KR20160138707A - vehicle related data acquirement system for improving enhancing accuracy of detection - Google Patents

vehicle related data acquirement system for improving enhancing accuracy of detection Download PDF

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KR20160138707A
KR20160138707A KR1020150072897A KR20150072897A KR20160138707A KR 20160138707 A KR20160138707 A KR 20160138707A KR 1020150072897 A KR1020150072897 A KR 1020150072897A KR 20150072897 A KR20150072897 A KR 20150072897A KR 20160138707 A KR20160138707 A KR 20160138707A
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vehicle
vehicle data
error
data
determination unit
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KR1020150072897A
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KR101692009B1 (en
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유호진
박진용
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컴레이저 (주)
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P11/00—Measuring average value of speed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention increases the amount of data to be used for vehicle data detection by emitting a plurality of pairs of laser signals when pairs of laser signals emitted in such a way as to be spaced apart in the longitudinal direction of the same lane are emitted, It is possible to greatly increase the accuracy and reliability of detection, simplify installation, maintenance and maintenance, reduce cost, and reduce the vehicle speed of each of the detected vehicle data and the first set value TH1 And more particularly to a vehicle data detection system capable of significantly increasing the accuracy and reliability of detection and significantly reducing complaints caused by erroneous data detection.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle data acquisition system,

More particularly, the present invention relates to a vehicle data detection system that increases the detection accuracy by using a plurality of pairs of laser signals in a pair of lasers, And more particularly to a vehicle data detection system capable of significantly increasing the accuracy and reliability of vehicle data detection by increasing the area of the sensing area in the width direction of the lane.

Intelligent Transportation Systems (ITS) is interdependently linked to traffic data, information processing, and information provision. It collects data through on-site equipment such as speed detector, Automatic Vehicle Identification (AVI) The accuracy of the data collected and detected by the equipment directly affects the quality of traffic information, and such vehicle data detection equipment is directly connected to complaints in case of inaccurate data detection, so high-performance equipment with excellent precision and accuracy is required.

In general, vehicle data detection equipment is widely used to detect overspeed vehicle interception, vehicle type detection, road congestion, and the like. It detects a vehicle passing through a specific point according to a detection method and generates a vehicle information VDS And Vehicle Detection System), and a section detector that detects a vehicle passing through a specific section and generates vehicle information. A radar-based detection system, an image-based detection system, a laser- Method, and the like, and classified into a fixed type and a movable type according to a usage method.

Particularly, a laser speed signal detector (hereinafter referred to as a laser speed detector) using a laser signal is widely used because of its high energy density, strong wavelength and phase, strong interference, and excellent linearity and light- .

1 is a block diagram illustrating a data acquisition system disclosed in Korean Patent No. 10-0877175 entitled " Data Acquisition System Related to Fixed Driving Vehicle Using Laser ". Fig. 2 is a block diagram of a data acquisition system Lt; RTI ID = 0.0 > 1 < / RTI >

The conventional laser speed detector 100 of FIG. 1 includes a channel 110 for transmitting and receiving a laser signal L1 to and from a road and a laser signal L1 A profile converter 130 for detecting the vehicle type using the output signals of the channels 1, 2 110 and 120, And a memory 140 for storing the vehicle type data.

One channel 110 includes a transmitting section 111 composed of a light emitting lens 112, a laser diode 113 and a laser diode driving section 114 for generating a transmitting output to the laser diode 113, A pulse generator 115 for supplying a pulse to the diode driver 114 and a photodetector 117 and a photodetector 117 disposed inside the photodetector lens 117 disposed below the emission lens 112 of the transmitter 111. [ And a distance measuring unit 119 for measuring the distance by using the laser signal of the pulse generating unit 115 and the laser signal of the APD 118, The two channels 120 are configured the same as the one channel 110, and transmit and receive the laser signal L2.

The two channels 120 are configured the same as the one channel 110.

2, the laser signal L1 emitted through the transmission unit 111 of the first channel 110 is reflected on the ground plane P1, and the laser beam L1 is reflected by the second channel 120, And the laser signals L1 and L2 are emitted toward the middle point of the width of the lane, so that the laser signals L2 and L2 are emitted toward the middle point of the width of the lane There is a structural limitation that the vehicle C can not be detected when the vehicle C is running on a side of the lane. In FIG. 2, the sensing area S has a predetermined area in the width direction of the lane for the convenience of description. However, the sensing area S is actually formed in a linear shape.

