JP2022092781A - Vehicle detection device, electronic toll collection system, and vehicle detection method - Google Patents

Abstract

To determine a foreign matter except by means of a first vehicle detection device even when two vehicles enter a vehicle lane of an electronic toll collection system.SOLUTION: A vehicle detection device 100 includes a light projecting part 110, a light receiving part 120, and an object detection part 130. The light projecting part 110 is installed on one side of a road and includes a plurality of light projecting elements. The light receiving part 120 is installed on the other side of the road and includes a plurality of light receiving elements respectively facing the plurality of light projecting elements in a one-to-one manner. The plurality of light projecting elements include a plurality of light projecting elements projecting oblique beams by targeting light receiving elements other than the facing light receiving elements as a plurality of oblique light projecting elements. The object detection part 130 detects whether or not an object exists between the light projecting part 110 and the light receiving part 120 based on whether or not the light receiving elements targeted by at least any of the plurality of oblique light projecting elements receive the oblique beams.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a vehicle detector, an electronic toll collection system, and a vehicle detection method.

The vehicle detectors used in the ETC (Electronic Toll Collection, registered trademark) system are located on both sides of the ETC (registered trademark) lane and consist of a light emitting section and a light receiving section. Further, in general, a plurality of elements are vertically arranged in a light emitting unit and a light receiving unit, the light emitting unit has an LED (Light Emitting Diode) element, and the light receiving unit receives infrared rays emitted from the LED. It has a light receiving element.

Japanese Unexamined Patent Publication No. 2017-187897

Patent Document 1 determines whether or not a foreign object is attached to the vehicle detector from the state transition of communication between the two vehicle detectors of the first vehicle detector and the second vehicle detector and the antenna. Discloses the technology to be used. However, according to the present technology, when two vehicles enter the ETC (registered trademark) lane, there is a problem that the foreign matter cannot be determined by other than the first vehicle detector.
There is also a method of determining foreign matter or failure when the light-shielding state of a specific element continues for a long time. However, when the method is used in the ETC (registered trademark) system, the ETC (registered trademark) system does not function because it takes time to determine a foreign substance or a failure.

An object of the present disclosure is to determine foreign matter by means other than the first vehicle detector when two vehicles enter the vehicle lane of the electronic toll collection system.

The vehicle detector according to this disclosure is
A plurality of light projectors installed on one side of the road and having a plurality of light projecting elements and a plurality of light projecting units installed on the other side of the road and facing each of the plurality of light projecting elements on a one-to-one basis. A light receiving part having a light receiving element and a light receiving part
Equipped with
The plurality of light projecting elements include, as a plurality of diagonal light projecting elements, a plurality of light projecting elements that project an oblique beam toward a light receiving element other than the opposing light receiving elements.
The vehicle detector further
Whether or not an object exists between the light emitting unit and the light receiving unit based on whether or not the light receiving element targeted by at least one of the plurality of oblique light emitting elements receives the oblique beam. It is equipped with an object detection unit that detects light.

When the vehicle lane of the electronic toll collection system is equipped with a plurality of vehicle detectors, and each vehicle detector is the vehicle detector according to the present disclosure, each vehicle detector determines a foreign object by using an oblique beam. can do. Therefore, according to the present disclosure, when two vehicles enter the vehicle lane of the electronic toll collection system, the foreign matter can be determined by a device other than the first vehicle detector.

A configuration example of the electronic toll collection system 90 according to the first embodiment. A configuration example of the vehicle detector 100 according to the first embodiment. A hardware configuration example of the vehicle detector 100 according to the first embodiment. The flowchart which shows the operation of the vehicle detector 100 which concerns on Embodiment 1. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a state of an opposed beam projection, (b) is a table which shows the light receiving result. The figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1. FIG. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a state of an oblique beam projection, (b) is a table which shows the light receiving pattern. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a state of oblique beam projection, (b) is a calculation formula. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. The figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1. FIG. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. The figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1. FIG. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. The figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1. FIG. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. It is a figure explaining the process of the vehicle detector 100 which concerns on Embodiment 1, (a) is a table which shows execution conditions, (b) is a state of an oblique beam projection, (c) is a table which shows a light receiving pattern. .. A hardware configuration example of the computer 10 according to the modified example of the first embodiment.

In the description and drawings of the embodiments, the same elements and corresponding elements are designated by the same reference numerals. The description of the elements with the same reference numerals will be omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or the flow of processing. Further, "part" may be appropriately read as "circuit", "process", "procedure", "processing" or "circuit Lee".

