KR20170102555A - Vehicle discrimination device, vehicle type discrimination method and program - Google Patents

Abstract

The vehicle type discriminating apparatus 10 for discriminating the vehicle type of the vehicle A running on the lane L includes a tread 10B arranged on the road surface of the lane L for detecting the pressure of the tire of the vehicle A, A laser detector 10C for projecting a laser beam to a height at which the tire is arranged in a range in front of the tread plate 10B in the traveling direction of the lane L and for detecting the reflected light of the laser beam, And a main control section 10D for specifying the number of axles of the vehicle A based on the detection result of the laser detector 10C.

Description

Vehicle discrimination device, vehicle type discrimination method and program

The present invention relates to a vehicle type discriminating apparatus, a vehicle type discriminating method and a program.

The present application claims priority based on Japanese Patent Application No. 2015-033917 filed on February 24, 2015, the contents of which are incorporated herein by reference.

On the toll roads such as the expressway, in order to improve the efficiency of the fee receipt processing, the automatic ticket issuing machine, the automatic toll collecting machine, the electronic toll collection system (ETC) Quot; system ") is installed in the system.

In such a fare-charging system, a vehicle type discriminating device for automatically discriminating the vehicle type of the vehicle may be installed in order to perform charging according to the type of the vehicle to be driven. The fare receiving system identifies the vehicle type of the vehicle that is traveling using this vehicle type discriminating device and performs the billing process according to the vehicle type.

In order to specify the number of axles of the vehicle, the width of the tread, and the like, in addition to a vehicle detector for detecting the entrance of a vehicle one by one, such a vehicle type discrimination apparatus includes a tread plate (For example, refer to Patent Document 1).

Further, there has been proposed a technique of specifying the number of axles of a vehicle to be driven by using a laser scanner (laser detector) capable of projecting a laser beam at a height at which the tire is disposed (see, for example, Patent Document 2 ).

In general, when the tread plate as described above is used to discriminate a vehicle type of a vehicle to be driven, the number of axles of the vehicle can be specified by detecting the number of treads tread by the tread.

According to this structure, the vehicle type discrimination apparatus can not determine the vehicle type classification because it can not specify the number of axles of the vehicle unless the entire vehicle body passes through the tread. Therefore, in order to distinguish the type of vehicle for all the vehicles in the fare-receiving system installed on the highway or the like, conventionally, in consideration of the maximum vehicle length (for example, 18 m) of the traveling vehicle, (Or automatic pass issuing machine, passenger booth, etc.) is set to be the maximum difference length or more.

Patent Document 1: JP-A-2007-265003 Patent Document 2: JP-A-11-167694

However, in some cases, it is difficult to secure a space for setting the interval between the vehicle identification device and the passport automatic issuer or the like to be equal to or longer than the maximum differential length, due to the location condition at the toll gate at the entrance and exit of the highway. In this case, it is impossible to specify the number of axles of the vehicle at the entrance and exit toll booths and the like, so that the billing can not be performed according to the sufficiently classified vehicle classifications.

On the other hand, when the number of axles of a vehicle is to be specified by projecting a laser beam at a height at which the tire is disposed, it is assumed that the occurrence of erroneous detection by another traveling vehicle, garbage or the like occurs, It is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a vehicle discrimination device, a vehicle discrimination method, and a program which can be installed even where a sufficient installation space can not be ensured, There is.

According to one aspect of the present invention, the vehicle type discriminating apparatus 10 for discriminating the vehicle type of the vehicle A running on the lane L is provided with a tread (not shown) disposed on the road surface of the lane, A laser detector 10C for projecting a laser beam la at a height at which the tire is disposed in a predetermined range in a direction ahead of the lane of at least the tread of the lane and detecting reflected light of the laser beam, And an axle speed specification unit (101) for specifying the number of axles of the vehicle based on the detection results of the tread plate and the laser detector.

By doing so, even if the user does not pass the tread plate through the tread plate in the forward direction of the vehicle in the step of performing the fare receiving process, based on the detection result of the laser detector in the forward direction range of the tread plate, The number can be specified. Therefore, it can be installed in a portion where a sufficient installation space can not be ensured, and it is possible to precisely distinguish the vehicle type of the vehicle.

Further, even when a part of the axle is not specified based on the laser detector due to erroneous detection of reflected light or the like, the number of axles with respect to the portion passing through the tread plate in the vehicle is reliably detected by using the detection result of the tread Can be specified. Therefore, the specific precision of the number of axles of the vehicle can be improved.

According to an embodiment of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying section specifies the number of axles in the range inward of the vehicle from the tread plate in the vehicle based on the detection result of the tread plate And a front axle speed specification part (101B) for specifying the number of axles in the range ahead of the tread plate in the traveling direction of the vehicle, based on the axle speed specification part (101A) and the detection result of the laser detector.

By doing so, the number of axles of the vehicle passing through the tread plate adopts the detection result of the tread plate (the number of times it has been stepped), thereby specifying the number of axles, so that the specific precision of the number of axles of the vehicle can be improved.

According to an embodiment of the present invention, in the above-described vehicle type discriminating apparatus, the axle number specifying section includes a plurality of detected coordinates (Q1, Q2) obtained as the detection result of the laser detector, (110) for determining that the tire exists at a position corresponding to the plurality of detected coordinates when the tire is fitted to the tire.

By doing so, for example, when garbage or dust is detected as a result of detection of the laser detector, it is possible to suppress misidentification of the garbage, dust, etc. as a tire. Therefore, it is possible to improve the specific precision of the number of axles by the detection result of the laser detector.

Further, according to an embodiment of the present invention, in the above-described vehicle discrimination apparatus, the axle-number specifying unit is configured to determine the position of the two tires (11, 12) specified based on the detection result of the laser detector And an axle judging section (111) for judging that the vehicle has one axle corresponding to the two tires when it is fit to the arrangement pattern (P2).

This makes it possible to accurately determine the existence of the axle corresponding to each tire when the positions of a plurality of tires are specified in the range ahead of the tread plate in the forward direction. Therefore, it is possible to further improve the specific precision of the number of axles due to the detection result of the laser detector 10C.

According to an embodiment of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying section may be configured such that the plurality of tires are moved (moved) based on a plurality of detection results detected by the laser detector at a plurality of times A moving direction distance specifying unit 112 for specifying a direction and a moving distance of the plurality of tires when the moving direction of the plurality of tires coincides with the moving distance of the plurality of tires, And a determining section 113. [

By doing so, it is possible to specify the moving direction and the moving distance of the tire, and separate one vehicle and the other vehicle traveling in the lane on the basis of the moving direction and the moving distance. Therefore, the number of axles for one vehicle can be specified more precisely.

Further, according to an embodiment of the present invention, in the above-described vehicle type discriminating apparatus, the axle number specifying section is configured to determine the number of axles of the tires among the tires detected by the laser detector based on the moving direction and the moving distance of the plurality of tires, And a tread mark detecting tire specifying section (114) for specifying a tire detected by the tread mark detecting tire identifying section (114).

By doing so, it is possible to distinguish among the axles specified based on the detection results of the laser detectors and those calculated by the detection result (step count) of the tread. Therefore, it is possible to prevent the same axle from being calculated in duplicate, and the number of axles for the vehicle can be specified more precisely.

According to an aspect of the present invention, there is provided a vehicle type discriminating method for discriminating a vehicle type of a vehicle traveling in a lane, comprising the steps of: detecting pressure by a tire of the vehicle through a tread disposed on a road surface of the lane; Projecting a laser beam to a height at which the tire is disposed in a predetermined range in a direction ahead of at least the tread plate in the lane and detecting reflected light of the laser beam; And specifying the number of axles of the vehicle, which is information used for discrimination of the vehicle type of the vehicle, on the basis of the result.

According to an aspect of the present invention, there is provided a vehicle control system comprising: a tread disposed on a road surface of a lane to detect a pressure of a tire of a vehicle; A computer of a vehicle type discriminating apparatus for discriminating a vehicle type of the vehicle running on the lane is provided in a detection result of the tread plate and the laser detector, and a laser detector for detecting reflected light of the laser light, And serves as an axle number specifying means for specifying the number of axles of the vehicle on the basis of the number of axles.

According to an aspect of the present invention, a vehicle type discriminating apparatus for discriminating a vehicle type of a vehicle traveling in a lane, irradiates a laser beam to a height at which the vehicle tire is disposed in a predetermined range on the lane, A laser detector for detecting reflected light; and an axle number specifying section for specifying the number of axles of the vehicle based on the detection result of the laser detector, wherein the axle number specifying section has a plurality of detection coordinates obtained as a detection result of the laser detector And a tire judging section which judges that the tire exists at a position corresponding to the plurality of detected coordinates when the tire shape pattern satisfies a predefined tire shape pattern.

