JP2851355B2 - Vehicle type identification device - Google Patents

Vehicle type identification device

Info

Publication number
JP2851355B2
JP2851355B2 JP5812290A JP5812290A JP2851355B2 JP 2851355 B2 JP2851355 B2 JP 2851355B2 JP 5812290 A JP5812290 A JP 5812290A JP 5812290 A JP5812290 A JP 5812290A JP 2851355 B2 JP2851355 B2 JP 2851355B2
Authority
JP
Japan
Prior art keywords
vehicle
image
passing
tread
overhang
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP5812290A
Other languages
Japanese (ja)
Other versions
JPH03260897A (en
Inventor
洋一 上村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP5812290A priority Critical patent/JP2851355B2/en
Publication of JPH03260897A publication Critical patent/JPH03260897A/en
Application granted granted Critical
Publication of JP2851355B2 publication Critical patent/JP2851355B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Devices For Checking Fares Or Tickets At Control Points (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Description

【発明の詳細な説明】 [産業上の利用分野] 本発明は、有料道路の料金収受装置における車種判別
に適用される車種判別装置に関する。
Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle type discrimination device applied to a vehicle type discrimination in a toll collection device for a toll road.

[従来の技術] 第2図に従来の車種判別装置構成を示す。第2図にお
いて、車両分離器01は車両の進入検知、撮像機05及び画
像処理機06は、車両のナンバープレート認識、踏板03は
車両の軸数,トレッド計測、車高検知器02は車高の計
測、オーバーハング検知器04は、車両の先端から1軸目
迄の距離計測を行って、これらの認識結果,計測結果を
総合判定して、車種を判別している。
[Prior Art] FIG. 2 shows a configuration of a conventional vehicle type discriminating apparatus. In FIG. 2, a vehicle separator 01 detects entry of a vehicle, an imaging device 05 and an image processor 06 recognize a license plate of a vehicle, a tread plate 03 measures the number of axes and a tread of the vehicle, and a vehicle height detector 02 detects a vehicle height. The overhang detector 04 measures the distance from the tip of the vehicle to the first axis, and comprehensively determines the recognition result and the measurement result to determine the vehicle type.

[発明が解決しようとする課題] 第2図に示す通り、従来の車種判別では、車両の軸数
計測,トレッド計測の為に踏板が必要であった。踏板は
道路に埋設しなければならない為、機器据付時には、長
時間の車両通行止めを行わねばならず、交通量の多い既
設道路への車種判別装置導入は困難視されていた。ま
た、踏板での計測は、タイヤが踏圧することにより行わ
れる接触方式である。その為、他の非接触式のセンサに
比べて耐用期間が著しく短い。従って、従来では運用期
間中、一定期間毎に、踏板の交換を必要としていた。
[Problems to be Solved by the Invention] As shown in FIG. 2, in the conventional vehicle type discrimination, a tread is required for measuring the number of axes of the vehicle and measuring the tread. Since the treads must be buried in the road, when installing the equipment, the vehicle must be closed for a long time, and it has been considered difficult to introduce a vehicle type discriminating device on an existing road with heavy traffic. The measurement on the tread is a contact method performed by pressing the tire. Therefore, the service life is remarkably short as compared with other non-contact type sensors. Therefore, conventionally, it was necessary to replace the treads at regular intervals during the operation period.

本発明は、従来、踏板により行っていた軸数及びトレ
ッド計測を画像処理で行い、踏板を使用しない車種判別
装置を構成することにより、機器の振付を容易にすると
ともに、設備費を低減させ、信頼性を向上させようとす
るものである。
The present invention conventionally performs the number of axes and tread measurement performed by a tread plate by image processing, and configures a vehicle type determination device that does not use a tread plate, thereby facilitating choreography of the equipment and reducing equipment costs, The purpose is to improve reliability.

[課題を解決するための手段] 1.進入開始時に撮像した車両の前面画像から、1軸目の
左右のタイヤ位置を検出し、トレッドを求める。
[Means for Solving the Problems] 1. From the front image of the vehicle taken at the start of the approach, the left and right tire positions of the first axis are detected, and the tread is obtained.

2.車両の通渦中は、くり返し車両側面の撮像を行って、
その画像からタイヤを検出し、タイヤ位置変化の履歴を
評価することにより、前/後進を判断し、車両通過終了
までの通過軸数を求める。
2.During the vortex of the vehicle, repeatedly image the side of the vehicle,
By detecting tires from the image and evaluating the history of tire position changes, forward / reverse is determined, and the number of passing axes until the end of vehicle passing is determined.

