JP6979350B2 - Vehicle detection device, vehicle detection system, vehicle detection method and vehicle detection program - Google Patents

Description

The present invention relates to a vehicle detection device, a vehicle detection system, a vehicle detection method, and a vehicle detection program.

In the electronic toll collection system (Electronic Toll Collection System; also called "Electronic Toll Collection System") installed at the entrances and exits of highways, it is necessary to individually recognize and process each vehicle. Therefore, it is necessary to detect the entry and exit of each vehicle into the ETC lane. A reflective detector may be used to detect the entry and exit of a vehicle. Examples of the reflection type detector include an overhead laser scanner type reflection type detector, a single optical axis multi-axis type reflection type detector, and a ground type laser scanner type reflection type detector disclosed in Patent Document 1. And so on.

The reflection type detector irradiates the detection light such as a laser pulse toward the lane of the ETC lane and receives the reflected light from the vehicle to be detected to detect the vehicle and detect the vehicle height and the like. Can be obtained. Therefore, it is possible to determine the entry and exit of the vehicle by making a determination based on a predetermined threshold value for the vehicle height and the like included in the acquired detection information.

Further, in the detection by the reflection type detector, even when a vehicle located in the ETC lane is towing another vehicle (towed vehicle) by the towing member, the towing member is determined based on a predetermined threshold value. This makes it possible to collectively recognize the towed vehicle and the towed vehicle as one vehicle and detect entry and exit from the ETC lane.

Japanese Patent No. 4036119

However, in the detection by the reflective detector, there is a possibility that the exhaust gas emitted by the vehicle is erroneously recognized as a towing member even when the vehicle is not towing another vehicle. This is because, unlike the transmissive detector that detects by transmitted light, the reflective detector detects by reflected light that does not distinguish between the exhaust gas that is a transmitted substance and the traction member that is a non-transmitted substance. be. In particular, when the temperature is low such as winter, when the water vapor contained in the exhaust gas is released to the outside of the vehicle, it is rapidly cooled and dew condensation occurs, so that this misrecognition is likely to occur. That is, when the reflective detector is used, the unconnected vehicles that should be originally judged as two are mistakenly recognized as a towed vehicle and a towed vehicle, and the entry and exit of each vehicle into the ETC lane are accurate. May not be detected.

Therefore, a technology capable of accurately detecting the entry and exit of each vehicle into the ETC lane or the like is desired. An object of the present invention is a vehicle detection device and a vehicle detection system capable of accurately detecting the entry and exit of each vehicle into the ETC lane or the like without erroneously recognizing the exhaust gas as a traction member or a part of the vehicle. , To provide a vehicle detection method and a vehicle detection program.

According to the first aspect of the present invention, the vehicle detection device (30) forms a plurality of cross sections in a space on the lane (L) at a predetermined position (P) along the lane (L). Detection result information from the reflective detector (10) that irradiates the detection light (B) and detects the object to be detected by the reflected light (R) from the object to be detected (G) located at the predetermined position (P). When the dimension correspondence value corresponding to the dimension of the detection result information acquisition unit (32) and the object to be detected (G) obtained based on the detection result information becomes equal to or more than the first threshold value, the said After determining that the vehicle (A) has entered the predetermined position (P), the approach determination unit (33) and the vehicle (A) have entered the predetermined position (P). When the dimensional correspondence value obtained based on the detection result information is equal to or less than the second threshold value smaller than the first threshold value, the detection result information and the central range in the width direction of the vehicle are acquired and the central range is obtained. Based on (O1-O2), it is determined whether or not the detection position (M4, M5, M6) of the object to be detected (G) coincides with the central range (O1-O2) of the vehicle (A). When it is determined that the detection positions (M4, M5, M6) of the object to be detected (G) do not match the central range (O1-O2) of the vehicle (A), the vehicle is from the predetermined position (P). It is provided with an exit determination unit (35) for determining that (A) has exited.
With this configuration, when the preceding vehicle tows the following vehicle connected by the towing member (towing pattern), the preceding vehicle and the following vehicle are not connected and travel in the direction of travel in close proximity. (Non-traction pattern) can be determined, and it is possible to prevent the exhaust gas from being mistakenly recognized as a traction member. As a result, in the case of a towing pattern, the preceding towing vehicle and the following towing vehicle can be correctly recognized as one vehicle. Further, in the case of the non-traction pattern, the preceding vehicle and the following vehicle can be correctly recognized as two separate vehicles. Therefore, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane and the like.

According to the second aspect of the present invention, in the vehicle detection device (30) according to the first aspect, the approach determination unit (33) is when the dimension correspondence value becomes equal to or more than the first threshold value. , The value indicating the degree of dispersion of the detection position (M4, M5, M6) of the object to be detected (G) obtained from the detection result information is obtained, and the value indicating the degree of dispersion and the predetermined exhaust gas determination value are obtained. By comparison, when the value indicating the degree of dispersion is equal to or less than the predetermined exhaust gas determination value, it may be determined that the vehicle (A) has entered the predetermined position (P).
With this configuration, it is possible to accurately discriminate between the exhaust gas emitted by the preceding vehicle and the following vehicle. Therefore, it is possible to prevent the exhaust gas emitted by the preceding vehicle from being mistakenly recognized as another vehicle, and it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

According to the third aspect of the present invention, in the vehicle detection device (30) according to the second aspect, the vehicle (A) enters the predetermined position (P) in the exit determination unit (35). After it is determined that the vehicle is present, the exhaust gas detection flag is set to OFF when the dimension corresponding value becomes zero, and the detection position (M4, M5, M6) of the object to be detected (G) is the vehicle (M4, M5, M6). When it is determined that the exhaust gas detection flag does not match the central range (O1-O2) of A), the exhaust gas detection flag is set to ON, and the entry determination unit (33) is subjected to the exhaust gas detection unit (35) by the exit determination unit (35). Only when the detection flag is set to ON, the value indicating the degree of dispersion may be compared with the predetermined exhaust gas determination value.
With this configuration, the vehicle false detection determination process is performed only when the exhaust gas detection flag is ON, so that the efficiency of the vehicle detection process can be improved.

According to the fourth aspect of the present invention, in the vehicle detection device (30) according to any one of the first to third aspects, the central range determination unit (34) for determining the central range (O1-O2). ) Is further provided, and the central range determination unit (34) calculates the side surface position (S) of the vehicle (A) from the detection result information, and the vehicle (S) is calculated from the side surface position (S) of the vehicle (A). A predetermined range in the width direction (y direction) of A) may be determined as the central range (O1-O2).
With this configuration, the central range determination unit determines a predetermined range in the width direction of the vehicle A from the side position calculated based on the detection result information obtained from the reflection type detector as the central range, so that the reflection type detection The central range can be determined without using any device other than a vessel.

According to the fifth aspect of the present invention, the vehicle detection system (1) includes the vehicle detection device (30) according to any one of the first to fourth aspects and the reflection type detector (10). May be equipped with.
With this configuration, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

According to the sixth aspect of the present invention, in the vehicle detection device (30) according to any one of the first to third aspects, the central range determination unit (34) for calculating the central range (O1-O2). ), And the central range determination unit (34) is the central range (O1-O2) based on the information of the tire positions (H1, H2) of the vehicle (A) detected by the tread plate (40). May be decided.
With this configuration, the central range determination unit determines the central range based on the tire position information obtained from the tread plate. Therefore, for example, the central range is determined based on the vehicle width assumed as a uniform value regardless of the vehicle type. The central range can be determined more accurately than when determining.

According to the seventh aspect of the present invention, the vehicle detection system (1) includes the vehicle detection device (30), the reflection type detector (10), the tread plate (40), and the tread plate (40) according to the sixth aspect. May be equipped.
With this configuration, it is possible to more accurately distinguish between the exhaust gas of the vehicle when the vehicle is not a towing vehicle and the towing member when the vehicle is a towing vehicle, and each vehicle can enter and leave the ETC lane and the like. It can be detected accurately.

