EP3422322A1 - Mobile control system for vehicle control - Google Patents

Abstract

An arrangement for determining at least one vehicle characteristic of a target vehicle, comprising at least one light-sensitive sensor for detecting data of the target vehicle and an evaluation device for recognizing the at least one vehicle feature using the data, and methods for determining at least one vehicle feature of a target vehicle, wherein at least one photosensitive sensor Data of the target vehicle to be detected and wherein with an evaluation the at least one vehicle feature is detected on the basis of the data.

Description

The invention relates to an arrangement for determining at least one vehicle characteristic of a target vehicle, having at least one photosensitive sensor for acquiring data of the target vehicle and having an evaluation device for recognizing the at least one vehicle characteristic using the data, and a method for determining at least one vehicle characteristic of a target vehicle With at least one photosensitive sensor, data of the target vehicle can be detected and, with an evaluation device, the at least one vehicle feature is recognized on the basis of the data.

Arrangements and methods for detecting vehicles moving along a lane by means of a camera for detecting a vehicle characteristic of the vehicle and, if appropriate, its speed are known, for example, from various monitoring or traffic detection applications.

Automatic control systems for road tolls, for example, which are based on the communication between the vehicle and a corresponding direction of communication at a toll inspection station, presuppose that in each toll vehicle, a corresponding communication device is available, from which the essential data of the vehicle can be retrieved, the identification In addition, the used road sections should also be recorded and / or transmitted during each inspection. The system must be able to clearly identify each vehicle that is subject to toll as such. This means that, on the one hand, vehicles that are not subject to the toll charge may not be covered and, on the other, that all toll vehicles may be recorded as such.

A control method for toll collection with a control system with a plurality of vehicle information acquisition devices and with a trigger device for timely activation of the detection devices is known from US Pat DE 101 04 502 B4 known. The individual detection devices are activated at times at which the spatial arrangement of the vehicle and the respective vehicle information detecting detection device is optimal, wherein the different spatially and temporally separated by the detection devices detected vehicle information of a vehicle from the control system to the vehicle and a reference time point. Mobile controls are foreseen, with control vehicles swimming in flowing traffic and vehicles in check at suitable stops in order to check the toll on the stopped vehicle. In flowing traffic is communicated via a communication device known as Dedicated Short Range Communication or DSRC module with the DSRC module of the toll vehicle.

An object of the present invention is to provide an arrangement and a method for determining at least one vehicle characteristic of a target vehicle, which makes it possible to make a control system for traffic more flexible and effective.

The object is achieved by the arrangement and the method according to the independent claims. In the respective subclaims preferred embodiments and advantageous developments are given.

The arrangement according to the invention for determining at least one vehicle feature of a target vehicle has at least one light-sensitive sensor for detecting data of the target vehicle and an evaluation device for detecting the at least one vehicle feature on the basis of the data. According to the invention, the photosensitive sensor is arranged on a control vehicle moving at a time of acquisition of the data. In the sense of the invention, a time of detection is to be understood as meaning that the control vehicle is in motion during the acquisition of the data. This does not preclude the acquisition of further data at a different time, for example when the control vehicle is stationary. In the Normally, the control vehicle is driving free, especially on a road. In principle, however, it may also be a cable-guided or rail-guided vehicle, as well as an automated vehicle or an aircraft. The vehicle can be remotely controlled. The target vehicle can also be in motion, or be there, be it due to traffic or because the target vehicle is parked, for example, in a parking lot.

An advantage of the invention is that controls of moving inspection vehicles allow for effective control, for example compliance with toll regulations. During the journey, numerous target vehicles can be captured in a short time for the control.

According to a preferred embodiment, it is provided that the at least one light-sensitive sensor is a laser scanner. According to a further preferred embodiment, it is provided that the at least one photosensitive sensor is a camera. Two light-sensitive sensors are particularly preferably provided, of which in particular a first is a laser scanner and a second is a camera.

Furthermore, the light-sensitive sensor or the photosensitive sensors is / are preferably arranged on one side of the control vehicle, which faces the target vehicle when passing by.

