• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method and device for traffic detection, in which a reference speed is determined during the passage of a vehicle (2a) through a first radar detection area (3a) which is roughly aligned along the roadway axis. Depending on the direction of travel of a vehicle (2a), a second radar detection area (4a), whose antenna characteristic has a higher concentration, is passed through before or afterward. Due to the reference speed from the first detection area (3a), the unknown measuring angle (a1) of the radar antenna directed obliquely to the direction of travel is determined after the passage of the vehicle (2a). From the determined measuring angle (a1) and the known antenna opening angle (ß1) obliquely directed to the road radar sensor (6a) data such as direction, speed, vehicle length, safety distance to the vehicle in front and vehicle or vehicle class can be reliably determined by known methods, although the Device during assembly only roughly aligned with the course of the road.
    公开号:AT512767A1
    申请号:T500982012
    申请日:2012-03-26
    公开日:2013-10-15
    发明作者:Robert Sierzega
    申请人:Sierzega Elektronik Gmbh；
    IPC主号:
    专利说明:

    Printed: 28-03-2012 E014.1 10 2012/50098 -ΐ-
    Method and device for radar traffic detection Inventive area
    The present invention relates to a method for traffic detection, in which during the passage of a vehicle through a direction obliquely to the direction of radar data such as direction, speed, vehicle length, safety distance to the vehicle ahead and vehicle or vehicle class are charged, and an apparatus for performing the method , ΐο
    State of the art
    Doppler radar devices are often preferred for the collection of traffic data, since both a stationary and a mobile use with manageable effort is possible and the detection is done from outside the road. Patent DE3810357A1 describes such a method or a device. 15 20
    Mostly radar antennas with special directional characteristics are used. The radar beam is directed from the roadside or from above the road obliquely to the direction of travel of the vehicles on the road. In the case of roadside assemblies, antennas with half-value brakes of mostly around 12 ° in the horizontal plane and around 30 "in the vertical plane are common. At a measuring angle of 30 ° to 45 ° to the direction of travel or road axis, a sufficient separation of the successive vehicles is possible. The Doppler signals make it easy to determine the direction, speed and length of the vehicles. 25 Careful attention must be paid to the correct alignment of the radar sensor with respect to the direction of travel for accurate speed measurement. A Doppler radar can only detect the actual speed of a moving object exactly in the direction of movement. Due to the necessary measuring angle for the precise separation and individual detection of the vehicles, the mentioned measuring angle of 30 ° to 45 ° is usual in traffic data acquisition. As a result, the measured values must be corrected according to the measurement angle by means of the angle functions. Thus, after installation on the radar device, the actual angle for correcting the measured values must be set manually or, as is usually the case, the device must be set up exactly at a predetermined measuring angle. There are different aids and alignment methods.
    35
    Printed: 28-03-2012 E014.1 10 2012/50098 -2-
    In order to speed up and simplify the assembly of the described traffic detection devices, and if possible also to improve the accuracy, ways of automating the alignment have been developed. Application DE102010010656A1 describes a method and a device for this purpose. A vehicle passing the meter is detected twice. Once in the outgoing direction by a radar sensor in approach and once by a sensor after the vehicle has passed the detection device. Assuming that the assembly has taken place without regard to a precise alignment of the radar antennas to the roadway axis, the relationship between the two measured values and the assumption that the vehicle has not changed its speed may affect the actual speed and length of the vehicle and the measuring angle of the two Radar sensors are closed to the roadway axis.
