JP7213017B2 - Vehicle forward/backward motion determination device, vehicle forward/backward motion determination system, vehicle forward/backward motion determination method, and vehicle forward/backward motion determination program - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle forward/backward motion determination device, a vehicle forward/backward motion determination system, a vehicle forward/backward motion determination method, and a vehicle forward/backward motion determination program.

In electronic toll collection systems (ETC (registered trademark), also called "automatic toll collection systems") installed at the entrances and exits of expressways, it is necessary to recognize and process each vehicle individually. Therefore, technology to detect each vehicle has been introduced. However, it is not always the case that each vehicle passes the detection position only once forward. In such a case, the vehicle may move forward to pass the detection position and then move backward to return to the detection position. In such a case, if the detection process is performed based on the assumption that vehicles pass the detection position only forward, the number of vehicles that actually pass the detection position differs from the number of vehicles detected by the detection process, resulting in erroneous processing. results are obtained. Therefore, in order to obtain a correct processing result, it is necessary to perform a forward/backward movement determination process for grasping forward movement and reverse movement at the detection position of each vehicle.

As a conventional vehicle forward/backward determination technology, for example, a technology is known in which detection results at two different positions are obtained from two vehicle detectors provided separately along the lane, and the vehicle is determined to move forward or backward. It is There is also known a technique for determining whether the vehicle is moving forward or backward using only one vehicle detector. For example, Patent Literature 1 discloses a vehicle forward/backward movement determination technique that performs vehicle forward/backward movement determination processing based on both the detection result from a vehicle detector and the detection result from an axle detector. In Patent Document 1, when the axle detector fails, the feature data of the head and tail of the vehicle passing through the detection position is acquired only from the vehicle detector, and the feature data of the head of the current vehicle is obtained from the previous vehicle. Based on whether or not the characteristic data of the vehicle tail coincides with the characteristic data of the vehicle tail, the forward/backward movement determination processing of the vehicle is performed.

Japanese Patent No. 4327231

However, when two vehicle detectors are used, or when a vehicle detector and an axle detector are used together, equipment costs and construction costs may increase. Further, for example, in the case where the forward/backward movement determination process of the vehicle is performed with only one vehicle detector according to the procedure in the case where the axle detector fails in Patent Document 1, the feature data of the tail of the immediately preceding vehicle is used. Therefore, if the preceding vehicle is erroneously detected, there is a possibility that the forward/backward movement determination process of the vehicle will result in an erroneous determination result. Furthermore, the erroneous determination result is reflected in the next forward/reverse determination process, and there is a possibility that the next determination result for the following vehicle will also be an erroneous determination result. That is, there is a possibility that the conventional vehicle forward/rearward determination technique cannot obtain a correct forward/rearward determination result for the vehicle without increasing equipment costs and construction costs.

Therefore, there is a demand for a technique capable of obtaining a correct forward/reverse determination result for a vehicle without increasing equipment costs and construction costs. SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle forward/backward motion determination device, a vehicle forward/backward motion determination system, a vehicle forward/backward motion determination method, and a vehicle forward/backward motion determination method capable of obtaining a correct forward/backward motion determination result for a vehicle without increasing equipment costs and construction costs. To provide a decimal determination program.

According to the first aspect of the present invention, a vehicle forward/backward motion determination device (30) includes a vehicle detector ( 10) and a detection information acquisition unit (33) for acquiring vehicle detection information from the vehicle, and combining the vehicle detection information acquired from the time the vehicle enters the predetermined position until it leaves the vehicle in chronological order. a vehicle shape data generation unit (34) for generating shape data (S); a feature amount storage unit (32) for storing a feature amount viewed from the side of the vehicle; a forward/rearward travel determination unit (36) that determines forward/backward travel of the vehicle when entering and exiting the predetermined position based on whether or not the vehicle matches the feature value stored in the storage unit; , the feature amount includes a first feature amount indicating a front side shape viewed from the side of the vehicle and a second feature amount indicating a rear side shape viewed from the side of the vehicle; When the part detected early in the time series of the vehicle shape data matches the first feature amount, it is determined that the vehicle is moving forward when the vehicle enters, and the time series of the vehicle shape data is determined. If the portion detected early in step matches the second feature amount, it is determined that the vehicle is moving backward when the vehicle enters, and the forward/rearward movement determination unit determines the time series of the vehicle shape data. If the portion detected late in the time series of the vehicle shape data matches the first feature value, it is determined that the vehicle is moving backward when the vehicle leaves, and the portion detected late in the time series of the vehicle shape data is determined as If the second characteristic quantity is matched, it is determined that the vehicle is moving forward when the vehicle leaves .
With this configuration, it is possible to perform forward/reverse determination processing using only one vehicle detector, and obtain a correct forward/reverse determination result for the vehicle without increasing equipment costs and construction costs. Further, since the determination is performed based on the feature amount stored in the feature amount storage unit, the determination can be performed without using the feature data of the immediately preceding vehicle. As in the case of making a determination using the system, the preceding vehicle may be erroneously detected and an erroneous determination result may be obtained. can be avoided.

