EP2450865A1 - Mobile control devices and methods for vehicles - Google Patents
Mobile control devices and methods for vehicles Download PDFInfo
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- EP2450865A1 EP2450865A1 EP10450169A EP10450169A EP2450865A1 EP 2450865 A1 EP2450865 A1 EP 2450865A1 EP 10450169 A EP10450169 A EP 10450169A EP 10450169 A EP10450169 A EP 10450169A EP 2450865 A1 EP2450865 A1 EP 2450865A1
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 73
- 238000011156 evaluation Methods 0.000 claims abstract description 9
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 claims description 77
- 238000005259 measurement Methods 0.000 claims description 43
- 238000004891 communication Methods 0.000 claims description 39
- 241000497429 Obus Species 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
Definitions
- the present invention relates to a mobile control device for controlling vehicles.
- the invention further relates to a method for such controls.
- Vehicle controls often associate speed readings with vehicle images in order to clearly identify them for enforcement purposes. If such controls are carried out from a mobile, moving control platform, this currently requires a complex manual assignment of the speed measurement values to the image recordings and vice versa, because the detection ranges of conventional speed measurement sensors and image acquisition cameras never exactly coincide. As a result of this and due to the constantly changing relative speeds in flowing traffic, ambiguities can arise between different image recordings and speed measurement values, which make unambiguous assignment impossible.
- the object of the invention is to provide mobile control devices and methods which utilize largely automated vehicle controls in flowing traffic, i. both on moving control platforms and moving vehicles to be controlled.
- a mobile control device with a sensor for speed measurement of vehicles passing a first detection area, which sensor provides a time stamp to the speed measurement value of a vehicle passage; a sensor for at least indirect geometry measurement, preferably length measurement, of vehicles passing through a second detection area, which sensor provides the geometry measured value of a vehicle passage with a time stamp; a camera for taking pictures of vehicles passing through a third detection area, which camera time-stamps the image of each vehicle passage; and an evaluation device connected to the camera and the said sensors, which is designed to from the speed measurement value, its time stamp and the first detection area and from the geometry measurement value, its time stamp and the second detection area, to calculate the location and the time at which a vehicle passage in the third detection area is to be expected, from which it is based on its time stamp and third detection area to determine matching image.
- the invention takes into account the different detection ranges which the individual sensors and cameras of a mobile control device, and calculates expected values for the movements of the controlled vehicle within the detection areas, so that captured in a detection area vehicle images can be automatically linked with speed measurement values that come from a different detection area.
- detection area used here encompasses any environmental segment that can be detected from the current location of the mobile control device by means of sensors or cameras, be it a conical, pyramidal, prismatic, linear, planar, etc. space segment or the like.
- the calculation can also be performed as post-processing, i.
- the detection areas or time stamps can also be assigned after execution and storage of all individual measurements.
- a particularly preferred embodiment of the invention which serves to control vehicles equipped with DSRC OBUs ("dedicated short range communication-on-board units"), such as those used in DSRC road toll systems, is characterized by a DSRC transceiver DSRC communication with DSRC OBUs from vehicles passing fourth detection range, which DSRC transceiver time stamps the DSRC communication of each vehicle passage; wherein the evaluation device is further configured to determine the DSRC communication that matches the image determined on the basis of its time stamp and fourth detection range.
- DSRC OBUs dedicated short range communication-on-board units
- the corresponding preferred embodiment of the method according to the invention is characterized by the additional steps of performing DSRC communications with the DSRC OBUs of vehicles passing through a fourth detection area and timestamping each DSRC communication; and determining the DSRC communication consistent with its timestamp and fourth detection range to the detected image.
- DSRC OBUs are used in DSRC road toll systems to perform DSRC communications with roadside equipment (RSE).
- the DSRC communications ultimately lead to toll transactions in the road toll system.
- mobile control platforms are also used, which interrogate the DSRC-OBUS of the vehicles in flowing traffic in order to retrieve data for the control of the toll transactions generated in the road toll system, or simply to detect the presence of a functioning DSRC-OBU. OBU in a vehicle to check.
- the transceiver areas of the DSRC transceiver of the mobile control device and the DSRC OBU of the controlled vehicle in their overlap area necessary for radio communication form a detection area different from the coverage areas of the other sensors and cameras of the mobile control device can differ greatly.
- the invention solves this problem by calculating expected values for the time and location when and where a vehicle with which DSRC communication was performed is within the detection range of the camera to uniquely associate an image with a DSRC communication to enable.
- the determination of the speed measurement value may only be one Intermediate result on the way of the assignment of the DSRC communications to the images, ie no own output signal or result of the control device or the control method is, but only for the calculation of said expectation values and thus allocation of the DSRC communications to the images is used.
- the speed of the vehicles may be measured in any manner known in the art.
- the speed is measured by means of the DSRC transceiver of the mobile control device itself, u.zw. preferably by Doppler measurement of the DSRC communications, i. Evaluation of the relative velocity-related Doppler effect that occurs in the radio communication.
- the first and fourth detection ranges are the same because the speed measurement sensor is constituted by the DSRC transceiver itself. This embodiment eliminates the need for installing a separate speed measuring sensor.
- the speed is measured with a laser scanner from the mobile control device, or by evaluating two consecutive images of a camera.
- a geometry for example the number of axles, length or height of a passing vehicle can preferably also be detected.
- the laser scanner can emit a scanning fan in a normal or oblique to the direction of the plane to the controlled vehicle.
- an associated geometry for example the length, of the vehicle can be determined on the basis of a table of number of axles or vehicle heights and vehicle geometries typically associated therewith.
- the geometry measurement sensor may be formed by the DSRC transceiver, which in the As part of a DSRC communication, vehicle data is obtained from the DSRC OBU from which it calculates a geometry, preferably the length, of the vehicle, in which case the second and fourth detection ranges are equal.
- vehicle data is obtained from the DSRC OBU from which it calculates a geometry, preferably the length, of the vehicle, in which case the second and fourth detection ranges are equal.
- the data of the geometry sensor can also be used for further plausibility checks such as the determination of a vehicle volume, a vehicle class, etc., against which the recorded images, speed readings and / or DSRC communications can be checked for plausibility of the assignment.
- a control vehicle 1 which moves on a roadway of a road 2 in a direction of travel 3 at a speed v 1 .
- the control vehicle 1 is used to control other vehicles 4 of the flowing traffic on the road 2, which move in the example shown here on an oncoming lane of the road 2 in an opposite direction 5 at a speed v 2 and pass the control vehicle 1 in oncoming traffic. It is understood, however, that control vehicle 1 can also control vehicles 4 traveling in the same direction, or that one or both vehicles 1, 4 can temporarily rest during stop-and-go traffic.