Embodiment 1.
Hereinafter, the present embodiment will be described in detail with reference to the drawings.

*** Explanation of configuration ***
FIG. 1 shows a configuration example of the electronic toll collection system 90 according to the present embodiment. In the electronic toll collection system 90, one light emitting unit 110 and one light receiving unit 120 are paired, the light emitting unit 110 is installed on one side of the road 91, and the light receiving unit 120 is the road 91. It is installed on the other side of the. The electronic toll collection system 90 is also called an ETC (Electronic Toll Collection, registered trademark) system. The light projecting unit 110 and the light receiving unit 120 may be installed on either side of the road 91. Further, the number of each of the light projecting unit 110 and the light receiving unit 120 may be any number. Road 91 is also called a vehicle lane.

FIG. 2 schematically shows a configuration example of the vehicle detector 100 according to the present embodiment. Hereinafter, unless otherwise specified, a pair of light emitting unit 110 and light receiving unit 120 will be described. The electronic toll collection system 90 includes a vehicle detector 100. As shown in this figure, the vehicle detector 100 includes a light emitting unit 110, a light receiving unit 120, an object detecting unit 130, and a light emitting control unit 140. The light emitting unit 110 and the light receiving unit 120 are connected to the computer 10 so as to be able to communicate with the computer 10.
Further, there is a road 91 and a traveling area 92 between the light emitting unit 110 and the light receiving unit 120. The traveling area 92 is an area including a road 91 and a space above the road 91, and is an area through which a vehicle can pass in a normal case.

The light projecting unit 110 has a plurality of light projecting elements. As a specific example, the light projecting element is an LED (Light Emitting Diode) that emits infrared rays. The plurality of light projecting elements include a light projecting element that projects an opposed beam as an opposed light projecting element, and includes a plurality of light projecting elements that project an oblique beam as a plurality of diagonal light projecting elements. The opposed beam is a beam that targets an opposing light receiving element. The oblique beam is a beam that targets a light receiving element other than the opposing light receiving element. The opposed light projecting element and the diagonal light projecting element may be the same light projecting element. Each light projecting element may simultaneously project an opposed beam and an oblique beam, or may simultaneously project a plurality of oblique beams. The heights of the positions where the plurality of light projecting elements of the light projecting unit 110 are installed may be different from each other.

The light receiving unit 120 has a plurality of light receiving elements. Each of the plurality of light receiving elements faces each of the plurality of light emitting elements of the light projecting unit 110 on a one-to-one basis. As a specific example, the light receiving element is an element that receives infrared rays. The heights of the positions where the plurality of light receiving elements included in the light receiving unit 120 are installed may be different from each other.

The object detection unit 130 determines whether or not a foreign substance exists between the light emitting unit 110 and the light receiving unit 120 based on the light emitting condition of the beam of the light emitting unit 110 and the light receiving condition of the beam of the light receiving unit 120. judge. Beam is also a general term for an opposed beam and an oblique beam. The object detection unit 130 detects whether or not an object exists between the light emitting unit 110 and the light receiving unit 120 based on whether or not the light receiving element corresponding to the opposed light emitting element receives the opposite beam. Whether or not an object exists between the light emitting unit 110 and the light receiving unit 120 based on whether or not the light receiving element targeted by at least one of the plurality of oblique light emitting elements receives the oblique beam. Detect. In the object detection unit 130, when an object exists as a target object between the light emitting unit 110 and the light receiving unit 120, the light receiving element targeted by at least one of the plurality of oblique light emitting elements emits an oblique beam. The position where the target object exists may be detected based on whether or not the light is received. In this case, the object detection unit 130 detects the position of the upper end or the lower end of the target object based on whether or not the light receiving element targeted by at least one of the plurality of oblique light emitting elements receives the oblique beam. You may. When the object 93 is detected outside the traveling region 92, the object detection unit 130 determines that the object 93 is a foreign substance.

The light projecting control unit 140 controls the beam projected by the light projecting unit 110.

FIG. 3 shows a hardware configuration example of the computer 10 according to the present embodiment. The object detection unit 130 and the light projection control unit 140 are composed of a computer 10. The object detection unit 130 and the light projection control unit 140 may be composed of a plurality of computers 10.

As shown in this figure, the computer 10 is a computer including hardware such as a processor 11, a memory 12, an auxiliary storage device 13, an input / output IF (Interface) 14, and a communication device 15. These hardware are connected to each other via a signal line 19.

