JP2008040866A - Device for detecting light reflection state of object, vehicle shape determination device based on light reflection state, determination method, and determination program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique for detecting the light reflection state of an object, which is capable of reducing the cost and improving work efficiency by detecting the reflection state of light and determining the shape of a vehicle, with lines simulating the light without using an actual object, and to provide a technique for determining the shape of the vehicle on the basis of the reflection state of light. <P>SOLUTION: A device for detecting the light reflection state of an object includes: a means 12 for generating lines equivalent to radiation light, which generates a plurality of lines equivalent to virtual radiation light extending from a detection position where the reflection state of light is to be detected, toward the prescribed part of the vehicle; a means 13 for generating lines equivalent to reflected light, which generates lines equivalent to the virtual radiation light radiated to the prescribed part of the vehicle; and a shape determination means 16 which determines the shape of the prescribed part of the vehicle on the basis of lines equivalent to the reflected light. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a light reflection state detection technique for an object and a vehicle shape determination technique based on the light reflection state, and more particularly to a technique suitable for determining the shape of a relief portion at the rear end of a hood of an automobile.

  A relief portion is provided at the rear end of the hood (bonnet) of the automobile. The relief portion has a three-dimensional surface. Therefore, it is relatively difficult to detect the reflected state of sunlight when the relief part is irradiated with sunlight.

  On the other hand, the relief portion is disposed in the vicinity of the windshield. The reflected light from the relief portion is irradiated to the passenger side in the vehicle. At this time, if the reflected light from the relief portion is irradiated near the occupant's face, the occupant may feel dazzling.

  Therefore, when designing the relief portion, it is necessary to examine how the reflection portion reflects when sunlight is irradiated to the relief portion, and to design according to the reflection state.

  Conventionally, a surface inspection apparatus using a retroreflective screen has been proposed as a technique for detecting the shape of an object using light reflection (see, for example, Patent Document 1).

  As shown in FIG. 9, this surface inspection apparatus using a retroreflective screen has a bead-shaped retroreflective screen 50, a light source 51, and an inspection object 52 on the surface, and light from the light source 51 is applied to the inspection object 52. Place it in a relative position so as to face.

  Then, the reflected light when the surface of the inspection object 52 is irradiated by the light source 51 is returned to the inspection object 52 by the retroreflective screen 50, and the light re-reflected by the surface of the inspection object 52 is arranged in the vicinity of the light source 51. By being captured by the camera 53, the unevenness change of the defect portion on the surface of the inspection object 52 is obtained as an image emphasized by the change in brightness.

  In the surface inspection apparatus using the retroreflective screen, the light emission position of the light source 51 is set to a plurality of positions, and an image captured by the camera 53 is added by the image processing apparatus 54 for each light emission position of the light source 51. Thereby, the defect image of the inspection object 52 can be clearly captured.

  Conventionally, as shown in FIG. 10, a technique for detecting a reflection state of sunlight in a relief portion of an automobile has been proposed.

  The technique for detecting the reflected state of sunlight in the relief portion 61 corresponds to parallel rays (sunlight rays) at an incident angle α from the hood 60 side (the vehicle outer side) to the relief portion 61 at the rear end of the hood 60 of the automobile. A straight line 62 is generated.

Next, a straight line 63 corresponding to the reflected light in the relief portion 61 is generated, and the straight line 63 corresponding to the reflected light is directed toward the eye point 64 in the vehicle. The incident angle α of the straight line 62 corresponding to the parallel light is set to the incident angle α. Change and examine.
JP-A-4-340447 Japanese Patent Application Laid-Open No. 11-110437 Japanese Patent Laid-Open No. 2002-312406 Japanese Patent No. 2005-222322

  However, since the conventional surface inspection apparatus using a retroreflective screen uses an actual object as the inspection object 52, when inspecting the light reflection state of a plurality of types of relief parts having different shapes, the plurality of relief parts are actually used. There was a problem that it was necessary to manufacture and the cost was increased.

  Further, a straight line 62 corresponding to parallel light is generated from the hood 60 side in the relief portion 61, and a straight line 63 corresponding to reflected light in the relief portion 61 is generated in the direction of the eye point 64, thereby detecting the reflection state. In the technology, in order to increase the determination accuracy, it is necessary to finely change the incident angle α of the straight line 62 corresponding to the parallel light with respect to the relief portion 61, and there is a problem that work efficiency is deteriorated. In addition, the detection result cannot be applied to incident angles other than the incident angle α used for detecting the reflection state.