Further, according to an embodiment of the present invention, in the above-described vehicle type discriminating apparatus, the axle number specifying section may be configured such that the positional relationship between two tires specified on the basis of the detection result of the laser detector satisfies a predefined tire arrangement pattern And an axle determination unit that determines that the vehicle has one axle corresponding to the two tires.

According to an embodiment of the present invention, in the above-described vehicle type discrimination apparatus, the axle-number specifying section may be configured to determine, based on a plurality of detection results detected at a plurality of times by the laser detector, A traveling direction distance specifying unit that specifies a distance and a same vehicle determining unit that determines that a plurality of the tires belong to one vehicle when the moving direction and the moving distance of the plurality of tires coincide with each other.

According to the above-described vehicle type discriminating apparatus, vehicle type discriminating method, and program, it is possible to install the vehicle not only in a place where a sufficient installation space can not be ensured, but also to accurately discriminate the vehicle type of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the overall configuration of a charge and repair facility according to a first embodiment; FIG.
Fig. 2 is a first drawing for explaining the function of the laser detector according to the first embodiment. Fig.
3 is a second diagram for explaining the function of the laser detector according to the first embodiment.
Fig. 4 is a diagram showing an example of the positional relationship between the fare refund facility and the vehicle according to the first embodiment. Fig.
5 is a diagram showing a functional configuration of the vehicle type discrimination apparatus according to the first embodiment.
Fig. 6 is a diagram showing the functional configuration of the front-end-axle number specifying portion according to the first embodiment. Fig.
7 is a view for explaining the function of the tire judging unit according to the first embodiment.
8 is a view for explaining the function of the axle determination unit according to the first embodiment.
9 is a view for explaining the function of the moving direction distance specifying unit according to the first embodiment.
10 is a diagram for explaining the functions of the same vehicle judging unit according to the first embodiment.
11 is a view for explaining the function of the treadwear detection tire specifying unit according to the first embodiment.
12 is a diagram showing a processing flow of the front-end-axle number specifying portion according to the first embodiment.
13 is a diagram showing a processing flow of the axle shaft speed specifying portion according to the second embodiment.

≪ First Embodiment >

The vehicle discriminating apparatus according to the first embodiment will be described below with reference to Figs. 1 to 12. Fig.

(Total configuration)

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the overall configuration of a charge and repair facility according to a first embodiment; FIG.

The fee-charging facility 1 according to the first embodiment is installed at an exit toll booth (an entrance toll booth, depending on the charge type) of a highway which is a toll road, and charges the user from the highway according to the vehicle type of the vehicle Equipment.

In the example shown in Fig. 1, the vehicle A on which the user of the highway rides runs on the lane L passing from the highway side to the ordinary road side in the fare collecting facility 1 installed at the exit tollgate. Irides I are laid on both sides of the lane L and various devices constituting the fare collecting facility 1 are installed.

Hereinafter, the highway side (the + X direction side in FIG. 1) is also referred to as the " upstream side " of the lane L or the " The general road side (the -X direction side in Fig. 1) is also referred to as the " downstream side " of the lane L or the " inward direction of the lane L ".

As shown in Fig. 1, the charge and water dispensing equipment 1 includes a vehicle type discriminating apparatus 10, a charge automatic water purifier 20, an oscillation controller 40, and an oscillation side vehicle detector 50.

The vehicle type discrimination apparatus 10 discriminates the type of the vehicle A traveling on the lane L (for example, "light vehicle (including two-wheeled vehicle)", "ordinary vehicle", "heavy vehicle" And " oversized car ").

The vehicle type discriminating apparatus 10 is provided on the upstream side of the lane L and includes various detection sensors (the incoming-side vehicle detector 10A and the laser detector 10C) provided on the island I, (Tread plate 10B) provided on the top of the tread plate.

The automatic fare collecting machine 20 is a machine that carries out a fare receiving process by presenting a billing amount or the like to a driver or the like of a vehicle A running on the lane L. On the front surface (the surface facing the lane L side) of the automatic water purifier 20, there is provided a display for presenting a billing amount, a reception port for receiving banknotes, coins or credit cards, and the like.

The charge automatic water purifier 20 is installed on the island I on the downstream side of the vehicle discriminating apparatus 10 and charges the amount of the vehicle classified by the vehicle type discriminated by the vehicle discriminating apparatus 10.

The oscillation controller 40 is an apparatus that is installed on the downstream side of the automatic water purifier 20 and performs oscillation control of the vehicle A running on the lane L. For example, the oscillation controller 40 may cause the vehicle A to oscillate until the driver of the vehicle A that has entered the lane L completes the process of paying the necessary amount through the automatic rate calculator 20, The lane L is closed. Further, when the payment is completed, the lane L is opened so that the vehicle A can be withdrawn.

The oscillation-side vehicle detector 50 is provided on the most downstream side of the lane L and detects the exit of the vehicle A from the charge-generating equipment 1.

As shown in Fig. 1, the vehicle discrimination apparatus 10 includes an entrance-side vehicle detector 10A, a tread plate 10B, a laser detector 10C, and a main control unit 10D.

The entrance-side vehicle detector 10A is installed on the island I and is provided with a light transmitting tower opposed to the lane L in the lane width direction (± Y direction) and a vehicle running on the lane L through the light receiving tower (Entrance) of one vehicle A by discriminating the presence or absence of the vehicle A (vehicle body).

The tread plate 10B is disposed on the road surface of the lane L so as to extend in the lane width direction and detects the pressure of the tire of the running vehicle A. [ The positions of the entrance vehicle detector 10A and the tread 10B in the lane direction (占 direction) are the same. The tread plate 10B is configured to be able to detect the stepped position and range, and by combining with the detection result of the entry side vehicle detector 10A, the number of axles of the vehicle A, the tread width, and the tire width can be specified.

The laser detector 10C is a detector for detecting the tire position (foot pattern) of the vehicle A running on the lane L. The laser detector 10C is arranged in front of the tread plate 10B in the advancing direction (for example, the most upstream side of the island I). Specific aspects of the laser detector 10C will be described later.

The main control unit 10D is a CPU (Central Processing Unit) responsible for the operation of the vehicle type discrimination apparatus 10 as a whole. Specifically, the main control unit 10D receives various detection signals from the entrance-side vehicle detector 10A, the tread plate 10B, and the laser detector 10C, and at the same time, Discriminate the division as one.

Further, the main control unit 10D immediately notifies the automatic price recorder 20 of the identified vehicle classification. Thereby, the automatic fare machine 20 can charge the amount of the vehicle type discriminated by the vehicle type discrimination device 10 in the fare receiving process with the vehicle A.

In the present embodiment, the main control unit 10D is shown as being built in the vehicle discrimination apparatus 10 (for example, the entrance-side vehicle detector 10A as shown in Fig. 1) The present invention is not limited to this embodiment in other embodiments. For example, in another embodiment, the main control section 10D may be an aspect in which the main control section 10D is incorporated in an apparatus other than the vehicle discriminating apparatus 10 installed on the island I or at a remote place, and is connected to a communication network or the like.

(Structure of laser detector)

Figs. 2 and 3 are a first drawing and a second drawing for explaining the functions of the laser detector according to the first embodiment, respectively.

Specifically, Fig. 2 shows a state in which the lane L and the vehicle A are viewed from the side (-Y direction side). 3 shows a state in which the lane L and the vehicle A are viewed from above (on the + Z direction side).

2, the laser detector 10C is disposed at the most upstream side of the island I and has a height at which only the tires of the vehicle A in the height direction (占 Z direction) The laser beam la is projected along the road surface of the lane L. Further, the laser detector 10C detects the reflected light of the laser light la generated on the tire surface of the vehicle A.

3, the laser detector 10C continuously changes the angle of projection θ of the laser beam la in the horizontal direction and irradiates the laser beam la To perform laser scanning (scanning).

With this configuration, the laser detector 10C is capable of detecting at least one of the lane L from the tread plate 10B in the predetermined range (scan range N) ahead of the tread 10B, The scan data can be acquired in accordance with the positional relationship with the tires of the vehicle.

In the present embodiment, the output intensity of the laser beam la is adjusted so that the tire of the vehicle 10 meters away from the installed position of the laser detector 10C can be detected. In addition, the scan speed of one scan over the entire scan range N is sufficiently fast as compared with the moving speed of the vehicle A.

