JP5893869B2 - Measuring device, measuring method, and program - Google Patents

Description

  The present invention relates to a measuring device, a measuring method, and a program for measuring the height of an object existing on a road surface.

  In road pricing in a passage such as a toll road, the toll collected varies depending on the vehicle type. Therefore, the roadside device provided in the passage needs to measure the height of the vehicle in order to determine the vehicle type. For example, a measurement method using a laser sensor is used for measuring the height of the vehicle.

  As a method of measuring the vehicle height with a laser, a laser sensor provided above the road surface scans the laser toward the road surface, the intensity of the reflected light of the scanned laser, and the time from irradiation of the laser to reception of the reflected light There is a method of measuring (see, for example, Patent Document 1). Specifically, the vehicle height is calculated by subtracting the length from the laser sensor to the vehicle from the installation height of the laser sensor.

Japanese Patent Laid-Open No. 2002-8188

However, since the road surface is provided with a water gradient for allowing rainwater or the like to flow to the roadside, or a ridge is formed by the passage of the vehicle, the road surface is not necessarily flat. Therefore, there is a possibility that the installation height of the laser sensor is different for each point on the road surface, and there is a possibility that the vehicle height cannot be accurately calculated when the above-described method is used.
The present invention has been made in view of the above problems, and it is an object to provide a measuring device, a measuring method, and a program capable of accurately calculating the height of an object existing on a non-flat road surface. And

The present invention has been made to solve the above-described problem, and is a measuring device that measures the height of an object existing on a road surface, from an installation position above the road surface to a plurality of points on the road surface. Based on the reflected light of the laser, the reflected light is reflected from a reference position that is the same height as the installation position and is directly above the reflection point where the laser is reflected. A distance measuring unit that measures the distance to the point, a point on the road surface, a storage unit that stores road surface height information indicating a relationship between the reference surface and the road surface height that is the distance to the point, and the reflection point A vehicle determination unit that determines whether or not a vehicle exists; a wheel position specifying unit that specifies a position where a wheel of the vehicle exists when the vehicle determination unit determines that a vehicle exists; and the storage unit Road surface height information and the wheel position characteristics Based on the identified wheel position by parts, and road height specifying section for specifying a road surface height at the vehicle determining unit the reflection point, respectively it is determined that the vehicle is present by respective distances that the distance measuring portion is calculated And a height calculation unit that calculates the length from the road surface to the reflection point as the height of the object based on the road surface height specified by the road surface height specification unit.

In the present invention, for each reflection point, is the difference between the distance measured by the distance measurement unit and the road surface height of the reflection point indicated by the road surface height information stored in the storage unit equal to or less than a predetermined threshold value? The difference between the distance measured by the distance measuring unit and the road surface height specified by the road surface height specifying unit is determined by the object determining unit and the object determining unit to determine whether or not to be a predetermined threshold value or less. When there is a reflection point, it is preferable to include an update unit that updates road surface height information stored in the storage unit based on a distance related to the reflection point measured by the distance measurement unit.

Further, in the present invention, a road surface state determination unit that determines the quality of the road surface state is provided, and the update unit is identified by the distance determination unit and the road surface height specification unit by the object determination unit. The reflection point measured by the distance measurement unit only when there is a reflection point determined that the difference from the road surface height is equal to or less than a predetermined threshold and the road surface state determination unit determines that the road surface state is good. It is preferable that the road surface height information stored in the storage unit is updated based on the distance related to.

  In the present invention, the road surface state determination unit may be configured such that a difference between the distance measured by the distance measurement unit and the distance specified by the road surface height specification unit is equal to or less than a predetermined threshold by the object determination unit. In the case where the determined reflection point exists, it is preferable to determine that the road surface state is good when the distribution degree of the intensity of the reflected light reflected at each of the reflection points is equal to or less than a predetermined value.

  Moreover, in the present invention, the vehicle determination unit has a predetermined difference between the distance measured by the distance measurement unit by the object determination unit and the distance specified by the road surface height specification unit among the reflection points. When the reflection points determined to exceed the threshold are continuously present over a predetermined width, it is preferable to determine that the vehicle is present at the position of the continuous reflection points.