- the different directions of travel 3, 5 and speeds v 1 , v 2 of control vehicle 1 and controlled vehicle 4 create time-variable conditions that make a fixed geometric association between control vehicle 1 and vehicle 4 impossible.
- the senor 7 measures the (relative) speed v r of the passing vehicles 4 and provides each speed measurement value v r each with a time stamp TS 1 of the time of its detection. Knowing the airspeed v 1 of the vehicle 1, it is possible to deduce the intrinsic speed v 2 of the vehicle 4 from the relative speed v r .
- the senor 9 measures at least one geometry of the passing vehicles 4, here the length L, and provides each geometry measured value L with a time stamp TS 2 of the time of its detection.
- the camera 11 photographs the vehicles 4 passing through its detection area 12 and provides each captured image B with a time stamp TS 3 of the time his capture.
- the DSRC transceiver 13 performs DSRC communications 14 with the DSRC OBU 15 of the passing vehicles 4 and stores each performed DSRC communication 15 with a time stamp TS 4 of its execution.
- the evaluation device 17 links the speed measurement values, geometry measured values, camera images and DSRC communications received from the sensors 5, 9, the camera 11 and the optional DSRC receiver 13, taking into account their respective time stamps TS 1 -TS 4 and detection ranges 8, 10, 12. 16, so that they can be assigned to each other.
- the respective detection areas 8, 10, 12 and 16 with respect to the coordinate system of the control device 6 are known, for example defined by solid angles, planes, sectors, etc., from the in the detection areas at the respective times 15 1 , 15 2 , 15 3 , 15 4 speed measurement values occurring geometry measured values and / or DSRC communications expected values for the location and time are calculated to one due to the vehicle 4 vehicle passage in the detection area 12 of the camera 11 occurs at the respectively so that the camera 11 recorded in the detection area 12 images B with their time stamps TS 3 can be compared with it.
- the respective matching image B can be determined and vice versa, even if the detection ranges 8, 12 of speed sensor 7 and camera 11 do not coincide.
- the vehicle geometry in particular number of axles A and / or vehicle length L, is thereby evaluated in order to exclude ambiguity, eg to validate a vehicle 4 recorded in an image B on the basis of its detected length in the image relative to the length L measured by the sensor 9, or several Vehicles 4, which were recorded in the same image B due to the traffic density, to distinguish from each other.
- the speed measurement value v r or v 2 of the vehicle 4 determined in this way can also only be one embodiment be used as an intermediate result on the way of assigning a DSRC communication 14 to a captured image B.
- a DSRC communication with a vehicle 4 can also correspond to the respective image B of the vehicle 4 are assigned.
- the measured or calculated velocity vector v 2 of the vehicle 4 and the known velocity vector v 1 of the control vehicle 1 in conjunction with the respective timestamps TS 1 - TS 4 and detection areas 8, 10, 11, 12, 16 are evaluated around that location and estimate or extrapolate from this time the time at which the vehicle 4 with which a DSRC communication 14 took place should occur in the detection area 12 of the camera 11, that image B of the camera 11 whose time stamp TS 3 and whose position of the vehicle 4 recorded in the image B matches these expectation values.
- any sensors known in the art may be used.
- a laser scanner is used for the geometry measurement sensor 9, which emits, for example, a scanning fan in a direction normal to the direction of travel 3 or inclined plane, i. E. its detection area 10 is a plane, and by the movement of the control vehicle 1 and / or vehicle 4, the vehicle 4 is scanned to produce a 3D image of the vehicle 4.
- the vehicle length L will often be distorted.
- the vehicle length L can be determined indirectly from this: For example, from a correctly recorded vehicle height (or vehicle volume) can be closed to a certain class of vehicles, such as cars, trucks, trucks with trailers, etc., for which certain typical Vehicle lengths L can be determined.
- the sensor 9 can do this For example, contain a table of typical vehicle heights and associated typical vehicle lengths and thus determine an associated - albeit approximately - length L of the vehicle 4 due to the measured vehicle height.
- the senor 9 could be e.g. be a 3D laser scanner, which in a train very quickly creates a 3D image of a passing vehicle 4 - quasi photographic - from which directly a geometry, such as the vehicle length L, can be determined.
- the senor 9 can be e.g. the number of axles A of the vehicle 4 is determined, for example by laser scanning or LIDAR or radar Doppler measurement of the rotating wheels of the vehicle 4.
- the sensor 9 can then be e.g. Again, a table of typical axle numbers A vehicle lengths L or dimensions included and thus an associated - albeit only approximately - geometry, such as the length L, the vehicle 4 determine.
- the speed measuring sensor 7 may be formed by a laser scanner, e.g. in the manner of a LIDAR speedometer.
- the speed of the vehicle 4 could also be measured with a 2D or 3D laser scanner, for example with the aid of two short-term successive measurements and determination of the local offset of the vehicle 4 between the two measurements.
- both the speed measuring sensor 7 and the geometry measuring sensor 9 can use one and the same laser scanner.
- the speed may also be measured using the optional DSRC transceiver 13.
- Doppler measurements may be made on the DSRC communications 14 to determine the relative velocity v r .
- the speed can be measured by means of a transceiver 13 with infrared transmission in the course of vehicle communication.
- the DSRC OBU 15 itself to measure its speed and to send this to the DSRC transceiver 13 as part of a DSRC communication 14, which here is included in the definition that the DSRC transceiver 13 forms a speed measuring sensor.
- the DSRC transceiver 13 can also form the geometry measurement sensor 9 when it receives vehicle data from the DSRC OBU 15 as part of a DSRC radio communication 14, from which it can calculate a geometry of the vehicle 4, for example the length L.
- the DSRC OBU 15 sends information about the vehicle class or number of axles of the vehicle 4, from which - in turn, based on a table of typical vehicle geometries for typical vehicle classes or numbers of axles - the corresponding vehicle geometry can be calculated.
- the geometry measurement sensor 9 and the DSRC transceiver 13 coincide, it is understood that the detection regions 10, 16 coincide accordingly.
- the transceiver 13 may alternatively be used in a different short-range transmission technique than DSRC, e.g. in infrared or any microwave technology, be executed.
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Abstract
Description
Die vorliegende Erfindung betrifft eine mobile Kontrollvorrichtung zur Kontrolle von Fahrzeugen. Die Erfindung betrifft ferner ein Verfahren für solche Kontrollen.The present invention relates to a mobile control device for controlling vehicles. The invention further relates to a method for such controls.