    The disadvantage of this method, however, is primarily the prerequisite that the vehicles must not change the speed in the measuring range, so that a reliable measuring angle determination is possible. Otherwise, the ratio of two measured values with different measuring directions depends mainly on the acceleration or deceleration of the driving speed. In addition, two independent measured values with a relatively high measuring angle are subject to a certain tolerance, which makes measuring angle determination even more difficult. 20
    Disclosure of the invention
    Object of the present invention is to provide a method and apparatus for radar traffic detection, which automatically allows the measurement angle of the radar sensors 25 to the direction of arrival of incoming and outgoing vehicles after installation of a device according to the invention and a rough manual alignment This eliminates the need for manual fine adjustment of the instruments or entry of a manually determined measuring angle, thus improving the traffic detection and especially the quality of the collected data and simplifying and speeding up the assembly process through automation. 30
    The achievement of the object according to the invention is described in patent claim 1. In the other claims advantageous embodiments and further developments of the method (claims 2-4) or the preferred apparatus for exporting the method (claims 5-6) are described.
    2.9
    Printed: 28-03-2012 E014.1 10 2012/50098 -3-
    In the following the invention will be explained with reference to the accompanying drawings, for example. 1 shows a schematic diagram with a measuring arrangement of a radar traffic detection device 7a next to the roadway 5, FIG. 2 shows a schematic diagram with a measuring arrangement of a radar
    Traffic detection device 7b above the roadway
    Compared with the prior art described in Fig. 1 in a radar traffic detection device 7a, with evaluation 8a and radar sensor 6a, already io additional radar sensor 5a is shown, which is the same as the first-mentioned radar sensor 6a connected to the evaluation unit 8a.
    The radar traffic detection device 7a is located, for example, next to a two-lane road 1a, each with a directional lane. The radar-15 traffic detection device 7a is usually mounted on a mast about one meter above the ground, or integrated into existing roadside equipment, such as a guard post. The device according to the invention is usually located about one meter from the edge of the roadway. 20 in FIG. 1 is shown as an example of right-hand traffic, although the method and the device according to the invention can equally be used for left-hand traffic as well. If the road or the position next to the roadway require it, then the method and the device according to the invention can also be operated mirrored normal to the road axis. The radar lobes 3a and 4a of the two 25 radar sensors 5a and 6a measure at the same measuring angle to the roadway axis only counter to the other direction of travel.
    When mounting the device according to the invention an exact alignment to the direction of travel and compliance with a predetermined measuring angle a1 is not required. Thus, the device according to the invention in mobile use can also be inserted into non-rotating prefabricated foundations, which in turn can be very difficult to be inserted at an exact angle. If, in the exemplary illustration in FIG. 1, a vehicle 2a of the device approaches, then the speed of vehicle 2a is first measured in approximately 50 to 100 meters away. Radar sensor 5a has no special requirements for the antenna and 2 &
    SffiZ. 2D12 319 -4- Printed: 28-03-2012 E014.1 10 2012/50098 10 15 20 25 30 the corresponding antenna opening angle γ1. In order to reduce the manufacturing costs of the device according to the invention, a cost-effective sensor with a wide antenna opening angle γ1 can be used. Due to the coarse alignment of the device according to the invention to the road at a mean measuring angle Ö1 a Toieranz of + -15 ° is sufficient. If the antenna opening angle γ1 is sufficiently wide (approximately 30 ° in the example), the vehicle 2a, which moves into the radar lobe 3a, now casts the microwaves from the radar sensor 5a to the radar traffic detection device 7a at a very low measuring angle (usually below 5 °) even at a greater distance back to the radar sensor 5a. Evaluation unit 8a analyzes the Doppler frequencies and determines the speed of vehicle 2a. If vehicle 2a is traveling about one meter away from the edge of the roadway, a measurement angle 51 of 10 ° results for the speed measurement in radar lobe 3a with a lateral offset of a total of 2 meters only at a distance of about 11.5 meters. Even then, the angle influence on the Doppler measurement is only around 1.5%. At the same time, the determined speed from the Doppler frequency is 1.5% lower than the actual speed of vehicle 2a. The speed of vehicle 2a is tracked in the approach. In order to keep the measuring angle influence at a low distance between the radar traffic detection device 7a and the vehicle 2a low, the last speed values before leaving the radar lobe 3a are no longer used. An additional FSK modulation of the radar signals and the integration of a distance information, a measurement angle error can be minimized in any case. The determined speeds of the vehicle 2a in the radar lobe 3a serve as reference speeds for the method according to the invention. In addition, the further course of the acceleration or deceleration can also be taken into account by changing the speed. If the vehicle 2a reaches the radar lobe 4a of the radar sensor 6a, the measurement begins in a short road section which the antenna covers by the radar sensor 6a with a small known antenna opening angle β1. During the passage, the course of the speed is again tracked in evaluation unit 8a and all measured values are stored tightly between them. 9.4
    -5- Printed: 28-03-2012 E014.1 102012/50098
    After the passage of vehicle 2a through the radar lobe 4a, a representative speed value for this measuring range is determined, without subjecting the values from the Doppler signals to an angle correction. This value is either a simple mean value of all the speed data, or the phase of entry of vehicle 2a into the radar lobe 4a is preferably excluded by means of FSK modulation of the radar signals, so that a mean value of the remaining values is a speed value exactly in the middle antenna beam Angle a1 corresponds to An average value of all speed data in the radar lobe 4a is to be seen as a measured value below an effective measuring angle, which deviates mostly from the actual antenna mean below 10 angles a1.