The present invention also provides a point on the road surface and a distance from the reference position, which is a position directly above the point, to the point at the same height as the installation position where the laser is emitted. A measurement method using a measurement device that includes a storage unit that stores road height information indicating a relationship with height and measures the height of an object existing on the road surface, and the distance measurement unit of the measurement device includes: the installation of the laser emitted toward a position to multiple points on the road surface, based on the reflected light of the laser, the laser from the reference position to measure the distance to the reflection point is a point that has been reflected, the The vehicle determination unit of the measurement device determines whether or not a vehicle is present at the reflection point, and the wheel position specification unit of the measurement device determines that the vehicle is present when the vehicle determination unit determines that the vehicle exists. to locate the wheels are present, the measurement instrumentation Road height specifying section, based on the identified wheel position road surface height information the storage unit stores the by the wheel position specifying unit, the in each reflection point it is determined that the vehicle is present by the vehicle determining unit The road surface height is specified, and the height calculation unit of the measuring device is configured to determine a length from the road surface to the reflection point based on each distance calculated by the distance measurement unit and the road surface height specified by the road surface height specification unit. The height is calculated as the height of the object.

The present invention also provides a point on the road surface and a distance from the reference position, which is a position directly above the point, to the point at the same height as the installation position where the laser is emitted. A storage unit for storing road surface height information indicating a relationship with height is provided, and a computer of a measuring device that measures the height of an object existing on the road surface is directed to a plurality of points on the road surface from the installation position. A distance measuring unit that measures the distance from the reference position to the reflection point that is the point where the laser is reflected based on the reflected light of the laser, and whether or not a vehicle is present at the reflection point A vehicle determination unit for determining, a wheel position specifying unit for specifying a position where a wheel of the vehicle exists when the vehicle determination unit determines that a vehicle is present, road height information stored in the storage unit and the wheel position Specified by the specific part On the basis of the wheel position, the vehicle road height specifying section for specifying a road surface height in the determination portion and the reflection point, respectively it is determined that the vehicle is present by the distance each distance measuring portion is calculated as the road surface height specifying section Is a program for functioning as a height calculation unit that calculates the length from the road surface to the reflection point as the height of the object based on the road surface height specified by.

  According to this invention, a measuring device specifies the road surface height in each of the said reflective points based on the road surface height information which a memory | storage part memorize | stores, and calculates the height of a target object using the said road surface height. Thereby, the measuring device can calculate the height of the target object which exists on the road surface which is not flat correctly.

It is a block diagram of the measuring device by one Embodiment of this invention. It is a schematic block diagram which shows the structure of information processing apparatus. It is a figure which shows the example of the road surface height table which a memory | storage part memorize | stores. It is a flowchart which shows operation | movement of the information processing apparatus in this embodiment. It is a figure which shows the example of the vehicle which drive | works a road surface.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a measuring apparatus according to an embodiment of the present invention.
The measuring device includes a laser sensor 1 (distance measuring unit) and an information processing device 2.

The laser sensor 1 is installed above the road surface via a cantilever or a gantry, and scans the laser from the installation position toward the road surface. The laser sensor 1 emits laser toward a plurality of points on the road surface by scanning the laser toward the road surface. The laser sensor 1 measures a distance (measurement distance) from a predetermined reference position to a reflection point where the laser is reflected, based on the reflected light of the scanned laser. In the present embodiment, the reference position is a position having the same height as the installation position of the laser sensor 1 and is a position immediately above the reflection point. That is, in this embodiment, the measurement distance is equivalent to the difference between the height of the installation position of the laser sensor 1 and the height of the reflection point. As an example of the relationship between the reflection point output from the laser sensor 1 and the measurement distance, a polar coordinate system represented by a scanning angle θ from the origin of the laser sensor and a linear distance L to the reflection point at the scanning angle θ. And a relationship of an orthogonal coordinate system represented by a horizontal position X with the installation position of the laser sensor 1 as the origin and a vertical distance Y from the position X to the reflection point. When the laser sensor 1 outputs the relationship of the orthogonal coordinate system, the laser sensor 1 calculates X = Lsin θ and Y = L cos θ using the scanning angle θ and the linear distance L, so that the position X and the distance Y are calculated. Will be output.
The information processing apparatus 2 calculates the height of the vehicle (target object) present on the road surface based on the distance measured by the laser sensor 1.