The laser detector 10C repeatedly executes a laser scan over the entire scan range N every predetermined time (for example, every 10 milliseconds) to sequentially output a plurality of scan data corresponding to a plurality of laser scans .

4 is a diagram showing an example of the positional relationship between the charge-receiving equipment and the vehicle according to the first embodiment.

Specifically, Fig. 4 shows an example of a case where the vehicle A belonging to the vehicle classifications (" large cars ", " oversized cars ") having a large vehicle body size enters the fare-selling facility 1.

In the example shown in Fig. 4, the vehicle A corresponds to the axle S1 provided in the forward direction (-X direction side) of the vehicle body, and the tire T11 is provided on the left side And a tire T12 on the right side in the direction of travel (+ Y direction side). The vehicle A has tires T21 and T31 on the left side in the traveling direction corresponding to the axles S2 and S3 provided on the front side in the traveling direction of the vehicle body (on the + X direction side) , T32).

4, the distance between the automatic rate controller 20 and the tread plate 10B disposed on the upstream side of the rate managing device 1 according to the first embodiment is set to an interval d1 have. 4, the interval between the tread plate 10B and the laser detector 10C disposed on the upstream side is set to an interval d2.

Here, it is assumed that the car length D of the vehicle A, which is a "large car" (or "extra large car"), is larger than the distance d1.

4, at the stage when the driver's seat (inside the proceeding direction) of the vehicle A with the car length D (interval d1) reaches the automatic water purifier 20, (The + X direction side) of the traveling direction of the tread 10B has not yet passed over the tread 10B. The vehicle type discriminating apparatus 10 can not specify the number of axles of the entirety of the vehicle A based on the detection result of the tread plate 10B at the step of performing the fee payment processing by the driver or the like, It is not possible to distinguish the type of vehicle.

Thus, the vehicle type discriminating apparatus 10 according to the first embodiment specifies the number of axles in the range ahead of the tread 10B in the traveling direction of the vehicle A based on the detection result of the laser detector 10C.

(Functional configuration of vehicle discrimination device)

5 is a diagram showing a functional configuration of the vehicle type discrimination apparatus according to the first embodiment.

As shown in Fig. 5, the vehicle type discriminating apparatus 10 includes an incoming side vehicle detector 10A, a tread plate 10B, a laser detector 10C, and a main control unit 10D. Structural functions and positional relationships of the entrance side vehicle detector 10A, the tread plate 10B and the laser detector 10C are as described with reference to Figs. 1 to 4. Fig.

The main control unit 10D according to the present embodiment performs a function as the axle speed specification unit 101 and the vehicle type discrimination unit 102 by reading and executing a predetermined program. Hereinafter, functions of the axle speed specification unit 101 and the vehicle class discrimination unit 102 will be described.

The axle speed specification unit 101 specifies the axle number of the vehicle A based on the detection results of the tread plate 10B and the laser detector 10C. As shown in Fig. 5, the axle speed specification portion 101 according to the present embodiment has an inner axle shaft speed specification portion 101A and a front axle shaft speed specification portion 101B.

The vehicle class discrimination unit 102 discriminates the vehicle class of the vehicle A based on the axle number specified by the axle speed specification unit 101. [ Further, the vehicle type classification discrimination unit 102 notifies the automatic price recorder 20 of the discriminated type of the vehicle.

5, the vehicle class discrimination unit 102 is shown as inputting only the axle number of the specific vehicle A by the axle speed specification unit 101. However, actually, The vehicle type classification of the vehicle A is discriminated by a combination of the tread width and the tire width of the specified vehicle A, The vehicle type discriminating apparatus 10 according to another embodiment further includes a vehicle height detector capable of detecting the vehicle height of the vehicle A and a detection result of a license plate detector capable of detecting license plate information of the vehicle A It is also possible to discriminate the vehicle type of the vehicle A.

Next, the inner axle speed specification part 101A and the front axle speed specification part 101B of the axle speed specification part 101 will be described.

The inner axle number specification part 101A specifies the number of axles in the range inward in the traveling direction from the tread plate 10B of the vehicle A based on the detection result of the tread 10B. Specifically, the inner-shaft-axis-number specifying section 101A calculates the number of times the tread 10B is treaded during the entry detection of the vehicle A by the entrance-side vehicle detector 10A. The number of steps treaded on the tread 10B is the number of axles that have moved on the tread 10B in the traveling direction of the vehicle A from the tread 10B (see Fig. 4).

On the other hand, the front axle speed specification part 101B specifies the number of axles in the range ahead of the tread 10B in the traveling direction of the vehicle A based on the detection result of the laser detector 10C. Specifically, the front axle speed specification part 101B specifies the number of axles of the tire belonging to the scan range N ahead of the tread 10B in the forward direction.

Hereinafter, the detailed function of the front-wheel-axis-number specifying section 101B will be described.

(Function configuration of the front axle number specific part)

Fig. 6 is a diagram showing the functional configuration of the front-end-axle number specifying portion according to the first embodiment. Fig.

6, the front axle speed specification portion 101B according to the present embodiment includes a tire determination portion 110, an axle determination portion 111, a moving direction distance specification portion 112, (113), and a tread mark detecting tire specifying unit (114).

When the plurality of detected coordinates obtained as the detection result of the laser detector 10C fit into the predefined tire shape pattern, the tire judgment unit 110 judges that the tire of the vehicle A is located at the position corresponding to the plurality of detected coordinates Is present.

When the positional relationship between the two tires specified based on the detection result of the laser detector 10C falls within the predefined tire arrangement pattern, the axle determination section 111 determines that the vehicle A is in contact with the two tires It is determined that the vehicle has one corresponding axle, and the process of associating the two tires is performed.

The moving direction distance specifying unit 112 specifies a moving vector (moving direction and moving distance) of the tire of the vehicle A based on a plurality of detection results detected by the laser detector 10C at a plurality of times.

The same vehicle judging unit 113 judges that the plurality of tires belong to one vehicle when the motion vectors for the plurality of tires coincide with each other, and carries out processing for associating the plurality of tires with each other.

The tread edge detection tire specifying unit 114 determines the tire detected by the tread 10B (tread on the tread 10B) among the tires detected by the laser detector 10C based on the motion vectors for the plurality of tires Specify.

7 is a view for explaining the function of the tire judging unit according to the first embodiment.

7, the laser detector 10C receives the reflected light of the laser beam la from the tire surface and generates scan data based on the positional relationship (direction and distance) between the laser detector 10C and each tire . The scan data is converted into coordinates (x, y) on the virtual XY coordinate plane by the projection angle [theta] of the laser beam la on the horizontal plane (XY plane) and the measurement distance r corresponding to each projection angle [ Group of coordinates (Q1, Q2)).

The tire determining unit 110 defines a virtual XY coordinate plane corresponding to the scan range N (see Figs. 3 and 4), and also determines the XY coordinate plane (Detected coordinate group (Q1, Q2)).

7, when the reflected light detected by the laser detector 10C is reflected light generated on the tire surface of the vehicle A, the scan data is subjected to a specific operation corresponding to the shape of each tire of the vehicle A (The arrangement pattern of each detected coordinate on the XY coordinate plane). That is, in the entry step of the vehicle A, the laser detector 10C detects the direction of the vehicle A from the left in the traveling direction to the right in the traveling direction, (see Figs. 3 and 4). Then, the projected laser beam la is projected and projected onto the ground surface facing the front side (-X direction side) of the tire of the vehicle A and the side surface facing the left side in the traveling direction. Therefore, the detected coordinate groups (Q1, Q2) detected according to the projected light on the tire become an array pattern (L-shaped) folded at 90 degrees based on the ground plane and the side face of the tire.

Thus, the tire determining unit 110 first specifies the group (detection coordinate group (Q1, Q2)) floated within a predetermined distance range out of the coordinates floated on the imaginary XY plane. The tire determining unit 110 combines the specific detected coordinate groups Q1 and Q2 with the predetermined tire shape pattern P1 to determine whether the detected coordinate groups Q1 and Q2 are in the scan range N, Based on the tire existing in the tire. Specifically, the tire judging unit 110 judges whether or not the detected coordinate groups Q1 and Q2 fall within the area of the L-shaped tire shape pattern P1 partitioned by 90 degrees.

When the detected coordinate groups Q1 and Q2 are within the region of the tire shape pattern P1, the tire determining unit 110 determines that a tire exists at a position corresponding to each of the detected coordinate groups Q1 and Q2 . Specifically, the tire determining unit 110 specifies the position of the estimated tire? 11 on the imaginary XY coordinate plane based on the detected coordinate group Q1, and determines the position of the estimated tire? 11 based on the detected coordinate group Q2 And the position of the estimated tire? 12 on the XY coordinate plane is specified.

