JP7047483B2 - Vehicle detection device, vehicle detection method, and vehicle detection program - Google Patents

Description

The present invention relates to a vehicle detection technique for determining an empty state of a vehicle interior such as a parking lot using a magnetic sensor.

Conventionally, there is known a vehicle detection device in which a magnetic sensor is installed on the ground in the passenger compartment space of a parking lot to detect a change in geomagnetism due to the presence or absence of a vehicle and determine whether the passenger compartment is full or empty. ing. For example, in Patent Document 1, a plurality of magnetic sensors are installed in the vehicle interior in the vehicle width direction and the like, and the difference composite value of the detection levels in each axial direction between the magnetic sensors is used for determining the presence or absence of the vehicle. Therefore, even if a heavy vehicle such as a truck or a bus passes near the magnetic sensor, or if an overhead wire or high-pressure wire of a train is erected near the magnetic sensor and the geomagnetism fluctuates greatly, false detection is prevented. ..

Japanese Unexamined Patent Publication No. 2006-164145

However, the device described in Patent Document 1 uses a plurality of magnetic sensors to suppress the influence of disturbance caused by the passage of a heavy object, and since the plurality of magnetic sensors are used, the configuration becomes large. In addition, the cost will be high.

By the way, as is well known, there are various types of vehicles, and depending on the type of vehicle, the degree of influence on the geomagnetism is high or low. Therefore, it is not possible to accurately determine the fullness condition for each type of vehicle. It's not easy. Further, when a vehicle of a vehicle type having a high degree of influence on the geomagnetism (that is, a large change in the geomagnetism) stops in an adjacent passenger compartment, the possibility of false detection of the own passenger compartment increases.

For example, in FIG. 11, (a) shows a case where the degree of influence of the geomagnetism is low (the change in the geomagnetism is small), and (b) shows a case where a vehicle having a high degree of influence on the geomagnetism is stopped in an adjacent passenger compartment. Shows the case. In the figure, [Z1] is the own cabin and [Z2] is the adjacent cabin. The magnetic sensor 11a is installed in its own vehicle interior [Z1] for convenience of explanation. The vehicle 21 enters its own cabin [Z1], and the vehicle 22 enters the adjacent cabin [Z2]. Further, [I], [II], and [III] indicate each timing in the time axis direction. The waveform s on the lower side of each figure shows the change state of the detected value of the geomagnetism in the time direction detected by the magnetic sensor 11a.

In (a), the vehicle 21 is approaching the passenger compartment [Z1] at the timing [I], and the detected value s is gradually increased. Next, when the engine part of the vehicle 21 enters above the magnetic sensor 11a at the timing [II], the detected value s reaches a peak, and when the approach is continued, the detected value s gradually decreases and the stop timing is reached. After [III], it stabilizes at a predetermined value. In this example, when the vehicle compartment [Z1] is full, the detected value is less than the fullness determination threshold value Lo, and the vehicle is erroneously detected as an empty state.

On the other hand, in (b), the vehicle 22 is approaching the adjacent vehicle interior [Z2] at the timing [I], and the detected value s is gradually increasing. Next, the detection value s may exceed the full / empty determination threshold Lo by the time the vehicle 22 enters the vehicle interior [Z2] at the timing [II]. Then, when the approach is continued, the detected value s stays flat while maintaining the fullness determination threshold value Lo or higher, and may stabilize at the same level after the stop timing [III]. In this example, even if the vehicle interior [Z1] is empty, it will be falsely detected as full.

The present invention, on the one hand, has been made in view of such circumstances, and an object of the present invention is to provide a technique for preventing erroneous detection of an empty state of a vehicle in a vehicle interior.

The present invention adopts the following configuration in order to solve the above-mentioned problems.

That is, the vehicle detection device according to one side is a vehicle detection device that determines the fullness state of the vehicle with respect to the vehicle interior by using the temporal detection value of the geomagnetic level obtained from the magnetic sensor installed on the ground of the vehicle interior. In the first determination means for determining an empty state when the detected value is lower than the empty threshold value for determining an empty vehicle, and the peak of the detected value acquired corresponding to one part of the vehicle has a predetermined full threshold value. When the value exceeds the peak value and the detected value after the peak converges between the full threshold value and the empty threshold value, and the difference between the two detected values before and after the detection of the peak exceeds the predetermined difference threshold value. A second determination means for switching the determination between the full state and the empty state is provided.

