JP6566301B2 - Vehicle passage determination device, vehicle detection system, and program - Google Patents

Description

    The present invention relates to a vehicle passage determination device, a vehicle detection system, and a program.

  In recent years, a non-stop automatic toll payment system (hereinafter referred to as ETC system: Electronic Toll Collection System) has been used to collect usage fees on automobile toll roads. The ETC system collects a usage fee without stopping the vehicle by communication between the vehicle equipped with the ETC on-vehicle device and the antenna installed in the upper part of the lane.

  In such an ETC system, a plurality of detectors for detecting a vehicle are installed at intervals above the toll collection lane. In the conventional ETC system, when the detector detects a vehicle that is running backward in the direction in which the toll collection lane passes, information that prompts the driver of the vehicle to stop by closing the toll gate is displayed on the display. (For example, refer to Patent Document 1).

JP 2006-92284 A

  Here, some ETC systems detect an abnormal state such as a retrograde vehicle. When detecting this abnormal state, the ETC system may include a plurality of detectors, and may be detected by distinguishing between a normal state and an abnormal state based on a combination of detection results from the plurality of detectors. However, combinations of detection results obtained by the plurality of detectors may vary widely, and in such a case, design for determining an abnormal state and verification thereof may be complicated. That is, in the ETC system including a plurality of vehicle detectors, there is a problem that the design work for determining an abnormal state and the design verification work become complicated.

  It is an object of the present invention to reduce the degree of complexity of ETC system design work and design verification work.

One embodiment of the present invention is information based on an acquisition unit that acquires a detection result indicating the presence or absence of a vehicle that is output from each of a plurality of detectors arranged in the passing direction of the vehicle, and information on the order in which the detectors are arranged. The transition information indicating whether the transition of the combination of detection results is normal or abnormal is indicated by a Petri net, a storage unit that is stored in advance, the detection result acquired by the acquisition unit, Based on the transition information stored in the storage unit, a token is assigned to each passing vehicle, and the vehicle is indicated as the token on the Petri net, so that the combination of the detection results is a normal transition, abnormal or transition in which, a determination unit for each vehicle passing a vehicle pass-format, characterized in that it comprises an output unit for outputting a determination result by the determination unit It is a device.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle passage determination apparatus which can reduce the grade which the design work of an ETC system and the design verification work become complicated, and its program can be provided.

It is a schematic diagram which shows the outline | summary of a structure of the vehicle detection system which concerns on 1st Embodiment. It is a state transition diagram which shows an example of the transition information which concerns on 1st Embodiment. It is a schematic diagram showing an example of composition of a vehicle detection system concerning a 1st embodiment. It is a flowchart which shows an example of operation | movement of the vehicle passage determination apparatus which concerns on 1st Embodiment. It is a schematic diagram which shows the outline | summary of a structure of the vehicle detection system which concerns on 2nd Embodiment. It is a state transition diagram which shows an example of the transition information which concerns on 2nd Embodiment. It is a flowchart which shows an example of operation | movement of the vehicle passage determination apparatus which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, a first embodiment of the vehicle detection system 1 will be described with reference to the drawings. First, the outline of the configuration of the vehicle detection system 1 will be described with reference to FIG.
FIG. 1 is a schematic diagram showing an outline of the configuration of the vehicle detection system 1 of the present embodiment. The vehicle detection system 1 includes a vehicle passage determination device 10, a vehicle position detection device 20, and a display device 30. Here, a case where the place where the vehicle detection system 1 is installed is a gate of a toll gate will be described as an example. First, the outline | summary of the vehicle position detection apparatus 20 is demonstrated.

  The vehicle position detection device 20 includes a plurality of detectors. Here, a case where the vehicle position detection device 20 includes three detectors will be described as an example. The detector 201, the detector 202, and the detector 203 are installed at predetermined intervals in the passing direction of the vehicle passing through the vehicle passing lane LT of the toll gate. Hereinafter, when these three detectors are distinguished, they are referred to as a detector 201, a detector 202, and a detector 203. When the three detectors are not distinguished, they are collectively referred to as a detector 200. .

The detector 200 includes a vehicle detection sensor. This vehicle detection sensor detects whether or not an object is present at the position to be detected based on the presence or absence of transmission of infrared rays, visible rays, sound waves, or the like or the presence or absence of reflection. The detector 200 can detect the presence or absence of a vehicle at the position to be detected.
The detector 200 outputs the result of detecting the presence or absence of a vehicle to other devices. In the following description, the result of detecting the presence or absence of the vehicle by the detector 201 is referred to as a detection result r1. The result of detecting the presence or absence of the vehicle by the detector 202 is referred to as a detection result r2. The result of detecting the presence or absence of the vehicle by the detector 203 is referred to as a detection result r3. Hereinafter, when the detection result r1, the detection result r2, and the detection result r3 are not distinguished, they are collectively referred to as a detection result r.
The vehicle position detection device 20 outputs a detection result r indicating the presence or absence of the vehicle detected by the detector 200 to the vehicle passage determination device 10.

  The number of detectors 200 shown in FIG. 1 is an example, and is not limited to this. The vehicle position detection device 20 only needs to include a number of detectors 200 that can determine the traveling direction of the vehicle passing through the vehicle passage lane LT. Specifically, the vehicle position detection device 20 only needs to include two or more detectors 200.

  Next, the detection area of the vehicle position detection device 20 will be described. In the present embodiment, a vehicle that is a target to be detected is referred to as a vehicle V. A direction in which the vehicle V passes through the toll gate is referred to as a direction dr, and a direction opposite to the direction dr is referred to as a direction rv. The direction dr is also referred to as the front. The direction rv is also referred to as the rear.

  This detection area includes a position where the detector 200 can detect the presence of a vehicle and a position where the detector 200 cannot detect the presence of a vehicle. The position at which the detector 200 can detect the presence or absence of a vehicle includes a position S1 that can be detected by the detector 201, a position S2 that can be detected by the detector 202, and a detector 203 that can detect the position. A position S3 that is a position is included. That is, the detector 201 detects whether or not a vehicle exists at the position S1. The detector 202 detects whether or not a vehicle exists at the position S2. The detector 203 detects whether or not a vehicle is present at the position S3. Here, the position S1 is also referred to as a detection region of the detector 201. The position S2 is also referred to as a detection region of the detector 202. The position S3 is also referred to as a detection region of the detector 203.

  The positions where the detector 200 cannot detect the presence or absence of the vehicle include a position P0 behind the position S1 and a position P1 between the positions S1 and S2. The positions where the detector 200 cannot detect the presence or absence of the vehicle include a position P2 between the positions S2 and S3 and a position P3 ahead of the position S3. In the present embodiment, the position of the vehicle V from when the vehicle V reaches the toll gate until it passes through the toll gate is indicated by these seven positions. The position of the vehicle V will be described more specifically with reference to FIG.

First, as shown in FIG. 1, a case where the vehicle V passes through the toll gate in the direction dr will be described. In this case, the vehicle V passes through the position P0, the position S1, the position P1, the position S2, the position P2, the position S3, and the position P3 in this order. In the following description, the case where the vehicle V travels in the direction dr is referred to as forward travel.
Next, a case where the vehicle V passes through the toll gate in the direction rv will be described. In this case, if the vehicle V enters the toll gate from the position P3, the vehicle V passes through the position P3, the position S3, the position P2, the position S2, the position P1, the position S1, and the position P0 in this order. In the following description, the case where the vehicle V travels in the direction rv is referred to as reverse travel or reverse travel. Note that, if the vehicle V travels in the direction rv regardless of where the vehicle V has started to travel, the vehicle travels backward. For example, when the vehicle V travels from the position S2 toward the position P1, the vehicle runs backward.

  Next, the outline of the configuration of the vehicle passage determination device 10 will be described. The vehicle passage determination device 10 determines the passage of the vehicle V based on the detection result r of the vehicle position detection device 20 and the transition information Info1. Hereinafter, a specific example of the transition information Info1 will be described with reference to FIG.

  FIG. 2 is a state transition diagram illustrating an example of the transition information Info1. In the present embodiment, the transition information Info1 is information indicated by a finite automaton. This finite automaton represents the behavior of the target system by “state”, “transition” that connects the states, and “transition condition” that is a condition for determining whether or not the transition is possible. In the following description, the “state” of the transition information Info1 is also referred to as the state of the vehicle V. The “transition” of the transition information Info1 is also referred to as a state transition of the vehicle V. Further, the “transition condition” of the transition information Info1 is also referred to as a transition condition of the state of the vehicle V.

  In the transition information Info1 shown in FIG. 2, the state of the vehicle V is indicated by the detection result r of the detector 200. For example, if the detection result r1 of the detector 201 indicates “vehicle present” and the detection result r2 of the detector 202 and the detection result r3 of the detector 203 both indicate “no vehicle”, the state of the vehicle V Is in state STS1. This state STS1 corresponds to the position S1 shown in FIG. Hereinafter, when the detection result r of the detector 200 indicates “there is a vehicle”, the value of the detection result r is assumed to be “1”. Further, when the detection result r of the detector 200 indicates “no vehicle”, the description will be made assuming that the value of the detection result r is “0”. When the detection results r of the detector 201, the detector 202, and the detector 203 are collectively shown, they are described as “the value of the detection result r1, the value of the detection result r2, and the value of the detection result r3”. For example, when the detection result r1 of the detector 201 indicates “vehicle present” and the detection result r2 of the detector 202 and the detection result r3 of the detector 203 both indicate “no vehicle”, “100” Describe. For example, if the detection result r1 of the detector 201, the detection result r2 of the detector 202, and the detection result r3 of the detector 203 all indicate “with vehicle”, “111” is described.

  Further, in the transition information Info1 shown in FIG. 2, the transition condition of the state of the vehicle V is associated with the detection result r of the detector 200 and predetermined for each transition. In the following description, the transition condition of the state of the vehicle V is described as the condition C [value of the detection result r1, value of the detection result r2, value of the detection result r3] in association with the detection result r of the detector 200. For example, the transition condition associated with the detection result r “100” of the detector 200 is described as a condition C [100]. Further, for example, the transition condition associated with the detection result r “111” of the detector 200 is described as a condition C [111].

  The “transition” of the transition information Info1 includes “normal transition” and “abnormal transition”. Among these, the normal transition is a transition of the state of the vehicle V when the vehicle V travels in the direction dr shown in FIG. The abnormal transition is a state transition of the vehicle V when the vehicle V travels in the direction rv shown in FIG. Hereinafter, a specific example of the transition information Info1 will be described in detail with reference to FIG. First, the normal transition of the transition information Info1 will be described for each state, and then the abnormal transition of the transition information Info1 will be described for each state.

[Normal transition from state STP0]
The state STP0 indicates the initial state of the transition information Info1 shown in FIG. This state STP0 is a state indicating that the vehicle V entering the toll gate has not yet advanced to the position S1.
The normal transition to the other state of state STP0 includes transition T01 and transition T02.
The transition condition of transition T01 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions according to the transition T01. Here, when the vehicle V remains without proceeding from the position P0 to the position S1, the detector 201, the detector 202, and the detector 203 all output “no vehicle”. In this case, the detection result r is “000”, which matches the condition C [000]. That is, the condition C [000] indicates that the vehicle V remains at the position P0 without proceeding to the position S1. When the vehicle V remains at the position P0, the state of the vehicle V is held at the state STP0.

