JP2015007572A - Vehicle speed meter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle speed meter capable of acquiring a date, a location, a vehicle image besides a speed and marking a measurement target vehicle so as to measure the speed of the running vehicle and identify the vehicle using a scan sensor.SOLUTION: A vehicle speed meter including a measuring unit 11; a display unit 12; a control unit 13; an external power supply 14; and a vehicle speed pulse 15 is mounted in a vehicle 10. The measuring unit 11 is constituted by a scan laser sensor, a camera, a GPS device, and an inclination sensor. The control unit 13 acquires information from the measuring unit 11 to calculate a speed of a scanned vehicle, outputs information related to speed detection, and displays the information on the display unit 12. The information displayed on the display unit 12 is printed out.

Description

  The present invention relates to a vehicle speed measuring device that utilizes an optical laser based on a scan laser system, and more specifically, to a vehicle that uses a scan laser sensor to measure the speed of a traveling vehicle and is faster than a specified speed. The present invention relates to a vehicle speed measuring device that records “speed”, “date and time”, “location”, and the like, and prints the recorded contents.

2. Description of the Related Art Conventionally, measurement media (light, electromagnetic waves, sound waves, etc.) used in devices for measuring vehicle speed and speed measurement systems using them have been proposed.
The vehicle speed measurement system of Patent Document 1 uses an optical distance meter (for example, a laser distance meter, an infrared distance meter, etc.), irradiates a measurement target (vehicle) with a pulse beam, and determines the measurement target based on a transmission / reception time difference. It measures distance. Two measurement positions are provided, and speed calculation is performed based on the measurement execution timing of the vehicle passing through the first and second measurement positions and the distance between the first and second measurement positions.
The vehicle measuring device and the speed violation vehicle control system disclosed in Patent Document 2 are equipped with a speed monitoring recording device in a monitoring vehicle, and transmit and receive a light beam to measure a distance to a reflection target (measured vehicle). A meter is used to irradiate a vehicle under measurement with a light beam, and the traveling speed of the vehicle under measurement is detected based on the amount of change in distance measurement data per unit time.

In addition, a driving support device, a vehicle type discrimination device, a vehicle detection device, and a recognition device for recognizing a crossing vehicle are disclosed in relation to the vehicle that obtain various data using laser pulses.
Patent Document 3 uses detection data from a rider sensor by a driving support ECU (Electronic Control Unit). For example, when an obstacle around a vehicle detected by a rider sensor enters a blind spot area, one of the processes is time-lapsed. It is configured to operate so as to attenuate the obstacle reliability.
Patent Document 4 uses a laser pulse to determine the type of vehicle. A first detection unit that detects a distance to the vehicle and detects a scanning angle by irradiating a vehicle passing through the passage with a laser pulse at a predetermined period from the top of the passage to the transverse direction of the passage from the front and rear of the passage. And the second detection unit, the vehicle height detection unit calculates the vehicle height based on the detection signals of the first and second detection units, the vehicle speed calculation unit calculates the vehicle speed from the time difference passing through the front and rear detection positions, Further, the vehicle width is detected, and the vehicle type is determined from the height and shape of the driver's seat ceiling surface, the vehicle height, the vehicle speed, and the vehicle width.

Patent Document 5 is a vehicle detection device that uses a laser radar to calculate a three-dimensional coordinate of a vehicle, and then performs a calculation using a Kalman filter to detect a vehicle position ahead by a tracking unit. .
In Patent Document 6, a recognition device is mounted on a vehicle, and the state recognition for a vehicle crossing the vehicle is accurately performed. The radar wave (infrared laser beam) is scanned in the scanning range, the returning reflected radar wave is collected, the round trip time of the radar wave at each launch angle is detected, and the controller recognizes the state based on the result. It is something to do.

JP 2005-61972 A JP 2000-193675 A JP 2012-238151 A JP 2001-319290 A JP 2009-223504 A JP 2011-196943 A

Patent Document 3 is not intended to measure the vehicle speed, but by displaying the time change of the position of another vehicle or object, the surroundings monitoring device capable of monitoring the surroundings and avoiding obstacles It is for driving support of vehicles that perform route development.
Similarly, Patent Documents 4, 5, and 6 are not intended to measure vehicle speed.

The measurement medium used in the vehicle speed measurement in Patent Documents 1 and 2 uses optical pulses, captures the vehicle to be measured and measures the distance, but acquires information for reliably specifying the measurement target It hasn't been done yet.
Therefore, the present inventor considered introducing a method using a scan laser sensor into the vehicle speed measuring device.
If this method is adopted, a radio license is not required because of the laser method, and the measurement vehicle can be confirmed by installing a camera, and the traveling state of the vehicle can be observed on the display unit. By incorporating a GPS device in the measurement unit, it is possible to obtain time and point position information, and an inclination sensor in the measurement unit can automatically detect the installation position when installing the device.