The vehicle detection method according to one aspect is a vehicle detection method for determining a vehicle fullness state with respect to the vehicle compartment using a time-dependent detection value of the geomagnetic level obtained from a magnetic sensor installed on the ground of the vehicle compartment. When the detected value is lower than the empty threshold value for determining an empty vehicle, the peak of the detected value acquired corresponding to one part of the vehicle and the first determination step of determining the empty state exceeds a predetermined full threshold value. In some cases, and when the detected value after the peak converges between the full threshold value and the empty threshold value, when the difference between the two detected values before and after the detection of the peak exceeds a predetermined difference threshold value, the state is full. A second determination step for switching between determination and empty state is provided.

The vehicle detection program for one side uses a detection value of the geomagnetic level obtained over time from a magnetic sensor installed on the ground of the vehicle compartment, and a vehicle detection that determines the fullness state of the vehicle with respect to the vehicle compartment by a processor. In the program, when the detected value is lower than the empty threshold value for determining an empty vehicle, the first determination step for determining an empty state and the peak of the detected value acquired corresponding to one part of the vehicle are the predetermined full threshold values. When the difference between the two detected values before and after the detection of the peak exceeds a predetermined difference threshold when the detected value after the peak converges between the full threshold value and the empty threshold value. , A second determination step of switching the determination between the full state and the empty state, is performed by the processor.

According to the above configuration, the movement of the vehicle in and around the vehicle interior is acquired as a time-dependent (for example, periodic) detection value of the geomagnetic level via the magnetic sensor. If the acquired detection value is lower than the empty threshold value for determining an empty vehicle, it is determined to be empty. On the other hand, the peak of the detected value acquired corresponding to one part of the vehicle, for example, the engine part when the vehicle enters and exits the passenger compartment exceeds a predetermined full threshold value, and the detected value after the peak is the full threshold value and the empty threshold value. If it converges during the period, it is determined to be in a full state or an empty state on condition that the difference between the two detected values before and after the detection of the peak exceeds a predetermined difference threshold value. In this way, unlike the conventional method of determining the fullness state with one threshold value, the determination should be made by paying attention to the appearance of the peak change of the geomagnetism caused by one part of the vehicle and the magnitude of the difference before and after the appearance. Therefore, the degree of influence on the geomagnetism, the presence / absence of a vehicle in the adjacent cabin, the entry / exit, and the passage of a vehicle at a nearby position can be accurately determined for the own cabin.

In the vehicle detection device according to the one aspect, when the detection value after the peak is higher than the detection value before the peak, the second determination means determines that the vehicle is in a full state, and the detection value after the peak is the detection value after the peak. If it is lower than the detected value before the peak, it may be determined that the empty state has been reached. According to this configuration, it is possible to accurately determine the full state and the empty state by paying attention to the magnitude of the peak and the difference.

In the vehicle detection device according to the one aspect, the second determination means determines whether or not the vehicle is in a full state when the first peak is counted, and when the second peak is counted, the second determination means determines whether or not the vehicle is in a full state. It may be used to determine whether or not the vehicle has become empty. According to this configuration, the full state and the empty state can be distinguished and accurately determined by the first and second peaks.

In the vehicle detection device according to the one aspect, the second determination means may reset the count value of the peak when the difference between the two detection values before and after the detection of the peak is equal to or less than the predetermined difference threshold value. good. According to this configuration, when the difference does not exceed the difference threshold value, the empty state is not changed, so the count value is reset and the determination process can be redone.

In the vehicle detection device according to the one aspect, the determination means acquires a detection value for calculating a detection value for determination using at least one detection value when a plurality of consecutively acquired detection values converge. It may be provided with a part. According to this configuration, since the determination of the full sky state is performed in the state where the geomagnetism in the vehicle interior is stable, the accuracy of the determination is improved.

In the vehicle detection device according to the one side surface, the magnetic sensor may be installed on the entrance / exit side of the vehicle with respect to the central portion of the vehicle interior. According to this configuration, the parts of the vehicle that have a high degree of influence on the geomagnetism, typically the engine parts, pass over the magnetic sensor when the vehicle enters or leaves the vehicle, so that the peak is surely reached. Can be detected.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a technique for preventing false detection of an empty state of a vehicle with respect to a vehicle interior.

