Method of determining the trajectory of a body suitable for moving along a portion of a path, and apparatus for implementing the method

• US 4,839,648 A
• Filed: 01/14/1988
• Issued: 06/13/1989
• Est. Priority Date: 01/14/1987
• Status: Expired due to Term

• Current Assignee: Association pour la Recherche et le Développement des méthodes et processus Industriels, Institut national de recherche sur les transports et leur sécurité (INRETS)
• Original Assignee: Association pour la Recherche et le Développement des méthodes et processus Industriels, Institut national de recherche sur les transports et leur sécurité (INRETS)
• Inventors: Lenoir, Francois, Blosseville, Jean-Marc, Beucher, Serge
• Primary Examiner(s): Orsino, Joseph A.
• Assistant Examiner(s): TUMM, BRIAN
• Application Number:
  US07/143,875
• Time in Patent Office: 516 Days
• Field of Search: 340/933, 340/937, 340/942, 340/934, 340/936, 340/939, 358/93, 358/103, 358/105, 358/108
• US Class Current: 340/933
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

A method of determining the trajectory of a body (1) such as a vehicle body on a relatively plane path portion (2), the method being characterized in that it consists: in forming a main real image (4) of the path portion in a plane (19) at a non-zero angle (5) with the path portion; in decomposing said main image as formed into a plurality of points (21); in determining the relationship between the size of a unit length (30) taken substantially at the level of the path portion and the size of its image formed in the main image the size being a function of the number of points covered by the image and of the location of the unit length on said path portion; in determining a secondary image (32) in the main image, the secondary image corresponding to a longitudinal reference mark (31) related to the vehicle on the path portion; and in determining the various successive positions (32, 33, 34) of the secondary image by correlation of the number of points covered by the secondary image, given that the secondary image corresponds, according to the relationship, to a length which is constant on the path portion.

Claims

1. A method of determining the trajectory of a vehicle body on a relatively plane path portion, the method consisting of:

forming a main real image of said path portion in a plane at a non-zero angle with said path portion;

decomposing said main image as formed into a plurality of points;

determining the relationship between the size of a unit length taken substantially at the level of said path portion and the size of its image formed in said main image, said size being a function of the number of points covered by said image and the location of said unit length on said path portion;

determining a secondary image in said main image, said secondary image corresponding to a longitudinal reference mark related to a dimension of said vehicle of constant length on said path portion; and

determining the various successive positions of said secondary image by correlation of the number of points covered by said secondary image, given that said secondary image corresponds, according to said relationship, to said length which is constant on said path portion.

2. A method according to claim 1, wherein the images are formed by focusing using a converging lens optical system.

3. A method according to claim 1, wherein said plurality of points are photosensitive points.

4. A method according to claim 3, wherein said plurality of points are distributed in the raster of a matrix defined relative to a frame of reference.

5. A method according to claim 1, wherein the various successive positions of said secondary image are determined by correlation of the number of points covered by said secondary image being performed by continuous analysis.

6. A method according to claim 1, wherein said secondary image is determined from at least one reference mark related to the vehicle, said reference mark being optically contrasted relative to said path.

7. A method according to claim 6, wherein said reference mark is a dark reference mark.

8. A method according to claim 7, wherein said dark reference mark is a portion of the shadow cast by said vehicle.

9. A method according to claim 6, wherein said reference mark is a pale reference mark.

10. A method according to claim 9, wherein said pale reference mark is given by light reflected from a portion of the bodywork of said vehicle.

11. A method according to claim 6, wherein said reference mark is constituted both by a dark reference mark and by a pale reference mark.

12. A method according to claim 1, wherein the various successive positions of said secondary image are determined by correlation of the number of points covered by said secondary image, said correlation being performed by comparing the number of said points with a range of point numbers determined as a function of the position of said secondary image in said main image.

13. Apparatus for implementing the method according to claim 1, said apparatus comprising a video camera whose target is defined by a plurality of pixels, a processor for processing the signals delivered at the output from said camera, and a recorder whose input is connected to the output of said processor.