JP4668754B2 - Traffic flow measuring device - Google Patents

Description

  The present invention relates to a traffic flow measuring device that efficiently measures the traffic flow of a vehicle, particularly in a place surrounded by a tunnel or the like.

  Conventional traffic flow measuring devices detect, track, and measure individual vehicles using various methods. For example, the vehicle detection is performed by paying attention to the edge dispersion amount generated in the vehicle and its symmetry (see, for example, Patent Document 1). In another conventional case, a method for obtaining a desired captured image by adjusting a lens diaphragm has been proposed (for example, see Patent Document 2).

JP 2002-358595 A Japanese Patent Laid-Open No. 7-210795

  In the conventional traffic flow measuring device, in the case of the previous conventional technology, the headlight of the oncoming vehicle has a very high luminance when performing vehicle detection on the route having the oncoming lane in the enclosed area such as a tunnel. Therefore, if an image is taken with a high-sensitivity camera and with the lens aperture opened, the luminance is saturated on the imaging surface (hereinafter, this phenomenon is referred to as “halation”), and the vehicle object shape is seen from the human eye. Cannot be recognized. Therefore, there is a problem that vehicle detection cannot be performed in such a state. In the conventional case later, when the oncoming vehicle halation can be suppressed and the vehicle object shape can be recognized, the luminance level of the forward vehicle is relatively lowered, and the vehicle object shape cannot be recognized. This is because the amount of light generated by the forward vehicle and the oncoming vehicle is different, so if you change the camera aperture to an image that makes it easy to detect the vehicle in one lane, the vehicle in the other lane will not be visible or the shape of the vehicle will cause halation There was a problem that could not be identified. Furthermore, in order to adjust the lens aperture, a mechanism for controlling the aperture is required. However, in a road monitoring system for remote monitoring, the imaging point and the image processing point are not adjacent, and the camera control signal is There was a problem that it was necessary to lay and the cost increased.

  The present invention has been made to solve the above-described problems, and is a traffic flow measurement that efficiently and inexpensively measures the traffic flow of a vehicle in an enclosed area such as a tunnel where halation is likely to occur. An object is to provide an apparatus.

The present invention includes an image capturing unit that captures an image in a predetermined range at a predetermined cycle, and a vehicle detection unit that detects a coordinate position of the vehicle from the image, and generates traffic information from the coordinate position of the vehicle. In the device
The coordinate position of each pixel of the pixel group constituting the image is determined on the coordinates defined in the image capturing unit,
When the vehicle detection unit has a saturated portion of brightness in the image,
For a coordinate position of a pixel of a pixel group constituting the saturated portion, a representative coordinate position is obtained by applying a predetermined coordinate specifying means for determining a representative coordinate position representing the saturated portion,
The obtained representative coordinate position is used as the coordinate position of the vehicle.

The traffic flow measuring apparatus of the present invention includes an image capturing unit that captures an image in a predetermined range at a predetermined cycle, and a vehicle detection unit that detects a coordinate position of the vehicle from the image, and obtains traffic information from the coordinate position of the vehicle. In the traffic flow measuring device to be created,
The coordinate position of each pixel of the pixel group constituting the image is determined on the coordinates defined in the image capturing unit,
When the vehicle detection unit has a saturated portion of brightness in the image,
For a coordinate position of a pixel of a pixel group constituting the saturated portion, a representative coordinate position is obtained by applying a predetermined coordinate specifying means for determining a representative coordinate position representing the saturated portion,
Since the obtained representative coordinate position is used as the vehicle coordinate position, it is possible to detect the vehicle in a place surrounded by a tunnel or the like where halation is likely to occur, so that the traffic flow of the vehicle can be efficiently measured. it can.