The processor 11 is an IC (Integrated Circuit) that performs arithmetic processing, and controls the hardware included in the computer 10. As a specific example, the processor 11 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).
The computer 10 may include a plurality of processors that replace the processor 11. The plurality of processors share the role of the processor 11.

The memory 12 is typically a volatile storage device. The memory 12 is also referred to as a main storage device or a main memory. As a specific example, the memory 12 is a RAM (Random Access Memory). The data stored in the memory 12 is stored in the auxiliary storage device 13 as needed.

The auxiliary storage device 13 is typically a non-volatile storage device. As a specific example, the auxiliary storage device 13 is a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 13 is loaded into the memory 12 as needed.
The memory 12 and the auxiliary storage device 13 may be integrally configured.

The input / output IF 14 is a port to which an input device and an output device are connected. The input / output IF 14 is, as a specific example, a USB (Universal Serial Bus) terminal. The input device is, as a specific example, a keyboard and a mouse. The output device is, as a specific example, a display.

The communication device 15 is a receiver and a transmitter. As a specific example, the communication device 15 is a communication chip or a NIC (Network Interface Card). The computer 10 communicates with the light emitting unit 110 and the light receiving unit 120 by wire or wirelessly.

The object detection unit 130 may appropriately use the communication device 15 when communicating with another device or the like. Each part of the vehicle detector 100 may receive data via the input / output IF 14 or may receive data via the communication device 15.

The auxiliary storage device 13 stores the vehicle detection program. The vehicle detection program is a program that realizes the function of the object detection unit 130 on the computer 10. The vehicle detection program is loaded into the memory 12 and executed by the processor 11. The function of the object detection unit 130 is realized by software.

The data used when executing the vehicle detection program, the data obtained by executing the vehicle detection program, and the like are appropriately stored in the storage device. Each part of the vehicle detector 100 uses a storage device as appropriate. As a specific example, the storage device includes at least one of a memory 12, an auxiliary storage device 13, a register in the processor 11, and a cache memory in the processor 11. The storage device may be independent of the computer 10.
The functions of the memory 12 and the auxiliary storage device 13 may be realized by other storage devices.

The vehicle detection program may be recorded on a computer-readable non-volatile recording medium. The non-volatile recording medium is, for example, an optical disk or a flash memory. The vehicle detection program may be provided as a program product.

*** Explanation of operation ***
The operation procedure of the vehicle detector 100 corresponds to the vehicle detection method. Further, the program that realizes the operation of the vehicle detector 100 corresponds to the vehicle detection program.

FIG. 4 is a flowchart showing an example of the operation of the vehicle detector 100. The operation of the vehicle detector 100 will be described with reference to this figure.

(Step S101: Opposed beam projection processing)
Each light emitting element projects an opposed beam to each light receiving element.

(Step S102: Object existence determination process)
The object detection unit 130 determines whether or not the object 93 exists between the light emitting unit 110 and the light receiving unit 120 based on whether or not each light receiving element receives the opposite beam. The size of the object 93 is sufficiently large enough to be detected in this process.
If the object 93 is present, the vehicle detector 100 proceeds to step S103. Otherwise, the vehicle detector 100 returns to step S101.

(Step S103: Diagonal beam projection processing)
At least a part of the light projecting elements included in the light projecting unit 110 projects an oblique beam toward a light receiving element other than the facing light receiving element.

(Step S104: Object position detection process)
The object detection unit 130 detects the position where the object 93 exists based on whether or not each light receiving element targeted by the light projecting element receives the oblique beam.

The vehicle detector 100 repeats the processes of steps S103 and S104 until it is determined whether the object 93 exists in the traveling region 92 or the object 93 exists outside the traveling region 92. The vehicle detector 100 narrows down the position where the object 93 exists by gradually expanding the range of light projection and light reception.

FIG. 5 shows a specific example of the opposed beam projection process. In this example, it is assumed that the plurality of light emitting elements and the plurality of light receiving elements are arranged at equal intervals, and D indicates the width between the adjacent light emitting elements and the adjacent light receiving elements. .. L indicates the width from the light emitting unit 110 to the light receiving unit 120. CH1 to CH7 indicate each light projecting element or each light receiving element. CH is an abbreviation for channel.
(A) of this figure schematically shows a specific example of how each light projecting element projects an opposed beam. In this example, the light projecting elements corresponding to CH1 to CH7 each project the opposite beam. The light receiving element corresponding to each of CH 3 to CH 5 does not receive the opposed beam because the opposed beam is blocked by the object 93 existing between the light projecting unit 110 and the light receiving unit 120. Here, it is assumed that the specific position where the object 93 exists is unknown. “X” in this figure indicates that the oncoming beam was blocked by the object 93. Other light receiving elements receive the opposite beam.
(B) in this figure shows the result of each light receiving element receiving the opposite beam in a tabular form. The "light projecting element" column refers to a light projecting element that projects an opposed beam. The "light receiving element" column refers to a light receiving element that has received an opposed beam. The "light receiving result" column indicates whether or not the light receiving element described in the same row receives the beam projected by the light emitting element described in the same row. In the "light receiving result" column, "◯" indicates that the light receiving element received the beam from the light projecting element, and "x" indicates that the light receiving element did not receive the beam from the light projecting element. Hereinafter, "○" and "×" in the table have the same meaning.