FIG. 2 is a schematic block diagram illustrating the configuration of the information processing apparatus 2.
The information processing apparatus 2 includes a sensor information acquisition unit 21, a storage unit 22, a road surface height specification unit 23, an object determination unit 24, a road surface state determination unit 25, an update unit 26, a vehicle determination unit 27, a wheel position specification unit 28, a high The height calculation unit 29 is provided.

  The sensor information acquisition unit 21 acquires a measurement distance for each reflection point from the laser sensor 1 in association with coordinates indicating the position of the reflection point in the road surface width direction (for example, a distance from the road side).

FIG. 3 is a diagram illustrating an example of a road surface height table stored in the storage unit 22.
The storage unit 22 stores a road surface height table (road surface height information) that stores a point on the road surface in association with a road surface height that is a distance from the reference position corresponding to the point to the point. As an example of the road surface height table, as shown in FIG. 3, there is one that stores the height of each division point in association with the division point when the road surface is divided every 10 centimeters in the width direction.
The road surface height table is created by measuring the road surface height when the object is not present in advance with the laser sensor 1 and recording the measured value in association with a point on the road surface. By the way, the laser sensor 1 may generally cause a drift in measurement results due to temperature. Therefore, the value of the road surface height table stored in the storage unit 22 is updated by the update unit 26 to a value including an offset due to the influence of the temperature drift.

  Based on the road surface height information stored in the storage unit 22, the road surface height specifying unit 23 reads the road surface height corresponding to the reflection point acquired by the sensor information acquisition unit 21 and outputs the road surface height to the object determination unit 24. . Further, the road surface height specifying unit 23 specifies the road surface height corresponding to the point where the vehicle exists based on the road surface height information and the wheel position specifying unit 28 after the determination by the object determining unit 24, and The road surface height is output to the height calculation unit 29.

The object determination unit 24 determines, for each reflection point, whether or not the difference between the measurement distance acquired by the sensor information acquisition unit 21 and the road surface height acquired from the road surface height specification unit 23 is equal to or less than a predetermined threshold value. Thus, it is determined whether or not there is an object whose height is to be measured at the reflection point.
The road surface state determination unit 25 acquires the measurement distance acquired by the sensor information acquisition unit 21, and based on the scattering degree of the reflection point distance determined by the target object determination unit 24 that the target object does not exist, the road surface state Judge the quality of the.
When the road surface state determination unit 25 determines that the road surface state is good, the update unit 26 stores the storage unit 22 on the basis of the difference between the measurement distance and the road surface height at each of the reflection points determined to have no object. The road surface height table stored in is updated.

The vehicle determination unit 27 determines whether or not there is a vehicle at the reflection point where the target determination unit 24 determines that the target exists.
The wheel position specifying unit 28 specifies the position of the wheel when the vehicle determination unit 27 determines that the vehicle is present.
The height calculation unit 29 calculates the height of the object by calculating the difference between the measurement distance acquired by the sensor information acquisition unit 21 and the road surface height specified by the road surface height specification unit 23 for each reflection point. .

  Next, in the present embodiment, the laser sensor 1 scans the laser beam at a predetermined time interval, and as a measurement result of the measurement device, for each reflection point, coordinates indicating the position of the reflection point in the road surface width direction and Outputs the measurement distance. Hereinafter, the operation of the information processing apparatus 2 executed every time the measurement result is received from the laser sensor 1 will be described.

FIG. 4 is a flowchart showing the operation of the information processing apparatus 2 in the present embodiment.
When the measurement result is output from the laser sensor 1, the sensor information acquisition unit 21 acquires the measurement result (step S1). Next, the sensor information acquisition unit 21 outputs the acquired measurement result to the object determination unit 24. In addition, the sensor information acquisition unit 21 outputs the coordinates of the reflection point among the acquired measurement results to the road surface height specification unit 23.

