Detecting roadway targets across beams

• US 10,276,041 B2
• Filed: 03/22/2018
• Issued: 04/30/2019
• Est. Priority Date: 10/31/2005
• Status: Active Grant

• Current Assignee: Wavetronix
• Original Assignee: Wavetronix
• Inventors: Arnold, David V., Jarrett, Bryan R., Karlinsey, Thomas W., Waite, Jonathan L., Giles, Brad, St. John, Randy
• Primary Examiner(s): Nwugo, Ojiako K
• Application Number:
  US15/928,616
• Publication Number:
  US 20180211525A1
• Time in Patent Office: 404 Days
• Field of Search: 340907, 340916, 340917, 340933, 340941-943, 343700 MS, 342104, 342118, 342147
• CPC Class Codes: G01S 13/48 using multiple beams at emission or reception
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/08 according to detected number or speed of vehicles

Abstract

The present invention extends to methods, systems, and computer program products for detecting targets across beams at roadway intersections. Embodiments of the invention include tracking a target across a plurality of beams of a multiple beam radar system in a roadway intersection and updating track files for targets within a roadway intersection. Returns from a plurality of radar beams monitoring a roadway intersection are divided into range bins. Identified energy in the range bins is used to compute the position of targets within a roadway intersection. When the position of a target is computed, it is determined if the position is a new position for an existing target or if the position is the position of a new target.

Claims

1. A method for detecting targets in a plurality of beams generated by a multiple beam radar system, the method comprising:

dividing one or more returns from the multiple beam radar system into a grid of range bins, including dividing each beam in the plurality of beams into a plurality of range bins of uniform varied distances from the multiple beam radar system, each beam being divided into a plurality of range bins in accordance with the uniform varied distances;

identifying a multi-beam image within the returns from the multiple beam radar system, the multi-beam image representing a target within a roadway, the multi-beam image spanning a sub-plurality of the plurality of beams, the multi-beam image also spanning a plurality of range bins within the grid of range bins;

identifying an energy peak within the multi-beam image; and

for a specified range bin in one of the beams of the sub-plurality of beams,

determining that the magnitude of the identified energy peak in a specified range bin is above a specified threshold; and

determining that the magnitude of the identified energy in the specified range bin is greater than the magnitude of the identified energy in any surrounding adjacent range bin within the grid of range bins.

2. The method of claim 1, wherein the returns comprise reflections that correspond to beams of a specified sensor within the multiple beam radar system.

3. The method of claim 2, wherein the specified sensor is configured to detect an image that spans the plurality of range bins.

4. The method of claim 2, wherein the specified sensor is configured to measure the magnitude of identified energy in each range bin in the grid of range bins at specified intervals.

5. The method of claim 1, wherein upon determining that the magnitude of the identified energy in the specified range bin is above a specified threshold and is greater than the magnitude of the identified energy in any surrounding adjacent range bin within the grid of range bins, indicating that the identified energy peak represents a target on the roadway.

6. The method of claim 5, further comprising providing an indication of coordinates for the target identified in the roadway.

7. The method of claim 5, wherein determining that the identified energy in the specified range bin is greater than the magnitude of the identified energy in any surrounding adjacent range bin within the grid of range bins comprises comparing the magnitude of identified energy in the specified range bin to each measured magnitude of identified energy in those range bins that are adjacent to the specified range bin.

8. The method of claim 7, further comprising:

determining that an energy peak is detected in a plurality of range bins;

determining that the plurality of range bins are adjacent;

determining that the identified energy magnitude received from the adjacent ranges bins is from the same target.

9. The method of claim 8, further comprising:

determining that the identified energy magnitude received from a specified range bin is greater than the identified energy magnitude in the adjacent range bin; and

determining that a larger portion of the target is in the specified range bin.

10. The method of claim 8, further comprising:

determining that the identified energy magnitude received from a specified range bin is greater than the identified energy magnitude in the adjacent range bin; and

determining that a smaller portion of the same target is in the adjacent range bin.