Embodiment 1 FIG.
Embodiments of the present invention will be described below. FIG. 1 is a block diagram showing a configuration of a traffic flow measuring apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a situation diagram in which a vehicle in an opposite lane causes halation in Embodiment 1 and the vehicle shape cannot be specified. 3 is a situation diagram in which a luminance distribution is calculated by performing a raster scan of the oncoming lane in Embodiment 1 of the present invention, and a luminance saturation center point sequence is obtained, and FIG. 4 is a luminance saturation center point in Embodiment 1 of the present invention. It is a situation figure which calculates | requires the light source center point from the row | line | column. In the figure, the traffic flow measuring device is composed of the following. The image capturing unit 10 captures an image at a predetermined cycle by an image sensor such as a monitoring ITV camera, and stores the image as digital data.

  When the vehicle detection unit 11 reaches the saturation value of the brightness of the light light of the vehicle, the vehicle detection unit 11 detects the light source center point of the light when the vehicle existing on the lane that needs to be monitored on the captured image has been reached. Is detected. The vehicle tracking unit 12 tracks the vehicle detected by the vehicle detection unit 11 with respect to the time axis, and calculates tracking information for each individual vehicle. The vehicle speed calculation unit 13 calculates movement speed information for an individual vehicle that is being tracked by the vehicle tracking unit 12. The traffic flow measurement unit 14 determines a traffic event from the information on the individual vehicle measured by the vehicle speed calculation unit 13. The traffic flow measurement unit 14 determines an event that occurs in an individual vehicle alone, such as a stop, a low speed, and an overspeed, a traffic jam or a runaway. An event that occurs between a plurality of vehicles, such as travel and inter-vehicle warning, is detected in an integrated manner.

Next, the operation of the traffic flow measuring apparatus according to Embodiment 1 configured as described above will be described. First, the image capturing unit 10 captures an image at a predetermined cycle and stores the image as digital data. Next, the vehicle detection unit 11 detects a vehicle that exists on the lane that requires monitoring from the captured image captured by the image capturing unit 10. In this case, as a captured image of the image capturing unit 10 as shown in FIG. 2, if the road taken by the imaged for example in tunnels in the enclosed portion, light beams of the vehicle generates a halation portion A ₁ there's a possibility that. Therefore, such vehicles halation portion A ₁ is generated as is becomes saturated peripheral luminance presence of the vehicle as shown in Figure 2, the shape itself of the vehicle can not be seen in a state that is not at all reflected. In this case, the vehicle cannot be detected directly from the captured image.

Therefore, in the present invention, the vehicle is detected by utilizing the saturation of the light light. As shown in FIG. 3, a raster scan is performed in the X-axis direction at an arbitrary point on the Y-axis around the opposite lane region. Next, luminance gradient analysis is performed. Then, the halation portion A ₁ luminance plateau of (saturation value) is generated. Note that the value of the saturation value of luminance depends on the AD conversion characteristics of the image capturing unit such as a camera, and the value of 235 shown in FIG. . Therefore, the saturation value is a value around it. Next, using this phenomenon, a luminance gradient search from the right side of the X axis and a luminance gradient search from the left side are simultaneously performed, and X ₁ and X _{2 at} which the luminance reaches a saturation value are detected. Next, the brightness determines the center point X ₃ X-axis of the X ₁ and X ₂ has reached a saturation value. This operation is repeated for any point on the Y axis. Then, the center point sequence a ₁ of the saturation value determined by the raster scan in the X-axis direction is detected. Then, a parallel to the Y-axis from the center point sequence a _1, i.e. as shown in Figure 4, obtains a first-order approximation straight line B ₁ gradient 0.

