Method and apparatus for providing automatic lane calibration in a traffic sensor

• US 20070016359A1
• Filed: 07/18/2005
• Published: 01/18/2007
• Est. Priority Date: 07/18/2005
• Status: Active Grant

• Current Assignee: Sensys Networks Inc. (Tagmaster AB)
• Original Assignee: EIS Electronic Integrated Systems
• Inventors: Manor, Dan
• Granted Patent: US 7,454,287 B2
• Time in Patent Office: Days
• US Class Current: 701/117
• CPC Class Codes: G08G 1/048 with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method of operating a traffic sensor to define ranges of centers of traffic lanes from the traffic sensor is described. The method comprises a) providing a set of lane center variables representing the ranges of the centers of the traffic lanes from the traffic sensor; b) initializing each lane center variable in the set of lane center variables to have an associated starting range value; and then, c) updating the set of lane center variables by, for each vehicle in a plurality of vehicles, i) detecting the vehicle, ii) determining an associated lane center variable having an associated lane center range value closest to the vehicle; iii) estimating a vehicle displacement from the associated lane center range value, and iv) calculating a new lane center range value for the associated lane centre variable using the associated lane center range value and the vehicle displacement.

Claims

1. A method of operating a traffic sensor to define ranges of centers of traffic lanes from the traffic sensor, the method comprising:

a) providing a set of lane center variables representing the ranges of the centers of the traffic lanes from the traffic sensor;

b) initializing each lane center variable in the set of lane center variables to have an associated starting range value; and

then,

c) updating the set of lane center variables by, for each vehicle in a plurality of vehicles,

i) detecting the vehicle,

ii) determining an associated lane center variable having an associated lane center range value closest to the vehicle,

iii) estimating a vehicle displacement from the associated lane center range value, and

iv) calculating a new lane center range value for the associated lane centre variable using the associated lane center range value and the vehicle displacement.

2. The method as defined in claim 1 wherein step c) iv) comprises determining the new lane center range value to be a selected percentage of the vehicle displacement from the associated lane center range value.

3. The method as defined in claim 2 further comprising a coarse tuning phase and a fine tuning phase following the coarse tuning phase, wherein the selected percentage is reduced from the coarse tuning phase to the fine tuning phase.

4. The method as defined in claim 3 wherein step c) iii) further comprises flagging the associated lane center variable, the method further comprising, at an end of the coarse tuning phase, removing each associated lane center range value that has not been flagged from the set of lane center variables for the fine tuning phase.

5. The method as defined in claim 4 wherein the course tuning phase ends after one of a selected number of vehicles have been detected, and a selected time interval has passed.

6. The method as defined in claim 3 wherein during the coarse tuning phase the selected percentage is greater than 50%, and during the fine tuning phase the selected percentage is less than 50%.

7. The method as defined in claim 3 wherein during the coarse tuning phase the selected percentage is greater than 75%, and during the fine tuning phase the selected percentage is less than 25%.

8. The method as defined in claim 2 wherein the selected percentage is less than 50%.

9. The method as defined in claim 3 wherein step c) i) comprises

transmitting a stream of signals at the vehicle to generate a stream of reflected signals back from the vehicle;

receiving the stream of reflected signals back from the vehicle, wherein each reflected signal in the stream of reflected signals indicates a corresponding range location; and

,

determining that a length of the stream of reflected signals exceeds a selected vehicle detection threshold.

10. The method as defined in claim 9 further comprising determining that the stream of reflected signals has ended when no additional reflected signals are detected for a selected time interval.

11. The method as defined in claim 9 wherein step c) further comprises,

processing each signal in the stream of reflected signals by,

determining a corresponding differential distance between the corresponding range location and the associated lane center range value closest to the corresponding range location;

during the coarse tuning phase, if the corresponding differential distance is greater than a selected threshold distance from the corresponding range location, then re-determining the associated lane center range value to be the corresponding range location, otherwise adding the corresponding distance differential to an aggregate distance differential; and

during the fine tuning phase, if the corresponding differential distance is greater than the selected threshold distance from the corresponding range location, then discarding the corresponding range location without adjusting the aggregate distance differential, otherwise adding the corresponding differential distance to the aggregate distance differential; and

,

after processing each signal in the stream of reflected signals,

determining the vehicle displacement to be an average distance differential in the aggregate distance differential.

12. A sensor for obtaining vehicular traffic data, the sensor comprising:

at least one antenna for transmitting radiation to a vehicle and for receiving the radiation reflected back from the vehicle;

a transceiver circuit for electrically driving the antenna;

a processor unit for driving and processing electrical signals from the transceiver circuit plate to obtain vehicular traffic data, wherein the processor unit is operable to define ranges of centers of traffic lanes by performing the steps of

a) providing a set of lane center variables representing the ranges of the centers of the traffic lanes from the traffic sensor;

b) initializing each lane center variable in the set of lane center variables to have an associated starting range value; and

then,

c) updating the set of lane center variables by, for each vehicle in a plurality of vehicles,

i) detecting the vehicle,

ii) determining an associated lane center variable having an associated lane center range value closest to the vehicle,

iii) estimating a vehicle displacement from the associated lane center range value, and

iv) calculating a new lane center range value for the associated lane centre variable using the associated lane center range value and the vehicle displacement.

13. The traffic sensor as defined in claim 12 wherein step c) iv) comprises determining the new lane center range value to be a selected percentage of the vehicle displacement from the associated lane center range value.

14. The traffic sensor as defined in claim 13 wherein the processor unit has a coarse tuning phase and a fine tuning phase following the coarse tuning phase for defining ranges of centers of traffic lanes, wherein the selected percentage is reduced from the coarse tuning phase to the fine tuning phase.

15. The traffic sensor as defined in claim 14 wherein step c) iii) further comprises flagging the associated lane center variable, and the processor unit is further operable, at an end of the coarse tuning phase, to remove each associated lane center range value that has not been flagged from the set of lane center variables for the fine tuning phase.

16. The traffic sensor as defined in claim 15 wherein the course tuning phase ends after one of a selected number of vehicles have been detected, and a selected time interval has passed.

17. The traffic sensor as defined in claim 14 wherein during the coarse tuning phase the selected percentage is greater than 50%, and during the fine tuning phase the selected percentage is less than 50%.

18. The traffic sensor as defined in claim 14 wherein during the coarse tuning phase the selected percentage is greater than 75%, and during the fine tuning phase the selected percentage is less than 25%.

19. The traffic sensor as defined in claim 14 wherein

the at least one antenna is operable to transmit a stream of signals at the vehicle to generate a stream of reflected signals back from the vehicle, and to receive the stream of reflected signals back from the vehicle, wherein each reflected signal in the stream of reflected signals indicates a corresponding range location;

and,

step c)i) comprises determining when a length of the stream of reflected signals exceeds a selected vehicle detection threshold.

20. The traffic sensor as defined in claim 19 wherein step c)i) further comprises determining that the stream of reflected signals has ended when no additional reflected signals are detected for a selected time interval.