Monopulse traffic sensor and method

• US 7,501,976 B2
• Filed: 11/07/2006
• Issued: 03/10/2009
• Est. Priority Date: 11/07/2006
• Status: Active Grant

• Current Assignee: Sensys Networks Inc. (Tagmaster AB)
• Original Assignee: Image Sensing Systems Incorporated (Autoscope Technologies Corp.)
• Inventors: Manor, Dan
• Primary Examiner(s): Sotomayor; John B
• Application Number:
  US11/557,322
• Publication Number:
  US 20080129546A1
• Time in Patent Office: 854 Days
• Field of Search: 342/27, 342/28, 342/69, 342/70, 342/90, 342/107, 342/109, 342113-115, 342/128, 342/133, 342/140, 342/146, 701/117, 340/933
• US Class Current: 342/27
• CPC Class Codes: G01S 13/4445 amplitude comparisons monopulse, i.e. comparing the echo signals received by an antenna arrangement with overlapping squinted beams
• CPC Class Codes: G01S 13/4454 phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

A method and system for determining a position of a vehicle within a field of view using a traffic sensor are provided. This involves (a) mounting the traffic sensor at a fixed location relative to a road; (b) modulating a microwave signal to produce a periodic time-varying modulated signal; (c) radiating the periodic time-varying modulated microwave signal in a radiation beam at a vehicle on a road to generate a reflected modulated microwave signal, wherein the reflected periodic time-varying modulated microwave signal induces a first received signal at a first receiver antenna and a second received signal at a second receiver antenna, the second receiver being spaced from the first receiver; and, (d) determining the position of the vehicle on the road within the field of view based on the periodic time-varying modulated signal, the first received signal, and the second received signal, wherein the position of the vehicle is determinable during a single period of the periodic time-varying modulated signal. The position comprises a lateral position of the vehicle across a width of the road and a longitudinal position of the vehicle along a length of the road.

Claims

1. A method for determining a position of a vehicle within a field of view using a traffic sensor, the method comprising:

a) mounting the traffic sensor at a fixed location relative to a road;

b) modulating a microwave signal to produce a periodic time-varying modulated signal;

c) radiating the periodic time-varying modulated microwave signal in a radiation beam at a vehicle on a road to generate a reflected modulated microwave signal, wherein the reflected periodic time-varying modulated microwave signal induces a first received signal at a first receiver antenna and a second received signal at a second receiver antenna, the second receiver being spaced from the first receiver; and

,

d) determining the position of the vehicle on the road, wherein the position comprises a lateral position of the vehicle across a width of the road and a longitudinal position of the vehicle along a length of the road, within the field of view based on the periodic time-varying modulated signal, the first received signal, and the second received signal, wherein the position of the vehicle is determinable during a single period of the periodic time-varying modulated signal.

2. The method as defined in claim 1 wherein step d) comprises determining a difference between the first received signal and the second received signal to determine at least one of the lateral position and longitudinal position of the vehicle within the field of view.

3. The method as defined in claim 2 wherein step d) comprises,

determining an angle of arrival of the reflected periodic time-varying modulated microwave signal based on the periodic time-varying modulated signal, and the difference between the first received signal and the second received signal;

determining the range of the vehicle by comparing one of the received signals to the radiated signal; and

,

determining the lateral position and the longitudinal position of the vehicle from the range and angle of arrival.

4. The method as defined in claim 3 wherein step c) comprises radiating the periodic time-varying modulated microwave signal in the radiation beam at the vehicle on the road from a side fire position at a side of the road, wherein the radiation beam is substantially perpendicular to a direction of traffic on the road.

5. The method as defined in claim 4 further comprising repeating step d) at multiple times when the vehicle is within the field of view to determine a sequence of positions in two dimensions and the velocity of the vehicle from the sequence of vehicle positions in two dimensions.

6. The method as defined in claim 5 further comprising determining

a dwell time of the vehicle within the field of view;

and,

a length of the vehicle based on the dwell time and the velocity of the vehicle.