Next, the Y-axis center point Y ₁ with respect to the Y-axis direction of the center point row a ₁ of the portion belonging to the obtained approximate straight line B ₁ and having a predetermined number or more of the X-axis center points X ₃ is determined. Then, as shown in the figure, the light source center point C ₁ (X ₃ , Y ₁ ) of the vehicle that has caused halation is obtained. Also it performs the same processing as shown above, determine the center point sequence a _2, to detect the light source center point C ₂ with respect to halation portion A ₂ of the subsequent vehicle. Next, the vehicle tracking unit 12 tracks the vehicle detected by the vehicle detection unit 11, that is, the light source center points C ₁ and C ₂ with respect to the time axis, and calculates tracking information for each individual vehicle. For example, a change with time of the position of the vehicle detected by the vehicle detection unit is tracked. Next, the vehicle speed calculation unit 13 calculates movement speed information for the individual vehicle tracked by the vehicle tracking unit 12. Next, the traffic event is determined from the information on the individual vehicle measured by the vehicle speed calculation unit 13 in the traffic flow measurement unit 14. As a result, it is possible to integrally detect events that occur in individual vehicles, such as stop, low speed, and excessive speed, and events that occur between multiple vehicles such as traffic jams, avoidance travel, and inter-vehicle warnings.

  According to the traffic flow measuring apparatus of the first embodiment configured as described above, the vehicle detection process for the vehicle that has caused the halation in which the vehicle shape cannot be specified is performed, and the light source center point of the saturation value of the light light brightness By detecting the vehicle, the vehicle can be detected. Therefore, it is possible to measure the traffic flow efficiently, at low cost and with high accuracy. In addition, since the vehicle tracking unit tracks the change over time of the vehicle position detected by the vehicle detection unit and performs post-processing, it can accurately determine the speed and thus the traffic situation. It can be performed.

  In addition, according to the traffic flow measuring apparatus shown in the first embodiment, the vehicle detection unit detects the vehicle by detecting the light source central point of the saturation value of the light light of the vehicle. However, as a matter of course, when the vehicle shape itself can be seen in the captured image, the vehicle is detected from the vehicle shape itself of the captured image, and the vehicle is combined with the case described in the first embodiment. Needless to say, the following processing is performed. Since the same can be said for the following embodiments, the description thereof will be omitted as appropriate.

Embodiment 2. FIG.
FIG. 5 is a block diagram showing the configuration of the traffic flow measuring apparatus according to the second embodiment of the present invention, and FIG. 6 is a situation diagram showing the movement of the light light of the oncoming lane vehicle onto the road surface according to the second embodiment of the present invention. FIG. 7 is a situation diagram for explaining the vehicle determination evaluation result in the second embodiment of the present invention, and FIG. 8 is a flowchart for explaining the operation of the vehicle detection unit of the traffic flow measuring apparatus shown in FIG. In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. The vehicle detection unit 110 detects the light source center point of the light light of the vehicle existing on the lane that needs to be monitored on the captured image when the vehicle has reached the saturation value of the light light luminance of the vehicle. In this case, the reflected light in the light of the vehicle is removed from the detection target of the vehicle.

Next, the operation of the traffic flow measuring apparatus according to the second embodiment configured as described above will be described. First, as in the first embodiment, the image capturing unit 10 captures an image at a predetermined cycle, and the vehicle detection unit 110 detects a vehicle that requires monitoring from the captured image captured by the image capturing unit 10. To detect. At this time, as in the first embodiment, as shown in FIG. 6 as a captured image of the image capturing unit 10, for example, when captured in a tunnel surrounded by a road, Light light may generate halation portions A ₁ and A ₂ . Furthermore, when the light reflectance of the road surface increases due to rain or the like, the light light is transferred with halation. There are various situations in which the right and left light beams individually move to the road surface, causing the halation portions A ₄ and A _5, and the phenomenon of generating the halation portion A ₃ by moving largely to the road surface in the same manner. . Therefore, first, the vehicle detection unit 110 similarly detects the light source center points C ₃ , C ₄ , and C ₅ with respect to the case shown in the first embodiment and the transfer to the road surface.