FIG. 1 is a diagram showing an example of the degree of influence on the earth's magnetic field on the ground surface with respect to a part in the traveling direction of the vehicle. FIG. It is a figure of. FIG. 2 is a diagram for explaining the relationship between the installation position of the magnetic sensor and the stop position of the vehicle and an example of the degree of influence on the geomagnetism, and FIG. 2A is a diagram showing the state of entry and exit of the vehicle. (B) is a time chart diagram showing the history of the detected value of the geomagnetism. FIG. 3 is a diagram for explaining the fullness determination of the vehicle corresponding to FIG. 2, (a) is a diagram showing the state of entry and exit of the vehicle, and (b) is the background of the geomagnetic detection value. It is a time chart diagram showing the state of fullness determination. FIG. 4 is a diagram showing an example for explaining a vehicle fullness determination when a vehicle having a high degree of influence on the geomagnetism is stopped in an adjacent vehicle interior, and FIG. 4A is a diagram showing the entry of the vehicle. The figure which shows the state of departure, (b) is the time chart figure which shows the history of the detection value of the geomagnetism, and the state of the full sky determination. FIG. 5 is a diagram showing an example of the hardware configuration of the vehicle detection device according to the embodiment. FIG. 6 is a flowchart showing an example of the vehicle detection processing procedure according to the embodiment. FIG. 7 is a flowchart showing an example of the vehicle detection processing procedure according to the embodiment. FIG. 8 is a time chart diagram for explaining an example of determining whether a vehicle is full or not when a vehicle having a high degree of influence on the geomagnetism, which is stopped in an adjacent vehicle compartment, departs first. FIG. 9 is a time chart diagram for explaining an example of determining whether the vehicle is full or not when the vehicle is later parked in the adjacent vehicle compartment and the own vehicle departs first. FIG. 10 is a time chart diagram for explaining an example of determining whether the vehicle is full when the vehicle passes through the passenger compartment of the own vehicle. 11A and 11B are diagrams for explaining false positives due to the magnitude of the influence on the geomagnetism, FIG. 11A shows a case where the degree of influence on the geomagnetism is low (the change in the geomagnetism is small), and FIG. 11B shows the case where the degree of influence on the geomagnetism is small. It shows the case where a vehicle having a high degree of influence on the vehicle is stopped in an adjacent cabin.

Hereinafter, embodiments according to one aspect of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings. However, the embodiments described below are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. That is, in carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted. The data appearing in the present embodiment are described in natural language, but more specifically, they are specified in a pseudo language, a command, a parameter, a machine language, etc. that can be recognized by a computer.

<Characteristics of vehicle parts and geomagnetic changes>
FIG. 1 is a diagram showing an example of the degree of influence on the earth's magnetic field on the ground surface with respect to a part in the traveling direction of the vehicle. FIG. It is a figure of. In (a), the peak of the detected value of the geomagnetism is shown under the engine mounting portion of the vehicle 211, and the other portions are flat and relatively low. In (b), the detected value of the geomagnetism higher than that in (a) is shown for the entire area of the vehicle 212, but the change in the geomagnetism in the form of a relatively high peak is shown under the engine mounting portion as in (a). Is shown. As described above, regardless of the vehicle type, the peak of the geomagnetic field detection value appears under a predetermined portion in the traveling direction, for example, the engine mounting portion.

FIG. 2 is a diagram for explaining the relationship between the installation position of the magnetic sensor and the stop position of the vehicle and an example of the degree of influence on the geomagnetism, and FIG. 2A is a diagram showing the state of entry and exit of the vehicle. (B) is a time chart diagram showing the history of the detected value s of the geomagnetism. FIG. 2 shows the detected value s of the geomagnetism when the vehicle 21 described with reference to FIG. 1 enters and exits the passenger compartment [Z1]. Further, as shown in FIG. 2, the magnetic sensor 11 is installed on the entrance / exit side with respect to the central portion of the parking position of the vehicle interior [Z1]. The configuration of the magnetic sensor 11 will be described later with reference to FIG.

In FIG. 2, when the vehicle 21 approaches the passenger compartment [Z1] at the timing [I], the geomagnetic field detection value s gradually increases from the low level. Next, at the timing [II], when the engine part of the vehicle 21 enters above the magnetic sensor 11, the detected value s reaches the peak Sp1, and when the approach is continued, the detected value s gradually decreases. It stabilizes at the specified value at the stop timing [III]. On the other hand, after the timing [III], when the vehicle 21 starts backing and leaves the vehicle compartment [Z1], the engine portion of the vehicle 21 passes over the magnetic sensor 11 in the opposite direction on the way. At the timing [IV], the detected value s reaches the peak Sp2, and when the backing is continued, the detected value gradually decreases, and at the timing [V] when the vehicle exits the passenger compartment [Z1], the detected value returns to the original low level. return.

As described above, as shown inside the broken line frame in FIG. 2B, the detected value s once passes through the peak Sp1 and stabilizes at a higher level than before the peak Sp1 when the vehicle enters. It can be determined that the vehicle is full. On the other hand, when the vehicle departs, it drops from a high level to a level lower than before the peak Sp2 once via a higher peak Sp2 and stabilizes, so that it can be determined that the vehicle is empty. In this way, it was decided to make a temporary peak of the detected value appear at the time of entering and leaving the vehicle and to utilize this peak phenomenon for the determination of the full vacancy state.