  Next, the road surface height specifying unit 23 reads the road surface height corresponding to the coordinates of each reflection point acquired from the sensor information acquisition unit 21 with reference to the road surface height table stored in the storage unit 22, and the object determination unit 24. (Step S2). At this time, the road surface height specifying unit 23 outputs the road surface height associated with the segment point closest to the coordinates of the reflection point (see FIG. 3) as the road surface height corresponding to the coordinates of the reflection point.

  Next, the object determination unit 24 calculates, for each reflection point, the difference between the measurement distance acquired from the sensor information acquisition unit 21 and the road surface height acquired from the road surface height specification unit 23 (step S3). Next, the object determination unit 24 determines, for each reflection point, whether or not the object exists at the reflection point based on the calculated difference (step S4). Specifically, the object determination unit 24 determines that the object exists at a reflection point where the calculated difference is equal to or greater than a predetermined threshold (for example, 1 meter), and sets the reflection point where the difference is less than the predetermined threshold. It is determined that the object does not exist. When there is no object at the reflection point, the laser light emitted by the laser sensor 1 is reflected on the road surface, and the reflection point is a point on the road surface.

  Next, the road surface state determination unit 25 acquires the distance at the reflection point determined by the target object determination unit 24 that the target object does not exist among the measurement results acquired by the sensor information acquisition unit 21 in step S1. Next, the road surface state determination unit 25 calculates the standard deviation of the measurement distance at the reflection point where it is determined that the object does not exist continuously in the most recent predetermined number of measurements (step S5). Next, the road surface state determination unit 25 determines whether the road surface state is good or not by determining whether or not the calculated standard deviation is greater than or equal to a predetermined threshold value (step S6). Specifically, the road surface state determination unit 25 determines that the road surface state is bad when the calculated standard deviation is equal to or greater than a predetermined threshold. This is because when the road surface gets wet due to rain or the like, the laser irradiated by the laser sensor 1 is irregularly reflected, and thus the measurement distance varies greatly. That is, when the road surface condition is bad, the reliability of the measurement result by the laser sensor 1 is low.

  When the road surface state determination unit 25 determines that the road surface state is good (step S6: YES), the update unit 26 determines that there is no object among the differences calculated by the object determination unit 24 in step S3. Get the one associated with the reflected point. Next, the update unit 26 updates the road surface height table stored in the storage unit 22 based on the acquired difference value (step S7). Examples of the method for updating the road surface height table include a method of calculating an average value of the obtained difference values and adding the average value to each road surface height of the road surface height table. In addition, a method for deriving a function indicating the influence of the temperature draft in the laser sensor 1 from the relationship between the reflection point and the obtained difference value, and adding the influence of the temperature draft to each road surface height of the road surface height table based on the function. May be used.

  When the road surface state determination unit 25 determines in step S6 that the road surface state is bad (step S6: NO), or when the update unit 26 updates the road surface height table in step S7, the road surface height specifying unit 23 is a storage unit. The road surface height for each reflection point is read out from the road surface height table stored in 22 (step S8). Here, the road surface height read by the road surface height specifying unit 23 is the road surface height of the road surface height table updated in step S7 when it is determined in step S6 that the road surface state is good. Next, the height calculation unit 29 calculates the height of each reflection point by subtracting the measurement distance acquired by the sensor information acquisition unit 21 in step S1 from the road surface height read by the road surface height specification unit 23 ( Step S9).

  Next, the vehicle determination unit 27 determines whether or not a vehicle is present at the reflection point for each reflection point at which the object determination unit 24 determines that the object is present (step S10). Specifically, the vehicle determination unit 27 determines that the continuous point is present when the reflection points determined by the object determination unit 24 are continuously present over a predetermined width (for example, 40 centimeters). It is determined that there is a vehicle at the position of the reflection point group that performs. When the vehicle determination unit 27 determines that there is no reflection point group in which the vehicle exists (step S10: NO), the information processing apparatus 2 uses the height of the reflection point calculated in step S9 as the height of the object on the road surface. As a result, the process ends.