The transition condition of transition T02 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions to the state STS1 according to the transition T02. Here, when the vehicle V advances from the position P0 to the position S1 and reaches the position S1, the detector 201 outputs “vehicle present”, and the detector 202 and the detector 203 indicate “no vehicle”. Output. In this case, the detection result r is “100”, which matches the condition C [100]. Therefore, when vehicle V reaches position S1, the state of vehicle V transits from state STP0 to state STS1.
Here, the traveling of the vehicle V from the position P0 to the position S1 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STP0 to the state STS1 is a normal transition.

[Normal transition from state STS1]
The state STS1 indicates that the vehicle V exists at the position S1.
Normal transition from the state STS1 to another state includes a transition T03, a transition T04, a transition T05, and a transition T06.
The transition condition of transition T03 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions according to the transition T03. Here, when the vehicle V remains at the position S1, the detection result r is “100”, which matches the condition C [100]. Therefore, when the vehicle V remains at the position S1, the state of the vehicle V is held in the state STS1.

The transition condition of transition T06 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP1 according to the transition T06. Here, when the vehicle V advances from the position S1 to the position P1 and reaches the position P1, the detector 201, the detector 202, and the detector 203 all output “no vehicle”. In this case, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P1, the state of vehicle V transitions from state STS1 to state STP1.
Here, traveling from the position S1 to the position P1 indicates that the vehicle V travels in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS1 to the state STP1 is a normal transition.

The transition condition of transition T04 is condition C [110]. When the detection result r matches the condition C [110], the state of the vehicle V transitions to the state STS1S2 according to the transition T04. Here, the case where the state of the vehicle V changes to state STS1S2 is demonstrated. When the vehicle length of the vehicle V is longer than the interval from the detector 201 to the detector 202, the detector 201 and the detector 202 may simultaneously detect “there is a vehicle”. Specifically, when the leading portion of the vehicle V is at the position S2, the trailing portion of the vehicle V may be at the position S1. In this case, the detection result r of the vehicle position detection device 20 is “110”, which matches the condition C [110]. Therefore, when the head of the vehicle V is at the position S2 and the tail of the vehicle V is at the position S1, the state of the vehicle V transitions from the state STS1 to the state STS1S2.
Here, the vehicle V traveling from the position S1 to the position S2 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS1 to the state STS1S2 is a normal transition.

The transition condition of transition T05 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions to the state STS2 according to the transition T05. Here, a specific example when the state of the vehicle V transitions to the state STS2 will be described. The vehicle position detection device 20 detects the position of the vehicle V every predetermined time. When the vehicle V advances from the position S1 to the position S2, the output of the detector 201 changes from “with vehicle” to “without vehicle”, and the output of the detector 202 changes from “without vehicle” to “with vehicle”. . When the speed of the vehicle V is relatively slow, the vehicle position detection device 20 detects that “no vehicle” is detected by both the detector 201 and the detector 202. That is, when the speed of the vehicle V is relatively slow, the vehicle position detection device 20 detects that the vehicle V has moved from the position S1 to the position P1 and further moved to the position S2. On the other hand, when the speed of the vehicle V is relatively high, the vehicle position detection device 20 can detect “the vehicle is present” at the same time that the detector 201 detects “there is no vehicle”. That is, the vehicle position detection device 20 detects that the vehicle has moved from the position S1 to the position S2 without going through the position P1.
This transition T05 is a transition indicating that the vehicle position detection device 20 has detected that the vehicle V has moved to the position S2 without detecting that the vehicle V has moved to the position P1. When the vehicle V advances from the position S1 to the position S2 and reaches the position S2, the detection result r of the vehicle position detection device 20 is “010”, which matches the condition C [010]. Therefore, when vehicle V moves from position S1 to position S2 at a relatively high speed, the state of vehicle V changes from state STS1 to state STS2.
Here, the vehicle V traveling from the position S1 to the position S2 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS1 to the state STS2 is a normal transition.

[Normal transition from state STS1S2]
State STS1S2 is a state in which the vehicle V transits when the vehicle length is longer than the interval from the detector 201 to the detector 202. The state STS1S2 indicates that the vehicle V exists at the position S1, the position P1, and the position S2.
Normal transition from the state STS1S2 to another state includes a transition T07 and a transition T08.
The transition condition of transition T07 is condition C [110]. When the detection result r matches the condition C [110], the state of the vehicle V transitions according to the transition T07. Here, when the head of the vehicle V remains at the position S2 and the tail of the vehicle V remains at the position S1, the state of the vehicle V is held in the state STS1S2.

The transition condition of transition T08 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions to the state STS2 according to the transition T08. Here, when the vehicle V proceeds to the position S2 and the tail of the vehicle V reaches the position P1, the detection result r is “010”, which matches the condition C [010]. Therefore, when the vehicle V travels forward from the position S1 that is the detection region of the detector 201 and reaches the outside of the detection region, the state of the vehicle V transitions from the state STS1S2 to the state STS2.
Here, the vehicle V traveling from the position S1 to the position S2 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS1S2 to the state STS2 is a normal transition.

[Normal transition from state STP1]
The state STP1 indicates that the vehicle V exists at the position P1.
The normal transition from the state STP1 to another state includes a transition T09 and a transition T10.
The transition condition of transition T09 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions according to the transition T09. Here, when the vehicle V remains at the position P1, the detection result r is “000”, which matches the condition C [000]. Therefore, when the vehicle V remains at the position P1, the state of the vehicle V is held at the state STP1.

The transition condition of transition T10 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions to the state STS2 according to the transition T10. Here, when the vehicle V advances from the position P1 to the position S2 and reaches the position S2, the detection result r is “010”, which matches the condition C [010]. Therefore, when vehicle V reaches position S2, the state of vehicle V transits from state STP1 to state STS2.
Here, the vehicle V traveling from the position P1 to the position S2 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STP1 to the state STS2 is a normal transition.

[Normal transition from state STS2]
The state STS2 indicates that the vehicle V exists at the position S2.
The normal transition from the state STS2 to another state includes a transition T11, a transition T12, a transition T13, and a transition T14.
The transition condition of transition T11 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions according to the transition T11. Here, when the vehicle V remains at the position S2, the detection result r is “010”, which matches the condition C [010]. Therefore, when the vehicle V remains in the position S2, the state of the vehicle V is held in the state STS2.

The transition condition of transition T14 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP2 according to the transition T14. Here, when the vehicle V advances from the position S2 to the position P2 and reaches the position P2, the detector 201, the detector 202, and the detector 203 all output “no vehicle”. In this case, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P2, the state of vehicle V transitions from state STS2 to state STP2.
Here, traveling from the position S2 to the position P2 indicates that the vehicle V travels in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS2 to the state STP2 is a normal transition.

The transition condition of transition T12 is condition C [011]. When the detection result r matches the condition C [011], the state of the vehicle V transitions to the state STS2S3 according to the transition T12. When the vehicle length of the vehicle V is longer than the interval from the detector 202 to the detector 203, that is, when the head of the vehicle V is at the position S3 and the tail of the vehicle V is at the position S2, the state of the vehicle V Transits from state STS2 to state STS2S3.
Since the transition T12 is similar to the transition T04 in the condition C, the detailed description thereof is omitted.
Here, the vehicle V traveling from the position S2 to the position S3 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS2 to the state STS2S3 is a normal transition.

The transition condition of the transition T13 is the condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V transitions to the state STS3 according to the transition T13. Here, when the vehicle V moves from the position S2 to the position S3 at a relatively high speed, the state of the vehicle V transits from the state STS2 to the state STS3.
Since the transition T13 is the same as the transition T05 in the process of establishing the condition C, detailed description thereof is omitted.
Here, the vehicle V traveling from the position S2 to the position S3 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS2 to the state STS3 is a normal transition.

[Normal transition from state STS2S3]
The state STS2S3 is a state in which the vehicle V transits when the vehicle length is longer than the interval from the detector 202 to the detector 203.
Normal transition from the state STS2S3 to another state includes a transition T15 and a transition T16.
The transition condition of transition T15 is condition C [011]. When the detection result r matches the condition C [011], the state of the vehicle V changes according to the transition T15. Here, when the head of the vehicle V remains at the position S3 and the tail of the vehicle V remains at the position S2, the state of the vehicle V is held in the state STS2S3.

The transition condition of transition T16 is condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V transitions to the state STS3 according to the transition T16. Here, when the vehicle V travels to the position S3 and the tail of the vehicle V reaches the position P2, the detection result r is “001”, which matches the condition C [001]. Therefore, when vehicle V travels forward from position S2 which is the detection region of detector 202 and reaches the outside of the detection region, the state of vehicle V transitions from state STS2S3 to state STS3.
Here, the vehicle V traveling from the position S2 to the position S3 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS2S3 to the state STS3 is a normal transition.

[Normal transition from state STP2]
The state STP2 indicates that the vehicle V exists at the position P2.
Normal transition from the state STP2 to another state includes a transition T17 and a transition T18.
The transition condition of transition T17 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V changes according to the transition T17. Here, when the vehicle V remains at the position P2, the detection result r is “000”, which matches the condition C [000]. Therefore, when the vehicle V remains at the position P2, the state of the vehicle V is held at the state STP2.

The transition condition of transition T18 is condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V transitions to the state STS3 according to the transition T18. Here, when the vehicle V advances from the position P2 to the position S3 and reaches the position S3, the detection result r is “001”, which matches the condition C [001]. Therefore, when vehicle V reaches position S3, the state of vehicle V transits from state STP2 to state STS3. That is, the state STS3 indicates that the vehicle V exists at the position S3.
Here, the traveling of the vehicle V from the position P2 to the position S3 indicates traveling in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STP2 to the state STS3 is a normal transition.

[Normal transition from state STS3]
A state STS3 indicates that the vehicle V exists at the position S3.
Normal transition from the state STS3 to another state includes a transition T19 and a transition T20.
The transition condition of transition T19 is condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V changes according to the transition T19. Here, when the vehicle V remains at the position S3, the detection result r is “001”, which matches the condition C [001]. Therefore, when the vehicle V remains in the position S3, the state of the vehicle V is held in the state STS3.

The transition condition of transition T20 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP3 according to the transition T20. Here, when the vehicle V advances from the position S3 to the position P3 and reaches the position P3, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P3, the state of vehicle V transitions from state STS3 to state STP3. That is, the state STP3 indicates that the vehicle V exists at the position P3.
Here, traveling from the position S3 to the position P3 indicates that the vehicle V travels in the direction dr. Since the progress in the direction dr is a normal transition, the transition from the state STS3 to the state STP3 is a normal transition.

[Normal transition from state STP3]
The state STP3 indicates that the vehicle V exists at the position P3.
Normal transition from the state STP3 to another state includes a transition T21 and a transition T22.
The transition condition of transition T21 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions according to the transition T21. Here, when the vehicle V remains at the position P3, the detection result r is “000”, which matches the condition C [000]. Therefore, when the vehicle V remains at the position P3, the state of the vehicle V is held at the state STP3.
A transition T22 indicates a transition from the state STP3.

  Next, the abnormal transition of the transition information Info1 will be described for each state.

[Abnormal transition from state STP3]
An abnormal transition from the state STP3 to another state is a transition T23.
The transition condition of transition T23 is condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V transitions to the state STS3 ′ according to the transition T23. Here, when the vehicle V proceeds from the position P3 to the position S3 and reaches the position S3, the detection result r is “001”, which matches the condition C [001]. Therefore, when vehicle V reaches position S3, the state of vehicle V transitions from state STP3 to state STS3 ′.
Here, the traveling of the vehicle V from the position P3 to the position S3 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STP3 to the state STS3 ′ is an abnormal transition.

