JP2015082235A - Vehicle detector, traffic lane control system, vehicle detection method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a corresponding roadside antenna from erroneously detecting a vehicle equipped with an on-vehicle device and located in a lane other than a travel lane including a communication range of the roadside antenna, in a case of detecting a vehicle traveling in the travel lane including the communication range of the corresponding roadside antenna.SOLUTION: A vehicle detector includes: a position calculation unit for calculating estimated transmission positions on a target travel lane while assuming that a radio wave detected by a direction detection unit is transmitted from a vehicle on the target travel lane, on the basis of a direction of the radio wave detected by the direction detection unit that detects an arrival direction of the radio wave transmitted from an on-vehicle device; a moving direction detection unit for detecting a moving direction of the estimated transmission positions on the basis of the plurality of estimated transmission positions calculated by the position calculation unit; and a travel lane determination unit for determining whether a vehicle from which the radio wave is transmitted is a vehicle traveling in the target travel lane.

Description

  The present invention relates to a vehicle detection device, a lane control system, a vehicle detection method, and a program for detecting a vehicle traveling in a travel lane using an electronic toll collection system.

  An electronic toll collection system (for example, ETC (registered trademark, Electronics Toll Collection System)) for automatic toll collection on toll roads is attracting attention as an application in ITS (Intelligent Transport Systems). The toll collection system collects tolls by wireless communication between a roadside machine installed at a toll booth and an in-vehicle device mounted on the vehicle. The roadside antenna includes a roadside antenna for wireless communication with the vehicle-mounted device, and the roadside antenna reduces the toll by wireless communication with the vehicle-mounted device of the vehicle traveling in the traveling lane including the corresponding communication area. Send and receive information necessary for collection.

As a problem when communication is performed between the roadside antenna and the vehicle-mounted device, the roadside antenna has a radio wave from the vehicle-mounted device of a vehicle that travels in another adjacent traveling lane other than the traveling lane including the corresponding communication area. There is also a problem of receiving.
In response to the above problem, a detector for detecting the arrival direction of the received radio wave is provided in the roadside machine, and it is determined whether the radio wave is from a traveling lane including the corresponding communication area based on the detected arrival direction of the radio wave. However, in the case of radio waves from adjacent traveling lanes, there are those that limit communication with the vehicle-mounted device that has transmitted the radio waves and avoid erroneous communication with vehicle devices that are not the target (see, for example, Patent Document 1). .
In addition, when the roadside antenna receives a radio wave transmitted from a vehicle-mounted device of a vehicle that travels outside the travel lane including the corresponding communication area and is received by the roadside antenna, such as a tollgate ceiling, the vehicle is not covered. In order to prevent erroneous communication with a device, there is a technique of installing a radio wave absorption panel on a road structure (see, for example, Patent Document 2).

JP 2012-247958 A JP 2003-119726 A

However, in the technique of Patent Document 1, other than the traveling lane including the communication area with the roadside antenna, for example, the radio wave transmitted from the vehicle-mounted device of the vehicle traveling in the adjacent traveling lane as described above, the ceiling or side wall of the traveling lane When reflected on a road structure such as, there is a case where erroneous communication with an in-vehicle device that is not a target may occur. Specifically, the radio wave transmitted from the vehicle-mounted device of the vehicle traveling other than the travel lane including the corresponding communication area is reflected by the road structure, and finally the radio wave reflected by the travel lane including the corresponding communication area is reflected. In some cases, the light enters the roadside antenna. In this case, the roadside machine side detects the arrival direction of the radio wave by the direction detector to determine whether the radio wave is coming from the traveling lane including the corresponding communication area. The radio wave reflected by the travel lane is erroneously detected as the radio wave transmitted from the vehicle-mounted device that travels in the travel lane including the corresponding communication area.
In order to solve such a problem, it is conceivable to install a radio wave absorption panel for various road structures using the technique of Patent Document 2, but for all target road structures. Installation of a radio wave absorption panel is expensive and enormous.

  The present invention has been made in view of such circumstances, and an object of the present invention is to detect a vehicle traveling in a traveling lane including a communication area of a corresponding roadside antenna and including the communication area. Another object of the present invention is to provide a vehicle detection device, a lane control system, a vehicle detection method, and a program capable of suppressing erroneous detection of a vehicle equipped with an on-vehicle device located in a location other than the antenna.

  In order to solve the above problem, one aspect of the vehicle detection device according to the present invention is based on radio waves transmitted from an in-vehicle device provided in association with a target travel lane among a plurality of travel lanes. A vehicle detection device for detecting a vehicle traveling in the target travel lane from the plurality of travel lanes, wherein the radio wave detected by the direction detection unit that detects the arrival direction of the radio wave received from the vehicle-mounted device. Based on the direction of arrival, assuming that the radio wave detected by the direction detection unit is transmitted from the target travel lane, a position calculation unit that calculates an estimated transmission position on the target travel lane and a position calculation unit A movement direction detection unit that detects a movement direction of the estimated transmission position based on the plurality of estimated transmission positions, and a radio wave based on the movement direction detected by the movement direction detection unit. Calling the vehicle and a lane determining unit determines whether the vehicle traveling the target lane.

  Further, according to one aspect of the present invention, in the invention described above, the travel lane determination unit is configured such that the travel direction detected by the travel direction detection unit is in a direction along the traveling direction in the target travel lane. If there is, it is determined that the vehicle is traveling in the target travel lane.

  According to another aspect of the present invention, in the above-described invention, the vehicle detection device is provided corresponding to any one of the target travel lanes among the plurality of travel lanes, and the position calculation is performed. A position determination unit that determines whether the position obtained by the unit is within a predetermined range on the target travel lane, and the movement direction detection unit is a range determined by the position determination unit The movement direction of the estimated transmission position is detected based on the estimated transmission position determined to be within.

  Further, according to one aspect of the present invention, in the above-described invention, the vehicle detection device is mounted on the vehicle on which the vehicle lane determination unit determines that the vehicle is not traveling on the target travel lane. A communication control unit that restricts communication with the communication device.

  Further, according to one aspect of the present invention, in the invention described above, the movement direction detection unit is based on at least three or more positions among the plurality of estimated transmission positions obtained by the position calculation unit. The moving direction of the estimated transmission position is detected.

  Further, according to one aspect of the present invention, in the above-described invention, the plurality of traveling lanes are provided corresponding to the target traveling lane, and the plurality of traveling lanes are based on radio waves transmitted from an in-vehicle device mounted on the vehicle. A vehicle detection device for detecting the vehicle traveling in the target travel lane from the travel lanes, wherein the direction detection unit detects a direction of arrival of radio waves received from the vehicle-mounted device. Based on the assumption that the radio waves detected by the direction detection unit are transmitted from the target travel lane, a position calculation unit for obtaining an estimated transmission position on the target travel lane, and a plurality of the position calculation units determined by the position calculation unit A movement direction detection unit that detects a movement direction of the estimated transmission position based on the estimated transmission position.

  In order to solve the above-described problem, an aspect of the lane control system according to the present invention is connected to any one of the vehicle detection devices described above and the vehicle detection device so as to be communicable with each other, and A lane control device that executes predetermined information processing based on information included in radio waves transmitted from the vehicle-mounted device that is determined to be traveling in a traveling lane.

In order to solve the above problem, one aspect of the vehicle detection method according to the present invention is a vehicle that travels in a target travel lane from among a plurality of travel lanes based on radio waves transmitted from an in-vehicle device mounted on the vehicle. A vehicle detection method for detecting an estimated transmission position on the target travel lane based on the direction of arrival of the radio wave received from the vehicle-mounted device, assuming that the radio wave is transmitted from the target travel lane A position calculating step; a moving direction detecting step for detecting a moving direction of the estimated transmitting position based on the plurality of estimated transmitting positions determined in the position calculating step; and the movement detected by the moving direction detecting step. And a travel lane determination step for determining whether the vehicle that has transmitted the radio wave is a vehicle that travels in the target travel lane based on the direction.
Is provided.