<Characteristics of geomagnetic change by magnetic sensor>
FIG. 3 is a diagram for explaining the fullness determination of the vehicle corresponding to FIG. 2, (a) is a diagram showing the state of entry and exit of the vehicle, and (b) is the history of the detected value of the geomagnetism. It is a time chart diagram showing the state of fullness determination.

In FIG. 3B, the empty threshold value Le is a preset level for determining that the vehicle is empty. The full threshold value Lf is a preset level for detecting a temporary peak of the detection value generated when the vehicle 21 enters or leaves the vehicle interior [Z1]. Further, the difference between the detected values before and after the peak is detected is used as a threshold value for determining the change in the full state of the vehicle 21, that is, the state change from the full state to the empty state, or from the empty state to the full state. The difference threshold is preset. By adopting the difference threshold value, it is possible to appropriately determine the change in the full vacancy state regardless of the type of vehicle and even if a vehicle having a high degree of influence on the geomagnetism is stopped in the adjacent vehicle interior.

In the present embodiment, the geomagnetic field detection value is the level of the geomagnetism detected by the magnetic sensor 11 and equal to or less than the empty threshold Le in the empty state as a reference value, and the reference value and the level of the geomagnetism actually detected are used. The difference value of. Further, in the present embodiment, the vehicle fullness determination is performed using the detected value in a stable state. Here, the stable state means, for example, the case where the detected values for a plurality of consecutive times converge within a predetermined range, and the detected value in the stable state is obtained by averaging, for example, a part of them. It may be a new value or a recent value.

First, the detected value a is acquired in a completely empty state without the vehicle existing in the passenger compartment [Z1]. After that, the vehicle 21 approaches at the timing [I], and the detected value s gradually increases. When the vehicle 21 advances to the passenger compartment [Z1] as it is and the engine part of the vehicle 21 is located on the magnetic sensor 11 at the timing [II], the detection value s reaches a peak and then passes over the magnetic sensor 11. It gradually decreases according to. After that, it is acquired as a stable detection value b.

The existence of the peak can be determined, for example, by taking the difference between the immediately preceding value and the current value each time the detected value s is acquired and detecting the change in the polarity thereof. As another judgment example, it is also possible to make a judgment by detecting that the detected value s once exceeds the full threshold value Lf and then becomes the full threshold value Lf or less again. The peak value is compared in magnitude with the full threshold value Lf, and if it is equal to or higher than the full threshold value Lf, the number of times is counted and the presence of the peak is used for later determination. In the empty state, the count value is 1.

Then, at timing [III], the vehicle enters the passenger compartment [Z1] and stops. Therefore, the detected value s is stably acquired as the detected value b. When the detection of the first peak and the detection value b after the peak detection are stable at a level of at least the empty threshold Le or higher (or between the empty threshold Le and the full threshold Lf), immediately before the first peak. The difference (ba) between the stable detection value a and the stable detection value b after the peak is calculated (or calculated as an absolute value), and the magnitude of the difference with a predetermined difference threshold value is compared. If the calculated difference is equal to or greater than the difference threshold, it is determined that the vehicle exists, that is, it is in a full state. Otherwise, the count value is reset and remains empty.

When the parked vehicle 21 starts to depart at the timing [IV] after the vehicle is changed to the full state, the detection value A (= stable detection value b) acquired accordingly gradually increases, and the detection value A (= stable detection value b) gradually increases. The peak is detected by the engine portion of the vehicle 21 passing over the magnetic sensor 11 on the way. Similar to the above, the existence of the peak is determined by, for example, taking the difference between the immediately preceding value and the current value and detecting the change in the polarity thereof. Further, the peak value is compared in magnitude with the full threshold value Lf, and when it is equal to or higher than the full threshold value Lf, the number of times is counted. Here, the count value is incremented to the value 2.

Then, at the timing [V], when the vehicle 21 completely departs from the passenger compartment [Z1], the value acquired as the detection value B becomes stable.

At this time, as shown in FIG. 3B, if the detected value B drops to the empty threshold value Le or less, it can be immediately determined to be empty. On the other hand, when the detected value B is at a value between the empty threshold value Le and the full threshold value Lf, the detection value B is stabilized after the second peak is detected and immediately before the second peak. The difference (AB) between the stable detected value A and the stable detected value B after the peak is calculated (or calculated as an absolute value), and the magnitude of the difference with a predetermined difference threshold value is compared. If the calculated difference is equal to or greater than the difference threshold value, it is determined that the vehicle has left the vehicle and is vacant. Otherwise, the count value is reset and remains empty. That is, the difference threshold value means a threshold value for distinguishing whether or not the vehicle 21 has entered or exited with the peak detection in between.

FIG. 4 is a diagram showing an example for explaining a vehicle fullness determination when a vehicle having a high degree of influence on the geomagnetism is stopped in an adjacent vehicle compartment, and FIG. 4A is a diagram showing entry and exit of the vehicle. A diagram showing the state of the vehicle, (b) is a time chart diagram showing the history of the detected value of the geomagnetism and the state of the full sky determination. In FIG. 4, it is assumed that a parking lot or the like in which a plurality of vehicle compartments [Z1], [Z2], ... Are arranged adjacent to each other. For convenience of explanation, the magnetic sensor in the adjacent vehicle interior [Z2] is omitted.

When the vehicle compartments [Z1] and [Z2] are empty, first, the vehicle 22 is close to the vehicle compartment [Z2] at the timing [I], and the detection is made from the magnetic sensor 11 installed in the vehicle compartment [Z1]. The value s is gradually increasing. The vehicle 22 has entered the passenger compartment [Z2] as it is, and has stopped in the passenger compartment [Z2]. The detected value s from the magnetic sensor 11 gradually increases after the timing [I], and further, since the vehicle 22 has a large influence on the geomagnetism, the detection value a becomes stable after exceeding the empty threshold value Le on the way. Has been acquired.

Next, at timing [II], the vehicle 22 is heading toward the passenger compartment [Z1], enters at timing [III], and stops at timing [IV] after the first peak as in FIG. .. The detected value b that is stable after the peak is stable at, for example, at least at a level equal to or higher than the empty threshold value Le, as in FIG. Then, it is determined whether or not the vehicle interior [Z1] is in the full state through the detection of the peak from the detected values a and b before and after the peak and the determination of whether or not the full threshold value is Lf or more. Here, assuming that it is determined that the vehicle is full, two vehicles are parked side by side as shown in Timing [IV].

After that, at the timing [V], only the vehicle 21 backs up and starts to depart. When the vehicle 21 starts to depart, the detection value A acquired in accordance with this gradually increases, and the engine portion of the vehicle 21 passes over the magnetic sensor 11 in the middle of the detection value A, so that the peak is reached. To detect. Then, the car is completely departed at timing [VI]. The detected value B after the peak is stable between the empty threshold value Le and the full threshold value Lf. Here, as in FIG. 3, the vehicle interior [Z1] becomes empty after the peak is detected from the detected values A and B before and after the peak, and the determination between the empty threshold value Le and the full threshold value Lf is performed. It is determined whether or not it was. Here, it is determined that the state has become empty.

<[Hardware configuration>
FIG. 5 is a diagram showing an example of the hardware configuration of the vehicle detection device according to the embodiment. The vehicle detection device 10 is installed corresponding to the vehicle interior, and is in a full state of the vehicle in the corresponding vehicle interior based on the detection data periodically transmitted from the magnetic sensor 11 for detecting the geomagnetism and the magnetic sensor 11. A determination processing module 12 is provided as a determination means for performing determination processing. Further, the vehicle detection device 10 may include a communication module 13 that transmits the determination processing result to the management server 100 via wired or wireless. Further, the management server 100 is provided as needed, and for example, it manages the operation of the entire parking lot from the determination processing contents in each vehicle interior.

The magnetic sensor 11 is installed at an appropriate place in the space of the vehicle interior [Z], for example, on the ground near the entrance / exit of the vehicle from the central portion or the central portion. The magnetic sensor 11 includes a sensor portion that detects magnetism and an AD conversion unit 111 that converts the detected signal into a digital value as an integrated module or a separate body. As an example, the sensor portion employs one that can detect the geomagnetism in each of the three axial directions. In the present embodiment, data obtained by synthesizing components in the three-axis direction may be adopted, or a predetermined one-axis or two-axis detection data may be adopted.

The determination processing module 12 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each component according to information processing. The storage unit 120 is, for example, an auxiliary storage device such as a hard disk drive or a solid state drive, and stores a vehicle detection processing program executed by the determination processing module 12 and various data necessary for the processing.

In the determination processing module 12, the vehicle detection processing program is expanded in the RAM and executed by the CPU to control each component. As a result, as shown in FIG. 5, the determination processing module 12 according to the present embodiment includes a detection value acquisition unit 121, a first full vacancy state determination unit 122, and a second full vacancy state determination unit 123. There is. The second full sky state determination unit 123 includes a peak determination unit 124 and a difference determination unit 125.