[Abnormal transition from state STS3 ′]
The abnormal transition from the state STS3 ′ to another state includes a transition T24, a transition T25, a transition T26, and a transition T27.
The transition condition of transition T24 is condition C [001]. When the detection result r matches the condition C [001], the state of the vehicle V changes according to the transition T24. Here, when the vehicle V remains at the position S3, the detection result r is “001”, which matches the condition C [001]. Accordingly, when the vehicle V remains at the position S3, the state of the vehicle V is held at the state STS3 ′. That is, the state STS3 ′ indicates that the vehicle V exists at the position S3.

The transition condition of transition T27 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP2 according to the transition T27. Here, when the vehicle V travels from the position S3 to the position P2 and reaches the position P2, the detector 201, the detector 202, and the detector 203 all output “no vehicle”. In this case, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P2, the state of vehicle V transitions from state STS3 ′ to state STP2. That is, the state STP2 indicates that the vehicle V exists at the position P2.
Here, the traveling of the vehicle V from the position S3 to the position P2 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS3 ′ to the state STP2 is an abnormal transition.

The transition condition of transition T25 is condition C [011]. When the detection result r matches the condition C [011], the state of the vehicle V transitions to the state STS2′S3 ′ according to the transition T25. When the vehicle length of the vehicle V is longer than the interval from the detector 202 to the detector 203, that is, when the head of the vehicle V is at the position S2 and the tail of the vehicle V is at the position S3, The state transitions from state STS3 ′ to state STS2′S3 ′.
Since the transition T25 is similar to the transition T04 in the condition C, the detailed description thereof is omitted.
Here, the traveling of the vehicle V from the position S3 to the position S2 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS3 ′ to the state STS2′S3 ′ is an abnormal transition. There are two driving patterns for abnormal transition. One is a pattern in which the vehicle runs backward as in the case “the head of the vehicle V is at the position S2 and the tail of the vehicle V is at the position S3”. In this case, the vehicle moves backward as in the case where the head of the vehicle V is at the position S3. Hereinafter, it will be described together with an example of the reverse pattern of the former.

The transition condition of transition T26 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V changes to the state STS2 ′ according to the transition T26. Here, when the vehicle V moves from the position S3 to the position S2 at a relatively high speed, the state of the vehicle V transits from the state STS3 ′ to the state STS2 ′.
Since the transition T26 is similar to the transition T05 in the condition C, the detailed description thereof is omitted.
Here, the traveling of the vehicle V from the position S3 to the position S2 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS3 ′ to the state STS2 ′ is an abnormal transition.

[Abnormal transition from state STS2'S3 ']
State STS2′S3 ′ is a state in which the vehicle V transits when the vehicle length is longer than the interval from the detector 202 to the detector 203.
The abnormal transition from the state STS2′S3 ′ to another state includes a transition T28 and a transition T29.
The transition condition of transition T28 is condition C [011]. When the detection result r matches the condition C [011], the state of the vehicle V transitions according to the transition T28. Here, when the head of the vehicle V remains at the position S2 and the tail of the vehicle V remains at the position S3, the state of the vehicle V is held in the state STS2′S3 ′. That is, the state STS2′S3 ′ indicates that the vehicle V exists at the position S2, the position P2, and the position S3.

The transition condition of transition T29 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions to the state STS2 ′ according to the transition T29. Here, when the vehicle V proceeds to the position S2 and the tail of the vehicle V reaches the position P2, the detection result r is “010”, which matches the condition C [010]. Therefore, when the vehicle V moves backward from the position S3 that is the detection region of the detector 203 and reaches the outside of the detection region, the state of the vehicle V changes from the state STS2′S3 ′ to the state STS2 ′. That is, the state STS2 ′ indicates that the vehicle V exists at the position S2.
Here, the traveling of the vehicle V from the position S3 to the position S2 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS2′S3 ′ to the state STS2 ′ is an abnormal transition.

[Abnormal transition from state STP2]
An abnormal transition from the state STP2 to another state is a transition T30.
The transition condition of transition T30 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions to the state STS2 ′ according to the transition T30. Here, when the vehicle V travels from the position P2 to the position S2 and reaches the position S2, the detection result r is “010”, which matches the condition C [010]. Therefore, when vehicle V reaches position S2, the state of vehicle V transitions from state STP2 to state STS2 ′. That is, the state STS2 ′ indicates that the vehicle V exists at the position S2.
Here, the traveling of the vehicle V from the position P2 to the position S2 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STP2 to the state STS2 ′ is an abnormal transition.

[Abnormal transition from state STS2 ′]
The abnormal transition from the state STS2 ′ to another state includes a transition T31, a transition T32, a transition T33, and a transition T34.
The transition condition of transition T31 is condition C [010]. When the detection result r matches the condition C [010], the state of the vehicle V transitions according to the transition T31. Here, when the vehicle V remains at the position S2, the detection result r is “010”, which matches the condition C [010]. Accordingly, when the vehicle V remains at the position S2, the state of the vehicle V is held at the state STS2 ′. That is, the state STS2 ′ indicates that the vehicle V exists at the position S2.

The transition condition of transition T34 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP1 according to the transition T34. Here, when the vehicle V advances from the position S2 to the position P1 and reaches the position P1, the detector 201, the detector 202, and the detector 203 all output “no vehicle”. In this case, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P1, the state of vehicle V transitions from state STS2 ′ to state STP1. That is, the state STP1 indicates that the vehicle V exists at the position P1.
Here, the traveling of the vehicle V from the position S2 to the position P1 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS2 ′ to the state STP1 is an abnormal transition.

The transition condition of transition T32 is condition C [110]. When the detection result r matches the condition C [110], the state of the vehicle V transitions to the state STS1′S2 ′ according to the transition T32. When the vehicle length of the vehicle V is longer than the interval from the detector 201 to the detector 202, that is, when the head of the vehicle V is at the position S1 and the tail of the vehicle V is at the position S2, the state of the vehicle V Transitions from state STS2 ′ to state STS1′S2 ′.
Since the transition T32 is similar to the transition T04 in the condition C, the detailed description thereof is omitted.
Here, the traveling of the vehicle V from the position S2 to the position S1 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS2 ′ to the state STS1′S2 ′ is an abnormal transition.

The transition condition of transition T33 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions to the state STS1 ′ according to the transition T33. Here, when the vehicle V moves from the position S2 to the position S1 at a relatively high speed, the state of the vehicle V transits from the state STS2 ′ to the state STS1 ′.
Since the transition T33 is similar to the transition T05 in the process of establishing the condition C, detailed description thereof is omitted.
Here, the traveling of the vehicle V from the position S2 to the position S1 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS2 ′ to the state STS1 ′ is an abnormal transition.

[Abnormal transition from state STS1'S2 ']
The state STS1′S2 ′ is a state in which the vehicle V transits when the vehicle length is longer than the interval from the detector 201 to the detector 202.
The abnormal transition from the state STS1′S2 ′ to another state includes a transition T35 and a transition T36.
The transition condition of transition T35 is condition C [110]. When the detection result r matches the condition C [110], the state of the vehicle V changes according to the transition T35. Here, when the head of the vehicle V remains at the position S1 and the tail of the vehicle V remains at the position S2, the state of the vehicle V is held in the state STS1′S2 ′. That is, the state STS1′S2 ′ indicates that the vehicle V exists at the position S1, the position P1, and the position S2.

The transition condition of transition T36 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions to the state STS1 ′ according to the transition T36. Here, when the vehicle V advances to the position S1 and the tail of the vehicle V reaches the position P1, the detection result r is “100”, which matches the condition C [100]. Therefore, when the vehicle V moves backward from the position S2 which is the detection region of the detector 202 and reaches the outside of the detection region, the state of the vehicle V changes from the state STS1′S2 ′ to the state STS1 ′. That is, the state STS1 ′ indicates that the vehicle V exists at the position S1.
Here, the traveling of the vehicle V from the position S2 to the position S1 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS1′S2 ′ to the state STS1 ′ is an abnormal transition.

[Abnormal transition from state STP1]
An abnormal transition from the state STP1 to another state is a transition T37.
The transition condition of transition T37 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions to the state STS1 ′ according to the transition T37. Here, when the vehicle V advances from the position P1 to the position S1 and reaches the position S1, the detection result r is “100”, which matches the condition C [100]. Therefore, when vehicle V reaches position S1, the state of vehicle V transitions from state STP1 to state STS1 ′. That is, the state STS1 ′ indicates that the vehicle V exists at the position S1.
Here, the vehicle V traveling from the position P1 to the position S1 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STP1 to the state STS1 ′ is an abnormal transition.

[Abnormal transition from state STS1 ′]
The abnormal transition from the state STS1 ′ to another state includes a transition T38 and a transition T39.
The transition condition of transition T38 is condition C [100]. When the detection result r matches the condition C [100], the state of the vehicle V transitions according to the transition T38. Here, when the vehicle V remains at the position S1, the detection result r is “100”, which matches the condition C [100]. Accordingly, when the vehicle V remains at the position S1, the state of the vehicle V is held at the state STS1 ′. That is, the state STS1 ′ indicates that the vehicle V exists at the position S1.

The transition condition of transition T39 is condition C [000]. When the detection result r matches the condition C [000], the state of the vehicle V transitions to the state STP0 according to the transition T39. Here, when the vehicle V advances from the position S1 to the position P0 and reaches the position P0, the detection result r is “000”, which matches the condition C [000]. Therefore, when vehicle V reaches position P0, the state of vehicle V transitions from state STS1 ′ to state STP0. That is, the state STP0 indicates that the vehicle V exists at the position P0.
Here, the traveling of the vehicle V from the position S1 to the position P0 indicates traveling in the direction rv. Since the progress in the direction rv is an abnormal transition, the transition from the state STS1 ′ to the state STP0 is an abnormal transition.

Up to this point, the normal transition and abnormal transition of the transition information Info1 have been described for each state.
Next, a specific example in which the vehicle passage determination device 10 determines the transition of the state of the vehicle V as a normal transition and an abnormal transition will be described.

[When vehicle V travels forward]
First, the case where the vehicle V travels in the forward direction will be described. In this example, the case where the vehicle V travels in the forward direction, such as position P0, position S1, position P1, position S2, position P2, position S3, and position P3, will be described. In this case, the state of the vehicle V changes in the order of state STP0, state STS1, state STP1, state STS2, state STP2, state STS3, and state STP3. In this case, all transitions are normal transitions. In this case, the vehicle passage determination device 10 determines that all these transitions are normal transitions.

[When vehicle V runs backward]
Next, the case where the vehicle V runs backward will be described. In this example, the case where the vehicle V travels in the direction dr to the position P0, the position S1, and the position P1 and then travels backward in the direction rv to the position S1 and the position P0 will be described. This example shows a case where the vehicle V has entered the vehicle passage lane LT of the toll gate, but the vehicle V has moved backward to move outside the vehicle passage lane LT because the preceding vehicle has stopped. In this case, the state of the vehicle V changes in the order of state STP0, state STS1, state STP1, state STS1 ′, and state STP0. In this case, among the transitions of the state of the vehicle V, transitions from the state STP0 to the state STS1 and from the state STS1 to the state STP1 are normal transitions. In this case, the vehicle passage determination device 10 determines that these transitions are normal transitions. Of the state transitions of the vehicle V, transitions from the state STP1 to the state STS1 ′ and from the state STS1 ′ to the state STP0 are abnormal transitions, respectively. In this case, the vehicle passage determination device 10 determines that these transitions are abnormal transitions.

  Here, even if the position where the vehicle V exists is the same, the state of the transition information Info1 is defined in a normal transition state and an abnormal transition state. Therefore, even when the vehicle V exists at the position S1, the vehicle passage determination device 10 determines the normal transition and the abnormal transition separately for the state STS1 and the state STS1 '. That is, the vehicle passage determination device 10 determines the transition of the state of the vehicle V as a normal transition and an abnormal transition based on the traveling direction of the vehicle V.