With this arrangement, it is possible to accurately determine whether the vehicle is in one of four forward/backward travel patterns: a forward-entry forward-retreat pattern, a forward-entry-backwards pattern, a reverse-entry-backwards-retreat pattern, and a reverse-entry-forward-retreat pattern. can judge.

According to a second aspect of the present invention, in the vehicle forward/rearward movement determination device (30) according to the first aspect, the feature amount of the vehicle (A) is a vehicle height change amount, a relative positional relationship between the vehicle body and the wheels. , local non-sensing locations, and/or outline shape.
With this configuration, based on the information specific to the vehicle (vehicle height variation, relative positional relationship between the vehicle body and wheels, local undetected positions, and external shape), the vehicle can operate in four forward/reverse patterns: forward/enter/forward. It is possible to accurately determine which of the exit pattern, the forward entry/rear advance/exit pattern, the rearward entry/reverse advance/exit pattern, and the reverse entry/advance/exit pattern.

According to a third aspect of the present invention, in the vehicle forward/backward motion determination device (30) according to either the first aspect or the second aspect, the vehicle included in the generated vehicle shape data (S) A feature amount learning unit (35) that learns the feature amount of (A) and stores it in the feature amount storage unit (32) may be provided.
With this configuration, it is possible to accurately determine which of the four forward/backward movement patterns the vehicle corresponds to, based on the learning result of the feature quantity extracted from the vehicle actually traveling through the tollgate.

According to a fourth aspect of the present invention, in the vehicle forward/backward motion determination device (30) according to any one of the first to third aspects, the vehicle type determination unit (37) for determining the vehicle type of the vehicle (A) ), and a storage unit switching unit (38) for switching the feature amount storage unit (32) based on the vehicle type of the vehicle determined by the vehicle type determination unit.
With this configuration, it is possible to efficiently perform forward/reverse determination processing for the vehicle. In addition, since the feature amount of the vehicle used for the forward/backward judgment is limited based on the vehicle type, for example, if the vehicle type is not limited, there are multiple possibilities for the judgment result, so the judgment result cannot be determined. You can avoid getting lost.

According to a fifth aspect of the present invention, the vehicle forward/rearward movement determination device (30) according to the fourth aspect further includes a license plate information acquisition unit for acquiring license plate information based on the photographed image of the vehicle, The vehicle type determination unit may determine the vehicle type of the vehicle based on the license plate information.
With this configuration, the vehicle type can be determined more accurately based on the license plate information, so that the characteristic amount of the vehicle A used for forward/reverse determination can be more accurately limited based on the vehicle type.

According to the sixth aspect of the present invention, in the vehicle forward/backward movement determination device (30) according to the fourth or fifth aspect, the tread information is determined based on the position information of the wheels of the vehicle detected by the footboard (70). A tread information acquisition unit (40) that acquires the tread information, and the vehicle type determination unit may determine the vehicle type of the vehicle based on the tread information.
With this configuration, the model of the vehicle can be determined more accurately based on the tread information, so that the characteristic amount of the vehicle to be used for forward/reverse determination can be more accurately limited based on the vehicle model.

According to a seventh aspect of the present invention, a vehicle forward/backward motion determination system (1) includes the vehicle forward/backward motion determination device according to any one of the first to sixth aspects, and the vehicle detector. ing.

According to the eighth aspect of the present invention, the vehicle forward/backward movement determination method includes a detection information acquisition step (S101) of acquiring vehicle detection information from a vehicle detector that detects a part of the vehicle shape at a predetermined position along the lane ), and a vehicle shape data generation step (S102) of generating vehicle shape data by combining the vehicle detection information acquired during the period from when the vehicle enters the predetermined position to when it leaves the predetermined position, in chronological order; forward and backward movement of the vehicle when entering and leaving the predetermined position based on whether or not the vehicle shape data matches the feature amount of the vehicle viewed from the side stored in the feature amount storage unit; and a forward/reverse determination step (S121) for determining whether the feature amount is a first feature amount indicating a front side shape of the vehicle viewed from the side and a second feature amount indicating a rear side shape of the vehicle viewed from the side. In the forward/reverse determination step, if the portion of the vehicle shape data detected early in the time series matches the first feature amount, the vehicle moves forward when the vehicle enters the vehicle. determining that the vehicle is moving backward when the vehicle is entering the vehicle when the portion detected early in the time series of the vehicle shape data matches the second feature amount; in the forward/reverse determination step, determining that the vehicle is moving backward when the vehicle exits if the portion detected later in the time series of the vehicle shape data matches the first feature amount; If the portion detected late in the time series of the vehicle shape data matches the second feature amount, it is determined that the vehicle is moving forward when the vehicle leaves .
With this configuration, it is possible to perform forward/reverse determination processing using only one vehicle detector, and obtain a correct forward/reverse determination result for the vehicle without increasing equipment costs and construction costs. Further, since the determination is performed based on the feature amount stored in the feature amount storage unit, the determination can be performed without using the feature data of the immediately preceding vehicle. As in the case of making a determination using the system, the preceding vehicle may be erroneously detected and an erroneous determination result may be obtained. can be avoided.