  When it is determined that there is a reflection point group in which the vehicle exists (step S10: YES), the vehicle determination unit 27 determines whether or not the vehicle is a four-wheeled vehicle for each of the reflection point groups ( Step S11). Specifically, the vehicle determination unit 27 determines that the vehicle is a four-wheeled vehicle when the width of the vehicle is equal to or greater than a predetermined width (for example, 70 centimeters), and otherwise determines that the vehicle is a two-wheeled vehicle. It is determined that

When the vehicle determination unit 27 determines that the vehicle is a four-wheeled vehicle (step S11: YES), the wheel position specification unit 28 determines both ends of the reflection point group determined by the vehicle determination unit 27 that the four-wheeled vehicle exists. Further, each point on the inner side by a predetermined length (for example, 10 cm) is specified as the position of the wheel of the four-wheeled vehicle (step S12).
On the other hand, when the vehicle determination unit 27 determines that the vehicle is a two-wheeled vehicle (step S11: NO), the wheel position specifying unit 28 determines the center point of the reflection point group determined by the vehicle determination unit 27 that the two-wheeled vehicle exists. Is the wheel position of the motorcycle (step S13).

  When the wheel position specifying unit 28 specifies the wheel position in step S12 or step S13, the road surface height specifying unit 23 is based on the road surface height corresponding to the specified wheel position among the road surface heights read in step S8. The road surface height corresponding to the reflection point group determined by the vehicle 27 to be present is specified (step S14). Specifically, when the vehicle is a four-wheeled vehicle, two wheel positions are specified in step S12, so that the road surface height corresponding to the reflection point group is obtained by linear interpolation of the two road surface heights corresponding to the wheel position. Is calculated. On the other hand, when the vehicle is a two-wheeled vehicle, since one wheel position is specified in step S13, the road surface height corresponding to the wheel position is set as the road surface height corresponding to the reflection point group.

Here, the reason why the road surface height is specified in step S14 will be described.
FIG. 5 is a diagram illustrating an example of a vehicle traveling on a road surface.
As shown in FIG. 5A, a ridge may be formed on the road surface due to the passage of the vehicle. At this time, as shown in FIG. 5 (A), when a four-wheeled vehicle is present on the fence, if the vehicle height is calculated based only on the road surface height table stored in the storage unit 22, FIG. As shown in B), the calculation result of the height of the vehicle includes the influence of unevenness due to the wrinkles. On the other hand, when the road surface height is specified by the processing in step S14, the influence of the kite can be removed from the calculation result of the vehicle height as shown in FIG.
Further, since the two-wheeled vehicle has one wheel, the posture does not depend on the gradient. Therefore, if the vehicle height is calculated based only on the road surface height table stored in the storage unit 22, as shown in FIG. 5B, the vehicle height calculation result includes the influence of the gradient. Become. On the other hand, when the road surface height is specified by the process of step S14, the influence of the gradient can be removed from the calculation result of the vehicle height as shown in FIG.

  When the road surface height specifying unit 23 specifies the road surface height in step S14, the height calculating unit 29 subtracts the measurement distance acquired by the sensor information acquiring unit 21 in step S1 from the road surface height specified by the road surface height specifying unit 23. Thus, the height of the vehicle is calculated (step S15), and the height of the reflection point where the vehicle exists is replaced with the height of the vehicle calculated in step S15. Thereby, the height of the object for each reflection point of the laser can be calculated.

As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to
For example, in the present embodiment, when the laser sensor 1 outputs a distance from the reference position, which is a position immediately above the reflection point, to the reflection point at the same height as the installation position, that is, the output of the laser sensor. Although the case where indicates a value in an orthogonal coordinate system has been described, the present invention is not limited to this. For example, even if the laser sensor 1 outputs a relationship with the distance from the installation position to the reflection point when the laser is irradiated at a predetermined scanning angle, that is, indicates the value of the polar coordinate system, the same processing is performed. It can be performed. In this case, the reference position is the installation position, and the road surface height table needs to store the relationship between the scanning angle and the road surface height.