Hereinafter, returning to FIG. 1, the outline of the configuration of the vehicle detection system 1 of the present embodiment will be described.
Here, a result of determining whether the vehicle passage determination device 10 is a normal transition or an abnormal transition based on the transition information Info1 and the detection result r is referred to as a determination result j.
The display device 30 displays the determination result j determined by the vehicle passage determination device 10. The display device 30 includes a display, and displays the determination result j determined by the vehicle passage determination device 10 on a screen. In this example, for example, the toll collector in the toll gate recognizes the presence or absence of the vehicle V traveling in the direction rv that causes an abnormal transition based on the determination result j displayed by the display device 30. .

Although the case where the display device 30 is a display has been described as an example here, the present invention is not limited to this. The display device 30 only needs to be able to show the result determined by the vehicle passage determination device 10 in a manner that can be recognized by a person, such as an image or sound.
Moreover, although the case where the object on which the display device 30 presents information is a toll collector has been described as an example here, the present invention is not limited to this.

  Further, the vehicle position detection device 20 and the vehicle passage determination device 10 are connected by a communication line L1, a communication line L2, and a network N. The vehicle position detection device 20 and the vehicle passage determination device 10 are connected to each other by a communication line L1 and a communication line L2, which are dedicated cables.

  In addition, although the case where the vehicle passage determination device 10 and the vehicle position detection device 20 are connected by a dedicated cable has been described as an example here, the present invention is not limited thereto. The vehicle passage determination device 10 and the vehicle position detection device 20 only need to include means capable of transmitting and receiving information to and from each other.

Next, details of the configuration of the vehicle detection system 1 will be described with reference to FIG.
FIG. 3 is a schematic diagram illustrating an example of the configuration of the vehicle detection system 1.

  The vehicle position detection device 20 detects the presence or absence of the vehicle V using the detector 201, the detector 202, and the detector 203, and outputs the detection result r to the vehicle passage determination device 10.

The vehicle passage determination device 10 will be described. The vehicle passage determination device 10 includes a CPU (Central Processing Unit) 110 and a storage unit 120.
The CPU 110 includes an acquisition unit 111, a determination unit 112, and an output unit 113 as functional units.

  The acquisition unit 111 is connected to the vehicle position detection device 20. The acquisition unit 111 acquires the detection result r transmitted from the vehicle position detection device 20. The acquisition unit 111 supplies the acquired detection result r to the determination unit 112.

The storage unit 120 stores transition information Info1 in advance.
In addition, although the case where the memory | storage part 120 is installed in the inside of the vehicle passage determination apparatus 10 is demonstrated as an example here, it is not restricted to this. For example, the storage unit 120 may be installed outside the vehicle passage determination device 10.

  The determination unit 112 acquires the detection result r from the acquisition unit 111. The determination unit 112 reads the transition information Info1 from the storage unit 120. The determination unit 112 determines the passage of the vehicle V based on the acquired detection result r and the read transition information Info1. Specifically, the determination unit 112 determines whether the state transition of the vehicle V is a normal transition or an abnormal transition based on the detection result r and the transition information Info1. The determination unit 112 supplies the determined determination result j to the output unit 113.

  The output unit 113 is connected to the display device 30. The output unit 113 supplies the determination result j supplied from the determination unit 112 to the display device 30.

  The display device 30 performs a preset display based on the determination result j supplied from the output unit 113 of the vehicle passage determination device 10. The preset display means, for example, displaying “OK” on the display for normal transition and “NG” on the display for abnormal transition.

  Although the case where the display device 30 displays the characters “OK” or “NG” has been described as an example here, the present invention is not limited thereto. It is only necessary that the display device 30 presents information to distinguish between normal transitions and abnormal transitions.

  Next, the operation | movement based on the vehicle passage determination program Prg10 of the vehicle passage determination apparatus 10 is demonstrated with reference to FIG. Here, the case where the vehicle passage determination device 10 determines whether the transition of the state of the vehicle V is a normal transition or an abnormal transition will be described as an example.

  FIG. 4 is a flowchart illustrating an example of the operation of the vehicle passage determination device 10. The vehicle passage determination device 10 executes steps S110 to S170 shown in FIG. 4 based on the vehicle passage determination program Prg10. Here, the vehicle passage determination program Prg10 is a control program for the vehicle passage determination device 10 to determine whether the state transition of the vehicle V is a normal transition or an abnormal transition.

  The acquisition unit 111 acquires the detection result r from the vehicle position detection device 20 (step S110). The determination unit 112 reads the transition information Info1 from the storage unit 120 (step S120). The determination unit 112 updates the state of the vehicle V in the transition information Info1 based on the transition information Info1 read from the storage unit 120 and the detection result r acquired from the acquisition unit 111 (step S130). The determination unit 112 determines whether the updated transition to the state of the vehicle V is a normal transition or an abnormal transition (step S140). When the determination result j is normal transition, the vehicle passage determination device 10 outputs the normal transition determination result j from the output unit 113 (step S150). When the determination result j is an abnormal transition, the vehicle passage determination device 10 outputs the determination result j of the abnormal transition from the output unit 113 (step S160). The determination unit 112 writes the updated transition information Info1 to the storage unit 120 (step S170).

As described above, the vehicle detection system 1 according to this embodiment includes the vehicle passage determination device 10, the vehicle position detection device 20, and the display device 30.
The vehicle passage determination device 10 includes an acquisition unit 111, a determination unit 112, an output unit 113, and a storage unit 120. The acquisition unit 111 acquires a detection result r indicating the presence or absence of a vehicle that is output by each of the vehicle position detection devices 20 arranged in the vehicle passing direction. In the storage unit 120, transition information Info1 is stored in advance. The transition information Info1 is information based on the order in which the vehicle position detection devices 20 are arranged, and is information indicating whether the transition of the combination of the detection results r is normal or abnormal. Based on the detection result r acquired by the acquisition unit 111 and the transition information Info1 stored in the storage unit 120, the determination unit 112 determines whether the combination of the detection results r is a normal transition or an abnormal transition. judge. The output unit 113 outputs the determination result j by the determination unit 112. The display device 30 shows the determination result j output from the output unit 113.
Further, the vehicle passage determination device 10 determines the transition of the vehicle state as a normal transition and an abnormal transition based on the detection result r and the transition information Info1. In the present embodiment, the transition information Info1 is a finite automaton shown in FIG. The finite automaton shown in FIG. 2 distinguishes between a normal transition and an abnormal transition even when the vehicle V exists at the same position. That is, even if the transition and the position where the vehicle V exists are the same, the normal transition and the abnormal transition are clearly determined by dividing the state into a normal transition and an abnormal transition.
Thereby, the vehicle passage determination apparatus 10 can reduce the degree to which the design work for determining the abnormal state and the design verification work become complicated.

In addition, the display device 30 included in the vehicle detection system 1 of the present embodiment shows the determination result j output by the output unit 113.
The display device 30 includes a display, and displays the determination result j determined by the vehicle passage determination device 10 on a screen.
As a result, the toll collector in the toll gate can recognize the presence or absence of the vehicle V traveling in the direction rv that causes an abnormal transition based on the determination result j displayed by the display device 30.

[Second Embodiment]
The outline of the second embodiment will be described below with reference to FIG.
FIG. 5 is a schematic diagram showing an outline of the configuration of the vehicle detection system 1 of the present embodiment. Here, a case where the place where the vehicle detection system 1 is installed is a gate of a toll gate will be described as an example. In the first embodiment and the second embodiment, transition information Info1 stored in advance in the storage unit 120 included in the vehicle passage determination device 10 is different. Specifically, in the first embodiment, the transition information Info1 is information indicated by a finite automaton, whereas in the second embodiment, the transition information Info1 is information indicated by a Petri net. Is different. The Petri net includes four elements, a place, a transition, an arc, and a token, and represents a change in the state of the target system depending on the presence or absence of a token in the place. Hereinafter, in describing the transition information Info1 of the present embodiment, the outline of the configuration of the present embodiment will be described first, and then the details of the Petri net that is the transition information Info1 will be described.

  In the present embodiment, a case where the vehicle position detection device 20 includes five detectors will be described as an example. The detector 211, the detector 212, the detector 213, the detector 214, and the detector 215 are spaced apart from each other in the passing direction of the vehicle V passing through the vehicle passing lane LT of the toll gate, Installed. Hereinafter, when distinguishing these five detectors, they will be referred to as detector 211, detector 212, detector 213, detector 214, and detector 215. These are collectively referred to as detector 210.

  Next, the detection area of the vehicle position detection device 20 in the present embodiment will be described. In the present embodiment, a vehicle that is a target to be detected is referred to as a vehicle V. A direction in which the vehicle V passes through the toll gate is referred to as a direction dr, and a direction opposite to the direction dr is referred to as a direction rv. The direction dr is also referred to as the front. The direction rv is also referred to as the rear.

  The detector 210 outputs the result of detecting the presence or absence of a vehicle to other devices. In the following description, the result of detecting the presence or absence of the vehicle by the detector 211 is referred to as a detection result r11. The result of detecting the presence or absence of the vehicle by the detector 212 is referred to as a detection result r12. A result of detecting the presence or absence of the vehicle by the detector 213 is referred to as a detection result r13. The result of detecting the presence or absence of the vehicle by the detector 214 is referred to as a detection result r14. A result of detecting the presence or absence of the vehicle by the detector 215 is referred to as a detection result r15. Hereinafter, when the detection result r11, the detection result r12, the detection result r13, the detection result r14, and the detection result r15 are not distinguished, they are collectively referred to as a detection result r10. Hereinafter, when the detection result r10 of the detector 210 indicates “there is a vehicle”, it is assumed that the value of the detection result r10 is “1”. Further, when the detection result r10 of the detector 210 indicates “no vehicle”, the value of the detection result r10 is assumed to be “0”. The vehicle position detection device 20 outputs a detection result r10 indicating the presence or absence of the vehicle detected by the detector 210 to the vehicle passage determination device 10.

  This detection region includes a position where the detector 210 can detect the presence or absence of the vehicle V and a position where the detector 210 cannot detect the presence or absence of the vehicle V. The positions where the detector 210 can detect the presence or absence of the vehicle V include a position S11, a position S12, a position S13, a position S14, and a position S15. The position S11 is a position that can be detected by the detector 211. The position S12 is a position that can be detected by the detector 212. The position S13 is a position that can be detected by the detector 213. The position S14 is a position where the detector 214 can detect. The position S15 is a position that can be detected by the detector 215. That is, the detector 211 detects whether or not the vehicle V exists at the position S11. The detector 212 detects whether or not the vehicle V exists at the position S12. The detector 213 detects whether or not the vehicle V exists at the position S13. The detector 214 detects whether or not the vehicle V exists at the position S14. The detector 215 detects whether or not the vehicle V exists at the position S15. Here, the position S11 is also referred to as a detection region of the detector 211. The position S12 is also referred to as a detection region of the detector 212. The position S13 is also referred to as a detection region of the detector 213. The position S14 is also referred to as a detection region of the detector 214. The position S15 is also referred to as a detection region of the detector 215.