8 is a view for explaining the function of the axle determination unit according to the first embodiment.

The axle judging section 111 obtains the positional relationship between the two estimated tires 11 and 12 specified on the virtual XY coordinate plane by the tire judging section 110 and calculates the position of the two estimated tires 11 and 12 It is determined whether or not the positional relationship satisfies a predefined tire arrangement pattern P2.

Here, as described above, the laser detector 10C controls the laser beam la in the advancing direction to the left of the advancing direction (-X, -) to the vehicle A in the entering stage of the vehicle A, Y direction side) to the right side (+ X, + Y direction side) of the proceeding direction while being forward of the proceeding direction. With this configuration, the laser detector 10C can detect the position of the tire (T11, T21, T31 shown in Fig. 4) arranged on the left of the traveling direction of the vehicle A in accordance with the positional relationship with the vehicle A All of the tires (T12, T22, T32 shown in Fig. 4) arranged on the right side in the traveling direction can be detected.

In addition, the running direction of the vehicle A is limited to some extent by the lane L attached to the fare-providing facility 1. [ Therefore, the positional relationship between the two tires corresponding to the same axle of the vehicle A is also limited to some extent. That is, as shown in Fig. 8, the position in the lane direction (± X direction) almost coincides with each other, and the position in the lane width direction (± Y direction) is different from the distance (approximately 1.5 m to 2.0 m) The two tires are likely to be two tires (e.g., tires T11 and T12) corresponding to the same axle (for example, the axle S1 shown in Fig. 4)

Thus, the axle judging section 111 judges whether or not the two estimated tires 11 and 12 specified on the XY coordinate plane by the tire judging section 110 and the two estimated tires 11 and 12 that are in the lane-directed direction (占 direction) and the lane- And determines the two estimated tires 11 and 12 corresponding to the same axle of the vehicle A by combining the tire arrangement patterns P2 defining the relative positions.

The tire arrangement pattern P2 is defined on the basis of the positional relationship of the two tires corresponding to the same axle on the imaginary XY coordinate plane. More specifically, as shown in Fig. 8, the tire arrangement pattern P2 is formed so that the positions in the ± X direction coincide with each other on the imaginary XY coordinate plane, and the width Is divided into two regions.

The axle judging section 111 judges whether or not the estimated tires 11 and 12 enter the region of the tire arrangement pattern P2.

When the estimated tires 11 and 12 enter the region of the tire arrangement pattern P2, the axle determination unit 111 determines that the axle corresponding to each of the estimated tires 11 and 12 exists. Specifically, the axle determination unit 111 specifies the estimated axle 1 corresponding to the estimated tires 11 and 12 on the virtual XY coordinate plane, and also calculates the estimated tire 11 and the estimated tire 11 using the estimated axle 1 And performs processing for matching the estimated tire? 12.

9 is a view for explaining the function of the moving direction distance specifying unit according to the first embodiment.

As described above, the laser detector 10C according to the present embodiment repeatedly executes the laser scanning of the scan range N every predetermined time? T (for example,? T = 10 milliseconds). The moving direction distance specifying unit 112 analyzes the plurality of scan data obtained by a plurality of laser scans in a time series and calculates a moving vector of each tire moving in accordance with the running of the vehicle A Movement distance).

For example, the tire determining unit 110 specifies the estimated tire? 11 'on the XY coordinate plane based on the scan data acquired at a certain time ta, and then determines the next timing (time (ta) +? T) The estimated tire? 11 is specified on the same XY coordinate plane based on the scan data acquired in the step S11.

In this case, the moving direction distance specifying unit 112 determines whether or not the position of the estimated tire? 11 relative to the estimated tire? 11 'meets the predetermined moving direction distance assumed range P3.

Here, the moving direction distance assumption range P3 is set such that the same estimated tire? 11 'is positioned on the virtual XY coordinate plane at a predetermined time (ta) on the basis of the position where the estimated tire? 11' Lt; RTI ID = 0.0 > t). ≪ / RTI > For example, the driving direction of the vehicle A is limited to some extent by the lane L. It is also assumed that the traveling speed of the vehicle A also falls within a predetermined range (about 5 km / h to 20 km / h) on the premise that the vehicle A stops in front of the automatic water purifier 20. The moving direction distance assumption range P3 is prescribed in advance on the basis of the driving direction and the traveling speed of the vehicle A thus assumed.

The moving direction distance specifying unit 112 determines that the estimated tire? 11 in the case where the estimated tire? 11 specified on the XY coordinate plane at time ta + t belongs to the region of the moving direction distance assumed range P3 Is detected based on the same tire as the estimated tire? 11 ', and the motion vector R11 from the estimated tire? 11' to the estimated tire? 11 is specified.

10 is a diagram for explaining the functions of the same vehicle judging unit according to the first embodiment.

The laser detector 10C sequentially detects the positions of the tires in the scan range N in accordance with the running of the vehicle A by repeating the laser scan in the scan range N every predetermined time t. The tire determination unit 110 and the axle determination unit 111 described above are configured to determine a plurality of axles of the vehicle A based on the scan data sequentially acquired in accordance with the running of the vehicle A ) And a plurality of tires (tires T11, T12, etc.) corresponding to each of the axles (the estimated axle 1 and the estimated tires 11 and 12 shown in Figs. 7 and 8) ).

Here, at a certain time tb, the tire judging unit 110 and the axle judging unit 111 judge that the estimated tire? 11 ',? 12' and the estimated axle? 2 'which correspond to the estimated axle? Suppose that the corresponding estimated tires 21 'and 22' are specified on the XY coordinate plane. The tire judging unit 110 and the axle judging unit 111 calculate the estimated tire tau 11 and tau 12 corresponding to the estimated axle 1 at the following timing (time tb + t) ) On the XY coordinate plane, as shown in Fig.

In this case, the above-described moving direction distance specifying unit 112 sets the moving direction distance specifying unit 112 to time (t) for each of the estimated tires (11 ', 12', 21 ', 22') specified at the time (tb) tb) +? t of the estimated tires? 11,? 12,? 21,? 22. The moving direction distance specifying unit 112 specifies the motion vectors R11, R12, R21, and R22 for the estimated tires 11, 12, 21, and 22, respectively.

Here, the same vehicle judging section 113 judges whether each of the motion vectors R11, R12, R21, R22 for the estimated tires? 11,? 12,? 21,? 22 coincide with each other , It is determined that the plurality of estimated tires? 11,? 12,? 21,? 22 belong to the same vehicle (estimated vehicle?). That is, when a plurality of tires specified by the tire judging unit 110 move in the same direction in the same direction in the time series, it is highly likely that the plurality of tires belong to the same vehicle A. Therefore, the same vehicle judging section 113 specifies a plurality of tires (estimated tau 11, tau 12, tau 21, tau 22) that specify the estimated vehicle alpha on the imaginary XY coordinate plane and match the moving direction and the moving distance To the estimated vehicle?

The tire judging unit 110 and the axle judging unit 111 further calculate the estimated tire? 31 ', which is further correlated with the estimated axle? 3' at a certain time tc after the lapse of a predetermined time at the time tb, τ32 ') on the XY coordinate plane. The estimated tire tau 31 and tau 32 corresponding to the estimated axle 3 by the tire judging unit 110 and the axle judging unit 111 at the next timing (time tc + t) are set on the XY coordinate plane It is said to be specific. In this case, the moving direction distance specifying unit 112 further specifies the motion vectors R31 and R32 for the respective estimated tires? 31 and? 32.

At this time, the same vehicle judging section 113 judges whether or not the newly specified motion vectors R31 and R32 coincide with the respective motion vectors R11, R12, R21 and R22 which are already correlated by the estimated vehicle? , And when they match, it is determined that the estimated tires? 31 and? 32 belong to the same estimated vehicle?.

As described above, the moving direction distance specifying unit 112 sequentially specifies the moving direction and the moving distance (the moving vectors R11, R21, ...) with respect to the tires specified based on the sequentially obtained scan data. Then, the same vehicle judging unit 113 regards the group of tires whose moving directions and moving distances specified by the moving direction distance specifying unit 112 are sequentially specified as tires belonging to the same vehicle (the estimated vehicle?) We respond in turn.

