Method and apparatus for measuring traffic flow

• US 5,402,118 A
• Filed: 04/27/1993
• Issued: 03/28/1995
• Est. Priority Date: 04/28/1992
• Status: Expired due to Term

• Current Assignee: Sumitomo Electric Industries Limited (Sumitomo Corporation)
• Original Assignee: Sumitomo Electric Industries Limited (Sumitomo Corporation)
• Inventors: Aoki, Masanori
• Primary Examiner(s): Peng, John K.
• Assistant Examiner(s): TONG, NINA C
• Application Number:
  US08/052,736
• Time in Patent Office: 700 Days
• Field of Search: 340/937, 340/933, 340/943, 340/941, 340/942, 364/436, 367/97, 377/6.9, 377/26, 382/48, 382/31, 382/1, 382/22, 382/43, 382/42, 382/54
• US Class Current: 340/937
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

This invention aims at providing an traffic flow measurement method and apparatus attaining the stable measurement without being affected by the change in the brightness of the external environment such as daytime vehicle front, et al. In order to achive the above object, the traffic flow measurement apparatus for practicing the traffic flow measurement method comprises image input unit for receiving image information derived from the ITV camera, detection unit for detecting sampling points which are candidates for a vehicle fronts in a measurement area, and measurement processing unit for determining a position of the vehicle front in the measurement area from the candidate points detected by the detection unit. The measurement processing unit calculates a vehicle velocity based on a change between a position of the vehicle front derived from past image information and a current position of the vehicle front.

Claims

1. A traffic measurement method comprising the steps of:

obtaining image information of a plurality of sampling points in a measurement area set on a road using an ITV camera mounted to view the road;

effecting spatial differentiation based on brightness information contained in the image information of the sampling points to detect an edge portion of a running vehicle as well as a stopped vehicle;

binarizing the brightness information of the sampling points by comparing differentiation signals derived from the spatial differentiation with a predetermined threshold;

masking pixels detected as the edge portion of the binary image derived from the binarization with mask patterns respectively having a width corresponding to vehicle types;

selecting one of the mask patterns having a width in correspondence with a type of the running vehicle;

selecting one or more candidate points for a vehicle front as one or more pixels at a center of gravity of the pixels of the edge portion present in the selected mask pattern;

determining a vehicle front point at a first predetermined time from the candidate points selected within the measurement area; and

calculating a vehicle velocity based on a distance that the vehicle front point has moved in a predetermined time period from said first predetermined time.

2. The traffic flow measurement method according to claim 1 wherein said mask patterns are masked across a lane of the road.

3. The traffic flow measurement method according to claim 1 wherein each of said mask patterns respectively correspond to one of different vehicle widths.

4. The traffic flow measurement method according to claim 1 wherein the step of selecting one of the mask patterns further comprises the step of selecting one of said mask patterns having more pixels of the edge portion than a predetermined reference.

5. The traffic flow measurement method according to claim 1 further comprising the step of selecting one or more of a plurality of candidate points for the vehicle front present in the measurement area having more pixels of the edge portion in the mask pattern as an effective point of the vehicle front.

6. The traffic flow measurement method according to claim 5 wherein one of a plurality of effective points of the vehicle front present in the measurement area which is located downstream along a running direction of the vehicle is finally selected as the vehicle front point to determine the position of the vehicle front.

7. The traffic flow measurement method according to claim 1 wherein one of a plurality of candidate points in the measurement area which has more pixels of the edge portion in the mask pattern and which is located downstream along a running direction of the vehicle is finally selected as the vehicle front point to determine the position of the vehicle front.

8. The traffic flow measurement method according to claim 1 wherein:

the vehicle velocity is calculated on the basis of the distance that the front point of the vehicle has moved between a past vehicle front point and a current vehicle front point, the current vehicle front point being detected in a predicted area, the predicted area being defined between a first and second line with respect to a moving direction of the vehicle front point, and wherein

the first line, nearest to the past vehicle front point, is a distance from the past vehicle front point equal to a minimum value of a vehicle prediction velocity multiplied by the predetermined time period, and

the second line, farthest from the past vehicle front point is a distance from the past vehicle front point equal to a maximum value of the vehicle prediction velocity multiplied by the predetermined time period.

9. The traffic flow measurement method according to claim 8 wherein the minimum value of the vehicle prediction velocity is set at zero or a negative value.

10. A traffic flow measurement apparatus comprising:

an ITV camera for picking up an image of a measurement area set in view of a road;

an image input unit for receiving brightness information of sampling points included in the image information of said ITV camera;

a detection unit for detecting a vehicle front based on the image information from said image input unit, wherein said detection unit,

effects spatial differentiation based on brightness information contained in the image information of the sampling points to detect an edge portion of a running vehicle as well as a stopped vehicle,

binarizes the brightness information of the sampling points by comparing differentiation signals derived from the spatial differentiation with a predetermined threshold,

masks pixels detected as the edge portion of the binary image derived from the binarization with mask patterns respectively having a width corresponding to vehicle types,

selects one of the mask patterns having a width in correspondence with a type of the running vehicle, and

selects one or more candidate points for the vehicle front as one or more pixels at a center of gravity of the pixels of the edge portion present in the selected mask pattern; and

a measurement processing unit, said measurement processing unit determines a vehicle front point at a predetermined time from the candidate points in the measurement area, and calculates a vehicle velocity based on a distance that the vehicle front point has moved in a predetermined time period.

11. The traffic flow measurement apparatus according to claim 10 wherein said detection unit masks across a lane of the road by the respective mask patterns.

12. The traffic flow measurement apparatus according to claim 10 wherein said detection unit prepares said mask patterns, one for each of different vehicle widths.

13. The traffic flow measurement apparatus according to claim 10 wherein said detection unit selects one of a plurality of mask patterns prepared having more pixels of the edge portion than a predetermined reference.

14. The traffic flow measurement apparatus according to claim 10 wherein said measurement processing unit selects one of a plurality of candidate points for the vehicle front present in the measurement area having more pixels of the edge portion in the mask pattern, as an effective point of the vehicle front.

15. The traffic flow measurement apparatus according to claim 14 wherein said measurement processing unit selects one of a plurality of effective points of the vehicle front present in the measurement area which is located downstream along a running direction of the vehicle, as the vehicle front point to determine the position of the vehicle front.

16. The traffic flow measurement apparatus according to claim 10 wherein said measurement processing unit selects one of a plurality of candidate points in the measurement area which has more pixels of the edge portion in the mask pattern and which is located downstream along a running direction of the vehicle, as the vehicle front point to determine the position of the vehicle front.

17. The traffic flow measurement apparatus according to claim 10 wherein,

said measurement processing unit calculates the vehicle velocity based on the distance that the front point has moved between a past vehicle front point and a current vehicle front point, the current vehicle front point being detected in a predicted area, the predicted area being defined between a first and a second line with respect to a moving direction of the vehicle front point, and wherein

said first line, nearest to the past vehicle front point, is a distance from the past vehicle front point equal to a minimum value of vehicle prediction velocity multiplied by said predetermined time period, and

said second line, farthest from the past vehicle front point, is a distance from the past vehicle front point equal to a maximum value of the vehicle prediction velocity multiplied by said predetermined time period.

18. The traffic flow measurement apparatus according to claim 17 wherein the minimum value of the vehicle prediction velocity is set at zero or a negative value.