  In the present embodiment, the case where the scanning laser sensor 1 is used as the distance measurement unit has been described. However, the present invention is not limited to this, and a laser sensor using another sensing method such as a multi-optical axis method may be used.

  In the present embodiment, the road surface height specifying unit 23 outputs the road surface height associated with the segment point closest to the coordinates of the reflection point as the road surface height corresponding to the coordinates of the reflection point. Not limited to. For example, the road surface height specifying unit 23 may obtain the road surface height corresponding to the coordinates of the reflection point by interpolation calculation of the road surface heights associated with the two segment points in the vicinity of the coordinates of the reflection point.

  In the present embodiment, the case where the storage unit 22 stores the relationship between the point on the road surface and the road surface height, which is the distance from the reference position to the point, is described as a road surface height table. Absent. For example, when there is no wrinkle on the road surface or when the wrinkle is small enough to be ignored, the storage unit 22 is a function that expresses the relationship between a point on the road surface and the road surface height that is the distance from the reference position to the point. May be stored as road surface height information.

  Further, in the present embodiment, the case where the road surface state determination unit 25 determines the quality of the road surface state based on the standard deviation of the measurement information for each time of the reflection point where the object does not exist continuously has been described. Not limited to. For example, the quality of the road surface condition may be determined based on other values indicating the degree of dispersion, such as a range based on the magnitude of the variance or the difference between the maximum value and the minimum value. Further, the quality of the road surface condition may be determined based on the dispersion degree of a plurality of reflection points where the object does not exist at a certain time, instead of the standard deviation of the measurement information for each time.

  Moreover, although this embodiment demonstrated the case where the road surface state determination part 25 determined the quality of a road surface state based on the dispersion degree of measurement information, it is not restricted to this. For example, a rain sensor may be provided, and when the rain sensor detects rain, the road surface state determination unit 25 may determine that the road surface state is bad.

  Further, in the present embodiment, a case has been described in which the height of each reflection point is calculated in steps S8 and S9 first, and then the difference in road surface height is overwritten by the processing in steps S10 to S15. I can't. For example, after executing the processing of step S10 to step S15 first, the height of the reflection point where the vehicle does not exist may be calculated by the same procedure as step S8 and step S9.

  Moreover, although this embodiment demonstrated the case where the height containing a target object and a road surface was calculated by calculating the height of all the reflective points, it is not restricted to this. For example, the measuring device may simply calculate the height of the vehicle. In this case, only the height of the vehicle may be calculated by skipping steps S8 and S9 and performing steps S10 to S15.

  The information processing apparatus 2 described above has a computer system inside. The operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  DESCRIPTION OF SYMBOLS 1 ... Laser sensor 2 ... Information processing apparatus 21 ... Sensor information acquisition part 22 ... Memory | storage part 23 ... Road surface height specific | specification part 24 ... Object determination part 25 ... Road surface state determination part 26 ... Update part 27 ... Vehicle determination part 28 ... Wheel position Specific part 29 ... Height calculation part

Claims (7)