According to the eighth aspect of the present invention, in the vehicle detection device (30) according to any one of the first to third aspects, the central range determination unit (34) for determining the central range (O1-O2). ), And the central range determination unit (34) is the central range (O1-O2) based on the position of the license plate included in the image information of the vehicle (A) photographed by the photographing device (60). May be decided.
With this configuration, the central range calculation unit determines the central range based on the position of the license plate obtained from the image information of the vehicle obtained from the photographing device. Generally, the license plate is provided in the center of the vehicle width direction regardless of the vehicle type. Therefore, by determining the central range based on the position of the license plate, for example, the vehicle width assumed as a uniform value regardless of the vehicle type can be obtained. The central position can be determined more accurately than when the central range is determined based on the above.

According to the ninth aspect of the present invention, the vehicle detection system (1) includes the vehicle detection device (30), the reflection type detector (10), and the photographing device (60) according to the eighth aspect. May be equipped with.
With this configuration, it is possible to more accurately distinguish between the exhaust gas of the vehicle when the vehicle is not a towing vehicle and the towing member when the vehicle is a towing vehicle, and each vehicle can enter and leave the ETC lane and the like. It can be detected accurately.

According to the tenth aspect of the present invention, the vehicle detection method irradiates a plurality of detection lights so as to form a cross section in a space on the lane at a predetermined position along the lane, and is located at the predetermined position. When the detection result information is acquired from the reflective detector that detects the object to be detected by the reflected light from the object to be detected, and the dimensional correspondence value corresponding to the dimension of the object to be detected becomes equal to or more than the first threshold value. , The approach determination step (S101 to S102) for determining that the vehicle has entered the predetermined position, and after it is determined that the vehicle has entered the predetermined position, the dimension corresponding value is the second threshold value. When the following is true, it is determined whether or not the detection position of the object to be detected coincides with the central range of the vehicle based on the detection result information and the central range in the width direction of the vehicle, and the detected object is detected. It is provided with an exit determination step (S103 to S106) for determining that the vehicle has exited from the predetermined position when it is determined that the detection position of the object does not match the central range of the vehicle.
With this configuration, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

According to the eleventh aspect of the present invention, the vehicle detection program detects a computer (9) as a vehicle detection device so as to form a cross section in a space on the lane at a predetermined position along the lane. The detection result information acquisition unit (32) that irradiates light and acquires detection result information from a reflective detector that detects the object to be detected by the reflected light from the object to be detected located at the predetermined position, and the detection object. An approach determination unit (33) that determines that a vehicle has entered the predetermined position when the dimension corresponding value corresponding to the size of the object is equal to or higher than the first threshold value, and the vehicle enters the predetermined position. When the dimensional correspondence value becomes equal to or less than the second threshold value after it is determined that the vehicle is being detected, the detection position of the object to be detected is the detection position based on the detection result information and the central range in the width direction of the vehicle. When it is determined whether or not the vehicle matches the central range of the vehicle and it is determined that the detection position of the object to be detected does not match the central range of the vehicle, it is determined that the vehicle has left the predetermined position. It functions as an exit determination unit (35) for determination.
With this configuration, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

According to at least one of the above aspects, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like without erroneously recognizing the exhaust gas as a traction member or a part of the vehicle.

It is a schematic diagram which shows the whole structure of the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the reflection type detector provided in the vehicle detection system which concerns on 1st Embodiment. It is a functional block diagram explaining the structure of the vehicle detection device which concerns on 1st Embodiment. It is a flowchart which shows the operation of the vehicle detection apparatus provided in the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection apparatus included in the vehicle detection system which concerns on 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on 1st modified embodiment of 1st Embodiment. It is explanatory drawing explaining the vehicle detection system which concerns on the 2nd modification of 1st Embodiment. It is a flowchart which shows the operation of the vehicle detection apparatus provided in the vehicle detection system which concerns on 2nd Embodiment. It is a schematic block diagram which shows the structure of the computer which concerns on at least one Embodiment.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. The same or corresponding configurations are designated by the same reference numerals in all drawings, and common description is omitted.

(Overall configuration of vehicle detection system)
FIG. 1 is a schematic view showing the overall configuration of the vehicle detection system 1 according to the first embodiment of the present invention. To illustrate the directions, FIGS. 1, 2, 5A, 5B, 6A, 6B, 7, 8, and 9 define a common right-handed xyz coordinate system. In this xyz coordinate system, the direction in which the lane L extends is the ± x direction, and is also described as the “lane direction”. Further, the direction orthogonal to the lane direction (± x direction) on the horizontal plane is defined as the ± y direction, and is also described as “lane width direction”. Further, it is assumed that the vehicle A passing through the tollhouse travels in the lane L from the −x direction side to the + x direction side. Further, the vertical direction orthogonal to the horizontal plane (± x direction and ± y direction) is defined as the ± z direction, and is also described as the “height direction”. Then, normally, the vehicle A traveling in the lane L has its length direction parallel to the lane direction and its width direction parallel to the lane width direction.
The vehicle detection system 1 according to the first embodiment individually enters and exits each vehicle A (A1, A2) into a booth or the like at a tollhouse such as an ETC installed at an entrance or exit of a highway. It is provided for detection. In FIG. 1, the vehicle detection system 1 will be described by taking the entrance of a highway as an example. The lane L is connected to the expressway via the ETC lane when traveling in the + x direction, and is connected to the general road when traveling in the −x direction.

As shown in FIG. 1, the vehicle detection system 1 is configured to detect the entry and exit of each vehicle A (A1, A2) into a predetermined position P of the lane L such as the entrance position of the ETC lane. The vehicle detection system 1 is a reflection type detector 10 that detects an object to be detected located on a predetermined position P on the lane L by using a detection light B such as a laser pulse, and the reflection type detector 10 and a line 20. It is provided with a vehicle detection device 30 that is connected and detects the vehicle A based on the detection result input from the reflection type detector 10. The vehicle detection device 30 is connected to, for example, a lane server (not shown) and outputs the detection result of each vehicle A entering and exiting a predetermined position P of the lane L such as the entrance position of the ETC lane. It may be configured.

(Functional configuration of reflective detector)
FIG. 2 is an explanatory diagram illustrating a reflection type detector 10 included in the vehicle detection system 1 according to the first embodiment. FIG. 2 is a view of the reflection type detector 10 shown in FIG. 1 as viewed in the traveling direction F (+ x direction) of the vehicle A. In the first embodiment of the present invention, in the vicinity of the ETC lane, islands 5 are provided on both sides of the lane L in a height direction (+ z direction) higher than the lane L, and the reflective detector 10 is in the lane L. It is installed on the island 5 right next to it. The reflection type detector 10 shown in FIGS. 1 and 2 is installed on the + y direction side of the lane L, but may be installed on the −y direction side or on both sides of the + y direction and the −y direction. You may be.

The reflection type detector 10 may be, for example, a single optical axis multi-axis type reflection type photoelectric sensor. As shown in FIG. 2, in the reflection type detector 10 according to the first embodiment, a plurality of sensors 12 are mounted on a rectangular parallelepiped main body 11 extending in the height direction (z direction) in the height direction (z direction). It is configured to be provided at a predetermined interval along the above. Each sensor 12 has a light projecting unit (not shown) that projects the detection light B, which is a laser pulse of a single optical axis, in the lane width direction (-y direction), and the reflected light R reflected by the object to be detected. It is provided with a light receiving unit (not shown) for receiving light. In the first embodiment of the present invention, the number of sensors 12 included in the reflection type detector 10 is 17, but it may be any number other than 17. As shown in FIG. 2, the light projecting portions of all the sensors 12 are in the same lane width direction (−y direction) in the direction of irradiating (projecting) the detection light B, and are the same. That is, the sensor 12 included in the reflection type detector 10 is configured to irradiate a plurality of detection lights so as to form a cross section (yz plane) in the space on the lane L at a predetermined position P along the lane L. ing.