According to the ninth aspect of the present invention, the vehicle forward/backward motion determination program causes the computer (9) as the vehicle forward/backward motion determination device to be a vehicle detector that detects part of the shape of the vehicle at a predetermined position along the lane. A detection information acquisition unit (33) that acquires vehicle detection information from the vehicle shape data by combining the vehicle detection information acquired during the period from when the vehicle enters the predetermined position to when it leaves the predetermined position in chronological order. and a vehicle shape data generation unit (34) that generates the predetermined position based on whether or not the vehicle shape data matches the feature amount of the vehicle viewed from the side stored in the feature amount storage unit. A first feature value indicating a front side shape of the vehicle as viewed from the side of the vehicle. and a second feature quantity indicating the rear side shape of the vehicle viewed from the side, and the forward/rearward movement determination unit determines that the part detected early in the time series of the vehicle shape data is the first feature quantity. If they match, it is determined that the vehicle is moving forward when the vehicle enters. When the vehicle enters the vehicle, it is determined that the vehicle is moving backward, and the forward/rearward movement determining unit determines that the portion of the vehicle shape data detected late in the time series matches the first feature amount. When the vehicle exits, it is determined that the vehicle is moving backward, and if the part detected late in the time series of the vehicle shape data matches the second feature amount, the vehicle moves when the vehicle exits. Determine that you are moving forward .
With this configuration, it is possible to perform forward/reverse determination processing using only one vehicle detector, and obtain a correct forward/reverse determination result for the vehicle without increasing equipment costs and construction costs. Further, since the determination is performed based on the feature amount stored in the feature amount storage unit, the determination can be performed without using the feature data of the immediately preceding vehicle. As in the case of making a determination using the system, the preceding vehicle may be erroneously detected and an erroneous determination result may be obtained. can be avoided.

According to at least one of the above aspects, it is possible to obtain a correct forward/reverse determination result for the vehicle without increasing equipment costs and construction costs.

1 is a schematic diagram showing the overall configuration of a vehicle forward/backward motion determination system according to a first embodiment; FIG. It is an explanatory view explaining a vehicle detector with which a vehicle back-and-forth decision system concerning a 1st embodiment is provided. It is an explanatory view explaining a vehicle detector with which a vehicle back-and-forth decision system concerning a 1st embodiment is provided. FIG. 4 is an explanatory diagram for explaining a forward/backward movement pattern of a vehicle measured by the vehicle detector according to the first embodiment; FIG. 4 is an explanatory diagram for explaining a forward/backward movement pattern of a vehicle measured by the vehicle detector according to the first embodiment; FIG. 4 is an explanatory diagram for explaining a forward/backward movement pattern of a vehicle measured by the vehicle detector according to the first embodiment; FIG. 4 is an explanatory diagram for explaining a forward/backward movement pattern of a vehicle measured by the vehicle detector according to the first embodiment; 1 is a block diagram illustrating the configuration of a vehicle forward/backward motion determination device according to a first embodiment; FIG. FIG. 4 is an explanatory diagram for explaining vehicle feature amounts used for determination by the vehicle forward/backward motion determination device according to the first embodiment; FIG. 4 is an explanatory diagram for explaining vehicle feature amounts used for determination by the vehicle forward/backward motion determination device according to the first embodiment; FIG. 4 is an explanatory diagram for explaining vehicle feature amounts used for determination by the vehicle forward/backward motion determination device according to the first embodiment; FIG. 4 is an explanatory diagram for explaining vehicle feature amounts used for determination by the vehicle forward/backward motion determination device according to the first embodiment; 4 is a flow chart showing the operation of the vehicle forward/backward motion determination device included in the vehicle forward/backward motion determination system according to the first embodiment; 4 is a flow chart showing the operation of the vehicle forward/backward motion determination device included in the vehicle forward/backward motion determination system according to the first embodiment; It is a block diagram explaining the structure of the vehicle forward/backward movement determination apparatus which concerns on 2nd Embodiment. FIG. 10 is an explanatory diagram for explaining a feature amount storage unit included in the vehicle forward/backward movement determination device according to the second embodiment; 8 is a flow chart showing the operation of a vehicle forward/backward motion determination device provided in the vehicle forward/backward motion determination system according to the second embodiment; FIG. 11 is a schematic diagram showing the overall configuration of a vehicle forward/backward movement determination system according to a first modified example of the second embodiment; FIG. 10 is a block diagram illustrating the configuration of a vehicle forward/backward movement determination device according to a first modified example of the second embodiment; FIG. 9 is an explanatory diagram illustrating a vehicle forward/backward movement determination system according to a first modified example of the second embodiment; FIG. 11 is a schematic diagram showing the overall configuration of a vehicle forward/backward movement determination system according to a second modified example of the second embodiment; FIG. 11 is a block diagram illustrating the configuration of a vehicle forward/backward movement determination device according to a second modified example of the second embodiment; 1 is a schematic block diagram showing a configuration of a computer according to at least one embodiment; FIG.

<First embodiment>
A first embodiment of the present invention will be described below with reference to the drawings. The same reference numerals are given to the same or corresponding configurations in all the drawings, and common explanations are omitted.