11. A traffic control system comprising:

a traffic sensor for monitoring a roadway, the traffic sensor comprising;

a multiple beam radar system including a plurality of beams and configured to transmit a signal into the roadway and to receive reflections of the signal off of objects in the roadway using the plurality of beams; and

a computer system coupled to the radar system and configured to;

divide returns from the multiple beam radar system into a grid of range bins, including dividing each beam in the plurality of beams into a plurality of range bins of uniform varied distances from the multiple beam radar system, each beam being divided into a plurality of range bins in accordance with the uniform varied distances; and

identify an energy peak within a single beam of the multiple beam radar system, including, for a specified range bin in one of the beams of the sub-plurality of beams,

determine that the magnitude of the identified energy in the specified range bin is above a specified threshold; and

determine that the magnitude of the identified energy in the specified range bin is greater than the magnitude of the identified energy in each of the adjacent range bins.

12. The traffic control system recited in claim 11, wherein identifying the energy peak includes comparing identified energy in the specified range to identified energy in one or more adjacent range bins.

13. The traffic control system recited in claim 11, wherein the step of identifying an energy peak within a single beam of the multiple beam radar system is repeated for different beams within the multiple beam radar system.

14. The traffic control system recited in claim 11, wherein the step of identifying an energy peak within a single beam of the multiple beam radar system is repeated at different points in time, such that while each individual target is only detected in a single beam, the targets collectively are detected in a plurality of beams.

15. The traffic control system recited in claim 11, wherein the traffic control device is configured to actuate a traffic signal based on input from the traffic sensor.

16. A method for detecting targets in a plurality of beams generated by a multiple beam radar system, the method comprising:

dividing one or more returns from the multiple beam radar system into a grid of range bins, including dividing each beam in the plurality of beams into a plurality of range bins of uniform varied distances from the multiple beam radar system, each beam being divided into a plurality of range bins in accordance with the uniform varied distances;

creating a first comprehensive image from the returns for each beam at a first detection period;

creating a second comprehensive image from the returns for each beam at a second detection period, the second detection period occurring subsequent to the first detected period;

comparing the first comprehensive image from the first detection period to the second comprehensive image from the second detection period; and

identifying differences between the first and second comprehensive images.

17. The method of claim 16, wherein identifying differences between the first and second comprehensive images includes identifying targets on a roadway.

18. The method of claim 17, wherein comparing the first comprehensive image from the first detection period to the second comprehensive image from the second detection period comprises subtracting a radar return for each range bin in each beam in the first comprehensive image from a radar return for each range bin in each beam in the second comprehensive image.

19. The method of claim 18, wherein a sensor that is part of the multiple beam radar system identifies differences in returns in the range bins of the grid of range bins over a specified period of time, the differences representing target detections.

20. The method of claim 16, wherein the step of identifying differences between the first and second comprehensive images is repeated a specified number of times until targets in the comprehensive image are identified.

21. A traffic sensor for monitoring a roadway, the traffic sensor comprising:

a multiple beam radar system including a plurality of beams and configured to transmit signals into a roadway and to receive reflections of signals reflected off of objects in the roadway using the plurality of beams; and

a computer system coupled with the multiple beam radar system and configured to;

divide one or more returns from the multiple beam radar system into a grid of range bins, including dividing each beam in the plurality of beams into a plurality of range bins of uniform varied distances from the multiple beam radar system, each beam being divided into a plurality of range bins in accordance with the uniform varied distances;

identify a multi-beam image within the returns from the multiple beam radar system, the multi-beam image representing a target within a roadway, the multi-beam image spanning a sub-plurality of the plurality of beams, the multi-beam image also spanning a plurality of range bins within the grid of range bins;

identify an energy peak within the multi-beam image; and

for a specified range bin in one of the beams of the sub-plurality of beams,

determine that the magnitude of the identified energy peak in a specified range bin is above a specified threshold; and

determine that the magnitude of the identified energy in the specified range bin is greater than the magnitude of the identified energy in any surrounding adjacent range bin within the grid of range bins.

22. The traffic sensor of claim 21, wherein the returns comprise reflections that correspond to beams of a specified sensor within the multiple beam radar system, the specified sensor being configured to detect an image that spans the plurality of range bins.

23. The traffic sensor of claim 22, wherein the specified sensor is configured to measure the magnitude of identified energy in each range bin in the grid of range bins at specified intervals.