  In order to solve the above problem, one aspect of a program according to the present invention detects a vehicle traveling in a target traveling lane among a plurality of traveling lanes based on radio waves transmitted from an onboard device mounted on the vehicle. Based on the arrival direction of the radio wave detected by the direction detection unit that detects the arrival direction of the radio wave received from the vehicle-mounted device, the computer that operates the vehicle detection device detects the radio wave detected by the direction detection unit as the target travel. Based on the plurality of estimated transmission positions obtained by the position calculation means for obtaining the estimated transmission position on the target travel lane, and the estimated transmission positions obtained by the position calculation means, A moving direction detecting means for detecting, a vehicle in which a vehicle that has transmitted a radio wave travels in the target traveling lane based on the moving direction detected by the moving direction detecting means. Is a program for causing to function as the driving lane determination means for determining whether a.

  According to this invention, when detecting a vehicle traveling in a traveling lane including the communication area of the corresponding roadside antenna, the vehicle equipped with the vehicle-mounted device located outside the traveling lane including the communication area is It is possible to suppress erroneous detection by the antenna.

It is the schematic which shows an example of the lane control system which can use the vehicle detection apparatus which concerns on one Embodiment of this invention. It is the schematic which shows the structural example of the lane control system which can use the vehicle detection apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows the structural example of the vehicle detection apparatus which concerns on one Embodiment of this invention. It is a figure which shows the relationship between horizontal angle (theta) _H , vertical angle (theta) _V, and an estimated transmission position. It is a flowchart which shows an example of the vehicle detection method which concerns on one Embodiment of this invention. It is a figure for demonstrating an example of arrangement | positioning of the antenna element with which an AOA antenna is provided. It is a block diagram which shows the structural example of an AOA antenna. It is a figure for demonstrating horizontal angle (theta) _H and vertical angle (theta) _V. It is a figure which shows an example of the movement path | route of an estimated transmission position. It is a figure which shows the other example of the movement path | route of an estimated transmission position.

Hereinafter, an example of a lane control system in which a vehicle detection device according to an embodiment of the present invention can be used will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a lane control system in which a vehicle detection device according to an embodiment of the present invention can be used.
As shown in FIG. 1, a plurality of travel lanes 101, 102, 103,... In the illustrated example, the traveling lanes 101, 102, and 103 are traveling lanes that are subject to fee collection, and the fee collection is performed for each traveling lane. That is, the vehicle-mounted device of the vehicle traveling in each of the traveling lanes 101, 102, and 103 collects a fee by communicating with the AOA antenna and the roadside antenna provided for each traveling lane. In the illustrated example, the gantry 110 includes an AOA antenna 104 and a roadside antenna 105 corresponding to the travel lane 101, and an AOA antenna 1042 and a roadside antenna 1052 corresponding to the travel lane 102. A vehicle 201 is traveling on the traveling lane 101, a vehicle 202 is traveling on the traveling lane 102, and a vehicle 203 is traveling on the traveling lane 103. The vehicles 201, 202, and 203 are equipped with vehicle-mounted devices 301, 302, and 303, respectively.

In this embodiment, the roadside machine includes a gantry 110, an AOA antenna 104, a roadside antenna 105, a vehicle detection device 106 (see FIG. 2), and a relay device 107 (see FIG. 2). In this embodiment, the roadside machine is provided corresponding to the traveling lane, and includes a gantry 110, an AOA antenna 104, a roadside antenna 105, a vehicle detection device 106 (see FIG. 2), and a relay device 107 (see FIG. 2) is the configuration of the roadside machine corresponding to the traveling lane 101. Note that the traveling lane 102 is also provided with a roadside machine including an AOA antenna 1042, a roadside antenna 1052, a vehicle detection device, and a relay device mounted on the gantry 110, although illustration of all components is omitted. The gantry 110 is configured to be shared by the roadside devices in the travel lanes 101 and 102.
In the illustrated example, a gantry 110 is provided so as to straddle the traveling lanes 101 and 102, and the gantry 110 includes an AOA (Angle Of Arrival) antennas 104 and 1042 (direction detection unit) and roadside antennas 105 and 1052. And are attached. Further, the AOA antenna 104 and the roadside antenna 105 are installed in the center in the width direction above the travel lane 101 corresponding to the travel lane 101, and the AOA antenna 1042 and the roadside antenna 1052 correspond to the travel lane 102. Thus, it is installed at the center in the width direction above the traveling lane 102.
In the example of FIG. 1, a vehicle detection device 106 (see FIG. 2) and a relay device 107 (see FIG. 2) are installed in an installation box that is accommodated when the AOA antenna 104 or the roadside antenna 105 is installed in the gantry 110. Is installed. The vehicle detection device 106 is electrically connected to the AOA antenna 104 and the roadside antenna 105, and inputs an output signal based on the radio waves received by the AOA antenna 104 and the roadside antenna 105 from the AOA antenna 104 and the roadside antenna 105. . The relay device 107 is connected to the vehicle detection device 106.

  A lane control device 108 (see FIG. 2) that communicates with the vehicle detection device 106 via the relay device 107 is provided in a communication tower (not shown). Furthermore, the lane control device 108 (see FIG. 2) is connected to a plurality of lane control devices, and based on information from the plurality of lane control devices, an on-vehicle vehicle that travels in a travel lane including a communication area with the roadside antenna 105 is mounted. A central processing unit 109 capable of information processing such as billing processing is connected to the device.

  In the travel lane 101, an area (hereinafter referred to as a communication area) in which establishment of communication between the vehicle detection device 106 and the vehicle-mounted device 301 is permitted is determined in advance. In other words, the outer edge of the communication area is a boundary line that restricts establishment of communication between the vehicle detection device 106 and the vehicle-mounted device 301 or the like. Therefore, even if the vehicle detection apparatus 106 receives a radio wave from the vehicle-mounted device existing in a region outside the communication region, the vehicle detection device 106 restricts establishment of communication with the vehicle-mounted device. In the illustrated example, the communication area is on the associated traveling lane 101 and within a range of 4 m from directly below the roadside antenna 105 in the direction opposite to the traveling lane.

  In the example of FIG. 1, the vehicle 201 (the vehicle-mounted device 301) is shown to be located in the communication area. Therefore, in the state shown in FIG. 2, the vehicle detection device 106 can establish communication with the vehicle-mounted device 301 mounted on the vehicle 201 via the roadside antenna 105, and the lane control device 108 (or the central processing unit). The device 109) can execute a charging process for the vehicle-mounted device 301 that has established communication.

  On the other hand, the vehicle 202 travels behind the vehicle 201 in the travel lane 102. However, in this state, as shown in the figure, it is assumed that a radio wave transmitted from the vehicle-mounted device 302 is incident on the AOA antenna 104 after being reflected by, for example, the vehicle 201 located in the communication area. In this case, since the vehicle detection device 106 obtains the position of the vehicle-mounted device based on the arrival direction of the radio wave detected by the AOA antenna 104, the radio wave transmitted from the vehicle-mounted device 302 reflects the reflected position of the radio wave reflected by the vehicle 201 ( That is, it is detected as being transmitted from the position where the vehicle 201 is traveling. Therefore, there is a possibility that the reflection position where the vehicle 201 reflects the radio wave is erroneously detected as the position where the vehicle-mounted device 302 transmits the radio wave. In this case, there may arise a problem that the vehicle-mounted device 302 of the vehicle 202 that is not traveling in the traveling lane 101 establishes communication with the roadside antenna 105 of the traveling lane 101. In this case, since the vehicle-mounted device 302 establishes communication with the roadside antenna 1052 provided in the traveling lane 102, there is a possibility that charges will be charged twice.

