EP3407324B1 - 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
EP3407324B1
EP3407324B1 EP18172233.1A EP18172233A EP3407324B1 EP 3407324 B1 EP3407324 B1 EP 3407324B1 EP 18172233 A EP18172233 A EP 18172233A EP 3407324 B1 EP3407324 B1 EP 3407324B1
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EP
European Patent Office
Prior art keywords
vehicle
measurement
signal
aerial vehicle
measurement position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18172233.1A
Other languages
German (de)
English (en)
Other versions
EP3407324A1 (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
Original Assignee
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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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
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Definitions

  • the present invention relates to a method for monitoring a
  • Vehicle using at least one unmanned aerial vehicle and another unmanned aircraft.
  • the EP 3 112 967 A1 and the U.S. 2010/0250022 A1 disclose a method for monitoring a vehicle using at least one unmanned aircraft, the aircraft having a sensor device for detecting the vehicle.
  • the method here includes a first step of determining a measurement position A using data that a previous acquisition of
  • the method also includes a second step of providing a control signal to steer the aircraft into measurement position A via a communication device for wireless communication with the at least one aircraft in order to detect the vehicle from measurement position A.
  • the method also includes a step of receiving a measurement signal that represents a detection of the vehicle by sensor device 106 from measurement position A, with the measurement signal being evaluated in an evaluation step in order to monitor the vehicle, with the step of Receiving the measurement signal represents a signal provided by reading out an on-board unit of the vehicle.
  • US2016/0078759 A1 deals with a method for monitoring a vehicle using an unmanned aerial vehicle. In this case, one or more first images can be received by a first camera of the first unmanned aircraft, which is located at a first location.
  • the UAV can then be repositioned to capture one or more second images of the vehicle from the new location.
  • the vehicle's unique identifier may then be determined based on at least one of the one or more second images.
  • a second aircraft can also be positioned at the second position.
  • Traffic monitoring devices are set up statically, so that the relevant measurement steps and the documentation of traffic violations using images depend on relatively short time windows in which, for example, there is a clear view of the vehicle to be monitored and it is not covered by neighboring vehicles.
  • a system for several lanes is often used, resulting in differences in image quality depending on the lanes due to the installation position.
  • P2P measurements fixed, ie static measurement arrangements are also known.
  • the present invention provides an improved method for monitoring a vehicle using at least one unmanned aerial vehicle and a computer program product according to the main claims.
  • Advantageous configurations result from the dependent claims and the following description.
  • the approach described here is based on the knowledge that a vehicle can be detected and monitored using at least one unmanned aircraft and one other unmanned aircraft.
  • the method comprises a step of receiving a measurement signal, which represents a detection of the vehicle by the sensor device from the measurement position, and a further measurement signal, which represents a detection of the vehicle by the further sensor device from the further measurement position.
  • a measurement signal which represents a detection of the vehicle by the sensor device from the measurement position
  • a further measurement signal which represents a detection of the vehicle by the further sensor device from the further measurement position.
  • the measurement signal and the further measurement signal are evaluated in order to monitor the vehicle.
  • the measurement signal and the further measurement signal can represent a speed and, for example, an image, a safety distance, or a position of the vehicle. This can ensure reliable and accurate monitoring of the vehicle.
  • the measurement position represents a starting point of a section control route
  • the further measurement position represents an end point of the section control route.
  • the measurement signal and the further measurement signal are evaluated in order to determine an average speed of the vehicle.
  • a section control route can be understood to mean a section of road on which a section control, ie a point-to-point measurement, is carried out in order to detect the vehicle. This embodiment enables reliable speed monitoring of the vehicle.
  • a position signal that represents an actual position of the aircraft when the vehicle is detected represented from the measurement position can be received.
  • a further position signal which represents an actual position of the aircraft and/or the further aircraft when the vehicle is detected 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 and the further measurement signal represent a signal provided by reading out an on-board unit of the vehicle.
  • An on-board unit can be understood as meaning a radio device built into the vehicle for transmitting vehicle data such as license plate number or location or data for billing toll fees by wireless communication. As a result, the method can be used to read out on-board units.
  • a position for capturing the vehicle from a bird's-eye view is determined as the measurement position or the further measurement position.
  • 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.
  • the approach presented here can also create a control device that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices.
  • the object on which the invention is based can also be achieved quickly and efficiently by this embodiment variant in the form of a control unit, which is not according to the invention.
  • a control unit can be understood to mean an electrical device which processes sensor signals and outputs control and/or data signals as a function thereof.
  • the control device can have an interface that and/or can be designed in terms of software.
  • the interfaces can be part of what is known as a system ASIC, for example, which contains a wide variety of functions of the control unit.
  • the interfaces can be separate integrated circuits or to consist at least partially of discrete components.
  • the interfaces can be software modules which are present, for example, on a microcontroller alongside other software modules.
  • the approach presented here also creates an unmanned aircraft for monitoring a vehicle, the aircraft having features:
  • the sensor device can include, for example, a camera, a speed sensor, a GPS module or the communication device.
  • the communication device is designed to read out an on-board unit of the vehicle.
  • a computer program product is also specified 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 is used to control the steps of the method according to one of the embodiments described above, in particular if the Program product or program running on a computer or device.
