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GB2453369A - Radar detection apparatus for controlling a traffic light - Google Patents

Radar detection apparatus for controlling a traffic light Download PDF

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Publication number
GB2453369A
GB2453369A GB0719473A GB0719473A GB2453369A GB 2453369 A GB2453369 A GB 2453369A GB 0719473 A GB0719473 A GB 0719473A GB 0719473 A GB0719473 A GB 0719473A GB 2453369 A GB2453369 A GB 2453369A
Authority
GB
United Kingdom
Prior art keywords
detection
zone
detector
doppler
fmcw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0719473A
Other versions
GB2453369B (en
GB0719473D0 (en
Inventor
Antonio Geoffrey Rhodes
Claus Seisenberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens PLC
Original Assignee
Siemens PLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens PLC filed Critical Siemens PLC
Priority to GB0719473A priority Critical patent/GB2453369B/en
Publication of GB0719473D0 publication Critical patent/GB0719473D0/en
Publication of GB2453369A publication Critical patent/GB2453369A/en
Application granted granted Critical
Publication of GB2453369B publication Critical patent/GB2453369B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A radar detection apparatus is provided for controlling a traffic light whereby the presence of a pedestrian 5 in a detection zone is determined based on a combination of frequency modulated continuous wave (FMCW) radar and Doppler radar techniques. To obtain reliable detection in the full detection zone 7a, Doppler detection is provided in a low sensitivity mode to prevent false detections due to pole vibration, rain, moving litter etc, and FMCW detection is provided for sensitive and reliable detection in the smaller zone 7b. If detection occurs in either zone, the detector switches the sensitivity of the Doppler detector to a high sensitivity mode, allowing the detector to track the object in the full detection zone 7a. An optional timeout for this high sensitivity Doppler mode can be implemented to prevent longterm false alarms due to ongoing pole vibration, rain, moving litter etc.

Description

RADAR detection a�oaratus This invention relates to a RADAR detection apparatus, to detect the presence of a person or object within a detection zone particularly, but not exclusively, for controlling a traffic light.
There are many situations where it is desirable for a traffic light or other such electrical apparatus to be "controlled" by the presence of a person or an object such as a vehicle.
It is necessary for any such system to be operable in a variety of weather conditions for example when sunny, raining or when snowing.
Current light controllers include a detector based on Continuous Wave (CW) (also known as Doppler and referred to as such in this specification) RADAR techniques. In order to detect the movement of people the detector sensitivity has to be high. It has been found that such techniques are susceptible to errors due to movement of equipment (under the force of wind, as vibration due to traffic) and moving objects such as footballs or litter entering the detection zone which are not intended to be detected.
Another technique used to detect objects is a Frequency Modulated Continuous Wave technique. This uses a modulated radio wave to determine the position of the object.
Unfortunately, the available spectrum reserved in some countries for this does not permit sufficient resolution to accurately locate an object and thus has not found favour in practical systems for traffic lights. The available resolution only permits a coarse determination that a person has entered a detection zone and cannot determine the position within the zone. It detects in prior art arrangements position of the object and is not used to detect movement.
Other techniques have been proposed using optical sensors but these suffer from inaccuracies in detection caused by dust, rain, snow and other environmental factors such as variations in cloud cover.
According to the invention there is provided an RADAR detection apparatus as set forth in claim 1.
A specific embodiment of the invention will now be described, by way of example only, with reference to the drawings in which: Figure 1 shows a light controlled crossing controlled by RADAR detection apparatus in accordance with the invention for controlling a pedestrian crossing; Figure 2 shows the apparatus in block diagram form; and Figure 3 is an explanatory diagram showing detection zones produced by the apparatus.
As is shown in figure 1, a pedestrian light controlled crossing 1 includes traffic lights 2 mounted to a pole 3 at a height of four metres from the ground. A push button 4 allows a pedestrian 5 to request a light change to permit a crossing to be made. A detector horn 6 is mounted to the top of the pole 3 directed downwards to provide a detection zone 7. The light controlled crossing includes a RADAR detection subsystem which is shown in figure 2.
The RADAR detection subsystem 20 comprises RADAR detector 21, and a processor 22, an optional memory 23 for storage of historical detection data. It provides an output to a light controller 25 which is co-located with the light and a button 26 mounted to the pole which allows a pedestrian to request a light change.
Detector 21 operates in accordance with Frequency Modulated Continuous Wave (FMCW) RADAR techniques and also Doppler RADAR techniques to detect within a detection area.
Figure 3 shows the detector area 7 in plan view, It comprises two overlapping zones 7a and 7b extending about 45 metres from the pole 3. The zone is shown having two parts 7a and 7b. These parts illustrate that the detection method Doppler or FMCW is predominanantly used in those parts of the zone. The largest zone 7a provides a dynamic detect area and the smaller zone 7b provides a static detect area Zone 7a is governed by the FMCW RADAR technique and zone 7b is governed by the Doppler RADAR technique.
The processor 22 receives output from the detector 21 and enters it into the historical database 23. The data is used to continuously calibrate the detector. The purpose of this calibration is to ensure objects placed permanently within the detection zone, for example additions to the street furniture such as litter bins or items placed in the zone such as bicycles, are taken ito account. If not taken into account, these objects could give rise to a false detection of a person entering the zone.
The processor 22 compares the detector output with the current, and continuously calibrated thresholds to determine whether or not a person is detected in the detection zone and this presents and output which is then passed to the light controller 25. If the light controller 25 also receives a request signal from the button 26 then the lights are changed.
Returning to figure 1 it should be appreciated that the sensitivity of detection is controlled to, in this case, provide a detection zone which lies off the ground. This prevents errors due to pole vibration appearing as ground movement when using FMCW detection and also ignores the presence of low lying objects or materials such as litter or snow or the like..
The detector 21 in conjunction with the processor 22 provides a detection of movement and also stationary object detection in the in the appropriate detection zones.
In this case, the detection of movement is made using the Doppler technique and static object detection carried out using a FMCW technique.
To get sensitive and reliable detection in the full detection zone (7a) the following approach is applied in this described embodiment.
Doppler detection is normally in a low sensitivity mode (1), in order to prevent false detects due to pole vibration, rain effects and any small, moving objects (e.g. litter).
-FMCW detection technique is used for sensitive and reliable detection in the smaller zone 7b.
-If detection in either zone (low sensitivity Doppler detection area or FMCW detection in the smaller zone (7b)) occurs, the detector switches the sensitivity of the Doppler detector to high sensitivity mode (2), allowing the detector to track the object in the full detection zone 7a. (Note: stationary (standing) people generate Doppler signals with much lower amplitude than persons moving into or around the detection zone) - An optional timeout for this high sensitive Doppler mode can be implemented to prevent long-term false alarms due to other on-going pole vibration.
Optionally, to provide even higher sensitivity of the static FMCW detection area, the following techniques may be employed: -The threshold value for FMCW detection can be made self adapting by tracking the FMCW signal over time.
-By measuring the distance to ground reflection in the FMCW signal and using a tracking process for this distance, the optimum maximum detection distance can be established. Using longest possible detection distance, close to the ground but not including the ground reflection provides best sensitivity for detecting smaller objects or people. A tracking of this distance over time is a method self calibration.
Optionally a self calibration process for Doppler detection threshold can be used to maintain the highest sensitivity for Doppler detection without allowing false detection.
Optionally the Doppler detection can be generated from the FMCW signal. By calculating the difference in FMCW signals from consecutive cycles, the Doppler portion of the radar signal can be separated and used for Doppler detection. The advantage is that the detector is permanently in FMCW mode, but will also be able to provide the highly sensitive Doppler detection in the full zone (7a).