FIG. 6 is a diagram illustrating the case shown in FIG. In the vehicle detector 100, it can be seen that the object 93 exists because the light receiving element does not receive the opposite beam, but the object 93 exists between the light emitting unit 110 and the light receiving unit 120 depending on only the opposed beam. I don't know if it will be done. As a specific example, the object 93 exists at at least one of the positions of the object 93-1, the object 93-2, and the object 93-3.

Hereinafter, the oblique beam projection process will be described with reference to specific examples. It should be noted that the following description is merely a description of the basic part of the diagonal beam projection process, and does not cover the diagonal beam projection process. Further, unless otherwise specified, the object 93 shall be thin.

FIG. 7 shows a specific example of the operation in which the vehicle detector 100 estimates the position of the object 93 by using the light projecting element and the light receiving element corresponding to CH 5 and CH 6. This figure shows the processing performed following the processing shown in FIG.
(A) of this figure schematically shows how each light emitting element projects an oblique beam toward each light receiving element. It should be noted that each oblique beam does not always reach the light receiving element even if it is drawn as if it reached the light receiving element. Beam B [number 1]-[number 2] refers to a straight line connecting the light emitting element corresponding to the number 1 and the light receiving element corresponding to the number 2, and corresponds to the beam from the light emitting element to the light receiving element. do. As a specific example, the beam B5-6 is a line connecting a light emitting element corresponding to CH5 and a light receiving element corresponding to CH6. The straight line L5 is a straight line connecting the light emitting element corresponding to CH 5 and the light receiving element, and corresponds to the beam from the light emitting element corresponding to CH 5 to the light receiving element corresponding to CH 5. The straight line L6 is the same as the straight line L5. The region R1-1 is a region surrounded by the straight line L5, the beam B5-6, and the beam B6-5. The region R1-2 is a region surrounded by the beam B5-6, the beam B6-5, and the light receiving unit 120. The region R1-3 is a region surrounded by the beam B5-6, the beam B6-5, and the light projecting unit 110. The region R1-4 is a region surrounded by the straight line L6, the beam B5-6, and the beam B6-5. It is assumed that any region from the region R1-1 to the region R1-4 includes the region inside the traveling region 92 and the region outside the traveling region 92. Therefore, regardless of whether the object detection unit 130 detects the object 93 in any of the regions R1-1 to R1-4, the object 93 exists in the traveling region 92 or the object 93 exists outside the traveling region 92. Cannot be determined.
(B) of this figure shows the light receiving pattern corresponding to (a) of this figure in tabular form. The light receiving pattern is a type in which the light receiving element receives the beam projected by the light emitting element, and is determined according to the position of the upper end of the object 93. In the "light emitting element-> light receiving element" column, the left side of the arrow indicates the light emitting element, and the right side of the arrow indicates the light receiving element targeted by the light emitting element shown on the left side of the arrow. That is, "CH5 → CH6" indicates that the light projecting element corresponding to CH5 casts an oblique beam toward the light receiving element corresponding to CH6. The "light receiving pattern name" column indicates the name of each light receiving pattern. The "object position" column indicates a position estimated by the object detection unit 130 when each light receiving pattern is observed, and indicates a position where the upper end of the object 93 exists.
When the object 93 has a sufficient thickness, the vehicle detector 100 may observe the pattern 1-4 even when the object 93 does not exist in the region R1-4.