Bei Fahrzeugkontrollen werden häufig Geschwindigkeitsmesswerte mit Bildaufnahmen eines Fahrzeugs verknüpft, um dieses für die Ahndung von Verkehrsvergehen ("Enforcement") eindeutig identifizieren zu können. Werden solche Kontrollen von einer mobilen, sich bewegenden Kontrollplattform aus durchgeführt, erfordert dies derzeit eine aufwendige manuelle Zuordnung der Geschwindigkeitsmesswerte zu den Bildaufnahmen und umgekehrt, weil sich die Erfassungsbereiche üblicher Geschwindigkeitsmesssensoren und Bildaufnahmekameras nie genau decken. Dadurch und aufgrund der ständig wechselnden Relativgeschwindigkeiten im fließenden Verkehr können sich Doppeldeutigkeiten zwischen verschiedenen Bildaufnahmen und Geschwindigkeitsmesswerten ergeben, die eine eindeutige Zuordnung unmöglich machen.Vehicle controls often associate speed readings with vehicle images in order to clearly identify them for enforcement purposes. If such controls are carried out from a mobile, moving control platform, this currently requires a complex manual assignment of the speed measurement values to the image recordings and vice versa, because the detection ranges of conventional speed measurement sensors and image acquisition cameras never exactly coincide. As a result of this and due to the constantly changing relative speeds in flowing traffic, ambiguities can arise between different image recordings and speed measurement values, which make unambiguous assignment impossible.
Die Erfindung setzt sich zum Ziel, mobile Kontrollvorrichtungen und -verfahren zu schaffen, welche weitgehend automatisierte Fahrzeugkontrollen im fließenden Verkehr, d.h. sowohl bei bewegten Kontrollplattformen als auch bewegten zu kontrollierenden Fahrzeugen, gestatten.The object of the invention is to provide mobile control devices and methods which utilize largely automated vehicle controls in flowing traffic, i. both on moving control platforms and moving vehicles to be controlled.
Dieses Ziel wird in einem ersten Aspekt der Erfindung mit einer mobilen Kontrollvorrichtung erreicht, mit
einem Sensor zur Geschwindigkeitsmessung von einen ersten Erfassungsbereich passierenden Fahrzeugen, welcher Sensor den Geschwindigkeitsmesswert einer Fahrzeugpassage mit einem Zeitstempel versieht;
einem Sensor zur zumindest indirekten Geometriemessung, bevorzugt Längenmessung, von einen zweiten Erfassungsbereich passierenden Fahrzeugen, welcher Sensor den Geometriemesswert einer Fahrzeugpassage mit einem Zeitstempel versieht;
einer Kamera zur Aufnahme von Bildern von einen dritten Erfassungsbereich passierenden Fahrzeugen, welche Kamera das Bild jeder Fahrzeugpassage mit einem Zeitstempel versieht; und
einer an die Kamera und die genannten Sensoren angeschlossenen Auswerteeinrichtung, welche dafür ausgebildet ist,
aus dem Geschwindigkeitsmesswert, seinem Zeitstempel und dem ersten Erfassungsbereich sowie aus dem Geometriemesswert, seinem Zeitstempel und dem zweiten Erfassungsbereich den Ort und die Zeit zu berechnen, an dem bzw. zu der eine Fahrzeugpassage im dritten Erfassungsbereich zu erwarten ist, um daraus das anhand seines Zeitstempels und dritten Erfassungsbereichs passende Bild zu ermitteln.This object is achieved in a first aspect of the invention with a mobile control device, with
a sensor for speed measurement of vehicles passing a first detection area, which sensor provides a time stamp to the speed measurement value of a vehicle passage;
a sensor for at least indirect geometry measurement, preferably length measurement, of vehicles passing through a second detection area, which sensor provides the geometry measured value of a vehicle passage with a time stamp;
a camera for taking pictures of vehicles passing through a third detection area, which camera time-stamps the image of each vehicle passage; and
an evaluation device connected to the camera and the said sensors, which is designed to
from the speed measurement value, its time stamp and the first detection area and from the geometry measurement value, its time stamp and the second detection area, to calculate the location and the time at which a vehicle passage in the third detection area is to be expected, from which it is based on its time stamp and third detection area to determine matching image.
In einem zweiten Aspekt erreicht die Erfindung ihre Ziele mit einem Verfahren zur Kontrolle von Fahrzeugen, mit den folgenden Schritten in beliebiger Reihenfolge:
- Messen der Geschwindigkeit eines einen ersten Erfassungsbereich passierenden Fahrzeugs und Versehen des Geschwindigkeitsmesswerts mit einem Zeitstempel;
- zumindest indirektes Messen einer Geometrie, bevorzugt der Länge, eines einen zweiten Erfassungsbereich passierenden Fahrzeugs und Versehen des Geometriemesswerts mit einem Zeitstempel;
- Aufnehmen von Bildern von einen dritten Erfassungsbereich passierenden Fahrzeugen und Versehen jedes Bildes mit einem Zeitstempel;
- ferner mit den anschließenden Schritten:
- Berechnen, aus dem Geschwindigkeitsmesswert, seinem Zeitstempel und dem ersten Erfassungsbereich sowie aus dem Geometriemesswert, seinem Zeitstempel und dem zweiten Erfassungsbereich, des Ortes und der Zeit, an dem bzw. zu der eine Fahrzeugpassage im dritten Erfassungsbereich zu erwarten ist, und
- daraus Ermitteln des anhand seines Zeitstempels und dritten Erfassungsbereichs passenden Bildes.
- Measuring the speed of a vehicle passing a first detection area and providing the speed measurement with a time stamp;
- at least indirectly measuring a geometry, preferably the length, of a vehicle passing a second detection area and providing the geometry measurement value with a time stamp;
- Capturing images of vehicles passing through a third detection area and timestamping each image;
- further with the following steps:
- Calculating, from the speed measurement value, its time stamp and the first detection range and from the geometry measurement value, its time stamp and the second detection range, the location and the time at which a vehicle passage in the third detection range is to be expected, and
- from this determination of the image matching on the basis of its time stamp and third detection area.
Die Erfindung berücksichtigt die unterschiedlichen Erfassungsbereiche, welche die einzelnen Sensoren und Kameras einer mobilen Kontrollvorrichtung haben, und berechnet Erwartungswerte für die Bewegungen des kontrollierten Fahrzeugs innerhalb der Erfassungsbereiche, so dass in einem Erfassungsbereich aufgenommene Fahrzeugbilder automatisch mit Geschwindigkeitsmesswerten, die aus einem davon abweichenden Erfassungsbereich stammen, verknüpft werden können.The invention takes into account the different detection ranges which the individual sensors and cameras of a mobile control device, and calculates expected values for the movements of the controlled vehicle within the detection areas, so that captured in a detection area vehicle images can be automatically linked with speed measurement values that come from a different detection area.