    Subsequently, the reference velocity, from the calculation after passage of vehicle 2a through radar lobe 3a, is related to the velocity value in radar lobe 4a and the measurement angle a1 is calculated by means of angle functions the evaluation unit 8a are analyzed and for the vehicle 2a, the characteristic individual data such as direction, speed, vehicle length, safety distance to the vehicle ahead and vehicle type or vehicle class are determined and stored. 20
    The measuring angle a1 can for further increasing the accuracy of the invention
    Procedure be averaged out of several vehicles.
    In the case of vehicles in the outgoing direction, the radar signal data from 25 radar lobe 4a are first stored temporarily and only then is the reference speed determined in lobe 3a. In addition to the fact that accelerations or decelerations have to be compensated inversely or the exit from the radar lobe 4a for the averaging of the speed instead of the entrance has to be removed, the sequence is the same. 30
    In FIG. 2 and the measuring arrangement above the road, the evaluation unit 8b determines from the signals from radar sensor 5b the reference values for the speed of vehicle 2b in the approach in radar lobe 3b, as described for vehicle 2a in FIG. The course of the measurement in the radar lobe 4b until the storage of the data in the evaluation unit 8b is the same as for the previously described FIG. 1. 35-6-
    1a, b - roadway 2a, b - vehicle 3a, b - radar lobe of radar sensor 5a or 5b 5 4a, b - radar lobe of radar sensor 6a or 6b 5a, b - radar sensor with arbitrary antenna opening angle γ1 or γ2 6a, b - Radar sensor with low antenna opening angle β1 or β2 7a, b - radar traffic detection device 8a, b - evaluation unit 10 a1,2 - measuring angle of the radar sensor 6a or 6b ß1,2 - antenna opening angle of radar sensor 6a or 6b γ1,2 - antenna opening angle of radar sensor 5a and 5b ö1,2 - measuring angle of the radar sensor 5a and 5b
    权利要求:
    Claims (6)
    [1]
    1. A method for traffic detection, in which in an evaluation unit (8a, 8b) from the signals of a radar sensor (6a, 6b) is printed: 28-03-2012 E014.1 10 2012/50098 Claims: 10 15 20 25 30 with a low antenna opening angle (β1, (32) during the passage of a vehicle (2a, 2b) through the radar lobe (4a, 4b) data such as direction, speed, vehicle length, safety distance and vehicle type or vehicle class measured or derived this data from Radarmesswerten be characterized in that - in the evaluation unit (8a, 8b) from the signals of an additional radar sensor (5a, 5b), the speeds of the vehicles are measured as reference values or derived from the Radarmesswerten, wherein the additional radar sensor (5a, 5b) below A low measuring angle (51, 52> is directed to the direction of travel of the vehicles and thus no significant measuring angle error is given for the Doppler measurement, - that after gross alignment of the Radar traffic detection device (7a, 7b) during assembly, after passage of a vehicle (2a, 2b) of the measuring angle (a1, a2) of the radar sensor (6a, 6b) with a higher measuring angle from the determined speed values in the two radar lobes (3a and 4a , or 3b and 4b) is calculated, - and that from the determined measuring angle (α1, .α2) of the radar sensor (6a, 6b) with a higher measuring angle, as well as the measured data of this radar sensor (6a, 6b) vehicle data such as direction, speed, Vehicle length, safety distance and vehicle type or vehicle class are determined.