  An object of the present invention is to measure the speed of a running vehicle using a scan laser sensor, obtain images of the date, place, and vehicle in addition to the speed, and mark the vehicle that is the object of measurement. An object of the present invention is to provide a vehicle speed measuring device that can specify a vehicle and perform accurate speed measurement.

In order to achieve the above object, claim 1 of the present invention scans a predetermined range of length and width in a predetermined cycle, and receives reflected light that hits and returns to the stationary object within the scan range, A scanning laser sensor that obtains the distance to a moving object, a camera that captures the laser scanning direction and obtains an image, a GPS device that collects time synchronization and point information, and a measuring unit equipped with a tilt sensor that detects the inclination of the measuring unit with respect to the horizontal direction And a display unit for displaying an image captured by the camera, a control circuit, a display, and a switch means. The control circuit includes distance information of each position scanned by the scan laser sensor, and information on the image from the camera. , Based on the time information from the GPS device, the point information, the information obtained by the tilt sensor, and the information input by the switch means. Control means for calculating the speed of the object and displaying the calculated speed, date, position, and image information on the display unit, the control circuit performs start-up inspection of the apparatus by setting and setting operation of the measurement conditions, The result of start-up inspection of the device is displayed on the display, the speed measurement of the moving object is started by the operation start operation and control start operation by the switch means, and the scan laser sensor in the image displayed on the display unit The moving object whose velocity is calculated using the distance information of each position from the mark is marked.
According to a second aspect of the present invention, in the invention according to the first aspect, the control means outputs a measurement date and time, a measurement address and a designated speed as information related to the measurement speed in addition to the measurement speed, and a printer is connected to the control means. It is connected to print information related to the measurement speed in addition to the measurement speed.
According to a third aspect of the present invention, in the first or second aspect of the present invention, the measurement unit, the display unit, and the control means are mounted on a vehicle.
A fourth aspect of the present invention is the vehicle-mounted vehicle speed measuring device according to the third aspect of the invention, comprising vehicle speed pulse output means for outputting the speed of the vehicle to the vehicle, and for vehicle speed measurement, When a vehicle equipped with a vehicle speed measuring device is moving, a vehicle speed pulse is output to the control means.
A fifth aspect of the present invention is characterized in that, in the first or second aspect of the invention, the measuring section, the display section, and the control means are portable and can be measured while being stationary.
According to a sixth aspect of the present invention, in the portable vehicle speed measurement device according to the fifth aspect of the present invention, a second display unit is installed at a position distant from the display unit, and measurement is performed on the second display unit. Information related to speed and measurement speed is displayed.
According to a seventh aspect of the present invention, in the invention according to the sixth aspect, the information related to the measurement speed is a measurement date and time, a measurement address, and a designated speed, a printer is connected to the second display unit, and the measurement speed, The measurement date and time, measurement address, and specified speed are printed.
According to an eighth aspect of the present invention, in the invention according to the sixth or seventh aspect, data exchange between the control means and the second display unit is performed wirelessly or by wire.
A ninth aspect of the present invention is characterized in that, in the invention according to any one of the first to eighth aspects, the control means calculates a vehicle speed by obtaining a motion posture of the vehicle using a Kalman filter.

Since the present invention is configured as described above, it has various effects as described below.
Utilizing a new laser scanning laser system ("Laser Safety Standard Class 1") for vehicle speed measurement equipment in Japan, and adopting a scanning laser system instead of radio waves, no radio station application is required Become.
Moreover, a measurement vehicle can be confirmed by incorporating a camera and observing it with a display unit.
The built-in GPS in the measuring unit can obtain time and location information, and the built-in inclination sensor in the measuring unit is configured to automatically detect and generate an alarm when the installation position is not appropriate. Can do. When an alarm occurs, the posture of the measurement unit can be reset and the posture of the measurement unit can be corrected so as to become a horizontal posture.