Then, all of the light source center points C ₁ , C ₂ , C ₃ , C ₄ , and C ₅ with saturated luminance generated by the halation portions A ₁ , A ₂ , A ₃ , A ₄ , and A ₅ including the transfer are vehicles. Detected as a candidate. Therefore, the following evaluation method, that is, the vehicle detection unit 110 uses the following two-dimensional information and three-dimensional information to remove reflected light from the vehicle candidate and evaluate whether or not the vehicle is truly a vehicle.
(Condition 1) A plurality of vehicle candidates do not exist within X coordinates ± α pixels on the same lane.
(Condition 2) A plurality of vehicle candidates do not exist within Y coordinates ± β pixels on the same lane.
(Condition 3) A vehicle candidate is a true vehicle as the position error is smaller from the center of the lane.
By performing such evaluations of conditions 1, 2, and 3, the reflected light is removed and a true vehicle is detected.

A specific example of processing under the above conditions will be described with reference to the flowcharts of FIGS. First, the process for determining the vehicle candidate A is started (step S1 in FIG. 8). Then, select the light source center point C _3, for example, as any vehicle tentative candidate A (step S2 in FIG. 8). Next, select the tentative candidate A (the light source center point C ₃₎ light center point C _1, for example, a vehicle tentative candidate B on the same lane, except for (step S3 in FIG. 8). Next, it is determined whether or not the X coordinates of the temporary candidate A (light source center point C ₃ ) and the temporary candidate B (light source center point C ₁ ) are within ± α pixels (step S4 in FIG. 8). In this case, since the primary approximate straight line groups are B ₁ and B ₃ , it is determined that they are within ± α pixels. Next, the X coordinate error from the lane center of the temporary candidate is calculated as AD%, and the X coordinate error BD% from the lane center of the temporary candidate B is calculated (step S6 in FIG. 8). Next, it is determined whether or not the calculated AD%> BD% is satisfied and the temporary candidate B is closer to the center of the lane (step S7 in FIG. 8). Here, since temporary candidate B is closer to the center of the lane, vehicle temporary candidate A is excluded from the vehicle candidates (step S9 in FIG. 8). Then, the light source center point C ₃ is judged not to be a vehicle candidate, and ends the process of determination as the vehicle candidate A of the light source center point C _3.

Next, select the light source center point C _4, for example, as any vehicle tentative candidate A (step S2 in FIG. 8). Next, select the tentative candidate A (the light source center point C ₄₎ the light source center point C _2, for example, a vehicle tentative candidate B on the same lane, except for (step S3 in FIG. 8). Next, it is determined whether or not the X coordinates of the temporary candidate A (light source center point C ₄ ) and the temporary candidate B (light source center point C ₂ ) are within ± α pixels (step S4 in FIG. 8). In this case, since the primary approximate straight line group is B ₄ and B _2, it is determined that it is not within ± α pixels. Next, it is determined whether or not the Y coordinates of the temporary candidate A (light source center point C ₄ ) and the temporary candidate B (light source center point C ₂ ) are within ± β pixels (step S5 in FIG. 8). In this case, since the temporary candidate A (light source center point C ₄ ) and the temporary candidate B (light source center point C ₂ ) are approximated in the Y coordinate direction, it is determined that they are within ± β pixels. Next, the X coordinate error from the lane center of the temporary candidate A is calculated by AD%, and the X coordinate error BD% from the lane center of the temporary candidate B is calculated (step S6 in FIG. 8). Next, it is determined whether or not the calculated AD%> BD% is satisfied and the temporary candidate B is closer to the center of the lane (step S7 in FIG. 8). Next, since the temporary candidate B is closer to the center of the lane here, the lane temporary candidate A is excluded from the vehicle candidates (step S9 in FIG. 8). Then, the light source center point C ₄ is being determined not to be a vehicle candidate, and ends the process of determination as the vehicle candidate A of the light source center point C _4. Also it is removed from the vehicle similarly to the candidate and the light source center point C ₄ even in the light source center point C _5.