    [2]
    2. The method according to claim 1, characterized in that the radar sensors with Frequency-Shift Keying (FSK) modulation operated and thus the distance or the distance profile is taken into account, so that in the reference values of the radar sensor (5a, 5b) with a low measuring angle (51, 52), the acceleration or deceleration of a vehicle (2a, 2b) between the two radar lobes (3a and 4a, or 3b and 4b) also flows and thus the measuring angle determination for the radar sensor (6a, 6b) with a higher measuring angle (α1 , a2) is improved.
    [3]
    3. The method according to any one of the preceding claims, characterized in that by another radar sensor each vehicle both in the approach to the radar traffic detection device (7a, 7b), as well as in the outgoing direction by 7/9 ^ 03 = 2942.

    -8- Printed: 28-03-2012 E014.1 10 2012/50098 a radar beam is detected at a low measuring angle and thus by averaging the reference speeds or adjusting the acceleration or deceleration, the measuring angle determination for the radar sensor (6a, 6b) with a higher measuring angle (α1, a2) is improved. 5
    [4]
    4. The method according to any one of the preceding claims, characterized in that after the passage of several vehicles, the respectively determined measuring angle (α1, a2) are averaged and thus the accuracy of the method is increased.
    [5]
    5. Device for traffic detection (7a, 7b) with an evaluation unit (8a, 8b) and a radar sensor (6a, 6b), the radar lobe (4a, 4b) with a low antenna aperture angle (ß1, ß2) below the measuring angle critical for measuring ( α1, a2) is directed obliquely to the direction of travel of a vehicle (2a, 2b) and whose radar signals, after being reflected by a vehicle (2a, 2b), are processed by the connected evaluation unit (8a, 8b), characterized in that it further includes an additional radar sensor (5a, 5b) which is directed at a low measuring angle (51, Ö2) to the direction of travel of the vehicles, the radar signals of the connected evaluation unit (8a, 8b) are supplied, which processes the signals. 20
    [6]
    6. The device according to claim 4, characterized in that a further radar sensor is provided so that each vehicle is detected both in the approach, as well as in the outgoing direction by a radar beam at a low measuring angle. 25 8/9 ~ 25 = 09-30i £ 26MSZ.20ß
    类似技术:
    公开号 | 公开日 | 专利标题
    EP1990655B1|2015-07-01|Method for conclusively determining the speed of a vehicle
    DE102012107445B4|2016-03-03|2Method for classifying moving vehicles
    EP2068173B1|2011-03-30|Method for measuring cross movements in a driver assist system
    EP1990654B1|2009-12-09|Method and device for determining the automobile class of automobiles
    EP2698646A1|2014-02-19|Method for classifying moving vehicles by tracking a position size of the vehicle
    DE19949409A1|2001-04-19|Pulse radar object detection for pre crash control systems has tracks object to eliminate spurious detection
    DE102005007802A1|2006-08-24|Method for object plausibility in driver assistance systems
    EP1141749A1|2001-10-10|Distance sensor with a compensation device for an angle misalignment on a vehicle
    EP2799901A2|2014-11-05|Traffic monitoring system for speed measurement and allocation of moving vehicles in a multi-target receiving module
    EP2804014B1|2015-05-06|Device and method for determining a characteristic of a vehicle
    DE102004005421A1|2005-08-18|Device and method for monitoring the environment of a motor vehicle
    AT512767B1|2015-05-15|Method and device for radar traffic detection
    DE102008022971B4|2020-07-02|Method for checking the adjustment of a sensor for a distance measurement for the parking assistance system which is aligned to one side of a motor vehicle