  The present invention has been made in view of such problems. An object that can detect the reflected state of reflected light and determine the shape of a vehicle by using a straight line that simulates light without using an actual object, and can improve work efficiency. It is an object of the present invention to provide a light reflection state detection technique and a vehicle shape determination technique based on the light reflection state.

The present invention employs the following means in order to solve the above problems.
That is, the present invention
An object light reflection state detection device that detects a reflection state of reflected light of light irradiated on an object at a predetermined detection position,
Irradiation light equivalent straight line generating means for generating a plurality of straight lines corresponding to the virtual irradiation light applied to the object from the detection position toward the object;
Reflected light equivalent straight line generating means for generating a straight line corresponding to the reflected light of the virtual irradiation light on the object;
It is characterized by providing.

  When the object is irradiated with light from the first direction and the reflected light is reflected in the second direction, when the light is irradiated from the second direction, the reflected light is reflected in the first direction. . At this time, the reflected light irradiated with light from the first direction and reflected in the second direction and the reflected light irradiated with light from the second direction and reflected in the first direction are in the same reflection state. Become.

  In the present invention, the reflection state in the reflected light of the virtual irradiation light irradiated to the object from the detection position (second position) where the light reflection state should be detected is detected by the virtual irradiation light and a straight line that simulates the reflected light. To do.

  Therefore, according to the present invention, it is only necessary to generate a straight line corresponding to the virtual irradiation light from a narrow range including the detection position where the reflection state of the reflected light is to be detected, so that work efficiency is improved. Moreover, since it is not necessary to use the actual object, the cost can be reduced.

The present invention also provides:
The incident light incident from the outside of the vehicle is reflected at a predetermined portion of the vehicle and the reflected state of the reflected light arriving into the vehicle is evaluated at a predetermined detection position, and the shape of the predetermined portion is determined. A vehicle shape determination device based on a reflection state of light,
Irradiation light equivalent straight line generating means for generating a plurality of straight lines corresponding to the virtual irradiation light virtually irradiated in the arrival direction of the reflected light from the detection position toward the predetermined portion;
Reflected light equivalent straight line generating means for generating a straight line corresponding to the reflected light that is reflected by the predetermined portion and directed toward the outside of the vehicle;
Shape determining means for determining the shape of the predetermined portion based on a straight line corresponding to the reflected light;
It is characterized by providing.

  In the present invention, the reflection state of light in a predetermined part of the vehicle can be detected by the virtual irradiation light and a straight line that simulates the reflected light, and the shape of the predetermined part can be determined based on the reflection state. Therefore, it is possible to reduce the cost by not using the actual object, and to improve the working efficiency by generating a straight line from the detection position where the reflection state should be detected and the surrounding narrow range.

  Here, the straight line corresponding to the virtual reflected light has the same reflection angle as the incident angle of the virtual irradiated light with respect to the tangent of the cross section in the predetermined portion, and extends on the opposite side of the straight line corresponding to the virtual irradiated light. It is.

The detection position is a position simulating the viewpoint of a passenger of the vehicle,
Reflection angle detection means for detecting a reflection angle of the straight line corresponding to the reflected light with respect to the tangent line;
A diffusion angle detecting means for detecting a diffusion angle between straight lines corresponding to the reflected light;
The shape determination means compares the diffusion angle with a preset reference angle, and determines that the shape in the predetermined portion is good when the diffusion angle is larger than the reference angle. Can be configured.

  The greater the diffusion angle of the reflected light, the lower the degree that the person who sees the reflected light feels dazzling. Therefore, when the reflected light of sunlight irradiated to a predetermined part of the vehicle arrives in the vehicle, the greater the diffusion angle in the reflected light, the lower the degree of feeling that the passenger in the vehicle feels dazzling. It can be determined that the shape of this part is good.

  Further, the predetermined portion can be exemplified by a relief portion at the rear end of the hood of the vehicle. Since the relief portion has a three-dimensional shape such as a curved surface, it is difficult to detect the light reflection state, but it can be easily detected by the present invention.

  Further, the present invention may be a method in which a computer, other devices, machines, etc. execute any one of the processes described above. Further, the present invention may be a program in which a computer or other device, machine, or the like realizes any one of the functions described above is recorded on a computer-readable recording medium.

  Here, the computer-readable recording medium refers to a recording medium that accumulates information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read from the computer. .

  Examples of such a recording medium that can be removed from the computer include a flexible disk, a magneto-optical disk, a CD-ROM, a CD-R / W, a DVD, a DAT, an 8 mm tape, and a memory card.