It is a figure for demonstrating the example which implements the vehicle speed measuring device by this invention, and is an example of a vehicle-mounted type. It is a figure for demonstrating the position which measures the vehicle of measurement with the vehicle-mounted vehicle speed measuring device by this invention, (a), (c) is the approaching vehicle, (b), (d) is The case where the vehicle which moves away is each measured is shown. It is a perspective view which shows embodiment of the external appearance of a scan laser sensor. It is a figure which shows embodiment of the scanning area | region of the height direction of a scan laser sensor. It is a figure which shows embodiment of the scanning area | region of the horizontal direction of a scan laser sensor. It is a figure for demonstrating the detection state by the scan laser sensor of the vehicle which is moving. It is a block diagram which shows embodiment of the circuit of the vehicle-mounted vehicle speed measuring device by this invention. It is a figure for demonstrating the flow from installation to vehicle speed detection and recording about a vehicle-mounted vehicle speed measuring device. It is a figure for demonstrating the structure which mounted the vehicle speed measuring device in the vehicle. It is a figure for demonstrating the position which measures the vehicle of a measurement object with the portable vehicle speed measuring device by this invention, (a) is a case where the vehicle which approaches one stationary point is measured, (b) is A case where a vehicle approaching at two stationary points is measured is shown. It is a figure for demonstrating the structure of a portable vehicle speed measuring apparatus. It is a block diagram which shows embodiment of the circuit of the portable vehicle speed measuring apparatus by this invention. It is a figure for demonstrating the flow from installation to vehicle speed detection and recording about a portable vehicle speed measuring device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram for explaining an example of implementing a vehicle speed measuring device according to the present invention. There are two types of this device: “on-vehicle type” installed on the vehicle roof and “portable type” installed alone on the road shoulder. FIG. 1 shows an example of a vehicle-type vehicle speed measuring device.
A vehicle 10 equipped with a vehicle speed measuring device is parked on the shoulder of a road, and scans by irradiating a predetermined vertical and horizontal angle range with a laser from a measuring unit toward a measurement target vehicle 20 traveling forward. The light reflected from each part within the irradiation range is received.
The vehicle speed measuring device includes a block circuit including a measuring unit 11, a control unit 13, a display unit 12, a vehicle speed pulse 15, and an external power source 14.

FIG. 6 is a diagram for explaining a configuration in which the vehicle speed measuring device is mounted on the vehicle.
The measuring unit 11 is installed on the roof of the vehicle so that the laser irradiation window 1a of the scan laser sensor constituting the measuring unit 11 is forward or backward, and the control unit 13 is installed under the glove box in the vehicle. The display unit 12 is, for example, a tablet-type touch input display unit installed on a glove box in front of the passenger seat in the vehicle.

FIG. 2 is a diagram for explaining a position at which a vehicle to be measured is measured by an in-vehicle type vehicle speed measuring device according to the present invention, in which (a) and (c) show vehicles approaching, (b), (D) has shown the case where the vehicle which moves away is measured, respectively.
In (a), when a vehicle speed measurement device-equipped vehicle (hereinafter referred to as “device-equipped vehicle”) 101 is used for forward monitoring when the measurement unit is installed, the vehicle-equipped vehicle is stopped and approached in the direction in which the vehicle runs. A state is shown in which the speed of the measurement target vehicles 201 and 202 is measured by laser scanning. In (b), when the measurement unit is mounted on the apparatus-equipped vehicle 102 for forward monitoring, the apparatus-equipped vehicle is stopped in the direction in which the vehicle moves away, and the measurement target vehicles 203 and 204 moving away are laser-scanned from the rear to measure the speed. It shows the state to do.
(C) When the measurement unit is mounted on the apparatus-equipped vehicle 103 for rear monitoring, the apparatus-equipped vehicle is stopped in the direction in which the vehicle moves away, and the measurement target vehicles 205 and 206 approaching are laser-scanned. The state to measure is shown.
(D): When the measurement unit is mounted on the apparatus-equipped vehicle 104 for rearward monitoring, the apparatus-equipped vehicle is stopped in the direction in which the vehicle runs, and the measurement target vehicles 207 and 208 moving away are laser-scanned from the rear. The state of speed measurement is shown.

FIG. 3A is a perspective view showing an embodiment of the appearance of a scan laser sensor.
The housing of the scan laser sensor 1 has a rectangular shape, and a laser irradiation window 1a is provided on the front surface. In the scan laser sensor 1, a laser scan optical system is formed by two laser light sources and a polygon mirror rotated by a motor for scanning them at a predetermined angle in the horizontal direction, and includes four light receiving portions.
FIG. 3B is a diagram showing an embodiment of a scan region in the height direction of the scan laser sensor. A light receiving portion for receiving each of the two areas of the scan areas 1 and 2 on the lower side and the two areas of the scan areas 3 and 4 on the upper side with respect to the horizontal position is arranged.

FIG. 3C is a diagram illustrating an embodiment of a scan region in the horizontal direction of the scan laser sensor.
Light from the two laser light sources is incident on and reflected by a rotating polygon mirror, thereby scanning a wide range by scanning the laser irradiation direction horizontally around the polygon mirror. Laser oscillation is performed at intervals of 0.25 °, for example. One laser light source corresponds to the range of the scan areas 1 and 2 shown in FIG. 3B, and the other one laser light source corresponds to the scan areas 3 and 4.