The detection value acquisition unit 121 calculates a detection value as a value with respect to the above-mentioned reference value from the magnetic data detected by the magnetic sensor 11 which is periodically input. Further, the detection value acquisition unit 121 detects fluctuations in the values acquired a plurality of times in succession, determines whether or not the fluctuations are within a predetermined range, and if the fluctuations are within a predetermined range, determines that the state is stable. , And the value in the stable state is obtained as the detected value in the stable state as described above. The processing performed by the detection value acquisition unit 121 may be performed by the first full-empty state determination unit 122 and the second full-empty state determination unit 123, respectively. Alternatively, when the magnetic sensor 11 is configured to include a CPU, RAM, and ROM, the processing performed by the detection value acquisition unit 121 may be executed on the magnetic sensor 11 side.

The first full empty state determination unit 122 detects whether or not the detected value of the stable state is equal to or less than the empty threshold value Le, and if it is equal to or less than the empty threshold value Le, determines that the empty state is empty.

The peak determination unit 124 determines whether or not the detected value exceeds the full threshold value Lf and forms a temporary peak. The peak determination unit 124 increments the internal counter that counts the peak to 1 when the detected value passes through the peak from the empty state. Further, the peak determination unit 124 increments the internal counter for counting to 2 when the peak has passed from the full state. Further, the peak determination unit 124 resets the internal counter when the difference (AB) of the detected values in the stable state before and after the peak after the peak exceeds the difference threshold. The peak determination unit 124 resets the internal counter when the difference (ba) or (AB) of the detected values in the stable state before and after the peak after the peak is equal to or less than the difference threshold value. Then, the appearance of those peaks is waited again and detected.

The difference determination unit 125 performs a magnitude comparison between the difference (ba) and (AB) of the detected values in a stable state before and after the peak after the peak and the difference threshold value, and the difference determines the difference threshold value. When the value is exceeded, it is detected that the vehicle has entered or exited. That is, when the vehicle enters the passenger compartment, the engine portion once passes over the magnetic sensor 11, and when the vehicle leaves the passenger compartment, the engine portion once passes over the magnetic sensor 11. It is determined that the vehicle has passed over.

Then, when the peak is detected and the difference exceeds the difference threshold value, the second full / empty state determination unit 123 determines that the vehicle interior is full or empty.

<Operation example>
6 and 7 are flowcharts showing an example of the vehicle detection processing procedure according to the embodiment. The processing procedure described below is only an example, and each processing may be changed as much as possible. Further, with respect to the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the embodiment.

This flowchart is repeatedly executed, for example, at a predetermined cycle. In this flowchart, for example, it is assumed that the vehicle interior [Z] is in an empty state, the geomagnetic data detected from the magnetic sensor 11 is received, and the geomagnetic detection value is calculated based on the geomagnetic data (step). S1). Next, it is determined whether or not the detected value is equal to or less than the empty threshold value Le (step S3), and if the detected value is equal to or less than the empty threshold value Le, acquisition as a stable state a is performed (step S31), and the state is empty. It is determined (step S33).

On the other hand, if the detected value is not equal to or less than the empty threshold value Le in step S3, it is determined whether or not the detected value is equal to or greater than the full threshold value Lf (step S5). That is, it is determined whether or not the count value is 1 (step S7), and if not, it is determined whether or not the full threshold value has been exceeded twice (step S9).

Hereinafter, the processing of this flowchart will be described assuming the state from the timing [1] of FIG. First, since the vehicle 21 enters the vehicle interior [Z1], the detection value gradually increases with each detection, exceeds the empty threshold value Le, and is detected between the full threshold value Lf and the empty threshold value Le. Therefore, the detected value at this time is determined as No in step S9 and is acquired as the stable state a (step S11). After that, when the full threshold value Lf is exceeded around the timing [II] in FIG. 3 (Yes in step S5), it is determined whether or not the acquisition of the stable state b is completed (step S51). If the acquisition of the stable state b is not completed, the acquisition as the stable state b is performed (step S53), and the value b is further replaced with the value A (step S55). When the detected value is equal to or higher than the full threshold value Lf and the acquisition of the stable state b is completed, the process is passed through as it is (Yes in step S51).

Subsequently, when the engine portion of the vehicle 21 passes over the magnetic sensor 11, the detected value begins to gradually decrease, the detected value becomes equal to or less than the full threshold value Lf (No in step S5), and it is determined that the full threshold value has been exceeded once. (Yes in step S7). In step S71, it is determined whether or not the acquisition of the stable state b is completed, and if the acquisition of the stable state b is not completed, the acquisition of the stable state b is performed (step S73). Subsequently, the difference (ba) between the values in the stable state before and after the peak is calculated, the magnitude of the difference and the difference threshold is compared (step S75), and if the difference exceeds the difference threshold, it is full. It is determined to be in the state (step S77). On the other hand, if the difference is equal to or less than the difference threshold value, the number of times information that exceeds the full threshold value Lf is reset (step S79).

Further, if the acquisition of the stable state b is completed in step S71, the detected value is acquired as the stable state A (step S81).