  In addition, the vehicle 203 is traveling in the traveling lane 103 that is an adjacent lane in which the roadside antennas 105 and 1052 are not installed, and is originally a vehicle that is not a communication target with the vehicle detection device 106. However, in this state, it is assumed that the radio wave transmitted from the vehicle-mounted device 303 is reflected on the vehicle 202 and then enters the AOA antenna 1042 as illustrated. In this case, since the vehicle detection device (not shown) corresponding to the traveling lane 102 determines the position of the vehicle-mounted device based on the arrival direction of the radio wave detected by the AOA antenna 1042, the radio wave transmitted from the vehicle-mounted device 303 is It is detected as being transmitted from the reflection position of the radio wave reflected by 202 (that is, the position where the vehicle 202 is traveling). Therefore, there is a possibility that the reflection position where the vehicle 202 reflects the radio wave is erroneously detected as the position where the vehicle-mounted device 303 transmits the radio wave. In this case, there may arise a problem that the vehicle-mounted device 303 of the vehicle 203 not traveling in the travel lane 102 establishes communication with the roadside antenna 1052 of the travel lane 102.

  Further, after the radio waves emitted from the vehicle-mounted devices 302 and 303 are reflected on the ceiling, road surface or road side wall surface of the traveling lanes 101, 102, and 103, and reflected on the road surface in the communication area of the traveling lane 101, the AOA antenna 104. In some cases. In such a case, since the vehicle detection device 106 obtains the position of the vehicle-mounted device based on the arrival direction of the radio wave detected by the AOA antenna 104, the radio wave transmitted from the vehicle-mounted devices 302 and 303 is reflected on the road surface of the traveling lane 101. It is detected that the radio wave is transmitted from the reflected position of the radio wave (that is, the position in the communication area of the traveling lane 101). Therefore, there is a possibility that the reflection position where the road surface in the communication area of the traveling lane 101 reflects the radio wave is erroneously detected as the position where the vehicle-mounted devices 302 and 303 transmit the radio wave. In this case, there may arise a problem that the vehicle-mounted devices 302 and 303 of the vehicles 202 and 203 that are not traveling in the traveling lane 101 establish communication with the roadside antenna 105 of the traveling lane 101.

The vehicle detection apparatus according to the present invention has the following configuration as one aspect for solving the above problem.
FIG. 2 is a schematic diagram illustrating a configuration example of the lane control system according to the present embodiment.
As illustrated, the lane control system according to the present embodiment includes an AOA antenna 104, a roadside antenna 105, a vehicle detection device 106, a relay device 107, a lane control device 108, and a central processing unit 109. These configurations correspond to the travel lane 101, and the lane control system includes an AOA antenna 1042, a roadside antenna 1052, a vehicle detection device, a relay device, and the like corresponding to the other travel lanes 102. A lane control device may be provided. Further, the vehicle detection device 106, the relay device 107, and the lane control device 108 may have a combined configuration corresponding to both the travel lanes 101 and 102.

  For example, the vehicle detection device 106 is provided corresponding to the target travel lane among a plurality of travel lanes on which the vehicle travels, and travels in the travel lane based on radio waves transmitted from the vehicle-mounted device mounted on the vehicle. Is detected. In the present embodiment, the vehicle detection device 106 detects a vehicle traveling on the traveling lane 101 that is one target traveling lane in which a communication area with the roadside antenna 105 is determined on the road surface among the plurality of traveling lanes. However, the present invention is not limited to this. For example, the vehicle detection device 106 may be associated with the plurality of travel lanes 101 and 102 and detect the plurality of travel lanes 101 or vehicles traveling on the travel lane 102.

The AOA antenna 104 is a direction detection unit that detects the arrival direction of received radio waves. In the present embodiment, the AOA antenna 104 calculates an angle (hereinafter referred to as a radio wave arrival angle) at which a radio wave transmitted from the vehicle-mounted device is incident on the light receiving surface based on a phase difference between the radio waves received from the vehicle-mounted device. In the present embodiment, the AOA antenna 104 calculates a horizontal angle θ _H that is a radio wave arrival angle on a horizontal plane and a vertical angle θ _V that is a radio wave arrival angle on a vertical plane. The AOA antenna 104 outputs information indicating the horizontal angle θ _H and the vertical angle θ _V calculated as information indicating the arrival direction of the received radio wave (hereinafter referred to as radio wave arrival angle information) to the vehicle detection device 106.
The AOA antenna 104 is for performing wireless communication with an on-vehicle device mounted on a vehicle, and can measure a radio wave arrival angle in order to detect an estimated transmission position of the on-vehicle device. Thus, it consists of a plurality of antenna elements. As the AOA antenna 104, for example, a microstrip array antenna having a configuration in which microstrip antenna elements are arranged in an array can be used. This microstrip array antenna can form an arbitrary directivity relatively easily by manipulating the amplitude and phase of a radio wave signal incident on each array antenna element.

  The roadside antenna 105 performs DSRC (Dedicated Short Range Communications) communication with the vehicle-mounted device, acquires vehicle-mounted device data including vehicle-mounted device ID, vehicle type information, and the like based on a radio signal transmitted from the vehicle-mounted device. It outputs to 106. This onboard equipment ID is identification information for identifying each onboard equipment. The vehicle type information includes the type of vehicle (small car, medium-sized car, large car, etc.), information indicating whether or not there is a charge discount target, and the like.

  The vehicle detection device 106 transmits radio waves including transmission data from the roadside antenna 105 for toll collection, detects (demodulates) radio waves from the vehicle-mounted device received by the roadside antenna 105, and collects tolls included in the radio waves. Vehicle-mounted device data (vehicle-mounted device ID, vehicle type information, etc.) is acquired. Further, the vehicle detection device 106 executes a vehicle detection process for detecting a vehicle on the target travel lane. Details of the vehicle detection process will be described later with reference to FIG.

  The relay device 107 performs communication processing between the vehicle detection device 106 and the lane control device 108, and connects the vehicle detection device 106 and the lane control device 108 by optical communication, for example.

The lane control device 108 receives information from the vehicle detection device 106 via the relay device 107, and also performs processing for toll collection based on the OBE data received from the OBE with which communication has been established, for example, Execute toll charge processing.
Further, the lane control device 108 indicates information indicating that the charging process has been executed, on-vehicle device data, and the estimated transmission position detected by the vehicle detection device 106 to the on-vehicle device ID of the on-vehicle device that has executed the charging process or the like. The positional information, the information indicating the horizontal angle θ _H and the vertical angle θ _V, and the information indicating the arrival time of the radio wave are associated with each other and stored in its own storage unit.
Further, the lane control device 108 sets a threshold value of the radio wave arrival angle indicating the communication area, and transmits the set threshold value information of the radio wave arrival angle to the vehicle detection device 106. The lane control device 108 inputs, for example, information indicating the height from the road surface on which the AOA antenna 104 is installed, the average height of the vehicle-mounted device, the width of the corresponding lane, the width of the island, and the like. The threshold value of the radio wave arrival angle indicating the area can be calculated and set. The height of the vehicle-mounted device may be an average height predetermined for each vehicle type based on the vehicle type information received from the roadside antenna 105, as will be described later.
In this embodiment, an example in which the billing process is executed by the lane control device 108 will be described. However, the present invention is not limited to this, and the lane control device is connected to a plurality of lane control devices, and the plurality of lane control devices are integrated. It may be executed by the controlling central processing unit 109.

Next, a configuration example of the vehicle detection device 106 will be described with reference to FIG. FIG. 3 is a block diagram illustrating a configuration example of the vehicle detection device 106 according to the present embodiment.
As shown in FIG. 3, the vehicle detection device 106 includes a linking unit 160, a position calculation unit 161, a position determination unit 162, a moving direction detection unit 163, a travel lane determination unit 164, a communication control unit 165, A storage unit 166 and a reception data analysis unit 167 are provided, and vehicle detection processing is executed.
Based on the time information indicating the time when the radio wave is incident on the AOA antenna 104 and the time information indicating the time when the radio wave is incident on the roadside antenna 105, the associating unit 160 includes the radio wave arrival angle information based on the same radio wave and the vehicle-mounted device data. Are stored in the storage unit 166 in association with each other. Note that the time at which the radio wave is incident may be timed by a timekeeping unit provided in the AOA antenna 104 or the roadside antenna 105. Further, when the time when the radio wave arrival angle information and the vehicle-mounted device data are input to the vehicle detection device 106 is within the error range, the associating unit 160 determines that the radio wave arrival angle information and the vehicle-mounted device data are based on the same radio wave. You may do. In addition, the radio wave transmitted from the vehicle-mounted device includes a sequential number indicating the order of emission as the vehicle-mounted device data. Therefore, the associating unit 160 can identify the vehicle-mounted device data input from the roadside antenna 105 for each sequential number.