  Further, there are a hard disk, a ROM (read only memory), and the like as a recording medium fixed to the computer.

According to the present invention, it is possible to easily detect the reflection state of light by generating a straight line that simulates light without using an actual object such as a vehicle. In addition, since a plurality of straight lines corresponding to the virtual irradiation light may be generated from a narrow range including the detection position where the light reflection state should be detected, work efficiency is improved.

  BEST MODE FOR CARRYING OUT THE INVENTION An object light reflection state detection device, a vehicle shape determination device based on a light reflection state, a shape determination method, and a best mode (hereinafter referred to as an embodiment) for carrying out the present invention with reference to the drawings The shape determination program will be described. In addition, the structure of the following embodiment is an illustration and this invention is not limited to the structure of embodiment.

<Device overview>
FIG. 1 shows a vehicle shape determination apparatus 1 based on a light reflection state according to an embodiment of the present invention. The vehicle shape determination device 1 based on the reflection state of light reflects the reflection state of the reflected light that is incident on the outside of the vehicle and is reflected by a predetermined part of the vehicle and arrives in the vehicle at a predetermined detection position. While evaluating, the shape of a predetermined part is determined.

  In other words, the vehicle shape determination device 1 based on the light reflection state receives input of shape data indicating the shape of a predetermined portion of the vehicle and detection position data indicating a detection position where the reflection state of the reflected light should be detected. Input means 11, parallel light equivalent straight line generating means 12 for generating a plurality of straight lines corresponding to parallel light that is virtual irradiation light emitted toward a predetermined portion from the detection position, and irradiation to the predetermined portion from the detection position A reflected light equivalent straight line generating means 13 for generating a straight line corresponding to the reflected light of the virtual irradiation light, and a shape determining means 16 for determining the shape of a predetermined portion based on the straight line corresponding to the reflected light. Yes.

  In addition, the vehicle shape determination device 1 based on the reflection state of the light includes a reflection angle detection unit 14 that detects a reflection angle with respect to a tangent to a cross section in a predetermined portion of a straight line corresponding to the reflected light, and a straight line corresponding to the reflected light. A diffusion angle detection unit 15 that detects a diffusion angle between the display unit 17 and a display unit 17 that displays various types of information is provided.

  The input means 11, the parallel light equivalent straight line generating means 12, the reflected light equivalent straight line generating means 13, the reflection angle detecting means 14 and the diffusion angle detecting means 15 constitute the light reflection state detecting means 10 of the object.

  Next, each of the above components will be described. For example, as shown in FIGS. 2 and 3, the input means 11 includes shape data indicating the shape of a relief portion (predetermined portion) 23 provided at the rear end of a hood 22 in an automobile (vehicle) 20, and a relief. Detection position data indicating the position of the eye point 24 that is the center of the detection position where the reflection state of the light in the unit 23 should be detected is input.

  As detection position data, data indicating the relative positional relationship of the eye point 24 with respect to the relief portion 23 is input. The eye point 24 can be set to the average eye position of the occupant in the automobile 20. In the present embodiment, the position of the eye point 24 is set in advance.

  As shown in FIG. 3, the parallel light equivalent straight line generating unit 12 corresponds to parallel light that is a straight line corresponding to parallel light (virtual irradiation light) from the eye point 24 and a predetermined range around the eye point 24 toward the relief portion 23. A straight line 25 is generated. A plurality of parallel light equivalent straight lines 25 are generated at a predetermined pitch P. In the present embodiment, the pitch P is 2 mm.

The reflected light equivalent straight line generating means 13 generates a reflected light equivalent straight line 26 as a straight line corresponding to the reflected light of the parallel light irradiated from the eye point 24 toward the relief portion 23.

  In the present embodiment, as shown in FIG. 4, first, on the cross section of the relief portion 23 along the vertical plane passing through the parallel light equivalent straight line 25, the relief portion passing through the intersection K between the relief portion 23 and the parallel light equivalent straight line 25. 23 tangent lines 27 are generated.

  Next, with respect to the tangent line 27, the reflected light equivalent line extending on the opposite side of the parallel light equivalent line 25 at the same reflection angle θ as the angle (incident angle) θ between the parallel light equivalent line 25 and the tangent line 27. 26 is generated.

  Since the relief portion 23 has, for example, a three-dimensional shape such as a curved surface, the position of the intersection K between the parallel light equivalent straight line 25 and the relief portion 23 changes when the position of the parallel light equivalent straight line 25 changes.

