A vehicle traffic sensor for detecting and monitoring vehicular targets is presented. The sensor employs a planar design resulting in a reduced profile sensor. The sensor includes a multi-layer radio frequency board with RF components on one of the sides and both isolation and planar array antennas on the opposing side. The antennas are preferably tapered planar array antennas which include one transmit antenna and one receive antenna. The sensor also includes at least one logic or signal processing board populated with components on a first side and a ground plane on a second side positioned toward the RF componentry of the RF board to form an RF shield. The boards are housed within a housing that is permeable, at least on the side through which the antenna structures propagate.
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9. An above-ground traffic sensor for detecting vehicles traveling on a roadway, the traffic sensor comprising:
a radio frequency circuit board including:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates a signal that is transmitted by a transmitter towards vehicles traveling on a roadway; and
a receiver portion that detects a reflected signal from the vehicles traveling on the roadway and that generates a data signal that represents traffic data from the reflected signal.
22. A sensor for monitoring vehicles on a roadway, the sensor comprising:
a transmit portion comprising:
a digital signal generator that digitally generates a modulated signal; and
a transmit antenna for transmitting the modulated signal towards vehicles on a roadway;
a received portion comprising:
a receive antenna for receiving reflections of the modulated signal from vehicles on the roadway, wherein the reflections of the modulated signal are processed to produce traffic data representing the vehicles on the roadway.
26. An above-ground traffic sensor for detecting vehicles traveling on a roadway, comprising:
planar antennas mounted in a planar circuit board for propagating said a transmit signal toward said vehicles on said a roadway and for receiving said transmit signal reflected from said vehicles, wherein the planar antennas further comprises:
at least one coplanar loop series-fed array antenna on the planar circuit board, wherein each at least one coplanar loop series-fed array antenna is terminated by a short circuited transmission line.
20. A radar-based vehicular traffic sensor, comprising:
a digital signal generator that digitally generates a modulated electromagnetic signal;
transmitter electronic components for transmitting the modulated electromagnetic signal at a vehicle on a roadway;
receiver electronic components for receiving the modulated electromagnetic signal reflected from the vehicle on the roadway; and
at least one planar loop series-fed array antenna for transmission and/or reception of said modulated electromagnetic signal, wherein each at least one planar loop series-fed array antenna includes a plurality of loops, each loop having a height that is different from other loops in the plurality of loops.
0. 55. An above-ground traffic sensor for monitoring vehicles on a roadway, the sensor comprising:
a transmit portion comprising:
a digital signal generator that digitally generates a modulated signal; and
a transmit antenna for transmitting the modulated signal towards vehicles on a roadway;
a receive portion comprising:
a receive antenna for receiving reflections of the modulated signal from the vehicles on the roadway, wherein the reflections of the modulated signal are processed to produce traffic data representing the vehicles on the roadway; and
wherein a digital circuit processes the reflections of the modulated signal to generate the traffic data such that the traffic data includes information separately identifying at least two vehicles that are traveling in adjacent lanes.
0. 79. An above-ground traffic sensor for detecting vehicles traveling on a fixed portion of a roadway, the traffic sensor comprising:
a radio frequency circuit board comprising:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates a signal that is transmitted by a transmitter towards vehicles traveling on the fixed portion of the roadway;
a receive portion that detects reflections of the signal from the vehicles traveling on the fixed portion of the roadway and a digital circuit that processes the reflected signals and generates a data signal that represents traffic data from the reflected signal,
wherein the traffic data represents information about vehicles on a lane-by-lane basis with respect to at least two different, dynamically-defined lanes on the fixed portion of the roadway.
1. A sensor for monitoring vehicles on a roadway comprising:
a multi-layer radio frequency circuit board for transmitting modulated radio frequency signals and for receiving reflections of the modulated radio frequency signals from said vehicles on said roadway, said multi-layer radio frequency circuit board having a first side for disposing radio frequency components thereon and a second side having a planar antenna disposed thereon, wherein the radio frequency components include a digital signal generator that digitally generates the modulated radio frequency signals; and
at least one signal processing circuit board having a first side for disposing signal processing components thereon and a second side having an electrically conductive ground layer, said second side of said at least one signal processing board oriented in parallel with and facing said multi-layer radio frequency circuit board.
