Track-Guided Vehicle Speed Sensing From Image Displacement
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Solution Overview
Problem
Existing methods for determining the speed of track-guided vehicles suffer from cumulative errors during extended operating times and are costly due to the complexity of implementing solutions like odometry and object recognition.
Innovation Solution
A method using imaging sensors to capture and analyze sequences of images, recognizing characteristic image areas, and calculating speed from the perspective displacement of these areas, independent of wheel slip, without requiring specific object recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex odometry based on balises, radar systems, GPS and odometers is used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts the speed measurement function from complex multi-sensor odometry systems and implements it using a simple imaging sensor that captures images of the route environment. By isolating the essential function of speed measurement and removing unnecessary complex components (balises, radar, GPS, odometers), the system achieves accurate speed determination through image analysis of characteristic image areas and their perspective displacement over time.
Solution Approach 2:
The patent replaces mechanical and electronic sensing systems (odometer pulse generators, radar sensors) with an optical imaging system. Instead of using mechanical wheel rotations or electromagnetic radar waves, the system uses cameras to capture visual information and calculates speed through image processing and perspective displacement analysis, thereby simplifying the device while maintaining measurement precision.
2Device complexity
If relative localization based on last known location and speed profile is used, then device complexity is reduced, but measurement precision deteriorates due to cumulative errors
Solution Approach 1:
The imaging sensor system serves itself by continuously capturing images of the route environment and automatically analyzing perspective displacement to determine both location and speed. The system uses the visual information from the images themselves to provide localization and speed data, eliminating the need for external reference systems or complex sensor fusion, thereby maintaining simplicity while improving measurement precision through direct visual observation.
3Measurement precision
If wheel slip-independent radar sensors and sensor error models are used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts the speed measurement function from complex sensor fusion systems that combine radar, odometry, and error models. By isolating the essential function of obtaining wheel slip-independent speed data, the system implements it through image analysis of characteristic image areas. The perspective displacement of these areas over time provides direct measurement of vehicle speed without being affected by wheel slip, eliminating the need for complex radar sensors and error model fusion.
Data Source
AI summary
A method for determining the speed of a track-guided vehicle traveling on a route includes capturing and storing a sequence of images of the route and its environment using an imaging sensor, and storing respective capture times of the images such that they are assigned to the respective images. Characteristic image areas are then recognized in the images, wherein a number of stored images is selected in order to ascertain a perspective displacement of at least one characteristic image area in the selected number of images, which arises due to movement of the vehicle. The perspective displacement can then be converted into a speed taking into account the capture times of the selected number of images. A vehicle with a facility for determining speed is also provided. Comparatively accurate relative localization of the vehicle can be performed if absolute localization of the vehicle is not possible at the time.