The cross section formed by the plurality of detection lights B emitted from the sensor 12 is a cross section orthogonal to the lane L (x direction) if it is formed in the space on the lane L at a predetermined position P along the lane L. It does not have to be a plane (yz plane). That is, the cross section may be a cross section diagonally crossing the lane L (x direction) at an arbitrary angle within the range where the expected vehicle separation performance can be obtained.
Further, the detection light B emitted from the sensor 12 may be in any direction other than the lane width direction, for example, the height direction (−z direction) in the direction from top to bottom.
In the first embodiment, the predetermined position P of the lane L shown in FIG. 1 is defined as a position that vertically crosses the lane L (x direction), but the predetermined position P of the lane L is the lane L (x). Direction) may be defined as a position that crosses diagonally at any angle within the range where the expected vehicle separation performance can be obtained.

With reference to FIG. 2, a mechanism will be described in which each sensor 12 of the reflection type detector 10 detects an object to be detected located at a predetermined position P in the lane L. FIG. 2 shows a case where the object to be detected is an exhaust gas G containing water vapor discharged from the vehicle A. As shown in FIG. 2, of the detection lights B emitted from the light projecting portions of all the sensors 12, only the detection lights B1 to B3 collide with the exhaust gas G and become reflected lights R1 to R3 of the sensor 12. Light is received by the light receiving unit. Here, when the size of the object to be detected is large, the number of reflected light R reflected by the object to be detected increases, and when the size of the object to be detected is small, the reflected light reflected by the object to be detected increases. The number R of is small. That is, the number of reflected light R is a dimension corresponding value corresponding to the dimension of the object to be detected. When the object to be detected is an object that transmits a part of the emitted light such as exhaust gas G, unlike the case where the object to be detected is a non-transmissive object such as a vehicle, it is detected. A part of the lights B1 to B3 travels through the exhaust gas G as transmitted lights T1 to T3. The reflection type detector 10 can detect that the exhaust gas G as the object to be detected is located at a predetermined position P in the lane L by receiving the reflected light R1 to R3. Further, the reflection type detector 10 measures the range time from the irradiation timing of the detection light B to the light reception timing of the reflected light R, and multiplies the measured range time by the speed of light to reflect the reflection position from the reflection type detector 10. You can find the distance to. Therefore, the reflection type detector 10 can detect a more detailed position of the exhaust gas G, which is the object to be detected, from the reflection position of the reflected light R1 to R3. When the object to be detected is a non-transmissive object such as a vehicle, the detection light B is reflected only on the surface of the object to be detected, but when the object to be detected is a transmissive object such as exhaust gas G or the like. The detection light B is not always reflected on the outer surface of the exhaust gas G. For example, in FIG. 2, the detection lights B1 and B2 are reflected at the boundary portion in the exhaust gas G having different densities, and the detection light B3 is reflected on the outer surface of the exhaust gas G. Further, since the exhaust gas G has an irregular shape, it may be reflected from, for example, a concave inner surface. Further, the exhaust gas G may not reflect the detection light B depending on the temperature, the diffusion state, and the like.

(Functional configuration of vehicle detection device)
FIG. 3 is a functional configuration diagram illustrating the configuration of the vehicle detection device 30 included in the vehicle detection system 1 according to the first embodiment.
The vehicle detection device 30 has a storage unit 31 that stores detection information necessary for individually detecting the vehicle A, a detection result information acquisition unit 32 that acquires detection result information from the reflection type detector 10, and a lane L. An approach determination unit 33 that determines that the vehicle A has entered a predetermined position P along the line, a central range determination unit 34 that calculates the central range in the width direction (y direction) of the vehicle A, and a lane L. An exit determination unit 35 for determining that the vehicle A has exited from the predetermined position P is provided.

The storage unit 31 has detection result information including the number of reflected light R reflected by the object to be detected, the reflected position, the reflected time, the position of the sensor that has received the reflected light R, and the like, and is used in advance for processing vehicle detection. The determined first threshold value and the second threshold value, the value (ON or OFF) of the exhaust gas detection flag described later, the central range of the vehicle A determined by the central range determination unit 34, and the exhaust used for the vehicle error detection determination process. The gas determination value and the like may be stored. Further, the storage unit 31 may store other information necessary for the vehicle detection system 1 to process the vehicle detection.

The detection result information acquisition unit 32 is connected to the reflection type detector 10, acquires the detection result information detected by the reflection type detector 10, and acquires the entry determination unit 33, the central range determination unit 34, and the exit determination unit 35. Output to. The detection result information acquisition unit 32 may store the detection result information acquired from the reflection type detector 10 in the storage unit 31.

When the detection result information acquired by the detection result information acquisition unit 32 is input, the approach determination unit 33 acquires the first threshold value with reference to the storage unit 31, and the reflected light R reflected by the object to be detected. When the number of reflected light R is equal to or greater than the first threshold value, it is determined that the vehicle A has entered the predetermined position P of the lane L. The approach determination unit 33 outputs the determination result to the exit determination unit 35 and the lane server (not shown).

When the detection result information acquired by the detection result information acquisition unit 32 is input, the central range determination unit 34 calculates the side surface position of the vehicle A from the detection result information, and the width direction (y) of the vehicle from the side surface position of the vehicle. The predetermined range in the direction) is determined as the central range. The central range determination unit 34 outputs the determination result to the exit determination unit 35. Further, the central range determination unit 34 may store the determination result in the storage unit 31.

After the exit determination unit 35 determines that the vehicle A has entered the predetermined position P in the lane L by the approach determination unit 33, the detection result information acquired by the detection result information acquisition unit 32 is input to the exit determination unit 35. The second threshold value is acquired with reference to the storage unit 31. The exit determination unit 35 compares whether or not the number of reflected light R reflected by the object to be detected is equal to or less than the second threshold value, and when the number of reflected light R is equal to or less than the second threshold value, the exit determination unit 35 compares. It is determined whether or not the detection position of the object to be detected included in the detection result information matches the central range of the vehicle A input from the central range determination unit 34. When the exit determination unit 35 determines that the detection position of the object to be detected does not match the central range of the vehicle A, the exit determination unit 35 determines that the vehicle A has exited from the predetermined position P. The exit determination unit 35 outputs the determination result to the lane server (not shown). The exit determination unit 35 determines that the vehicle A is exiting even when the number of reflected light R reflected by the object to be detected is zero.

(Processing flow of vehicle detection device)
FIG. 4 is a flowchart showing the operation of the vehicle detection device 30 included in the vehicle detection system 1 according to the first embodiment. 5A, 5B, 6A, and 6B are explanatory views illustrating the vehicle detection system 1 according to the first embodiment.
Before explaining the operation of the vehicle detection device 30 according to the first embodiment with reference to FIG. 4, the vehicle A to be detected pulls another vehicle A by using FIGS. 5A, 5B, 6A, and 6B. The difference between the case of being towed (traction pattern) and the case of not towing (non-traction pattern) will be described.

FIG. 5A shows a situation (traction pattern) in which the preceding vehicle A1 pulls the following vehicle A2 connected by the traction member D and travels in the traveling direction F, in the width direction (+ y direction) of the vehicle A1. It is the figure which looked at the vehicle A1 and A2. FIG. 5B shows a situation (non-traction pattern) in which the preceding vehicle A1 and the following vehicle A2 are not connected and travel in the traveling direction F in close proximity, and the vehicle is in the width direction (+ y direction) of the vehicle A1. It is a figure which looked at A1 and A2. In the non-traction pattern shown in FIG. 5B, the exhaust gas G discharged rearward by the preceding vehicle A1 exists between the preceding vehicle A2 and the following vehicle A2.