FIG. 8 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-1. The vehicle detector 100 additionally uses a light emitting element and a light receiving element corresponding to CH4 to estimate the position of the object 93. This figure shows a process performed following the process shown in FIG. 7.
(A) of this figure shows the condition that the vehicle detector 100 executes the process shown in this figure.
(B) of this figure schematically shows how each light emitting element projects an oblique beam to each light receiving element.
(C) of this figure shows a light receiving pattern corresponding to (b) of this figure. The region R2-1 is a region surrounded by the beam B6-5, the beam B4-6, and the straight line L5. The region R2-2 is a region surrounded by the beam B5-6, the beam B6-4, and the straight line L5. The region R2-3 is a region surrounded by the beam B5-6, the beam B6-5, the beam 4-6, and the beam 6-4. It is assumed that the object detection unit 130 determines that all of the regions R2-3 are regions within the traveling region 92.
In the case where both "CH4 → CH6" and "CH6 → CH4" are "○", the upper end of the object 93 exists at the intermediate point between the light emitting unit 110 and the light receiving unit 120 and on the straight line L5. It may be observed when doing so.

FIG. 9 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes patterns 1-1 and 2-1. The vehicle detector 100 additionally uses a light projecting element corresponding to CH3 to estimate the position of the object 93. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The region R3-1 is a region surrounded by the beam B6-5, the beam B3-6, and the straight line L5. The region R3-2 is a region surrounded by the beam B6-5, the beam B4-6, the beam B3-6, and the straight line L5. It is assumed that the object detection unit 130 determines that all of the area R3-2 is the area within the traveling area 92.

FIG. 10 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-1, the pattern 2-1 and the pattern 3-1. The vehicle detector 100 additionally uses a light projecting element corresponding to CH2 to estimate the position of the object 93. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The region R4-1 is a region surrounded by the beam B6-5, the beam B2-6, and the straight line L5. The region R4-2 is a region surrounded by the beam B6-5, the beam B3-6, the beam B2-6, and the straight line L5.

FIG. 11 is a diagram illustrating how the vehicle detector 100 narrows down the range in which the object 93 exists in the above-mentioned processing by using a specific example. The vehicle detector 100 can gradually narrow down the range in which the object 93 exists by gradually increasing the number of light projecting elements used.
(A) of this figure schematically shows how each light projecting element projects an oblique beam onto a light receiving element corresponding to CH6.
(B) of this figure shows a calculation formula used when the vehicle detector 100 narrows down the position where the upper end of the object 93 exists. In this example, these calculation formulas indicate the positions where the straight line L5 and each beam intersect (hereinafter referred to as the narrowing position). Here, N indicates the total number of light emitting elements used by the vehicle detector 100, and is an absolute value of the difference between the channel number of the light receiving element and the channel number of each light emitting element. In this example, the vehicle detector 100 increases the number of light projecting elements used in order from CH5. Therefore, when the vehicle detector 100 uses light emitting elements corresponding to CH5 to CH3, the value of N is 3. L is a constant indicating the length between the light emitting unit 110 and the light receiving unit 120. X indicates the length from the light projecting unit 110 to the narrowing down position. G indicates the length from the light receiving portion 120 to the narrowing down position. The sum of the value of G and the value of X is L. Assuming that L is 4000 mm, when the value of N is 5, the value of X is 3200 mm and the value of G is 800 mm. Further, when the value of N is 4, the value of X is 3000 mm and the value of G is 1000 mm. As a specific example, the straight line L5 and the beam B2-6 intersect at a point 3000 mm from the light projecting portion 110. That is, when the pattern 1-1, the pattern 2-1 and the pattern 3-1 and the pattern 4-1 are observed, the object 93 exists at a point on the right side of the point 3000 mm from the light projecting unit 110. Here, the side where the light projecting unit 110 is installed is the left side, and the side where the light receiving unit 120 is installed is the right side.

FIG. 12 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-1 and the pattern 2-2. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The region R5-1 is a region surrounded by the straight line L5, the beam B5-6, and the beam B6-3. The region R5-2 is a region surrounded by the straight line L5, the beam B5-6, the beam B6-4, and the beam B6-3. It is assumed that the object detection unit 130 determines that the entire region R5-2 is a region within the traveling region 92.

FIG. 13 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-1, the pattern 2-2, and the pattern 5-1. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The region R6-1 is a region surrounded by the straight line L5, the beam B5-6, and the beam B6-2. The region R6-2 is a region surrounded by the straight line L5, the beam B5-6, the beam B6-3, and the beam B6-2.