これら2つの機能を備えることにより、踏板を使用し
ない車種判別装置を構成することができる。
By providing these two functions, it is possible to configure a vehicle type determination device that does not use a tread.

[作用] 従来、踏板を使用して行っていたトレッド計測及び軸
数計数を、これら2つの手段を用いて行うことにより、
踏板を使用しない車種判別装置を構成することができ
る。
[Action] By performing tread measurement and counting the number of axes conventionally performed using a tread using these two means,
A vehicle type discrimination device that does not use a tread can be configured.

[実施例] 以下、図面を参照して本発明の一実施例を説明する。
第1図は本発明に係る車種判別装置の構成図である。同
図において1は車両分離器、2は車高検知器、4はオー
バーハング検知器、5は前面画像撮像機、6は画像処理
機、7は側面画像撮像機である。
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram of a vehicle type identification device according to the present invention. In the figure, 1 is a vehicle separator, 2 is a vehicle height detector, 4 is an overhang detector, 5 is a front image pickup device, 6 is an image processor, and 7 is a side image pickup device.

車両分離器1は車線を通過する車両を検知する為の光
センサであり、車線の軸方向に複数本の光線が通されて
おり、車両の先端がいずれかの光線を遮光した時点で車
両を検知し、通過中は常に車両検知信号を出力する。車
量侵入時、画像処理機6は車両検知信号がオンになると
同時に前面画像撮像機5に撮像指令を発し、車両の前面
画像を撮像する。前面画像撮像機5は、静止画像映像信
号を出力し、画像処理機6はこれを取込み、A/D変換を
行った後、そのディジタル画像を処理することにより、
ナンバープレートの認識及びトレッドの計測を行う。
The vehicle separator 1 is an optical sensor for detecting a vehicle passing through a lane. A plurality of light beams pass through the vehicle in the axial direction of the lane. It detects and outputs a vehicle detection signal all the time during passing. At the time of vehicle intrusion, the image processor 6 issues an imaging command to the front image capturing device 5 at the same time when the vehicle detection signal is turned on, and captures an image of the front of the vehicle. The front image pickup device 5 outputs a still image video signal, and the image processor 6 takes in the signal, performs A / D conversion, and processes the digital image.
Perform license plate recognition and tread measurement.

また、車両の通過中(車両検知信号がオンである間)
は、側面画像撮像機7により、1/30秒毎に車両側面が撮
像され出力される。画像処理機6は、この画像を取込ん
で処理することにより、タイヤ部分を抽出する。この処
理を毎回(1/30秒毎)行うことにより、タイヤの移動を
検出し、軸数を計数する。
Also, while the vehicle is passing (while the vehicle detection signal is on)
, The side of the vehicle is imaged and output every 1/30 second by the side image pickup device 7. The image processor 6 extracts the tire portion by capturing and processing the image. By performing this processing every time (every 1/30 second), the movement of the tire is detected and the number of axes is counted.

なお、画像処理機6は、車両前面画像からナンバープ
レート認識及びトレッド計測を行う処理と、逐次、車両
側面画像からタイヤ部分を抽出し、軸数を計数する処理
とを並行して行うことができる。
In addition, the image processor 6 can perform the process of performing license plate recognition and tread measurement from the vehicle front image and the process of sequentially extracting the tire portion from the vehicle side image and counting the number of axes. .

車両の通過終了時、画像処理機6の処理により得られ
る1軸目トレッド,ナハン−プレートサイズ(大板/中
板),車種分類番号2桁,軸数と、その他のセンサによ
り得られる車高,車長等の計側結果を総合判定し車種を
判別する。
At the end of the passage of the vehicle, the first axis tread, the Nahan-plate size (large plate / medium plate), the vehicle type classification number, two digits obtained by the processing of the image processor 6, the number of axes, and the vehicle height obtained by other sensors The vehicle type is determined by comprehensively determining the measurement results such as the vehicle length and the vehicle length.

次に本発明の特徴である(1)画像処理によるトレッ
ド計測及び(2)画像処理による軸数計測のそれぞれの
実現方法の一例について述べる。
Next, an example of a method for realizing each of (1) tread measurement by image processing and (2) axis number measurement by image processing, which are features of the present invention, will be described.