FIG. 6A is a view of the vehicles A1 and A2 having the traction pattern shown in FIG. 5A viewed from above to below in the height direction (−z direction). FIG. 6B is a view of vehicles A1 and A2 having a non-traction pattern shown in FIG. 5B viewed from above to below in the height direction (−z direction). As shown in FIG. 6A, the traction member D connected between the vehicles A1 and A2 may have, for example, a shaft shape having a diameter of 40 mm, and has a central range in the width direction (y direction) of the vehicles A1 and A2. It is provided in. The shape of the towing member D may be a shape other than the shaft shape, and the size may be any value. Further, as shown in FIG. 6B, the exhaust gas G is discharged from a single exhaust port (not shown) provided at a position near the end of one side (+ y direction side) in the width direction of the rear lower portion of the vehicle A1. It is discharged rearward and diffuses between vehicles A1 and A2. The exhaust gas G may be discharged rearward from a single exhaust port provided at a position closer to the other end (-y direction side) in the width direction of the lower rear portion of the vehicle A1. It may be discharged rearward from two or more exhaust ports provided separately at positions near the ends of both (+ y direction side and −y direction side) in the width direction of the rear lower portion. In other words, the exhaust gas G may be discharged from an exhaust port provided outside the central range in the width direction (y direction) of the vehicle A1.

The operation of the vehicle detection device 30 according to the first embodiment will be described with reference to FIG. For example, when the detection of entry and exit of each vehicle A (A1, A2) into a predetermined position P of the lane L such as the entrance position of the ETC lane, such as the timing at which the ETC traffic processing is started, is started. The processing of the flowchart shown in the above may be started. When the process is started, the detection result information acquisition unit 32 of the vehicle detection device 30 acquires the detection result information detected by the reflection type detector 10. The detection result information includes, for example, the number of reflected light R reflected by the object to be detected, the reflected position where each reflected light R is reflected, the reflected time when each reflected light R is reflected, and the reflected light R. The position of the sensor 12 that has received light, and the like may be included. The detection information acquisition unit 32 continuously outputs the acquired detection result information to the entry determination unit 33, the central range determination unit 34, and the exit determination unit 35.

The approach determination unit 33 refers to the storage unit 31 to acquire the first threshold value. The approach determination unit 33 may have acquired the first threshold value in advance. The approach determination unit 33 compares the number of reflected light R included in the detection result information input from the detection result information acquisition unit 32 with the first threshold value, and the number of reflected light R is equal to or greater than the first threshold value. (Step S101). As the first threshold value, for example, the minimum number of reflected light R assumed when the object to be detected is a vehicle may be set. In the first embodiment of the present invention, for example, 6 is set as the first threshold value, but a number other than 6 may be set. When the number of reflected lights R is not equal to or more than the first threshold value, that is, 6 or more (NO in step S101), the approach determination unit 33 determines that the vehicle A is not located at the predetermined position P, and steps. Return to S101. Therefore, the process of step S101 is repeated until the number of reflected light R becomes equal to or greater than the first threshold value, that is, 6 or more (YES in step S101).

On the other hand, for example, when the vehicle A1 having the traction pattern shown in FIG. 5A is located at a predetermined position P, the vehicle A1 reflects the detection light B projected from each sensor 12 of the reflection type detector 10, so that the reflected light R is generated. Return to sensor 12. Since the vehicle A1 has a height equal to or higher than a predetermined height in the height direction (z direction), the number of reflected light R reflected by the vehicle A1 to be detected is equal to or higher than a predetermined first threshold value, that is, It will be 6 or more. In other words, the first threshold value is set in advance to a predetermined value that can detect the approach of the vehicle A1. Therefore, in the approach determination unit 33, when the number of reflected lights R is equal to or greater than the first threshold value, that is, 6 or more (YES in step S101), the vehicle A1 has entered the predetermined position P along the lane L. (Step S102). The approach determination unit 33 outputs the determination result that the vehicle A1 has entered the predetermined position P to the exit determination unit 35 and the lane server (not shown).

After the approach determination unit 33 determines that the vehicle A1 has entered the predetermined position P, the exit determination unit 35 into which the determination result is input from the approach determination unit 33 refers to the storage unit 31 and has a second threshold value. To get. The exit determination unit 35 may have acquired the second threshold value in advance. The exit determination unit 35 compares the number of reflected light R included in the detection result information input from the detection result information acquisition unit 32 with the second threshold value, and the number of reflected light R is equal to or less than the second threshold value. (Step S103). The second threshold value is smaller than the first threshold value, and for example, the maximum number of reflected light assumed when the object to be detected is the traction member D shown in FIG. 5A may be set. In the first embodiment of the present invention, 3 is set as the second threshold value, but a number other than 3 may be set. The exit determination unit 35 determines that the vehicle A has not exited from the predetermined position P when the number of reflected lights R is not equal to or less than the second threshold value, that is, when it is not equal to or less than 3 (NO in step S103). , Return to step S103. Therefore, the process of step S103 is repeated until the number of reflected light R is equal to or less than the second threshold value, that is, 3 or less (YES in step S103).

When the vehicle A1 having the traction pattern shown in FIG. 5A passes through the predetermined position P and travels in the traveling direction F (+ x direction), the number of reflected lights R fluctuates as the vehicle travels, and the preceding vehicle A1 moves to the predetermined position P. After passing through and exiting, the traction member D is then positioned at the predetermined position P. Therefore, the number of reflected light R received by each sensor 12 of the reflective detector 10 is the number of the traction member D, which is the object to be detected, reflecting the detected light B. As shown in FIG. 5A, since the traction member D has a smaller dimension in the height direction (z direction) than the vehicle A1, the number of reflected light R is equal to or less than the second threshold value, that is, 3 or less (YES in step S103). ), The exit determination unit 35 proceeds to the next process (step S104).

The exit determination unit 35 determines whether the number of reflected light R is zero (step S104). As described above, when the traction member D is located at the predetermined position P after the vehicle A1 having the traction pattern shown in FIG. 5A has passed, the traction member D reflects the detection light B, so that the number of reflected lights R is increased. Does not become zero, and the exit determination unit 35 determines that the number of reflected light R is not zero (NO in step S104), and proceeds to the next process (step S105).
On the other hand, after the vehicle A1 having the non-traction pattern shown in FIG. 5B has passed, before the succeeding vehicle A2 is positioned at the predetermined position P, the exhaust gas that is the permeate discharged from the preceding vehicle A1 at the predetermined position P is exhausted. Only Gus G is present. For example, when the temperature is high or the exhaust gas G is sufficiently diffused, the number of reflected light R reflected by the exhaust gas G becomes zero. In this case, the exit determination unit 35 has the number of reflected light R. It is determined that it is zero (YES in step S104), and therefore it is determined that the vehicle A1 has left the predetermined position P (step S106). The exit determination unit 35 outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection. On the other hand, after the vehicle A1 having the non-traction pattern shown in FIG. 5B has passed, for example, when the temperature is low or the exhaust gas G is not sufficiently diffused, the reflected light R reflected by the exhaust gas G is reflected. The number of may not be zero. In this case, the exit determination unit 35 determines that the number of reflected light R is not zero (NO in step S104), as in the case after the vehicle A1 having the traction pattern shown in FIG. 5A has passed, and the next process (NO in step S104). Step S105).

When the exit determination unit 35 determines that the number of reflected lights R is not zero (NO in step S104), the exit determination unit 35 determines whether the detection position of the object to be detected matches the central range in the width direction (y direction) of the vehicle A1. (Step S105). As will be described later, the central range of the vehicle A1 in the width direction (y direction) is determined by the central range determination unit 34 and output to the exit determination unit 35.
For example, in the case of the non-traction pattern shown in FIG. 5B, the exhaust gas G, which is the object to be detected, is discharged from the exhaust port outside the central range in the width direction (y direction) of the vehicle A1, so that the exit determination unit 35 is covered. It is determined that the detection position of the exhaust gas G, which is a detection object, does not match the central range in the width direction (y direction) of the vehicle A1 determined by the central range determination unit 34 (NO in step S105), and therefore, a predetermined position. It is determined that the vehicle A1 has left P (step S106). The exit determination unit 35 outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection.