FIG. 14 is a diagram illustrating a specific example of the processing performed by the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-2. This figure shows a process performed following the process shown in FIG. 7. The view of this figure is the same as the view of FIG.
Beam B7-5 and beam B4-6 intersect at intersection I1. The intersection I1 is located at a point (3/4) × L from the light projecting unit 110. Therefore, as a specific example, when the patterns 1-2 and the patterns 10-3 are observed, the upper end of the object 93 exists in the region of the left three-quarters. X1 indicates the distance from the light _emitting unit 110 to the intersection I1, and G1 indicates the distance from the light receiving unit ₁₂₀ to the intersection I1. When the horizontal direction is represented by the variable X and the vertical direction is represented by the variable Y with respect to the straight line L5, the beam B4-6 can be expressed as Y = (2D / L) × XD, and the beam B6-5 can be represented by Y. =-(D / L) x X + D, and beam B7-5 can be expressed as Y =-(2D / L) x X + 2D.
The region R10-1 is a region surrounded by the beam B6-5, the beam B7-5, and the beam B4-6. The region R10-2 is a region surrounded by the beam B7-5, the beam B4-6, and the light receiving unit 120. The region R10-3 is a region surrounded by the beam B6-5, the beam B7-5, the beam B5-6, and the beam B4-6. The region R10-4 is a region surrounded by the beam B7-5, the beam B5-6, and the beam B4-6. It is assumed that the object detection unit 130 determines that all of the regions R10-3 are regions within the traveling region 92.

FIG. 15 is a diagram schematically illustrating a process in which the vehicle detector 100 estimates the position of the upper end of the object 93 using the oblique beam. In this figure, the beam B4-5 and the beam B7-5 are blocked by the object 93, and the beam B5-6 and the beam B4-6 are not blocked by the object 93. At this time, the upper end of the object 93 exists in the region R50. The region R50 is a region surrounded by the beam B4-6, the beam B7-5, and the light receiving unit 120. The position of the object 93 is not limited to the position shown in this figure.

FIG. 16 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the patterns 1-2 and the pattern 10-2. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
Beam B3-6 and beam B8-5 intersect at intersection I2. X2 indicates the distance from the light emitting unit 110 to the intersection _I2 , and G2 indicates the distance from the light receiving unit 120 to the intersection _I2 .

FIG. 17 schematically shows a state in which the portion surrounded by the broken line quadrangle in FIG. 16 is enlarged. In this figure, elements that do not need to be mentioned in the description of this figure are omitted as appropriate.
The region R11-1 is a region surrounded by the beam B3-6, the beam B7-5, and the beam B8-5. The region R11-2 is a region surrounded by the beam B3-6, the beam B8-5, and the light receiving unit 120. The region R11-3 is a region surrounded by the beam B4-6, the beam B7-5, and the beam B8-5. The region R11-4 is a region surrounded by the beam B3-6, the beam B4-6, and the beam B8-5. It is assumed that the object detection unit 130 determines that all of the regions R11-3 are regions within the traveling region 92.
Hereinafter, in cases other than patterns 11-3, the vehicle detector 100 sequentially increases the number of light projecting elements used to narrow down the position of the object 93. As shown in FIG. 16, the vehicle detector 100 uses a light projecting element in line symmetry, and the number of light projecting elements used on one side of the line symmetry is N.

FIG. 18 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-2, the pattern 10-2, and the pattern 11-1. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG. (B) of this figure is an enlarged view similar to FIG.
The region R12-1 is a region surrounded by the beam B2-6, the beam B7-5, and the beam B8-5. The region R12-2 is a region surrounded by the beam B2-6, the beam B3-6, the beam B7-5, and the beam B8-5. It is assumed that the object detection unit 130 determines that the entire region R12-2 is a region within the traveling region 92.
Hereinafter, the vehicle detector 100 similarly narrows down the position where the object 93 exists even when the pattern 11-2 or the pattern 11-4 is observed, and determines whether or not the object 93 exists in the traveling region 92. ..

FIG. 19 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the patterns 1-2 and the pattern 10-1. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The beam B8-5 and the straight line L6 intersect at a point (2/3) × L from the light projecting unit 110. The region R13-1 is a region surrounded by the beam B3-6, the beam B6-5, and the beam B7-5. The region R13-2 is a region surrounded by the beam B3-6, the beam B4-6, the beam B6-5, and the beam B7-5. It is assumed that the object detection unit 130 determines that the entire region R13-2 is within the traveling region 92.

FIG. 20 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-2, the pattern 10-1, and the pattern 13-1. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG. (B) of this figure is an enlarged view similar to FIG.
The beam B9-5 and the straight line L6 intersect at a point (3/4) × L from the light projecting unit 110. The region R14-1 is a region surrounded by the beam B2-6, the beam B6-5, and the beam B7-5. The region R14-2 is a region surrounded by the beam B2-6, the beam B3-6, the beam B6-5, and the beam B7-5.