(Overall Configuration of Vehicle Forward/Reverse Determination System According to First Embodiment)
FIG. 1 is a schematic diagram showing the overall configuration of a vehicle forward/backward motion determination system 1 according to a first embodiment of the present invention. 1, 2A, 5A-5D, 11, and 14, a common right-handed xyz coordinate system is defined for purposes of orientation. In this xyz coordinate system, ±z directions are parallel to the vertical direction, ±x directions and ±y directions are both parallel to the horizontal direction, and ±x directions, ±y directions, and ±z directions are perpendicular to each other.
In the following description, the directions in which the lanes L extend are referred to as ±x directions, and are also referred to as "lane directions." Moreover, the direction orthogonal to the lane direction (±x direction) in the horizontal plane is defined as ±y direction, and is also described as “lane width direction”. The +x direction is also referred to as the "back side in the lane direction", and the -x direction is also referred to as the "front side in the lane direction". Furthermore, the directions orthogonal to the horizontal plane are defined as ±z directions, and are also described as “vertical directions”.
A vehicle forward/backward movement determination system 1 according to the first embodiment is provided, for example, to individually detect the entry and exit of each vehicle A into a toll gate installed at an entrance or the like of an expressway. As shown in FIG. 1, the lane L is formed linearly at least within the range where the vehicle forward/backward movement determination system 1 is provided. Lane L is connected to an expressway via a toll gate when proceeding to the back side (+x direction) in the lane direction, and is connected to a general road when proceeding to the front side (−x direction) in the lane direction. Each vehicle A shown in FIG. 1 is traveling in the traveling direction H from the general road toward the expressway, that is, in the lane direction back side (+x direction).

As shown in FIG. 1, the vehicle forward/rearward movement determination system 1 is configured to detect the entry and exit of a vehicle A into and out of a predetermined position P on a lane L such as the entrance position of a tollgate. A vehicle forward/backward movement determination system 1 includes a vehicle detector 10 that detects an object to be detected located on a predetermined position P along a lane L using detection light B whose light source is an LED, and the vehicle detector 10 and a line. 20, and determines whether the vehicle A moves forward or backward in a direction (x direction) along the lane L at a predetermined position P of the vehicle A based on the detection result input from the vehicle detector 10. a device 30; The vehicle forward/backward movement determination device 30 is connected to, for example, a lane server (not shown) or the like, and is configured to output a forward/backward movement determination result for the vehicle A entering and leaving a predetermined position P in the lane L. good.

(Functional configuration of vehicle detector)
2A and 2B are explanatory diagrams for explaining the vehicle detector 10 included in the vehicle forward/backward movement determination system 1 according to the first embodiment. FIG. 2A is a diagram of the vehicle detector 10 shown in FIG. 1 as viewed in a direction (−y direction) perpendicular to the traveling direction H (+x direction) of the vehicle A. FIG. In the first embodiment of the present invention, a transmissive vehicle detector is used as the vehicle detector 10, and as shown in FIG. and a light receiver 10B having a plurality of light receiving portions for receiving the detection light B emitted from the light projecting portion of the light projecting portion 10A.

The light projector 10A has a rectangular parallelepiped main body extending in the vertical direction (±z direction), and light projecting portions are provided at predetermined intervals along the vertical direction. Similarly, the photodetector 10B has a rectangular parallelepiped main body extending in the vertical direction, and light receiving portions are provided at predetermined intervals along the vertical direction. Each light projecting portion of the light projecting device 10A and each light receiving portion of the light receiving device 10B are provided at the same height in the vertical direction so as to form a pair. In the first embodiment of the present invention, the number of pairs of light receiving units and light projecting units provided in the vehicle detector 10 is nine as an example, but the number may be any number other than nine. As shown in FIG. 1, all the light projecting units of the light projecting device 10A are identical in that the direction of irradiation (projection) of the detection light B is the same lane width direction (+y direction). That is, the plurality of light projecting units of the light projector 10A provided in the vehicle detector 10 irradiate a plurality of detection lights so as to form a cross section (yz plane) in the space above the lane L at a predetermined position P along the lane L. is configured to

In the vehicle detector 10, when an object to be detected is positioned at a predetermined position P on the lane L and blocks the detection light B emitted from each light projecting part of the light projector 10A, the light receiving part of the light receiver 10B receives the detection light B. By utilizing this fact, the presence of the object to be detected and the vertical position of the object to be detected are detected based on the height of the light-receiving part that cannot receive light. The vehicle detector 10 continuously performs detection at predetermined time intervals when the vehicle A, which is an object to be detected, passes a predetermined position P on the lane L, and detects the shape of the vehicle A located at the predetermined position P at each time. is output to the vehicle forward/rearward movement determination device 30 . Note that the vehicle detector 10 may perform detection continuously at arbitrary timing without performing detection at predetermined time intervals.