  When the position of the intersection point K changes, the tangent line 27 passing through the intersection point K also changes, so the reflection angle θ between the reflected light equivalent straight line 26 and the tangent line 27 changes. For this reason, the adjacent reflected light equivalent straight lines 26 may be parallel or may be diffused instead of being parallel (see FIG. 3).

  The reflection angle detection means 14 in FIG. 1 detects the reflection angle θ between the reflected light equivalent straight line 26 (see FIG. 4) and the tangent line 27 at the intersection K.

  Further, as shown in FIG. 5, the diffusion angle detection means 15 calculates diffusion angles θ1 to θn that are angles between the adjacent reflected light equivalent straight lines 26 and 26. The diffusion angles θ1 to θn are calculated from the angle of the tangent line 27 with respect to a reference line (not shown) and the reflection angle θ of each reflected light equivalent line 26.

  The shape determining means 16 determines the shape of the relief portion 23 based on the reflection state of the reflected light equivalent straight line 26 at the relief portion 23. In this embodiment, the quality of the relief portion 23 is determined based on the diffusion angles θ1 to θn of the adjacent reflected light equivalent straight lines 26.

  That is, the shape determination unit 16 compares the reference angle θk set in advance with the diffusion angles θ1 to θn detected by the diffusion angle detection unit 15, and the detected diffusion angles θ1 to θn are the reference angle θk. If it is larger, it is determined that the shape of the relief portion 23 is good.

  In the present embodiment, the reference angle θk is set to θk = 2.3 °. When all the diffusion angles θ1 to θn are larger than the reference angle θk, it is determined that the shape is good. In addition, it can also be determined that the shape is good when a part of the diffusion angles θ1 to θn is larger than the reference angle θk.

  As described above, the vehicle shape determination device 1 based on the reflection state of the light converts the parallel light as the virtual irradiation light irradiated to the relief portion 23 from the eye point 24 side and the reflected light into the parallel light equivalent straight line 25. And the reflection state of the reflected light can be detected by simulating with the reflected light equivalent straight line 26.

  As shown in FIG. 6, the reflected state of the reflected light detected here is an actual state, that is, the sunlight 28 which is parallel light is irradiated from the hood 22 side to the relief portion 23, and the reflected light 29 is reflected by the eye. This is the same as the reflection state when irradiated to the point 24 side.

  Moreover, when the reflected light 29 from the relief part 23 is irradiated to the passenger | crew side of the motor vehicle 20, the degree which the passenger | crew of the motor vehicle 20 feels dazzling becomes low, so that the diffusion angles (theta) 1-thetan of the reflected light 29 are large.

  That is, when the diffusion angles θ1 to θn are large, the amount of light at the eye point 24 is the amount of light collected from a wide range in front of the automobile 20.

  In this case, the amount of light emitted from a narrow range in front of the automobile 20, for example, a distant oncoming vehicle is reduced at the eye point 24, and the possibility that the occupant feels dazzling is reduced.

  Therefore, in the present invention, when the diffusion angles θ1 to θn are larger than the reference angle θk, it is determined that the shape of the relief portion 23 is good.

  The functions of the means 11 to 17 are realized by a computer program realized on a computer as one function of a CAD system realized on the computer. Here, the computer includes a CPU (Central Processing Unit), a memory, an input / output interface, an external storage device connected to the input / output interface, a display device, an input device, a communication device, and the like.

  The external storage device is, for example, a hard disk drive device. The external storage device includes a drive device for a removable storage medium, for example, a drive device such as a CD-ROM (Compact Disc Read Only Memory) or a DVD (Digital Versatile Disk). Further, a flash memory card input / output device may be used as an external storage device.

  The display device is, for example, a CRT (Cathode Ray tube), a liquid crystal display, or the like. The input device is a keyboard, a pointing device, or the like. Examples of the pointing device include a mouse, a joystick, a touch panel, an electrostatic flat pointing device, a stick-shaped pointing device, and the like. The communication device is, for example, a LAN board.

<Processing flow>
FIG. 7 shows a shape determination processing flow of the vehicle shape determination device 1 based on the reflected state of light. As described above, this processing flow is realized as a computer program.

  In this process, first, the shape data of the relief portion and the position data of the eye point are received (S1).

  As the shape data of the relief portion, data created by 3D-CAD in advance such as when the relief portion is designed can be used.

  The eye point position data may be standardized data, but may be arbitrarily set.