On the other hand, for example, in the case of the traction pattern shown in FIG. 5A, the traction member D, which is the object to be detected, is always arranged in the central range in the width direction (y direction) of the vehicle A1, so that the exit determination unit 35 is detected. It is determined that the detection position of the traction member D, which is an object, coincides with the central range in the width direction (y direction) of the vehicle A1 determined by the central range determination unit 34 (YES in step S105), and the process returns to step S103. .. While the traction member D is located at the predetermined position P, the process described above, that is, the process of proceeding to step S103, YES of step S103, NO of step S104, NO of step S104, YES of step S105, and step S105, and returning to step S103. Is repeated.

When the towing member D exits from the predetermined position P, the number of reflected light R reflected by the vehicle A2 is reflected by the towing member D while the succeeding vehicle A2 towed by the preceding vehicle A1 is located at the predetermined position P. It becomes larger than the number of reflected light R to be made. Therefore, while the following vehicle A2 is located at the predetermined position P, the number of reflected light R does not become equal to or less than the second threshold value, the process proceeds to NO in step S103 and step S103, and the process returns to step S103. It is repeated. Although only the exhaust gas G emitted from the vehicle A1 is shown in FIGS. 5B and 6B, the following vehicle A2 also emits an exhaust gas G (not shown) like the vehicle A1. When the following vehicle A2 exits from the predetermined position P, the exhaust gas G discharged from the following vehicle A2 is located at the predetermined position P. When the exhaust gas G does not reflect the detection light B due to conditions such as temperature, the number of reflected light R becomes zero. In this case, the exit determination unit 35 determines that the number of reflected lights R is zero (YES in step S104), and determines that the vehicle A1 has exited from the predetermined position P (step S106). That is, when the exit of the vehicle A2 towed by the vehicle A1 is detected, it is determined that the vehicle A1 is exiting. The exit determination unit 35 outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection.

On the other hand, when the exhaust gas G discharged from the following vehicle A2 reflects the detection light B due to conditions such as temperature, the exit determination unit 35 determines that the number of reflected light R is not zero (NO in step S104). ), Proceed to the next step S105. Since the exhaust gas G which is the detected object is discharged from the exhaust port outside the central range in the width direction (y direction) of the vehicle A2, the exit determination unit 35 has the detection position of the exhaust gas G which is the detected object at the center. It is determined that the vehicle A1 does not match the central range in the width direction (y direction) determined by the range determination unit 34 (NO in step S105), and therefore it is determined that the vehicle A1 has exited from the predetermined position P (NO). Step S106). That is, when the exit of the vehicle A2 towed by the vehicle A1 is detected, it is determined that the vehicle A1 is exiting. The exit determination unit 35 outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection.

(Determining the central range in the width direction of the vehicle)
The central range used for the determination in step S105 is determined by the central range determination unit 34. FIG. 7 is an explanatory diagram illustrating a vehicle detection device 30 included in the vehicle detection system 1 according to the first embodiment. FIG. 7 is a view of the reflection type detector 10 as viewed in the traveling direction F (+ x direction) of the vehicle A. FIG. 7 shows a situation immediately after the vehicle A travels in the traveling direction F (+ x direction) and passes through a predetermined position P in the lane L. A procedure in which the central range determination unit 34 included in the vehicle detection device 30 determines the central range in the width direction (y direction) of the vehicle A will be described with reference to FIG. 7.

In the first embodiment of the present invention, after it is determined in step S102 described above that the vehicle A has entered the predetermined position P, the central range determination unit 34 detects the detection result information input from the detection result information acquisition unit 32. Based on the information on the reflected position of the reflected light R included in the result information, the side position S of the vehicle A passing through the predetermined position P is calculated. The side position S of the vehicle A is, for example, the reflected light detected by the sensor 12 at a predetermined position when the detected vehicle height (height in the height direction (z direction)) is the highest. It may be the reflection position of R. For example, the sensor at a predetermined position may be the third sensor from the bottom among the sensors 12 shown in FIG. 7. FIG. 7 shows the situation after the vehicle A has passed the predetermined position P, but the vehicle height of the vehicle A detected by passing the vehicle A through the predetermined position P before the situation shown in FIG. 7 is reached. Is the highest when the 9th sensor 12 from the bottom simultaneously detects the vehicle A. In this case, the reflected position of the reflected light R4 detected by the third sensor 12 from the bottom is calculated as the side position S at the timing when the ninth sensor 12 from the bottom simultaneously detects the vehicle A.

The central range determination unit 34 may determine a predetermined range in the width direction (y direction) of the vehicle A from the calculated side surface position S of the vehicle A as the central range. For example, the determination of the central range by the central range determination unit 34 may be performed as follows. First, assuming that the width of the vehicle A is 2000 mm, after the side position S of the vehicle A1 is calculated, as shown in FIG. 7, the width of the vehicle A is half the width of the assumed vehicle A, which is 1000 mm away from the side position S. The current position is set as the center position O. Next, the positions O1 and O2 are set so that the distance between the left and right sides of the center position O is, for example, a predetermined range of 400 mm to 600 mm in the width direction of the vehicle A. A predetermined range (O1-O2) from the position O1 to the position O2 set in this way is determined as the central range. As described above, since the central range determination unit 34 determines a predetermined range in the width direction (y direction) of the vehicle A from the side position S calculated from the detection result information as the central range (O1-O2). The central range (O1-O2) can be determined without using a device other than the reflection type detector 10.

The central range determination unit 34 inputs the determined central range of the vehicle A1 to the exit determination unit 35. In the case shown in FIG. 7, the exhaust gas G as the object to be detected reflects three detection lights B4 to B6, and the detection position of the exhaust gas G which is the reflection position of each reflection R4 to R6 is 3 of M4 to M6. There are one. The exit determination unit 35 is, for example, when none of the three detection positions M4 to M6 of the exhaust gas G in the object to be detected is located within the central range from O1 to O2 in the width direction (y direction) of the vehicle A. In addition, it may be determined that the vehicle A1 does not match the central range in the width direction (y direction) determined by the central range determination unit 34 (NO in step S105). When the exhaust gas G has a plurality of detection positions, if even one of the plurality of detection positions is located within the central range in the width direction of the vehicle A, it coincides with the central range of the vehicle A. It may be determined.

(Action, effect)
As described above, the vehicle detection device 30 included in the vehicle detection system 1 according to the first embodiment detects the entry of the vehicle A1 into the predetermined position P along the lane L, and then the detection light B is reflected. When the number of light R is equal to or less than the second threshold value, it is determined whether or not the detected position of the detected object matches the central range of the vehicle A1, and the detected position of the detected object is the center of the vehicle A. When it is determined that the range does not match, it is determined that the vehicle A1 has left the predetermined position P.
By doing so, when the preceding vehicle A1 tows the following vehicle A2 connected by the traction member D (towing pattern), the preceding vehicle A1 and the following vehicle A2 are not connected. , When traveling in the traveling direction F in close proximity (non-traction pattern), it is possible to prevent the exhaust gas G from being erroneously recognized as a traction member. Thereby, in the case of the towing pattern, the preceding towing vehicle (vehicle A1) and the succeeding towed vehicle (vehicle A2) can be correctly recognized as one vehicle. Further, in the case of the non-traction pattern, the preceding vehicle A1 and the following vehicle A2 can be correctly recognized as two separate vehicles. Therefore, it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

<First Modified Example of First Embodiment>
FIG. 8 is an explanatory diagram illustrating the vehicle detection system 1 according to the first modification of the first embodiment. FIG. 8 is a view of the reflection type detector 10 as viewed in the traveling direction F (+ x direction) of the vehicle A. FIG. 8 shows a situation immediately after the vehicle A travels in the traveling direction F (+ x direction) and passes through a predetermined position P in the lane L. The vehicle detection system 1 according to the first modification embodiment of the first embodiment will be described with reference to FIG.