FIG. 2B shows the vehicle detection information when the vehicle A moves forward at a constant speed in the direction of travel H and passes the vehicle detector 10, that is, the time from when the vehicle A enters a predetermined position P until it leaves. It visually shows the vehicle shape data S obtained by combining the vehicle detection information between the two in chronological order. In the first embodiment of the present invention, vehicle shape data S obtained by combining vehicle detection information in chronological order is generated by a vehicle shape data generation unit 34, which will be described later. In FIG. 2B, the time axis t indicates forward and backward in time. Therefore, in the vehicle shape data S, the right side of FIG. 2B is detected earlier in time series, and the left side is detected later in time series. As shown in FIG. 2B, the vehicle detection information at each time is one-dimensional binary data representing the presence or absence of detection along the vertical direction (±z direction). Two-dimensional binary data representing a silhouette viewed from the direction (+y direction) is obtained.

If the cross section formed by the plurality of detection lights B emitted from the light projector 10A is formed in the space above the lane L at a predetermined position P along the lane L, it is orthogonal to the lane direction (±x direction). It does not have to be the cross section (yz plane). That is, the cross section may be a cross section obliquely crossing the lane direction (±x direction) at an angle other than 90 degrees.
Further, the detection light B emitted from the light projector 10A may be in any direction other than the horizontal direction, such as the vertical direction (-z direction) from top to bottom. In the case of a top-to-bottom orientation, it may be, for example, a reflective vehicle detector mounted on the gantry.

(Fore-and-aft movement pattern of vehicle A)
3A to 3D are explanatory diagrams for explaining the forward and backward movement patterns of the vehicle A detected by the vehicle detector 10 according to the first embodiment. 3A to 3D, forward and backward movement of vehicle shape data S obtained by combining vehicle detection information detected by the vehicle detector 10 in chronological order when a vehicle A as an object to be detected passes a predetermined position P on a lane L. Describe the pattern. 3A to 3D, the left figure shows the forward and backward movement of the vehicle A when the vehicle A enters the predetermined position P, and the middle figure shows the vehicle A when the vehicle A exits from the predetermined position P. The forward and backward movement of A is shown. Specifically, in FIG. 3A, the vehicle A advances in the direction of arrow F to enter a predetermined position P (the left diagram in FIG. 3A), advances in the direction of arrow F, and exits from the predetermined position P. (center view in FIG. 3A). In FIG. 3B, the vehicle A advances in the direction of arrow F to enter a predetermined position P (the left view in FIG. 3B), and moves backward in the direction of arrow R to leave the predetermined position P (see FIG. 3B). center figure). In FIG. 3C, vehicle A moves backward in the direction of arrow R to enter a predetermined position P (the left view in FIG. 3C), and moves backward in the direction of arrow R to leave the predetermined position P (see FIG. 3C). center figure). In FIG. 3D, the vehicle A is moving backward in the direction of arrow R to enter a predetermined position P (left side view of FIG. 3D), and moving forward in the direction of arrow F to leave the predetermined position P (see FIG. 3D). center figure). In each of FIGS. 3A to 3D, the diagram on the right side shows the vehicle shape data S obtained by combining the vehicle detection information from when the vehicle A enters the predetermined position P until it leaves in chronological order. As in 2B, the time axis t indicates the front and back in time.

The vehicle shape data S shown in FIGS. 3A to 3D are based on vehicle detection information obtained by detecting a vehicle A passing through the vehicle detector 10 under predetermined conditions for the sake of simplicity of explanation. The predetermined condition is that when the vehicle A moves forward or backward at a substantially constant speed and switches between forward and backward motion, the length along the traveling direction H (+x direction) of the vehicle A (that is, the vehicle length) The condition is that switching is performed when the center position reaches a predetermined position P. FIG. 3B and 3D, the vehicle shape data S shown on the right side of FIG.
An axis O that divides the vehicle shape data S into two indicates the time at which half the time required for the vehicle A to exit after entering the vehicle has elapsed. 3A to 3D, the right side of the axis O indicates the portion detected early in the time series of the vehicle shape data S, and the left side of the axis O indicates the portion detected late in the time series of the vehicle shape data S. . It should be noted that the above predetermined conditions are only assumed for the sake of simplifying the explanation, and the forward and reverse speeds of the vehicle A need not be constant, and the switching between forward and reverse is performed at the center position of the vehicle A. It may be done outside In addition, the portion detected early in the time series of the vehicle shape data S and the portion detected late in the time series need not be one half of the vehicle shape data S completely, and may be defined as necessary. You can change it. For example, the portion of the vehicle shape data S from the start of entry to the elapse of a predetermined period of time may be the portion detected early in time series, or the portion of the vehicle shape data S from the start of entry until a predetermined period of time before exit may be the portion detected in time series. It may be the portion detected late in .