Subsequently, when the vehicle 21 starts to depart around the timing [IV] in FIG. 3, the engine portion approaches the magnetic sensor 11, and the detected value gradually increases toward the full threshold value Lf. Until the detected value exceeds the full threshold value Lf (Yes in step S7), the processes after step S71 are executed. Then, while the detected value exceeds the full threshold value Lf (Yes in step S5), the process is passed through.

After that, when the engine part of the vehicle 21 passes over the magnetic sensor 11 and gradually decreases below the full threshold value Lf (Yes in step S9), the count value is incremented to 2 assuming that the full threshold value Lf is exceeded twice, and is in a stable state. B is acquired (step S91). Next, the difference (AB) between the stable states A and B before and after the second peak is calculated and compared with the difference threshold value (step S93). If the difference (AB) exceeds the difference threshold value, it is determined to be empty (step S95), and the number of times the difference (step S97) is exceeded is reset (step S97).

On the other hand, in step S93, when the difference (AB) is equal to or less than the difference threshold value, the full state is maintained (step S99), and then the state where the second full threshold value is exceeded is ignored and the second time is exceeded. It is determined that there is no such state (step S101), that is, the stable state B is updated as the stable state A, and the stable state B is discarded (step S103). When the vehicle 21 departs from the passenger compartment [Z1] and the level of the stable state becomes equal to or less than the empty threshold value Le (Yes in step S3), it is processed as acquisition of the stable state a (step S31). , It is determined that the state is empty (step S33).

<Other application examples>
FIG. 8 is a time chart diagram for explaining an example of determining whether a vehicle is full or not when a vehicle having a high degree of influence on the geomagnetism, which is stopped in an adjacent vehicle compartment, departs first. Since the timings [I] to [IV] in FIG. 8 are the same as those in FIG. 4, the description thereof will be omitted.

When the vehicle 22 in the vehicle compartment [Z2] departs at the timing [V] following the timing [IV], the magnetic sensor 11 is different from the case where the vehicle 21 departs from its own vehicle compartment [Z1]. Since the engine part of the vehicle does not pass over the top, the detected value gradually decreases and stabilizes without the appearance of a peak. Therefore, even if the vehicle 22 having a high degree of influence on the geomagnetism departs from the adjacent vehicle compartment [Z2], the determination of the full state of the vehicle compartment [Z1] does not cause an erroneous determination.

FIG. 9 is a time chart diagram for explaining an example of determining whether the vehicle is full or not when the vehicle is later parked in the adjacent vehicle compartment and the own vehicle departs first. Since the timings [I] to [III] in FIG. 9 are the same as those in FIG. 3, the description thereof will be omitted.

At the timing [IV] following the timing [III], since the vehicle 22 is parked in the adjacent vehicle compartment [Z2], the detected value increases by that amount between the empty threshold value Le and the full threshold value Lf. Next, when the vehicle 21 starts to depart from the vehicle interior [Z1], the engine portion of the vehicle 21 passes over the magnetic sensor 11 at the timing [V], so that the detected value detects the second peak. After that, at timings [V] to [VI], the detected value gradually decreases and stabilizes between the empty threshold value Le and the full threshold value Lf. Moreover, since the detection value is reduced by the amount that the vehicle 21 in the vehicle compartment [Z1] is removed, the difference (BA) is equal to or larger than the difference threshold value, so that it is reliably detected that the vehicle 21 has departed. Therefore, even if the vehicle 22 having a high influence on the geomagnetism is parked in the adjacent vehicle compartment [Z2], it does not cause an erroneous determination regarding the departure of the vehicle 21 from the vehicle compartment [Z1].

FIG. 10 is a time chart diagram for explaining an example of determining whether the vehicle is full when the vehicle passes through the passenger compartment of the own vehicle. In FIG. 10, since the vehicle 22 is parked in the adjacent vehicle interior [Z2], the detected value is at a correspondingly higher level. Next, at timings [II] to [IV], when the vehicle 21 passes through the passenger compartment [Z1], at timing [III], the engine portion of the vehicle 21 passes over the magnetic sensor 11, so that a peak appears. ing. However, since there is no difference in the difference between the detected values before and after the peak, the difference (ba) becomes equal to or less than the difference threshold value, and an erroneous determination that the empty state is switched to the full state does not occur.

This means that even if a vehicle with a large influence on the geomagnetism such as a large truck passes in the immediate vicinity, there is no difference in the detected values before and after the passage, so it is assumed that a peak exceeding the full threshold value Lf is detected. However, by applying the difference threshold value, it is possible to prevent erroneous determination for a full empty state.