Der hier verwendete Begriff "Erfassungsbereich" umfasst dabei jedes vom aktuellen Ort der mobilen Kontrollvorrichtung aus mittels Sensoren bzw. Kameras erfassbare Umgebungssegment, sei dies ein kegelförmiges, pyramidenförmiges, prismatisches, linienförmiges, ebenenförmiges usw. Raumsegment od.dgl.The term "detection area" used here encompasses any environmental segment that can be detected from the current location of the mobile control device by means of sensors or cameras, be it a conical, pyramidal, prismatic, linear, planar, etc. space segment or the like.
Die Berechnung kann auch als post-processing durchgeführt werden, d.h. die Erfassungsbereiche bzw. Zeitstempel können auch nach Durchführung und Speicherung aller Einzelmessungen zugeordnet werden.The calculation can also be performed as post-processing, i. The detection areas or time stamps can also be assigned after execution and storage of all individual measurements.
Prinzipiell ist auch die Verwendung weiterer Sensoren denkbar, deren Sensordaten durch das beschriebene Verfahren zum jeweiligen passierenden Fahrzeug zugeordnet werden: Abgas-Sensoren, Lautstärke-Sensoren, Temperatur-Sensoren für Reifen- bzw. Bremsen-Inspektion, Video-Sensoren für Reifen-Inspektion, Gefahrentransport-Markierungen, Plaketten, Vignetten, usw.In principle, it is also conceivable to use further sensors whose sensor data are assigned to the respective vehicle passing through the method described: exhaust gas sensors, volume sensors, temperature sensors for tire or brake inspection, video sensors for tire inspection, Danger transport markings, plaques, vignettes, etc.
Alle hier genannten Bilder können jeweils auch Bestandteil einer Videosequenz sein.All of the pictures mentioned here can also be part of a video sequence.
Eine besonders bevorzugte Ausführungsform der Erfindung, welche zur Kontrolle von mit DSRC-OBUs ("dedicated short range communication-onboard units") ausgestatteten Fahrzeugen dient, wie sie beispielsweise im Rahmen von DSRC-Straßenmautsystemen Verwendung finden, zeichnet sich durch einen DSRC-Sendeempfänger zur DSRC-Kommunikation mit DSRC-OBUs von einen vierten Erfassungsbereich passierenden Fahrzeugen aus, welcher DSRC-Sendeempfänger die DSRC-Kommunikation jeder Fahrzeugpassage mit einem Zeitstempel versieht; wobei die Auswerteinrichtung ferner dafür ausgebildet ist, die anhand ihres Zeitstempels und vierten Erfassungsbereichs zu dem ermittelten Bild passende DSRC-Kommunikation zu ermitteln.A particularly preferred embodiment of the invention, which serves to control vehicles equipped with DSRC OBUs ("dedicated short range communication-on-board units"), such as those used in DSRC road toll systems, is characterized by a DSRC transceiver DSRC communication with DSRC OBUs from vehicles passing fourth detection range, which DSRC transceiver time stamps the DSRC communication of each vehicle passage; wherein the evaluation device is further configured to determine the DSRC communication that matches the image determined on the basis of its time stamp and fourth detection range.
Die entsprechende bevorzugte Ausführungsform des erfindungsgemäßen Verfahrens zeichnet sich aus durch die zusätzlichen Schritte des Durchführens von DSRC-Kommunikationen mit den DSRC-OBUs von einen vierten Erfassungsbereich passierenden Fahrzeugen und Versehen jeder DSRC-Kommunikation mit einem Zeitstempel; und des Ermittelns der anhand ihres Zeitstempels und vierten Erfassungsbereichs zu dem ermittelten Bild passenden DSRC-Kommunikation.The corresponding preferred embodiment of the method according to the invention is characterized by the additional steps of performing DSRC communications with the DSRC OBUs of vehicles passing through a fourth detection area and timestamping each DSRC communication; and determining the DSRC communication consistent with its timestamp and fourth detection range to the detected image.
DSRC-OBUs werden in DSRC-Straßenmautsystemen dazu eingesetzt, DSRC-Kommunikationen mit straßenseitig aufgestellten Funkbaken ("roadside equipment", RSE) durchzuführen. Die DSRC-Kommunikationen münden letztlich in Mautransaktionen im Straßenmautsystem. Für die Kontrolle von Fahrzeugen mit DSRC-OBUs werden auch mobile Kontrollplattformen eingesetzt, welche im fließenden Verkehr die DSRC-OBUS der Fahrzeuge abfragen, um daraus Daten für die Kontrolle der im Straßenmautsystem erzeugten Mauttransaktionen abzurufen, oder einfach nur um das Vorhandensein einer funktionsfähigen DSRC-OBU in einem Fahrzeug zu überprüfen. Bei dieser Art von Kontrolle ergibt sich das zusätzliche Problem, dass die Sendeempfangsbereiche des DSRC-Sendeempfängers der mobilen Kontrollvorrichtung und der DSRC-OBU des kontrollierten Fahrzeugs in ihrem für die Funkkommunikation notwendigen Überlappungsbereich einen Erfassungsbereich bilden, der sich von den Erfassungsbereichen der übrigen Sensoren und Kameras der mobilen Kontrollvorrichtung stark unterscheiden kann. Dadurch ergibt sich neuerlich ein Zuordnungsproblem zwischen den DSRC-Funkkommunikationen einerseits und den zu Enforcement-Zwecken aufgenommenen Bildern andererseits. Die Erfindung löst dieses Problem durch die Berechnung von Erwartungswerten für die Zeit und den Ort, wann bzw. wo ein Fahrzeug, mit dem eine DSRC-Kommunikation durchgeführt wurde, im Erfassungsbereich der Kamera ist, um eine eindeutige Zuordnung eines Bildes zu einer DSRC-Kommunikation zu ermöglichen.DSRC OBUs are used in DSRC road toll systems to perform DSRC communications with roadside equipment (RSE). The DSRC communications ultimately lead to toll transactions in the road toll system. For the control of vehicles with DSRC-OBUs, mobile control platforms are also used, which interrogate the DSRC-OBUS of the vehicles in flowing traffic in order to retrieve data for the control of the toll transactions generated in the road toll system, or simply to detect the presence of a functioning DSRC-OBU. OBU in a vehicle to check. In this type of control there is the additional problem that the transceiver areas of the DSRC transceiver of the mobile control device and the DSRC OBU of the controlled vehicle in their overlap area necessary for radio communication form a detection area different from the coverage areas of the other sensors and cameras of the mobile control device can differ greatly. This again results in an allocation problem between the DSRC radio communications on the one hand and the images taken for enforcement purposes on the other hand. The invention solves this problem by calculating expected values for the time and location when and where a vehicle with which DSRC communication was performed is within the detection range of the camera to uniquely associate an image with a DSRC communication to enable.