Next, select the light source center point C _1, for example, as any vehicle tentative candidate A (step S2 in FIG. 8). Next, select the tentative candidate A (the light source center point C ₁₎ the light source center point C _2, for example, a vehicle tentative candidate B on the same lane, except for (step S3 in FIG. 8). Next, it is determined whether or not the X coordinates of the temporary candidate A (light source center point C ₁ ) and the temporary candidate B (light source center point C ₂ ) are within ± α pixels (step S4 in FIG. 8). In this case, since the primary approximate straight line group is B ₁ and B _2, it is determined that it is not within ± α pixels. Next, it is determined whether or not the Y coordinates of the temporary candidate A (light source center point C ₁ ) and the temporary candidate B (light source center point C ₂ ) are within ± β pixels (step S5 in FIG. 8). In this case, since the temporary candidate A (light source center point C ₂ ) and the temporary candidate B (light source center point C ₁ ) are not approximated in the Y coordinate direction, it is determined that they are not within ± β pixels. Next, it is determined whether or not processing has been performed for all temporary candidates B on the same lane (step S8 in FIG. 8). Here, since all the other light source center points C ₃ , C ₄ , and C ₅ have already been removed from the vehicle candidates in the above determination, the lane temporary candidate A is determined as a vehicle candidate (step S 10 in FIG. 8). Then, the processing of the determination as the vehicle candidate A of the light source center point C _1. Then, it is determined similarly as the vehicle candidates in the light source center point C _2. After the vehicle is detected in this manner, the traffic flow is measured in the same manner as in the first embodiment.

  According to the traffic flow measuring apparatus of the second embodiment configured as described above, the same effect as that of the first embodiment can be obtained, but the erroneous detection result of the vehicle, that is, the reflected light is excluded. It becomes possible to detect the vehicle and to measure the traffic flow with higher accuracy.

Embodiment 3 FIG.
FIG. 9 is a block diagram showing the configuration of a traffic flow measuring apparatus according to Embodiment 3 of the present invention, FIG. 10 is a situation diagram showing a luminance saturated vehicle according to Embodiment 3 of the present invention, and FIG. 11 is an embodiment of the present invention. 3 is a situation diagram illustrating detection of a luminance saturated vehicle in FIG. In each of the above embodiments, when the vehicle is in the oncoming lane, the light light of the vehicle generates halation, and the vehicle is detected by the light source center point of the saturation value of the luminance of the light light of the vehicle. Indicated. However, on the other hand, in a vehicle traveling in the forward lane, a vehicle with high brightness enters when the road is surrounded, for example, in a tunnel where the illumination is very bright and the captured image is bright. For example, as shown in FIG. 10, not only the tail lamp of the vehicle 1 but also the luminance around the rear end shape of the vehicle 1 is saturated, and the luminance gradient does not appear, resulting in a luminance saturated vehicle. This phenomenon occurs remarkably when the brightness of the captured image is set to be generally bright when considering that the image captured by the image capturing unit is used not only for image processing but also for other purposes. . Since the luminance gradient around the rear end shape of the vehicle 1 has only a very small change with respect to the luminance gradient of the road surface or the road surface structure, it is difficult to detect the vehicle 1.

  In Embodiment 3 of the present invention, a case will be described in which this is solved and vehicle detection is performed. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof is omitted. The vehicle detection unit 111 detects the vehicle 1 by detecting the center point of the shadow 2 of the vehicle 1 from the background image of the imaging location and the luminance of the shadow 2 of the vehicle 1 from the captured image captured by the image capturing unit 10. It is. As described above, the detection of the vehicle 1 is not a part of the captured image but the entire image is bright, so the method proposed in the first embodiment, and further, the vehicle is determined based on the shape of the vehicle 1 displayed in the captured image. The vehicle 1 cannot be detected by the detection method.