Claims (7)

  1. Claim 1. RADAR detection apparatus for controlling electrical equipment comprising a Doppler detector for detecting the presence of an object and the movement of an object wherein upon detection of movement of an object the sensitivity of the object detection is increased in at least part of the detection zone.
  2. Claim 2. Apparatus as claimed in claim 1 wherein the detector comprises at least a Frequency Modulated Continuous Wave detector to detect movement of an object in first zone and a detector for detecting objects in a second part of the detection zone.
  3. Claim 3 Apparatus as claimed in claim 2 wherein the detector for detecting objects in the second zone operates a Doppler detection.
  4. Claim 4 Apparatus as claimed in claim 2 or 3 wherein the second zone is in the proximity of an input means for a user to input a request to the electrical equipment to be controlled and the first zone bounds at least part of the periphery of the second zone.
  5. Claim 5. Apparatus as claimed in claim 4 wherein the Doppler detection sequence is provided as a constant frequency sweep. * S.
    ".baim 6 Apparatus as claimed in any preceding claim wherein the electrical apparatus to be *.S.
    S'*'ontrolled is a traffic light. *. . * S.
    :.aim 7. Apparatus substantially as herein before described with reference to and as illustrated by the drawings.
    Claim 5. Apparatus as claimed in any preceding claim comprising a means to monitor over time for a threshold level of FMCW above which object detection is to be determined.
    Claim
  6. 6. Apparatus as claimed in any preceding claim wherein a detection sequence is provided comprising a FMCW detection sequence and a Doppler detection sequence.
    Claim
  7. 7. Apparatus as claimed in claim 6 wherein the Doppler detection sequence is provided as a constant frequency sweep.
    Claim 8 Apparatus as claimed in any preceding claim wherein the electrical apparatus to be controlled is a traffic light.
    Claim 9. Apparatus substantially as herein before described with reference to and as illustrated by the drawings. -.5-
    Amendments to the claims have been filed as follows
    Claim 1. RADAR detection apparatus for controlling elecirical equipment comprising a Doppler detector for detecting the presence of an object and the movement of an object wherein upon detection of movement of an object the sensitivity of the object detection is increased in at least part of the detection zone wherein the detector comprises at least a Frequency Modulated Continuous Wave (FMCW) detector to detect movement of an object in first zone and a detector for detecting objects in a second detection zone wherein the detector for detecting objects in the second zone operates a Doppler detection.
    Claim 2 Apparatus as claimed in claim I wherein the second zone is in the proximity of an input means for a user to input a request to the electrical equipment to be controlled and the first zone bounds at least part of the periphery of the second zone.
    Claim 3. Apparatus as claimed in any preceding claim comprising a means to monitor over time for a threshold level of FMCW above which object detection is to be determined.
    Claim 4. Apparatus as claimed in any preceding claim wherein a detection sequence is provided comprising a FMCW detection sequence and a Doppler detection sequence.
GB0719473A 2007-10-05 2007-10-05 Radar detection apparatus Active GB2453369B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB0719473A GB2453369B (en) 2007-10-05 2007-10-05 Radar detection apparatus