Es versteht sich, dass bei dieser Ausführungsform die Ermittlung des Geschwindigkeitsmesswerts gegebenenfalls nur ein Zwischenergebnis auf dem Weg der Zuordnung der DSRC-Kommunikationen zu den Bildern ist, d.h. kein eigenes Ausgangssignal bzw. Ergebnis der Kontrollvorrichtung bzw. des Kontrollverfahrens darstellt, sondern lediglich zur Berechnung der genannten Erwartungswerte und damit Zuordnung der DSRC-Kommunikationen zu den Bildern dient.It is understood that in this embodiment, the determination of the speed measurement value may only be one Intermediate result on the way of the assignment of the DSRC communications to the images, ie no own output signal or result of the control device or the control method is, but only for the calculation of said expectation values and thus allocation of the DSRC communications to the images is used.
Die Geschwindigkeit der Fahrzeuge kann an sich auf jede in der Technik bekannte Art gemessen werden. Gemäß einer ersten bevorzugten Ausführungsform der Erfindung, welche für die DSRC-Systeme bestimmt ist, wird die Geschwindigkeit mit Hilfe des DSRC-Sendeempfängers der mobilen Kontrollvorrichtung selbst gemessen, u.zw. bevorzugt durch Dopplermessung der DSRC-Kommunikationen, d.h. Auswertung des relativgeschwindigkeitsbedingten Dopplereffekts, der in der Funkkommunikation auftritt. Demgemäß sind bei dieser Ausführungsform auch der erste und der vierte Erfassungsbereich gleich, weil der Geschwindigkeitsmesssensor durch den DSRC-Sendeempfänger selbst gebildet wird. Diese Ausführungsform erübrigt den Einbau eines gesonderten Geschwindigkeitsmesssensors.As such, the speed of the vehicles may be measured in any manner known in the art. According to a first preferred embodiment of the invention, which is intended for the DSRC systems, the speed is measured by means of the DSRC transceiver of the mobile control device itself, u.zw. preferably by Doppler measurement of the DSRC communications, i. Evaluation of the relative velocity-related Doppler effect that occurs in the radio communication. Accordingly, in this embodiment as well, the first and fourth detection ranges are the same because the speed measurement sensor is constituted by the DSRC transceiver itself. This embodiment eliminates the need for installing a separate speed measuring sensor.
In einer alternativen bevorzugten Ausführungsform, welche sich auch für nicht mit DSRC-OBUs ausgestattete Fahrzeuge eignet, wird die Geschwindigkeit mit einem Laserscanner von der mobilen Kontrollvorrichtung aus gemessen, oder durch Auswertung zweier aufeinanderfolgender Bilder einer Kamera.In an alternative preferred embodiment, which is also suitable for vehicles not equipped with DSRC-OBUs, the speed is measured with a laser scanner from the mobile control device, or by evaluating two consecutive images of a camera.
Mit einem solchen Laserscanner kann bevorzugt auch eine Geometrie, z.B. die Achsanzahl, Länge oder Höhe eines passierenden Fahrzeugs detektiert werden. Beispielsweise kann der Laserscanner einen Abtastfächer in einer normal oder schräg zur Fahrtrichtung liegenden Ebene auf das kontrollierte Fahrzeug aussenden. Aus einer z.B. solcherart detektierten Achsanzahl oder Fahrzeughöhe kann anhand einer Tabelle von Achsanzahlen bzw. Fahrzeughöhen und diesen typischerweise zugeordneten Fahrzeuggeometrien eine zugehörige Geometrie, z.B. die Länge, des Fahrzeugs ermittelt werden. Alternativ kann der Geometriemesssensor durch den DSRC-Sendeempfänger gebildet sein, welcher im Rahmen einer DSRC-Kommunikation Fahrzeugdaten von der DSRC-OBU erhält, aus welchen er eine Geometrie, bevorzugt die Länge, des Fahrzeugs berechnet, in welchem Fall der zweite und der vierte Erfassungsbereich gleich sind. Die Daten des Geometriesensors können überdies auch für weitere Plausibilitätsüberprüfungen wie die Ermittlung eines Fahrzeugvolumens, einer Fahrzeugklasse usw. herangezogen werden, gegen welche die aufgenommenen Bilder, Geschwindigkeitsmesswerte und/oder DSRC-Kommunikationen auf Plausibilität der Zuordnung gegengeprüft werden können.With such a laser scanner, a geometry, for example the number of axles, length or height of a passing vehicle can preferably also be detected. For example, the laser scanner can emit a scanning fan in a normal or oblique to the direction of the plane to the controlled vehicle. From a number of axles or vehicle height detected in this way, for example, an associated geometry, for example the length, of the vehicle can be determined on the basis of a table of number of axles or vehicle heights and vehicle geometries typically associated therewith. Alternatively, the geometry measurement sensor may be formed by the DSRC transceiver, which in the As part of a DSRC communication, vehicle data is obtained from the DSRC OBU from which it calculates a geometry, preferably the length, of the vehicle, in which case the second and fourth detection ranges are equal. The data of the geometry sensor can also be used for further plausibility checks such as the determination of a vehicle volume, a vehicle class, etc., against which the recorded images, speed readings and / or DSRC communications can be checked for plausibility of the assignment.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachstehenden Beschreibung eines bevorzugten Ausführungsbeispiels, welches auf die begleitenden Zeichnungen Bezug nimmt, in denen:
- die
Fig. 1 bis 3 eine auf einem Kontrollfahrzeug montierte mobile Kontrollvorrichtung zur Kontrolle von Fahrzeugen des fließenden Verkehrs in drei verschiedenen Verwendungsstellungen zeigen, welche gleichzeitig drei Phasen des Verfahrens der Erfindung wiedergeben.
- the
Fig. 1 to 3 show a mounted on a control vehicle mobile control device for controlling vehicles of the flowing traffic in three different positions of use, which simultaneously reflect three phases of the method of the invention.
Unter Bezugnahme auf die
Zur Kontrolle des Fahrzeugs 4 trägt das Kontrollfahrzeug 1 eine mobile Kontrollvorrichtung 6, welche die folgenden Komponenten umfasst, von denen einige auch zusammenfallen können:
- einen
ersten Sensor 7 zur Messung der auf dasKontrollfahrzeug 1 bezogenen Relativgeschwindigkeit vr = v2 - v1 desFahrzeugs 4, wenn sich dieses imErfassungsbereich 8 desSensors 7 befindet bzw. diesen passiert; - einen
zweiten Sensor 9, welcher zumindest indirekt eine Geometrie, hier die Länge L desFahrzeugs 4 misst, wenn sich dieses im Erfassungsbereich 10 desSensors 9 befindet; - zumindest eine Kamera 11 zur Aufnahme eines Bildes B des
Fahrzeugs 4, wenn sich diesesim Erfassungsbereich 12der Kamera 11 befindet bzw. diesen passiert; - einen (optionalen) DSRC-
Sendeempfänger 13, der eine Funkkommunikation 14 mit einer (optionalen) DSRC-OBU 15 desFahrzeugs 4 durchführen kann, wenn sich diesesim Erfassungsbereich 16 des DSRC-Sendeempfängers 13 befindet bzw. diesen passiert; der Erfassungsbereich 16 ist die Schnittmenge aus dem Sendeempfangsbereich des DSRC-Sendeempfängers 13 und dem Sendeempfangsbereich der DSRC-OBU 15; und - eine an die obigen Komponenten angeschlossene Auswerteeinrichtung 17.