    EP3304124A1|2018-04-11|Method for classifying an elongated stationary object in a lateral surrounding region of a motor vehicle, driver assistance system, and motor vehicle
    DE102013203574A1|2014-09-04|Method for compensation of angle measurement error of radar measurement device of motor car, involves determining angle measurement error between measured angle and actual angle by evaluating the movement pattern of object
    EP3060942B1|2019-10-02|Method for determining a position of at least two sensors, and sensor network
    DE102010010656B4|2014-12-18|Method and radar speed measuring device for the classification of vehicles
    EP0636900A2|1995-02-01|Method for velocity measurement and classification of vehicles by means of a traffic radar system
    DE102010056405A1|2012-06-28|A method of creating an image document in which a vehicle appropriate to a radar apparatus can be identified and an image document created by this method
    DE102015120533B4|2017-07-27|Device and method for acoustic traffic data acquisition
    DE102017100871A1|2018-07-19|Determining a measure of a local traffic density by a driver assistance system of a motor vehicle
    DE102004047505B4|2010-05-20|Method for detecting the misalignment of a distance sensor in the horizontal plane during driving and a corresponding distance sensor
    DE102015116434A1|2017-03-30|Method for estimating the airspeed
    EP3579020B1|2021-03-31|Method for recognition of an obstacle with the aid of reflected ultrasonic waves
    DE10200945B4|2006-09-07|Method for automatically correcting output values of a distance sensor in a vehicle
    同族专利:
    公开号 | 公开日
    EP2650696B1|2015-01-21|
    EP2650696A1|2013-10-16|
    AT512767B1|2015-05-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102010024152A1|2010-06-17|2011-12-22|Rtb Gmbh & Co. Kg|Height measuring arrangement for road-traffic vehicle e.g. passenger car, has radar module transmitting radar beam, and radiation lobe with oval cross-section, where axis of lobe is inclined around angle opposite to direction of vehicle|
    US20120188115A1|2011-01-24|2012-07-26|Lang Hong|Using Forward-Look and Side-Look Doppler Radars for Precise Vehicle Association in Automated Traffic Surveillance|
    DE3810357A1|1988-03-26|1989-10-05|Licentia Gmbh|METHOD FOR LOCAL TRAFFIC DATA ACQUISITION AND EVALUATION AND DEVICE FOR CARRYING OUT THE METHOD|
    DE4102460A1|1991-01-28|1992-07-30|Siemens Ag|METHOD AND DEVICE FOR DETECTING VEHICLES IN ROAD TRAFFIC FOR CONTROLLING A TRAFFIC SIGNAL SYSTEM|
    US8977489B2|2009-05-18|2015-03-10|GM Global Technology Operations LLC|Turn by turn graphical navigation on full windshield head-up display|
    DE102010010656B4|2010-03-09|2014-12-18|Rtb Gmbh & Co. Kg|Method and radar speed measuring device for the classification of vehicles|DE102013019801B4|2013-11-27|2018-01-11|Jenoptik Robot Gmbh|Method for measuring the speed of a motor vehicle moving on a road|
    DE202016102230U1|2016-04-27|2016-05-19|Bremicker Verkehrstechnik Gmbh & Co. Kg|Radar speed sign|
    CN112785854A|2021-01-11|2021-05-11|北京百度网讯科技有限公司|Vehicle speed detection method, device, equipment, medium and automatic driving vehicle|
    法律状态:
    2017-11-15| MM01| Lapse because of not paying annual fees|Effective date: 20170326 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50098/2012A|AT512767B1|2012-03-26|2012-03-26|Method and device for radar traffic detection|ATA50098/2012A| AT512767B1|2012-03-26|2012-03-26|Method and device for radar traffic detection|
    EP20130160515| EP2650696B1|2012-03-26|2013-03-21|Method and device for radar traffic detection|
    [返回顶部]