EP2306429A1 - Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules - Google Patents

Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules Download PDF

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Publication number
EP2306429A1
EP2306429A1 EP09450190A EP09450190A EP2306429A1 EP 2306429 A1 EP2306429 A1 EP 2306429A1 EP 09450190 A EP09450190 A EP 09450190A EP 09450190 A EP09450190 A EP 09450190A EP 2306429 A1 EP2306429 A1 EP 2306429A1
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EP
European Patent Office
Prior art keywords
vehicle
light
data
light pattern
license plate
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
EP09450190A
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German (de)
English (en)
Other versions
EP2306429B1 (fr
Inventor
Alexander Leopold
Oliver Nagy
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.)
Kapsch TrafficCom AG
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Kapsch TrafficCom AG
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
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Application filed by Kapsch TrafficCom AG filed Critical Kapsch TrafficCom AG
Priority to AT09450190T priority Critical patent/ATE550750T1/de
Priority to SI200930262T priority patent/SI2306429T1/sl
Priority to EP09450190A priority patent/EP2306429B1/fr
Priority to PL09450190T priority patent/PL2306429T3/pl
Priority to DK09450190.5T priority patent/DK2306429T3/da
Priority to ES09450190T priority patent/ES2384750T3/es
Priority to PT09450190T priority patent/PT2306429E/pt
Priority to AU2010214634A priority patent/AU2010214634B2/en
Priority to NZ587584A priority patent/NZ587584A/en
Priority to ZA2010/06521A priority patent/ZA201006521B/en
Priority to CL2010001008A priority patent/CL2010001008A1/es
Priority to CN2010102978523A priority patent/CN102034087A/zh
Priority to CA2716158A priority patent/CA2716158A1/fr
Priority to US12/896,813 priority patent/US20110103647A1/en
Publication of EP2306429A1 publication Critical patent/EP2306429A1/fr
Publication of EP2306429B1 publication Critical patent/EP2306429B1/fr
Application granted granted Critical
Not-in-force 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
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • 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
    • 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 present invention relates to devices and methods for classifying objects, in particular vehicles, on a roadway.
  • the classification of roadway objects is of great importance for road toll or parking fee systems in order to realize class-based tariff models.
  • various constructions are currently used, such as induction loops embedded in the roadway, light barriers on the roadside or road-mounted radar or laser scanners.
  • the former can only detect the size of vehicles, the latter while the entire surface contour of the vehicles as a 3D relief, but are technically complex and correspondingly expensive.
  • the invention has for its object to provide methods and apparatus for object classification, which are simpler and less expensive than the known solutions.
  • This object is achieved in a first aspect of the invention with a device of the type mentioned above, which is characterized by a working on the light-path method, directed to the road sensor to detect the surface contour of an object, and connected to the sensor Evaluation device which classifies the object based on the detected surface contour.
  • the light-section method known in the art is used for the first time for the classification of roadway objects, in particular vehicles.
  • Light-section sensors project structured light, eg a single light line ("light fan” or "light stroke"), a multitude of parallel light lines (“fringe projection”) or an entire light grid at a first angle to an object to be detected and take the object with you the structure projected thereon from an angle deviating from the projection direction, whereby the surface contour of the object can be determined from the distortions of the structure in the recorded image.
  • the use of the light section method for vehicle classification has the advantage that it requires a significantly lower computational outlay for image evaluation than laser scanner methods, because only individual light lines or light grid points in the camera image have to be detected and evaluated.
  • the senor comprises a light pattern projector which projects a light pattern, preferably light grating, onto the roadway from a first location, and a camera which receives the projected light pattern from a second location and from whose distortions the surface contour is detected, as in the art known.
  • a particularly advantageous embodiment of the invention is characterized in that the light pattern projector additionally projects a light mark, which the camera takes with.
  • the light marking is preferably a lettering and / or a machine-readable code, preferably a barcode ("barcode").
  • barcode a machine-readable code
  • the evaluation of the camera images can be substantially facilitated: the light marking can identify individual light lines of the light pattern, for example, in order to facilitate their automatic detection in the camera image; the light marking can also be integrated directly into the light pattern or its lines for this purpose.
  • the light mark can also be used in a particularly advantageous manner for evidence in traffic monitoring and control, for example, when recording location and time of the camera image indicates:
  • a traffic offense in the recorded image "projected into”, which is high evidential value the picture has.