The positions where the detector 210 cannot detect the presence or absence of the vehicle include a position P10 behind the position S11 and a position P11 between the positions S12 and S13. The positions where the detector 210 cannot detect the presence or absence of the vehicle include a position P12 between the positions S13 and S14 and a position P13 ahead of the position S15. In the present embodiment, the position of the vehicle V from when the vehicle V reaches the toll gate until it passes through the toll gate is indicated by these seven positions.
Here, the case where the detector 211 and the detector 212 are installed close to each other and the distance between the detector 211 and the detector 212 is shorter than the vehicle length x will be described. That is, there is no region where the detector 210 does not detect the vehicle V between the detector 211 and the detector 212. The case where the detector 214 and the detector 215 are installed close to each other and the distance between the detector 214 and the detector 215 is shorter than the vehicle length x will be described. That is, there is no region where the detector 210 does not detect the vehicle V between the detector 214 and the detector 215.
Here, the distance from the detector 212 to the detector 213 is referred to as a distance d1. A distance from the detector 211 to the detector 213 is referred to as a distance d2. A distance from the detector 213 to the detector 214 is referred to as a distance d3. The distance from the detector 213 to the detector 215 is referred to as a distance d4. Further, the length of the vehicle V is referred to as a vehicle length x.
In this example, the relationship between each distance and the vehicle length x is expressed by Expression (1), Expression (2), and Expression (3).

Hereinafter, the position of the vehicle V will be described more specifically with reference to FIG.
First, as shown in FIG. 5, a case where the vehicle V passes through the toll gate in the direction dr will be described. In this case, the vehicle V passes in the order of position P10, position S11, position S12, position P11, position S13, position P12, position S14, position S15, and position P13. In the following description, the case where the vehicle V travels in the direction dr is referred to as forward travel.
Next, a case where the vehicle V passes through the toll gate in the direction rv will be described. In this case, if the vehicle V enters the toll gate from the position P13, the vehicle V passes through the position P13, the position S15, the position S14, the position P12, the position S13, the position P11, the position S12, the position S11, and the position P10 in this order. To do. In the following description, the case where the vehicle V travels in the direction rv is referred to as reverse travel or reverse travel. Note that, if the vehicle V travels in the direction rv regardless of where the vehicle V has started to travel, the vehicle travels backward. For example, when the vehicle V travels from the position P11 toward the position S12, the vehicle runs backward.

  In the present embodiment, the vehicle passage determination device 10 determines the passage of the vehicle V based on the detection result r10 of the detector 210 and the transition information Info1. Hereinafter, a specific example of the transition information Info1 of the present embodiment will be described with reference to FIG.

FIG. 6 is a state transition diagram showing an example of the transition information Info1 in the present embodiment. The state transition diagram in the above-described embodiment is a finite automaton, but the state transition diagram in the present embodiment is a Petri net. That is, in the present embodiment, the transition information Info1 is information indicated by a Petri net.
In the transition information Info1 indicated by the Petri net of the present embodiment, the place PC is an element indicating the state of the vehicle V. The transition ts is an element indicating whether or not the vehicle V state can be changed based on the detection result r10 of the detector 210. The arc a is an element that connects the place PC and the transition ts, and indicates a transition destination where the token tk transitions. The token tk is an element indicating the vehicle V present in the vehicle passing lane LT. The transition information Info1 indicated by the Petri net of the present embodiment is that the token tk indicating the vehicle V moves on the vehicle passing lane LT by moving the place PC indicating the state of the vehicle V based on the transition ts. The change of the state of V is shown.
Here, the condition of whether or not the transition of the vehicle V state is set based on the detection result r10 indicated as the transition ts is also referred to as an ignition condition. The movement of the token tk to the next place PC in accordance with the firing condition of the transition ts due to the movement of the vehicle V in the vehicle passing lane LT is also referred to as firing. Next, a detailed specific example of the place PC will be described.

The transition information Info1 indicated by the Petri net of this embodiment includes 15 place PCs. Hereinafter, a specific example of the place PC will be described.
The place PCP10 is present at the position P10. The place PCS11 indicates that the place PCS11 exists at the position S11. The place PCS 12 indicates that the vehicle V exists at the position S12. The place PCP11 indicates that the vehicle V exists at the position P11. The place PCS 13 indicates that the vehicle V exists at the position S13. The place PCP12 indicates that the vehicle V exists at the position P12. The place PCS 14 indicates that the vehicle V exists at the position S14. The place PCS15 indicates that the vehicle V exists at the position S15.
Further, the place PCS 11S12 indicates that the vehicle V is detected by the detector 211 and the detector 212, and the vehicle V exists across the positions of the two detectors. The place PCS 14S15 indicates that the vehicle V is detected by the detector 214 and the detector 215, and the vehicle V exists across the positions of the two detectors.

  In addition, when the vehicle length x of the vehicle V is longer than the distance d2, the detector 211, the detector 212, and the detector 213 may detect the vehicle V. The place PCS11S12S13 indicates that the vehicle length x is longer than the distance d2, and the vehicle 211 exists at a position where the detector 211, the detector 212, and the detector 213 detect the vehicle V. In addition, when the vehicle length x of the vehicle V is longer than the distance d1, the detector 212 and the detector 213 may detect the vehicle V. The place PCS 12S13 indicates that the vehicle length x is longer than the distance d1, and the vehicle V exists at a position where the detector 212 and the detector 213 detect the vehicle V. In addition, when the vehicle length x of the vehicle V is longer than the distance d3, the detector 213 and the detector 214 may detect the vehicle V. The place PCS 13S14 indicates that the vehicle length x is longer than the distance d3, and the vehicle V exists at a position where the detector 213 and the detector 214 detect the vehicle V. When the vehicle length x of the vehicle V is longer than the distance d4, the detector 213, the detector 214, and the detector 215 may detect the vehicle V. The place PCS13S14S15 indicates that the vehicle length x is longer than the distance d4, and the vehicle V exists at a position where the detector 213, the detector 214, and the detector 215 detect the vehicle V.

Next, an outline of the transition ts will be described.
The transition information Info1 indicated by the Petri net of the present embodiment includes 22 transitions ts. The transition ts is fired when a preset number of tokens tk exists in the place PC before firing and the firing condition indicated by the transition ts is satisfied. As a result, the token tk transitions to the place PC after firing. Hereinafter, the place PC in which the token tk is located before firing for the transition ts is also referred to as a place PC before transition. Further, the place PC where the token tk is located after firing for the transition ts is also referred to as a transition destination place PC.
Here, a case where the transition information Info1 of the present embodiment is indicated by a finite capacity Petri net will be described as an example. In the finite capacity Petri net, when it is desired to limit the number of tokens tk that can exist in each place PC, the capacity of tokens tk that can exist in each place PC is defined in advance. Here, the capacity of the token tk that can exist in each place PC is referred to as a capacity function K. Each place PC may have a plurality of tokens tk. In this example, a case where the capacity function K is 1 for all place PCs will be described. Next, a specific example of the transition ts will be described.

Transition ts1 uses the detection result r11 to change from “0” to “1” when the position of the token tk before firing is the place PCP10. When this ignition condition is satisfied as the vehicle V moves, the transition ts1 is ignited. When the transition ts1 is ignited, the token tk transits to the place PCS 11 via the arc a1, the transition ts1, and the arc a2.
The transition ts2 has an ignition condition that the detection result r11 is “1” and the detection result r12 changes from “0” to “1” when the position of the token tk before firing is the place PCS11. . When this ignition condition is satisfied as the vehicle V moves, the transition ts2 is ignited. When the transition ts2 is ignited, the token tk transits to the place PCS 11S12 via the arc a3, the transition ts2, and the arc a4.
In the transition ts3, when the position of the token tk before firing is the place PCS 11S12, the detection result r11 is “1”, the detection result r12 is “1”, and the detection result r13 is changed from “0” to “0”. Changing to 1 ″ is the firing condition. When this ignition condition is satisfied as the vehicle V moves, the transition ts3 is ignited. When the transition ts3 is ignited, the token tk transits from the place PCS 11S12 to the place PCS 11S12S13 via the arc a5, the transition ts3, and the arc a6.
Transition ts4 is defined as the firing condition that the detection result r11 changes from “1” to “0” and the detection result r12 is “1” when the position of the token tk before firing is the place PCS 11S12. To do. When this ignition condition is satisfied as the vehicle V moves, the transition ts4 is ignited. When the transition ts4 is ignited, the token tk transits to the place PCS 12 via the arc a7, the transition ts4, and the arc a8.

In the transition ts5, when the position of the token tk before firing is the place PCS11S12S13, the detection result r11 changes from “1” to “0”, the detection result r12 is “1”, and the detection result r13 Is set to “1”. When this ignition condition is satisfied as the vehicle V moves, the transition ts5 is ignited. When the transition ts5 is ignited, the token tk transits to the place PCS 12S13 via the arc a9, the transition ts5, and the arc a10.
In the transition ts6, when the position of the token tk before firing is the place PCS 11S12, the detection result r11 changes from “1” to “0”, the detection result r12 is “1”, and the detection result r13 is Changing from “0” to “1” is the firing condition. When this ignition condition is satisfied as the vehicle V moves, the transition ts6 is ignited. When the transition ts6 is ignited, the token tk transits to the place PCS 12S13 via the arc a11, the transition ts6, and the arc a12.
Transition ts7 uses the detection result r12 to be “1” and the detection result r13 to change from “0” to “1” when the position of the token tk before firing is the place PCS12. . When this ignition condition is satisfied as the vehicle V moves, the transition ts7 is ignited. When the transition ts7 is ignited, the token tk transits to the place PCS12S13 via the arc a13, the transition ts7, and the arc a14.
Transition ts8 uses the detection result r12 to change from “1” to “0” when the position of the token tk before firing is the place PCS12. When this ignition condition is satisfied as the vehicle V moves, the transition ts8 is ignited. When the transition ts8 is ignited, the token tk transits to the place PCP11 via the arc a15, the transition ts8, and the arc a16.

Transition ts9 is defined as the firing condition that the detection result r12 changes from “1” to “0” and the detection result r13 is “1” when the position of the token tk before firing is the place PCS 12S13. To do. When this ignition condition is satisfied as the vehicle V moves, the transition ts9 is ignited. When the transition ts9 is ignited, the token tk transits to the place PCS 13 via the arc a17, the transition ts9, and the arc a18.
In the transition ts10, when the position of the token tk before firing is the place PCS 12, the detection result r12 changes from “1” to “0”, and the detection result r13 changes from “0” to “1”. This is the ignition condition. When this ignition condition is satisfied as the vehicle V moves, the transition ts10 is ignited. When the transition ts10 is ignited, the token tk transits to the place PCS 13 via the arc a19, the transition ts10, and the arc a20.
Transition ts11 sets the detection result r13 to change from “0” to “1” when the position of token tk before firing is place PCP11. When this ignition condition is satisfied as the vehicle V moves, the transition ts11 is ignited. When the transition ts11 is ignited, the token tk transits to the place PCS 13 via the arc a21, the transition ts11, and the arc a22.
The transition ts12 is based on the firing condition that the detection result r13 is “1” and the detection result r14 is changed from “0” to “1” when the position of the token tk before firing is the place PCS13. To do. When this ignition condition is satisfied as the vehicle V moves, the transition ts12 is ignited. When the transition ts12 is ignited, the token tk transits to the place PCS 13S14 via the arc a23, the transition ts12, and the arc a24.