0. 28. An above-ground traffic sensor for detecting vehicles traveling on a roadway, the traffic sensor comprising:
a radio frequency circuit board comprising:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates and digitally modulates a signal that is transmitted by a transmitter towards vehicles traveling on a roadway;
a single receive portion that detects reflections of the signal from the vehicles traveling on the roadway and that generates, with a digital circuit that is integrated within the single receive portion, a data signal that represents traffic data from the reflected signal; and
wherein the traffic data is generated by the digital circuit that processes the reflections of the signal detected by the single receive portion to generate the traffic data about substantially all vehicles on the roadway on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway and wherein the traffic data is used in traffic control at a controlled signalized intersection.
2. The sensor, as recited in
3. The sensor, as recited in
4. The sensor as recited in
a direct digital synthesizer for generating a low frequency waveform for a transmitter of said sensor.
5. The sensor, as recited in
an RF absorber assembled between said first side of said radio frequency circuit board having said radio frequency components thereon and said second side of said at least one signal processing board having said electrically conductive ground layer thereon.
6. The sensor, as recited in
7. The sensor, as recited in
8. The sensor, as recited in
10. The above-ground traffic sensor, as recited in
a direct digital synthesizer for generating a low frequency waveform for said transmitter;
a phase lock loop coupled to said direct digital synthesizer for tracking said low frequency waveform; and
a voltage controlled oscillator coupled to said phase lock loop for generating a modulated transmit signal.
11. The above-ground traffic sensor, as recited in
a radio frequency circuit board including:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates a signal that is transmitted by a transmitter towards vehicles traveling on a roadway;
a receiver portion that detects a reflected signal from the vehicles traveling on the roadway and that generates a data signal that represents traffic data from the reflected signal;
a digitally modulated signal generator for generating a modulated signal;
an oscillator for generating an RF tone; and
a frequency mixer for mixing said modulated signal and said RF tone to form a signal comprises comprised of sum and difference frequencies.
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12. The above-ground traffic sensor, as recited in
a direct digital to analog converter for directly generating a modulated signal at RF frequencies.
13. The above-ground traffic sensor, as recited in
14. The above-ground traffic sensor, as recited in
a radio frequency circuit board including:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates a signal that is transmitted by a transmitter towards vehicles traveling on a roadway;
a receiver portion that detects a reflected signal from the vehicles traveling on the roadway and that generates a data signal that represents traffic data from the reflected signal;
wherein said radio frequency circuit board further comprises a planar antenna disposed thereon for transmitting said signal and for receiving reflections of said signal, and
wherein said planar antenna comprises of a plurality of series-configured loop elements arranged in a tapered array.
15. The above-ground traffic sensor, as recited in
a radio frequency circuit board including:
a transmit portion that includes:
a digitally generated modulated signal generator that digitally generates a signal that is transmitted by a transmitter towards vehicles traveling on a roadway; and
a receiver portion that detects a reflected signal from the vehicles traveling on the roadway and that generates a data signal that represents traffic data from the reflected signal;
wherein said radio frequency circuit board further comprises a planar antenna disposed thereon for transmitting said signal and for receiving reflections of said signal,
wherein said planar antenna comprises a plurality of series-configured loop elements arranged in a tapered array; and
wherein said planar antenna comprises at least a pair of said tapered arrays.
0. 16. An above-ground traffic sensor for detecting vehicles traveling on a roadway, comprising:
planar antennas mounted in a planar circuit board for propagating a transmit signal toward vehicles on a roadway and for receiving said transmit signal reflected from said vehicles, wherein the planar antennas further comprises:
at least one coplanar loop series-fed array antenna on the planar circuit board.
