Method for classifying moving vehicles by tracking a position value of the vehicle

• US 9,304,197 B2
• Filed: 08/07/2013
• Issued: 04/05/2016
• Est. Priority Date: 08/14/2012
• Status: Active Grant

• Current Assignee: Jenoptik Robot GmbH (Jenoptik AG)
• Original Assignee: Jenoptik Robot GmbH (Jenoptik AG)
• Inventors: Lehning, Michael
• Primary Examiner(s): Brainard, Timothy A
• Application Number:
  US13/961,370
• Publication Number:
  US 20140049419A1
• Time in Patent Office: 972 Days
• Field of Search: 342/107
• US Class Current: 1/1
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/589 measuring the velocity vector
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles

Abstract

Method in which vehicles are measured repeatedly while traveling through a radar cone, and specific position values are formed so as to be associated with the measurement times. This can be a specific radial distance or a specific object angle. The change over time is analyzed with respect to a section of discontinuity. The length of this section depends upon the length of the vehicle and makes classification possible.

Claims

1. Method for classifying moving vehicles by tracking a position value of the vehicle in which vehicles are measured while passing through a radar cone formed by radar radiation in that the surfaces of the vehicles impinged by radar radiation reflect the radar radiation and generate measurement signals in a radar device emitting and receiving the radar radiation, comprising the following steps:

a) arranging a radar device at a known installation height and at a known vertical installation angle relative to a surface of a roadway and at a known horizontal installation angle and horizontal distance relative to an edge of said roadway, wherein said radar device is adapted to receive a plurality of measurement signals at a plurality of measurement times within a measurement duration, so that a radial velocity and, as position values, a radial distance and an object angle can be derived for each measurement signal,

b) emitting a radar beam from said radar device forming a radar cone, and acquiring measurement signals at a plurality of measurement times,

c) deriving radial velocities, object angles and radial distances from the measurement signals for each measurement time and assigning said radial velocities, object angles and radial distances to a vehicle giving rise to them, as the case may be, while passing through the radar cone,

d) forming a specific position value for each measurement time formed from the radial distances or object angles associated with a vehicle by a same computation rule in each instance and calculating a vehicle speed,

e) the specific position values being stored as a function over a measurement duration encompassing the measurement times, and a section of discontinuity that is bounded by sudden changes in the specific position value over the measuring period is determined in the curve of the function, and

f) determining a speed-normalized length of the section of discontinuity by means of the calculated vehicle speed, and comparing this speed-normalized length of the section with stored speed-normalized lengths of such sections which are typical of various classes of vehicles in order to classify the vehicle.

2. Method according to claim 1, wherein the specific position value for each measurement time is formed by calculating the arithmetic mean of the radial distances associated with this measurement time, and at least one of the installation angles is an acute angle.

3. Method according to claim 1, wherein the specific position value is formed per measurement time by calculating the arithmetic mean of the object angle associated with this measurement time, and the horizontal installation angle is an acute angle, and the vertical installation angle is less than 5°

.

4. Method according to claim 1, wherein at least one vehicle-specific coordinate system is calculated from the associated measurement signals so as to be related to the measurement time, the position and orientation of the vehicle-specific coordinate system being defined at each measurement time by a temporary location of the coordinate origin determined by the specific position value and a temporary driving direction, in that the radial distances and object angles which are derived at each measurement time and which respectively represent location coordinates of a rough target at the vehicle at this measurement time are converted in each instance into the vehicle-specific coordinate system, and the statistical distribution of the position of the rough targets is compared with stored distributions typical of different vehicle classes so as to verify the classification of the vehicle that has been made.

5. Method according to claim 4, wherein the statistical distribution of the position of the rough targets at individual measurement times is combined by superimposing the coordinate systems.