A measuring device that measures the height of an object present on a road surface,
A laser is emitted from an installation position above the road surface to a plurality of points on the road surface, and the laser beam is reflected at the same height as the installation position based on the reflected light of the laser. A distance measuring unit that measures a distance from a reference position, which is a position immediately above a certain reflection point, to the reflection point;
A storage unit for storing road surface height information indicating a relationship between a point on the road surface and a road surface height that is a distance from the reference position to the point;
A vehicle determination unit for determining whether a vehicle is present at the reflection point;
A wheel position specifying unit for specifying a position where a wheel of the vehicle exists when the vehicle determining unit determines that a vehicle exists;
Based on the road surface height information stored in the storage unit and the wheel position specified by the wheel position specifying unit, the road surface height that specifies the road surface height at each of the reflection points determined by the vehicle determination unit to be present. A specific part,
A height calculation unit that calculates the length from the road surface to the reflection point as the height of the object based on the respective distances calculated by the distance measurement unit and the road surface height specified by the road surface height specification unit; A measuring device comprising: An object for determining, for each reflection point, whether or not a difference between the distance measured by the distance measurement unit and the road surface height of the reflection point indicated by the road surface height information stored in the storage unit is equal to or less than a predetermined threshold value. A determination unit;
When there is a reflection point determined by the object determination unit that the difference between the distance measured by the distance measurement unit and the road surface height specified by the road surface height specification unit is a predetermined threshold value or less, the distance The measurement apparatus according to claim 1, further comprising: an update unit that updates road surface height information stored in the storage unit based on a distance related to the reflection point measured by the measurement unit. Provided with a road surface state determination unit that determines the quality of the road surface state,
In the update unit, there is a reflection point determined by the object determination unit that a difference between the distance measured by the distance measurement unit and the road surface height specified by the road surface height specification unit is equal to or less than a predetermined threshold. And only when the road surface state determination unit determines that the road surface state is good, the road surface height information stored in the storage unit is updated based on the distance related to the reflection point measured by the distance measurement unit. The measuring device according to claim 2. The road surface state determination unit includes a reflection point determined by the object determination unit to determine that the difference between the distance measured by the distance measurement unit and the distance specified by the road surface height specification unit is equal to or less than a predetermined threshold value. In this case, it is determined that the road surface condition is good when the dispersity of the distance measured by the distance measuring unit at each of the reflection points is equal to or less than a predetermined value. The vehicle determination unit has determined that the difference between the distance measured by the distance measurement unit and the distance specified by the road height specification unit exceeds a predetermined threshold among the reflection points by the object determination unit. The measuring apparatus according to claim 2, wherein when a reflection point exists continuously over a predetermined width, it is determined that a vehicle is present at the position of the continuous reflection point. Shows the relationship between a point on the road surface and the height of the road surface that is the same height as the installation position, which is the position where the laser is emitted, and the distance from the reference position that is directly above the point to the point A measurement method using a measurement device that includes a storage unit that stores road height information and measures the height of an object existing on the road surface,
The distance measuring unit of the measuring device emits a laser from the installation position toward a plurality of points on the road surface, and is a reflection that is a point where the laser is reflected from the reference position based on reflected light of the laser Measure the distance to the point,
The vehicle determination unit of the measurement device determines whether a vehicle exists at the reflection point,
The wheel position specifying unit of the measuring device specifies the position where the wheel of the vehicle exists when the vehicle determining unit determines that the vehicle exists.
The reflection level determined by the vehicle determination unit is determined based on the road surface height information stored in the storage unit and the wheel position specified by the wheel position specification unit. Identify the road surface height at each point,
The height calculation unit of the measuring device calculates the length from the road surface to the reflection point based on the respective distances calculated by the distance measurement unit and the road surface height specified by the road surface height specifying unit. A measurement method characterized by calculating the height. Shows the relationship between a point on the road surface and the height of the road surface that is the same height as the installation position, which is the position where the laser is emitted, and the distance from the reference position that is directly above the point to the point A storage unit that stores road surface height information, and a measuring device computer that measures the height of an object existing on the road surface,
Distance measurement in which a laser is emitted from the installation position toward a plurality of points on the road surface, and a distance from the reference position to a reflection point that is a point where the laser is reflected is measured based on reflected light of the laser Part,
A vehicle determination unit for determining whether a vehicle is present at the reflection point;
A wheel position specifying unit for specifying a position where a wheel of the vehicle exists when the vehicle determining unit determines that a vehicle is present;
Based on the road surface height information stored in the storage unit and the wheel position specified by the wheel position specifying unit, the road surface height that specifies the road surface height at each of the reflection points determined by the vehicle determination unit to be present. Specific part,
As a height calculation unit that calculates the length from the road surface to the reflection point as the height of the object based on the respective distances calculated by the distance measurement unit and the road surface height specified by the road surface height specification unit A program to make it work.

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