The evaluation device is preferably provided for evaluating data acquired during a pass between the control vehicle and the target vehicle, wherein the evaluation can be arranged on the control vehicle. However, the evaluation does not have to take place in the control vehicle. There may also be a transmission device for wirelessly transmitting the vehicle features of the target vehicle to a receiver on the control vehicle. The evaluation device is then preferably arranged locally independently of the control vehicle.

The inventive method for determining at least one vehicle feature of a target vehicle is preferably carried out with the arrangement described above. According to the invention with at least one photosensitive sensor data of the Target vehicle detected, with an evaluation the at least one vehicle feature is detected on the basis of the data. Furthermore, according to the invention, the data is acquired from a moving control vehicle.

The control vehicle is preferably passed by the target vehicle, or the control vehicle is driven so that the target vehicle drives past the control vehicle, wherein the data collected while driving past data are evaluated. The control vehicle and the target vehicle can thereby move on adjacent lanes of a road. The respective direction of travel of the control vehicle and the target vehicle may be rectified or opposite. In principle, the respective directions of travel of the control vehicle and of the target vehicle can also be skewed in a mathematical sense to each other. The target vehicle does not have to move and therefore can not have a direction of travel, for example because it is traffic-related or parked.

Further preferably, a laser scan profile of the target vehicle is detected with the photosensitive sensor. It is particularly preferred to determine geometrical dimensions and / or shape features as vehicle features of the target vehicle from the laser scan profile. Shape features are, for example, a number of the axles or wheels of the target vehicle.

Furthermore, with a camera as a light-sensitive sensor, a plurality of image recordings of a side flank of the target vehicle are preferably recorded. Particularly preferably, a relative speed of the target vehicle to the control vehicle as a vehicle feature of the target vehicle is calculated from the image recordings. In particular, an offset of image features in successive image recordings is determined. From the offset of the image characteristics of successive image recordings and from the data of the laser scanner, the relative speed of the target vehicle relative to the control vehicle can be calculated particularly advantageously. Therefore, both a laser scan profile of the target vehicle and a laser scanner are detected and recorded, and a plurality of image shots of the side edge of the target vehicle are recorded with a camera.

From the image recordings of the side flank of the target vehicle, an overall image of the side flank of the target vehicle is preferably created as a vehicle feature. From the overall image of the side edge of the target vehicle, geometrical dimensions and / or shape features are particularly preferably determined as vehicle features of the target vehicle.

Furthermore, the license plate of the target vehicle is recorded with the light-sensitive sensor and a license plate reading is performed. Particularly preferably, the license plate is recorded with an additional camera, so that the entire data acquisition takes place with a laser scanner and two cameras.

The invention will be explained in more detail with reference to an embodiment with reference to the accompanying drawings. The statements relate equally to the arrangement according to the invention and to the method. They are merely exemplary and do not limit the general idea of the invention.

• Figur 1 eine erste schematische Ansicht einer Verkehrssituation zur Erläuterung einer Ausführungsform des erfindungsgemäßen Verfahrens zu einem ersten Zeitpunkt;
• Figur 2 die schematische Ansicht der Verkehrssituation gemäß Figur 1 zu einem zweiten, späteren Zeitpunkt;
• Figur 3 eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Anordnung.

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• FIG. 1 a first schematic view of a traffic situation for explaining an embodiment of the method according to the invention at a first time;
• FIG. 2 the schematic view of the traffic situation according to FIG. 1 at a second later time;
• FIG. 3 a schematic representation of an embodiment of the inventive arrangement.

In the FIG. 1 is a first schematic view of a traffic situation shown, shown at a first time. The FIG. 2 shows the corresponding schematic view of the traffic situation at a second, later time. The illustrations serve to explain an embodiment of the method according to the invention for determining at least one vehicle feature of a target vehicle.