The front axle number specification section 101B determines the number of axles belonging to the same vehicle (the estimated vehicle?) Among the specified axles by the axle determination section 111 so that the vehicle A that actually runs the lane L It is possible to specify the number of axles to be possessed.

11 is a view for explaining the function of the treadwear detection tire specifying unit according to the first embodiment.

As shown in Fig. 4, the tread 10B is disposed on the downstream side by the distance d2 from the laser detector 10C (the most downstream of the scan range N). Therefore, at least some of the tires (tires T11, T12, ...) of the vehicle A specified based on the scan data of the laser detector 10C have moved to the downstream side by the distance d2 in accordance with the running of the vehicle A And is also detected by the tread plate 10B. It is then assumed that the front axle speed specification part 101B overlaps with a specific axle of the specific axle (axes S1, S2, ...) and the inner axle number specification part 101A (Fig. 5).

Therefore, the tread edge detection tire specifying unit 114 determines the tread mark detecting tire identifying unit 114 based on the movement vector R11, R12, ... for each tire (the estimated tire? 11,? 12, ...) Among the tires detected by the detector 10C, the tires detected by the tread 10B are also specified.

11, the tread edge detection tire specifying unit 114 determines whether the estimated tire tau 11 ', tau 12' (which is shifted to the downstream side from the scan range N and not detected by the laser detector 10C) The estimated axle 1 '). Specifically, the treadwear detection tire specifying unit 114 identifies the treadwear detection tire specifying unit 114 in the same moving direction as the motion vectors R21, R22, ... of the other estimated tires? 21 ',? 22', ... belonging to the scan range N, To the estimated tires? 11 'and? 12', respectively, based on the motion vectors R11 * and R12 *.

11, since the estimated tires? 21 'and? 22' belong to the scan range N, it is possible to specify the motion vectors R21 and R22 by the motion direction distance specifying unit 112. [ On the other hand, the estimated tires? 11 'and? 12' that deviate from the scan range N are associated with the same vehicle (estimated vehicle?) As the estimated tires? 21 'and? 22'. Therefore, it is assumed that the estimated tires? 11 'and? 12' are moving by the same moving direction and moving distance as the estimated tires? 21 'and? 22' after moving outside the scan range N.

As described above, the tread edge detection tire specifying unit 114 can identify and track the position of the tire that has passed the scan range N by applying the moving direction and the moving distance of the corresponding other tire belonging to the same vehicle.

The tread edge detecting tire specifying unit 114 sets the position of the estimated tires? 11 and? 12 over the XY coordinate plane beyond the scan range N on the basis of the moving direction of the following estimated tires 21 and 22, It is determined whether or not the position is shifted to the downstream side of the position of the tread 10B defined on the XY coordinate plane. Here, the position of the tread 10B defined on the XY coordinate plane is defined based on the distance d2 between the actual tread 10B and the laser detector 10C.

When the tread mark detecting tire identifying unit 114 determines that the position on the XY coordinate plane of the estimated tires 11 and 12 has shifted to the downstream side than the position of the tread 10B, the estimated tires? 11 and? As tires detected also by the tread 10B.

When the estimated tires 21 and 22 located on the upstream side of the estimated tires 11 and 12 exceed the scan range N, the treadwear detection tire specifying unit 114 determines the position Based on the correspondence between the estimated tires? 21 and? 22 and the estimated tires? 31 and? 32.

(Process flow of the main control unit)

12 is a diagram showing a processing flow of the main control unit according to the first embodiment.

The process flow shown in Fig. 12 is repeatedly executed normally during the operation of the charge and repair facility 1.

More specifically, first, the tire judging section 110 of the front axle number specifying section 101B judges whether or not one or more of the following is detected in the scan range N based on the detection result (scan data) obtained by the laser scanning of the laser detector 10C It is determined whether a plurality of tires exist (step S01). 7, the tire judging unit 110 combines the detected coordinate group (detection coordinate group (Q1, Q2)) and the tire shape pattern P1 which are floated on the virtual XY coordinate plane, (Estimated tau 11, tau 12, etc.) exists at a position corresponding to the detected coordinate group based on the combination result.

If there is no tire in the scan range N from the determination result of the tire determination unit 110, the front axle speed specification unit 101B immediately ends the process flow, and at the next timing, The same processing is performed on the data.

Next, the axle determination unit 111 of the front-end-axle number specification unit 101B determines whether the two tires are paired corresponding to the same axle based on the positional relationship of the tire specified in step S01 S02). Here, as shown in Fig. 8, in the case where two estimated tires 11 and 12 specified in position on the XY coordinate plane fit the tire arrangement pattern P2, It is determined that the estimated tires? 11 and? 12 are paired corresponding to the same estimated axle (estimated axle? 1).

Next, the moving direction distance specifying unit 112 of the front axle number specifying unit 101B performs the correspondence of the same tire based on the position of the tire specified in step S01 and the position of the tire specified by the last laser scan At the same time, a movement vector for the tire concerned is specified (step S03). Here, as shown in Fig. 9, the moving direction distance specifying unit 112 sets the moving direction distance specifying unit 112 to the tire (the estimated tire? 11 ') specified last time with respect to the tire (estimated tire? 11) (The estimated tire? 11) and determines the movement vector R11 indicating the movement direction and the movement distance of the same tire (the estimated tire? 11) do.

Next, the same vehicle judging section 113 of the front-end-axle number specifying section 101B judges whether a plurality of tires specified in the step S01 belong to the same vehicle, and calculates the number of axles of the same vehicle ( Step S04). Here, as shown in Fig. 10, the same vehicle judging section 113 judges whether or not the motion vectors (the motion vectors R11, R12, R21, R22, etc.) specified in the step S03 are coincident with each other, (The estimated tires? 11,? 12,? 21,? 22, etc.) are regarded as belonging to the same vehicle (estimated vehicle?). Then, the same vehicle judging section 113 calculates the number of axles (estimated axles? 1,? 2, ...) corresponding to the tires belonging to the same vehicle (estimated vehicle?).

Next, the tread detection tire identifying unit 114 of the front axle number specifying unit 101B determines whether or not the tread 10B disposed on the downstream side of the scan range N among the tires that are off the downstream side in the scan range N (Step S05). 11, the treadwear detection tire specifying unit 114 identifies the treads detection tire identifying unit 114 based on the motion vectors (the motion vectors R11 *, R11) that are the same as the motion vectors (for example, motion vectors R21 and R22) specified in step S03, R12 *) are applied to the tires (estimated tires 11 ', 12') that are diverted to the downstream side in the scan range N. [ Then, the tread edge detection tire specifying unit 114 specifies a tire that has moved to the downstream side of the tread plate 10B out of the tires that are downstream in the scan range N.

The front axle number specification section 101B subtracts the number of axles corresponding to the tire that has moved from the tread plate 10B in the step S05 to the downstream side from the number of axles calculated in the step S04, (In the forward direction) of the vehicle A (step S06).

Next, the main control section 10D judges whether or not the driver's seat of the vehicle A has arrived at the automatic water purifier 20 and stopped (step S07). In the present embodiment, the main control unit 10D controls the driving seat of the vehicle A through a predetermined detection sensor (laser detection sensor, ultrasonic sensor, etc.) installed in the automatic water purifier 20, It is detected that the hand 20 has arrived. Here, the main control unit 10D may determine whether or not the vehicle A has stopped based on the detection results of the entrance-side vehicle detector 10A, the tread plate 10B, and the laser detector 10C.

When the vehicle A is traveling (step S07: NO), the front axle speed specification section 101B repeatedly executes the above-described steps S01 to S06, and based on the detection result of the laser detector 10C, The number of axles in the range ahead of the tread plate 10B in the forward direction is specified.

On the other hand, while the front axle number specifying section 101B is executing the processing of steps S01 to S06, the inner axle number specifying section 101A calculates the number of times the tread 10B is stepped in parallel, (The range inward from the tread plate 10B in the traveling direction) that has passed through the tread 10B.

When the stop of the vehicle A is detected (step S07: YES), the axle speed specification section 101 sets the number of axles specified by the inner axle speed specification section 101A and the front axle number specification section 101B to Adds together to specify the total number of axles of the vehicle A (step S08).

Next, the vehicle type discrimination unit 102 judges the number of axles of the whole of the vehicle A specified by the axle frequency specification unit 101 and other various kinds of information (the tread width based on the detection result of the tread plate 10B, (Step S09). In step S09, the vehicle type discrimination unit 22 discriminates the vehicle type classification of the vehicle A and outputs the discriminated vehicle type classification (" large " Thus, the automatic bill collector 20 can specify the billing amount depending on the vehicle type of the vehicle A. [

(Action effect)

As described above, according to the vehicle discrimination apparatus 10 of the first embodiment, when the laser detector 10C detects the tire A of the vehicle A in the predetermined range in the forward direction ahead of the tread plate 10B of the lane L, And the scan data obtained by detecting the reflected light of the laser light la is obtained. The number of axles of the vehicle A is specified based on the detection results (scan data) of the tread 10B and the laser detector 10C.

Here, in the conventional fare-payment system, when the driver's seat portion of the vehicle A reaches the automatic water purifier 20 or the like, The interval (interval d1) between the automatic water dispenser 20 and the tread 10B is set to a maximum difference length (for example, 18 m). However, depending on the location conditions at the toll gate at the entrance and exit of the highway, it may be difficult to secure a space for setting the interval between the automatic rate controller 20 and the tread 10B to be equal to or greater than the maximum difference length. Therefore, with the above-described configuration according to the present embodiment, at the stage when the driving seat of the vehicle A reaches the automatic water purifier 20 in the lane L, a part of the front side in the traveling direction of the vehicle A It is possible to specify the number of axles of the entire vehicle A based on the detection result of the laser detector 10C even if it has not passed through the tread 10B. That is, even when a part of the vehicle ahead in the traveling direction of the vehicle A does not pass through the tread 10B at the step of performing the fare receiving process, the vehicle type classification of the vehicle A can be specified, Can be performed. As described above, the vehicle discriminating apparatus 10 according to the present embodiment can be installed in a place where a sufficient installation space can not be secured, and can precisely discriminate the vehicle type of the vehicle.

In addition, according to the above-described vehicle type discrimination apparatus 10, if some of the axles are detected based on the detection result of the laser detector 10C, for example, if the laser detector 10C erroneously detects erroneous reflected light The number of axles for the portion of the vehicle A passing through the tread 10B can be reliably specified using the detection result of the tread 10B even if it is not accurately specified. Therefore, the specific precision of the number of axles of the vehicle A can be improved.

In the vehicle type discriminating apparatus 10 described above, the inner-axle-speed specifying portion 101A is configured to detect the axles in the range inward in the traveling direction from the tread plate 10B of the vehicle A based on the detection result of the tread 10B And the front axle number specifying section 101B specifies the number of axles in the range ahead of the tread 10B in the traveling direction of the vehicle A based on the detection result of the laser detector 10C.

Thus, the number of axles of the vehicle A passing through the tread 10B employs the detection result (the number of steps) of the tread 10B to specify the number of axles, so that the number of axles of the vehicle A Precision can be improved. Particularly, when the vehicle A is a light vehicle, a normal car, or the like, when the driving seat of the vehicle A reaches the automatic water purifier 20, all the axles pass through the tread 10B It is likely. In this case, since the number of axles of the vehicle A is specified only on the basis of the detection result of the tread 10B, accuracy as in the past can be maintained.

In addition, according to the vehicle type discrimination apparatus 10 described above, the front axle speed specification section 101B (the tire determination section 110) is configured such that the plurality of detection coordinates obtained as the detection result of the laser detector 10C, It is determined that a tire exists at a position corresponding to a plurality of detected coordinates when the pattern P1 is fitted.

By doing so, for example, when garbage, dust, or the like is detected as a result of detection of the laser detector 10C, it is possible to suppress misidentification of the garbage, dust, etc. as a tire. Therefore, it is possible to improve the specific precision of the number of axles by the detection result of the laser detector 10C.

According to the vehicle type discrimination apparatus 10 described above, the front axle speed specification section 101B (axle determination section 111) determines the positional relationship between the two tires specified based on the detection result of the laser detector 10C It is determined that the vehicle A has one axle corresponding to the two tires when the predetermined tire arrangement pattern P2 is satisfied.

By doing so, when the positions of a plurality of tires are specified within the scan range N, the existence of the axle corresponding to each tire can be accurately determined. Therefore, it is possible to further improve the specific precision of the number of axles due to the detection result of the laser detector 10C.

In addition, according to the vehicle type discrimination apparatus 10 described above, the front axle speed specification section 101B (the moving direction distance specification section 112 and the same vehicle judgment section 113) The movement vector of the tire is specified based on a plurality of detection results detected by the plurality of sensors, and when a plurality of tire movement vectors coincide with each other, it is determined that one vehicle has the plurality of tires.

By doing this, one vehicle (vehicle A) traveling on the lane L can be separated from the other vehicle, so that the number of axles for that one vehicle (vehicle A) can be more accurately specified .

For example, even if the following vehicle is running ahead of the traveling direction of the vehicle A, the running speed of the following vehicle is highly likely to be different from the running speed of the vehicle A Then, a tire having a different movement vector from the tire of the vehicle A can be regarded as a tire possessed by a vehicle (subsequent vehicle) different from the vehicle A in question. The same vehicle judging unit 113 can specify a tire (axle) belonging to one vehicle in this way, and can calculate the number of axles precisely.

In the vehicle type discriminating apparatus 10 described above, the front axle speed specifying section 101B (tread detection tire specifying section 114) is configured to determine the tire number of the tire detected by the laser detector 10C based on the plurality of tire movement vectors The tires detected by the tread 10B are specified.

By doing so, it is possible to distinguish among the axles specified based on the detection result of the laser detector 10C, also calculated by the detection result (the number of steps) of the tread 10B. Therefore, it is possible to prevent the same axle from being calculated in duplication, and the number of axles for the vehicle A can be more accurately specified.

As described above, the vehicle type discriminating apparatus 10 according to the first embodiment can be installed in a place where a sufficient installation space can not be ensured, and can precisely discriminate the vehicle type of the vehicle.

≪ Second Embodiment >

Next, a vehicle discriminating apparatus according to a second embodiment will be described with reference to Fig.

The detailed structure, function, and the like of the vehicle discriminating apparatus according to the second embodiment are the same as those of the first embodiment, and therefore, illustration thereof is omitted. However, in the present embodiment, the tread plate 10B and the laser detector (not shown) are arranged so that all the tires disposed on the upstream side of the tread 10B with respect to one vehicle (the vehicle A) can be detected by the laser detector 10C. 10C) is set as short as possible.

(Process flow of the main control unit)

13 is a diagram showing a processing flow of the axle shaft speed specifying portion according to the second embodiment.

The process flow shown in Fig. 13 is normally repeatedly executed during the operation of the fare-charging facility 1, as in the first embodiment.

Specifically, the inner-shaft-axis-number specifying section 101A calculates the number of times the tread 10B has been stepped, and specifies the axle of the portion that has passed through the tread 10B (step S11).

The internal axle number determination unit 101A determines whether or not the vehicle has stopped (step S12). If the vehicle A is running (step S12: NO) Continue the calculation of the number.

On the other hand, when the vehicle A is stopped (step S12: YES), the laser detector 10C performs laser scanning. Then, the front axle speed specification part 101B specifies the number of axles in the range ahead of the tread 10B in the traveling direction of the vehicle A based on the scan data obtained by the laser scanning (step S13).

Next, the axle speed specification part 101 specifies the total number of axles of the vehicle A by adding the axle numbers specified by the inner axle number specification part 101A and the front axle number specification part 101B to each other (Step S14).

Next, the vehicle type discrimination unit 102 judges the number of axles of the entirety of the vehicle A specified by the axle frequency specification unit 101 and other various kinds of information (the tread width based on the detection result of the tread plate 10B, Etc.), uniquely discriminates the vehicle type classification of the vehicle A, and outputs the discriminated type of the vehicle type to the automatic price recorder 20 (step S15). Thus, the automatic bill collector 20 can specify the billing amount depending on the vehicle type of the vehicle A. [

(Action effect)

As described above, according to the vehicle discrimination apparatus 10 of the second embodiment, the laser detector 10C starts laser scanning (projecting of the laser beam la) after it is determined that the vehicle A has stopped . The front axle number specifying unit 101B specifies the number of axles in the range ahead of the tread 10B in the forward direction based on the scan data acquired after the vehicle A stops.

The number of axles in the range inward of the tread 10B is specified by the tread 10B first and then the number of axles in the range ahead of the tread 10B in the forward direction by the laser detector 10C Is detected. Therefore, the specific processing of the axle number using the laser detector 10C can be simplified.

<Other Embodiments>

Although specific embodiments of the vehicle discrimination apparatus 10 according to the respective embodiments are not limited to those described above, it is possible to apply various design modifications within the range not deviating from the subject matter Do.