The vehicle detection system 1 according to the first modification of the first embodiment shown in FIG. 8 includes a tread plate 40 in addition to the reflection type detector 10 and the vehicle detection device 30. In the vehicle detection system 1 according to the first modification of the first embodiment, the central range determination unit 34 determines the central range in the width direction (y direction) of the vehicle A by using the tread plate 40. It is configured in the same manner as the vehicle detection system 1 according to the first embodiment described above, and operates in the same manner.

As shown in FIG. 8, the tread plate 40 is a flat plate-shaped contact sensor laid on the lane L at a predetermined position P in the lane L over the lane width direction (y direction). The tread plate 40 may have a shape other than the flat plate shape. The tread plate 40 is configured to detect the position of a passing object passing over the tread plate 40 in contact with the tread plate 40. The detected position may be a position in the width direction (y direction) of the vehicle A. The tread plate 40 is connected to the vehicle detection device 30, and is configured to output tread plate detection information including the position information of the detected passing object to the vehicle detection device 30.

(Determining the central range in the width direction of the vehicle)
In the first modification of the first embodiment of the present invention, after it is determined in step S102 that the vehicle A has entered the predetermined position P, the central range determination unit 34 inputs from the tread plate 40. Based on the information on the left and right tire positions of the vehicle A included in the tread detection information, a predetermined range in the width direction (y direction) of the vehicle A is calculated as a central range in the width direction (y direction) of the vehicle A. decide. As shown in FIG. 8, the outermost position in the width direction of the left (+ y direction side) tire when the vehicle A passes through the tread 40 is H1, and the width direction of the right (−y direction side) tire. Although the outermost position is assumed to be H2, H1 and H2 may be the innermost positions of the left and right tires, respectively. For example, the central range determination unit 34 calculates the central position between H1 and H2 as the central position O in the width direction of the vehicle A, and defines the center position O as the center in the width direction of the vehicle A. The predetermined range to be determined is determined as the central range in the width direction of the vehicle A. Similar to the case shown in FIG. 7, the central range (O1-O2) is defined by the positions O1 and O2 shown in FIG. The distance in the width direction of the vehicle A from the position O1 to the position O2 may be set to, for example, a value of about 400 mm to 600 mm. The central range determination unit 34 inputs the determined central range in the width direction of the vehicle A to the exit determination unit 35.

(Action, effect)
As described above, the vehicle detection system 1 according to the first modification of the first embodiment determines the central range in the width direction of the vehicle A based on the left and right tire position information detected by the tread plate 40. .. By doing so, when determining the central range in the width direction of vehicle A, the left and right tire position information is used and the calculation is performed without assuming the vehicle width of vehicle A. The central range in the width direction of the vehicle A can be determined more accurately than in the case where the central range is determined based on the vehicle width assumed as a uniform value. Therefore, it becomes possible to more accurately discriminate between the exhaust gas G of the vehicle A when the vehicle A is not a towing vehicle and the towing member D when the vehicle A is a towing vehicle, and each vehicle enters the ETC lane or the like. And exit can be detected accurately.

<Second Modified Example of First Embodiment>
FIG. 9 is an explanatory diagram illustrating the vehicle detection system 1 according to the second modification of the first embodiment. The vehicle detection system 1 according to the second modification of the second embodiment will be described with reference to FIG. 9.

The vehicle detection system 1 according to the second modification of the first embodiment shown in FIG. 9 is connected to the vehicle detection device 30 via a line 50 in addition to the reflection type detector 10 and the vehicle detection device 30. It is equipped with a photographing device 60. In the vehicle detection system 1 according to the second modification of the first embodiment, the central range calculation unit 34 determines the central range in the width direction (y direction) of the vehicle A by using the photographing device 60. , It is configured in the same manner as the vehicle detection system 1 according to the first embodiment described above, and operates in the same manner. The photographing device 60 may have, for example, a camera for a still image or a moving image capable of capturing an analyzable image.

As shown in FIG. 9, the photographing device 60 is provided on the traveling direction F side (+ x direction side) of the vehicle A from the predetermined position P of the lane L. The photographing device 60 is configured so that the front surface of the vehicle A entering the predetermined position P can be photographed from a position at a predetermined height. The photographing device 60 captures an image of the front surface of the vehicle A, that is, an image of the vehicle A including the license plate, and outputs the captured image information of the vehicle A to the vehicle detecting device 30 via the line 50. It is configured. The photographing device 60 may be provided at any other position where an image of the front surface of the vehicle A including the license plate can be photographed.

(Determining the central range in the width direction of the vehicle)
In the modified embodiment of the second embodiment of the present invention, the vehicle A in which the photographing device 60 has entered the predetermined position P after it is determined in step S102 described above that the vehicle A has entered the predetermined position P. An image of the front of the vehicle A is photographed so as to include the license plate of the vehicle A, and the photographed image information of the vehicle A is output to the vehicle detection device 30 via the line 50. The central range determination unit 34 of the vehicle detection device 30 analyzes the image information of the vehicle A including the license plate input from the photographing device 60, and in the width direction (y direction) of the vehicle A based on the position of the license plate. The predetermined range is calculated and determined as the central range in the width direction (y direction) of the vehicle A. For example, the center position of the license plate in the width direction of the vehicle A is set as the center position O in the width direction of the vehicle A, and the predetermined range defined in the width direction of the vehicle A is set so that the center position O is the center of the vehicle A. It may be determined as the central range in the width direction. The central range determination unit 34 inputs the determined central range in the width direction of the vehicle A to the exit determination unit 35.

As described above, the central range determination unit 34 analyzes the image information of the vehicle A including the license plate input from the photographing device 60, and sets the center position of the license plate as the center position O in the width direction of the vehicle A. In addition to determining the central range assuming, the central range may be determined based on the classification number written on the license plate as follows. Specifically, the central range determination unit 34 analyzes the image information of the vehicle A input from the photographing device 60, and is described on the license plate, for example, a classification number which is a two-digit or three-digit decimal number. Is recognized, and the vehicle type of the vehicle A is determined. In this case, the vehicle width of the vehicle A is estimated by defining the vehicle width in advance for each vehicle type of the vehicle A. As a result, as in the first embodiment described above, after the side position S of the vehicle A1 is calculated, the position separated from the side position S by half the estimated vehicle width of the vehicle A is set as the center position O. The central range (O1-O2) is determined by setting the positions O1 and O2 so that the distances in the width directions of the vehicle A are within a predetermined range on the left and right sides of the vehicle A with the center position O as the center. Will be possible.

(Action, effect)
As described above, the vehicle detection system 1 according to the second modification of the first embodiment is centered in the width direction of the vehicle A based on the image information of the vehicle A including the license plate photographed by the photographing device 60. The range is determined. By doing so, the central range calculation unit uses the license plate provided on the vehicle A to determine the central range, so that the calculation is performed without assuming the vehicle width of the vehicle A. For example, the central range in the width direction of the vehicle A can be determined more accurately than in the case where the central range is determined based on the vehicle width assumed as a uniform value regardless of the vehicle type. Therefore, it becomes possible to more accurately discriminate between the exhaust gas G of the vehicle A when the vehicle A is not a towing vehicle and the towing member D when the vehicle A is a towing vehicle, and each vehicle enters the ETC lane or the like. And exit can be detected accurately.

<Second embodiment>
Next, the operation of the vehicle detection device 30 included in the vehicle detection system 1 according to the second embodiment will be described with reference to FIG.

(Processing flow of vehicle detection device)
FIG. 10 is a flowchart showing the operation of the vehicle detection device 30 included in the vehicle detection system 1 according to the second embodiment. In the flowchart shown in FIG. 10, new steps S111 to S114 are added to steps S101 to S106 of the flowchart of FIG. 4 showing the processing flow of the vehicle detection device 30 according to the first embodiment. In the added steps S111 to S114, the exhaust gas G discharged by the vehicle A which has been detected immediately before and has already left remains at a predetermined position P in the lane L and reflects the detection light B, and the non-existent vehicle is erroneous. In order to avoid a situation in which the vehicle is detected, an exhaust gas detection flag indicating whether or not the exhaust gas G of the preceding vehicle A is detected is introduced.