  Next, a plurality of parallel light equivalent straight lines extending toward the relief portion are generated from the eye point and a predetermined range around the eye point (S2). Here, you may make it specify a relief part with a curve (or broken line) in a predetermined cross section.

  Next, on the cross section of the relief portion, a tangent line of the relief portion is generated at the intersection of the parallel light equivalent straight line and the relief portion, and a reflected light equivalent straight line is generated from this intersection toward the opposite side of the parallel light equivalent straight line ( S3). The process flow for generating the reflected light equivalent straight line will be described later.

  Next, the reflection angle between the reflected light equivalent straight line and the tangent at the intersection of the relief portions is detected (S4). Next, a diffusion angle between adjacent reflected light equivalent straight lines is calculated (S5).

  Next, each calculated diffusion angle is compared with a reference angle (S6). Next, it is determined whether or not each diffusion angle is larger than a reference angle (S7).

  If it is determined in step (S7) that each calculated diffusion angle is larger than the reference angle, it is then determined that the shape of the relief portion is good (S8), and this processing flow ends.

  If it is determined that each diffusion angle calculated in step (S7) is equal to or smaller than the reference angle, it is then determined that the shape of the relief portion is defective (S9), and this processing flow ends. .

  FIG. 8 is a flowchart showing a flow of processing for generating a reflected light equivalent straight line. Here, first, an intersection of n parallel light equivalent straight lines and the relief portion is obtained (S11). Next, a tangent (tangent plane) to the cross section of the relief portion is set at each intersection (S12).

  The cross section may be formed by connecting curved portions represented by polynomials, and the cross section may be formed by a broken line connecting line segments.

  Next, a reflected light equivalent straight line extending toward the opposite side of the parallel light equivalent straight line is generated at the same reflection angle as the incident angle between each parallel light equivalent straight line and a tangent (tangential plane) (S13). This completes the process.

  As described above, the vehicle shape determination device 1 based on the light reflection state of the present invention generates the parallel light equivalent straight line 25 and the reflected light equivalent straight line 26 simulating the parallel light and the reflected light, and the reflected light equivalent straight line 26. Since the shape of the relief portion 23 is determined based on the diffusion angles θ1 to θn, it is not necessary to use the actual relief portion 23. Therefore, the cost can be reduced.

  Further, according to the present invention, the parallel light equivalent straight line 25 extending from the predetermined range including the eye point 24 toward the relief portion 23 is generated. Therefore, the parallel light equivalent straight line 25 can be generated from a relatively narrow range. Accordingly, since the number of parallel light equivalent straight lines 25 can be reduced, the working efficiency is improved.

  In addition, although the said embodiment demonstrated the case where this invention was applied to the motor vehicle 20, this invention is applicable not only to the motor vehicle 20, but various vehicles.

  The object light reflection state detection means 10 detects not only the light reflection state at the relief portion 23 of the automobile 20, but also the light reflection state at each part of the automobile 20, or the light reflection state at various objects. Applicable to the case.

  Further, the diffusion angles θ1 to θn that are the reflected state of the reflected light equivalent line 26 can be detected by changing the position of the eye point 24 or changing the irradiation direction of the parallel light equivalent line 25. Thereby, the accuracy of the detection result and its application range can be increased.

  Furthermore, although the case where parallel light is irradiated to the relief part 23 was demonstrated in the said embodiment, this invention is applicable when detecting the reflective state in the reflected light of not only parallel light but various light.

Further, the present invention may be a program that causes a computer to execute any one of the processes described above. Further, the present invention may be a computer-readable recording medium in which such a program is recorded, for example, a CD-ROM, a DVD, a flash memory card, or the like. Further, the present invention may be realized as a method in which a computer executes such processing.