- a
first sensor 7 for measuring relative to thecontrol vehicle 1 relative speed v r = v 2 - v 1 of thevehicle 4, if this is in thedetection range 8 of thesensor 7 or this happens; - a
second sensor 9, which at least indirectly measures a geometry, in this case the length L of thevehicle 4, when it is located in the detection area 10 of thesensor 9; - at least one
camera 11 for capturing an image B of thevehicle 4 when it is in thedetection area 12 of thecamera 11 or passes through it; - an (optional)
DSRC transceiver 13, which can performradio communication 14 with an (optional)DSRC OBU 15 of thevehicle 4 when it is in thedetection area 16 of theDSRC transceiver 13; thedetection area 16 is the intersection of the transmission reception area of theDSRC transceiver 13 and the transmission reception area of theDSRC OBU 15; and - an
evaluation device 17 connected to the above components.
Im Betrieb misst der Sensor 7 die (Relativ-)Geschwindigkeit vr der passierenden Fahrzeuge 4 und versieht jeden Geschwindigkeitsmesswert vr jeweils mit einem Zeitstempel TS1 des Zeitpunkts seiner Erfassung. Aus der Relativgeschwindigkeit vr könnte in Kenntnis der Eigengeschwindigkeit v1 des Fahrzeugs 1 auf die Eigengeschwindigkeit v2 des Fahrzeugs 4 rückgeschlossen werden.In operation, the
In gleicher Weise misst der Sensor 9 zumindest eine Geometrie der passierenden Fahrzeuge 4, hier die Länge L, und versieht jeden Geometriemesswert L mit einem Zeitstempel TS2 des Zeitpunkts seiner Erfassung. Die Kamera 11 fotografiert die ihren Erfassungsbereich 12 passierenden Fahrzeuge 4 und versieht jedes aufgenommene Bild B mit einem Zeitstempel TS3 des Zeitpunkts seiner Erfassung. Optional führt der DSRC-Sendeempfänger 13 DSRC-Kommunikationen 14 mit den DSRC-OBU 15 der passierenden Fahrzeuge 4 durch und speichert jede durchgeführte DSRC-Kommunikation 15 mit einem Zeitstempel TS4 ihrer Durchführung ab.In the same way, the
Die Auswerteeinrichtung 17 verknüpft die von den Sensoren 5, 9, der Kamera 11 und dem optionalen DSRC-Empfänger 13 erhaltenen Geschwindigkeitsmesswerte, Geometriemesswerte, Kamerabilder und DSRC-Kommunikationen unter Berücksichtigung ihrer jeweiligen Zeitstempel TS1 - TS4 und Erfassungsbereiche 8, 10, 12, 16, so dass sie einander zugeordnet werden können. Da die jeweiligen Erfassungsbereiche 8, 10, 12 und 16 bezüglich des Koordinatensystems der Kontrollvorrichtung 6 bekannt sind, beispielsweise durch Raumwinkel, Ebenen, Sektoren usw. definiert, können aus den in den Erfassungsbereichen zu den jeweiligen Zeiten 151, 152, 153, 154 auftretenden Geschwindigkeitsmesswerten, Geometriemesswerten und/oder DSRC-Kommunikationen Erwartungswerte für den Ort und die Zeit berechnet werden, an dem bzw. zu der eine auf das Fahrzeug 4 zurückzuführende Fahrzeugpassage im Erfassungsbereich 12 der Kamera 11 auftritt, so dass die von der Kamera 11 im Erfassungsbereich 12 aufgenommenen Bilder B mit ihren Zeitstempeln TS3 damit verglichen werden können. Damit kann zu jedem Geschwindigkeitsmesswert vr das jeweils passende Bild B ermittelt werden und umgekehrt, selbst wenn sich die Erfassungsbereiche 8, 12 von Geschwindigkeitssensor 7 und Kamera 11 nicht decken. Die Fahrzeuggeometrie, insbesondere Achsanzahl A und/oder Fahrzeuglänge L, wird dabei mit ausgewertet, um Doppeldeutigkeiten auszuschließen, z.B. um ein in einem Bild B aufgenommenes Fahrzeug 4 anhand seiner im Bild detektierten Länge gegenüber der vom Sensor 9 gemessenen Länge L zu validieren, oder mehrere Fahrzeuge 4, die in ein- und demselben Bild B aufgrund der Verkehrsdichte aufgenommen wurden, voneinander zu unterscheiden.The
Der auf diese Weise ermittelte Geschwindigkeitsmesswert vr bzw. v2 des Fahrzeugs 4 kann in einer Ausführungsform auch nur als Zwischenergebnis auf dem Weg der Zuordnung einer DSRC-Kommunikation 14 zu einem aufgenommenen Bild B verwendet werden. So kann in Kenntnis des Erfassungsbereichs 16 des DSRC-Sendeempfängers 13, der vorgenannten Geschwindigkeits- und Geometriemesswerte der Sensoren 7, 9, der Erfassungsbereiche 8, 10 und der Zeitstempel TS1 - TS4 eine DSRC-Kommunikation mit einem Fahrzeug 4 auch dem jeweiligen Bild B des Fahrzeugs 4 zugeordnet werden. Dazu werden beispielsweise der gemessene bzw. berechnete Geschwindigkeitsvektor v2 des Fahrzeugs 4 und der bekannte Geschwindigkeitsvektor v1 des Kontrollfahrzeugs 1 in Verbindung mit den jeweiligen Zeitstempeln TS1 - TS4 und Erfassungsbereichen 8, 10, 11, 12, 16 ausgewertet, um jenen Ort und jene Zeit daraus zu schätzen bzw. extrapolieren, zu dem bzw. zu der jenes Fahrzeug 4, mit dem eine DSRC-Kommunikation 14 stattfand, im Erfassungsbereich 12 der Kamera 11 auftreten sollte, um jenes Bild B der Kamera 11, dessen Zeitstempel TS3 und dessen im Bild B aufgenommenen Position des Fahrzeugs 4 zu diesen Erwartungswerten passt, zuzuordnen.The speed measurement value v r or v 2 of the