FIG. 3D is a diagram for explaining a detection state of the moving vehicle by the scan laser sensor.
In (a), at time T, the scan laser sensor scans the wall 2, the vehicle 401, and the road surface 501, and receives the reflected light. In (b), the vehicle 401 is running at the time of (T + 1), and thus is in an approaching state.
The detection position at this time is shown in (c). Since the positions of the wall 2 and the road surface 501 do not move, the detected position does not move at times T and (T + 1). However, since the vehicle 401 is moving, the position obtained from the vehicle 401 is in a moved state.
Since the distance distribution obtained from the same vehicle 401 changes between T and (T + 1), and the distance distribution at each time is known, the speed can be calculated.

FIG. 4 is a block diagram showing an embodiment of a circuit of an in-vehicle type vehicle speed measuring device according to the present invention.
This apparatus mainly includes three block units, and includes a measurement unit 11, a control unit 13, and a display unit 12. The measurement unit 11 and the control unit 13 are connected to each other via a LAN so that data can be transmitted and received. The vehicle speed pulse 15 is taken in from vehicle speed pulse generating means (not shown) on the vehicle side. The measurement unit 11 includes a scan laser sensor 1101, a camera 1102, a GPS device 1103, a tilt sensor 1104, a CPU 1105, and a power source 1106.

  Data obtained from the scan laser sensor 1101 is a distance distribution in a polar coordinate system around the sensor. This data is acquired at a period of 12.5 Hz (80 mSec). The camera 1102 captures a moving image of a vehicle traveling on the road including the scan range. The moving image is displayed on the display unit 12, and is cut out as a still image including the vehicle whose speed has been measured by the CPU 1301 described later and displayed on the display unit 12. For example, a red square mark is put on the still image so as to overlap the vehicle whose speed has been measured (the vehicle to be measured is marked). The GPS device 1103 collects time synchronization (device date and time) and point information (latitude and longitude) based on data transmitted from at least four satellites. The GPS device 1103 is equipped with an inertial measurement device with a built-in gyro sensor and acceleration sensor, and also acquires the yaw rate. The latitude and longitude are information for specifying the position of the own vehicle, and the yaw rate is a speed at which the rotation angle of the own vehicle changes in the turning direction, and is used for estimation of the own vehicle position on the algorithm side. These pieces of information are sent to the CPU 1301 and used for specifying the position information of the own vehicle and displaying on the display unit 12.

The tilt sensor 1104 detects the pitch and roll angles, and the control unit 13 calculates the attitude of the measurement unit 11 mounted on the apparatus-equipped vehicle based on the angle information, and the position of the measurement unit 11 is monitored. In the operation of stopping the device-equipped vehicle and measuring the speed, the direction of the scan laser sensor of the measuring unit 11 is directed to the road and in what position, and the device-equipped vehicle is If the orientation is not correct, fine-tune the position and orientation of the device-equipped vehicle. If positioning according to the specification can be performed, that effect is displayed on the display unit 12.
The CPU 1105 controls the GPS device 1103 to perform time synchronization and collection of point information, and the tilt sensor 1104 to obtain pitch and roll angles.

The control unit 13 includes a CPU 1301, a printer 1304, a display 1305, a power supply SW 1306, a buzzer 1307, and a power supply 1303. Further, a CPU 1302 for receiving and controlling the vehicle speed pulse 15 is provided. The vehicle speed pulse 15 is used for confirming that the host vehicle (device-equipped vehicle) is stopped (own vehicle speed 0 km / h). Moreover, it is used for estimation of the own vehicle position on the algorithm side.
The CPU 1301 is connected to an operation SW 18 drawn out by a cable. Furthermore, for example, a tablet PC having a display unit 12 capable of touch input is connected to the LAN.

  The CPU 1301 calculates the speed based on the distance distribution data from the measurement unit 11. For the speed calculation, accurate speed data can be obtained by using a Kalman filter or the like that performs motion estimation. In addition, for a vehicle for which the speed measurement result is determined to be equal to or greater than the set value, a still image is cut out from the moving image being shot as described above and displayed on the display unit 12 to mark the vehicle for which the speed has been measured. Further, based on the operation of the switch (setting button) displayed on the display unit 12 and the operation SW 18, the printer 1304 and the display 1305 are controlled for printing and display, and the inspection of the equipment is controlled. The buzzer 1307 emits a buzzer sound when the speed measurement result is determined to be equal to or greater than the set value or when an error occurs. The CPU 1302 receives the vehicle speed pulse 15 from the vehicle speed pulse generating means, and passes the speed data of the own vehicle to the CPU 1301. The operation SW 18 is a switch for starting speed measurement of a vehicle that is a measurement target. The display unit 12 displays a still image of the vehicle that is cut out from the camera 1102 and marked, and displays various settings, the operation state of the device, and the like.