<Action / effect>
As described above, in the present embodiment, instead of the conventional method of determining the fullness state with one threshold value, the appearance of the geomagnetic peak change caused by one part of the vehicle in the fullness state of the vehicle. , And the difference between the detected values before and after that and the magnitude comparison with the difference threshold are taken into consideration when making the judgment. It is possible to accurately determine the passenger compartment of the vehicle even when entering and exiting the vehicle and passing through a vehicle at a nearby position.

The present invention is not limited to the above-described embodiment as it is, and at the implementation stage, the components can be modified and embodied within a range that does not deviate from the gist thereof. In addition, various inventions can be formed by an appropriate combination of the plurality of components disclosed in the above-described embodiment. For example, some components may be removed from all the components shown in the embodiments. In addition, components from different embodiments may be combined as appropriate.

Further, the correspondence between the configuration according to the present invention and the configuration according to the above-described embodiment can be described as described in the following appendix.

<Additional Notes>
In the vehicle detection device (10) for determining the fullness of the vehicle with respect to the vehicle interior using the time-dependent detection value of the geomagnetic level obtained from the magnetic sensor (11) installed on the ground of the vehicle interior.
When the detected value is lower than the empty threshold value for determining an empty vehicle, the first determination means (122) for determining an empty state and
When the peak of the detected value acquired corresponding to one part of the vehicle exceeds a predetermined full threshold value, and the detected value after the peak converges between the full threshold value and the empty threshold value. A vehicle detection device (10) provided with a second determination means (123) for switching the determination between the full state and the empty state when the difference between the two detected values before and after the detection of the peak exceeds a predetermined difference threshold value. ).

10 Vehicle detection device 11 Magnetic sensor 12 Data processing module 121 Detection value acquisition unit 122 First fullness condition determination unit (first determination means)
123 Second fullness condition determination unit (second determination means)
124 Peak judgment unit 125 Difference judgment unit 13 Communication module
[Z], [Z1] Car room 21, 22 Vehicles

Claims (8)

In a vehicle detection device that determines the fullness of a vehicle with respect to the vehicle compartment using the time-dependent detection value of the geomagnetic level obtained from a magnetic sensor installed on the ground of the vehicle compartment.
When the detected value is lower than the empty threshold value for determining an empty vehicle, the first determination means for determining an empty state and
When the peak of the detected value acquired corresponding to one part of the vehicle exceeds a predetermined full threshold value, and the detected value after the peak converges between the full threshold value and the empty threshold value. A vehicle detection device including a second determination means for switching determination between a full state and an empty state when the difference between the two detection values before and after the detection of the peak exceeds a predetermined difference threshold value. The second determination means determines that the state is full when the detected value after the peak is higher than the detected value before the peak, and when the detected value after the peak is lower than the detected value before the peak, the second determination means determines that the state is full. The vehicle detection device according to claim 1, wherein it is determined that the vehicle has become empty. The second determination means determines whether or not the peak is full when the first peak is counted, and determines whether or not the peak is empty when the second peak is counted. The vehicle detection device according to claim 1. The vehicle detection device according to claim 3, wherein the second determination means resets the count value of the peak when the difference between the two detection values before and after the detection of the peak is equal to or less than the predetermined difference threshold value. 13. The vehicle detection device described in any of them. The vehicle detection device according to any one of claims 1 to 5, wherein the magnetic sensor is installed on the entrance / exit side of the vehicle with respect to the central portion of the vehicle interior. In a vehicle detection method in which a processor determines a vehicle's fullness with respect to a vehicle compartment using a detection value of a geomagnetic level obtained over time from a magnetic sensor installed on the ground of the vehicle compartment.
When the detected value is lower than the empty threshold value for determining an empty vehicle, the first determination step of determining an empty state and
When the peak of the detected value acquired corresponding to one part of the vehicle exceeds a predetermined full threshold value, and the detected value after the peak converges between the full threshold value and the empty threshold value. A vehicle detection method in which the processor executes a second determination step of switching between a full state and an empty state when the difference between the two detected values before and after the peak detection exceeds a predetermined difference threshold value. In a vehicle detection program that determines the fullness of a vehicle with respect to the vehicle interior by a processor using the detection value of the geomagnetic level over time obtained from a magnetic sensor installed on the ground of the vehicle interior.
When the detected value is lower than the empty threshold value for determining an empty vehicle, the peak of the detected value acquired corresponding to the first determination step of determining the empty state and one part of the vehicle exceeds a predetermined full threshold value. In some cases, and when the detected value after the peak converges between the full threshold value and the empty threshold value, when the difference between the two detected values before and after the detection of the peak exceeds a predetermined difference threshold value, the state is full. A vehicle detection program that causes the processor to execute a second determination step of switching between determination and vacancy.

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