  • program code 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 is used to control the steps of the method according to one of the embodiments described above, in particular if the Program product or program running on a computer or device.
  • figure 1 shows a schematic representation of two unmanned aircraft 100, 102 and a control unit 104 according to an embodiment.
  • the aircraft 100 has a sensor device 106 for detecting a vehicle 108 .
  • the further aircraft 102 also has a further sensor device 110 for detecting the vehicle 108 .
  • the two sensor devices 106, 110 are, for example, a camera, a speed sensor or a location sensor, in particular a GPS module, or a combination of at least two of the types of sensors mentioned.
  • the sensor devices 106, 110 are designed, for example, to detect measured variables that differ from one another.
  • the control unit 104 which is implemented, for example, as a component of a ground station or a mobile traffic monitoring device, includes a communication device 112 for wireless communication with the two aircraft 100, 102 or at least one of the aircraft 100, 102.
  • the control unit 104 is designed to use Data representing, for example, a position or vehicle class of vehicle 108 detected at an earlier point in time by at least one of the two aircraft 100, 102, to determine a measurement position A and a further measurement position B.
  • control unit 104 uses measurement position A, control unit 104 generates a control signal 114 and sends it via communication device 112 to aircraft 100 in order to steer it to measurement position A, which here represents a starting point of a section control route for determining an average speed of vehicle 108.
  • control unit 104 uses the measurement position B to generate a further control signal 116 for controlling the further aircraft 102 and to send it to the further aircraft 102 via the communication device 112 .
  • the further aircraft 102 is steered into the further measurement position B by means of the further control signal 116, which here represents an end point of the section control route.
  • the aircraft 100, 102 are designed to detect the vehicle 108 from their respective measurement position.
  • Sensor device 106 in measuring position A sends a measuring signal 118 representing vehicle 108 to communication device 112, while the further sensor device 110 in measuring position B sends a further measuring signal 120 representing vehicle 108 to communication device 112.
  • this embodiment not forming part of the invention,
  • control unit 104 is designed to determine the average speed of vehicle 108 when driving on the section control route by evaluating the two measurement signals 118, 120 accordingly. Depending on the exemplary embodiment, control unit 104 is designed to determine an actual speed or a safety distance of vehicle 108 or other vehicle-related or safety-relevant parameters using measurement signals 118, 120 in addition to the average speed. For example, at least one of the two sensor devices 106, 110 is designed to read out an on-board unit integrated in vehicle 108 in order to detect vehicle 108 and to transmit corresponding data to control unit 104.
  • the two aircraft 100, 102 transmit their current actual position to control unit 104 in addition to measurement signals 118, 120, with aircraft 100 transmitting a corresponding position signal 122 to communication device 112 and the other aircraft 102 transmitting a corresponding further position signal 124 to the communication device 112 transmits.
  • 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. Any deviations between the respective actual and measurement positions of the two aircraft 100, 102 can thus be taken into account in the evaluation.
  • the vehicle 108 is monitored here by means of the two aircraft 100, 102 from a bird's eye view.
  • the two aircraft 100, 102 can have different flight altitudes when the vehicle 108 is detected.
  • the control unit 104 can thus also be designed to control more than two aircraft 100, 102 for monitoring the vehicle 108 or also for monitoring a plurality of vehicles at the same time.
  • FIG figure 2 shows a schematic representation of a control device 104 according to an embodiment that is not part of the invention such as one above with reference to FIG figure 1 described control unit.
  • 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 at least one of the two aircraft, and to transmit these to a provision unit 220 of control unit 104 to send.
  • the provision unit 220 is designed to provide the control signals 114, 116 using the two measurement positions A, B.
  • FIG 3 shows a flowchart of a method 300 according to an embodiment.
  • the method 300 for monitoring a vehicle by means of at least one unmanned aircraft can, for example, using a control device as described above with reference to FIG figures 1 and 2 is described to be executed.
  • the vehicle to be monitored is initially recorded, ie measured or classified, using at least one aircraft.
  • the data of the first detection originate from a sensor device of a ground monitoring device for monitoring the vehicle.
  • the vehicle is, for example, classified or located on a digital map.
  • a step 320 using the data from the first detection, optimal measurement positions for renewed detection of the vehicle are determined by means of the respective sensor devices of the aircraft.
  • step 330 the corresponding control signals for controlling the at least one aircraft in their respective measurement position determined in step 320 are provided.
  • a further measurement is carried out at the respective optimal measurement positions. For example, the exact live positions of the respective aircraft and other boundary conditions such as time, temperature, flight altitude or wind speed are recorded. The actual measurement of the vehicle takes place in connection with the live positions of the at least one aircraft or a drone network consisting of at least two aircraft and the recorded boundary conditions.
  • Steps 320, 330 can be carried out continuously in order to implement a dynamic adjustment of the measurement positions, for example as a function of a current position or speed of the vehicle or of environmental conditions such as shadowing.
  • the vehicle is thus detected using a drone network made up of at least two drones, also referred to above as aircraft.
  • the drone network can be used to carry out a dynamic P2P measurement with exact determination of position and own speed.
  • Partially equipped drones can also be used for this.
  • a first drone in the group of drones can be equipped with a camera, while a second drone is equipped with a speed sensor.
  • a third drone can in turn have different equipment.
  • the drones can also be fully equipped.
  • the drones are, for example, self-sufficient drones.
  • the advantage of such a monitoring method consists in the dynamic finding of optimal measurement and photo points in which the vehicle to be monitored is not covered by neighboring vehicles. This ensures a sufficiently long communication time between the control unit and the aircraft.
  • an embodiment includes an "and/or" link between a first feature and a second feature, this can be read in such a way that the embodiment according to one embodiment includes both the first feature and the second feature and according to a further embodiment either only the first Feature or has only the second feature.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Claims (4)

