EP0940792A2 - Procédé de détection de véhicules - Google Patents
Procédé de détection de véhicules Download PDFInfo
- Publication number
- EP0940792A2 EP0940792A2 EP99103249A EP99103249A EP0940792A2 EP 0940792 A2 EP0940792 A2 EP 0940792A2 EP 99103249 A EP99103249 A EP 99103249A EP 99103249 A EP99103249 A EP 99103249A EP 0940792 A2 EP0940792 A2 EP 0940792A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- wake
- detection
- confidence
- vehicle noise
- 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
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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
Definitions
- the invention relates to a method for detecting itself a surveillance area approaching vehicles in the Preamble of claim 1 defined genus.
- Such a method is preferably used in wake-up devices used to serve autonomous surveillance systems of terrain areas on and / or to secure Terrain areas against the intrusion of objects, here Vehicles to activate (wake up) only when is reasonably certain that such objects in the Surveillance area appear and / or that the appearing objects also around the surveillance-specific Objects and not others.
- the wake-up must be included false alarm rate is as low as possible in time, that the object is still within the radius of action of the Systems is located.
- a geophone and a microphone are used as sensors and their Output signals preprocessed in accordance with signaling technology.
- Signal peaks or impulses continuously for specified time segments detected, and in the equally pre-processed Output signals of the geophone become signal peaks or -impulses eliminated at those points in same time pieces of the microphone output signal signal peaks or pulses occur.
- time pieces of the geophone output signal becomes a predetermined maximum number of the largest signal peaks or -Pulses extracted and by means of the extracted signal peaks or pulses the likelihood of pedestrian detection rated.
- This process involves eliminating signatures in the geophone output signal, which is also in the microphone output signal occur, such sound events, e.g. removed air blasts, imposed in the detection of air in the medium Generate sound impulses, which in turn hit the ground couple and a similar signature in the geophone output signal evoke like the steps of the pedestrian.
- the Detection reliability is increased in that the Detection result no longer with a yes / no decision displayed, but in terms of its probability is evaluated so that the surgeon based on the Degree of probability or measure of confidence of the detection again the reliability of the detection result can include your own calculation.
- the invention has for its object a method for Detection of vehicles of the type mentioned above with high Detection probability and low false alarm rate create that without interpretation or evaluation by one Surgeon gets along, so it is fully autonomous, and only one relative requires simple signal processing so that it is in unattended wakeup devices that are a bulk item represent, can be used.
- the task is in a procedure in the preamble of Claim 1 specified genus according to the invention by the Features in the characterizing part of claim 1 solved.
- the inventive method has the advantage that Independence of the alarm levels makes each alarm level easy regarding the required time and frequency range, the Realize method and scope for signal processing leaves.
- the exploitation of different physical characteristics in the sensor signals for detection in the different Wakeup levels lead to a significant improvement in Detection method regarding its reliability Vehicle detection and robustness to interference and to a high level of functional reliability one with such a Process operated alarm device.
- the one in the individual Wake-up signals can be processed by a single or removed from multiple sensors.
- the exchange The sensors are easy, so that the process is easy can be adapted to the peculiarities of the area of application.
- the Linking the slave wake-up signals generated in each wake-up level to the actual detection or wake-up signal, the so-called Master wake-up signal, is based on simple heuristic Rules that are easily changed and reflect the specifics of the Field of application can be adapted and beyond are easy to implement. According to the requirements regarding the false alarm rate and the Detection probability based on the justifiable Effort can freely choose the number of wake-up levels available and different alarm levels can be combined differently. A wake-up device operating according to the method can thus be used easily on the requirements in one specific area of application both technically and in terms of price be tailored.
- Linking the slave wake-up signals to the master wake-up signal can e.g. by cascading the wake-up levels take place so that each slave wake-up signal of a wake-up stage subsequent alarm level activated and in that order last alarm stage generates the master alarm signal.
- the individual wake-up stages can also be operated in parallel be switched on at the same time, and their Slave wake-up signals are linked, the link weighted according to the confidence measures of the individual slave wake-up signals he follows. This has the advantage of being less Signal / interference ratios long detection ranges possible and the false alarm rate is kept low. In addition an early wake is possible.
- the method according to the invention is based on a Drawing shown device for performing the Process described in more detail below.
- the shows Drawing a block diagram of a according to the invention Process working, responsive to vehicle noise Alarm device.