For example, in the first embodiment, the same vehicle judging section 113 judges whether or not the position belongs to the same vehicle based on the movement vector (moving direction and moving distance) of the specified tire, The present invention is not limited to this embodiment in other embodiments.

For example, it is generally known that the width of a tread per axle of a single vehicle is generally equivalent. Therefore, the same vehicle judging section 113 according to another embodiment is different from the distance (tread width) in the lane width direction (± Y direction) of two tires corresponding to one axle and the lane of two tires In the case where the widthwise distance (tread width) is greatly different, the two axles may be determined to belong to different vehicles, respectively.

As described above, when discriminating whether or not the vehicle is the same depending on the width of the tread, the detected value of the tread width (the distance in the lane width direction of two tires corresponding to one axle) according to whether the tire is a single tire or a double tire, It is possible to separate the follow-up running of the large car and the ordinary car by allowing an error of about the same as the tire width.

It is also known that the axle center positions of the respective axles of a single vehicle are generally identical. Therefore, it is also possible to determine whether or not each axle belongs to the same vehicle by specifying the axle center position (the average value of the position in the lane width direction of two tires corresponding to one axle). For example, if the vehicle A is a towing vehicle towing a trailer, it is assumed that the tread widths in the towing vehicle (vehicle A) and the trailer are significantly different. However, as long as the towing vehicle tows the towing vehicle straight, the axle center position of the towing vehicle and the towing vehicle will almost coincide. Accordingly, even when the vehicle A is a towing vehicle, it is possible to accurately determine whether or not each of the specified axles belongs to one vehicle (the towing vehicle and the trailer vehicle are integrated).

The axle determination section 111 according to the first embodiment is configured to determine the difference between the tire (estimated tire? 11) disposed on the left of the traveling direction of the vehicle A and the tire (estimated tire? It is determined that the vehicle A has one axle (estimated axle 1) corresponding to the two tires.

However, depending on the positional relationship between the laser detector 10C and the tire of the vehicle A running on the lane L, one tire disposed to the right of the traveling direction hides behind other tires disposed on the left of the traveling direction (As the detected coordinate group (Q1, Q2), etc.) on the scan data. For example, the tire T32 disposed on the right side in the traveling direction of the vehicle A shown in FIG. 4 is hidden behind the tire T21 disposed on the left of the traveling direction of the vehicle A, Is assumed.

However, even if several tires are not hidden behind other tires in the scan data acquired at any timing, the relative positional relationship between each tire and the laser detector 10C changes according to the running of the vehicle A , It is possible to detect the hidden tire at another timing. That is, the axle determination unit 111 determines that the vehicle A is in a state in which two axes of the same axle are assigned to all of the axles of the vehicle A based on a plurality of scan data acquired at a plurality of times (timings) It becomes possible to deal with the number of tires.

Further, the axle determination unit 111 according to another embodiment further includes a lane of two tires (e.g., estimated tires 11 and 12) corresponding to the same axle (for example, estimated axle 1) By specifying the distance in the width direction, the width of the tread corresponding to the axle can be specified.

In this way, the width of the tread of the vehicle A can be specified based on the detection result of the laser detector 10C, so that the vehicle type classification of the vehicle A can be discriminated more accurately.

Likewise, the tire determining unit 110 according to another embodiment may further identify the tire width (whether a single tire or a double tire) of the tire whose position is specified based on the pattern of the detected coordinate group.

For example, when the width in the lane width direction (占 direction) of the detected coordinate groups Q1 and Q2 (see Fig. 7) is less than a predetermined value, the tire judging unit 110 judges that the estimated tire tau 11 and tau 12 are judged to be &quot; single tires &quot;, and when they are not less than the predetermined value, the estimated tires 11 and 12 are judged to be &quot; double tires &quot;.

By doing so, the tire width can be specified based on the detection result of the laser detector 10C, so that the vehicle type classification of the vehicle A can be discriminated more accurately.

As described above, when the tread width, the tire width, and the number of axles of the vehicle A can be specified based on the detection result of the laser detector 10C, for example, the vehicle type discriminating apparatus 10 can detect the tread width 10B of the vehicle A can be specified without using the detection results of the vehicle types A, Therefore, the vehicle type discriminating apparatus 10 according to another embodiment may be an aspect without the tread 10B.

That is, the vehicle type discriminating apparatus 10 according to the other embodiment does not have the tread 10B, and does not project the laser beam la at the height at which the tire of the vehicle A is disposed in the predetermined range on the lane L And an axle speed specification part 101 for specifying the number of axles of the vehicle A based on the detection results of the laser detector 10C and the laser detector 10C for detecting the reflected light of the laser light 1a Or the like.

In this case, when a plurality of detected coordinates obtained as a result of detection of the laser detector 10C fit in a predefined tire shape pattern, the axle frequency specification unit 101 determines the position And a tire judging unit 110 for judging that the tire exists.

By doing so, it is not necessary to install the tread plate 10B, so that the number of parts of the vehicle discriminating apparatus 10 can be reduced and the manufacturing cost can be reduced.

In the embodiment in which the tread plate 10B is not provided, the axle number specification unit 101 determines the positional relationship between the two tires specified based on the detection result of the laser detector 10C, The vehicle may be provided with an axle determining section for determining that the vehicle A has one axle corresponding to the two tires.

In the embodiment in which the tread plate 10B is not provided, the axle number specification unit 101 determines the direction of movement of each of the plurality of tires based on a plurality of detection results detected by the laser detector 10C at a plurality of times, A moving direction determining unit 112 for determining a moving distance and an identical vehicle judging unit 113 for determining that a plurality of tires belong to one vehicle when a plurality of directions of movement and distance of movement of the tire coincide with each other It may be.

The tire determining unit 110 according to the first embodiment determines that a tire exists at a position corresponding to the plurality of detected coordinates when a plurality of detected coordinates fit a predefined tire shape pattern . Here, the phrase " fit " (in the tire shape pattern) is not limited to the case where all of the detected coordinate groups (Q1 and Q2) fall within the range defined by the tire shape pattern P1, (Most of) of the tire shape patterns P1 and Q2 are substantially contained within the range of the tire shape pattern P1 ". That is, even when the tire judging unit 110 includes an accidental erroneous detection coordinate due to dust or dust, pattern matching with the tire shape pattern P1 is performed as the whole of the detected coordinate groups Q1 and Q2 And judges that " a tire exists &quot; when the overall degree of match is high.

The same is true for the combination of the detected positional relationship of the two tires and the tire arrangement pattern P2.

In the first embodiment, the scan range N of the laser detector 10C is set to be a predetermined range in the forward direction of the tread 10B. However, the present invention is not limited to this embodiment in other embodiments.

For example, the laser detector 10C according to another embodiment may perform laser scanning in addition to the range ahead of the tread 10B in the forward direction, including the range inside the proceeding direction than the tread 10B.

This makes it possible to more precisely specify the number of axles of the vehicle A since the position of the tire can be specified more widely based on the detection result of the laser detector 10C.

In the first embodiment, only one laser detector 10C is disposed on the island I to the left of the traveling direction, but the present invention is not limited to this embodiment in other embodiments.

For example, the laser detectors 10C may be arranged on the island I on the left of the lane L and on the right of the lane L.

As described above, by arranging a plurality of the laser detectors 10C at different positions, it is possible to reduce the dead angle by combining the scan data obtained by the plurality of laser detectors 10C. Therefore, the position of the tire can be specified more precisely.

Further, the laser detector 10C may be a mode capable of irradiating light at a height at which the tire of the vehicle A is disposed, and is not limited to the case of horizontally irradiated.

In addition, the laser detector 10C is not limited to the mode in which it is configured as a single device (in one case). For example, in the laser detector 10C, a light emitter for emitting laser light la and a detector for detecting reflected light of the laser light la are separately provided on the island I, It may be an operating mode.

The tread mark detection tire specifying unit 114 according to the first embodiment is configured to determine the tread position of the tread 10B (Fig. 11B) among the tires detected by the laser detector 10C based on the plurality of tire movement vectors R21, R22 In the present embodiment, the present invention is not limited to this embodiment in other embodiments.

For example, the axle determination unit 111 sequentially specifies the axles (estimated axles [sigma] 1, [sigma] 2, ...) from the top of the vehicle A in accordance with the travel from the time of entering the lane L . Here, the tread edge detection tire specifying unit 114 according to another embodiment obtains the distance (axle distance) in the lane direction between the specified axles. Specifically, the treadwear detection tire specifying unit 114 determines whether or not the estimated axle 1 (first axis) and the estimated axle? 2 (first axle) are different each time a new axle determined to belong to the same vehicle (Second axis), the interval? 23 between the estimated axle? 2 (second axis) and the estimated axle? 3 (third axis), ..., And the axle distance between adjacent axles are acquired.