(1)画像処理によるトレッド計測 画像処理によるトレッド計測は、車両分離器1によっ
て検知された瞬間に、前面画像撮像機5が撮像する車両
前面画像を処理することにより行う。
(1) Tread Measurement by Image Processing Tread measurement by image processing is performed by processing the front image of the vehicle captured by the front image capturing device 5 at the moment when the vehicle is detected by the vehicle separator 1.

第3図−(a)は、車両前面画像の撮像範囲を示す。
この撮像範囲は、両方のタイヤがその範囲に映る様に設
定する。
FIG. 3A shows an imaging range of a front image of the vehicle.
This imaging range is set so that both tires are reflected in the range.

画像処理機6は、車両前面画像を処理することによ
り、車線に進入した車両の外形線を求める。これは、通
常、車両が通過中でないときの画像を記憶しておき、車
両前面画像と減算処理を行うことにより容易に行える。
第3図−(b)に、車両の外形線抽出結果を示し、検出
された外形線の内部を斜線で示した。
The image processor 6 obtains the outline of the vehicle entering the lane by processing the front image of the vehicle. Normally, this can be easily performed by storing an image when the vehicle is not passing through and performing a subtraction process with the vehicle front image.
FIG. 3 (b) shows the result of extracting the outline of the vehicle, and the inside of the detected outline is indicated by oblique lines.

次に外形線抽出結果を、第3図−(b)に示す様にI,
II,IIIの領域に分割する。領域IIは車両前面画像におい
てタイヤ部分の存在し得ない範囲であり、分割点a,bは
統計処理などにより求めることが可能で、視野,撮像機
の位置を同じくする限り、固定の位置で良い。次に領域
I,IIIからそれぞれ『外形線上の点で最も下方にある
点』を求めP1,P2とする。これらは路面に接している点
とほぼ等しいから、第3図−(c)に示す様に路面上の
点P1′,P2′とみなして、P1′−P2′間の距離を求め、
それをトレッドとする。
Next, as shown in FIG.
It is divided into II and III areas. The region II is a range where the tire portion cannot exist in the front image of the vehicle, and the division points a and b can be obtained by statistical processing or the like, and may be fixed positions as long as the visual field and the position of the imaging device are the same. . Next area
From “I” and “III”, “the lowest point on the outline” is obtained and defined as P1 and P2. Since these are almost equal to the points in contact with the road surface, as shown in FIG. 3 (c), they are regarded as points P1 'and P2' on the road surface, and the distance between P1 'and P2' is obtained.
Let it be the tread.

(2)画像処理による軸数計測 側面画像撮像機7により、1/30秒毎に撮像され、出力さ
れる車両側面画像を画像処理機6が毎回取込んで処理を
行い、タイヤの有無、及びタイヤの位置を求める。車両
側面画像の撮像範囲は、同時に2軸のタイヤが写らない
様な範囲であり、ある瞬間における車両側面画像には、
タイヤが全く存在しないか、または1軸だけ存在するか
のどちらかである。画像処理機6は、車両側面画像に
「タイヤ無し」の状態から「タイヤ有り」の状態となっ
たことを以って車軸の通過開始を認識し、「タイヤ有
り」の状態から「タイヤ無し」となったことを以って車
軸の通過終了を認識する。車軸の通過終了時、通過開始
からのタイヤ位置の変化を調べて、車軸の前/後進を判
定する。車両の通過開始時、計測軸数を0とし、前進軸
通過時+1,後進軸通過時−1とすれば当該車両の車軸数
を求めることができる。軸通過検出の例を第4図に示
す。同図は、間隔が1/30秒である様な時刻t0,t1,t2,t3,
t4,において、t0,t4が「タイヤ無し」状態で、t1,t2,t3
が「タイヤ有り」状態であった時、時刻t4で前進軸通過
が成立した例を示す。同図(a)(b)はt1〜t3におけ
る車両側面画像と、外形線抽出結果及び検出されたタイ
ヤ部分を示す。同図(c)はt1〜t3に対応してタイヤの
位置がP1→P2→P3の様に変化したことを示す。軸通過終
了時(t4)タイヤの位置が時間と共に左から右へ動いて
いることを以って前進と判定する(車両の進行方向右側
面を撮像する場合)。
(2) Measurement of the number of axes by image processing The image processing device 6 takes in the vehicle side image that is imaged and output every 1/30 second by the side image imaging device 7 every time, and performs the processing. Find the position of the tire. The imaging range of the vehicle side image is a range in which two-axis tires are not captured at the same time.
Either there is no tire or only one axis. The image processor 6 recognizes the start of passing through the axle by changing the state of “no tire” from the state of “no tire” to the state of “with tire” in the vehicle side image, and changes the state of “with tire” to “no tire”. The end of the passing of the axle is recognized by having become. At the end of the passage of the axle, the change in the tire position from the start of the passage is examined to determine whether the axle is moving forward or backward. At the start of the passage of the vehicle, the number of measurement axes is set to 0, and the number of axles of the vehicle can be obtained by setting +1 when passing through the forward axis and −1 when passing through the reverse axis. FIG. 4 shows an example of shaft passage detection. The figure shows time t0, t1, t2, t3, where the interval is 1/30 second.
At t4, t0, t4 are in the “no tire” state, and t1, t2, t3
Shows an example in which the vehicle has passed through the forward axis at time t4 when the vehicle is in the “with tire” state. FIGS. 7A and 7B show a vehicle side image at t1 to t3, a contour line extraction result, and a detected tire portion. FIG. 7C shows that the position of the tire changes from P1 to P2 to P3 corresponding to t1 to t3. At the end of the axis passage (t4), it is determined that the vehicle is moving forward when the position of the tire is moving from left to right with time (in a case where the right side surface in the traveling direction of the vehicle is imaged).