  The position calculation unit 161 assumes that the radio wave detected by the AOA antenna 104 is transmitted from the corresponding travel lane 101 on the corresponding travel lane 101 based on the arrival direction of the radio wave detected by the AOA antenna 104. The estimated transmission position is obtained. In the present embodiment, the position calculation unit 161 obtains an estimated transmission position based on the radio wave arrival angle information output from the AOA antenna 104, and uses the position determination unit 162 and the moving direction detection as position information indicating the obtained estimated transmission position. To the unit 163.

Here, an example of the horizontal angle θ _H and the vertical angle θ _{V according} to the present embodiment will be described with reference to FIG. Figure 4 is a diagram showing a relationship between an estimated transmission source location and the horizontal angle theta _H and a vertical angle theta _V.
As shown in FIG. 4, the AOA antenna 104 is located at the reference position. In the example shown in the figure, the position of the AOA antenna 104 is determined as the origin (reference position) of the XYZ coordinate system. In the XYZ coordinate system, the X axis is set along the direction parallel to the traveling direction of the traveling lane, with the direction opposite to the traveling direction from the reference position being positive. The Y axis is set in a direction orthogonal to the traveling direction of the traveling lane. Further, the Z axis is set along the vertical direction with the downward direction from the reference position as positive. In this embodiment, the vertical angle theta _V, is set to an angle that the direction toward the direction opposite to the traveling direction in the vertical plane as the reference line in the Z-axis as positive. Further, in the present embodiment, the horizontal angle theta _H, is set such that a direction to one side in the width direction of the traveling lane including a communication area in a horizontal plane to the X axis as the reference line at an angle to a positive.

Then, AOA antenna 104 detects the arrival direction of the radio wave from obtaining the electric wave of the vertical angle theta _V and horizontal angle theta _H detected. The direction of arrival of radio waves is not limited to this. For example, rather than the vertical angle theta _V and horizontal angle theta _H as the angle it may be as represented by the different angular components. Moreover, it is not limited to the angle component, and may be expressed by, for example, three coordinates (XYZ coordinate values).
Position calculating unit 161 obtains these horizontal angle theta _H and a vertical angle theta _V the point P _i in the plane that is set on the target traveling lane indicated arrival direction represented by, and the estimated transmission source location. Incidentally, the vehicle-mounted device, because they are mounted in a vehicle, as shown in FIG. 4, rather than the position P0 on the road surface of the traveling lane is present in a direction represented by a horizontal angle theta _H and a vertical angle theta _V, A point P _i in the plane equal to the height of the vehicle-mounted device existing in the direction represented by the horizontal angle θ _H and the vertical angle θ _V is preferably set as the estimated transmission position. The position calculation unit 161 may use an average height of the vehicle-mounted device as a default value, and the height of the vehicle-mounted device determined for each vehicle type based on the vehicle type information received by the roadside antenna 105. May be used to calculate an estimated transmission position point P _i equal to the height of the vehicle-mounted device according to the vehicle type.

Based on the position information obtained by the position calculation unit 161 or the horizontal angle θ _H and the vertical angle θ _V from the AOA antenna 104, the position determination unit 162 has the estimated transmission position of the vehicle-mounted device within the communication area. Vehicle position determination is performed to determine whether or not. The position determination unit 162 outputs the determination result to the travel lane determination unit 164.
For example, the threshold value of the radio wave arrival angle indicating the communication area is stored in the storage unit 166. Threshold of the radio wave arrival angle are those defined by the horizontal angle theta _H and a vertical angle theta _V. The threshold of the radio wave arrival angle is set corresponding to each of the horizontal angle theta _H and a vertical angle theta _V. If the horizontal angle θ _H and the vertical angle θ _V exceed the radio wave arrival angle threshold, the position determination unit 162 determines that the estimated transmission position of the vehicle-mounted device is outside the communication area. Specifically, the threshold value of the radio wave arrival angle is an angle indicating the position of the outer edge of the communication area is a threshold represented by a horizontal angle theta _H and a vertical angle theta _V. That is, the threshold of the radio wave arrival angle determines whether or not the estimated transmission position is outside the communication area when the horizontal angle θ _H and the vertical angle θ _V detected by the AOA antenna 104 are converted into the estimated transmission position. It is a threshold to do.
It should be noted that position information corresponding to the position of the outer edge of the communication area, for example, a position threshold obtained by the position calculation unit 161 may be stored in the storage unit 166. In this case, when the estimated transmission position obtained by the position calculation unit 161 exceeds the threshold, that is, when the estimated transmission position obtained by the position calculation unit 161 is outside the communication area, the position determination unit 162 Is determined to be outside the range of the communication area.

The movement direction detection unit 163 calculates the movement direction of the estimated transmission position of the on-vehicle device based on a plurality of pieces of position information calculated by the position calculation unit 161 and indicating the estimated transmission position of the same on-vehicle device. The travel direction information indicating the calculated travel direction is output to the travel lane determination unit 164.
This movement direction detection unit 163 detects the direction indicated by the line segment formed by connecting a plurality of estimated transmission positions of the same vehicle-mounted device in the order in which the radio waves are received. For example, the movement direction detection unit 163 can calculate a direction vector between the estimated transmission positions of the line segments formed by connecting the estimated transmission positions of the same vehicle-mounted device in the order in which the radio waves are received as the movement direction information. In addition, the movement direction detection unit 163 calculates, as movement direction information, an average value of direction vectors between a plurality of estimated transmission positions of a line segment formed by connecting the estimated transmission positions of the same vehicle-mounted device in the order of reception of radio waves. Can do.
In addition, the moving direction detection unit 163 indicates how much the direction indicated by the line segment formed by connecting the estimated transmission positions of the same vehicle-mounted device in the order of reception of radio waves is deviated from the traveling direction on the target travel lane including the communication area. For example, a variance value (or sample variance) of the estimated transmission position of the same vehicle-mounted device may be calculated and acquired as movement direction information. Specifically, the moving direction detection unit 163 indicates how much the plurality of estimated transmission positions are scattered from the expected value when the predetermined traveling direction on the target travel lane including the communication area is an expected value. Can be calculated as a variance value (or sample variance).

The travel lane determination unit 164 determines whether or not the vehicle travels in the corresponding target travel lane based on the travel direction calculated by the travel direction detection unit 163. For example, the travel lane determination unit 164 determines whether or not the travel lane determination unit 164 is a travel trajectory of the vehicle-mounted device mounted on the vehicle traveling in the target travel lane including the corresponding communication area based on the input travel direction information. The moving direction judgment is executed. The travel lane determination unit 164 outputs the determination result to the communication control unit 165.
For example, the travel lane determination unit 164 determines whether the travel direction calculated by the travel direction detection unit 163 is a direction along the traveling direction on the corresponding travel lane 101. When the direction indicated by the line segment formed by connecting the estimated transmission positions of the same vehicle-mounted device in the order in which the radio waves are received is not within a predetermined range, the traveling lane determination unit 164 proceeds the traveling lane 101 corresponding to the moving direction. It is determined that the direction is not along the direction.
More specifically, the travel lane determination unit 164 indicates that the direction vector between the estimated transmission positions of the line segments formed by connecting the two estimated transmission positions of the same vehicle-mounted device in the order of reception of the radio wave corresponds to the corresponding travel lane 101. If the upper traveling direction deviates by a predetermined threshold (angle) or more, it is determined that the moving direction is not the direction along the traveling direction of the corresponding traveling lane 101. In addition, the traveling lane determination unit 164 determines that the average of the direction vectors between the estimated transmission positions of the line segments formed by connecting the three or more estimated transmission positions of the same vehicle-mounted device in the order in which the radio waves are received is on the corresponding traveling lane 101. If the travel direction deviates by more than a predetermined threshold value (angle), it is determined that the movement direction is not the direction along the travel direction of the corresponding travel lane 101.