When traveling of the vehicle A proceeds and the pressure on the first axis is detected by the tread 10B, the tread detection tire identifying unit 114 determines that the position of the first axis (tread 10B) Position, the previously obtained intervals? 12,? 23, ... The second axis, the third axis, ... Is estimated. Further, when the vehicle A runs and the pressure on the second shaft is detected by the tread 10B, the tread detection tire specifying unit 114 determines the position of the second shaft (the position where the tread 10B is disposed) Based on the interval? 23 and the like as a standard, the position after the third axis is estimated. By repeating the above-described processings in sequence, the treadwear detection tire specifying unit 114 identifies the treadwear detection tire specifying unit 114 on the basis of the respective axles (the axles that have not passed through the tread 10B) disposed ahead of the axle that last passed over the tread 10B, As shown in FIG.

As described above, the tread edge detection tire specifying unit 114 identifies the tread (tire) detected by the laser detector 10C based on the axle (tire) detected by the tread 10B, The tires detected by the tread 10B can be precisely specified.

In step S07 (first embodiment) and step S12 (second embodiment), the main control unit 10D performs a determination as to whether or not the vehicle A in the running state has stopped at the charge automatic water purifier 20 And the vehicle type discrimination process is executed when it is determined that the vehicle A has stopped, the present invention is not limited to this mode in other embodiments.

For example, the main control unit 10D may be an aspect in which the entrance-side vehicle detector 10A starts the vehicle type discrimination process at the stage when the entrance-side vehicle detector 10A detects entry of the vehicle A Specifically, the number-of-axes determination unit 101 outputs the number of axles specified through the laser detector 10C and the tread 10B to the vehicle type discrimination unit 102 every time the number of axles is updated according to the running of the vehicle A . Then, the vehicle class discrimination unit 102 discriminates the vehicle class which becomes the maximum charge among the assumed types of the axles obtained from the sequential results of the number of axles, and outputs the discrimination result to the automatic automatic teller 20. Thus, at the time when the driver's seat of the vehicle A reaches the automatic water purifier 20, the payment rate corresponding to the actual vehicle class of the vehicle A is fixed.

In each of the above-described embodiments, a program for realizing various functions of the main control unit 10D in the vehicle type discriminating apparatus 10 is recorded in a computer-readable recording medium, and the program recorded on the recording medium is recorded in a computer system So as to perform various processes. Here, the processes of the various processes of the main control unit 10D are stored in a computer-readable recording medium in the form of a program, and the various processes are performed by reading and executing the program. The computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. In addition, the computer program may be transmitted to a computer by a communication line, and the computer receiving the transmission may cause the computer to execute the program.

It may also be an aspect in which various functions of the main control unit 10D are provided over a plurality of apparatuses connected by a network.

While the present invention has been described in detail with reference to certain embodiments thereof, these embodiments are provided by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and alterations can be made without departing from the gist of the invention. These embodiments and modifications are intended to be within the scope of the invention as defined in the appended claims and their equivalents as are within the scope and spirit of the invention.

(Industrial applicability)

According to the vehicle discriminating apparatus, the vehicle discriminating method, and the program described above, it is possible to provide the vehicle discriminating apparatus, the vehicle discriminating method, and the program.

1: Fee handling facility
10: Vehicle discrimination device
10A: Incoming vehicle detector
10B: Step
10C: Laser detector
10D:
101: Axle number specification part
101A: Inner axle number specific part
101B: front axle number specific part
102: Vehicle type discrimination unit
110: Tire judging unit
111:
112: moving direction distance specifying unit
113: Same vehicle judging unit
114: tread detection tire specifying part
20: Automatic rate meter
40: Oscillation controller
50: Oscillation side vehicle detector
L: Lane
I: Ireland
N: Scanning range
La: Laser light
P1: tire shape pattern
P2: Tire arrangement pattern
P3: Moving direction distance assumed range
Q1, Q2: detection coordinate group
R11, R12, R21, R22, R31, R32:
A: Vehicles
T11, T12, T21, T22, T31, T32: Tire
S1, S2, S3:
α: estimated vehicle
? 11,? 21,? 22,? 31,? 32:
? 1,? 2,? 3: estimated axle
d1, d2: interval
D: Car length
θ: light-projecting angle
r: Measuring distance

Claims (11)

A vehicle type discriminating apparatus for discriminating a vehicle type of a vehicle traveling in a lane,
A tread disposed on the road surface of the lane so as to detect a pressure of the tire of the vehicle,
A laser detector for projecting a laser beam to a height at which the tire is disposed in a predetermined range in the lanes ahead of the tread plate in the traveling direction and detecting reflected light of the laser beam;
An axle number specifying unit for specifying the number of axles of the vehicle based on the detection results of the tread plate and the laser detector;
And a vehicle speed sensor for detecting the vehicle speed.
The method according to claim 1,
The axle number specifying part
An inner-axle-number specifying unit that specifies the number of axles in the range inward of the tread plate in the traveling direction of the vehicle based on the detection result of the tread plate;
And a front-axle-number specifying part for specifying the number of axles in a range ahead of the tread plate in the traveling direction of the vehicle based on the detection result of the laser detector
And a vehicle speed sensor for detecting the vehicle speed.
3. The method according to claim 1 or 2,
Wherein the axle-
And a tire judging section that judges that the tire exists at a position corresponding to the plurality of detected coordinates when a plurality of detected coordinates obtained as the detection result of the laser detector fit into a predefined tire shape pattern
Vehicle discrimination device.
4. The method according to any one of claims 1 to 3,
Wherein the axle-
An axle determination that determines that the vehicle has one axle corresponding to the two tires when the positional relationship between the two tires specified based on the detection result of the laser detector falls within a predefined tire arrangement pattern Having a part
Vehicle discrimination device.
5. The method according to any one of claims 1 to 4,
Wherein the axle-
A moving direction distance specifying unit for specifying a moving direction and a moving distance of each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times,
A determination unit that determines that a plurality of the tires belong to one vehicle when the moving direction of the plurality of tires coincides with the moving distance,
And a vehicle speed sensor for detecting the vehicle speed.
6. The method of claim 5,
The axle number specifying part
And a tread edge detection tire specifying unit that specifies a tire detected by the tread, among the tires detected by the laser detector based on the movement direction and the movement distance of the plurality of tires
Vehicle discrimination device.
A vehicle type discrimination method for discriminating a vehicle type of a vehicle traveling in a lane,
Detecting pressure by the tire of the vehicle through a tread disposed on the road surface of the lane,
Projecting a laser beam to a height at which the tire is arranged in a predetermined range in a front side of the lane in a direction ahead of the at least the tread of the lane and detecting reflected light of the laser beam;
Specifying the number of axles of the vehicle, which is information used for discrimination of the vehicle type of the vehicle based on the detection results of the tread plate and the laser detector
.
A tread plate disposed on the road surface of the lane so as to detect the pressure of the tire of the vehicle; a light source for emitting a laser beam at a height at which the tire is disposed in a predetermined range in front of the tread, A computer of a vehicle type discriminating apparatus for discriminating a vehicle type of the vehicle running on the lane,
Axis number specifying means for specifying the number of axles of the vehicle based on the detection results of the tread plate and the laser detector
.
A vehicle type discriminating apparatus for discriminating a vehicle type of a vehicle traveling in a lane,
A laser detector for projecting a laser beam at a height at which the vehicle tire is disposed in a predetermined range on the lane and detecting reflected light of the laser beam;
And an axle speed specification unit for specifying the number of axles of the vehicle based on the detection result of the laser detector,
Wherein the axle-
And a tire judging section that judges that the tire exists at a position corresponding to the plurality of detected coordinates when a plurality of detected coordinates obtained as the detection result of the laser detector fit into a predefined tire shape pattern
Vehicle discrimination device.
10. The method of claim 9,
Wherein the axle-
An axle determination that determines that the vehicle has one axle corresponding to the two tires when the positional relationship between the two tires specified based on the detection result of the laser detector satisfies a predefined tire arrangement pattern Having a part
Vehicle discrimination device.
11. The method according to claim 9 or 10,
Wherein the axle-
A moving direction distance specifying unit for specifying a moving direction and a moving distance of each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times,
A determination unit that determines that a plurality of the tires belong to one vehicle when the moving direction of the plurality of tires coincides with the moving distance,
And a vehicle speed sensor for detecting the vehicle speed.

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