7. The method as defined in claim 6 further comprising

providing a plurality of vehicle classifications;

and,

assigning a classification within the plurality of vehicle classifications to the vehicle based on the length of the vehicle.

8. The method as defined in claim 3 wherein step c) comprises radiating the periodic time-varying modulated microwave signal in the radiation beam at the vehicle on the road from a forward fire position over the road, wherein the radiation beam is substantially parallel to a direction of traffic on the road.

9. The method as defined in claim 8 wherein step (d) comprises determining a lane occupied by the vehicle based on the lateral position of the vehicle.

10. The method as defined in claim 3 wherein

a frequency of the periodic time-varying modulated signal varies at a known rate of change of frequency;

the difference is a difference in phase between the first received signal and the second received signal; and

,

at least one of the longitudinal position and the lateral position of the vehicle within the field of view is determined based on the known rate of change of frequency and the difference in phase between the first received signal and the second received signal.

11. The method as defined in claim 3 wherein

the first receiver antenna is oriented to be parallel to a first axis;

the second receiver antenna is oriented to be at a non-zero angle to the first axis;

the difference is a difference in amplitude between the first received signal and the second received signal; and

,

the angle of arrival of the vehicle within the field of view is determined based on the difference in amplitude between the first signal and the second signal.

12. The method as defined in claim 1 wherein step c) comprises radiating the modulated microwave signal in the radiation beam at the vehicle on the road from a diagonal fire position with respect to the road, wherein i) the radiation beam is characterized by a first vector, ii) the first vector is resolvable into a second vector and a third vector, iii) the third vector is orthogonal to the second vector, iv) the second vector is substantially parallel to a direction of traffic on the road, and v) the third vector is substantially perpendicular to the direction of traffic on the road.

13. The method as defined in claim 1 further comprising:

down converting the first received signal to produce a first intermediate frequency signal, wherein the frequency of the first intermediate frequency signal is less than the frequency of the first received signal; and

,

down converting the second received signal to produce a second intermediate frequency signal, wherein the frequency of the second intermediate frequency signal is less than the frequency of the second received signal;

wherein a difference in a selected characteristic between the first intermediate frequency signal and the second intermediate frequency signal substantially corresponds to a difference in the selected characteristic between the first received signal and the second received signal, wherein the selected characteristic is at least one of phase and amplitude;

wherein step d) comprises determining the position of the vehicle on the road based on the first intermediate frequency signal, the second intermediate frequency signal and a modulated intermediate frequency signal corresponding to, and having a lower frequency than, the modulated signal.

14. The method as defined in claim 13 further comprising:

digitizing the first intermediate frequency signal to produce a first digitized signal; and

,

digitizing the second intermediate frequency signal to produce a second digitized signal;

wherein a difference in the selected characteristic between the first digitized signal and the second digitized signal substantially corresponds to a difference in the selected characteristic between the first intermediate frequency signal and the second intermediate signal;

wherein step d) comprises determining a position of the vehicle on the road based on the first digitized signal, the second digitized signal, and a digital modulated signal corresponding to the modulated intermediate frequency signal.

15. The method as defined in claim 14 wherein step d) further comprises:

determining a sum of the first digitized signal and the second digitized signal;

determining a difference between the first digitized signal and the second digitized signal;

dividing the difference by the sum to produce a normalized difference; and

,

determining the angle of arrival from the normalized difference.

16. The method as defined in claim 1 further comprising:

incrementing a vehicle count for each vehicle detected traveling in a direction of traffic.

17. The method as defined in claim 16 further comprising:

for each vehicle detected traveling in the direction of traffic;

determining a velocity of each vehicle;

determining a velocity sum by summing the velocity of each vehicle; and

,

determining an average velocity of vehicles traveling in the direction of traffic by dividing the velocity sum by the vehicle count.

18. The method as defined in claim 1 further comprising:

selecting a selected lane; and

,

incrementing a selected-lane vehicle count for each vehicle detected in the selected lane.