FIG. 3A shows a forward entry/exit pattern in which the vehicle A advances into a predetermined position P and then exits. The forward entry and exit pattern shown in FIG. 3A is the most common and most frequent pattern in which the vehicle A passes the vehicle detector 10 only forward. FIG. 3B shows a forward-entry-backward-advance-leaving pattern in which the vehicle A advances into a predetermined position P and then retreats backwards. For example, the forward entry/retreat pattern shown in FIG. ), and then backing out after entering by mistake. FIG. 3C shows a rearward entry/rearward advance/exit pattern in which the vehicle A moves backward to enter a predetermined position P and then moves backward to exit. The pattern shown in FIG. 3C corresponds to a case in which vehicle A mistakenly enters an ETC-only lane and a general lane, completely passes through it, then moves backward, then moves backward, and then moves out. do. FIG. 3D shows a reverse-entry-advance-exit pattern in which the vehicle A moves backward to enter a predetermined position P and then moves forward to exit. In the reverse approach forward/retreat pattern shown in FIG. 3D, for example, because the vehicle A has passed the point where it should stop temporarily, the vehicle A, which has completely passed once, moves backward to correct the stop position, and then moves forward. This applies to cases such as when leaving the ETC lane without inserting the ETC card into the in-vehicle device, and when vehicle A moves backward and returns to its original position and then passes through the ETC lane again. do.

(Functional Configuration of Vehicle Forward/Reverse Determination Device According to First Embodiment)
FIG. 4 is a block diagram illustrating the configuration of the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the first embodiment.
The vehicle forward/backward movement determination device 30 includes a detection information storage unit 31 that stores detection information necessary for determining the forward/backward movement of the vehicle A, and a feature amount of the vehicle A (for example, a vehicle height change amount, a vehicle body and wheels, which will be described later). relative positional relationship, local non-detection position, external shape, etc.), a detection information acquisition unit 33 for acquiring vehicle detection information from the vehicle detector 10, and the vehicle A A vehicle shape data generation unit 34 for generating vehicle shape data S by combining in chronological order vehicle detection information acquired from entering P to leaving P, and included in the generated vehicle shape data S A feature amount learning unit 35 that learns the feature amount of the vehicle A and stores it in the feature amount storage unit 32; and a forward/rearward travel determination unit 36 that determines forward/backward travel of the vehicle A when entering and leaving the predetermined position P.

The detection information storage unit 31 stores vehicle shape data S generated by the vehicle shape data generation unit 34, for example. In addition, the detection information storage unit 31 may store other information necessary for the vehicle forward/backward movement determination system 1 to determine whether the vehicle is moving forward or backward.

The feature quantity storage unit 32 may store the feature quantity of the vehicle A. FIG. The feature quantity of the vehicle A is a numerical representation of the shape features for specifying the vehicle A. As will be described later, for example, the vehicle height change amount, the relative positional relationship between the vehicle body and the wheels, local non-detection It may be a position, an external shape, or the like. Further, the feature amount of the vehicle A may be another feature amount that is included in the vehicle shape data S and indicates the features of the front side portion, the rear side portion, or other portions of the vehicle A. In the first embodiment of the present invention, the feature amount learning unit 35 learns the feature amount of the vehicle A included in the vehicle shape data S generated by the vehicle shape data generation unit 34 as described later, and stores the feature amount. Although it is configured to be stored in the unit 32, the feature amount of the vehicle A may be stored in the feature amount storage unit 32 in advance without learning.

<Characteristic amount of vehicle A>
5A to 5D are explanatory diagrams for explaining feature amounts of the vehicle A used for determination by the vehicle forward/backward motion determination device 30 according to the first embodiment. A feature amount learning unit 35, which will be described later, extracts the feature amount of the vehicle A indicating the features of the portions shown in FIGS. 5A to 5D from the vehicle shape data S of the vehicle A obtained. In the present embodiment, the feature amount of vehicle A includes a first feature amount that indicates the feature of vehicle A on the front side of the vehicle and a second feature amount that indicates the feature of vehicle A on the rear side of the vehicle. Note that, in another embodiment, the feature amount of the vehicle A may include a feature amount indicating features other than the vehicle front side feature and the vehicle rear side feature of the vehicle A.
As shown in FIG. 5A, the first feature value of the vehicle A is how the vehicle height h1 in the vertical direction (±z direction) of the vehicle front end of the vehicle A changes along the vehicle length direction (±x direction). It may be a vehicle height change amount that indicates whether the vehicle height changes. Similarly, as shown in FIG. 5A, the second feature value of vehicle A is that the vehicle height h2 in the vertical direction (z direction) of the vehicle rear end of vehicle A is along the vehicle length direction (±x direction). It may be a vehicle height change amount indicating how it changes.

Further, as shown in FIG. 5B, the first feature value of the vehicle A is the vehicle body of the vehicle A, that is, the distance d1 between the front end of the vehicle and the front wheels in the vehicle length direction (±x direction). It may be a positional relationship. Similarly, as shown in FIG. 5A, the second feature quantity of vehicle A is the distance d2 in the vehicle length direction (±x direction) between the vehicle body of vehicle A, that is, the rear end of the vehicle and the rear wheels. relative positional relationship.

Moreover, as shown in FIG. 5C, the first feature value of the vehicle A may be the local detected position w of the vehicle A. In addition, as shown in FIG. Specifically, since the windows on the driver's seat and passenger's seat side of vehicle A are always transparent, the positions of the windows in the vehicle length direction (±x direction) and the vehicle height direction (±z direction) correspond to the detection light. It may correspond to a local detectable position w that is unobstructed and undetectable. Note that the local detected position w is, for example, an area area defined by defining four coordinates indicated by a position in the vehicle length direction (±x direction) and a position in the vehicle height direction (±z direction). It's okay.

