing the position of the competitor (12) with the position (P _R ) known to the fixed marker (21). Estimation method according to claim 9, initially comprising a step of digitizing (100) the race location (14) in order to create a digital model of the race location (14), the digital model comprising the known position (P _R ) of the fixed mark (21) and the position of the competitor (12), the detection of the passage of the competitor (12) being carried out by comparing the position of the competitor (12) with the known position (P _R ) of the fixed mark (21) in the digital model. Estimation method according to claim 10, in which the position of the competitor (12) is compared with the position of an orthogonal projection of the position of the fixed marker (21) with respect to the main direction of movement of the competitor (12) on the race site (14), the passage of the competitor (12) being detected when the competitor (12) intersects said orthogonal projection. Estimation method according to any one of the preceding claims, comprising after the estimation step, a step of:
- transmission (200) by the server (32) of the time of passage (T _P ) to an audiovisual terminal (54), in particular a television, a smart phone, a digital tablet and/or a laptop computer. A computer product program comprising software instructions which, when implemented by a processor, implement the estimation method according to any preceding claim.