  In the above print control, the printer 1304 prints the status of each part constituting the vehicle speed measuring device at the time of inspection, and prints information related to the measured speed in addition to the measured speed when printing the speed measurement result described later. As an example, the measurement date and time, measurement location (point name (address, name)), designated speed, and identification number are printed.

In operating the vehicle speed measurement device, the display unit 12 can input measurement conditions in advance. In a setting screen displayed by pressing a button on the main screen of the display unit 12, for example, a spot name, a specified speed, a setting speed, an installation direction, an operation mode, a measurement lane, a lane width, an installation method, a sensor angle, Enter the distance between white line sensors. “Point name” displays information about a place where measurement is performed, such as an address and name, and switches and displays information about a place to be measured by inputting characters or selecting from a character string table prepared in advance. The “set speed” can display and input how many kilometers or more of the vehicle speed measurement result is confirmed and recorded. The “specified speed” can display and input the speed limit specified at the place where the measurement is performed. The “installation direction” can display and input the mounting direction of the vehicle speed measurement device forward or backward with respect to the vehicle, and either the vehicle approaching or the vehicle moving away from the target vehicle to be measured Can be displayed and input. “Operation mode” can be displayed and selected from a plurality of modes. For example, “single shot” is a mode in which measurement is performed once each time the vehicle speed measurement determination is finished (at the time of vehicle detection). In this mode, the measurement result is printed by pressing the operation SW 18 or a print button displayed on the display unit 12, the apparatus is in a standby state during operation, and is again in an operation measurement state by pressing the operation SW 18. “Continuous” is a mode in which measurement is performed continuously. When the vehicle speed measurement result judgment is completed, the measurement result is automatically printed. Is the mode. At this time, by pressing the operation switch (operation SW 18) again, the operation standby state is entered.
In addition, there are a mode in which an overtaking vehicle is controlled (“extra”) and a mode in which the vehicle is tracked and controlled (“tracking”). "Measuring lane" displays the lane in which the vehicle to be measured travels, and you can set and input one lane of the first lane, second lane, or third lane, or set and input multiple lanes. A vehicle traveling in the second lane and a vehicle traveling in the third lane may be measured, but a vehicle traveling in the first lane may not be measured. The “lane width” can display and input the width of the measurement lane at the place where the apparatus is installed. “Installation method” is an item for selecting whether the vehicle speed measurement device is portable or in-vehicle.
The “sensor angle” can display and input the sensor arrangement angle with respect to the road of the measurement unit. The “distance between white line sensors” can display and input the distance between the speed measuring device (sensor) and the roadway outer line (white line).

  The display incorporated in the control unit displays the following as an example at each timing of power-on, standby during operation and measurement, vehicle detection, and rest. When the power is turned on, the date and time and the status of the measurement unit 11 and the display unit 12 due to start-up inspection are displayed. As a result of the startup check, the measurement unit 11 and the display unit 12 display “OK” if the connection is normal. After the inspection, the device is in a dormant state and the date and time are displayed, and as an example, “inactive” is displayed. At this time, the measurement condition may be displayed on the display device in conjunction with the measurement condition setting input of the display unit 12. In the standby state during operation, the measurement conditions set and input from the display unit such as date and time, own vehicle speed, installation direction, measurement lane, set speed, and specified speed are displayed. The own vehicle speed means the moving speed of the vehicle equipped with the device (own vehicle) calculated from the obtained vehicle speed pulse. When moving, the moving speed is displayed, and when stopped, “0 km / h” is displayed. The vehicle is confirmed to be stopped. Further, when switching between a standby state during operation and a measurement state during operation by operating an operation SW 18 to be described later, “standby” and “under measurement” are displayed as an example. When the vehicle is detected, the installation direction, the measurement lane, the date and time, the set speed (can be set from the display unit), and the determined measurement speed are displayed. Moreover, it becomes a stop by pushing the pause button of the display part 12 mentioned later.

FIG. 5 is a diagram for explaining a flow from installation to vehicle speed detection and recording for an in-vehicle type vehicle speed measurement device.
When the apparatus-equipped vehicles 101, 102, 103, 104 are placed as shown in FIG. 2, the operation is performed according to the following procedure.
The left block shows operations performed by the vehicle identification officer and the vehicle driver, and the right block shows the operation and processing of the vehicle speed measuring device (device).
The vehicle identification person operates the power SW 1306 of the control unit 13 of the apparatus to turn on the power (step (hereinafter referred to as “S”) 01). The measuring unit 11 is also turned on at the same time, the scan laser sensor 1101 emits a laser, and the camera 1102 starts photographing.
As a result of this operation, the entire apparatus is activated, and automatic inspection of the apparatus is started (S02). Here, automatic inspection is performed by the control unit 13 and the measurement unit 11. Connection confirmation is performed from the control unit 13 to the display unit 12 and the measurement unit 11, and the contents of the inspection are displayed on the panel of the display unit 1305 of the control unit 13 as OK or NG.

Next, the vehicle identification person performs setting operation of installation and measurement conditions (S03). In order to set the measurement conditions, a point name, a setting speed, an installation direction, a measurement lane, an installation method, a lane width, and the like can be set by using setting buttons displayed on the display unit 12. The date and time are automatically acquired from the data of the GPS device 1103. Record the results only for vehicles over the set speed according to the measurement condition settings.
In installation of the apparatus, the apparatus-equipped vehicle is moved to a position that satisfies a predetermined condition according to the specification of the direction in which the scan laser sensor of the measurement unit 11 is directed to the road and the position. That is, in this case, the device-equipped vehicle is stopped in parallel with the road. A confirmation screen is displayed on the display unit 12. At this time, the distance from the roadway outer line (white line) to the measurement unit 11 is visually or automatically determined from the image, and fine adjustment of the position and orientation of the device-equipped vehicle is achieved.

After setting the installation and measurement conditions in this way, the vehicle identification person presses the operation start button on the display unit 12 (S03). As a result, operation starts on the device side (standby state during operation) (S04).
The vehicle identification person visually confirms the vehicle to be measured, and starts the measurement (control) by operating the operation switch (operation SW 18) at hand (operation measurement state) (S05).

When the measurement is started, the CPU 1301 of the control unit 13 performs speed measurement by speed calculation processing on the measurement target vehicle based on data (distance distribution) from the scan laser sensor. If the speed of the measurement target vehicle is equal to or higher than the set speed, the control unit The result of speed measurement is determined at 13, and an image (still image) of the measurement target vehicle and a result notification are displayed on the display unit 12 (S06).
The image is acquired by the camera 1102 and stored in the display unit 12 immediately after the determination of the speed measurement result is completed.

Note that the speed calculation in the CPU 1301 can perform accurate speed measurement by performing motion estimation processing using a Kalman filter.
By pressing the pause button on the display unit 12, the apparatus can be paused.

  If it is confirmed from the result of S06 that the speed of the measurement target vehicle is equal to or higher than the set speed, the vehicle driver tracks the measurement target vehicle, and the vehicle identification person issues a stop instruction (S07). The measurement result displayed on the display unit 12 is printed by the printer 1304 by the printing operation in the single mode on the apparatus side or automatically in the continuous mode (S08).

On the main screen of the display section, “Operation area for operating the vehicle speed measurement device”, “Measurement condition display area”, “Display area of the device status that constitutes the vehicle speed measurement device”, “Measurement result display area” Each has the following display functions.
A plurality of buttons are displayed in the “operation area for operating the vehicle speed measuring device”, and a function for operating the vehicle speed measuring device is assigned. Examples of functions are “Transition to screen for setting measurement conditions” (setting screen), “Start / stop of vehicle speed measurement operation” (operation start / pause), and “Print measurement result” (print). By pressing the button, measurement conditions can be set, operation can be started and paused, and printing can be performed.
In the “measurement condition display area”, the measurement condition set and input on the measurement condition setting screen is displayed.
In the “device state display area constituting the vehicle speed measuring device”, the output data of the sensor (GPS device, tilt sensor) is always confirmed and displayed, and if there is an abnormality in the data, it is notified by display or sound. In addition to the sensor output, the result of constantly confirming the connection between each part of the vehicle speed measuring device such as the measurement unit and the control unit is displayed, and if there is an abnormality, the display or sound is notified. It should be noted that the sensor and connection confirmation results may be displayed as normal if a certain threshold value is set and within the range, and abnormal and simple display if not.
In the “measurement result display area”, if there are already measured results, the measurement results are displayed in a list. It also has an image display frame, and displays a still image in which the measurement target vehicle linked to the latest measurement result or the measurement result selected from the list is marked.

FIG. 7 is a diagram for explaining a position at which a vehicle to be measured is measured by a portable vehicle speed measuring device according to the present invention. FIG. 7A shows a case where a vehicle approaching at a stationary point is measured. b) shows a case where a vehicle approaching at two stationary points is measured.
In (a), the measurement unit 21, the control unit 23, and the display unit A (22) are installed on the shoulder of the stationary position indicated by 35, and the measurement target vehicles 301 and 302 that are approaching are laser-scanned to obtain a speed. The state to measure is shown.
(B) includes a measuring unit 21, a control unit 23, and a display unit A (22) on the shoulder of a stationary position indicated as 36a, and a display unit at a stationary position indicated as 36b that is further away from the stationary 36a. B (25) is installed, and shows a state in which speed is measured by laser scanning the approaching measurement target vehicles 303 and 304.

FIG. 8 is a diagram for explaining a configuration of a portable vehicle speed measuring device.
The measurement unit 21 houses a scan laser sensor, a camera, and the like, and is installed on the road shoulder with the laser irradiation window 1a of the scan laser sensor constituting the measurement unit 21 facing the vehicle, and further includes a display unit A (22) and A control unit 23 is installed at point A. The control unit 23 and the display unit A (22) are installed in a safe place, and the control unit 23 controls speed calculation processing, data output to the display unit, printing, and the like. Moreover, the display part B (25) is installed in the B point of the position away from the A point.
The still image is displayed on the display unit A (22), but the still image is not sent to the display unit B (25). Data to be printed is sent to the display unit B (25), where it is printed and displayed.
The control unit 23 is housed in a storage case, and a display, a power switch, an operation switch, a printer, and the like are arranged.

FIG. 9 is a block diagram showing an embodiment of a circuit of a portable vehicle speed measuring device according to the present invention.
The portable vehicle speed measurement device is mainly composed of four block units, and includes a measurement unit 21, a control unit 23, a display unit A (22), and a display unit B (25), and the measurement unit 21 and the control unit 23. Are connected to the LAN and can send and receive data. The measurement unit 21 includes a scan laser sensor 1201, a camera 1202, a GPS device 1203, a tilt sensor 1204, a CPU 1205, and a power source 1206.
These scan laser sensor 1201, camera 1202, GPS device 1203, inclination sensor 1204, and CPU 1205 are the functions, configurations, and abbreviations of scan laser sensor 1101, camera 1102, GPS device 1103, inclination sensor 1104, and CPU 1105 of measurement unit 11 in FIG. The same.
The control unit 23 includes a CPU 2301, a printer 2304, a display device 2305, a power supply SW 2306, a buzzer 2307, and a power supply 2303, and has a wireless function unit 27.
The CPU 2301, printer 2304, display 2305, power SW 2306 and buzzer 2307 are substantially the same as the functions and configurations of the CPU 1301, printer 1304, display 1305, power SW 1306 and buzzer 1307 of the control unit 13 in FIG. Further, the operation SW 26 has the same configuration as the operation SW 18 of FIG.
However, since it is a stationary type, it does not include a CPU that performs control for receiving vehicle speed pulses.
The display unit A (22) is, for example, a touch input type tablet PC, which has the same function as the display unit 12 of FIG.
The display unit B (25) is a configuration necessary for two-point operation, and includes a CPU 2501, a printer 2502, a power source SW 2503, and a power source 2504, and has a wireless function unit 29.
Since the control unit 23 also includes the wireless function unit 27, data can be transmitted and received wirelessly with the display unit B (25).
In order to enable communication between the points A and B, wireless devices 28 and 30 for making a voice call are prepared.

FIG. 10 is a diagram for explaining the flow from installation to vehicle speed detection and recording for a portable vehicle speed measurement device.
Since S11 to S15 in the operation procedure flow of this portable vehicle speed measurement device correspond to S01 to S05 in FIG. 5 in the operation procedure of the vehicle-mounted vehicle speed measurement device, substantially the same operations and processes are performed. Description of this part is omitted. However, in FIG. 10, the operations in the left block are operations performed by the vehicle identification person and the vehicle stop person.
When the measurement (control) is started by the operation switch (operation SW 26) at S15, the CPU 2301 of the control unit 23 takes in data from the scan laser sensor or the like to measure the speed of the target measurement target vehicle by speed calculation processing in S16. When the speed of the vehicle to be measured is equal to or higher than the set speed, the control unit 23 determines the result of the speed measurement, and a still image obtained by cutting out the image (movie) of the vehicle to be measured taken on the display unit A (22) is displayed. Display the result notification of the measurement.
The image is acquired as a still image from the camera 1202 immediately after the determination of the result of speed measurement is completed, and is stored in the display unit A (22).
The speed calculation process in the CPU 2301 can perform accurate speed measurement by estimating the motion posture using a Kalman filter.
By pressing the pause button on the display unit A (22), the device can be paused.