In addition, when it is determined that there is a variance greater than a predetermined threshold based on variance values (sample variance) of three or more estimated transmission positions of the same vehicle-mounted device, the travel lane determination unit 164 moves the movement direction detection unit 163. Is determined not to be a direction along the traveling direction of the corresponding travel lane 101. Note that the traveling lane determination unit 164 determines a determination based on an average of direction vectors between three or more estimated transmission positions of the same vehicle-mounted device, and a variance (sample variance) of three or more estimated transmission positions of the same vehicle-mounted device. By combining with the determination based on the determination accuracy of whether or not the moving direction is along the traveling direction can be improved. That is, in the case of the former determination, even if a plurality of estimated transmission positions vary on the left and right in the traveling direction, it may be difficult to detect this variation, but by combining the latter determination, Variations can be detected.
In the present embodiment, the traveling lane determination unit 164 performs vehicle movement direction determination only for the vehicle-mounted device in which the position determination unit 162 determines that the estimated transmission position is within the communication area. It is.

When the travel lane determination unit 164 determines that the vehicle (on-vehicle device) is not traveling on the target travel lane including the communication area, the communication control unit 165 restricts establishment of communication with the on-vehicle device. More specifically, the communication control unit 165 does not transmit the vehicle-mounted device data from the vehicle-mounted device for which the establishment of communication is restricted to the lane control device 108, and the vehicle-mounted device for which the establishment of communication is restricted. In contrast, the information from the lane control device 108 is not transferred. That is, the communication control unit 165 transmits the in-vehicle data from the on-vehicle device permitted to establish communication to the lane control device 108 via the relay device 107, and to the on-vehicle device permitted to establish communication. Only the information from the lane control device 108 is transferred.
Note that the present invention is not limited to this, and the communication control unit 165 transmits all the vehicle-mounted device data received from the roadside antenna 105 to the lane control device 108. The communication control unit 165 determines only when the traveling lane determination unit 164 determines that the received radio wave is a radio wave from a vehicle (on-vehicle device) that is not traveling in the target traveling lane including the communication area. The result may be transmitted to the lane control device 108. For example, the communication control unit 165 indicates the vehicle-mounted device ID included in the vehicle-mounted device data corresponding to the radio wave determined to be a radio wave from a vehicle (vehicle-mounted device) that is not traveling in the target travel lane including the communication area. Information is transmitted to the lane control device 108. The lane control device 108 restricts establishment of communication with the vehicle-mounted device based on the determination result of the traveling lane determination unit 164 received from the communication control unit 165 and the vehicle-mounted device ID.

Next, an example of the vehicle detection method according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart illustrating an example of a vehicle detection method according to the present embodiment.
For example, it is assumed that the vehicle-mounted device 301 transmits a radio wave W1 including the vehicle-mounted device data. Note that the vehicle-mounted device 301 continuously transmits a plurality of radio waves at predetermined time intervals.
(Step ST101)
Then, AOA antenna 104 receives the radio waves W1, calculates information indicating a horizontal angle theta _H and a vertical angle theta _V indicating the direction of arrival of the radio waves W1, and outputs the vehicle detection device 106.
(Step ST102)
The roadside antenna 105 receives the radio wave W1 and outputs a reception signal including the vehicle-mounted device data included in the radio wave W1 to the vehicle detection device 106. Note that the vehicle-mounted device data included in the radio wave W1 includes at least the vehicle-mounted device ID of the vehicle-mounted device 301.

(Step ST103)
The associating unit 160 of the vehicle detection device 106 has a horizontal angle θ _H and a vertical angle based on the same radio wave W1 based on the timing when the AOA antenna 104 receives the radio wave W1 and the timing when the roadside antenna 105 receives the radio wave W1. in association string and information-vehicle device ID indicating theta _V, written into the storage unit 166. In addition, the associating unit 160 associates information indicating the horizontal angle θ _H and the vertical angle θ _V indicating the arrival direction of the radio wave W1 with the vehicle-mounted device ID and outputs the information to the position calculating unit 161.
Incidentally, AOA antenna 104, followed by, when receiving the radio wave W2 different from the radio waves W1, calculates the information indicating the horizontal angle theta _H and a vertical angle theta _V indicating the arrival direction of the radio wave W2, the vehicle detection device 106 Output to. Further, the associating unit 160 of the vehicle detection device 106 acquires the vehicle-mounted device data from the received signal received by the roadside antenna 105 at the same timing (simultaneously or substantially simultaneously) as the timing of receiving the radio wave W2. Then, the associating unit 160 associates the information indicating the horizontal angle θ _H and the vertical angle θ _V indicating the arrival direction of the radio wave W2 with the vehicle-mounted device ID, and writes the information in the storage unit 166. The associating unit 160 can identify each of the radio waves W1, W2,... By a sequential number included in the radio waves.
In this way, the associating unit 160 associates the information indicating the horizontal angle θ _H and the vertical angle θ _V obtained from the plurality of radio waves W1, W2,. Write to.

(Step ST104)
Then, the position calculating unit 161 of the vehicle detection apparatus 106 obtains a point P ₁ on the surface indicated by the arrival direction represented by a horizontal angle theta _H and a vertical angle theta _V, the estimated transmission source location. Then, the position calculating unit 161, position information indicating the estimated outgoing position P ₁ obtained, and outputs a position determination unit 162 in the moving direction detection unit 163. At this time, the position calculation unit 161 may obtain the estimated transmission position point P ₁ according to the height of the vehicle-mounted device based on the information indicating the height of the vehicle-mounted device obtained by the received data analysis unit 167.
Subsequently, the position calculation unit 161 estimates based on a plurality of pieces of information (information indicating the horizontal angle θ _H and the vertical angle θ _V and the vehicle-mounted device ID) stored in the storage unit 166 based on the arrival direction of each radio wave. The transmission positions P ₂ , P ₃ ,. The position calculation unit 161 associates information (for example, i: sequential number) indicating the order of reception of radio waves and the vehicle-mounted device ID with the estimated transmission position.

(Step ST105)
Then, the position determination unit 162 of the vehicle detection device 106 refers to the storage unit 166 and compares the horizontal angle θ _H and the vertical angle θ _{V associated} with the vehicle-mounted device ID with the threshold value of the radio wave arrival angle. it allows estimating the originating position P ₁ determines whether it is within range of the communication area. Then, the position determination unit 162 outputs the determination result to the travel lane determination unit 164.
The position determination unit 162 of the vehicle detection device 106, based on the position information obtained by the position calculation unit 161, the estimated transmission source location P ₁ is be one to determine whether it is within the range of the communication area Good. Then, the position determination unit 162 outputs the determination result to the travel lane determination unit 164.

(Step ST106)
In step ST105, if the estimated transmission source location P ₁ of the vehicle-mounted device is determined to be within the range of the communication area (e.g., radio wave arrival horizontal angle theta _H and a vertical angle theta _V it has been determined to correspond to the respective When the angle threshold value is not exceeded), the movement direction detection unit 163 is the same position among the plurality of pieces of position information obtained by the position calculation unit 161 and determined to be within the communication area. Based on the position information (for example, P ₁ , P ₂ , P ₃ ,...) Associated with the OBE ID, the movement indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ ,. The direction is calculated, and information indicating the moving direction is output to the travel lane determination unit 164.