  1. Procédé (300) de surveillance d'un véhicule (108), lors de la circulation sur un trajet sur un tronçon de contrôle, au moyen d'au moins un véhicule aérien sans pilote (100) et d'au moins un autre véhicule aérien sans pilote (102), le véhicule aérien (100) présentant un dispositif capteur (106) et l'autre véhicule aérien (102) présentant un autre dispositif capteur (110) pour détecter le véhicule (108), le procédé (300) comprenant les étapes suivantes :
    détermination (320) d'une position de mesure (A) à l'aide de données (212), qui représentent une détection antérieure du véhicule (108) et détermination (320) d'une autre position de mesure (B) à l'aide de données (212), qui représentent une détection antérieure du véhicule (108) ;
    mise à disposition (330), par un appareil de commande (104), d'un signal de commande (114) pour commander le véhicule aérien (100) dans la position de mesure (A), par l'intermédiaire d'un dispositif de communication (112) destiné à la communication sans fil avec ledit au moins un véhicule aérien (100), pour détecter le véhicule (108) par rapport à la position de mesure (A) et mise à disposition d'un autre signal de commande (116) pour commander l'autre véhicule aérien (102) dans l'autre position de mesure (B) par l'intermédiaire du dispositif de communication (112), pour détecter le véhicule (108) par rapport à l'autre position de mesure (B) ; et
    réception d'un signal de mesure (118), qui représente une détection du véhicule (108) par le dispositif capteur (106) par rapport à la position de mesure (A), et d'un autre signal de mesure (120), qui représente une détection du véhicule (108) par l'autre dispositif capteur (110) par rapport à l'autre position de mesure (B), où, dans une étape d'évaluation, le signal de mesure (118) et l'autre signal de mesure (120) sont évalués pour surveiller le véhicule (108) et, dans l'étape de réception (310), le signal de mesure (118) et l'autre signal de mesure (120) représentent un signal mis à disposition par lecture d'une unité à bord du véhicule (108) au moyen du dispositif capteur (106) et de l'autre dispositif capteur (110), où, dans l'étape de détermination (320), la position de mesure (A) représente un point de départ du trajet sur le tronçon de contrôle et l'autre position de mesure (B) représente un point final du trajet sur le tronçon de contrôle, où, dans l'étape d'évaluation, le signal de mesure (118) et l'autre signal de mesure (120) sont évalués pour déterminer une vitesse moyenne du véhicule (108).
  2. Procédé (300) selon la revendication 1, dans lequel, dans l'étape de réception (310), un signal de position (122), qui représente une position réelle du véhicule aérien (100) lors de la détection du véhicule (108) par rapport à la position de mesure (A), est reçu et un autre signal de position (124), qui représente une position réelle du véhicule aérien (100) et de l'autre véhicule aérien (102) lors de la détection du véhicule (108) par rapport à l'autre position de mesure (B), est reçu, où, dans l'étape d'évaluation, le signal de mesure (118) et l'autre signal de mesure (120) sont évalués à l'aide du signal de position (122) et de l'autre signal de position (124).
  3. Procédé (300) selon l'une quelconque des revendications précédentes, dans lequel, dans l'étape de détermination (320), une position pour détecter le véhicule (108) est déterminée en vue aérienne comme la position de mesure (A) et l'autre position de mesure (B).
  4. Produit de programme informatique qui est conçu pour commander le procédé (300) selon l'une quelconque des revendications 1 à 3.
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

Publications (2)

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

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EP (1) EP3407324B1 (fr)
DE (1) DE102017208333A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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US20100250022A1 (en) * 2006-12-29 2010-09-30 Air Recon, Inc. Useful unmanned aerial vehicle
AU2010205905C1 (en) * 2009-01-15 2018-06-14 Flyneye Pty Ltd System and method of aerial surveillance
US9489839B2 (en) * 2012-08-06 2016-11-08 Cloudparc, Inc. Tracking a vehicle using an unmanned aerial vehicle
CN107168352B (zh) * 2014-07-30 2020-07-14 深圳市大疆创新科技有限公司 目标追踪系统及方法
JP6514973B2 (ja) * 2015-06-30 2019-05-15 株式会社トプコン 現場管理システム、飛行検出方法およびプログラム

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EP3407324A1 (fr) 2018-11-28

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