Further, the measured result data is transmitted to the wireless function unit 29 of the display unit B (25) by the wireless function unit 27 provided in the control unit 23, and the measured result is displayed on the display unit B (25). Voice communication is also possible between the point A where the display unit A (22) is installed and the point B where the display unit B (25) is installed.
The vehicle stop person at the point B instructs the measurement target vehicle to stop (S17). The results measured from the printer 2304 of the control unit 23 and the printer 2502 of the display unit B (25) are printed (S18). Note that the control unit 23 and the display unit B (25) can be connected by wire.

  As described above, in the on-vehicle type vehicle speed measurement device, the example in which the device-equipped vehicle (own vehicle) stops on the road shoulder and measures the speed has been described. However, the vehicle speed measurement is performed while the device-equipped vehicle (own vehicle) is traveling. It is also possible to do. In this case, the speed is measured by obtaining the speed of the host vehicle from the speed pulse of the host vehicle and performing an operation that takes into account the speed of the host vehicle in the speed measured by the control unit.

  It is a vehicle speed measuring device that measures the speed of a vehicle traveling on a road.

1, 1101, 1201 Scan laser sensor 1a Laser irradiation window 2 Wall 10, 101, 102, 103, 104 Vehicle speed measurement device mounted vehicle 11, 21 Measurement unit 1102, 1202 Camera 1103, 1203 GPS device 1104, 1204 Inclination sensor 1105 1205, 1301, 1302, 2301, 2501 CPU
1106, 1306, 1303, 2303, 2504 Power supply 12 Display unit 13, 23 Control unit 1304, 2304, 2502 Printer 1305, 2305 Display unit 1306, 2306, 2503 Power supply SW
1307, 2307 Buzzer 15 Vehicle speed pulse 18, 26 Operation SW
20, 201-208, 301-304, 401 Measurement target vehicle 22 Display unit A
25 Display B
27, 29 Wireless function unit 28, 30 Wireless device 14, 24, 31 External power supply 35 Stationary (1 point)
36a, 36b Stationary (2 points)

Claims (9)

Scans a predetermined angle range in the vertical and horizontal directions with a predetermined period, receives the reflected light that hits the object, and obtains the distance to the stationary object and moving object within the scan range. A camera that shoots and obtains an image, a GPS unit that collects time synchronization and point information, and a measurement unit equipped with a tilt sensor that detects the inclination of the measurement unit with respect to the horizontal direction;
A display unit for displaying an image captured by the camera;
A control circuit, a display, and switch means, which are obtained by distance information of each position scanned by the scan laser sensor, image information from the camera, time information from the GPS device, point information, and an inclination sensor. Control means for calculating the speed of the moving object based on the received information and information inputted by the switch means and displaying the calculated speed, date, position and image information on the display unit;
With
The control circuit performs installation inspection of the device by setting and setting the measurement conditions, and displays the result of the device startup inspection on the display.
Start the speed measurement of the moving object by the operation start operation and the control start operation by the switch means,
A vehicle speed measuring apparatus for marking a moving object whose speed is calculated using distance information of each position from the scan laser sensor in an image displayed on the display unit. The control means outputs a measurement date and time, a measurement address, and a designated speed as information related to the measurement speed in addition to the measurement speed,
2. A vehicle speed measuring apparatus according to claim 1, wherein a printer is connected to the control means and information related to the measured speed is printed in addition to the measured speed.   The vehicle speed measuring apparatus according to claim 1 or 2, wherein the measuring section, the display section and the control means are mounted on a vehicle.   The vehicle-mounted vehicle speed measuring device, comprising vehicle speed pulse output means for outputting the vehicle speed to the vehicle, and for vehicle speed measurement, when a vehicle speed measuring device-equipped vehicle is moving, 4. The vehicle speed measuring device according to claim 3, wherein a vehicle speed pulse is output to the control means.   The vehicle speed measuring device according to claim 1 or 2, wherein the measuring unit, the display unit, and the control means are of a portable type that is stationary and measured.   The portable vehicle speed measurement device is characterized in that a second display unit is installed at a position distant from the display unit, and the measurement speed and information related to the measurement speed are displayed on the second display unit. The vehicle speed measuring device according to claim 5. The information related to the measurement speed is the measurement date and time, the measurement address, and the specified speed,
The vehicle speed measuring device according to claim 6, wherein a printer is connected to the second display unit to print the measurement speed, measurement date and time, measurement address, and designated speed.   8. The vehicle speed measuring device according to claim 6, wherein data exchange between the control unit and the second display unit is performed by radio or wire.   9. The vehicle speed measuring device according to claim 1, wherein the control means calculates a vehicle speed by obtaining a motion posture of the vehicle using a Kalman filter.