In other words, in the conventional art 100, the sensing area S is formed to be large in the longitudinal direction S1 of the road, but is formed small in the width direction S2 so that the area of the sensing area in the width direction is excessively large The detection efficiency is significantly lowered.

In addition, the driver who is aware of the sensing section frequently moves away from the center of the lane in the sensing section, thereby causing frequent troubles to avoid the interception and detection.

In addition, since the conventional art 100 detects vehicle data by utilizing only a pair of laser signals L1 and L2, a method of recognizing or correcting errors even if an error occurs in data detection due to an external environment There is a structural limitation that the reliability of detection is low.

In other words, it is urgent to study vehicle data detection equipment that can detect the vehicle data using laser signals, but increase the accuracy and reliability of data detection by increasing the sensing area, especially the sensing area in the width direction of the lane.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a method of detecting vehicle data by using a laser signal and outputting at least four laser signals per lane to extend the area of the sensing area in the width direction of the lane And to provide a vehicle data detection system capable of increasing the accuracy and reliability of detection.

In another aspect of the present invention, there is provided a method of driving a vehicle, comprising the steps of: outputting a plurality of pairs of laser signals when pairs of laser signals emitted in a longitudinal direction of a lane are arranged at equal widths in a lane, So that the accuracy and reliability of the detection can be further increased.

Further, another object of the present invention is to compare the absolute value of the difference between one vehicle speed and the other vehicle speed among the vehicle speeds of the vehicle data to a predetermined first setting value TH1 (Threshold 1) The present invention is to provide a vehicle data detection system capable of accurately detecting errors and malfunctions caused by various external variables by judging that an error occurs when detecting vehicle data when the set value is equal to or greater than the set value TH1.

Further, another object of the present invention is to search vehicle data information stored in a database unit when an error occurs, to read the vehicle speed for the previous driving vehicle in the same lane, It is possible to prevent the omission of the vehicle data due to the error by determining the vehicle speed at which the absolute value of the difference in speed is less than the predetermined second set value TH2 as the speed of the corresponding traveling vehicle .

A vehicle data detection system for detecting vehicle data including a speed of a passing vehicle (C) traveling in a lane, the vehicle data detection system comprising: A detecting device including a plurality of laser units when the laser units are arranged in pairs so as to emit the laser signal so as to be spaced apart from the laser unit and receive the reflected signal; Vehicle data detectors for detecting the vehicle speeds of the passing vehicle (C) by analyzing the laser signals of the respective laser units received from the detecting equipment; and a controller for calculating the average value of the vehicle speeds And a normal mode vehicle data determination unit for determining an average value as the vehicle speed of the passing vehicle.

In the present invention, the controller may further include an error determination unit, wherein the error determination unit calculates an absolute difference between one vehicle speed and another vehicle speed among vehicle speeds detected by the vehicle data detection units, (TH1: Threshold1), which is a maximum speed difference value that can be determined that no error has occurred, and when the absolute value of the difference is less than the first set value TH1, It is determined that an error has occurred when the absolute value of the difference exceeds the first set value TH1, and the normal mode vehicle data determination unit is operated by inputting the vehicle data to the normal mode vehicle data determination unit, And does not drive the normal mode vehicle data determination unit.

In the present invention, the controller may further include an error mode vehicle data determination unit that is driven when an error is determined by the error determination unit, and the error mode vehicle data determination unit determines a vehicle speed And determines the vehicle speed at which the difference from the reference data is less than the threshold value as the vehicle speed of the passing vehicle C. [

The controller may further include a database unit that stores vehicle data determined by the normal mode vehicle data determination unit and an error mode vehicle data determination unit that is driven when an error is determined by the error determination unit, The error mode vehicle data determination unit searches the vehicle data stored in the database unit when the vehicle data determined as an error by the error determination unit is input and stores the vehicle data of the previous driving vehicle in the same lane as the vehicle data determined as the error A data reading module for reading the speed; A difference absolute value calculation module that calculates absolute differences between vehicle speeds of the vehicle data determined as the errors and vehicle speed read by the data reading module; The difference absolute value calculated by the absolute difference value calculation module 583 is compared with a predetermined second set value TH2 defined as a maximum speed difference value with the previous vehicle that can be judged that no error has occurred, A comparison module for comparing whether the absolute value is less than the second set value TH2; And a vehicle speed determination module that finally determines the vehicle speed at which the absolute value of the difference is less than the second set value TH2 by the comparison module at the vehicle speed of the passing vehicle (C).