- the one shown in the drawing in the block diagram Wake-up device is used to activate or wake up autonomously Area monitoring systems for the Penetration of or being run over by vehicles of all kinds, the autonomous system being a reconnaissance system for capturing of troop movements or a control system, e.g. a Mine system, to destroy all or selected vehicles can be.
- the autonomous system being a reconnaissance system for capturing of troop movements or a control system, e.g. a Mine system, to destroy all or selected vehicles can be.
- That deployed together with the autonomous system in the field Wake-up device has an acoustic antenna 10 which three 120 ° offset from each other in a star shape Has antenna arms 11, 12 and 13. On each antenna arm 11 to 13 are three microphones 14 at a constant distance arranged from each other. At the star point of the three antenna arms 11 to 13 there is another microphone 14.
- the slave wake-up signals the alarm levels 15 to 17 become functional connecting linking unit 18, which in turn the master wake-up signal is generated.
- the connection of the slave wake-up signals can be done in done in different ways.
- Alarm level 15 is used to activate alarm level 16 and that Slave wake-up signal of wake-up level 16 to activate the wake-up level 17 used.
- the slave wake-up signal of the last wake-up stage 17 is the master wake-up signal.
- the order of Activation of alarm levels 15 to 17 can be swapped become.
- the wake-up level with the lowest energy consumption (here alarm 15) first switched on and the subsequent stages with qualitative higher quality signal processing and thus much larger Energy consumption only switched on when in each case previous wake-up stage another preliminary decision in Direction towards the probability of vehicle detection has been hit.
- the wake-up stages 15 through 17 can also be connected in parallel, d. H. the slave wake-up signals the simultaneously active wake-up levels 15 to 17 are in the link unit 18 under weighting their Confidence linked together according to predetermined rules and the master wake-up signal is derived from the confidence-weighted Link generated.
- the wake-up stage 15 is with a single microphone 14 acoustic antenna 10 connected, the wake-up stage 16 at least to those on an antenna arm 11, 12, 13 arranged microphones 14 connected in Embodiment to all three antenna arms 11 to 13, and the wake-up stage 17 with all the microphones 14 is the acoustic one Antenna 10 connected.
- alarm clock level 15 is divided into two Signal processing channels 21, 22 two time-dependent Level signals generated by both Signal processing channels 21, 22 the amplified Filtered, rectified and microphone output signal is integrated, with the first signal processing channel 21 a broadband tuned to the vehicle noise Filtering in a bandpass filter 23 with a bandwidth that the Frequency range of vehicle noise with a good usage / interference ratio (Signal Noise Ratio SNR) corresponds (in following briefly frequency range of vehicle noise called), and integration after rectification with a large time constant occurs in block 24 while that amplified microphone output signal in the second Signal processing channel 22 is filtered broadband (Bandpass 25 with a wide bandwidth, typically in the of predictive events in the surveillance area, e.g.
- Second Noise Ratio SNR Signal Noise Ratio SNR
- the two level signals are an analysis and Evaluation unit 27 supplied.
- the second Level signal from the signal processing channel 22 Signal peaks (peaks) analyzed and the confidence of the Peak detection rated.
- the first level signal from the Signal processing channel 21 becomes both the background level as well as the proportions of vehicle noise estimated and the Confidence of vehicle noise detection assessed.
- the Behavior of the estimation filter used for the estimation is thereby in terms of how they work, how to set them Functional parameters and their decision thresholds through the Confidence of peak detection and vehicle noise detection influenced. From the analysis and evaluation unit 27 finally, with sufficient confidence in vehicle detection the slave wake-up signal is output to the logic unit 18.
- the two signal processing channels 21, 22 can alternatively also each separately on a microphone 14 of the acoustic Antenna 10 may be connected.
- the second wake-up stage 16 has three parallel ones Signal processing channels 31, 32, 33, which in a Analysis and evaluation unit 34 are brought together.
- everyone Signal processing channel 31 or 32 or 33 is to the Microphones 14 of an antenna arm 12 or 13 or 14 of the acoustic antenna 10 connected.
- the amplified output signals of the microphones 14 are the amplified output signals of the microphones 14 by means of a Adder 35 added and by means of a band pass 38 or 39 or 40 in the frequency range of vehicle noise filtered.
- the analysis and evaluation unit 34 the Spectra of the digitized sum signals formed and therein narrowband signal components, so-called lines, are detected and the Confidence of line detection determined. With sufficient The analysis and evaluation unit 34 generates confidence Slave wake-up signal.