Für den Geschwindigkeitsmesssensor 7 und den Geometriemesssensor 9 können jegliche in der Technik bekannte Sensoren verwendet werden. In einer ersten Ausführungsform wird für den Geometriemesssensor 9 ein Laserscanner verwendet, der beispielsweise einen Abtastfächer in einer zur Fahrtrichtung 3 normalen oder schräg gestellten Ebene aussendet, d.h. sein Erfassungsbereich 10 ist eine Ebene, und durch die Fortbewegung des Kontrollfahrzeugs 1 und/oder Fahrzeugs 4 wird das Fahrzeug 4 gescannt, um ein 3D-Abbild des Fahrzeugs 4 zu erzeugen.For the
In einem solchen 3D-Abbild des Fahrzeugs 4 wird aufgrund der Fahrzeuggeschwindigkeit v2 die Fahrzeuglänge L häufig verzerrt dargestellt sein. In diesem Fall lässt sich die Fahrzeuglänge L daraus indirekt ermitteln: So kann z.B. aus einer korrekt erfassten Fahrzeughöhe (oder dem Fahrzeugvolumen) auf eine bestimmte Klasse von Fahrzeugen geschlossen werden, wie PKW, LKW, LKW mit Anhänger, usw., für welche bestimmte typische Fahrzeuglängen L ermittelt werden können. Der Sensor 9 kann dazu z.B. eine Tabelle von typischen Fahrzeughöhen und zugeordneten typischen Fahrzeuglängen enthalten und so aufgrund der gemessenen Fahrzeughöhe eine zugehörige - wenn auch näherungsweise - Länge L des Fahrzeugs 4 ermitteln.In such a 3D image of the
Alternativ könnte der Sensor 9 z.B. ein 3D-Laserscanner sein, welcher in einem Zug sehr rasch ein 3D-Abbild eines passierenden Fahrzeugs 4 - quasi fotografisch - erstellt, woraus direkt eine Geometrie, wie die Fahrzeuglänge L, ermittelt werden kann.Alternatively, the
Noch eine weitere Alternative wäre, dass der Sensor 9 z.B. die Achsanzahl A des Fahrzeugs 4 ermittelt, beispielsweise durch Laserabtastung oder LIDAR- bzw. Radar-Dopplermessung der sich drehenden Räder des Fahrzeugs 4. Der Sensor 9 kann dann z.B. wieder eine Tabelle von für bestimmte Achsanzahlen A typische Fahrzeuglängen L bzw. -abmessungen enthalten und so eine zugehörige - wenn auch nur näherungsweise - Geometrie, wie die Länge L, des Fahrzeugs 4 ermitteln.Yet another alternative would be for the
Auch der Geschwindigkeitsmesssensor 7 kann durch einen Laserscanner gebildet sein, z.B. in der Art einer LIDAR-Geschwindigkeitsmesspistole. Alternativ könnte auch mit einem 2D- oder 3D-Laserscanner die Geschwindigkeit des Fahrzeugs 4 gemessen werden, beispielsweise mit Hilfe zweier kurzzeitig aufeinander folgender Messungen und Bestimmung des örtlichen Versatzes des Fahrzeugs 4 zwischen den beiden Messungen. Optional kann daher sowohl für den Geschwindigkeitsmesssensor 7 als auch den Geometriemesssensor 9 ein- und derselbe Laserscanner verwendet werden.Also, the
In einer alternativen Ausführungsform kann die Geschwindigkeit auch mit Hilfe des optionalen DSRC-Sendeempfängers 13 gemessen werden. Beispielsweise können dazu Dopplermessungen an den DSRC-Kommunikationen 14 vorgenommen werden, um die Relativgeschwindigkeit vr zu ermitteln. Alternativ kann die Geschwindigkeit mit Hilfe eines Sendeempfängers 13 mit Infrarotübertragung in Zuge der Fahrzeugkommunikation gemessen werden.In an alternative embodiment, the speed may also be measured using the
Denkbar wäre auch, dass die DSRC-OBU 15 selbst ihre Geschwindigkeit misst und dies im Rahmen einer DSRC-Kommunikation 14 an den DSRC-Sendeempfänger 13 sendet, was hier von der Definition mitumfasst ist, dass der DSRC-Sendeempfänger 13 einen Geschwindigkeitsmesssensor bildet.It would also be conceivable for the
Wenn die Geschwindigkeit mit dem DSRC-Sendeempfänger 13 gemessen wird, versteht es sich, dass der erste und der vierte Erfassungsbereich 8 und 16 zusammenfallen.When the speed is measured with the
Der DSRC-Sendeempfänger 13 kann darüber hinaus auch den Geometriemesssensor 9 bilden, wenn er im Rahmen einer DSRC-Funkkommunikation 14 Fahrzeugdaten von der DSRC-OBU 15 erhält, aus welchen er eine Geometrie des Fahrzeugs 4, beispielsweise die Länge L, berechnen kann. Beispielsweise sendet die DSRC-OBU 15 Informationen über die Fahrzeugklasse oder Achsanzahl des Fahrzeugs 4, aus welchem - wiederum anhand einer Tabelle von typischen Fahrzeuggeometrien für typische Fahrzeugklassen oder Achsanzahlen - die zugehörige Fahrzeuggeometrie berechnet werden kann. Wenn der Geometriemesssensor 9 und der DSRC-Sendeempfänger 13 zusammenfallen, versteht es sich, dass entsprechend auch die Erfassungsbereiche 10, 16 zusammenfallen.In addition, the
Der Sendeempfänger 13 kann alternativ auch in einer anderen Kurzstreckenübertragungstechnik als DSRC, z.B. in Infrarot-oder beliebiger Mikrowellentechnik, ausgeführt sein.The
Die Erfindung ist demgemäß nicht auf die dargestellte Ausführungsformen beschränkt, sondern umfasst alle Varianten und Modifikationen, die in den Rahmen der angeschlossenen Ansprüche fallen.The invention is therefore not limited to the illustrated embodiments, but includes all variants and modifications that fall within the scope of the appended claims.