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Application Number Priority Date Filing Date Title
GB0719473A GB2453369B (en) 2007-10-05 2007-10-05 Radar detection apparatus

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GB0719473D0 GB0719473D0 (en) 2007-11-28
GB2453369A true GB2453369A (en) 2009-04-08
GB2453369B GB2453369B (en) 2009-08-19

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011044868A1 (en) 2009-10-12 2011-04-21 Martin Budde Traffic light display having a pedestrian detection device
DE102010013878A1 (en) * 2010-02-16 2011-08-18 Niechoj electronic GmbH, 88085 Road-integrated radar sensor
EP2373128A3 (en) * 2010-03-30 2014-06-18 Micas Ag Traffic surface lighting device
GB2537132A (en) * 2015-04-08 2016-10-12 Siemens Plc Pedestrian crossing control method and apparatus
CN108844870A (en) * 2018-08-08 2018-11-20 重庆交通大学 PM based on optical fiber structure10And PM2.5Detection instrument device and system
US20210173044A1 (en) * 2019-12-06 2021-06-10 Inxpect S.P.A. Radar detection systems and methods for detecting permanence of slow targets
EP3933800A1 (en) * 2020-07-02 2022-01-05 PrismaTibro AB Signal device for a pedestrian or bicycle crossing

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2475771C1 (en) * 2011-10-27 2013-02-20 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Национальный исследовательский университет "МИЭТ" (МИЭТ) Device to detect moving object

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2498352A1 (en) * 1981-01-20 1982-07-23 Seriee Intruder detecting alarm using radar - has microprocessor reducing range of sensitivity when person is detected in outermost range
EP0508765A2 (en) * 1991-04-09 1992-10-14 Peek Traffic Limited Improvements in vehicle detection systems
WO1995017574A1 (en) * 1993-12-20 1995-06-29 Belgian Electronic Research S.A. Electronic device and method for processing a sensing signal indicating the presence of persons and objects

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2498352A1 (en) * 1981-01-20 1982-07-23 Seriee Intruder detecting alarm using radar - has microprocessor reducing range of sensitivity when person is detected in outermost range
EP0508765A2 (en) * 1991-04-09 1992-10-14 Peek Traffic Limited Improvements in vehicle detection systems
WO1995017574A1 (en) * 1993-12-20 1995-06-29 Belgian Electronic Research S.A. Electronic device and method for processing a sensing signal indicating the presence of persons and objects

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011044868A1 (en) 2009-10-12 2011-04-21 Martin Budde Traffic light display having a pedestrian detection device
DE102010013878A1 (en) * 2010-02-16 2011-08-18 Niechoj electronic GmbH, 88085 Road-integrated radar sensor
WO2011101115A2 (en) 2010-02-16 2011-08-25 Niechoj Electronic Gmbh Roadway-integrated radar sensor
EP2373128A3 (en) * 2010-03-30 2014-06-18 Micas Ag Traffic surface lighting device
GB2537132A (en) * 2015-04-08 2016-10-12 Siemens Plc Pedestrian crossing control method and apparatus
GB2539077A (en) * 2015-04-08 2016-12-07 Siemens Plc Pedestrian crossing control method and apparatus
GB2539077B (en) * 2015-04-08 2017-08-23 Siemens Plc Pedestrian crossing control method and apparatus
CN108844870A (en) * 2018-08-08 2018-11-20 重庆交通大学 PM based on optical fiber structure10And PM2.5Detection instrument device and system
US20210173044A1 (en) * 2019-12-06 2021-06-10 Inxpect S.P.A. Radar detection systems and methods for detecting permanence of slow targets
US11579249B2 (en) * 2019-12-06 2023-02-14 Inxpect S.P.A. Radar detection systems and methods for detecting permanence of slow targets
EP3933800A1 (en) * 2020-07-02 2022-01-05 PrismaTibro AB Signal device for a pedestrian or bicycle crossing

Also Published As

Publication number Publication date
GB2453369B (en) 2009-08-19
GB0719473D0 (en) 2007-11-28

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