  Next, the operation of the traffic flow measuring apparatus according to Embodiment 3 configured as described above will be described. First, as in each of the above embodiments, the image capturing unit 10 captures an image at a predetermined cycle, and the vehicle detection unit 111 captures a captured image as shown in FIG. A vehicle 1 that requires monitoring is detected from the captured image. At this time, raster scanning is performed in the X-axis direction for each lane, that is, the forward first lane and the forward second lane. Then, the cumulative addition of the difference between the luminance of the captured image and the luminance of the background image having the same coordinates is performed by calculating the following formula (1). This process is performed for a predetermined point in the Y-axis direction.

pixelvalue [i] [y] = Σabs (background luminance value (x, y) −captured image luminance value (x, y)) (1)

* The range of Σ is (lane i left end X coordinate-α <x <lane i right end X coordinate + β)
i: Lane number y: Y coordinate

  Then, as shown in FIG. 11, the result of this accumulation, that is, the luminance difference accumulation for each point on the Y axis where the luminance difference is accumulated in the X axis direction of the background image in the captured image is detected. As described above, for example, even when the illuminance in the tunnel is high and the brightness of the vehicle itself is high, the shadow 2 of the vehicle 1 moving to the road surface is sufficiently dark and far away from the luminance of the background image. By using this property to perform cumulative addition of luminance differences in the X-axis direction, the peak of the shadow 2 at the lower end of the vehicle 1 existing in the lane can be detected, and the position of the lower end of the vehicle 1 in the Y-axis direction can be specified. it can. Next, the center point of the Y coordinate whose peak is detected on the X axis is calculated by the following equation (2).

  As a result of the calculation as described above, the coordinates of the center of the lower end of the vehicle 1 are specified, and the vehicle 1 is detected. Then, similarly to the above embodiments, the vehicle tracking unit 12 then tracks the center point of the vehicle 1 detected by the vehicle detection unit 11, that is, the shadow 2 with respect to the time axis, and tracking information for each individual vehicle. Is calculated. For example, the temporal change in the position of the vehicle 1 detected by the vehicle detection unit 111 is tracked. Next, the vehicle speed calculation unit 13 calculates movement speed information for the individual vehicle tracked by the vehicle tracking unit 12. Next, a traffic event is determined from the information on the individual vehicle measured by the vehicle measurement unit 13 in the traffic flow measurement unit 14. As a result, it is possible to integrally detect events that occur in individual vehicles, such as stop, low speed, and excessive speed, and events that occur between multiple vehicles such as traffic jams, avoidance travel, and inter-vehicle warnings.

  According to the traffic flow measuring apparatus of the third embodiment configured as described above, the center point of the shadow at the lower end of the vehicle is detected from the shadow spreading at the lower end of the luminance saturated vehicle that is difficult to detect the vehicle itself. However, since vehicle detection is performed using the information, vehicle detection is possible even for vehicles that could not be detected up to now. Further, since the detection is performed by such a method, it is not necessary to control the camera lens aperture, and the vehicle can be detected efficiently at low cost. In addition, since the vehicle tracking unit tracks the change over time of the vehicle position detected by the vehicle detection unit and performs post-processing, it can accurately determine the speed and thus the traffic situation. It can be performed. Needless to say, by using together with the above-described embodiments, it is possible to provide a traffic flow measuring apparatus that is lower in cost, more efficient, and high in accuracy.

Embodiment 4 FIG.
FIG. 12 is a distribution graph showing the relationship between the vehicle measurement time and the measurement position according to Embodiment 4 of the present invention and a first-order approximation straight line based on the least square sum. In the above embodiments, the detection of the vehicle speed after detecting the vehicle is not particularly shown, but in this embodiment, the detection of the detected vehicle speed will be described. Accordingly, the configuration of the other parts is the same as that of each of the above embodiments, and thus description thereof will be omitted as appropriate.