19. The method as defined in claim 18 further comprising:

for each vehicle detected in the selected lane;

determining a velocity of each vehicle;

determining a selected-lane velocity sum by summing the velocity of each vehicle; and

,

determining an average velocity of vehicles in the selected lane by dividing the selected-lane velocity sum by the selected-lane vehicle count.

20. The method as defined in claim 18 further comprising:

determining a dwell time of each vehicle within the selected lane during an elapsed time; and

,

determining a lane occupancy by i) determining a sum of the lane vehicle dwell-times during the elapsed time and then ii) dividing the selected-lane vehicle dwell-time sum by the elapsed time.

21. The method as defined in claim 1 further comprising:

repeating step d) at multiple times when the vehicle is within the field of view to determine a velocity of the vehicle;

determining a dwell time of the vehicle within the field of view;

determining a length of the vehicle based on the dwell time and the velocity of the vehicle;

providing a plurality of vehicle classifications wherein the classification is based on the length of a vehicle; and

,

for each class of vehicles in the plurality of vehicle classifications, incrementing a class vehicle count for each vehicle detected in that class of vehicles.

22. The method as defined in claim 21 further comprising, for a least one class of vehicles,

determining a class velocity sum by summing the velocity of each vehicle in the class of vehicles;

and,

determining an average velocity of vehicles in the class of vehicles by dividing the class velocity sum by the class vehicle count.

23. The method as defined in claim 1 further comprising:

selecting a selected lane;

providing a plurality of vehicle classifications wherein the classification is based on the length of a vehicle;

selecting a selected class of vehicles from the plurality of vehicle classifications; and

,

incrementing a lane-class vehicle count for each vehicle in the selected class detected in the selected lane.

24. The method as defined in claim 23 further comprising:

determining the velocity of each vehicle in the selected class of vehicles in the selected lane;

determining a lane-class velocity sum by summing the velocity of each vehicle in the selected class of vehicles in the selected lane; and

,

determining an average velocity of the vehicles in the selected class of vehicles in the selected lane by dividing the lane-class velocity sum by the lane class velocity count.

25. The method of claim 5 further comprising the steps of:

coupling the traffic sensor to an external traffic management system; and

,

transmitting a signal from the traffic sensor to the external traffic management system wherein the signal is representative of at least one of the position and the velocity of the vehicle.

26. A traffic sensor for obtaining vehicular traffic data within a field of view, the sensor comprising:

a transceiver unit for generating a frequency modulated microwave signal;

at least one transmitter antenna for (i) receiving the modulated microwave signal from the transceiver unit, (ii) forming a radiation beam, and (iii) radiating a transmitted radiated signal, comprising the modulated microwave signal in the radiation beam, at a vehicle;

a first receiver antenna for (i) receiving the modulated microwave signal reflected back from the vehicle, and (ii) generating a first received signal; and

,

a second receiver antenna for (i) receiving the modulated microwave signal reflected back from the object, and (ii) generating a second received signal, wherein the first receiver antenna is spaced from the second receiver antenna, and the transceiver unit is connected to the first receiver antenna and to the second receiver antenna, to receive the first received signal from the first receiver antenna and the second received signal from the second receiver antenna;

a processor unit for determining a velocity and a position of a vehicle on a road, wherein the velocity is measured relative to the road and wherein the position comprises a lateral position of the vehicle across a width of the road and a longitudinal position of the vehicle along a length of the road, by

(a) determining the two-dimensional position of the vehicle on the road based on the time-varying modulated signal, the first received signal, and the second received signal during a single period of the time-varying modulated signal; and

,

(b) repeating (a) at multiple times when the vehicle is within the field of view to determine a sequence of vehicle positions in two dimensions and the velocity of the vehicle from the sequence of vehicle positions in two dimensions.

27. The traffic sensor as defined in claim 26 further comprising

a timer for determining a dwell time of the vehicle within the field of view;

wherein the processor is further operable to determine a length of the vehicle based on the dwell time and the velocity of the vehicle.