An embodiment of the inventive arrangement for determining at least one vehicle feature of a target vehicle is in the FIG. 3 shown schematically. In the following, reference is made to all three figures, in which all features are uniformly designated. The in FIG. 1 For example, the first time represented represents the beginning of a recording of data of a target vehicle 2 by means of at least one light-sensitive sensor 5. The target vehicle 2 is a vehicle 2 to be checked, in this case a truck, the terms vehicle 2 to be checked and target vehicle 2 are used synonymously. The in FIG. 2 illustrated second time represents, for example, the completion of the detection of data of the target vehicle 2 by means of the at least one photosensitive sensor 5, which in FIG. 3 is shown schematically. In the Figures 1 and 2 a dashed line illustrates the detection device of the photosensitive sensor 5. The directional arrows P indicate the direction of travel of the vehicles 1, 2 respectively.

The method according to the invention is provided for determining at least one vehicle feature of the target vehicle 2, this vehicle feature serving, in particular, for identifying and / or classifying and / or measuring shape characteristics of the target vehicle 2, which is carried out in each case within the scope of traffic controls or toll controls, for example. The acquisition of the data of the target vehicle 2 is carried out by means of the at least one photosensitive sensor 5, wherein data is to be understood as any information that can be detected by a photosensitive sensor. The data is recorded by a moving control vehicle 1. That is, the photosensitive sensor 5 is disposed on the control vehicle 1. With an evaluation device (not shown), the at least one vehicle feature is detected on the basis of the acquired data. The evaluation device, not shown, may also be arranged on the control vehicle 1. Alternatively, however, the evaluation device can also be arranged outside the control vehicle 1, in particular also so removed from the control vehicle 1 that a wireless transmission of the acquired data to the evaluation device takes place, which is arranged, for example, at a data-evaluating authority or a diverting post. The Figures 1 and 2 show that during the detection of the data, the control vehicle 1 is passed by the target vehicle 2. Likewise, the control vehicle 1 can be driven so that the target vehicle 2 passes the control vehicle 1.

The inventive arrangement for determining the at least one vehicle feature of the target vehicle 2 thus has at least one photosensitive sensor 5 for detecting the data of the target vehicle 2 and an evaluation device for detecting the at least one vehicle feature on the basis of the data. The photosensitive sensor 5 is disposed on the control vehicle 1 moving during the detection of the data. In the control vehicle 1 may be a conventional road vehicle, which participates in the normal traffic, here overtakes the target vehicle 2 on a parallel lane. However, it is also conceivable autonomous or flying control vehicle 1, which passes the target vehicle 2, either on a regular lane, or possibly on a special lane, or in flight. In the exemplary embodiment, the evaluation device is not shown to illustrate that it may be arranged on the control vehicle 1, or in another vehicle, not shown, or for example in a fixed device, such as a building or the diverting post.

The embodiment shows a control vehicle 1 with a control unit 4, which is preferably used for a toll control or a general vehicle control. This control unit 4 is integrated in the example embodiment in the control vehicle 1, but may alternatively be partially or wholly removable and be upgradable to another vehicle. Furthermore conceivable is an arrangement on a tripod, z. B. on a road side. The control vehicle 1 continuously passes target vehicles 2 and acquires their data, which are evaluated by the evaluation device to determine one or more vehicle features, which serve for example for classifying and / or controlling the target vehicles 2. The control vehicle 1 preferably travels on the secondary lane of the vehicle 2 to be checked and overtakes the vehicle 2 to be checked, or can be overtaken. During the overtaking process, for example, a 3D laser scanner 5 detects a side profile of the target vehicle 2 as a light-sensitive sensor. Preferably, the laser scanner 5 is oriented perpendicular or at a small angle deviating from a vertical 8 on one side of the control vehicle 1 toward the controlled vehicle 2. After the side profile of the target vehicle 2 has been detected, these can Data for example, a height and / or a length of the target vehicle 2 are determined as a vehicle feature. During the overtaking process, temporally successive images are preferably additionally recorded with a camera 6, which in the exemplary embodiment is a second photosensitive sensor 6. The length of the target vehicle 2 and / or a relative speed between the controlling vehicle 1 and the controlled vehicle 2 as vehicle characteristic of the target vehicle 2 are preferably determined from the image sequence as acquired data. From an offset of image features in successive shots of the image sequence as acquired data and from the data of the laser scanner 5, a relative velocity between the controlling vehicle 1 and the controlled vehicle 2 is preferably determined as the vehicle feature of the target vehicle 2. Furthermore, a width of the target vehicle 2 can be detected from the combination of the data of the laser scanner 5 and the image data. The camera 6, like the 3D laser scanner 5, is laterally aligned with the target vehicle 2. Furthermore, an overall image is preferably created from the individual image recordings so that the side edge of the vehicle 2 to be checked can be seen on the overall image. From the overall picture, further vehicle characteristics can be determined, preferably the length and / or the height of the vehicle to be checked can be determined from the overall picture. Before or after the control vehicle 1 overhauls the vehicle 2 to be controlled, imaging of a license plate on a vehicle front or on a vehicle rear end of the target vehicle 2 with a further camera 7, which is provided in the case as the third light-sensitive sensor 7, is preferably also carried out to capture as data an image capture of the license plate of the target vehicle 2. By means of the evaluation device, a license plate reading is furthermore preferably carried out in order to recognize the license plate as a further vehicle feature of the target vehicle 2. The acquired data or the vehicle features of the target vehicle 2 already recognized on board the control vehicle 1 are preferably encrypted for further use at a control point, eg. As an authority, transmitted what can be done wirelessly.