0. 17. The above-ground traffic sensor, as recited in
a first coplanar loop series-fed array antenna that propagates said transmit signal toward said vehicles on said roadway; and
a second coplanar loop series-fed array antenna that receives said transmit signal reflected from said vehicle.
18. The above-ground traffic sensor, as recited in
planar antennas mounted in a planar circuit board for propagating a transmit signal toward vehicles on a roadway and for receiving said transmit signal reflected from said vehicles, wherein the planar antennas further comprise:
at least one coplanar loop series-fed array antenna on the planar circuit board, wherein said at least one coplanar loop series-fed antenna comprises:
a first coplanar loop series-fed array antenna that propagates said transmit signal toward said vehicles on said roadway;
a second coplanar loop series-fed array antenna that receives said transmit signal reflected from said vehicle; and
wherein said first coplanar loop series-fed array antenna and said second coplanar loop series-fed array antenna include loop elements arranged in tapered arrays.
19. The above-ground traffic sensor, as recited in
planar antennas mounted in a planar circuit board for propagating a transmit signal toward vehicles on a roadway and for receiving said transmit signal reflected from said vehicles, wherein the planar antennas further comprise:
at least one coplanar loop series-fed array antenna on the planar circuit board, wherein said at least one coplanar loop series-fed antenna comprises:
a first coplanar loop series-fed array antenna that propagates said transmit signal toward said vehicles on said roadway;
a second coplanar loop series-fed array antenna that receives said transmit signal reflected from said vehicle; and
wherein said at least one coplanar loop series-fed array antenna each comprises at least a pair of tapered arrays.
21. A radar-based vehicular traffic sensor, as recited in
a direct digital synthesizer that generates a modulated electromagnetic signal that sweeps in frequency; and
a modulated signal digital generator for generating a modulated electromagnetic signal that is up converted using a frequency mixer.
23. A sensor as defined in
0. 24. A sensor as defined in
25. A sensor as defined in
a direct digital synthesizer that is coupled with a phase locked loop;
a modulated signal digital generator and an up-converter; and
a direct digital to analog conversion generator that produces the modulate signal.
27. The above-ground traffic sensor, as recited in
0. 29. The above-ground traffic sensor, as recited in claim 28, wherein said digitally generated modulated signal generator comprises:
a direct digital synthesizer for generating a low frequency waveform for said transmitter;
a phase lock loop coupled to said direct digital synthesizer for tracking said low frequency waveform; and
a voltage controlled oscillator coupled to said phase lock loop for generating a modulated transmit signal.
0. 30. The above-ground traffic sensor, as recited in claim 28, wherein said digitally generated modulated signal generator comprises:
a direct digital to analog converter for directly generating a modulated signal at RF frequencies.
0. 31. The above-ground traffic sensor, as recited in claim 28, wherein said radio frequency circuit board further comprises a planar antenna disposed thereon for transmitting said signal and for receiving the reflections of the signal.
0. 32. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises a volume of vehicles on the roadway.
0. 33. The above-ground traffic sensor, as recited in claim 32, wherein the volume of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 34. The above-ground traffic sensor, as recited in claim 32, wherein the volume of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 35. The above-ground traffic sensor, as recited in claim 32, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 36. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises an occupancy of vehicles on the roadway.
0. 37. The above-ground traffic sensor, as recited in claim 36, wherein the occupancy of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 38. The above-ground traffic sensor, as recited in claim 36, wherein the occupancy of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 39. The above-ground traffic sensor, as recited in claim 36, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 40. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises a range and speed of substantially all vehicles on the roadway.
0. 41. The above-ground traffic sensor, as recited in claim 40, wherein the range and speed of substantially all vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 42. The above-ground traffic sensor, as recited in claim 40, wherein the range and speed of substantially all vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 43. The above-ground traffic sensor, as recited in claim 40, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 44. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises a dynamic updating of the traffic data for substantially all vehicles on the roadway.