Transition ts13 uses the detection result r13 to change from “1” to “0” when the position of token tk before firing is place PCS13. When this ignition condition is satisfied as the vehicle V moves, the transition ts13 is ignited. When the transition ts13 is ignited, the token tk transits to the place PCP 12 via the arc a25, the transition ts13, and the arc a26.
In the transition ts14, when the position of the token tk before firing is the place PCS 13S14, the detection result r13 is “1”, the detection result r14 is “1”, and the detection result r15 is changed from “0” to “0”. Changing to 1 ″ is the firing condition. When this ignition condition is satisfied as the vehicle V moves, the transition ts14 is ignited. When the transition ts14 is ignited, the token tk transits to the place PCS 13S14S15 via the arc a27, the transition ts14, and the arc a28.
Transition ts15 is defined as the firing condition that the detection result r13 changes from “1” to “0” and the detection result r14 is “1” when the position of the token tk before firing is the place PCS 13S14. To do. When this ignition condition is satisfied as the vehicle V moves, the transition ts15 is ignited. When the transition ts15 is ignited, the token tk transits to the place PCS 14 via the arc a29, the transition ts15, and the arc a30.
In the transition ts16, when the position of the token tk before firing is the place PCS 13, the detection result r13 changes from “1” to “0”, and the detection result r14 changes from “0” to “1”. This is the ignition condition. When this ignition condition is satisfied as the vehicle V moves, the transition ts16 is ignited. When the transition ts16 is ignited, the token tk transits to the place PCS 14 via the arc a31, the transition ts16, and the arc a32.

Transition ts17 sets the detection result r14 to change from “0” to “1” when the position of the token tk before firing is the place PCP12. When this ignition condition is satisfied as the vehicle V moves, the transition ts17 is ignited. When the transition ts17 is ignited, the token tk transits to the place PCS 14 via the arc a33, the transition ts17, and the arc a34.
In transition ts18, when the position of token tk before firing is place PCS13S14S15, detection result r13 changes from “1” to “0”, detection result r14 is “1”, and detection result r15 Is set to “1”. When this ignition condition is satisfied as the vehicle V moves, the transition ts18 is ignited. When the transition ts18 is ignited, the token tk transits to the place PCS 14S15 via the arc a35, the transition ts18, and the arc a36.
Transition ts19 indicates that the detection result r13 changes from “1” to “0”, the detection result r14 is “1”, and the detection result when the position of the token tk before firing is the place PCS 13S14. The ignition condition is that r15 changes from “0” to “1”. When this ignition condition is satisfied as the vehicle V moves, the transition ts19 is ignited. When the transition ts19 is ignited, the token tk transits to the place PCS 14S15 via the arc a37, the transition ts19, and the arc a38.
Transition ts20 uses the detection result r14 to be “1” and the detection result r15 to change from “0” to “1” when the position of the token tk before firing is the place PCS14. . When this ignition condition is satisfied as the vehicle moves, the transition ts20 is ignited. When the transition ts20 is ignited, the token tk transits to the place PCS 14S15 via the arc a39, the transition ts20, and the arc a40.

The transition ts21 is based on the firing condition that the detection result r14 changes from “1” to “0” and the detection result r15 is “1” when the position of the token tk before firing is the place PCS 14S15. To do. When this ignition condition is satisfied as the vehicle V moves, the transition ts21 is ignited. When the transition ts21 is ignited, the token tk transits to the place PCS 15 via the arc a41, the transition ts21, and the arc a42.
The transition ts22 uses the detection result r15 to change from “1” to “0” when the position of the token tk before firing is the place PCS15. When this ignition condition is satisfied as the vehicle V moves, the transition ts22 is ignited. When the transition ts22 is ignited, the token tk transits to the place PCP 13 via the arc a43, the transition ts22, and the arc a44.

  So far, when the firing condition of the transition ts is satisfied, the case where the token tk transits to the transition destination place PC due to the firing of the transition ts has been described. The ignition of the transition ts is conditioned by the suppression arc na and the place time in addition to the above-described ignition conditions. Hereinafter, first, the suppression arc na will be described, and then the place time will be described.

First, the suppression arc na will be described. In the transition information Info1 indicated by the Petri net of the present embodiment, there is a suppression arc na in addition to the arc a connecting the place PC and the transition ts. When the token tk exists in the place PC connected to the transition ts by the suppression arc na, the firing of the transition ts is suppressed. Here, the places connected by the inhibition arc na are referred to as inhibition places PCD.
The inhibition place PCD connected to the transition ts by the inhibition arc na indicates the state of the place PC connected to the transition ts by the arc a. That is, when the token tk exists in the place PC connected to the transition ts by the arc a, the token tk also exists in the inhibition place PCD connected by the inhibition arc na. When the token tk does not exist in the place PC connected to the transition ts by the arc a, the token tk does not exist in the inhibition place PCD connected by the inhibition arc na.

Here, the suppression place PCD 13 connected to the transition ts20 will be described as an example. The inhibition place PCD 13 is connected to the transition ts20. The inhibition place PCD 13 includes a place PCS 15. The place PCS 15 included in the inhibition place PCD 13 indicates the state of the place PCS 15. That is, when the token tk exists in the place PCS 15, the token tk also exists in the place PCS 15 included in the inhibition place PCD 13. When the token tk exists in the place PCS 15 included in the inhibition place PCD 13, the transition ts20 is inhibited from firing. Further, when the token tk does not exist in the place PCS 15, the token tk does not exist in the place PCS 15 included in the inhibition place PCD 13. When the token tk does not exist in the place PCS 15 included in the inhibition place PCD 13, the transition ts 20 is not inhibited from firing.
Here, a plurality of place PCs may be included in the inhibition place PCD connected by the inhibition arc na. In this case, the transition ts is inhibited from firing while at least one token tk exists among the plurality of place PCs included in the inhibition place PCD. When a plurality of place PCs are included in the inhibition place PCD, the place PCs included in the inhibition place PCD are collectively referred to as the inhibition place PCD.
Hereinafter, a specific example of the inhibition place PCD will be described.

  The inhibition place PCD1 is connected to the transition ts1. The inhibition place PCD1 includes a place PCS 11S12 and a place PCS 11S12S13. The inhibition place PCD2 is connected to the transition ts2. The inhibition place PCD2 includes a place PCS 12 and a place PCS 12S13. The inhibition place PCD3 is connected to the transition ts3. The inhibition place PCD3 includes a place PCP11, a place PCS13, a place PCS13S14, and a place PCS13S14S15. The inhibition place PCD4 is connected to the transition ts6. The inhibition place PCD4 includes a place PCP11, a place PCS13, a place PCS13S14, and a place PCS13S14S15. The inhibition place PCD5 is connected to the transition ts7. The inhibition place PCD5 includes a place PCP11, a place PCS13, a place PCS13S14, and a place PCS13S14S15.

  The inhibition place PCD6 is connected to the transition ts10. The inhibition place PCD6 includes a place PCP11, a place PCS13S14, and a place PCS13S14S15. The inhibition place PCD7 is connected to the transition ts11. The inhibition place PCD7 includes a place PCS 13S14 and a place PCS 13S14S15. The inhibition place PCD8 is connected to the transition ts12. The inhibition place PCD8 includes a place PCP12, a place PCS14, and a place PCS14S15. The inhibition place PCD9 is connected to the transition ts14. This inhibition place PCD9 includes a place PCS15. The inhibition place PCD10 is connected to the transition ts16. The inhibition place PCD10 includes a place PCP12 and a place PCS14S15. The inhibition place PCD11 is connected to the transition ts17. The inhibition place PCD11 includes a place PCS14S15. The inhibition place PCD 12 is connected to the transition ts19. The inhibition place PCD 12 includes a place PCS 15. The inhibition place PCD 13 is connected to the transition ts20. The inhibition place PCD 13 includes a place PCS 15.

Next, the place time will be described. Here, the place time indicates a time existing in the place PC after the token tk transits to the place PC. The transition ts suppresses firing based on the existence time of the token tk in the place PC before the transition of the transition ts during the place time. The existence time of the token tk in the place PC before the transition of the transition ts is referred to as a place stay time θ.
Two conditions, a lower limit and an upper limit, are set as conditions for suppressing ignition based on the place stay time θ. The condition at the lower limit is referred to as the minimum place time θmin. The condition at the upper limit is referred to as the maximum place time θmax.
Specifically, when the minimum place time θmin is set for the transition ts, the transition ts does not fire until the place stay time θ reaches the minimum place time θmin. Further, when the maximum place time θmax is set for the transition ts, the transition ts is not ignited when the place stay time θ elapses beyond the maximum place time θmax.

In this example, the maximum place time θmax is set for all the transitions ts included in the transition information Info1 indicated by the Petri net of the present embodiment. The maximum place time θmax is assumed to be all abnormal state determination time Tmax. The abnormal state determination time Tmax is a time for determining that the vehicle passage determination device 10 is in an abnormal transition when the token tk continues to exist during the place stay time θ.
Accordingly, when the place stay time θ of the token tk existing in the place PC before the transition of the transition ts is longer than the maximum place time θmax, the transition ts is not ignited. That is, even if the detection result r10 of the detector 210 changes, if the change is longer than the maximum place time θmax, the transition ts is not ignited. Thereby, for example, when a shield such as dust adheres to the detector 210, the detection result r10 is “1” which is longer than the maximum place time θmax. For this reason, the vehicle passage determination device 10 does not determine that the transition is normal.
Hereinafter, a specific example of the minimum place time θmin set in the transition ts will be described.

  In the transition ts1, the place PC before the transition is the place PCP10. Since the place PCP 10 is in a state outside the determination of the vehicle passage determination device 10, the minimum place time θmin is not set. In the transition ts2, the minimum place time θmin1 is set. This minimum place time θmin1 is represented by (distance d2−distance d1) / maximum speed SPmax. Here, the maximum speed at which the vehicle V passes the vehicle passing lane LT is referred to as a maximum speed SPmax. That is, the minimum place time θmin1 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d2 and the distance d1 at the maximum speed SPmax. The minimum place time θmin2 is set for the transition ts3 and the transition ts6. This minimum place time θmin2 is indicated by distance d1 / maximum speed SPmax. That is, the minimum place time θmin indicates the time required for the vehicle V to pass through the distance d1 at the maximum speed SPmax. For the transition ts4, the minimum place time θmin3 is set. This minimum place time θmin3 is indicated by (vehicle length x− (distance d2−distance d1)) / maximum speed SPmax. That is, the minimum place time θmin3 indicates the time required for passing the difference between the vehicle length x and the distance indicated by the difference between the distance d2 and the distance d1 at the maximum speed SPmax of the vehicle V.

  For the transition ts5, the minimum place time θmin4 is set. The minimum place time θmin4 is indicated by (vehicle length x−distance d2) / maximum speed SPmax. That is, the minimum place time θmin4 indicates the time required for the vehicle V to pass the distance indicated by the difference between the vehicle length x and the distance d2 at the maximum speed SPmax. A minimum place time θmin5 is set for the transition ts7 and the transition ts10. This minimum place time θmin5 is represented by (distance d2−vehicle length x) / maximum speed SPmax. That is, the minimum place time θmin5 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d2 and the vehicle length x at the maximum speed SPmax. For the transition ts8, the minimum place time θmin6 is set. This minimum place time θmin6 is represented by (distance d2−distance d1) / maximum speed SPmax. That is, the minimum place time θmin6 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d2 and the distance d1 at the maximum speed SPmax.

For the transition ts9, the minimum place time θmin7 is set. The minimum place time θmin7 is indicated by (vehicle length x−distance d1) / maximum speed SPmax. That is, the minimum place time θmin7 indicates the time required for the vehicle V to pass the distance indicated by the difference between the vehicle length x and the distance d1 at the maximum speed SPmax.
In the transition ts11, the minimum place time θmin8 is set. This minimum place time θmin8 is indicated by (distance d1−vehicle length x) / maximum speed SPmax. That is, the minimum place time θmin8 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d1 and the vehicle length x at the maximum speed SPmax.
The minimum place time θmin9 is set for the transition ts12 and the transition ts16. The minimum place time θmin9 is indicated by ((distance d1 + distance d3) −vehicle length x) / maximum speed SPmax. That is, the minimum place time θmin9 indicates the time required for the vehicle V to pass the distance indicated by the difference between the sum of the distance d1 and the distance d3 and the vehicle length x at the maximum speed SPmax.