(Step ST107)
Lane determination unit 164, in step ST105, if the estimated transmission source location P ₁ is determined to be within the range of the communication area, based on information indicating a moving direction input from the moving direction detection unit 163, of the same vehicle-mounted device It is determined whether or not the moving direction indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ ,... Is the direction along the traveling direction on the traveling lane. When the movement direction indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ ,... Of the same vehicle-mounted device is a direction along the traveling direction on the traveling lane, the traveling lane determination unit 164 calculates the calculated traveling direction. Based on the above, it is determined that the vehicle is traveling on the traveling lane 101. When the traveling lane determination unit 164 determines that the traveling lane 101 is traveling, the vehicle-mounted device ID associated with the estimated transmission positions P ₁ , P ₂ , P ₃ ,... Of the same vehicle-mounted device. Is output to the communication control unit 165.

(Step ST108)
The communication control unit 165, the determination result by the lane determining unit 164 determines that traveling along the traveling lane 101, the estimated outgoing position _P 1 of the same vehicle-mounted _device, P _{2, P} 3, and ... vehicle It is transmitted to the lane control device 108 together with information indicating the device ID. The lane control device 108 associates the received information with each other and writes the information in its own storage unit. And the lane control apparatus 108 establishes communication between the onboard equipment which this onboard equipment ID shows.
(Step ST109)
On the other hand, in step ST105, if the estimated transmission source location P ₁ is determined not to be within the range of the communication area, or, if in step ST 107, it is determined not to be traveling along the traveling lane on the basis of the calculated moving direction, The communication control unit 165 transmits the determination result by the travel lane determination unit 164 that determines that the vehicle is not traveling in the travel lane 101 to the lane control device 108 together with information indicating the corresponding vehicle-mounted device ID. Then, the lane control device 108 stops communication with the vehicle-mounted device having the vehicle-mounted device ID determined not to travel on the travel lane 101 based on the information received from the vehicle detection device 106.

(Step ST110)
On the other hand, the reception data analysis unit 167 analyzes the reception data input from the roadside antenna 105, and acquires the vehicle-mounted device ID and vehicle type information included in the vehicle-mounted device data. The reception data analysis unit 167 also acquires a sequential number from the reception data.
The received data analysis unit 167 determines the height of the vehicle-mounted device determined in advance according to the vehicle type based on the acquired vehicle type information, and associates the information indicating the determined height of the vehicle-mounted device with the linking unit 160 and the position. The result is output to the calculation unit 161.
(Step ST111)
Although detailed description is omitted, the reception data analysis unit 167 analyzes the reception data received from the vehicle-mounted device, and acquires information used for the charging process. The information analyzed by the reception data analysis unit 167 is transmitted to the lane control device 108 via the relay device 107. The lane control device 108 executes the charging process only for the vehicle-mounted device of the vehicle that is determined to be traveling in the traveling lane including the communication area based on the received information.

Next, the AOA antenna 104 according to the present embodiment will be described with reference to FIGS.
FIG. 6 is a diagram for explaining an example of the arrangement of antenna elements included in the AOA antenna 104. As shown in FIG. 5, the AOA antenna 104 includes AOA antenna elements 104A, 104B, 104C, and 104D. The AOA antenna elements 104A and 104B are arranged at the same height and are aligned in the horizontal direction. The distance between the AOA antenna elements 104A and 104B is d1. On the other hand, the AOA antenna element 104C is arranged at a height position higher than the AOA antenna elements 104A and 104B, and the AOA antenna element 104D is arranged at a height position lower than the AOA antenna elements 104A and 104B. The AOA antenna elements 104C and 104D are arranged in the vertical direction, and the distance between the AOA antenna elements 104C and 104D is d2.

FIG. 7 is a block diagram illustrating a configuration example of the AOA antenna 104. As shown in FIG. 7, the AOA antenna 104 includes AOA antenna elements 104A to 104D, a horizontal phase processing unit 141 that inputs the outputs of the AOA antennas 104A and 104B, and a vertical phase processing unit that inputs the outputs of the AOA antennas 104C and 104D. 142, heterodyne conversion units 143A to 143D connected to the AOA antenna elements 104A to 104D, and local oscillators 144 and 145, respectively.
The local oscillator 144 outputs a local oscillation signal having a predetermined frequency to the heterodyne conversion units 143A and 143B, and the local oscillator 145 outputs a local oscillation signal having a predetermined frequency to the heterodyne conversion units 143C and 143D.
The heterodyne conversion units 143A and 143B are the frequencies of the radio waves received by the AOA antenna elements 104A and 104B that are inclined at a predetermined depression angle ψ and are disposed at a predetermined interval d1, and the local part output from the local oscillator 144. By taking the difference from the frequency of the oscillation signal, the received radio wave is converted into a low frequency (intermediate frequency) signal and output to the horizontal phase processing unit 141. Note that the signal output by the heterodyne conversion unit 143A includes information indicating a phase phi _A, the signal output by the heterodyne conversion unit 143B includes information indicating a phase phi _B.
The heterodyne conversion units 143C and 143D are the frequency of the radio wave received by the AOA antenna elements 104C and 104D that are inclined at a predetermined depression angle ψ and spaced by a predetermined interval d2, and the local part output from the local oscillator 145. By taking the difference from the frequency of the oscillation signal, the received radio wave is converted into a low frequency (intermediate frequency) signal and output to the vertical phase processing unit 142. Note that the signal output by the heterodyne conversion section 143C includes information indicating a phase phi _C, it includes information indicating a phase phi _D to the signal output from Haitai conversion unit 143D.

The horizontal phase processing unit 141 calculates the angle (that is, the horizontal angle θ _H ) that arrives at the AOA antennas 104A and 104B based on the phase difference (φ _A −φ _B ) of the signals input from the heterodyne conversion units 143A and 143B. Information indicating the horizontal angle θ _H is output to the vehicle detection device 106. The horizontal phase processing unit 141 calculates the horizontal angle θ _H according to the following equation (1).
The vertical phase processing unit 142 calculates the angle (that is, the vertical angle θ _V ) that arrives at the AOA antennas 104C and 104D based on the phase difference (φ _C −φ _D ) of the signals input from the heterodyne conversion units 143C and 143D. , and it outputs the information indicating the vertical angle theta _V, the vehicle detection device 106. The vertical phase processor 142, according to equation (2) below, to calculate the vertical angle theta _V.

θ _H = sin ⁻¹ {(φ _A −φ _B ) λ / (2π · d1)} Expression (1)
θ _V = sin ⁻¹ {(φ _C −φ _D ) λ / (2π · d2)} Expression (2)
Note that (φ _A −φ _B ) is a phase difference due to a difference between the incident timing of the radio wave to the AOA antenna element 104A and the incident timing of the radio wave to the AOA antenna element 104B, and (φ _C −φ _D ) is This is a phase difference due to a difference between the incident timing of the radio wave to the AOA antenna element 104C and the incident timing of the radio wave to the AOA antenna element 104D. Note that λ is the wavelength of the radio wave from the vehicle-mounted device.

Here, the principle by which the horizontal angle θ _H and the vertical angle θ _V are obtained by the equations (1) and (2) will be briefly described.
As shown in FIG. 8, for example, AOA antenna elements 104C, When the depression angle of 104D [psi _v, horizontal angle originating radio wave from the vehicle-mounted device 301 to AOA antenna 104 of the vehicle 201 arrives AOA antenna elements 104C, the 104D θ _v can be obtained as follows.

That is, as shown in FIG. 8, AOA antenna elements 104C, since 104D are inclined at depression angle [psi _v, than the distance _{L C} from the vehicle-mounted device 301 to the AOA antenna elements 104C, AOA antenna element 104D from the vehicle-mounted device 301 It is more of a distance L _D of up to is longer. For this reason, the timing for receiving radio waves is shifted between the AOA antenna element 104C and the AOA antenna element 104D, and a phase difference occurs between the radio waves received by both. The phase difference a (φ _C -φ _D), The distance and the wavelength of the radio wave and lambda, and the distance _{L C} from the vehicle-mounted device 301 to the AOA antenna elements 104C, from the vehicle-mounted device 301 to the AOA antenna element 104D L The difference η2 from _D is expressed by the equation (3).