FIG. 21 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the patterns 1-2 and the pattern 10-4. This figure shows a process performed following the process shown in FIG. The view of this figure is the same as the view of FIG.
The region R15-1 is a region surrounded by a straight line L6, a beam B5-6, a beam B7-5, and a beam B8-5. The region R15-2 is a region surrounded by the straight line L6, the beam B5-6, and the beam B8-5. It is assumed that the object detection unit 130 determines that the entire region R15-1 is a region within the traveling region 92.

FIG. 22 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-2, the pattern 10-4, and the pattern 15-2. This figure shows a process performed following the process shown in FIG. 21. The view of this figure is the same as the view of FIG. (B) of this figure is an enlarged view similar to FIG.
The region R16-1 is a region surrounded by a straight line L6, a beam B5-6, a beam 8-5, and a beam 9-5. The region R16-2 is a region surrounded by the straight line L6, the beam B5-6, and the beam 9-5.

FIG. 23 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes patterns 1-4. This figure shows a process performed following the process shown in FIG. 7. The view of this figure is the same as the view of FIG.
The region R20-1 is a region surrounded by the straight line L6, the beam B5-6, and the beam B7-5. The region R20-2 is a region surrounded by the straight line L6, the beam B5-7, and the beam B6-5. The region R20-3 is a region surrounded by the beam B5-6, the beam B5-7, the beam B6-5, and the beam B7-5. It is assumed that the object detection unit 130 determines that all of the regions R20-3 are regions within the traveling region 92.

FIG. 24 is a diagram illustrating a process in which the vehicle detector 100 estimates the position of the upper end of the object 93 using the oblique beam. In this figure, the beam B5-6 and the beam B6-5 are blocked by the object 93, and the beam B5-7 and the beam B7-5 are not blocked by the object 93. At this time, the upper end of the object 93 exists in the region R60. The region R60 is a region surrounded by the beam B5-6, the beam B5-7, the beam B6-5, and the beam B7-5. The position of the object 93 is not limited to the position shown in this figure.
When the object 93 is thick as shown by the broken line, the upper end of the object 93 may not be present in the region R60. Regardless of the thickness of the object 93, the object 93 exists near the center of the road 91 when the light receiving pattern is as shown in this figure.

FIG. 25 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the patterns 1-4 and the pattern 20-1. This figure shows a process performed following the process shown in FIG. 23. The view of this figure is the same as the view of FIG.
The region R21-1 is a region surrounded by the straight line L6, the beam B5-6, and the beam B8-5. The region R21-2 is a region surrounded by the straight line L6, the beam B5-6, the beam 7-5, and the beam 8-5. It is assumed that the object detection unit 130 determines that the entire region R21-2 is within the traveling region 92.

FIG. 26 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-4, the pattern 20-1, and the pattern 21-1. This figure shows a process performed following the process shown in FIG. 25. The view of this figure is the same as the view of FIG.
The region R22-1 is a region surrounded by the straight line L6, the beam B5-6, and the beam B9-5. The region R22-2 is a region surrounded by the straight line L6, the beam B5-6, the beam 8-5, and the beam 9-5.

FIG. 27 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the patterns 1-4 and the pattern 20-2. This figure shows a process performed following the process shown in FIG. 23. The view of this figure is the same as the view of FIG.
The region R23-1 is a region surrounded by the straight line L6, the beam B5-8, and the beam B6-5. The region R23-2 is a region surrounded by the straight line L6, the beam B5-7, the beam B5-8, and the beam B6-5. It is assumed that the object detection unit 130 determines that the entire region R23-2 is within the traveling region 92.

FIG. 28 is a diagram illustrating a specific example of processing of the vehicle detector 100 when the vehicle detector 100 observes the pattern 1-4, the pattern 20-2, and the pattern 23-1. This figure shows a process performed following the process shown in FIG. 27. The view of this figure is the same as the view of FIG.
The region R24-1 is a region surrounded by the straight line L6, the beam B5-9, and the beam B6-5. The region R24-2 is a region surrounded by the straight line L6, the beam B5-8, the beam B5-9, and the beam B6-5.

*** Explanation of the effect of Embodiment 1 ***
As described above, according to the present embodiment, the vehicle detector 100 can estimate the position of the object 93 existing between the light emitting unit 110 and the light receiving unit 120 by using the oblique beam. can.

*** Other configurations ***
<Modification 1>
FIG. 29 shows a hardware configuration example of the computer 10 according to this modification.
As shown in this figure, the computer 10 includes a processing circuit 18 in place of at least one of the processor 11, the memory 12, and the auxiliary storage device 13.
The processing circuit 18 is hardware that realizes at least a part of each part of the computer 10.
The processing circuit 18 may be dedicated hardware, or may be a processor that executes a program stored in the memory 12.