  For the transition ts13, the minimum place time θmin10 is set. The minimum place time θmin10 is indicated by vehicle length x / maximum speed SPmax. That is, the minimum place time θmin10 indicates the time required for the vehicle V to pass the distance indicated by the vehicle length x at the maximum speed SPmax. The minimum place time θmin11 is set for the transition ts14 and the transition ts19. This minimum place time θmin11 is represented by (distance d4−distance d3) / maximum speed SPmax. That is, the minimum place time θmin11 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d4 and the distance d3 at the maximum speed SPmax. In the transition ts15, the minimum place time θmin12 is set. The minimum place time θmin12 is indicated by (vehicle length x−distance d3) / maximum speed SPmax. That is, the minimum place time θmin12 indicates the time required for the vehicle V to pass the distance indicated by the difference between the vehicle length x and the distance d3 at the maximum speed SPmax.

  For the transition ts17, the minimum place time θmin13 is set. This minimum place time θmin13 is represented by (distance d3−vehicle length x) / maximum speed SPmax. That is, the minimum place time θmin13 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d3 and the vehicle length x at the maximum speed SPmax. In the transition ts18, the minimum place time θmin14 is set. The minimum place time θmin14 is indicated by (vehicle length x−distance d4) / maximum speed SPmax. That is, the minimum place time θmin14 indicates the time required for the vehicle V to pass the distance indicated by the difference between the vehicle length x and the distance d4 at the maximum speed SPmax. For the transition ts20, the minimum place time θmin15 is set. This minimum place time θmin15 is represented by (distance d4-distance d3) / maximum speed SPmax. That is, the minimum place time θmin15 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d4 and the distance d3 at the maximum speed SPmax.

  For the transition ts21, the minimum place time θmin16 is set. This minimum place time θmin16 is represented by (vehicle length x− (distance d4−distance d3) / maximum speed SPmax. In other words, the minimum place time θmin16 is determined by the difference between the vehicle length x and the distance d3. The difference from the indicated distance indicates the time required for the vehicle V to pass at the maximum speed SPmax, and the transition ts22 is set to the minimum place time θmin17, which is expressed by (distance d4−distance d3). ) / Maximum speed SPmax, that is, the minimum place time θmin17 indicates the time required for the vehicle V to pass the distance indicated by the difference between the distance d4 and the distance d3 at the maximum speed SPmax.

  Accordingly, when the place stay time θ of the token tk existing in the place PC before the transition of the transition ts is less than the minimum place time θmin, the transition ts is not ignited. That is, even if the detection result r10 of the detector 210 changes, the transition ts does not fire if the change is within the time indicated by the minimum place time θmin. As a result, for example, when a shielding object such as dust adheres to the detector 210 and the dust is fluttered by the wind, the detection result r10 is repeatedly changed within a short time. When the change in the detection result r10 is a short change that is less than the minimum place time θmin, the vehicle passage determination device 10 does not determine that the transition is normal.

In addition, when the token tk transits from the place PC in the current state to the place PC that is the transition destination via the transition ts, a plurality of arcs a may be connected to the place PC in the current state. Among the plurality of arcs a, the arc a indicating the transition destination of the token tk is defined by an arc function. The arc function is a function indicating an input / output condition of the token tk associated with the arc a. In this example, the arc function is set in advance.
The vehicle V passing through the vehicle passing lane LT may have a different vehicle length x depending on its type. In this example, the case where the information of the vehicle length x of the vehicle V is acquired in advance will be described. Further, the speed at which the vehicle V passes through the vehicle passage lane LT may be different for each vehicle V. Here, the speed at which the vehicle V passes the vehicle passing lane LT is referred to as a vehicle speed sp. In this example, a case where information on the vehicle speed sp of the vehicle V is acquired in advance will be described.
In this example, a description will be given of a case where the token tk indicating the vehicle V in the Petri net includes the vehicle length x of the vehicle V and the speed sp of the vehicle V as variables. An arc a indicating the transition destination of the token tk is defined based on the vehicle length x provided in the token tk, the vehicle speed sp, and the arc function. A specific example of the arc function will be described below.

There are three arcs a connected to the place PCS 11S12. When the arc function f1 is established, the token tk transits via the arc a5. When the arc function f2 is established, the token tk transits via the arc a11. In addition, when the arc function f3 is established, the token tk transits via the arc a7.
The arc function f1 is represented by vehicle length x> distance d2. That is, the arc function f1 is established when the vehicle length x is longer than the distance d2. In this case, the token tk transits from the place PCS 11S12 to the place PCS 11S12S13 via the arc a5, the transition ts3, and the arc a6.
The arc function f2 is represented by the distance d1 <vehicle length x <distance d2 and vehicle speed sp> (distance d2-vehicle length x) / sampling time Ts. Here, the sampling time Ts is the time interval at which the detector 210 outputs the detection result r10 to the vehicle passage determination device 10. That is, when the vehicle length x is longer than the distance d1 and shorter than the distance d2, and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is the distance d2-vehicle length x The arc function f2 is established when it is longer than the distance indicated by. In this case, the token tk transitions from the place PCS 11S12 to the place PCS 12S13 via the arc a11, the transition ts6, and the arc a12.
The arc function f3 is represented by a distance d1 <vehicle length x <distance d2 and a vehicle speed sp <(distance d2-vehicle length x) / sampling time Ts or a distance d1> vehicle length x. That is, the distance that the vehicle V moves in the direction dr during the sampling time Ts when the vehicle length x is longer than the distance d1 and shorter than the distance d2 is the distance indicated by the distance d2-vehicle length x. Or the arc function f3 is established when the vehicle length x is shorter than the distance d1. In this case, the token tk transits from the place PCS 11S12 to the place PCS 12 via the arc a7, the transition ts4, and the arc a8.

  There are three arcs a connected to the place PCS 12. When the arc function f4 is established, the token tk transits via the arc a13. When the arc function f5 is established, the token tk transits via the arc a19. When the arc function f6 is established, the token tk transits via the arc a15.

  The arc function f4 is represented by vehicle length x> distance d1. That is, when the vehicle length x is longer than the distance d1, the arc function f4 is established. In this case, the token tk transitions from the place PCS 12 to the place PCS 12S13 via the arc a13, the transition ts7, and the arc a14. The arc function f5 is represented by vehicle length x <distance d1 and vehicle speed sp> (distance d1-vehicle length x) / sampling time Ts. That is, when the vehicle length x is shorter than the distance d1, and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d1-vehicle length x. When it is long, the arc function f5 is established. In this case, the token tk transits from the place PCS 12 to the place PCS 13 via the arc a19, the transition ts10, and the arc a20. The arc function f6 is represented by vehicle length x <distance d1 and vehicle speed sp <(distance d1-vehicle length x) / sampling time Ts. That is, when the vehicle length x is shorter than the distance d1, and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d1-vehicle length x. When it is short, the arc function f6 is established. In this case, the token tk transits from the place PCS 12 to the place PCP 11 via the arc a15, the transition ts8, and the arc a16.

  There are three arcs a connected to the place PCS 13. When the arc function f7 is established, the token tk transits via the arc a23. When the arc function f8 is established, the token tk transits via the arc a31. When the arc function f9 is established, the token tk transits via the arc a25.

  The arc function f7 is represented by vehicle length x> distance d3. That is, when the vehicle length x is longer than the distance d3, the arc function f7 is established. In this case, the token tk transits from the place PCS 13 to the place PCS 13S14 via the arc a23, the transition ts12, and the arc a24. The arc function f8 is represented by vehicle length x <distance d3 and vehicle speed sp> (distance d3-vehicle length x) / sampling time Ts. That is, in the case where the vehicle length x is shorter than the distance d3 and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d3-vehicle length x. When it is long, the arc function f8 is established. In this case, the token tk transits from the place PCS 13 to the place PCS 14 via the arc a31, the transition ts16, and the arc a32. The arc function f9 is represented by vehicle length x <distance d3 and vehicle speed sp <(distance d3-vehicle length x) / sampling time Ts. That is, in the case where the vehicle length x is shorter than the distance d3 and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d3-vehicle length x. When it is short, the arc function f9 is established. In this case, the token tk transitions from the place PCS 13 to the place PCP 12 via the arc a25, the transition ts13, and the arc a26.

  There are three arcs a connected to the place PCS 13S14. When the arc function f10 is established, the token tk transits via the arc a27. When the arc function f11 is established, the token tk transits via the arc a37. When the arc function f12 is established, the token tk transits via the arc a29.

  The arc function f10 is represented by vehicle length x> distance d4. That is, when the vehicle length x is longer than the distance d4, the arc function f10 is established. In this case, the token tk transits from the place PCS 13S14 to the place PCS 13S14S15 via the arc a27, the transition ts14, and the arc a28. The arc function f11 is represented by vehicle length x <distance d4 and vehicle speed sp> (distance d4-vehicle length x) / sampling time Ts. That is, when the vehicle length x is shorter than the distance d4 and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d4-vehicle length x. When it is long, the arc function f11 is established. In this case, the token tk transitions from the place PCS 13S14 to the place PCS 14S15 via the arc a37, the transition ts19, and the arc a38. The arc function f12 is represented by vehicle length x <distance d4 and vehicle speed sp <(distance d4-vehicle length x) / sampling time Ts. That is, when the vehicle length x is shorter than the distance d4 and the distance that the vehicle V moves in the direction dr during the time indicated by the sampling time Ts is greater than the distance indicated by the distance d4-vehicle length x. When it is short, the arc function f12 is established. In this case, the token tk transits from the place PCS 13S14 to the place PCS 14 via the arc a29, the transition ts15, and the arc a30.

  Here, the case where the sampling time Ts is the time interval at which the detector 210 outputs the detection result r10 to the vehicle passage determination device 10 has been described, but the present invention is not limited to this. The detector 210 always outputs the detection result r10 to the vehicle passage determination device 10, and the interval at which the vehicle passage determination device 10 recognizes the change in the detection result r10 may be set as the sampling time Ts.

Up to this point, the transition of the transition information Info1 indicated by the Petri net of the present embodiment has been described for each place PC and for each transition ts. Thereby, the transition information Info1 indicates the state of transition of the vehicle V by indicating it as a token tk indicating the vehicle V traveling on the vehicle passing lane LT. That is, the transition information Info1 indicates the state of the vehicle V passing through the vehicle passing lane LT.
Here, in the present embodiment, a method of determining the normal transition and the abnormal transition of the vehicle V of the vehicle passage determination device 10 will be described. In the present embodiment, the vehicle passage determination device 10 determines based on whether or not the place stay time θ of the token tk present in each place PC exceeds the maximum place time θmax. Specifically, the vehicle passage determination device 10 determines that the transition of the state of the vehicle V is an abnormal transition when the place stay time θ of the token tk exceeds the abnormal state determination time Tmax.
Next, in the present embodiment, a specific example in which the vehicle passage determination device 10 determines the transition of the state of the vehicle V as a normal transition and an abnormal transition will be described.

[When vehicle V travels in direction dr]
In this example, a case where one vehicle V1 travels in the forward direction on the vehicle passing lane LT will be described. Further, in this example, a case will be described in which the vehicle V travels in the forward direction at position P10, position S11, position S12, position P11, position S13, position P12, position S14, position S15, and position P13. The vehicle V in this example is referred to as a vehicle V1. The vehicle length x of the vehicle V1 is referred to as a vehicle length x1. The vehicle speed sp of the vehicle V1 is referred to as a vehicle speed sp1. In this example, the case where the maximum place time θmax is the abnormal state determination time Tmax in all place PCs will be described.