0. 45. The above-ground traffic sensor, as recited in claim 44, wherein the dynamic updating of the traffic data for substantially all vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 46. The above-ground traffic sensor, as recited in claim 44, wherein the dynamic updating of the traffic data for substantially all vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 47. The above-ground traffic sensor, as recited in claim 44, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 48. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises a dynamic updating of a density of vehicles on the roadway.
0. 49. The above-ground traffic sensor, as recited in claim 48, wherein the dynamic updating of a density of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 50. The above-ground traffic sensor, as recited in claim 48, wherein the dynamic updating of a density of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 51. The above-ground traffic sensor, as recited in claim 48, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 52. The above-ground traffic sensor, as recited in claim 28, wherein the traffic data comprises a direction of vehicle travel with respect to a fixed portion of the roadway.
0. 53. The above-ground traffic sensor, as recited in claim 28, wherein the traffic sensor is mounted off-perpendicular with respect to the roadway.
0. 54. The above-ground traffic sensor, as recited in claim 28, wherein said radio frequency circuit board comprises a printed circuit board.
0. 56. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises a volume of vehicles on the roadway.
0. 57. The above-ground traffic sensor, as recited in claim 56, wherein the volume of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 58. The above-ground traffic sensor, as recited in claim 56, wherein the volume of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 59. The above-ground traffic sensor, as recited in claim 56, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 60. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises an occupancy of vehicles on the roadway.
0. 61. The above-ground traffic sensor, as recited in claim 60, wherein the occupancy of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 62. The above-ground traffic sensor, as recited in claim 60, wherein the occupancy of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 63. The above-ground traffic sensor, as recited in claim 60, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 64. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises a range and speed of substantially all vehicles on the roadway.
0. 65. The above-ground traffic sensor, as recited in claim 64, wherein the range and speed of substantially all vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 66. The above-ground traffic sensor, as recited in claim 64, wherein the range and speed of substantially all vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 67. The above-ground traffic sensor, as recited in claim 64, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 68. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises a dynamic updating of the traffic data of substantially all vehicles on the roadway.
0. 69. The above-ground traffic sensor, as recited in claim 68, wherein the dynamic updating of the traffic data of substantially all vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 70. The above-ground traffic sensor, as recited in claim 68, wherein the dynamic updating of the traffic data of substantially all vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 71. The above-ground traffic sensor, as recited in claim 68, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 72. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises a dynamic updating of a density of vehicles on the roadway.
0. 73. The above-ground traffic sensor, as recited in claim 72, wherein the dynamic updating of a density of vehicles on the roadway is determined with respect to a fixed portion of the roadway.
0. 74. The above-ground traffic sensor, as recited in claim 72, wherein the dynamic updating of a density of vehicles on the roadway is determined on a lane-by-lane basis with respect to at least two different lanes on a fixed portion of the roadway.
0. 75. The above-ground traffic sensor, as recited in claim 72, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the roadway.
0. 76. The above-ground traffic sensor, as recited in claim 55, wherein the traffic data comprises a direction of vehicle travel with respect to a fixed portion of the roadway.
0. 77. The above-ground traffic sensor, as recited in claim 55, wherein the traffic sensor is mounted off-perpendicular with respect to the roadway.
0. 78. The above-ground traffic sensor, as recited in claim 55, wherein the transmit portion comprises a printed circuit board.
0. 80. The above-ground traffic sensor, as recited in claim 79, wherein the traffic data comprises one or more of a volume of vehicles on the fixed portion of the roadway, an occupancy of vehicles on the fixed portion of the roadway, or a range and speed of substantially all vehicles on the fixed portion of the roadway.
0. 81. The above-ground traffic sensor, as recited in claim 80, wherein the traffic data is generated by the above-ground traffic sensor that is mounted to a fixed object adjacent to the fixed portion of the roadway.