  • Both a human-readable label and a corresponding machine-readable code, which contains such data, are suitable for this purpose.
  • the senor has in known manner at least two light pattern projectors at mutually different first locations to avoid shadowing of the object; It is understood that the camera and the evaluation must be designed accordingly to distinguish the originating from the individual light pattern projectors light pattern in the image, for example, by various coding (marking) of the light pattern, using different wavelengths for the light pattern, operating the light pattern projectors in time-division multiplexing etc.
  • a combination of code and projection light stroke such as a line-integrated "Morse" code, are also well suited.
  • This integrated coding of the lines makes it possible to distinguish between a plurality of projected lines, possibly from different light sources, and the initial system configuration or calibration is thereby made considerably easier.
  • a dashed line can be projected whose stroke distance or length contains the coding. The generation of such lines is very easy by means of the light sources downstream panels possible.
  • each of the light pattern projectors may be of any type known in the art. It is particularly advantageous if the light pattern projector is a laser or light-emitting diode radiator, as a result of which high luminance densities can be achieved.
  • the use according to the invention of light-section sensors for vehicle classification has the additional advantage that existing traffic surveillance cameras for the camera of the sensor can be used. This facilitates the installation of such a system in the context of existing traffic surveillance systems.
  • Pedestrians are detected and classified on the carriageway.
  • One possible embodiment is a vehicle or pedestrian traffic light control based thereon.
  • the invention provides a system for identity verification of vehicles, which is based on the described classification devices and distinguished by a classification device of the kind presented here for obtaining classification data of a vehicle, a vehicle registration device for obtaining license plate data of a vehicle, a database for linking the classification and license plate data to identity data of a vehicle, and an evaluation device which displays two vehicles as ident if their identity data is the same.
  • the identity data represent a kind of "fingerprint" of a vehicle, with which, for example, it can be checked whether the license plate of the vehicle was exchanged in an inadmissible manner or under a certain license plate an invalid type of vehicle is operated, etc.
  • the classification device and the license plate detection device use a common camera.
  • the identity check can be carried out with the same hardware as the vehicle classification and it is mainly necessary to special software in the evaluation for automatic license plate recognition.
  • An advantageous application of the system according to the invention is that it monitors the entry and exit of a parking lot and displays when the identity data of an outgoing vehicle from the data stored in the database identity data of a previously retracted vehicle with the same License plate data differ from each other.
  • an anti-theft device for parking spaces for example in multi-storey car parks, can be realized, which gives alarm when license plates are remounted in order to prevent a vehicle from being stolen under a foreign license plate.
  • the invention provides a method for classifying objects, in particular vehicles, on a roadway, with the steps
  • the invention also provides a method for identity verification of vehicles, with the steps
  • Performing the classification method presented here on a second-occurrence vehicle to obtain classification data of the vehicle acquiring characteristic data of the vehicle and linking the classification and characteristic data to identity data of the second-occurrence vehicle, and Recognizing the first-occurrence vehicle and the second-occurrence vehicle as ident if their identity data is the same.
  • a device 1 for the classification of vehicles 2 on a roadway 3 is shown.
  • the device 1 has a sensor 4 operating according to the light-section method, which is mounted on a bridge carrier 5 spanning the roadway 3 and is connected to an evaluation device 6.
  • the sensor 4 comprises, on the one hand, a light pattern projector 7 which projects a light pattern 9 onto the roadway 3 from a first location, in this case an upper support 8 of the bridge 5, and on the other hand a camera 10, which extends from a second location - here a lower support 11 of the bridge 5 - takes a picture 12 of the projected light pattern 9, as shown by way of example in FIGS FIGS. 2 and 3 is shown.
  • the evaluation device 6 determines the surface contour of the vehicle 2 from the distortions of the light pattern 9 in the image 12, as they occur through the surface relief of a vehicle 2 from the viewing angle of the camera 8 deviating from the light projection direction, and generates therefrom classification data 13 of the vehicle 2, like its Size, number of axles etc.
  • the light pattern 9 can be both a single light line ("light stroke"), a group of parallel light lines ("fringe projection") and a light grid, as shown in FIG Fig. 2 is shown. How out Fig. 2 can be seen, the light pattern 9, for example, consist of a grid of each spaced by 1 m light lines, so that a size classification in the meter range can be performed by merely counting the projected to a vehicle 2 grid crossing points.