First, when the vehicle V1 exists at the position P10, the token tk appears in the place PCP10 of the transition information Info1 indicated by the Petri net of the present embodiment.
Here, the token tk that appears as the vehicle V1 travels is referred to as a token tk1. The token tk1 transitions to the destination place PC when the firing condition of the transition ts1 is satisfied and the condition of the inhibition place PCD1 is not satisfied.
As the vehicle V1 travels to the position S11, the ignition condition for the transition ts1 is satisfied, and the transition ts1 is ignited. That is, the token tk1 transits to the place PCS11.

The token tk1 transitions to the destination place PC when the firing condition of the transition ts2 is satisfied and the condition of the inhibition place PCD2 is not satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin1 and shorter than the abnormal state determination time Tmax.
The vehicle V1 progresses to a position where the tail of the vehicle V1 is the position S11 and the head of the vehicle V1 is the position S12 after the time indicated by the minimum place time θmin1 has elapsed and during the time indicated by the abnormal state determination time Tmax. . Thereby, the transition ts2 is ignited. That is, the token tk1 transits to the place PCS 11S12.

In this example, a case where the arc function f3 is established will be described.
The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts4 is satisfied. More specifically, the token tk1 transitions to the destination place PC when the place stay time θ is longer than the minimum place time θmin3 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position S12 during the time indicated by the abnormal state determination time Tmax after the time indicated by the minimum place time θmin3 has elapsed. Thereby, the transition ts4 is ignited. That is, the token tk1 transitions to the place PCS 12.

In this example, the case where the arc function f6 is established will be described.
The token tk1 transitions to the place PC as the transition destination when the firing condition of the transition ts8 is satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin6 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position P11 during the time indicated by the abnormal state determination time Tmax after the time indicated by the minimum place time θmin6 has elapsed. Thereby, the transition ts8 is ignited. That is, the token tk1 transits to the place PCP11.

The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts11 is satisfied and the condition of the inhibition place PCD7 is not satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin8 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position S13 during the time indicated by the abnormal state determination time Tmax after the time indicated by the minimum place time θmin8 has elapsed. Thereby, the transition ts11 is ignited. That is, the token tk1 transits to the place PCS 13.

In this example, the case where the arc function f9 is established will be described.
The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts13 is satisfied. More specifically, the token tk1 transitions to the destination place PC when the place stay time θ is longer than the minimum place time θmin10 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position P12 during the time indicated by the abnormal state determination time Tmax after the time indicated by the minimum place time θmin10 has elapsed. Thereby, the transition ts13 is fired, that is, the token tk1 transits to the place PCP12.

The token tk1 transitions to the destination place PC when the firing condition of the transition ts17 is satisfied and the condition of the inhibition place PCD11 is not satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin13 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position S14 during the time indicated by the abnormal state determination time Tmax after the time indicated by the minimum place time θmin13 has elapsed. Thereby, the transition ts17 is ignited. That is, the token tk1 transits to the place PCS 14.

The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts20 is satisfied and the condition of the inhibition place PCD13 is not satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin15 and shorter than the abnormal state determination time Tmax.
The vehicle V1 progresses to a position where the tail of the vehicle V1 is the position S14 and the head of the vehicle V1 is the position S15 after the time indicated by the minimum place time θmin15 has elapsed and during the time indicated by the abnormal state determination time Tmax. . Thereby, the transition ts20 is ignited. That is, the token tk1 transitions to the place PCS 14S15.

The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts21 is satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin16 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position S15 after the time indicated by the minimum place time θmin16 has elapsed and during the time indicated by the abnormal state determination time Tmax. Thereby, the transition ts21 is ignited. That is, the token tk1 transitions to the place PCS 15.

The token tk1 transitions to the transition destination place PC when the firing condition of the transition ts22 is satisfied. More specifically, the token tk1 transitions to the place PC as the transition destination when the place stay time θ is longer than the minimum place time θmin17 and shorter than the abnormal state determination time Tmax.
The vehicle V1 proceeds to the position P13 after the time indicated by the minimum place time θmin17 has elapsed and during the time indicated by the abnormal state determination time Tmax. Thereby, the transition ts22 is ignited. That is, the token tk1 transits to the place PCP13.

As described above, when the vehicle V is traveling in the vehicle passing lane LT in the direction dr and the place stay time θ of the token tk does not exceed the abnormal state determination time Tmax, the vehicle passage determination device 10 Is determined to be a normal transition.
Next, a case where the state transition of the vehicle V undergoes an abnormal transition will be described.

[When vehicle V travels in direction rv]
In this example, a case where one vehicle V travels in the reverse direction on the vehicle passing lane LT will be described. In this example, the case where the vehicle V travels back to the direction rv after traveling to the position P10, the position S11, the position S12, and the position P11 will be described. The vehicle V in this example is referred to as a vehicle V2. The vehicle length x of the vehicle V2 is referred to as a vehicle length x2. The vehicle speed sp of the vehicle V2 is referred to as a vehicle speed sp2. In this example, the case where the maximum place time θmax is the abnormal state determination time Tmax in all place PCs will be described. Further, the token tk that appears in the transition information Info1 when the vehicle V2 travels is referred to as a token tk2.

Hereinafter, since the transition of the token tk2 in which the vehicle V2 travels from P10 to the position P11 overlaps with the token tk1 transition, detailed description is omitted.
When the vehicle V2 exists at the position P11, the token tk2 exists at the place PCP11. The transition from this place PCP11 is only the place PCS13 via the transition ts11.
Here, when the vehicle V2 travels to the position S12 in the direction rv, the detector 212 detects the vehicle V2. Since the change in the detection result r10 does not satisfy the firing condition of the transition ts11 that is a transition from the place PCP11, the token tk2 continues to exist in the place PCP11. That is, the place stay time θ of the token tk2 is longer than the maximum place time θmax. Thereby, the vehicle passage determination device 10 determines that the vehicle V is in an abnormal transition.

  It should be noted that the vehicle passage determination device 10 may determine that the vehicle passage determination device 10 is in an abnormal state when it is detected that the vehicle has left the Petri net without waiting for the maximum place time θmax. Specifically, the vehicle passage determination device 10 compares the transition result ts, which is the transition destination of the token tk, with the detection result r10. Thereby, the vehicle passage determination device 10 determines that the transition ts and the detection result r10 do not match as an abnormal state.

  Next, an operation based on the vehicle passage determination program Prg20 of the vehicle passage determination device 10 will be described with reference to FIG. Here, a case where the vehicle passage determination device 10 determines whether the state transition of the vehicle V is a normal transition or an abnormal transition will be described as an example.

  FIG. 7 is a flowchart illustrating an example of the operation of the vehicle passage determination device 10. The vehicle passage determination device 10 executes steps S210 to S270 shown in FIG. 7 based on the vehicle passage determination program Prg20. Here, the vehicle passage determination program Prg20 is a control program for the vehicle passage determination device 10 to determine whether the state transition of the vehicle V is a normal transition or an abnormal transition.

  The acquisition unit 111 acquires the detection result r10 from the vehicle position detection device 20 (step S210). The determination unit 112 reads the transition information Info1 from the storage unit 120 (step S220). The determination unit 112 updates the state of the vehicle V in the transition information Info1 based on the transition information Info1 read from the storage unit 120 and the detection result r10 acquired from the acquisition unit 111 (step S230). The determination unit 112 determines whether or not the updated transition information Info1 includes a token tk that is out of the Petri net (step S235). If there is a token tk that is out of the Petri net, the vehicle passage determination device 10 outputs the determination result j of the abnormal transition from the output unit 113 (step S260). If there is no token tk outside the Petri net (step S235: NO), the process proceeds to step S240. The determination unit 112 determines whether or not a token tk whose place stay time θ is longer than the maximum place time θmax exists in the updated transition information Info1 (step S240). When the determination result j is normal transition, the vehicle passage determination device 10 outputs the normal transition determination result j from the output unit 113 (step S250). When the determination result j is an abnormal transition, the vehicle passage determination device 10 outputs the determination result j of the abnormal transition from the output unit 113 (step S260). The determination unit 112 writes the updated transition information Info1 to the storage unit 120 (step S270).

  As described above, the transition information Info1 of this embodiment is indicated by the Petri net. By indicating the vehicle V as a token tk on the Petri net, the state of the vehicle V is indicated by the place PC where the token tk exists. Further, by using a Petri net as the transition information Info1, the states of a plurality of tokens tk are indicated simultaneously. That is, by using a Petri net as the transition information Info1, the states of a plurality of vehicles V are shown simultaneously. Thereby, the vehicle passage determination device 10 can simultaneously determine the transition of the state of the plurality of vehicles V.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. it can. You may combine the structure as described in each embodiment mentioned above.

  In addition, each part with which the vehicle passage determination apparatus 10 in the above-described embodiment is provided may be realized by dedicated hardware, or may be realized by a memory and a microprocessor.

  In addition, each part with which the vehicle passage determination apparatus 10 is comprised is comprised by memory and CPU (central processing unit), and loads the program for implement | achieving the function of each part with which the vehicle passage determination apparatus 10 is provided to memory, and executes it. You may implement | achieve the function.

  Further, by recording a program for realizing the function of each unit included in the vehicle passage determination device 10 on a computer-readable recording medium, causing the computer system to read and execute the program recorded on the recording medium, You may perform the process by each part with which a control part is provided. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

DESCRIPTION OF SYMBOLS 10 ... Vehicle passage determination apparatus, 20 ... Vehicle position detection apparatus, 30 ... Display apparatus, 111 ... Acquisition part, 112 ... Determination part, 113 ... Output part, 120 ... Storage part, PC ... Place, ts ... Transition, tk ... Token , A ... Arc

Claims (5)

An acquisition unit for acquiring a detection result indicating the presence or absence of a vehicle output by each of a plurality of detectors arranged in the vehicle passing direction;
A information based on the order in which the detector is arranged, the transition of the combination of the detection results, a storage unit for transition information indicating whether it is normal or abnormal by Petri nets is prestored ,
Based on the detection result acquired by the acquisition unit and the transition information stored in the storage unit , a token is assigned to each passing vehicle, and the vehicle is indicated as the token on the Petri net. A determination unit that determines whether the combination of the detection results is a normal transition or an abnormal transition for each vehicle passing through ;
An output unit for outputting a determination result by the determination unit;
A vehicle passage determination device comprising: The vehicle transition determination device according to claim 1, wherein the transition information is information further based on a distance between the detectors arranged in a plurality. The transition information is information further based on a time during which the presence or absence of the vehicle is continuously detected based on the detection result indicating the presence or absence of the vehicle. The vehicle passage determination device described. The vehicle passage determination device according to any one of claims 1 to 3 ,
A display device showing information indicating the determination result output by the output unit;
A vehicle detection system comprising: A computer of a vehicle passage determination device that includes a storage unit that is configured by a Petri net and that stores transition information that is information indicating a reference of a detection result in advance.
An acquisition step of acquiring a detection result indicating the presence or absence of a vehicle output by each of a plurality of detectors arranged in the vehicle passing direction;
Based on the detection result acquired in the acquisition step and the transition information , a token is assigned to each passing vehicle, and the combination of the detection results is normal by indicating the vehicle as the token on the Petri net. A determination step of determining for each passing vehicle, whether it is a transition or an abnormal transition;
A vehicle passage determination program for executing the output step of outputting the determination result of the determination step.

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