Hereinafter, processing using the exhaust gas detection flag will be described.
If the vehicle detection device 30 detects the approach of the vehicle A (step S102) and then the exhaust gas G discharged from the vehicle A is not detected, the exit determination unit 35 determines that the number of reflected light R is zero. (YES in step S104), and the exhaust gas detection flag is set to OFF (step S113). For example, the exit determination unit 35 may overwrite the value of the exhaust gas detection flag stored in the storage unit 31 with OFF. Next, the exit determination unit 35 determines that the vehicle A has exited from the predetermined position P, outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection.

On the other hand, when the approach of the vehicle A is detected by the vehicle detection device 30 (step S102) and then the exhaust gas G discharged from the vehicle A is detected, the exit determination unit 35 is the exhaust that is the object to be detected. It is determined that the detection position of the gas G does not match the central range of the vehicle A (NO in step S105), and the exhaust gas detection flag is set to ON (step S114). For example, the exit determination unit 35 may overwrite the value of the exhaust gas detection flag stored in the storage unit 31 with ON. Next, the exit determination unit 35 determines that the vehicle A has exited from the predetermined position P, outputs the determination result to the lane server (not shown), and the process returns to step S101 waiting for vehicle detection.

As described above, after the preceding vehicle A is detected and exits, if the approach determination unit 33 determines in step S101 waiting for vehicle detection that the number of reflected light R is equal to or greater than the first threshold value (YES in step S101), the vehicle enters. The determination unit 33 refers to the storage unit 31. When the exhaust gas detection flag is not ON (NO in step S111), the approach determination unit 33 considers that the exhaust gas G is not detected at the time of detecting the preceding vehicle A and is not an erroneous detection of the exhaust gas G. It is determined that the vehicle A has entered the predetermined position P (step S102).

On the other hand, when the approach determination unit 33 refers to the storage unit 31 and the exhaust gas detection flag is ON (YES in step S111), the exhaust gas G is detected when the preceding vehicle A is detected. Since there is a possibility of erroneous detection due to the exhaust gas G, the process proceeds to the vehicle erroneous detection determination process (step S112). That is, the approach determination unit 33 performs the vehicle error detection determination process (step S112) only when the exhaust gas detection flag is set to ON by the exit determination unit 35.

(Vehicle false positive judgment processing)
The approach determination unit 33 calculates a value indicating the degree of dispersion of the detection position from the information on the detection position of the object to be detected included in the detection result information acquired and input by the detection result information acquisition unit 32. For example, the value indicating the degree of variance may be calculated as a variance value defined by the arithmetic mean of the squared value of the difference between the value of each data and the average value, or other values are specified. May be good. The approach determination unit 33 refers to the storage unit 31 and acquires a predetermined exhaust gas determination value. The approach determination unit 33 compares the calculated value indicating the degree of dispersion of the detected position of the object to be detected with the acquired predetermined exhaust gas determination value, and the value indicating the degree of dispersion is equal to or less than the predetermined exhaust gas determination value. In this case, it is determined that the vehicle A has entered the predetermined position P because it is not a false detection due to the exhaust gas G (step S102).

The approach determination unit 33 compares the calculated value indicating the degree of dispersion of the detected position of the object to be detected with the acquired predetermined exhaust gas determination value, and when the value indicating the degree of dispersion is not equal to or less than the predetermined exhaust gas determination value. (NO in step S112), it is determined that the detected object is the exhaust gas G diffused over a wide area, and the process returns to step S101 waiting for vehicle detection.
This is because the exhaust gas G is a transmissive object, so that when the detection light B is reflected by the exhaust gas G which is the object to be detected, it is not always reflected on the outer surface of the exhaust gas G. There is a possibility that the reflected light R1 and R2 shown in 2 are reflected at the boundary portion where the densities in the exhaust gas G are different, and there is a possibility that the irregular exhaust gas G is reflected from the concave inner surface. Because there is. As a result, in the case of the exhaust gas G in which the object to be detected is a transmissive object, the degree of dispersion of the detection positions detected by the reflective detector 10 is compared with the case of the vehicle A in which the object to be detected is a non-transmissive object. This is because it grows larger. Conversely, when the object to be detected is a non-transmissive object, the detection light B is reflected on the surface of the non-transmissive object, so that the detection position is dispersed as compared with the case where the object to be detected is a transmissive object. The degree becomes smaller.

(Action, effect)
As described above, in the vehicle detection system 1 according to the modified embodiment of the second embodiment, the value indicating the degree of dispersion of the detection position of the object to be detected detected by the reflection type detector 10 is equal to or less than the predetermined exhaust gas determination value. If this is the case, the vehicle false detection determination process for determining that the vehicle A has entered the predetermined position P is performed, assuming that the false detection is not due to the exhaust gas G.
By doing so, it is possible to accurately discriminate between the exhaust gas G emitted by the preceding vehicle A1 and the following vehicle A2. Therefore, it is possible to prevent the exhaust gas G emitted by the preceding vehicle A1 from being erroneously recognized as another vehicle A, and it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

Further, the vehicle detection system 1 according to the modified embodiment of the second embodiment introduces an exhaust gas detection flag indicating whether or not the exhaust gas G of the preceding vehicle A is detected, and the exhaust gas detection flag is not ON. In this case, it is determined that the vehicle A has entered the predetermined position P, and when the exhaust gas detection flag is ON, the vehicle false detection determination process described above is performed.
By doing so, the vehicle error detection determination process described above is performed only when the exhaust gas detection flag is ON, so that the efficiency of the vehicle detection process can be improved. Further, when the exhaust gas detection flag is not ON, it can be correctly determined that the vehicle A has entered the predetermined position P. Therefore, it is possible to prevent the exhaust gas G emitted by the preceding vehicle A1 from being erroneously recognized as another vehicle A, and it is possible to accurately detect the entry and exit of each vehicle into the ETC lane or the like.

Although one embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like can be made. For example, in any of the above-described embodiments, the vehicle detection system 1 is installed next to the lane L and includes a reflection type detector 10 that projects the detection light in the horizontal direction to detect the object to be detected. Although the case has been described, the reflection type detector 10 is an overhead laser scanner type reflection type detector that projects detection light from above to below the lane L to perform scanning, and emits detection light from below to above. A ground-based laser scanner-type reflective detector that scans, or another reflective detector that irradiates multiple detection lights so as to form a cross section in the space on the lane at a predetermined position along the lane L. May be. Further, the reflection type detector 10 may be a reflection type detector other than the single optical axis multi-axis type.

Further, in any of the above-described embodiments, the case where the dimension corresponding to the dimension of the object to be detected is the number of reflected light R has been described, but the present invention is not limited to this. The dimension correspondence value may be the dimension of the actual object to be detected. For example, in the above example, the height of the object to be detected such as the vehicle A calculated based on the number of reflected light R may be used. Further, when the above-mentioned reflective detectors are provided on both sides in the lane width direction and the distance can be measured based on the reflected light, the width dimension of the object to be detected is measured based on the distance measurement results of both detectors. The width dimension may be used as a dimension corresponding value. Further, when the reflection type detector is a scan type, the angle at which the object to be detected is detected by the reflected light R may be used as a dimensional correspondence value, or as the actual size of the object to be detected obtained based on the angle. Is also good.

Further, in the first embodiment described above, the case where the central range determination unit 34 determines the central range and makes the entry determination and the exit determination based on the determined central range has been described, but the entry determination and the exit determination have been described. For example, may be performed using the central range stored in advance in the storage unit 31.