η2 = (φ _C −φ _D ) λ / (2π) (3)

Therefore, when the element interval between the AOA antenna element 104C and the AOA antenna element 104D is d2, Expression (4) is obtained from the geometrical relationship in FIG. 7, and Expression (5) is obtained from Expression (4). It is done. Therefore, from this equation (5), the radio wave arrival angle angle θ _v can be expressed as equation (2). Incidentally, as shown in FIG. 8, AOA antenna elements 104C, radio wave arrives parallel to 104D, AOA antenna elements 104C, radio wave arrival angle to 104D assumes all at the same theta _v.

sin θ _v = η2 / d2 = (φ _C −φ _D ) λ / (2π) / d2 (4)
(Φ _C −φ _D ) = (2π · d 2 · sin θ _v ) / λ (5)

Similarly, a traveling direction and a straight line parallel to the traveling lane 101, if there is no vehicle-mounted device 301 on a straight line intersecting the center point of the AOA antenna 104, and the distance _{L A} from the vehicle-mounted device 301 to the AOA antenna element 104A , the distance _{L B} from the vehicle-mounted device 301 to the AOA antenna element 104B is different. For this reason, the AOA antenna element 104A and the AOA antenna element 104B have different timings for receiving radio waves, resulting in a phase difference between the radio waves received by both. The phase difference a (φ _A -φ _B), also, the distance and the wavelength of the radio wave and lambda, and the distance _{L A} from the vehicle-mounted device 301 to the AOA antenna element 104A, the vehicle-mounted device 301 to the AOA antenna elements 104B L The difference η1 from _B is expressed by the equation (6).

η1 = (φ _A −φ _B ) λ / (2π) (6)

Therefore, when the element interval between the AOA antenna element 104A and the AOA antenna element 104B is d1, Expression (7) is obtained from the geometrical relationship in FIG. 8, and Expression (8) is obtained from Expression (7). It is done. Therefore, from this equation (8), the radio wave arrival angle angle θ _H can be expressed as equation (1). Note that radio waves arrive in parallel AOA antenna elements 104A, relative to 104B, AOA antenna element 104A, the radio wave arrival angle to 104B is assumed to both the same theta _H.

sin θ _H = η1 / d1 = (φ _A −φ _B ) λ / (2π) / d1 (7)
(Φ _A −φ _B ) = (2π · d1 · sin θ _H ) / λ (8)

Next, an example of the movement route of the estimated transmission position of the vehicle-mounted device 301 mounted on the vehicle 201 traveling on the corresponding travel lane 101 will be described with reference to FIG. As shown in FIG. 9, the estimated outgoing position P ₁ of the vehicle-mounted device 301 is present in a communication area. In this case, the travel lane determination unit 164 determines whether or not the travel direction calculated by the travel direction detection unit 163 is along the traveling direction of the corresponding target travel lane. As shown in the figure, it is assumed that an angle from + α to −α is determined as a threshold (angle) corresponding to the direction vector with reference to the traveling direction of the corresponding travel lane 101. In this case, the traveling lane determination unit 164 is configured to estimate the direction vector from the estimated transmission position P ₁ to P ₂ based on the moving direction indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ ,. It is determined whether or not the direction vectors from the transmission position P ₂ to P ₃ are within the threshold (angle) range. In addition, the traveling lane determination unit 164 determines whether the average of the direction vectors indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ of the vehicle-mounted device 301 is within a threshold (angle) range. May be determined. In the illustrated example, the direction vector from the estimated transmission position P ₁ to P ₂ , the direction vector from the estimated transmission position P ₂ to P ₃ , etc. are all within the threshold (angle) range, and the vehicle-mounted device The traveling lane determination unit 164 determines that the average of the direction vectors indicated by the 301 estimated transmission positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ is within a threshold (angle) range. Also good.
Therefore, the traveling lane determination unit 164 determines that the moving direction indicated by the estimated transmission positions P ₁ , P ₂ , P ₃ ,... Of the vehicle-mounted device 301 is a direction along the traveling direction. For this reason, the travel lane determination unit 164 determines that the vehicle 201 (the vehicle-mounted device 301) is traveling in the travel lane 101, and the lane control device 108 establishes communication with the vehicle-mounted device 301.

Next, with reference to FIG. 10, an example of the movement route of the estimated transmission position of the vehicle-mounted device 302 mounted on the vehicle 202 that travels in the travel lane 102 other than the target travel lane including the communication area of the roadside antenna 105 will be described. . As shown in FIG. 10, the vehicle 202 is a vehicle 201 that travels in the communication area of the travel lane 101 when radio waves transmitted while traveling at a point R ₁₀₁ on the travel lane 102 are reflected, for example, on the ceiling. Further, it is assumed that the light is further reflected and enters the AOA antenna 104 attached to the traveling lane 101. In this case, the position calculation unit 161 detects the position where the vehicle 201 reflects radio waves (that is, the position where the vehicle 201 is traveling) as the estimated transmission position P ₁₀₁ of the vehicle-mounted device 302.
In this case, the position determination unit 162 outputs a determination result that the estimated transmission position P ₁₀₁ of the vehicle-mounted device 302 is within the communication area to the travel lane determination unit 164.

The radio wave which originated when running the point R ₁₀₂ on the driving lane 102, for example, reflected on the ceiling, further reflected by the vehicle 201 traveling on the communication area of the traveling lane 101, the driving lane 101 Assume that the light enters the attached AOA antenna 104. In this case, the position calculation unit 161, a position where the vehicle 201 is reflected radio waves (that is, the position where the vehicle 201 is traveling), and to detect as the estimated transmission source location _{P 102} of the vehicle-mounted device 302. Thereafter, it is assumed that the radio wave transmitted from the vehicle-mounted device 302 does not enter the AOA antenna 104 without reflecting the ceiling. Then, it is assumed that the vehicle-mounted device 302 has moved positions R ₁₀₃ , R ₁₀₄ , and R ₁₀₅ on the travel lane 102.
In this case, the travel lane determination unit 164 determines whether the travel direction calculated by the travel direction detection unit 163 is along the traveling direction of the corresponding travel lane. In the illustrated example, the direction vector from the estimated transmission position P ₁₀₁ of the vehicle-mounted device 302 toward P ₁₀₂ exceeds the range of angles from + α to −α with reference to the traveling direction of the corresponding traveling lane 101.
Therefore, the traveling lane determination unit 164 determines that the moving direction indicated by the estimated transmission positions P ₁₀₁ and P ₁₀₂ of the vehicle-mounted device 302 is not the direction along the traveling direction. For this reason, the travel lane determination unit 164 determines that the vehicle 202 (the vehicle-mounted device 302) is not traveling in the travel lane 101, and the lane control device 108 stops communication with the vehicle-mounted device 302.

As described above, the vehicle detection device 106 according to the present embodiment determines that the moving direction indicated by the estimated transmission positions P ₁₀₁ and P ₁₀₂ as illustrated in FIG. 10 does not follow the traveling direction, and the vehicle 202 (the vehicle-mounted device 302 ) Is not traveling on the traveling lane 101. Thus, since the estimated transmission positions P ₁₀₁ and P ₁₀₂ are within the range of the communication area, the vehicle detection device 106 can detect a vehicle that may be traveling in the target travel lane 101. However, the vehicle detection device 106 according to the present embodiment determines that the moving direction indicated by the estimated transmission positions P ₁₀₁ and P ₁₀₂ is not along the traveling direction, and the vehicle 202 (the vehicle-mounted device 302) travels in the travel lane 101. By determining that the vehicle is not traveling, detection of a vehicle that is not traveling on the traveling lane 101 can be suppressed.
Note that the vehicle detection device 106 according to the present embodiment detects the moving direction based on at least three estimated transmission positions P _{1 to} P ₅ . Thereby, the detection accuracy of the detected moving direction can be improved.
Further, the travel lane determination unit 164 of the vehicle detection device 106 according to the present embodiment responds when the movement direction detection unit 163 cannot detect the movement direction based on at least three or more estimated transmission positions P _{1 to} P _5. It may be determined that the vehicle is not traveling in the target traveling lane.