LIST OF REFERENCE NUMBERS

1

control vehicle

2

target vehicle

3

lane

4

control unit

5

Photosensitive sensor, 3D laser scanner

6

Photosensitive sensor, camera

7

Photosensitive sensor, camera

P

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Claims (15)

Arrangement for determining at least one vehicle characteristic of a target vehicle (2), with at least one light-sensitive sensor (5, 6, 7) for acquiring data of the target vehicle and with an evaluation device for recognizing the at least one vehicle characteristic on the basis of the data,
characterized,
in that the photosensitive sensor (5, 6, 7) is arranged on a control vehicle (1) moving at a time of acquisition of the data. Arrangement according to claim 1, characterized in that the evaluation device is provided to evaluate when a pass between the control vehicle (1) and the target vehicle (2) detected data. Arrangement according to one of the preceding claims, characterized in that the at least one photosensitive sensor is a laser scanner (5). Arrangement according to one of the preceding claims, characterized in that the at least one photosensitive sensor is a camera (6, 7). Arrangement according to one of the preceding claims, characterized in that the photosensitive sensor (5, 6, 7) on one side of the control vehicle (1) which faces the target vehicle (2) when passing by. Method for determining at least one vehicle characteristic of a target vehicle, wherein data of the target vehicle (2) is detected with at least one light-sensitive sensor (5, 6, 7) and wherein the at least one vehicle feature is detected with the aid of the data with an evaluation device,
characterized,
that the data is detected by a moving control vehicle (1). A method according to claim 6, characterized in that the control vehicle (1) is passed by the target vehicle (2) or the control vehicle is driven so that the target vehicle drives past the control vehicle, wherein the data detected while driving past data are evaluated. Method according to one of claims 6 or 7, characterized in that a laser scan profile of the target vehicle (2) is detected with the photosensitive sensor (5). A method according to claim 8, characterized in that geometrical dimensions and / or shape characteristics are determined as vehicle characteristics of the target vehicle from the laser scan profile. Method according to one of Claims 6 to 9, characterized in that a plurality of image recordings of a side flank of the target vehicle (2) are recorded with a camera (6, 7) as a photosensitive sensor. A method according to claim 10, characterized in that a relative speed of the target vehicle (2) to the control vehicle (1) is calculated as a vehicle feature of the target vehicle from the image recordings. Method according to one of claims 10 or 11, characterized in that an offset of image features in successive image recordings is determined. Method according to one of claims 10 to 12, characterized in that from the image recordings of the side edge of the target vehicle (2) an overall image of the side edge of the target vehicle is created as a vehicle feature. A method according to claim 13, characterized in that from the overall image of the side edge of the target vehicle (2) geometric dimensions and / or shape characteristics are determined as vehicle characteristics of the target vehicle. Method according to one of claims 6 to 14, characterized in that with the photosensitive sensor (7), the license plate of the target vehicle (2) is recorded and a license plate reading is performed.

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