[発明の効果] 以上述べたように本発明によれば、従来の車種判別装
置の様に踏板を必要としない為、機器の据付が容易とな
り、設備費も低減できる。また、踏板交換の必要がなく
なることで信頼性が向上する。
[Effects of the Invention] As described above, according to the present invention, since a tread plate is not required unlike the conventional vehicle type discriminating apparatus, the installation of the equipment becomes easy and the equipment cost can be reduced. In addition, reliability is improved by eliminating the necessity of replacing a tread.

【図面の簡単な説明】[Brief description of the drawings]

第1図は本発明の第一実施例に係る車種判別装置の機器
構成図、第2図は従来の車種判別装置の機器構成図、第
3図は画像処理によるトレッド計測例、第4図は画像処
理による軸通過検出例である。 1……車両分離器、2……車高検知器、 4……オーバーハング検知器、5……前面画像撮像機、 6……画像処理機、7……側面画像撮像機。
FIG. 1 is a device configuration diagram of a vehicle type identification device according to a first embodiment of the present invention, FIG. 2 is a device configuration diagram of a conventional vehicle type identification device, FIG. 3 is an example of tread measurement by image processing, and FIG. It is an example of axis passage detection by image processing. DESCRIPTION OF SYMBOLS 1 ... Vehicle separator, 2 ... Vehicle height detector, 4 ... Overhang detector, 5 ... Front image pickup machine, 6 ... Image processor, 7 ... Side image pickup machine.

Claims (1)