In the present invention, it is preferable that the vehicle data detectors detect the waveforms by analyzing the laser signals of the laser units received from the detection equipment, and compare the detected waveforms with the waveform characteristic information of predetermined vehicle type to detect the vehicle type.

According to the present invention having the above-mentioned problems and solutions, when a pair of laser signals emitted in such a manner as to be spaced apart in the longitudinal direction with the same width of the lane are paired, the amount of data to be utilized for vehicle data detection is increased The sensing area can be extended in the lane width direction to significantly increase the accuracy and reliability of detection, simplify installation, maintenance and maintenance, and reduce costs.

According to the present invention, it is possible to accurately detect an error and a malfunction occurring in vehicle data detection using the vehicle speed and the first set value TH1 of each of the detected vehicle data, thereby further improving the accuracy and reliability of detection, The complaint caused by data detection can be significantly reduced.

According to the present invention, when it is determined that an error has occurred, vehicle data that does not cause an error among the vehicle data determined as an error through comparison with the previous driving vehicle is detected and determined as vehicle data of the corresponding traveling vehicle, Can be reduced dramatically.

1 is a block diagram showing a data acquisition system disclosed in Korean Patent No. 10-0877175 entitled " Data Acquisition System Related to Fixed Driving Vehicle Using Laser ".
Fig. 2 is a plan view showing laser signals emitted from the data acquisition system of Fig. 1; Fig.
3 is an exemplary view showing a vehicle data detection system according to an embodiment of the present invention.
FIG. 4 is a perspective view showing the vehicle data detecting device of FIG. 3. FIG.
FIG. 5 is a plan view illustrating an operation of the vehicle data detecting device of FIG. 4. FIG.
Fig. 6 is a block diagram showing the controller of Fig. 3; Fig.
7 is a block diagram showing the first vehicle data detecting unit of Fig.
8 is an exemplary diagram for explaining the first vehicle speed calculation module of Fig.
Fig. 9 is a block diagram showing the error mode vehicle data determination unit of Fig. 6; Fig.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

3 is an exemplary view showing a vehicle data detection system according to an embodiment of the present invention.

The vehicle data detection system 1 of FIG. 3 is installed at a predetermined height h from the road S and outputs laser signals L1, L2, L3, and L4 toward the road S And a controller 5 for analyzing the signals transmitted from the vehicle data detecting device 3 and detecting the vehicle data.

For convenience of explanation, the controller 5 is connected to the vehicle data detecting equipment 3 through a wired / wireless local area network (not shown) to analyze signals received from the vehicle data detecting equipment 3 to detect vehicle data However, the vehicle data detecting device 3 may be configured to perform the arithmetic processing function of the controller 5.

In the present invention, for convenience of explanation, the vehicle data detecting device 3 transmits and receives two pairs of laser signals when pairs of laser signals having the same width of the lane and spaced apart in the vehicle traveling direction are paired , It is needless to say that the laser signals transmitted and received by the vehicle data detection device 3 may be composed of three or more pairs.

FIG. 4 is a perspective view showing the vehicle data detecting device of FIG. 3. FIG.

The vehicle data detecting equipment 3 of FIG. 4 is installed at a predetermined height h from the road surface and outputs four laser signals L1, L2, L3, and L4 toward the corresponding lane. And collects the reflected signal.

The vehicle data detecting device 3 includes a housing 31 and first, second, third, and fourth laser units 33-1, 33-2, 33-3, 33-2 and 33-3 and 33-4 and laser pointers 35 formed on the front surface 311 of the housing 31. [ 33-2, 33-3, and 33-3 are provided inside the housing 31, such as a laser diode, a pulse generator, an avalanche photo diode (APD), a filter, 33-4 are driven by a conventional laser-speed detector, detailed description thereof will be omitted.