Claims (15)
einem Sensor (7) zur Geschwindigkeitsmessung von einen ersten Erfassungsbereich (8) passierenden Fahrzeugen (4), welcher Sensor (7) den Geschwindigkeitsmesswert (vr) einer Fahrzeugpassage mit einem Zeitstempel (TS1) versieht;
einem Sensor (9) zur zumindest indirekten Geometriemessung, bevorzugt Längenmessung, von einen zweiten Erfassungsbereich (10) passierenden Fahrzeugen (4), welcher Sensor (9) den Geometriemesswert (L) einer Fahrzeugpassage mit einem Zeitstempel (TS2) versieht;
einer Kamera (11) zur Aufnahme von Bildern (B) von einen dritten Erfassungsbereich (12) passierenden Fahrzeugen (4), welche Kamera (11) das Bild (B) jeder Fahrzeugpassage mit einem Zeitstempel (TS3) versieht; und
einer an die Kamera (11) und die genannten Sensoren (7, 9) angeschlossenen Auswerteeinrichtung (17), welche dafür ausgebildet ist,
aus dem Geschwindigkeitsmesswert (vr), seinem Zeitstempel (TS1) und dem ersten Erfassungsbereich (8) sowie aus dem Geometriemesswert (L), seinem Zeitstempel (TS2) und dem zweiten Erfassungsbereich (10) den Ort und die Zeit zu berechnen, an dem bzw. zu der eine Fahrzeugpassage im dritten Erfassungsbereich (12) zu erwarten ist, um daraus das anhand seines Zeitstempels (TS3) und dritten Erfassungsbereichs (12) passende Bild (B) zu ermitteln.Mobile control device (6) for controlling vehicles (4), with
a sensor (7) for speed measurement of vehicles (4) passing through a first detection area (8), which sensor (7) provides the speed measurement value (v r ) of a vehicle passage with a time stamp (TS 1 );
a sensor (9) for at least indirect geometry measurement, preferably length measurement, of vehicles (4) passing by a second detection area (10), which sensor (9) provides the geometry measured value (L) of a vehicle passage with a time stamp (TS 2 );
a camera (11) for capturing images (B) of vehicles (4) passing by a third detection area (12), which camera (11) provides the image (B) of each vehicle passage with a time stamp (TS 3 ); and
an evaluation device (17) connected to the camera (11) and the said sensors (7, 9), which is designed for
from the speed measurement value (v r ), its time stamp (TS 1 ) and the first detection area (8) and from the geometry measurement value (L), its time stamp (TS 2 ) and the second detection area (10) to calculate the location and time, at which or to which a vehicle passage in the third detection area (12) is to be expected, in order to determine from this the image (B) matching its time stamp (TS 3 ) and third detection area (12).
einem DSRC-Sendeempfänger (13) zur DSRC-Kommunikation (14) mit DSRC-OBUs (15) von einen vierten Erfassungsbereich (16) passierenden Fahrzeuge (4), welcher DSRC-Sendeempfänger (13) die DSRC-Kommunikation (14) jeder Fahrzeugpassage mit einem Zeitstempel (TS4) versieht;
wobei die Auswerteinrichtung (17) ferner dafür ausgebildet ist, die anhand ihres Zeitstempels (TS4) und vierten Erfassungsbereichs (16) zu dem ermittelten Bild (B) passende DSRC-Kommunikation (14) zu ermitteln.Mobile control device according to claim 1 for the control of equipped with DSRC OBUs vehicles, further with
a DSRC transceiver (13) for DSRC communication (14) with DSRC OBUs (15) of vehicles (4) passing by a fourth coverage area (16), which DSRC transceiver (13) the DSRC communication (14) of each vehicle passage with a time stamp (TS 4 );
wherein the evaluation device (17) is further configured to determine the DSRC communication (14) suitable for its time stamp (TS 4 ) and fourth detection area (16) for the determined image (B).
Durchführen von DSRC-Kommunikationen (14) mit den DSRC-OBUs (15) von einen vierten Erfassungsbereich (16) passierenden Fahrzeugen (4) und Versehen jeder DSRC-Kommunikation (14) mit einem Zeitstempel (TS4); und
Ermitteln der anhand ihres Zeitstempels (TS4) und vierten Erfassungsbereichs (16) zu dem ermittelten Bild (B) passenden DSRC-Kommunikation (14).The method of claim 8 for controlling vehicles equipped with DSRC OBUs, further comprising the steps of
Performing DSRC communications (14) with the DSRC OBUs (15) of vehicles (4) passing by a fourth coverage area (16) and timestamping (TS 4 ) each DSRC communication (14); and
Determining the DSRC communication (14) matching the image (B) determined by its time stamp (TS 4 ) and fourth detection area (16).
Priority Applications (14)
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DK10450169.7T DK2450865T3 (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and methods for use in vehicles |
SI201030179T SI2450865T1 (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and methods for vehicles |
ES10450169T ES2404151T3 (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and procedures for vehicles |
PT104501697T PT2450865E (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and methods for vehicles |
EP10450169A EP2450865B1 (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and methods for vehicles |
PL10450169T PL2450865T3 (en) | 2010-11-04 | 2010-11-04 | Mobile control devices and methods for vehicles |
CA2752455A CA2752455C (en) | 2010-11-04 | 2011-09-15 | Mobile monitoring devices and methods for vehicles |
AU2011226888A AU2011226888B2 (en) | 2010-11-04 | 2011-09-26 | Mobile monitoring devices and methods for vehicles |
NZ595441A NZ595441A (en) | 2010-11-04 | 2011-09-29 | Mobile monitoring method and device having sensors for measuring the speed, geometry, and images of passing vehicles |
ZA2011/07564A ZA201107564B (en) | 2010-11-04 | 2011-10-14 | Mobile monitoring devices and methods for vehicles |
US13/277,534 US8817101B2 (en) | 2010-11-04 | 2011-10-20 | Mobile device and method for monitoring of vehicles |
CL2011002668A CL2011002668A1 (en) | 2010-11-04 | 2011-10-26 | Mobile monitoring device and method for vehicle control. |
RU2011144887/11A RU2567997C2 (en) | 2010-11-04 | 2011-11-03 | Mobile devices and methods of monitoring vehicles |
CN201110343399XA CN102542798A (en) | 2010-11-04 | 2011-11-03 | Mobile control devices and methods for vehicles |
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Also Published As
Publication number | Publication date |
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RU2567997C2 (en) | 2015-11-10 |
CL2011002668A1 (en) | 2012-08-10 |
RU2011144887A (en) | 2013-05-10 |
US20120113262A1 (en) | 2012-05-10 |
AU2011226888B2 (en) | 2013-11-14 |
ZA201107564B (en) | 2012-07-25 |
PT2450865E (en) | 2013-04-18 |
DK2450865T3 (en) | 2013-05-06 |
NZ595441A (en) | 2012-06-29 |
US8817101B2 (en) | 2014-08-26 |
PL2450865T3 (en) | 2013-06-28 |
CA2752455C (en) | 2018-04-24 |
CA2752455A1 (en) | 2012-05-04 |
CN102542798A (en) | 2012-07-04 |
ES2404151T3 (en) | 2013-05-24 |
AU2011226888A1 (en) | 2012-05-24 |
SI2450865T1 (en) | 2013-05-31 |
EP2450865B1 (en) | 2013-01-23 |
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