  • Circle patterns 9 are possible, for example, those in Fig. 4 Circle patterns shown in plan view 14. Circles, when projected onto a cylindrical body, eg a tanker truck, and viewed at a certain angle, provide a straightforward straight line to be detected when the circle diameter corresponds to the cylinder body diameter, from which, for example, the diameter of tanker trucks can be determined ,
  • the light pattern projector 7 is preferably a laser radiator whose laser beams are brought into a line, fringe or lattice form by a lens or a diffraction grating.
  • the light pattern projector 7 can also be constructed with the aid of high-performance light emitting diodes (LED). It is also possible to arrange more than one light pattern projector 7 at different positions, e.g. to illuminate the roadway 3 or the vehicle 2 from different angles in order to avoid shadowing.
  • Fig. 3 shows such a variant in which by means of a first light pattern projector, a first family of 15 parallel lines of light from one side and with the aid of a second light pattern projector, a second family 16 of parallel light lines from another side on the roadway 3 and the vehicle 2 are projected. So that the camera 10 and / or the evaluation device 6 can correctly assign the light lines in the image 12 to the light pattern projectors, the flocks 15, 16 are emitted, for example, with different wavelengths in the time multiplex or with different modulations or codings, as known in the art.
  • the light pattern projectors 7 and the camera 10 may be arranged at arbitrary different positions as long as the projected light pattern is picked up from a direction deviating from its projection direction.
  • the light pattern projector 7 can continuously emit the light pattern 9, but also intermittently or in pulses as needed, e.g. when the presence of a vehicle 2 on the lane 3 is detected. With such a pulsed operation, a higher light output can also be generated in the short term ("flash of light”) to reduce the image contrast in unfavorable ambient light conditions, e.g. bright sunshine, to improve.
  • the light-section sensor 4 can then also be used to detect the mere presence of a vehicle 2 in order to trigger further actions, such as a subsequent classification with the aid of the device 1.
  • a trigger in the simplest case only a single light line needs to be projected and its course in the image 12 monitored for a disturbance, e.g. a kink or a break, which can be monitored with very simple image processing means.
  • the light pattern projector 7 in addition to the light pattern 9 and a light mark 15, 16 project, which is held by the camera 10 in the image 12.
  • the light marker may be a human-readable label 15 and / or a machine-readable code 16, eg, a 1- or 2-dimensional barcode.
  • the image 12 taken by the camera 10 can be very tamper-proof Labeling example of the location and the time of image capture and / or other environmental parameters are provided, which can be of great help for evidence in traffic control and in the punishment of traffic offenses.
  • Fig. 5 shows an application of the device 1 of Fig. 1 to 4 as part of a system 21 for checking the identity of vehicles 2, preferably at the entrance and exit 22 of a parking lot, such as a parking garage.
  • the system 21 comprises on the one hand a device 1 according to Fig. 1 with a light pattern projector 7 and a camera 10 for detecting the surface contour of a vehicle 2 and for determining classification data therefrom.
  • the system 21 is equipped with a device for detecting a license plate 23 of the vehicle 2, which device can work with the same hardware as the device 1, ie with the camera 10 and the evaluation device 6.
  • the evaluation device 6 a software module for optical Character recognition (optical character recognition, OCR) of the tag 23 included.
  • the evaluation device 6 generates here in addition to the classification data 13 and license plate data 24 for a vehicle 2 and links this data in a database 25 to identity data 26 of a vehicle 2.
  • the identity data 26 thus represent a kind of "fingerprint" of a vehicle 2, because they next the license plate 23 also contain other properties of the vehicle, eg its size, shape, number of axes, etc.
  • identity checks can be made on vehicles 2, for example plausibility, as to whether the vehicle for which the license plate has been approved actually falls into the vehicle class specified in the identity data.
  • the system 21 can also determine whether two consecutively occurring Vehicles 2 are identical or not by comparing the identity data 26.
  • a preferred application of the system 21 is e.g. theft prevention of vehicles in a parking lot, e.g. in parking garages.
  • the system 21 compares the identity data 26 of all incoming and outgoing vehicles and raises an alarm when discrepancies in the identity data 26 arise, for example because license plates have been changed over.
  • an image recording of the vehicle can be made with the camera 10, an exit barriers are kept closed, etc.
  • the system 21 is preferably put into operation by right of way at the entrance and exit barriers.
  • the light pattern projector 7 is here pulsed ("flash of light") driven to the light section classification of the persistent vehicle before the barrier.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Sorting Of Articles (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)
EP09450190A 2009-10-01 2009-10-01 Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules Not-in-force EP2306429B1 (fr)