28. The traffic sensor as defined in claim 27 further comprising a memory for storing a plurality of vehicle classifications, wherein the processor is linked to the memory and is further operable to assign a classification within the plurality of vehicle classifications to the vehicle based on the length of the vehicle.

29. The traffic sensor as defined in claim 26 wherein step a) comprises determining a difference between the first received signal and the second received signal to determine at least one of the lateral position and the longitudinal position of the vehicle within the field of view.

30. The traffic sensor as defined in claim 26 wherein step a) comprises

determining an angle of arrival of the reflected modulated microwave signal based on the time-varying modulated signal, and the difference between the first received signal and the second received signal;

determining the range of the vehicle by comparing one of the received signals to the transmitted radiated signal; and

,

determining the lateral position and the longitudinal position of the vehicle from the range and angle of arrival.

31. The traffic sensor as defined in claim 30 wherein

a frequency of the time-varying modulated signal varies at a known rate;

the difference is a difference in phase between the first received signal and the second received signal; and

,

the processor is operable to determine at least one of the longitudinal position and the lateral position of the vehicle within the field of view based on the known rate and the difference in phase.

32. The traffic sensor as defined in claim 30 wherein

the first receiver antenna is oriented to be parallel to a first axis;

the second receiver antenna is oriented to be at a non-zero angle to the first axis;

the difference is a difference in amplitude between the first received signal and the second received signal; and

,

the processor is operable to determine the angle of arrival of the vehicle within the field of view based on the difference in amplitude between the first received signal and the second received signal.

33. The traffic sensor as defined in claim 26 wherein the processor is further operable to determine the number of vehicles traveling in a direction of traffic by incrementing a vehicle count for each vehicle detected traveling in the direction of traffic.

34. The traffic sensor as defined in claim 33 wherein the processor is further operable to determine an average velocity of vehicles traveling in the direction of traffic by

determining a velocity sum by summing the velocity of each vehicle;

and,

dividing the velocity sum by the vehicle count.

35. The traffic sensor as defined in claim 26 wherein the processor is further operable to determine the number of vehicles traveling in a lane by incrementing a lane vehicle count for each vehicle detected in the lane.

36. The traffic sensor as defined in claim 35 wherein the processor is further operable to determine an average velocity of vehicles traveling in the lane by

determining a lane velocity sum by summing the velocity of each vehicle detected traveling in the lane;

and,

dividing the lane velocity sum by the lane vehicle count.

37. The traffic sensor as defined in claim 26 further comprising

a timer for determining a lane vehicle dwell time of each vehicle traveling in the lane within the field of view during an elapsed time;

wherein the processor is further operable to determine a lane occupancy during the elapsed time by i) determining a sum of the lane vehicle dwell-times during the elapsed time and then ii) dividing the sum of the lane vehicle dwell-times by the elapsed time.

38. The traffic sensor as defined in claim 28 wherein the processor is further operable to determine the number of vehicles detected in a class of vehicles by, for each class of vehicles in the plurality of vehicle classifications, incrementing a class vehicle count for each vehicle detected in that class of vehicles.

39. The traffic sensor as defined in claim 38 wherein the processor is further operable to determine an average velocity of vehicles in a class of vehicles by

determining a class velocity sum by summing the velocity of each vehicle in the class of vehicles;

and,

dividing the class velocity sum by the class vehicle count.

40. The traffic sensor as defined in claim 28 wherein the processor is further operable to, for at least one class of vehicles, determine the number of vehicles in the class of vehicles detected in a lane of the road by incrementing a lane-class vehicle count for each vehicle in the class of vehicles detected in the lane.

41. The traffic sensor as defined in claim 40 wherein the processor is further operable to determine, for at least one class of vehicles, an average velocity of vehicles in the class of vehicles detected in the lane by

determining a lane-class velocity sum by summing the velocity of each vehicle in the class of vehicles detected in the lane;

and,

dividing the lane-class velocity sum by the lane-class vehicle count.