  The operation of the vehicle speed calculation unit 13 in the fourth embodiment configured as described above will be described. First, conventional vehicle speed measurement uses instantaneous speed measurement, which measures speed from the nearest vehicle position. For this reason, a vehicle position measurement error is likely to occur, and the instantaneous speed has been measured to be significantly different from the actual vehicle speed. In order to solve this problem, there is a method that stabilizes the speed by using an exponential smoothing method, etc., but since the smoothing value is often far from the true vehicle speed, the vehicle speed measurement There was a problem with the error. Therefore, in the fourth embodiment, the vehicle speed calculation unit 13 obtains the vehicle position distribution from the vehicle tracking data detected by the vehicle tracking unit 12, and then based on the vehicle position distribution, The vehicle speed with less measurement error is measured using the least square sum equation (3) shown.

  From the equation (3) shown above, a is the approximate vehicle speed, and b is the vehicle measurement initial position. If the value of the vehicle speed measurement section n is set large, an approximate speed with less error can be obtained. In this case, since the speed approximation is performed on the premise that the vehicle travels at a constant speed during the vehicle speed measurement section n, the vehicle speed measurement is required to ensure response speed accuracy related to the vehicle such as sudden acceleration / deceleration or stop. A smaller value for the interval n is desirable. Therefore, the vehicle speed measurement section n needs to be set appropriately according to the required speed application.

  According to the traffic flow measuring apparatus of the fourth embodiment configured as described above, the vehicle speed is obtained from the vehicle tracking data based on the vehicle tracking data, as well as the same effects as those of the above embodiments. It is possible to obtain a more accurate speed value of the vehicle by obtaining the above distribution and calculating using the first-order approximate least squares sum method.

Embodiment 5. FIG.
FIG. 13 is a block diagram showing a configuration of a traffic flow measuring apparatus according to Embodiment 5 of the present invention. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof is omitted. The vehicle position prediction unit 17 uses the result of the vehicle speed value of the vehicle speed calculation unit 13 to predict in advance which position the tracked vehicle will move on the next captured image and predict the vehicle. The position is transmitted to the vehicle tracking unit 12.

  In the traffic flow measuring apparatus according to the fifth embodiment configured as described above, the vehicle position prediction unit 17 predicts the position of the vehicle and transmits the vehicle position using the vehicle tracking unit 12. 12, the vehicle position can be determined and tracked based on the predicted position even when the vehicle tracking cannot be normally performed due to the environmental change in the tunnel.

  According to the traffic flow measuring apparatus of the fifth embodiment configured as described above, the vehicle can be obtained by feeding back the next predicted position from the vehicle measured position as well as the same effects as those of the above-described embodiments. Vehicle tracking in environments where it was difficult to track in the past, such as when the shape and appearance of the tracked vehicle changes drastically due to changes in the road surface environment or the influence of the following or preceding vehicle. May not be able to continue, and it may be difficult to perform stable vehicle tracking, but stable vehicle tracking information can be measured even in unstable environments, and tracking can be stabilized. Become.

It is a block diagram which shows the structure of the traffic flow measuring apparatus in Embodiment 1 of this invention. It is a situation figure in which halation of light light of an oncoming vehicle occurred in Embodiment 1 of this invention. It is a situation figure which calculates | requires luminance distribution by performing the raster scan of the oncoming lane in Embodiment 1 of this invention, and calculates | requires a luminance saturation center point sequence. It is a condition figure which calculates | requires the light source center point from the brightness | luminance saturation center point sequence in Embodiment 1 of this invention. It is a block diagram which shows the structure of the traffic flow measuring apparatus in Embodiment 2 of this invention. It is a situation figure showing transfer of the light light of the oncoming lane vehicle to the road surface in Embodiment 2 of this invention. It is a situation figure for demonstrating the vehicle determination evaluation result in Embodiment 2 of this invention. It is a flowchart for demonstrating operation | movement of the vehicle detection part of the traffic flow measuring apparatus shown in FIG. It is a block diagram which shows the structure of the traffic flow measuring apparatus in Embodiment 3 of this invention. It is a situation figure showing the brightness saturation vehicle in Embodiment 3 of this invention. It is a situation figure showing detection of a brightness saturation vehicle in Embodiment 3 of this invention. It is a figure of the primary approximation straight line by the distribution graph showing the relationship between the vehicle measurement time and measurement position in Embodiment 4 of this invention, and the least square sum. It is a block diagram which shows the structure of the traffic flow measuring apparatus in Embodiment 5 of this invention.