Priority Applications (14)

Application Number Priority Date Filing Date Title
AT09450190T ATE550750T1 (de) 2009-10-01 2009-10-01 Vorrichtungen und verfahren zur klassifizierung von fahrzeugen
SI200930262T SI2306429T1 (sl) 2009-10-01 2009-10-01 Naprave in postopek za klasificiranje vozil
EP09450190A EP2306429B1 (fr) 2009-10-01 2009-10-01 Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules
PL09450190T PL2306429T3 (pl) 2009-10-01 2009-10-01 Urządzenie i sposób klasyfikacji pojazdów
DK09450190.5T DK2306429T3 (da) 2009-10-01 2009-10-01 Apparat og fremgangsmåde til klassificering af køretøjer
ES09450190T ES2384750T3 (es) 2009-10-01 2009-10-01 Dispositivos y procedimientos para la clasificación de vehículos
PT09450190T PT2306429E (pt) 2009-10-01 2009-10-01 Dispositivos e método para classificação de viaturas
AU2010214634A AU2010214634B2 (en) 2009-10-01 2010-08-24 Devices and methods for classifying vehicles
NZ587584A NZ587584A (en) 2009-10-01 2010-08-25 Classifying vehicles using light section surface contouring
ZA2010/06521A ZA201006521B (en) 2009-10-01 2010-09-10 Devices and method for classifying vehicles
CL2010001008A CL2010001008A1 (es) 2009-10-01 2010-09-27 Dispositivo, conjunto y metodo para clasificar objetos, que emplea un sensor que opera con el procedimiento de seccion de luz y esta dirigido a la calzada para detectar el contorno superficial de un objeto, y una unidad de evaluacion conectada con el sensor, que clasifica al objeto basado en el contorno superficial detectado.
CN2010102978523A CN102034087A (zh) 2009-10-01 2010-09-28 用于对汽车进行分类的装置和方法
CA2716158A CA2716158A1 (fr) 2009-10-01 2010-09-30 Dispositifs et methodes de classification des vehicules
US12/896,813 US20110103647A1 (en) 2009-10-01 2010-10-01 Device and Method for Classifying Vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09450190A EP2306429B1 (fr) 2009-10-01 2009-10-01 Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules

Publications (2)

Publication Number Publication Date
EP2306429A1 true EP2306429A1 (fr) 2011-04-06
EP2306429B1 EP2306429B1 (fr) 2012-03-21

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EP09450190A Not-in-force EP2306429B1 (fr) 2009-10-01 2009-10-01 Dispositif et procédé destinés à la détermination de la direction, de la vitesse et/ou de l'écart de véhicules

Country Status (14)