- a suitable method for education normalized spectra and extraction of lines is in the DE 30 35 757 C2 described.
- a procedure for determining the DE 195 42 871 C2 shows the measure of confidence.
- the second alarm stage 16 can one or two of the parallel signal processing channels 31 to 33 are omitted, so that the effort for Signal processing reduced.
- each adder 35 or 36 or 37 is replaced by a so-called beamformer, in which the microphone output signals appropriately out of phase and can then be added together.
- the output signals filtered in this way are digitized and fed to a so-called beamformer 42 which by appropriate time delay and addition of time-delayed, digitized signals receiving directions greatest sensitivity, so-called preformed beams.
- beamformer 42 which by appropriate time delay and addition of time-delayed, digitized signals receiving directions greatest sensitivity, so-called preformed beams.
- the Analysis and evaluation unit 43 becomes the maximum of Reception level determined in the various preformed beams, and by the direction of the preformed beam with the maximum Receiving level is the direction of incidence of vehicle noise and thus the bearing angle to the vehicle.
- the Analysis and evaluation unit 43 now becomes one Direction tracking carried out and their confidence assessed.
- the three analysis and evaluation units 27, 34 and 43 output slave wake-up signals are in the Linking unit 18 in the manner described above linked together, and at the output of the link unit 18 is the so-called.
- Master wake-up signal which is used for Activation of an autonomous surveillance or Control system can be used.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19809058 | 1998-03-04 | ||
| DE19809058A DE19809058A1 (de) | 1998-03-04 | 1998-03-04 | Verfahren zum Detektieren von Fahrzeugen |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0940792A2 true EP0940792A2 (fr) | 1999-09-08 |
| EP0940792A3 EP0940792A3 (fr) | 2000-09-06 |
| EP0940792B1 EP0940792B1 (fr) | 2004-07-28 |
Family
ID=7859572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP99103249A Expired - Lifetime EP0940792B1 (fr) | 1998-03-04 | 1999-02-19 | Procédé de détection de véhicules |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0940792B1 (fr) |
| DE (2) | DE19809058A1 (fr) |
| DK (1) | DK0940792T3 (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005034062A1 (fr) * | 2003-10-02 | 2005-04-14 | Robert Bosch Gmbh | Procede pour evaluer et stabiliser des resultats de classification dans le temps |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012017387A1 (de) | 2012-09-01 | 2014-03-06 | Volkswagen Aktiengesellschaft | Verfahren zum Bestimmen einer Position eines Empfängers und Ortungssystem für einen Empfänger |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3035757A1 (de) * | 1980-09-22 | 1986-05-15 | Fried. Krupp Gmbh, 4300 Essen | Verfahren und vorrichtung zum extrahieren von zielsignalen |
| DE4237721B4 (de) * | 1992-11-09 | 2005-09-01 | Rheinmetall Defence Electronics Gmbh | Verfahren und Vorrichtung zur Identifizierung von Verkehrsteilnehmern |
| US5619616A (en) * | 1994-04-25 | 1997-04-08 | Minnesota Mining And Manufacturing Company | Vehicle classification system using a passive audio input to a neural network |
| DE19542871C1 (de) * | 1995-11-17 | 1996-11-28 | Stn Atlas Elektronik Gmbh | Verfahren und Vorrichtung zur Detektion von Fußgängern |
-
1998
- 1998-03-04 DE DE19809058A patent/DE19809058A1/de not_active Ceased
-
1999
- 1999-02-19 DK DK99103249T patent/DK0940792T3/da active
- 1999-02-19 DE DE59910034T patent/DE59910034D1/de not_active Expired - Lifetime
- 1999-02-19 EP EP99103249A patent/EP0940792B1/fr not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005034062A1 (fr) * | 2003-10-02 | 2005-04-14 | Robert Bosch Gmbh | Procede pour evaluer et stabiliser des resultats de classification dans le temps |
| US7796820B2 (en) | 2003-10-02 | 2010-09-14 | Robert Bosch Gmbh | Method for evaluation and stabilization over time of classification results |
Also Published As
| Publication number | Publication date |
|---|---|
| DK0940792T3 (da) | 2004-10-04 |
| EP0940792A3 (fr) | 2000-09-06 |
| DE19809058A1 (de) | 1999-09-09 |
| DE59910034D1 (de) | 2004-09-02 |
| EP0940792B1 (fr) | 2004-07-28 |
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