Moreover, the vehicle detection apparatus 106 which concerns on this embodiment does not perform the determination whether it is drive | working the driving | running | working lane 101 based on a moving direction, when an estimated transmission position is not contained in a communication area. As a result, it is not necessary to execute the moving direction determination process for a vehicle that is unlikely to travel in the target travel lane 101, and thus the processing load is reduced.
Furthermore, when the estimated transmission position is included in the communication area, the vehicle detection device 106 according to this embodiment determines whether or not the vehicle is traveling on the travel lane 101 based on the moving direction. As a result, it is determined whether vehicles that are likely to travel in the target travel lane 101 include vehicles that are not likely to travel in the travel lane 101. It is possible to prevent detection of a vehicle that is not likely to travel on the road.

Moreover, the vehicle detection apparatus 106 according to the present embodiment permits establishment of communication only for the vehicle-mounted device that is determined to be traveling in the travel lane 101. That is, even if it is erroneously determined that the vehicle is within the communication range due to the influence of reflection or the like, it is determined that the vehicle is not traveling on the driving lane 101 by the moving direction determination. Therefore, establishment of communication with the vehicle-mounted device that is not traveling in the traveling lane 101 is prevented, and a situation where the billing process is erroneously performed can be avoided.
Further, the vehicle detection device 106 according to the present embodiment may be configured not to include the position determination unit 162 illustrated in FIG.
Furthermore, the vehicle detection device 106 according to the present embodiment may be configured to include at least the position calculation unit 161 and the movement direction detection unit 163. With this configuration, the vehicle detection device 106 can detect the moving direction of the vehicle traveling on the travel lane.

In toll roads and the like, a plurality of traveling lanes are often provided side by side. In addition, there may be a case where a sufficient space between the traveling lanes cannot be secured in some places, or a sufficient space between the upstream traveling lane and the downstream traveling lane cannot be secured. Furthermore, there are places where the vicinity of the exit of the toll road is very narrow and the width of the traveling lane, that is, the width of the communication area is narrow. In such a place, there are many cases where a sufficient space for installing the radio wave absorption panel cannot be secured. Therefore, the present invention is particularly effective in an environment where the vehicle detection device according to the present invention is used.
Moreover, although the said embodiment demonstrated the example in which the vehicle detection apparatus 106 was installed in a toll booth, this invention is not limited to this. For example, the present invention can be applied to a traveling lane in which a communication area is set on a normal traveling lane. The driving lane is not limited to a toll road.

  A program for realizing the function of the processing unit in the present invention is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed to perform the process. Also good. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer system” includes a WWW system having a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 101 Travel lane 102 Travel lane 103 Travel lane 104 AOA antenna 105 Roadside antenna 106 Vehicle detection apparatus 107 Relay apparatus 108 Lane control apparatus 109 Central processing unit 110 Gantry 104A AOA antenna element 104B AOA antenna element 104C AOA antenna element 104D AOA antenna element 141 Horizontal Phase processing unit 142 Vertical phase processing unit 143A Heterodyne conversion unit 143B Heterodyne conversion unit 143C Heterodyne conversion unit 143D Heterodyne conversion unit 144 Local oscillator 145 Local oscillator 160 Linkage unit 161 Position calculation unit 162 Position determination unit 163 Traveling direction detection unit 164 Determination unit 165 Communication control unit 166 Storage unit 201 Vehicle 202 Vehicle 203 Vehicle 301 On-vehicle device 302 On-vehicle device 3 3 vehicle-mounted device

Claims (9)

A vehicle that travels in the target travel lane is detected from the plurality of travel lanes based on radio waves that are provided in correspondence with the target travel lane among a plurality of travel lanes and are transmitted from an onboard device mounted on the vehicle. A vehicle detection device for
Based on the arrival direction of the radio wave detected by the direction detection unit that detects the arrival direction of the radio wave received from the vehicle-mounted device, the radio wave detected by the direction detection unit is transmitted from the target travel lane, A position calculation unit for obtaining an estimated transmission position on the target travel lane;
Based on the plurality of estimated transmission positions obtained by the position calculation unit, a movement direction detection unit that detects a movement direction of the estimated transmission position;
And a travel lane determination unit that determines whether a vehicle that has transmitted a radio wave is a vehicle that travels in the target travel lane based on the travel direction detected by the travel direction detection unit. Vehicle detection device. The travel lane determination unit
The travel direction detected by the travel direction detection unit is determined to be traveling in the target travel lane when the travel direction is a direction along the traveling direction in the target travel lane. The vehicle detection device described in 1. The vehicle detection device is
Provided corresponding to any one of the plurality of travel lanes, the target travel lane,
A position determination unit that determines whether the position obtained by the position calculation unit is within a predetermined range on the target travel lane;
The moving direction detector is
The vehicle detection device according to claim 1, wherein a moving direction of the estimated transmission position is detected based on the estimated transmission position determined to be within a range determined by the position determination unit. . The vehicle detection device includes:
The communication control part which restrict | limits communication with the said onboard equipment mounted in the said vehicle determined not to drive | work the said target driving | running lane by the said driving | running | working lane determination part is further provided. The vehicle detection apparatus as described in any one of these. The moving direction detector is
5. The moving direction of the estimated transmission position is detected based on at least three or more positions among the plurality of estimated transmission positions obtained by the position calculation unit. 6. The vehicle detection device according to one item. A vehicle that travels in the target travel lane is detected from the plurality of travel lanes based on radio waves that are provided in correspondence with the target travel lane among a plurality of travel lanes and are transmitted from an onboard device mounted on the vehicle. A vehicle detection device for
Based on the arrival direction of the radio wave detected by the direction detection unit that detects the arrival direction of the radio wave received from the vehicle-mounted device, the radio wave detected by the direction detection unit is transmitted from the target travel lane, A position calculation unit for obtaining an estimated transmission position on the target travel lane;
A vehicle detection apparatus comprising: a movement direction detection unit that detects a movement direction of the estimated transmission position based on the plurality of estimated transmission positions obtained by the position calculation unit. The vehicle detection device according to any one of claims 1 to 5,
Predetermined information processing is performed based on information included in radio waves transmitted from the vehicle-mounted device that is communicably connected to the vehicle detection device and is determined to be traveling in the target travel lane by the travel lane determination unit. A lane control device to perform,
A lane control system comprising: A vehicle detection method for detecting a vehicle traveling in a target traveling lane from a plurality of traveling lanes based on radio waves transmitted from an in-vehicle device mounted on the vehicle,
Based on the direction of arrival of radio waves received from the vehicle-mounted device, the position calculation step for obtaining an estimated transmission position on the target travel lane, assuming that the radio waves are transmitted from the target travel lane,
A moving direction detecting step for detecting a moving direction of the estimated transmission position based on the plurality of estimated transmission positions obtained by the position calculating step;
A travel lane determination step for determining whether or not a vehicle that has transmitted a radio wave is a vehicle that travels in the target travel lane based on the travel direction detected by the travel direction detection step. Vehicle detection method. A computer that operates a vehicle detection device that detects a vehicle traveling in a target traveling lane among a plurality of traveling lanes based on radio waves transmitted from an in-vehicle device mounted on the vehicle,
Based on the arrival direction of the radio wave detected by the direction detection unit that detects the arrival direction of the radio wave received from the vehicle-mounted device, the radio wave detected by the direction detection unit is transmitted from the target travel lane, Position calculating means for obtaining an estimated transmission position on the target travel lane;
A moving direction detecting means for detecting a moving direction of the estimated transmitting position based on the plurality of estimated transmitting positions obtained by the position calculating means;
Based on the moving direction detected by the moving direction detecting means, the vehicle is caused to function as a traveling lane determining means for determining whether or not a vehicle that has transmitted a radio wave is a vehicle traveling in the target traveling lane. program.

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