Further, as shown in FIG. 5D , the first feature amount of the vehicle A may be the external shape f of the bonnet or the like provided on the front side of the vehicle A. As shown in FIG. In addition, when the vehicle A is a bus, a truck, or the like, the outer shape f may be, for example, a mirror. Similarly, as shown in FIG. 5D , the second feature value of vehicle A may be the external shape r of a bumper or the like provided on the rear side of vehicle A. In FIG.

The detection information acquisition unit 33 is connected to the vehicle detector 10 , acquires vehicle detection information detected by the vehicle detector 10 , and outputs the information to the vehicle shape data generation unit 34 . Note that the detection information acquisition unit 33 may cause the detection information storage unit 31 to store the vehicle detection information acquired from the vehicle detector 10 .

When the vehicle detection information acquired by the detection information acquisition unit 33 is input, the vehicle shape data generation unit 34 generates the vehicle detection information acquired during the period from when the vehicle A enters the predetermined position P until it leaves. By combining them in chronological order, vehicle shape data S as shown in FIG. 2B is generated. The vehicle shape data generation unit 34 outputs the generated vehicle shape data S to the feature amount learning unit 35 and the forward/backward movement determination unit 36 . The vehicle shape data generation unit 34 may store the generated vehicle shape data S in the detection information storage unit 31 .

When the vehicle shape data S generated by the vehicle shape data generation unit 34 is input from the vehicle shape data generation unit 34, the feature amount learning unit 35 learns the feature amount of the vehicle A included in the generated vehicle shape data S. It is learned and stored in the feature quantity storage unit 32 .

When the vehicle shape data S generated by the vehicle shape data generation unit 34 is input from the vehicle shape data generation unit 34, the forward/reverse determination unit 36 searches the feature amount storage unit 32, Whether the vehicle A moves forward or backward when entering or leaving the predetermined position P is determined based on whether or not the characteristic quantity stored in the quantity storage unit 32 is matched. The forward/reverse determination unit 36 may output the determination result to a device such as a lane server (not shown) that needs to accurately grasp the passage of the predetermined position P by the vehicle A.

(Processing Flow of Vehicle Forward/Reverse Determination Device According to First Embodiment)
FIG. 6 is a flow chart showing the operation of the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the first embodiment.

The operation of the vehicle forward/backward motion determination device 30 according to the first embodiment will be described with reference to FIG. For example, when starting detection of each vehicle A entering and exiting a predetermined position P on the lane L such as the entrance position of a tollgate at the timing when the traffic processing of the lane server is started, the flow chart shown in FIG. Processing may begin. When the process is started, the detection information acquisition unit 33 of the vehicle forward/backward motion determination device 30 acquires vehicle detection information continuously detected by the vehicle detector 10 at predetermined time intervals (step S101). As described above, the vehicle detection information is one-dimensional binary data indicating the presence or absence of detection along the vertical direction (±z direction) at the predetermined position P on the lane L. The detection information acquisition unit 33 continuously outputs the acquired vehicle detection information to the vehicle shape data generation unit 34 .

When the vehicle detection information acquired by the detection information acquisition unit 33 is input, the vehicle shape data generation unit 34 generates a plurality of vehicle detection data acquired during the period from when the vehicle A enters the predetermined position P until it leaves. Information (one-dimensional binary data) is combined in chronological order to generate vehicle shape data S, which is two-dimensional binary data as shown in FIGS. 2B and 3A to 3D (step S102). As described above, the vehicle shape data S, which is two-dimensional binary data, is a silhouette of the vehicle A viewed from the side (+y direction). The vehicle shape data generation unit 34 outputs the generated vehicle shape data S to the feature amount learning unit 35 and the forward/backward movement determination unit 36 .

As described above, the vehicle shape data S shown in FIGS. 3A to 3D assume a predetermined condition that the vehicle A moves forward or backward at a substantially constant speed. ), but actually the vehicle A does not always move forward or backward at a constant speed. Therefore, the vehicle shape data S may be further normalized on the time axis so as to approximate the silhouette of the vehicle A assumed.

When the vehicle shape data S generated by the vehicle shape data generation unit 34 is input from the vehicle shape data generation unit 34, the forward/reverse determination unit 36 searches the feature amount storage unit 32, Based on whether or not there is a match with the feature quantity stored in the quantity storage unit 32, it is determined whether the vehicle A is moving forward or backward when entering or leaving the predetermined position P (step S103). The forward/reverse determination unit 36 outputs the determination result to, for example, a lane server (not shown) or the like, and the flow ends. Note that the forward/reverse determination unit 36 may store the determination result in the detection information storage unit 31 .