0. 82. The above-ground traffic sensor, as recited in claim 80, wherein the signal that is transmitted by the transmitter is transmitted at a known power level across multiple lanes of traffic on the fixed portion of the roadway and the signal is reflected at a reflected power level that is received by the receive portion.
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The present application is related to U.S. patent application Ser. No. 09/996,146 “System and Method of Dynamic Identification of Traffic Lane Positions,” by inventors Jonathon L. Waite, Thomas William Karlinsey and David V. Arnold, filed concurrently herewith and incorporated by reference now U.S. Pat. No. 6,556,916.
1. The Field of the Invention
The present invention relates generally to vehicular traffic monitoring systems, and more particularly relates to sensors for detecting the presence, location, speed, direction of travel, volume, and occupancy of vehicular traffic on a roadway.
2. The Relevant Technology
Controlled signalized intersections represent a key element in urban planning, public safety and traffic control. The science and engineering of traffic planning and control has long relied on the use of sensor devices designed for this specific purpose and, more recently, for the collection of traffic flow data. Some of these device technologies, such as those embedded in the roadways, have been employed for over sixty years and continue to require the same amount of attention in installation, calibration, maintenance, repair and replacement as they did decades ago. This laborious caretaking can be due to a number of factors ranging from inferior product design and poor installation to post installation disruption and migratory changes in traffic flow patterns. Reliability of these technologies is an issue to an overall traffic control plan and can prove extremely costly to maintain as an integral component to an overall traffic plan.
Traffic control devices that are embedded in roadways serve the interest of public safety, but in the event of a new installation, or maintenance/repair, they act as a public nuisance, as repair crews are required to constrict or close multiple lanes of traffic for several hours to reconfigure a device, or even worse, dig up the failed devices for replacement causing closure of the lane for several days or weeks.
While several sensor technologies are employed to assist in traffic planning and control, the oldest and most widely used technology currently employed in controlled intersections is the inductive loop. This loop is an in-pavement fixed location sensor, with the limitation of sensing only the traffic that is immediately over it. While such devices have continued history of use, failures of loops are common and at any one time as many as 20%-30% of all installed controlled intersection loops are non-responsive. Furthermore, the cost to repair these devices can be greater than the original installation cost.
As technology has developed over the decades, new sensory devices have been introduced to the traffic control industry. In recent years, there have emerged several non-intrusive technologies for traffic sensing that employ a remote sensor (i.e., not embedded in the roadway) as illustrated in
Another type of above-ground sensor includes acoustic sensors which operate as traffic sound-based listening devices. These devices employ an array of microphones built into the sensor allowing the device to detect traffic based on spatial processing changes in sound waves received at the sensor. After processing and analysis of the received sound waves, detection and traffic flow information is then assigned to the appropriate user-defined regions or lane being monitored, andreceiver
Thus, if one input signal is 10.5 GHz and a second is 10.50001 GHz then the output signal from the mixer will be the sum of the sinusoids at 21.00001 GHz and another at 10 KHz for the present exemplary implementation, the resulting difference frequency signal is employed for evaluation of the signal characteristics.
It should be appreciated that the utilization of the difference frequency is a result of ranging capabilities of a linearly sweeping transmitted frequency. For example, the present embodiment utilizes a signal transmitted that is linearly frequency modulated (e.g. chirp). If the transmitted signal is reflected by a single point source target and is received by the radar and mixed with the same linearly modulated signal, the received signal, which has been delayed in time by the propagation duration to and from the target results in a frequency difference between the two inputs to the mixer since the transmitted signal exhibits a constantly increasing frequency during the phase of the period under evaluation. Therefore, the longer the propagation time to and from the target in question, the larger the frequency difference between the presently transmitted and the received signal. For example, in the present illustration, the linearly increasing frequency increases at a rate of 50 MHz in 1.25 milliseconds. Such a linear change in frequency results in a 40 GHz per second change in frequency. Therefore, if a target is located at a distance of 100 feet, the propagation time to and from the target is approximately 203 nanoseconds. In that length of time, the transmit frequency would have changed by 8.13 KHz.
Received portion 604 is further comprised of a low pass filter 664 which eliminates undesired RF signals from the mixer output, therefore resulting in audio frequencies being present at signal 666. Therefore, signal 666, which is the output of the low pass filter 664, is an audio frequency signal whose frequency corresponds to the range of the target and whose amplitude corresponds to the reflectiveness of the target.
Receiver Receive portion 604 further includes audio filtering and amplification as illustrated in block 668. Such filtering and amplification conditions the signal prior to digitization to reduce any feed-through from the transmitting antenna directly coupling to the receiving antenna. Signal conditioning in the form of high pass filtering is employed since transmitter coupling appears in the received signal as a low frequency.
The following digital circuitry components may reside on a separate digital board. The output condition signal 670 is input to analog-to-digital conversion for 672, which converts the audio frequency signal to a digital signal for processing and analysis. The digitized output signal 674 is thereafter processed by detection algorithm 676, which performs spectral analysis on the digitized signal 674 and generates the desired traffic statistics for use in traffic analysis, control, and forecasting. Other processing within detection algorithm 676 includes automatic and continuous background estimation, automatic and continuous lane allocation and automatic and continuous detection threshold determination.
In at least one embodiment, a traffic system sensor detects vehicles passing within the field of view and processes the data into an estimation of the position of each of the detected vehicles. A traffic monitoring system employs the traffic system sensor for monitoring traffic conditions about a roadway or intersection. As roadways exhibit traffic movement in various directions and across various lanes, the sensor detects vehicles passing through a field of view. The sensor data is input into a Fourier transform algorithm to convert from the time domain signal into the frequency domain. Each of the transform bins exhibits the respective energies with ranging being proportional to the frequency. A detection threshold discriminates between vehicles and other reflections.
In at least one embodiment, a vehicle position is estimated as the bin in which the peak of the transform is located. A detection count is maintained for each bin and contributes to the probability density function estimation of vehicle position. The probability density function describes the probability that a vehicle will be located at any range. The peaks of the probability function represent the center of each lane and the valleys of the probability density function represent the lane boundaries. The boundaries are then represented with each lane being defined by multiple range bins with each range bin representing a slightly different position on the corresponding lane of the road. Traffic flow direction is also assigned to each lane based upon tracking of the transform phase while the vehicle is in the radar beam.
Returning to FIG. 1, FIG. 1 illustrates a traffic monitoring system 100 which provides a method and system for dynamically defining the position or location of traffic lanes to the traffic monitoring system such that counts of actual vehicles may be appropriately assigned to a traffic lane counter that is representative of actual vehicular traffic in a specific lane. In FIG. 1, traffic monitoring system 100 is depicted as being comprised of a sensor 110 mounted on a mast or pole 112 in a side-fire or perpendicular orientation to the direction of traffic. Sensor 110 transmits and receives an electromagnetic signal across a field of view 114. Preferably, the field of view 114 is sufficiently broad in angle so as to span the entire space of traffic lanes of concern. As further described below, sensor 110 transmits an electromagnetic wave of a known power level across the field of view 114. Subsequent to the transmission of an electromagnetic wave front across a roadway 116, reflected signals at a reflected power level are reflected, depicted as reflected waves 118 having a reflected power, back to a receiver within sensor 110. The reflected waves 118 are thereafter processed by sensor 110 to determine and dynamically define the respective roadway lanes, according to processing methods described below.
FIG. 13 is a block diagram of the functional components of a traffic monitoring system, in accordance with the preferred embodiment of the present invention. Traffic monitoring system 1300 is depicted as being comprised of a sensor 110 which is illustrated as being comprised of a transceiver 1302 which is further comprised of a transmitter 1304 and a receiver 1306. Transmitter 1304 transmits an electromagnetic signal of a known power level toward traffic lanes 120-128 (FIG. 1) across a field of view 114 (FIG. 1). Receiver 1306 receives a reflected power corresponding to a portion of the electromagnetic signal as reflected from each of the vehicles passing therethrough. Transmitter 1304 and receiver 1305 operate in concert with processor 1308 to transmit the electromagnetic signal of a known power and measure a reflected power corresponding to the presence of vehicles passing therethrough. Processor 1308 makes the processed data available to other elements of a traffic monitoring system such as a traffic controller system 1310 and traffic management system 1312.