Explanation of symbols

10 image pickup unit, 11, 110, 111 vehicle detection unit, 12 vehicle tracking unit,
13 vehicle speed calculation unit, 14 traffic flow measurement, 17 vehicle position prediction unit.

Claims (6)

In a traffic flow measurement apparatus comprising an image capturing unit that captures an image of a predetermined range at a predetermined cycle and a vehicle detection unit that detects a coordinate position of a vehicle from the image, and that generates traffic information from the coordinate position of the vehicle ,
The coordinate position of each pixel of the pixel group constituting the image is determined on the coordinates defined in the image capturing unit,
The vehicle detection unit, when a saturated portion of brightness exists in the image,
For the coordinate position of the pixel of the pixel group constituting the saturated portion, the representative coordinate position is obtained by applying a predetermined coordinate specifying means for determining the representative coordinate position representing the saturated portion,
A traffic flow measuring apparatus characterized in that the obtained representative coordinate position is a coordinate position of a vehicle. The traffic flow measuring device according to claim 1,
When the vehicle detection unit includes a saturated portion having a luminance of 1 or more in the image,
Obtain the representative coordinate position of each saturated portion by the coordinate specifying means,
By comparing the relative intervals of these representative coordinate positions, a selection means for selecting a representative coordinate position estimated to correspond to a position on the route of the vehicle to be imaged is selected. A traffic flow measuring device characterized in that the representative coordinate position is the coordinate position of the vehicle. The traffic flow measuring device according to claim 1 or 2,
A traffic flow measuring apparatus, wherein the representative coordinate position determined by the coordinate specifying means is a coordinate position of a center point of a pixel group constituting a saturated portion. The traffic flow measuring device according to any one of claims 1 to 3,
A traffic flow measuring apparatus, wherein a coordinate system of coordinates defined in the image capturing unit is an XY coordinate system. In a traffic flow measurement apparatus comprising an image capturing unit that captures an image of a predetermined range at a predetermined cycle and a vehicle detection unit that detects a coordinate position of a vehicle from the image, and that generates traffic information from the coordinate position of the vehicle ,
The coordinate position of each pixel of the pixel group constituting the image is determined on the XY coordinates defined in the image capturing unit,
The vehicle detection unit, when a saturated portion of brightness exists in the image,
The XY coordinate position of the center point is obtained by applying coordinate specifying means for determining the coordinate position of the center point of the saturated portion with respect to the XY coordinate positions of the pixels of the pixel group constituting each of the saturated portions, and the obtained center point The traffic flow measuring device is characterized in that the XY coordinate position of the vehicle is the coordinate position of the vehicle. The traffic flow measuring device according to claim 5,
When the vehicle detection unit includes a saturated portion having a luminance of 1 or more in the image,
By applying coordinate specifying means for determining the coordinate position of the central point of the saturated portion with respect to the XY coordinate position of the pixels of the pixel group constituting each saturated portion, the XY coordinate position of each central point is obtained,
Select a center point whose relative interval on the X axis of the XY coordinate position where each center point is located is narrower than the interval occupied by a predetermined number of pixels, and select from the selected center points in advance Select the center point closest to the lane center position corresponding to the lane center on the defined route,
A center point whose relative interval on the Y-axis is narrower than the interval occupied by a predetermined second number of pixels is selected, and the closest to the lane center position from among the selected center points Select the center point,
A traffic flow measuring apparatus comprising a selection means for setting the coordinate position of the selected center point to the coordinate position of a vehicle.

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