It is a figure which shows the functional block of the vehicle shape determination apparatus based on the reflective state of the light which concerns on this invention. It is a perspective view which shows the relief part and eye point of the vehicle which concern on this invention. It is a figure which shows the parallel light equivalent straight line and reflected light equivalent straight line which concern on this invention. It is a figure which shows the generation method of the reflected light equivalent straight line which concerns on this invention. It is a figure which shows the method of calculating the diffusion angle of the reflected light equivalent straight line which concerns on this invention. It is a figure which shows the sunlight and reflected light which are irradiated to the relief part which concerns on this invention. It is a flowchart which shows the shape determination processing processing flow concerning this invention. It is a flowchart which shows the generation process flow of the reflected light equivalent straight line which concerns on this invention. It is a figure which shows the surface inspection apparatus by the retroreflection screen concerning a prior art example. It is a figure explaining the technique which detects the reflective state of the sunlight in the relief part of the motor vehicle which concerns on a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle shape determination apparatus based on light reflection state 10 Object light reflection state detection means 11 Input means 12 Parallel light equivalent straight line generation means 13 Reflected light equivalent straight line generation means 14 Reflection angle detection means 15 Diffusion angle detection means 16 Shape determination Means 17 Display means 20 Automobile 21 Vehicle 22 Hood 23 Relief part 24 Eye point 25 Parallel light equivalent straight line 26 Reflected light equivalent straight line 27 Tangent 28 Sunlight 29 Reflected light 50 Retroreflective screen 51 Light source 52 Inspection object 53 Camera 54 Image processing device 60 Hood 61 Relief part 62 Straight line equivalent to parallel light 63 Straight line equivalent to reflected light 64 Eyepoint

Claims (7)

An object light reflection state detection device that detects a reflection state of reflected light of light irradiated on an object at a predetermined detection position,
Irradiation light equivalent straight line generating means for generating a plurality of straight lines corresponding to the virtual irradiation light applied to the object from the detection position toward the object;
Reflected light equivalent straight line generating means for generating a straight line corresponding to the reflected light of the virtual irradiation light on the object;
An apparatus for detecting a light reflection state of an object, comprising: The incident light incident from the outside of the vehicle is reflected at a predetermined portion of the vehicle and the reflected state of the reflected light arriving into the vehicle is evaluated at a predetermined detection position, and the shape of the predetermined portion is determined. A vehicle shape determination device based on a light reflection state,
Irradiation light equivalent straight line generating means for generating a plurality of straight lines corresponding to the virtual irradiation light virtually irradiated in the arrival direction of the reflected light from the detection position toward the predetermined portion;
Reflected light equivalent straight line generating means for generating a straight line corresponding to the reflected light that is reflected by the predetermined portion and directed toward the outside of the vehicle;
Shape determining means for determining the shape of the predetermined portion based on a straight line corresponding to the reflected light;
A vehicle shape determination device based on a light reflection state.   The straight line corresponding to the reflected light has the same reflection angle as the incident angle of the straight line corresponding to the virtual irradiation light with respect to the tangent of the cross section at the predetermined portion, and extends straight on the opposite side of the straight line corresponding to the virtual irradiation light. The vehicle shape determination device according to claim 2, wherein the vehicle shape determination device is based on a light reflection state. The detection position is a position simulating the viewpoint of an occupant of the vehicle,
Reflection angle detection means for detecting a reflection angle of the straight line corresponding to the reflected light with respect to the tangent line;
A diffusion angle detecting means for detecting a diffusion angle between straight lines corresponding to the reflected light;
The shape determination means compares the diffusion angle with a preset reference angle, and determines that the shape in the predetermined portion is good when the diffusion angle is larger than the reference angle. The vehicle shape determination device according to claim 2 or 3, wherein the vehicle shape determination device is based on a light reflection state.   5. The vehicle shape determination device according to claim 2, wherein the predetermined portion is a relief portion at a rear end of the hood of the vehicle. Computer
The incident light incident from the outside of the vehicle is reflected at a predetermined portion of the vehicle and the reflected state of the reflected light arriving into the vehicle is evaluated at a predetermined detection position, and the shape of the predetermined portion is determined. A vehicle shape determination method based on a light reflection state,
Generating a plurality of straight lines corresponding to virtual irradiation light virtually irradiated in the arrival direction of the reflected light from the detection position toward the predetermined portion;
Generating a straight line corresponding to the reflected light that is reflected by the predetermined portion and is directed toward the outside of the vehicle;
Determining the shape of the predetermined portion based on a straight line corresponding to the reflected light;
A vehicle shape determination method based on a light reflection state. On the computer,
Incident light incident from the outside of the vehicle is reflected at a predetermined portion of the vehicle, and the reflected state of the reflected light coming into the vehicle is evaluated at a predetermined detection position, and the shape of the predetermined portion is determined. A vehicle shape determination program based on a light reflection state,
Generating a plurality of straight lines corresponding to virtual irradiation light virtually irradiated in the arrival direction of the reflected light from the detection position toward the predetermined portion;
Generating a straight line corresponding to the reflected light that is reflected by the predetermined portion and is directed toward the outside of the vehicle;
Determining the shape of the predetermined portion based on a straight line corresponding to the reflected light;
A vehicle shape determination program based on a light reflection state.

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