(57)【特許請求の範囲】(57) [Claims] 【請求項1】料金所ゲートを通過する車両を、特定位置
で検知する車両分離器と、この車両分離器から出力され
る車両検知信号がオンとなった時、車両の前面を撮像す
る前面画像撮像機と、前記車両検知信号がオンである間
連続的に、車両の側面を撮像する側面画像撮像機と、前
記通過車両の車高を検知する車高検知器と、前記通過車
両のオーハングを検知するオーバーハング検知器と、前
記前面画像撮像機により撮像された車両の前面画像から
ナンバープレート部分を抽出してナンバープレートサイ
ズの判定及び車種分類番号の認識を行うと共に、1軸目
の左右のタイヤ位置を検出してトレッドを求める第1の
画像処理手段と、前記側面画像撮像機により撮像された
車両の側面画像からタイヤ位置を検出し、タイヤの位置
変化の履歴から車両の前後進を判断し、車両通過終了ま
での通過軸数を求める第2の画像処理手段とを具備し、 前記第1の画像処理手段によるナンバープレートサイズ
の判定結果、車種分類番号の認識結果、トレッド計測結
果、前記第2の画像処理手段による軸数計測結果、前記
オーバーハング検知器によるオーバーハング計測結果及
び、前記車高検知器による車高計測結果から総合的に車
種を判別することを特徴とする車種判別装置。
1. A vehicle separator for detecting a vehicle passing a toll gate at a specific position, and a front image for capturing a front surface of the vehicle when a vehicle detection signal output from the vehicle separator is turned on. An image capturing device, a side image capturing device that continuously captures an image of a side surface of a vehicle while the vehicle detection signal is on, a vehicle height detector that detects a vehicle height of the passing vehicle, and an overhang of the passing vehicle. An overhang detector for detecting, and a license plate portion is extracted from a front image of the vehicle captured by the front image capturing device to determine a license plate size and recognize a vehicle type classification number, and to perform left and right left and right movements on the first axis. First image processing means for detecting a tire position to obtain a tread; detecting a tire position from a side image of the vehicle taken by the side image pickup device; And the second image processing means for determining the number of passing axes until the end of vehicle passing, the determination result of the license plate size by the first image processing means, the recognition result of the vehicle type classification number, The vehicle type is comprehensively determined from a tread measurement result, an axis number measurement result by the second image processing means, an overhang measurement result by the overhang detector, and a vehicle height measurement result by the vehicle height detector. Vehicle type discriminating device.
JP5812290A 1990-03-12 1990-03-12 Vehicle type identification device Expired - Fee Related JP2851355B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5812290A JP2851355B2 (en) 1990-03-12 1990-03-12 Vehicle type identification device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5812290A JP2851355B2 (en) 1990-03-12 1990-03-12 Vehicle type identification device

Publications (2)

Publication Number Publication Date
JPH03260897A JPH03260897A (en) 1991-11-20
JP2851355B2 true JP2851355B2 (en) 1999-01-27

Family

ID=13075173

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5812290A Expired - Fee Related JP2851355B2 (en) 1990-03-12 1990-03-12 Vehicle type identification device

Country Status (1)

Country Link
JP (1) JP2851355B2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05225490A (en) * 1992-02-07 1993-09-03 Toshiba Corp Vehicle type discriminating device
JP3351184B2 (en) * 1995-07-14 2002-11-25 オムロン株式会社 Axis number detection device and vehicle width detection device
JP3528435B2 (en) * 1996-06-27 2004-05-17 トヨタ自動車株式会社 Road object detection device
JP2002197588A (en) * 2000-12-26 2002-07-12 Fujitsu Ltd Method for discriminating tire type of traveling vehicle and method and device for discriminating vehicle model
JP6803272B2 (en) * 2017-03-14 2020-12-23 三菱重工機械システム株式会社 Body measuring device, toll collection system, body measuring method and program
CN111783638B (en) * 2020-06-30 2023-09-01 山东鼎高信息技术有限公司 System and method for detecting number of wheel axles of vehicle and identifying vehicle type

Also Published As

Publication number Publication date
JPH03260897A (en) 1991-11-20

Similar Documents

Publication Publication Date Title
US6198987B1 (en) Method and a multi-functional apparatus for determining the class of a vehicle
KR100459475B1 (en) System and method for judge the kind of vehicle
JPH05225490A (en) Vehicle type discriminating device
JP6443754B2 (en) Vehicle specification measuring device, vehicle type discriminating device, vehicle specification measuring method and program
JPH10334393A (en) Vehicle detector
JP4032727B2 (en) Lane boundary detection device
JPH08233525A (en) Vehicle-type discriminating apparatus
JPH11120480A (en) Vehicle characteristic extracting device and method therefor
JP2851355B2 (en) Vehicle type identification device
JPH1186185A (en) Vehicle-type discriminating device
JP3140651B2 (en) Vehicle type identification device
JPH1166226A (en) License plate recognizing device for vehicle
JP2751998B2 (en) Vehicle type identification device
JPH1063987A (en) Car family discriminating device
JP3411766B2 (en) Vehicle type identification device
JP2924063B2 (en) Image processing type traffic flow measurement device
JP3207696B2 (en) Vehicle type identification device
JP3140650B2 (en) Vehicle type identification device
JP3684822B2 (en) Passing vehicle detection device
JPH09259388A (en) Vehicle information detection device and car type judging device
KR20040005299A (en) Grouping apparatus for automobile and method thereof
JPH08202983A (en) Vehicle detector
JP2792697B2 (en) Vehicle type identification device
JPH07166729A (en) Vehicle family discriminating device
JPH0795358B2 (en) Vehicle type identification method

Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees