DE102017208333A1 - Method for monitoring a vehicle by means of at least one unmanned aerial vehicle, control unit and unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a method for monitoring a vehicle (108) by means of at least one unmanned aerial vehicle (100, 102), wherein the aircraft (100) has a sensor device (106) for detecting the vehicle (108). In the method, a measurement position (A) is determined using data representing a previous detection of the vehicle (108). In a further method step, a control signal (114) for controlling the aircraft (100) in the measuring position (A) via a communication device (112) for wireless communication with the at least one aircraft (100) to the vehicle (108) from the measuring position (A) off.

Description

The present invention relates to a method for monitoring a vehicle by means of at least one unmanned aerial vehicle, to a corresponding control device and to an unmanned aerial vehicle.

Traffic monitoring devices are statically positioned so that the relevant measuring steps and the documentation of traffic violations are dependent on images of relatively short time windows in which, for example, a clear view of the vehicle to be monitored and this is not covered by neighboring vehicles. Often a system is used for several lanes, so that due to the positioning position differences in image quality depending on the lanes result. In the field of section control measurements, also called P2P measurements, are also fixed, d. H. static measuring arrangements known.

Against this background, the present invention provides an improved method for monitoring a vehicle by means of at least one unmanned aerial vehicle, an improved control device and an improved unmanned aerial vehicle according to the main claims. Advantageous embodiments will become apparent from the dependent claims and the description below.

• Ermitteln einer Messposition unter Verwendung von Daten, die eine vorherige Erfassung des Fahrzeugs, beispielsweise mittels der Sensoreinrichtung und/oder der weiteren Sensoreinrichtung, repräsentieren; und
• Bereitstellen eines Steuersignals zum Steuern des Luftfahrzeugs in die Messposition über eine Kommunikationseinrichtung zur drahtlosen Kommunikation mit dem zumindest einen Luftfahrzeug, um das Fahrzeug von der Messposition und der weiteren Messposition aus zu erfassen.

A method for monitoring a vehicle by means of at least one unmanned aerial vehicle is provided, wherein the aircraft has a sensor device for detecting the vehicle, the method comprising the following steps:

• Determining a measuring position using data representing a previous detection of the vehicle, for example by means of the sensor device and / or the further sensor device; and
• Providing a control signal for controlling the aircraft to the measurement position via a communication device for wireless communication with the at least one aircraft in order to detect the vehicle from the measurement position and the further measurement position.

In the step of determining, at least one further measuring position can be determined using data representing a previous detection of the vehicle, and in the step of providing another control signal can be used to control the aircraft and / or another aircraft that has a further sensor device for Detecting the vehicle, are provided in the further measurement position via the communication device to detect the vehicle from the further measurement position

Under an unmanned aerial vehicle, a drone, for example in the form of a quadrocopter, are understood. The aircraft and / or the further aircraft can, for example, fly autonomously or be remotely controllable by an external control device. A communication device can be understood to mean a transmitting or receiving unit for the wireless transmission or reception of data, for example via radio or WLAN. If at least two aircraft are used, the aircraft and the further aircraft can be controlled independently of each other. The communication device can be realized as a component of the control device. The control unit may for example be part of a stationary or mobile traffic monitoring device for monitoring vehicles. The aircraft and the further aircraft may be directly or indirectly networked or networkable and, for example, be members of a drone network. The data from the previous acquisition may be, for example, a first-time detected position, speed or class of the vehicle. A measuring position or a further measuring position can be understood as meaning a position in which the vehicle can be detected with sufficiently high accuracy, ie. h., In which a respective measuring distance between the aircraft and the vehicle is as unimpaired. The measuring position or the further measuring position can be determined continuously in order to enable a dynamic change of the measuring position or of the further measuring position.

The approach described here is based on the knowledge that a vehicle can be detected and monitored by means of at least one unmanned aerial vehicle. As a result, a sufficiently accurate detection of the vehicle can be ensured even at high speeds of the vehicle. In particular, in the case of multi-lane roadways, optimal photographing and measuring points can be determined without shading, for example by neighboring vehicles, so that separate measuring systems for detecting individual traffic lanes can be dispensed with. By dynamically adapting the measurement positions of the aircraft, a read window for reading data from an on-board unit can be significantly extended. As a result, read errors can be avoided. Also, this can be a costly and time-consuming tracking of the vehicle to be monitored by means of an emergency vehicle omitted. Another advantage of the approach presented here is the possibility to perform measurements from a bird's-eye view and thus an overall view of To obtain traffic offenses in a certain monitoring section.

According to one embodiment, the method comprises a step of receiving a measurement signal, which represents a detection of the vehicle by the sensor device from the measurement position, and / or a further measurement signal, the detection of the vehicle by the sensor device and / or the further sensor device of the from another measuring position. In a step of the evaluation, the measurement signal and / or the further measurement signal can be evaluated in order to monitor the vehicle. The measuring signal or the further measuring signal may represent, for example, an image, a safety distance, a speed or a position of the vehicle. As a result, a reliable and accurate monitoring of the vehicle can be ensured.

In this case, in the step of determining, the measurement position may represent a starting point of a section control path, while the optional further measurement position may represent an end point of the section control path. Accordingly, in the step of the evaluation, the measurement signal and / or the further measurement signal can be evaluated in order to determine an average speed of the vehicle. A section control route may be understood to mean a section of the route on which a section control, i. H. a point-to-point measurement is performed to detect the vehicle. This embodiment enables reliable speed monitoring of the vehicle.

Furthermore, it is advantageous if, in the step of receiving, the measuring signal and the further measuring signal represent different measured variables. As a result, different equipped, in particular partially equipped aircraft can be used to monitor the vehicle.

According to a further embodiment, in the step of receiving, a position signal representing an actual position of the aircraft in the detection of the vehicle from the measurement position can be received. Additionally or alternatively, a further position signal, which represents an actual position of the aircraft and / or of the further aircraft during the detection of the vehicle from the further measurement position, can be received. In the step of the evaluation, the measurement signal and the further measurement signal can be evaluated using the position signal or, additionally or alternatively, the further position signal. As a result, for example, deviations between the respective actual and measuring positions of the aircraft during the detection of the vehicle can be taken into account. Thus, the reliability of the method can be increased.

The measurement signal or, additionally or alternatively, the further measurement signal may represent a signal provided by reading an on-board unit of the vehicle. An on-board unit may be understood to mean a vehicle-mounted radio for transmitting vehicle data such as license plate or location or data for charging tolls by wireless communication. As a result, the method for reading on-board units can be used.

It is also advantageous if in the step of determining a position for detecting the vehicle is determined from a bird's eye view as the measuring position or the further measuring position. As a result, impairments in the signal transmission, for example by shading, can be avoided.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

The approach presented here also creates a control unit which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.

In the present case, a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

• eine Sensoreinrichtung zum Erfassen des Fahrzeugs; und
• eine Kommunikationseinrichtung zur drahtlosen Kommunikation mit einem Steuergerät gemäß einer vorstehenden Ausführungsform.

The approach presented here also provides an unmanned aerial vehicle for monitoring a vehicle, the aircraft having the following features:

• a sensor device for detecting the vehicle; and
• a communication device for wireless communication with a control device according to a preceding embodiment.

The sensor device may comprise, for example, a camera, a speed sensor, a GPS module or the communication device. The communication device can be designed, for example, to read an on-board unit of the vehicle.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

• 1 eine schematische Darstellung zweier Luftfahrzeuge und eines Steuergeräts gemäß einem Ausführungsbeispiel;
• 2 eine schematische Darstellung eines Steuergeräts gemäß einem Ausführungsbeispiel; und
• 3 ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel.

The invention will be described by way of example with reference to the accompanying drawings. Show it:

• 1 a schematic representation of two aircraft and a control device according to an embodiment;
• 2 a schematic representation of a control device according to an embodiment; and
• 3 a flowchart of a method according to an embodiment.

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similarly acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of two unmanned aerial vehicles 100 . 102 and a controller 104 according to an embodiment. The aircraft 100 has a sensor device 106 for detecting a vehicle 108 on. Likewise, the other aircraft 102 another sensor device 110 for detecting the vehicle 108 on. For the two sensor devices 106 . 110 For example, each is a camera, a speed sensor or a location sensor, in particular a GPS module, or a combination of at least two of the mentioned sensor types. The sensor devices 106 . 110 For example, they are designed to detect deviating measured variables. By way of example only, the two aircraft 100 . 102 in 1 shown as a quadrocopter.

The control unit 104 , which is realized for example as a component of a ground station or a mobile traffic monitoring device, comprises a communication device 112 for wireless communication with the two aircraft 100 . 102 or at least one of the aircraft 100 . 102 , The control unit 104 is configured to use data, for example, one at an earlier time by means of at least one of the two aircraft 100 . 102 detected position or vehicle class of the vehicle 108 represent, a measuring position A and optionally at least one further measuring position B to determine. Using the measuring position A generates the control unit 104 a control signal 114 and sends this via the communication device 112 to the aircraft 100 to control this to the measuring position A, here exemplified a starting point of a section control route for determining an average speed of the vehicle 108 represents. Similarly, the controller uses 104 Optionally, the measuring position B, to another control signal 116 for controlling the further aircraft 102 and via the communication device 112 to the other aircraft 102 to send. By means of the further control signal 116 becomes the other aircraft 102 controlled in the other measuring position B, which represents an example of an end point of the section control section. Will only be an aircraft 100 used, so used the controller 104 optionally the measuring position B, for the further control signal 116 for controlling the one aircraft 100 and via the communication device 112 to the aircraft 100 to send. By means of the further control signal 116 becomes the aircraft 10 controlled in the other measuring position B, which represents an example of an end point of the section control section.

The aircraft 100 . 102 are trained to the vehicle 108 from their respective measurement position. The sensor device sends 106 in the measuring position A a the vehicle 108 representative measurement signal 118 to the communication device 112 while the more sensor device 110 in the measuring position B, the vehicle 108 representing further measurement signal 120 to the communication device 112 sends. Will only be an aircraft 100 used, so sends the sensor device 106 optionally in measuring position B the vehicle 108 representing further measurement signal 120 to the communication device 112 , Depending on the embodiment, the two measurement signals represent 118 . 120 different measurands. According to this Embodiment is the controller 104 designed to by appropriate evaluation of the two measurement signals 118 . 120 the average speed of the vehicle 108 to ascertain when driving on the section control route. Depending on the embodiment, the controller 104 designed to additionally or alternatively to the average speed, an actual speed or a safety distance of the vehicle 108 or other vehicle-related or safety-relevant parameters based on the measurement signals 118 . 120 to investigate. For example, at least one of the two sensor devices 106 . 110 trained to capture the vehicle 108 one in the vehicle 108 read integrated on-board unit and corresponding data to the control unit 104 transferred to.

According to one embodiment, the two aircraft transmit 100 . 102 in addition to the measurement signals 118 . 120 each their current actual position to the control unit 104 where the aircraft 100 a corresponding position signal 122 to the communication device 112 transfers and the other aircraft 102 a corresponding further position signal 124 to the communication device 112 transfers. Accordingly, the controller 104 trained to receive the two measurement signals 118 . 120 with additional use of the two position signals 122 . 124 evaluate. Thus, in the evaluation, any deviations between the respective actual and measuring positions of the two aircraft 100 . 102 be taken into account.

How out 1 can be seen, the monitoring of the vehicle takes place 108 here by way of example by means of the two aircraft 100 . 102 for example, from a bird's eye view. The two aircraft 100 . 102 can have different altitudes when capturing the vehicle 108 exhibit. Similarly, only one aircraft can 100 or more than two aircraft 100 . 102 be used.

The control unit 104 Thus, it can also be designed to be just one aircraft 100 or more than two aircraft 100 . 102 for monitoring the vehicle 108 or to control the simultaneous monitoring of multiple vehicles.

2 shows a schematic representation of a control device 104 according to an embodiment, such as one above based on 1 described control unit. The control unit 104 includes a determination unit 210 which is designed to be made using measurement data 212 which represent a previous detection of the vehicle by means of at least one of the two aircraft, to determine the two measuring positions A, B and this to a delivery unit 220 of the control unit 104 to send. The delivery unit 220 is configured to use the two measuring positions A, B, the control signals 114 . 116 provide.

3 shows a flowchart of a method 300 according to an embodiment. The procedure 300 For monitoring a vehicle by means of at least one unmanned aircraft, for example, using a control device, as described above with reference to 1 and 2 is described, executed. According to one embodiment, in an optional step 310 an initial detection, ie a measurement or a classification, of the vehicle to be monitored by means of at least one aircraft. Alternatively, the data of the initial detection come from a sensor device of a ground monitoring device for monitoring the vehicle. Upon initial detection, the vehicle is classified, for example, or located in a digital map. In one step 320 are determined using the data from the first detection optimal measurement positions for re-detection of the vehicle by means of the respective sensor devices of the aircraft. In one step 330 are the corresponding control signals for controlling the at least one aircraft in their respective, in step 320 determined measuring position provided. In this case, a further measurement is carried out at the respective optimal measurement positions. For example, the exact live positions of the at least one aircraft and other boundary conditions such as time, temperature, altitude or wind force are detected. The actual measurement of the vehicle takes place in conjunction with the live positions of the at least one aircraft or of a drone network comprising at least two aircraft and the detected boundary conditions.

The steps 320 . 330 can be performed continuously to realize a dynamic adjustment of the measurement positions, for example, depending on a current position or speed of the vehicle or environmental conditions such as shadowing.

The detection of the vehicle is thus carried out using a drone compound of at least two drones, also referred to as aircraft. Alternatively, according to one embodiment, the vehicle is detected by a single, particularly dynamic drone that is capable of rapidly taking different measurement and photo or film positions one after the other. By means of the drone compound, a dynamic P2P measurement with exact position determination and airspeed determination can be carried out. Partly equipped drones can also be used for this purpose. For example, a first drone of the drone compound may be equipped with a camera while a second drone is equipped with a speed sensor. A third drone may in turn have a different equipment. However, the drones can also be realized in full equipment. For example, the drones are self-sufficient drones. The advantage of such a monitoring method is the dynamic finding of optimal measurement and photo points in which the vehicle to be monitored is not covered by neighboring vehicles. As a result, a sufficiently long communication time between the control unit and the aircraft can be ensured.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.

Claims (11)

A method (300) for monitoring a vehicle (108) by means of at least one unmanned aerial vehicle (100, 102), the aircraft (100) having sensor means (106) for detecting the vehicle (108), the method (300) comprising the following steps includes: Determining (320) a measurement position (A) using data (212) representing prior detection of the vehicle (108); and Providing (330) a control signal (114) for controlling the aircraft (100) to the measurement position (A) via a communication device (112) for wireless communication with the at least one aircraft (100, 102) to move the vehicle (108) away from the vehicle Measuring position (A) off. Method (300) according to Claim 1 in which in step of determining (320) at least one further measuring position (B) is determined using data (212) representing a previous detection of the vehicle (108) and in the step of providing (330) another control signal ( 116) for controlling the aircraft (100) and / or another aircraft (102), which has a further sensor device (110) for detecting the vehicle (108), in the further measuring position (B) via the communication device (112) to detect the vehicle (108) from the further measuring position (B). Method (300) according to one of Claims 1 or 2 , comprising a step of receiving a measurement signal (118) representing a detection of the vehicle (108) by the sensor device (106) from the measurement position (A), and / or a further measurement signal (120) that detects the vehicle (108) by the sensor device (106) and / or the further sensor device (110) from the further measurement position (B), wherein in a step of the evaluation, the measurement signal (118) and the further measurement signal (120) are evaluated to to monitor the vehicle (108). Method (300) according to Claim 3 in which in the step of determining (320) the measuring position (A) represents a starting point of a section control path and / or the further measuring position (B) represents an end point of the section control path, wherein in the step of evaluating the measuring signal (118) and the further measuring signal ( 120) to determine an average speed of the vehicle (108). Method (300) according to Claim 3 or 4 in which the measuring signal (118) and the further measuring signal (120) represent different measured variables in the step of receiving (310). Method (300) according to one of Claims 3 to 5 in which, in the step of receiving (310), a position signal (122) representing an actual position of the aircraft (100) upon detection of the vehicle (108) from the measurement position (A) is received and / or another one Position signal (124) representing an actual position of the aircraft (100) and / or the further aircraft (102) in the detection of the vehicle (108) from the further measurement position (B) is received, wherein in the step of evaluating the measurement signal (118) and / or the further measurement signal (120) are evaluated using the position signal (122) and / or the further position signal (124). Method (300) according to one of Claims 3 to 6 in which, in the step of receiving (310), the measuring signal (118) and / or the further measuring signal (120) represents a signal provided by reading out an on-board unit of the vehicle (108). Method (300) according to one of the preceding claims, wherein in the step of determining (320) a position for detecting the vehicle (108) is determined from a bird's eye view as the measuring position (A) and / or the further measuring position (B). A controller (104) having units (112, 210, 220) configured to perform the method (300) according to any one of Claims 1 to 8th execute and / or control. An unmanned aerial vehicle (100, 102) for monitoring a vehicle (108), the aircraft (100, 102) comprising: sensor means (106, 110) for detecting the vehicle (108); and a communication device for wireless communication with a controller (104) according to Claim 9 , A computer program configured to perform the method (300) according to any one of Claims 1 to 8th execute and / or control.

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