Intelligent vehicle highway system sensor and method
First Claim
1. A laser sensor useful in determining the shape of a vehicle, the sensor comprising:
- laser rangefinder means for generating a laser beam and for determining a range from the sensor to a point on a vehicle when the vehicle travels within a sensing zone, the laser means providing range data for a sensor laser beam angle corresponding to a range from the sensor to the point on the vehicle;
means for scanning the laser beam within a plane across the vehicle and for providing a beam angle for a corresponding range for a plurality of points across the vehicle, the scanning means having a scanning direction generally orthogonal to a direction of travel for the vehicle,; and
means for processing the ranges and angles, the processing means communicating with the rangefinder and scanning means for providing cross-sectional profiles of the vehicle, the processing means positioning the profiles for providing a three-dimensional image representative of the vehicle.
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Accused Products
Abstract
A sensor using pulsed laser range imaging technology is adapted for determining a three-dimensional profile of a vehicle passing the sensor for use in Intelligent Vehicle Highway Systems. A continuously pulsed laser beam scanned across a detection area determines the presence of a vehicle. Range, angle and time date for a vehicle passing the sensor are collected and stored for use in determining its three-dimensional profile. Forward and backward beams are directed for scanning across the detection area. Pulsed energy is sent into the two divergent beams, which are received as reflective energy in a receiver. The receiver accepts reflections from the beams and provides inputs for purposes of determining time of flight, and for measuring the time interval between interceptions of the two divergent beams for a given vehicle. An encoder tracks the position of the mirror for providing angle data with associated range measurements.
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Citations
27 Claims
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1. A laser sensor useful in determining the shape of a vehicle, the sensor comprising:
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laser rangefinder means for generating a laser beam and for determining a range from the sensor to a point on a vehicle when the vehicle travels within a sensing zone, the laser means providing range data for a sensor laser beam angle corresponding to a range from the sensor to the point on the vehicle; means for scanning the laser beam within a plane across the vehicle and for providing a beam angle for a corresponding range for a plurality of points across the vehicle, the scanning means having a scanning direction generally orthogonal to a direction of travel for the vehicle,; and means for processing the ranges and angles, the processing means communicating with the rangefinder and scanning means for providing cross-sectional profiles of the vehicle, the processing means positioning the profiles for providing a three-dimensional image representative of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A sensor for detection and classification of vehicular traffic data, the sensor comprising:
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a housing adapted for extending above a roadway over which a vehicles travels; laser rangefinder means carried by the housing, the rangefinder means emitting a pulsed laser beam communicating with the roadway for measuring a range from the sensor to a point on the roadway and on a vehicle when the vehicle travels across the roadway; scanning means carried by the housing, the scanning means communicating with the rangefinder means for scanning the laser beam transversely across the roadway, the scanning means further providing beam diverging means for dividing the scanning beam into a forward scanning beam and a backward scanning beam, the scanned beams defining a sensor zone across the roadway through which zone the vehicle to be detected passes, the scanning means further communicating with the laser means for providing a beam angle corresponding to a measured range for scanned points across the vehicle passing through the sensor zone; and processing means carried by the housing, the processing means communicating with the rangefinder and scanning means for processing the ranges and angles and for providing transverse cross-sectional profiles incrementally along a longitudinal dimension of the vehicle as the vehicle travels through the sensor zone, the processing means forming a three-dimensional image representative of the vehicle, the processing means further providing an indication of a vehicle presence within the sensor zone. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A sensor for detection and classification of vehicular traffic, the sensor comprising:
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laser rangefinder means emitting a pulsed laser beam for communicating with a roadway for measuring a range from the sensor to a point on the roadway and on a vehicle when the vehicle travels across the roadway; scanning means communicating with the rangefinder means for scanning the laser beam across the roadway, the scanning means further providing beam diverging means for dividing the scanning beam into a forward scanning beam and a backward scanning beam, the scanned beams defining a sensor zone across the roadway through which zone the vehicle to be detected passes, the scanning means further communicating with the laser means for providing a beam angle corresponding to a measured range for scanned points across the vehicle passing through the sensor zone; and processing means communicating with the rangefinder and scanning means for processing the ranges and angles and for providing cross-sectional profiles of the vehicle as the vehicle travels through the sensor zone, the processing means forming a three-dimensional image representative of the vehicle. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A method for determining a presence and shape of a vehicle traveling across a roadway for classification of the vehicle, the method comprising the steps of:
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providing a laser rangefinder emitting a pulsed laser beam; scanning the pulsed laser beam across a roadway; measuring a range from the roadway to the rangefinder; sensing a vehicle from a roadway measured range change; scanning the beam transversely across a vehicle traveling over the roadway; measuring ranges to points positioned transversely across the vehicle; forming cross-sectional profiles longitudinally along the vehicle; determining a vehicle speed; spacing the cross-sectional profiles based on vehicle speed; forming a three dimensional image of the vehicle; and comparing the formed image to a stored image for classifying the vehicle. - View Dependent Claims (21, 22, 23)
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24. A method for determining a presence and shape of a vehicle traveling across a roadway for classification of the vehicle, the method comprising the steps of:
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providing a laser rangefinder emitting a pulsed laser beam; scanning the pulsed laser beam transversely across a vehicle traveling over the roadway; measuring ranges to points positioned transversely across the vehicle; forming cross-sectional profiles longitudinally along the vehicle; determining a vehicle speed; spacing the cross-sectional profiles based on vehicle speed; and forming a three dimensional image of the vehicle. - View Dependent Claims (25, 26, 27)
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Specification