The laser units 33-1, 33-2, 33-3, and 33-4 emit laser beams L1, L2, L3, and L4, respectively, And a laser receiving section 333 for receiving the reflected signal of the laser signal emitted through the laser transmitting section 331. [

The first laser part 33-1 and the second laser part 33-2 are formed on the front surface 311 of the housing 31 and spaced apart from each other in the height direction, And the fourth laser part 33-4 are also formed to be spaced apart from each other in the height direction on the front surface 311 of the housing 33 like the first and second laser parts 33-1 and 33-2 .

The first laser part 33-1 and the third laser part 33-3 are horizontally spaced apart from the front face 311 of the housing 31. The second laser part 33-2 and the third laser part 33-3 The fourth laser section 33-4 is also horizontally spaced from the front surface 311 of the housing 31 like the first and third laser sections 33-1 and 33-3.

A laser pointer 35 is provided between the first laser part 33-1 and the third laser part 33-3 and between the second laser part 33-2 and the fourth laser part 33-4. Is installed.

FIG. 5 is a plan view illustrating an operation of the vehicle data detecting device of FIG. 4. FIG.

The vehicle data detecting apparatus 3 is configured such that the laser signals L1 and L2 emitted by the first and second laser units 33-1 and 33-2 are in contact with the ground, (Hereinafter referred to as points) P1 and P2 are formed at positions having the same width in the width direction of the lane when viewed in a plan view and spaced apart from each other by a predetermined distance D1 in the longitudinal direction of the lane, The points P3 and P4 of the laser signals L3 and L4 emitted by the third and fourth laser units 33-3 and 33-4 are also P1 and P2, And are spaced apart from each other by a predetermined distance D1 in the longitudinal direction of the lane.

The points P1 and P3 of the laser signals L1 and L3 are formed at the same position in the longitudinal direction of the lane when viewed in plan and are spaced apart by a predetermined distance D2 in the width direction of the lane The points P2 and P4 of the laser signals L2 and L4 are formed at the same position in the longitudinal direction of the lane in the same manner as the laser signals L1 and L3, And is spaced apart by an interval D2. At this time, each of the points P2 and P4 of the laser signals L2 and L4 is formed to be spaced apart from the points P1 and P3 of the laser signals L1 and L3 in the vehicle traveling direction do.

Each of the laser signals L1 and L3 senses a vehicle entering the sensing region and each of the laser signals L2 and L4 senses a vehicle advancing the sensing region. It is possible to detect the two vehicle data by utilizing the laser signals L1 and L2 and the laser signals L3 and L4 formed at positions of the same width.

When the vehicle C enters the detection area of the vehicle data detecting device 3 configured as described above, the laser signals L1 and L3 are reflected on the vehicle C, and the vehicle data detecting device 3 detects the arrival of the vehicle The laser signals L2 and L4 are reflected to the vehicle C when the running of the vehicle C is continued in this state.

Fig. 6 is a block diagram showing the controller of Fig. 3; Fig.

6 receives the laser signals L1, L2, L3, and L4 transmitted and received from the vehicle data detecting device 3 through the wired / wireless local area network, the controller 5 of FIG. ), (L2), (L3), and (L4) to detect vehicle data.

The controller 5 includes a database 52 for storing data, a communication interface 53 for supporting data communication with the vehicle data detecting device 3, A first vehicle data detection unit 54 for detecting the first vehicle data by analyzing the laser signals L1 and L2 inputted from the vehicle data detection unit 3 and the vehicle data detection equipment 3 via the communication interface unit 53, A second vehicle data detecting unit 55 for detecting second vehicle data by analyzing the laser signals L3 and L4 input from the first and second vehicle data generating units 51 and 52, An error judging unit 56 for judging whether or not an error has occurred in comparison with the first vehicle data TH1 (Threshold 1), and an error judging unit 56 for judging whether or not an error has occurred by comparing the first vehicle data and the second vehicle data The vehicle data of the driving vehicle C is utilized (In particular, the speed) of the previous vehicle when it is determined that an error has occurred by the error determination unit 56, and a second predetermined value (52), (53), (54), (55), and (55), which determine vehicle data less than TH2 (56), (57), and (58).

The control unit 51 is an operating system of the controller 5 and manages and controls the controlled objects 52, 53, 54, 55, 56, 57, do.

The control unit 51 periodically crawls the communication interface unit 53 and receives data from the vehicle data detection equipment 3, and inputs the data to the corresponding components.

The control unit 51 receives the laser signals L1 and L2 from the vehicle data detecting equipment 3 through the communication interface unit 53 and inputs the laser signals L1 and L2 to the first vehicle data detecting unit 54, When the laser signals L3 and L4 are received from the equipment 3, the laser signals L3 and L4 are input to the second vehicle data detector 55. [

When the first vehicle data and the second vehicle data are detected by the first vehicle data detecting unit 54 and the second vehicle data detecting unit 55, the control unit 51 inputs the first vehicle data and the second vehicle data to the error determining unit 56.

The control unit 51 also inputs the first and second vehicle data to the normal mode vehicle data determination unit 57 when the error determination unit 56 determines that no error has occurred, If it is determined that an error has occurred, the first and second vehicle data are input to the error mode vehicle data determination unit 58.

In the database unit 52, waveform characteristic information for each vehicle type such as a compact car, a medium-sized car, a large truck, and the like is preliminarily stored.

The database 52 stores a predetermined speed detection algorithm.

The database unit 52 also stores vehicle data detected by the normal mode vehicle data determination unit 57 and the error mode vehicle data determination unit 58 and information of the laser signals transmitted from the vehicle data detection equipment 3 .

FIG. 7 is a block diagram showing the first vehicle data detecting portion of FIG. 6, and FIG. 8 is an exemplary view for explaining the first vehicle speed calculating module of FIG.

The first vehicle data detecting unit 54 analyzes the laser signals L1 and L2 received from the vehicle data detecting equipment 3 through the communication interface unit 53 under the control of the controller 51 and outputs the vehicle data . At this time, the first vehicle data is the vehicle data of the driving vehicle based on the laser signals L1 and L2 emitted with the same width of the lane and spaced apart in the longitudinal direction, and the second vehicle data is the laser signal L3, L4 of the running vehicle.

The first vehicle data detecting section 54 includes a waveform detecting module 541 for detecting the waveform of the laser signals L1 and L2 as shown in Fig. 7, a waveform detecting module 541 for detecting the waveforms of the waveforms detected by the waveform detecting module 541, A first vehicle speed calculation module 543 that calculates a first vehicle speed that is a vehicle speed with respect to the laser signals L1 and L2 by utilizing the waveforms of the laser signals L1 and L2, And a first vehicle type detecting module 543 for detecting the first vehicle type, which is a vehicle type of the traveling vehicle, in comparison with the waveform characteristic information. At this time, the first vehicle data includes the first vehicle speed calculated by the first vehicle speed calculation module 543 and the first vehicle type information detected by the first vehicle type detection module 545. [

In the present invention, for convenience of explanation, the vehicle speed calculated by the first vehicle speed calculation module 543 is calculated by Equations 1 and 2 in FIG. 8, The speed calculating algorithm applied to the speed calculating section 543 is not limited thereto, and various known techniques and methods can be applied.

As shown in FIG. 8, the laser signal L1 is emitted in a direction perpendicular to the paper at an angle of? 1, and the laser signal L2 is emitted in a lane at an angle of? 2 (? 2 <? 1).

In this state, when the vehicle C enters, the laser signal L1 is reflected to the front surface of the vehicle at a predetermined distance in the vehicle running direction from the point P1, and then reflected until the vehicle is completely passed. At this time, a time point at which the laser signal is first reflected to the vehicle is referred to as 'T1', and a point at which the laser signal is finally reflected is referred to as 'Tn'.

That is, when the laser signal L1 is subtracted from the laser signal L11 when the laser signal Ll is 'Tn' when the laser signal L1 is 'T1', the laser signal L1 has the same inclination angle θ1 as the laser signal L1,

Figure pat00001
And the laser signal L2 has the same slope angle 2 as the laser signal L2 when the laser signal L21 is subtracted from the laser signal L21 when the laser signal L2 is'
Figure pat00002
'Vector.

Generally, the vehicle speed is 'distance / elapsed time (t)', and laser signals L1 and L2 emitted from the vehicle data detecting device 3 of the present invention are at angles of '? 1' Since it is obliquely emitted, the motion vector (

Figure pat00003
), (
Figure pat00004
(Wb) of the upper and lower portions are decreased as the distance is increased.

That is, the distance Wbn between the points where the laser signals L1 and L2 are reflected to the vehicle C at the same elapsed time Tn after the time point of reflection on the vehicle is calculated by the following mathematical formula Is defined by equation (1).

[Equation 1]

Figure pat00005

At this time, Wbn is the distance between the points where the laser signals L1 and L2 are reflected to the vehicle C at the same elapsed time Tn after the time point of reflection on the vehicle, and DELTA &amp;thetas; It is an angle.

Using this principle, the first vehicle speed calculation module 543 of the present invention calculates the first vehicle speed using the following equation (2).

&Quot; (2) &quot;

Figure pat00006

Where n is a constant,

Figure pat00007
Is the spacing distance between the laser signals (L1) and (L2) calculated by Equation (1)
Figure pat00008
Is defined as the transit time of the vehicle passing between the laser signals (L1k) and (L2k) when it is Tk.

That is, the first vehicle speed calculation module 543 calculates the first vehicle speed which is the speed of the traveling vehicle with respect to the laser signals L1 and L2 using the speed calculation algorithm of Equation (2). As described above, in the present invention, the first vehicle speed calculation module 543 calculates the vehicle speed according to Equations 1 and 2 in FIG. 8 for convenience of explanation. However, the first vehicle speed calculation The speed calculation algorithm applied to the module 543 is not limited thereto, and various known techniques and methods can be applied.

The first vehicle type detecting module 545 compares the waveform information of the laser signals L1 and L2 with the predetermined waveform characteristic information of each vehicle to detect the first vehicle, which is a vehicle of the traveling vehicle.

The first vehicle data detecting section 54 detects the first vehicle speed detected by the first vehicle speed detecting module 545 and the first vehicle speed detected by the first vehicle speed detecting module 545, And inputs the detected vehicle data to the error determination unit 56 under the control of the control unit 51. [

The second vehicle data detector 55 has the same configuration as the first vehicle data detector 54 and utilizes the third and fourth laser signals L3 and L4 to detect the second vehicle data.

The error determination unit 56 determines the difference absolute value DELTA V between the first vehicle speed V1 of the first vehicle data and the second vehicle speed V2 of the second vehicle data by a predetermined first set value TH1: Threshold). At this time, the first set value TH1 is defined as a maximum speed difference value that can be determined that no error has occurred.

Also, the error determination unit 56 determines that an error has occurred in the detection of the first and second vehicle data when the absolute value difference? V of the first and second vehicle speeds is equal to or greater than the first set value TH1, And inputs the first and second vehicle data to the error mode vehicle data determination unit 58 under the control of the control unit 51. [

If the difference absolute value DELTA V of the first and second vehicle speeds is less than the second set value TH2, the error determination unit 56 determines that the first and second vehicle data are normally detected, 51 to the normal mode vehicle data determination unit 57. The normal mode vehicle data determination unit 57 determines whether or not the vehicle is in the normal mode.

For example, when the vehicle 'A' enters the detection area of the vehicle data detecting device 3 whose first set value TH1 is set to '5 km / h', the first vehicle speed of the first vehicle data is' 82 km / h &quot; and the second vehicle speed is &quot; 70 km / h &quot;, the error determination unit 56 determines the difference absolute values of the first and second vehicle speeds (12 km / h = 82 km / Is greater than the first set value (5 km / h), it is determined that an error has occurred in vehicle speed detection.

The normal mode vehicle data determination unit 57 is driven when an error is detected in the vehicle data detection by the error determination unit 56 and the first and second vehicle speeds of the input first and second vehicle data (V1) and (V2), and finally calculates the calculated average value at the vehicle speed of the traveling vehicle.

Fig. 9 is a block diagram showing the error mode vehicle data determination unit of Fig. 6; Fig.

The error mode vehicle data determination unit 58 of FIG. 9 is driven when an error is detected in the vehicle data detection by the error determination unit 56, and when the error is detected, the first mode set value TH1 Determines either the vehicle speed or the second vehicle speed as the traveling vehicle speed.