Country Link
US (1) US20110103647A1 (fr)
EP (1) EP2306429B1 (fr)
CN (1) CN102034087A (fr)
AT (1) ATE550750T1 (fr)
AU (1) AU2010214634B2 (fr)
CA (1) CA2716158A1 (fr)
CL (1) CL2010001008A1 (fr)
DK (1) DK2306429T3 (fr)
ES (1) ES2384750T3 (fr)
NZ (1) NZ587584A (fr)
PL (1) PL2306429T3 (fr)
PT (1) PT2306429E (fr)
SI (1) SI2306429T1 (fr)
ZA (1) ZA201006521B (fr)

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PT2804014E (pt) 2013-05-13 2015-09-10 Kapsch Trafficcom Ag Dispositivo e método para determinar uma característica de um veículo
JP2015022658A (ja) * 2013-07-22 2015-02-02 株式会社東芝 車両監視装置、および車両監視方法
CN103794056B (zh) * 2014-03-06 2015-09-30 北京卓视智通科技有限责任公司 基于实时双路视频流的车型精确分类系统及方法
CN104359921B (zh) * 2014-11-20 2016-11-23 中南大学 一种基于结构光的扣件缺失检测方法及其装置
EP3026653A1 (fr) * 2014-11-27 2016-06-01 Kapsch TrafficCom AB Procédé de commande d'un système de surveillance de trafic
GB2533581B (en) * 2014-12-22 2016-12-07 Ibm Image processing
CN104575097B (zh) * 2015-01-05 2017-01-11 西安交通大学 一种以激光光刀为辅助光源的车位识别方法与装置
CN107211516B (zh) 2015-02-05 2019-11-29 飞利浦灯具控股公司 道路照明
EP3323237B1 (fr) 2015-08-26 2025-05-14 Zhejiang Dahua Technology Co., Ltd Procédés et systèmes de surveillance de trafic
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CN105335723B (zh) * 2015-11-02 2019-04-19 招商局重庆交通科研设计院有限公司 一种基于红外结构光的车型识别方法
CN105608907A (zh) * 2016-03-11 2016-05-25 昆山市工研院智能制造技术有限公司 一种车辆检测系统
US11313950B2 (en) * 2019-01-15 2022-04-26 Image Sensing Systems, Inc. Machine learning based highway radar vehicle classification across multiple lanes and speeds
CN111427063B (zh) * 2020-02-11 2023-03-17 深圳市镭神智能系统有限公司 一种移动装置通行控制方法、装置、设备、系统及介质
EP4134933A1 (fr) * 2021-08-11 2023-02-15 MOVYON S.p.A. Système et méthode pour détecter la classe d'un véhicule en transit

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DE102011053052B3 (de) * 2011-08-26 2013-02-28 Jenoptik Robot Gmbh Verfahren und Vorrichtung zur Identifikation von Kraftfahrzeugen zur Verkehrsüberwachung
US9177211B2 (en) 2011-08-26 2015-11-03 Jenoptik Robot Gmbh Method and apparatus for identifying motor vehicles for monitoring traffic
DE102013201821A1 (de) * 2013-02-05 2014-08-07 GESIG, Gesellschaft für Signalanlagen Gesellschaft m.b.H. Verfahren und System zur Erfassung von Falschfahrern
DE102013201821B4 (de) * 2013-02-05 2016-03-03 GESIG, Gesellschaft für Signalanlagen Gesellschaft m.b.H. Verfahren und System zur Erfassung von Falschfahrern

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ES2384750T3 (es) 2012-07-11
EP2306429B1 (fr) 2012-03-21
PL2306429T3 (pl) 2012-08-31
AU2010214634B2 (en) 2013-10-31
ZA201006521B (en) 2011-06-29
PT2306429E (pt) 2012-05-17
CN102034087A (zh) 2011-04-27
SI2306429T1 (sl) 2012-07-31
AU2010214634A1 (en) 2011-04-21
US20110103647A1 (en) 2011-05-05
ATE550750T1 (de) 2012-04-15
NZ587584A (en) 2011-02-25
DK2306429T3 (da) 2012-07-09
CA2716158A1 (fr) 2011-04-01

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