In at least one embodiment, to determine direction of travel automatically, the radar is preferably not mounted precisely perpendicular to the road. It is mounted off perpendicular, pointing slightly into the direction of travel of the nearest lane (to the left if standing behind the radar facing the road) by a few degrees. The vehicle direction of travel is determined by tracking the Fourier transform phase while the vehicle is in the radar beam. Many measurements are made while the car is in the radar beam. After the car has left the beam, the consecutive phase measurements are phase unwrapped to produce a curve that is approximately quadratic in shape and shows evidence of vehicle travel direction.
A vehicle entering the radar beam from the left will produce a curve similar to curve 1440 of FIG. 14 with the left end of the curve being higher than the right end. This occurs because with the radar turned a few degrees the vehicle spends more time, while in the radar beam, approaching the radar sensor than leaving the sensor. Likewise, a vehicle entering from the right will produce a curve as in curve 1450 of FIG. 14 with the right end of the curve being higher than the left. Once the direction of travel is known, the vehicle position and lane boundaries are used to determine which lane the vehicle is in. The direction of traffic flow can then be estimated by using the direction PDF estimates to determine which direction of flow is most probable in each lane.
FIG. 15 depicts a side-fired deployment of a sensor 110, in accordance with the present invention. While sensors may be deployed in a number of setups, one preferred implementation is a side fire or perpendicular configuration. In FIG. 15, a roadside sensor 110 is depicted as having a field of view 114 spread across multiple lanes of traffic. In the preferred embodiment, the field of view is partitioned into a plurality of bins 1500, each of which represents a distance or range such that a lane may be comprised of a plurality of bins which provide us a smaller and more improved granularity of statistical bins into which specific position may be allocated.
After processing the received signal, the signal reflected off the vehicles is assigned to a bin having the corresponding reflected signal parameters and shows up as an energy measurement in the range bin representing the vehicle's position. The number of vehicles in each bin is counted with the count incremented when an additional vehicle is detected the count and assigned to that bin. When a bin count is incremented, it increases the probability of a car being in that position and after many vehicle positions are recorded, a histogram of the bin count represents a PDF of vehicle position on the road. The histogram of position measurements identifies where vehicles are most probable to be and where the traffic lanes on the roadway should be defined. In the present figure, lanes derive their specific lane positions by setting the lane boundaries between the peaks according to detection theory.
Alternative ways of automatically assigning lane boundaries may be used but are simplifications or subsets of using PDF estimates and decision theory to set the boundaries. For a method to automatically assign lane boundaries it must have a period of training where it gathers information about vehicle position on the road and this collection of position information over time is more or less the histogram explained above. Decision theory will be used in determining lane boundaries and can vary according to desired performance. The preferred embodiment of the present invention employs statistical processing in order to determine and dynamically track the placement of lanes. While the present invention depicts a preferred statistical implementation, those of skill in the art appreciate that other statistical approaches may also be employed for dynamically defining traffic lanes.
In at least one embodiment, if vehicle position statistics change over time due to weather, road construction, or other disturbances the lane position algorithms have the ability to update lane boundaries. One example would be to have the current set of statistics averaged into the past statistics with a small weight given to older position statistics and greater weight to more recent statistics. Thus, if conditions change the overall statistics will change to reflect the current situation in an amount of time dictated by how much the current set of data is weighted.
The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Smith, Ryan L., Arnold, David V., Karlinsey, Thomas William, Waite, Jonathan L., Harris, Logan C., Jensen, Michael A., Dougall, John B.
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