Further, in any of the above-described embodiments, the case where the vehicle detection system 1 includes only one reflective detector 10 has been described, but the vehicle detection system 1 may include a plurality of reflective detectors 10. good. For example, even if the vehicle detection system 1 includes two units, a reflective detector 10 installed on the −x direction side of the lane L and a reflective detector 10 installed on the + x direction side of the lane L. good.

Further, in any of the above-described embodiments, the case where the vehicle detection system 1 is provided in the ETC lane related to ETC has been described. For example, a cash-type entrance tollhouse or exit installed at an entrance / exit of an expressway or the like has been described. It may be installed in other facilities such as a tollhouse.

Further, in any of the above-described embodiments, each sensor included in the reflective detector 10 receives the reflected light R reflected by the object to be detected only once, and acquires the detection position of the object to be detected. However, even if the exhaust gas G, which is a transmissive object, receives a plurality of reflected lights R when the same detection light B is reflected at a plurality of positions, the detection position of the object to be detected is acquired. good.

FIG. 11 is a schematic block diagram showing the configuration of a computer according to at least one embodiment.
The computer 9 includes a CPU 91, a main storage device 92, an auxiliary storage device 93, and an interface 94.
The vehicle detection device 30 described above includes a computer 9. The operation of each of the above-mentioned processing units is stored in the auxiliary storage device 93 in the form of a program. The CPU 91 reads a program from the auxiliary storage device 93, expands it to the main storage device 92, and executes the above processing according to the program. For example, the detection result information acquisition unit 32, the approach determination unit 33, the center position calculation unit 34, and the exit determination unit 35 described above may be the CPU 91.
Further, the CPU 91 secures a storage area corresponding to each of the above-mentioned storage units in the main storage device 92 or the auxiliary storage device 93 according to the program. For example, the above-mentioned storage unit 31 may be secured in the main storage device 92 or the auxiliary storage device 93.

Examples of the auxiliary storage device 93 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, optomagnetic disk, CD-ROM (Compact Disc Read Only Memory), and DVD-ROM (Digital Versatile Disc Read Only). Memory), semiconductor memory and the like. The auxiliary storage device 93 may be an internal medium directly connected to the bus of the computer 9, or an external medium connected to the computer 9 via the interface 94 or a communication line. When this program is distributed to the computer 9 by a communication line, the distributed computer 9 may expand the program to the main storage device 92 and execute the above processing. In at least one embodiment, the auxiliary storage device 93 is a non-temporary tangible storage medium.

Further, the program may be for realizing a part of the above-mentioned functions. Further, the program may be a so-called difference file (difference program) that realizes the above-mentioned function in combination with another program already stored in the auxiliary storage device 93.

1 Vehicle detection system 5 Island 10 Reflective detector 11 Main unit 12 Sensor 20 Line 30 Vehicle detection device 31 Storage unit 32 Detection result information acquisition unit 33 Entry determination unit 34 Central position calculation unit 35 Exit determination unit 40 Step board 50 Line 60 Imaging device A, A1 to A2 Vehicle B, B1 to B6 Detection light D Tow member F Travel direction G Exhaust gas L Lane M4 to M6 Exhaust gas detection position R, R1 to R6 Reflected light S Side position T, T1 to T6 Transmitted light 91 CPU
92 Main storage 93 Auxiliary storage 94 Interface

Claims (11)

Reflection that irradiates a plurality of detection lights so as to form a cross section in the space on the lane at a predetermined position along the lane, and detects the object to be detected by the reflected light from the object to be detected located at the predetermined position. The detection result information acquisition unit that acquires detection result information from the type detector,
When the dimension correspondence value corresponding to the dimension of the object to be detected obtained based on the detection result information becomes equal to or more than the first threshold value, the approach determination unit determines that the vehicle has entered the predetermined position. ,
After it is determined that the vehicle has entered the predetermined position, the dimension correspondence value obtained based on the detection result information becomes equal to or less than the second threshold value smaller than the first threshold value. The detection result information and the central range in the width direction of the vehicle are acquired, and it is determined whether or not the detection position of the detected object matches the central range of the vehicle based on the central range, and the detected object is detected. When it is determined that the detection position does not match the central range of the vehicle, the exit determination unit that determines that the vehicle has exited from the predetermined position, and the exit determination unit.
A vehicle detection device equipped with. The approach determination unit obtains a value indicating the degree of dispersion of the detection position of the object to be detected obtained from the detection result information when the dimension corresponding value becomes equal to or more than the first threshold value, and the degree of dispersion is obtained. A claim that compares the value indicating the above value with the predetermined exhaust gas determination value, and determines that the vehicle has entered the predetermined position when the value indicating the degree of dispersion is equal to or less than the predetermined exhaust gas determination value. The vehicle detection device according to 1. The exit determination unit sets the exhaust gas detection flag to OFF when the dimension corresponding value becomes zero after it is determined that the vehicle has entered the predetermined position, and the detected object is described. When it is determined that the detection position does not match the central range of the vehicle, the exhaust gas detection flag is set to ON.
According to claim 2, the entry determination unit compares the value indicating the degree of dispersion with the predetermined exhaust gas determination value only when the exhaust gas detection flag is set to ON by the exit determination unit. The vehicle detection device described. Further provided with a central range determination unit for determining the central range,
The central range determining unit calculates the side surface position of the vehicle from the detection result information, and determines a predetermined range in the width direction of the vehicle from the side surface position of the vehicle as the central range. The vehicle detection device according to any one of the items. The vehicle detection device according to any one of claims 1 to 4.
With the reflection type detector
Vehicle detection system with. Further provided with a central range determination unit for determining the central range,
The vehicle detection device according to any one of claims 1 to 3, wherein the central range determination unit determines the central range based on the information on the position of the tire of the vehicle detected by the tread plate. The vehicle detection device according to claim 6 and
With the reflection type detector
With the tread
Vehicle detection system with. A claim that further comprises a central range determining unit that determines the central range, wherein the central range determining unit determines the central range based on the position of a license plate included in the image information of the vehicle photographed by the photographing device. The vehicle detection device according to any one of claims 1 to 3. The vehicle detection device according to claim 8 and
With the reflection type detector
With the above-mentioned imaging device
Vehicle detection system with. Reflection that irradiates a plurality of detection lights so as to form a cross section in the space on the lane at a predetermined position along the lane, and detects the object to be detected by the reflected light from the object to be detected located at the predetermined position. When the detection result information is acquired from the type detector and the dimension correspondence value corresponding to the dimension of the object to be detected becomes equal to or more than the first threshold value, it is determined that the vehicle has entered the predetermined position. Steps and
After it is determined that the vehicle has entered the predetermined position, when the dimension corresponding value becomes equal to or less than the second threshold value, the detection result information and the central range in the width direction of the vehicle are used as the basis for the detection result information. It is determined whether or not the detection position of the object to be detected matches the central range of the vehicle, and when it is determined that the detection position of the object to be detected does not match the central range of the vehicle, from the predetermined position. The exit determination step for determining that the vehicle is exiting, and
Vehicle detection method. A computer as a vehicle detection device,
Reflection that irradiates a plurality of detection lights so as to form a cross section in the space on the lane at a predetermined position along the lane, and detects the object to be detected by the reflected light from the object to be detected located at the predetermined position. The detection result information acquisition unit that acquires detection result information from the type detector,
An approach determination unit that determines that a vehicle has entered the predetermined position when the dimension corresponding to the dimension of the object to be detected becomes equal to or greater than the first threshold value.
After it is determined that the vehicle has entered the predetermined position, when the dimension corresponding value becomes equal to or less than the second threshold value, the detection result information and the central range in the width direction of the vehicle are used as the basis for the detection result information. It is determined whether or not the detection position of the object to be detected matches the central range of the vehicle, and when it is determined that the detection position of the object to be detected does not match the central range of the vehicle, from the predetermined position. The exit determination unit that determines that the vehicle is exiting,
A vehicle detection program that works.

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