When the processing circuit 18 is dedicated hardware, the processing circuit 18 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (ASIC is an Application Specific Integrated Circuit), or an FPGA. (Field Programmable Gate Array) or a combination thereof.
The computer 10 may include a plurality of processing circuits that replace the processing circuit 18. The plurality of processing circuits share the role of the processing circuit 18.

In the vehicle detector 100, some functions may be realized by dedicated hardware and the remaining functions may be realized by software or firmware.

As a specific example, the processing circuit 18 is realized by hardware, software, firmware, or a combination thereof.
The processor 11, the memory 12, the auxiliary storage device 13, and the processing circuit 18 are collectively referred to as a "processing circuit Lee". That is, the functions of each functional component of the vehicle detector 100 are realized by the processing circuit Lee.

*** Other embodiments ***
Although the first embodiment has been described, a plurality of parts of the present embodiment may be combined and carried out. Alternatively, the present embodiment may be partially implemented. In addition, various modifications may be made to the present embodiment as necessary, and the present embodiment may be implemented in any combination as a whole or partially.
It should be noted that the embodiments described above are essentially preferred examples and are not intended to limit the present disclosure, its applications and the scope of its use. The procedure described using the flowchart or the like may be changed as appropriate.

10 computer, 11 processor, 12 memory, 13 auxiliary storage device, 14 input / output IF, 15 communication device, 18 processing circuit, 19 signal line, 90 electronic toll collection system, 91 road, 92 driving area, 93 object, 100 vehicle detection Instrument, 110 floodlight section, 120 light receiver section, 130 object detection section, 140 flood control section.

Claims (8)

In the vehicle detector
A plurality of light projectors installed on one side of the road and having a plurality of light projecting elements and a plurality of light projecting units installed on the other side of the road and facing each of the plurality of light projecting elements on a one-to-one basis. A light receiving part having a light receiving element and a light receiving part
Equipped with
The plurality of light projecting elements include, as a plurality of diagonal light projecting elements, a plurality of light projecting elements that project an oblique beam toward a light receiving element other than the opposing light receiving elements.
The vehicle detector further
Whether or not an object exists between the light emitting unit and the light receiving unit based on whether or not the light receiving element targeted by at least one of the plurality of oblique light emitting elements receives the oblique beam. A vehicle detector equipped with an object detection unit that detects light. The plurality of light projecting elements include a light projecting element that projects an opposed beam toward an opposing light receiving element as the opposed light projecting element.
The object detection unit detects whether or not an object exists between the light emitting unit and the light receiving unit based on whether or not the light receiving element corresponding to the opposed light emitting element receives the opposed beam. The vehicle detector according to claim 1. In the object detection unit, when an object exists as a target object between the light emitting unit and the light receiving unit, the light receiving element targeted by at least one of the plurality of oblique light emitting elements is in the diagonal direction. The vehicle detector according to claim 1 or 2, which detects the position where the target object exists based on whether or not the beam is received. The vehicle detector according to claim 3, wherein the object detection unit determines that the object is a foreign substance when the object is detected outside the traveling area where the vehicle travels on the road. In the object detection unit, when an object exists as a target object between the light emitting unit and the light receiving unit, the light receiving element targeted by at least one of the plurality of oblique light emitting elements is in the diagonal direction. The vehicle detector according to any one of claims 1 to 4, which detects the position of the upper end or the lower end of the target object based on whether or not the beam is received. Claim 1 in which the positions where the plurality of light emitting elements of the light emitting unit are installed have different heights from each other, and the positions where the plurality of light receiving elements of the light receiving unit are installed have different heights from each other. The vehicle detector according to any one of 5 to 5. An electronic toll collection system including the vehicle detector according to any one of claims 1 to 6. The floodlight is installed on one side of the road and has multiple floodlight elements.
The light receiving unit is installed on the other side of the road, and has a plurality of light receiving elements facing each of the plurality of light emitting elements on a one-to-one basis.
The plurality of light projecting elements include, as a plurality of diagonal light projecting elements, a plurality of light projecting elements that project an oblique beam toward a light receiving element other than the opposing light receiving elements.
The object detection unit is an object between the light emitting unit and the light receiving unit based on whether or not the light receiving element targeted by at least one of the plurality of oblique light emitting elements receives the oblique beam. A vehicle detection method that detects whether or not there is.

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