The error mode vehicle data determination unit 58 further includes a data reading module 581 for searching the vehicle data stored in the database unit 52 and reading the speed data V 'of the preceding driving vehicle for the same lane, A difference absolute value calculation module 583 for calculating absolute differences between the first vehicle speed V1 and the second vehicle speed V2 and the speed data V 'read out by the data reading module 581, A comparing module 585 comparing the absolute difference value calculated by the value calculating module 583 with a predetermined second set value TH2 to compare whether the difference absolute value is less than the second set value TH2, And a vehicle speed determination module 587 which finally determines the vehicle speed at which the difference absolute value is less than the second set value TH2 by the module 585 to the vehicle speed of the driving vehicle. At this time, the second set value TH2 is defined as a maximum speed difference value with the preceding vehicle that can determine that no error has occurred.

As described above, according to the present invention, the accuracy and reliability of detection can be remarkably increased by detecting the vehicle data using the laser signal and extending the sensing area of the laser signal, particularly, the sensing area in the width direction.

In the present invention, the vehicle data detected by the laser signals (L1) and (L2) and the laser signals (L3) and (L4) are compared to determine whether or not an error has occurred in detecting the vehicle data. It is possible to further improve the detection rate and the detection accuracy by detecting the vehicle data in which no error occurs among the vehicle data based on the speed of the previous vehicle that traveled in the same lane.

1: vehicle data detection system 3: vehicle data detection system
5: controller 31: housing 33: laser part
35: laser pointer 51: control unit 52:
53: communication interface unit 54: first vehicle data detecting unit
55: second vehicle data detecting section 56: error judging section
57: General mode vehicle data determination unit 58: Error mode vehicle data determination unit

Claims (5)

A vehicle data detection system for detecting vehicle data including a speed of a passing vehicle (C) traveling in a lane, comprising:
A detecting device including a plurality of laser units when a pair of laser units which emit a laser signal so as to be spaced apart from each other in the longitudinal direction of the lane by the same width of the lane is used as a pair;
Vehicle data detectors for detecting the vehicle speeds of the passing vehicle (C) by analyzing the laser signals of the respective laser units received from the detecting equipment; and a controller for calculating the average value of the vehicle speeds And a normal mode vehicle data determination unit for determining an average value as the vehicle speed of the passing vehicle. The apparatus of claim 1, wherein the controller further comprises an error determination unit,
The error determination unit
Calculating a difference absolute value of one of the vehicle speeds detected by each of the vehicle data detectors and an absolute value of the difference between the vehicle speeds of the other vehicle and an absolute value of the calculated difference to obtain a maximum speed difference value And determines that an error does not occur when the absolute value of the difference is less than or equal to the first set value TH1 and inputs the vehicle data to the normal mode vehicle data determination unit The normal mode vehicle data determination unit is driven and the normal mode vehicle data determination unit is not driven by determining that an error has occurred when the absolute difference value exceeds the first set value TH1. system. The vehicle control system according to claim 2, wherein the controller further comprises an error mode vehicle data determination unit that is driven when an error is determined by the error determination unit,
The error mode vehicle data determination unit
Wherein the vehicle speed determining means determines the vehicle speed of the passing vehicle (C) by comparing each of the vehicle speeds determined by the error by the error determination section with preset reference data and determining a vehicle speed at which the difference from the reference data is less than a threshold value Data detection system. The vehicle control system according to claim 2, wherein the controller further includes a database unit that stores vehicle data determined by the normal mode vehicle data determination unit, and an error mode vehicle data determination unit that is driven when an error is determined by the error determination unit and,
The error mode vehicle data determination unit
When the vehicle data determined as an error is inputted by the error determination unit, data searching for the vehicle data stored in the database unit and reading the vehicle speed of the previous driving vehicle for the same lane as the vehicle data determined as the error Reading module;
A difference absolute value calculation module that calculates absolute differences between vehicle speeds of the vehicle data determined as the errors and vehicle speeds read by the data reading module;
The difference absolute value calculated by the absolute difference value calculation module 583 is compared with a predetermined second set value TH2 defined as a maximum speed difference value with the previous vehicle that can be judged that no error has occurred, A comparison module for comparing whether the absolute value is less than the second set value TH2;
And a vehicle speed determination module for finally determining, by the comparison module, the vehicle speed at which the difference absolute value is less than the second set value (TH2) at the vehicle speed of the passing vehicle (C). The vehicle data detection unit according to any one of claims 1 to 4, wherein the vehicle data detectors analyze a laser signal of each laser unit input from the detection equipment to detect a waveform, And detects the vehicle type by comparison.
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