On the other hand, the feature amount learning section 35 learns the feature amount of the vehicle A included in both the shape data S based on the vehicle shape data S generated by the vehicle shape data generation section 34 , and stores the feature amount in the feature amount storage section 32 . (step S104).
Specifically, the feature amount learning unit 35 determines that the vehicle A " forward approach and forward retreat”. Here, the "processing subsequent to forward/backward determination" includes, for example, communication processing performed between the ETC roadside antenna installed on lane L and vehicle A, automatic toll collection installed on the roadside of lane L, It may be a toll collection process via a machine. The feature amount learning unit 35 detects, for example, through the lane server whether or not the process subsequent to the forward/backward movement determination has been performed.
When the feature amount learning unit 35 detects that the subsequent processing of the forward/backward movement determination has been performed, the vehicle shape data S generated by the vehicle shape data generation unit 34 in step S102 for the vehicle A that "entered forward and left". See Then, the feature amount learning unit 35 learns the feature amount shown in the portion of the vehicle shape data S detected earlier in time series as the "first feature amount indicating the vehicle front end portion of the vehicle A", and A portion of the vehicle shape data S that is detected later in time series is learned as "a second feature amount indicating the vehicle rear end portion of the vehicle A".
As shown in FIGS. 5A to 5D, the feature amount of vehicle A to be learned is any of the amount of change in vehicle height of vehicle A, the relative positional relationship between the vehicle body and wheels, the local undetected position, and the external shape. good too.
Note that the learning method of the feature amount learning unit 35 is not limited to the above-described mode, and various learning methods can be applied. For example, the first feature amount and the second feature amount are additionally learned using the vehicle shape data S determined to be "entered forward and retreated" in the forward/reverse determination by the forward/reverse determination unit 36. may

(Processing of vehicle forward/backward movement determination)
FIG. 7 is a flow chart showing the operation of the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the first embodiment. 7, the procedure for vehicle forward/rearward movement determination performed by the vehicle forward/backward movement determination device 30 in step S103 shown in FIG. 6 will be described.

When proceeding to step S103 shown in FIG. 6, the vehicle forward/backward movement determination device 30 starts forward/backward movement determination shown in FIG. Specifically, the vehicle forward/rearward movement determination device 30 first stores the portion detected early in the time series of the vehicle shape data S of the vehicle A as the first feature amount (vehicle It is determined whether or not it matches the feature amount indicating the feature on the front side (step S110). Specifically, the vehicle forward/rearward movement determination device 30 calculates the feature amount for the portion detected early in the time series of the vehicle shape data S of the vehicle A, and stores the calculated feature amount and the feature amount storage unit 32. It is compared with the first feature amount that has been used. Then, the vehicle forward/rearward movement determination device 30, when there is a first feature value matching with a score equal to or higher than a predetermined value in the feature value storage unit 32, the vehicle shape data S of the vehicle A is detected early in the time series. It is determined that the detected portion matches the first feature amount (YES in step S110). For example, when the vehicle shape data SA shown in FIG. 3A or the vehicle shape data SB shown in FIG. It is determined that the portion detected earlier in time series matches the first feature amount (YES in step S110), and in this case, it is determined that vehicle A is moving forward (step S111).

On the other hand, when the vehicle shape data SC shown in FIG. 3C or the vehicle shape data SD shown in FIG. It is determined that the portion detected earlier in time series does not match the first feature amount (NO in step S110). In this case, the vehicle forward/rearward motion determination device 30 then stores the portion detected earlier in the time series of the vehicle shape data S of the vehicle A into the second feature amount stored in the feature amount storage unit 32 (vehicle rearward). It is determined whether or not it matches the feature amount indicating the feature of the side) (step S112). For example, when the vehicle shape data SA shown in FIG. 3A or the vehicle shape data SB shown in FIG. It is determined that the portion detected later in time series matches the second feature amount (YES in step S112), and in this case, it is determined that the vehicle A is moving backward (step S113). Note that in the first embodiment of the present invention, if the portion detected early in the time series of the vehicle shape data S of the vehicle A does not match the first feature amount and the second feature amount ( NO in step S112), it is determined that the vehicle A is moving forward (step S111).

Next, the vehicle forward/rearward movement determination device 30 determines whether or not the portion of the vehicle shape data S of the vehicle A detected late in the time series matches the second feature amount (step S114). Specifically, when the vehicle shape data SA shown in FIG. 3A or the vehicle shape data SD shown in FIG. (YES in step S114). In this case, it is determined that the vehicle A is moving forward and backward (step S115).

On the other hand, when the vehicle shape data SB shown in FIG. 3B or the vehicle shape data SC shown in FIG. 2 (NO in step S114). In this case, the vehicle forward/rearward movement determination device 30 next determines whether or not the portion detected late in the time series of the vehicle shape data S of the vehicle A matches the first feature amount (step S116). For example, when the vehicle shape data SB shown in FIG. 3B or the vehicle shape data SC shown in FIG. It is determined that the part detected later in the sequence matches the first feature amount (YES in step S116), and in this case, it is determined that the vehicle A is moving backward (step S117). Note that, in the first embodiment of the present invention, if the portion detected late in the time series of the vehicle shape data S of the vehicle A does not match either the first feature amount or the second feature amount ( If NO in step S116), it is determined that the vehicle A is moving forward and backward (step S115), but the process may be stopped assuming that the determination is impossible.

The vehicle forward/backward movement determination device 30 determines whether the vehicle A is moving forward or backward (steps S111 to S113), and determines whether the vehicle A is moving forward or backward (steps S114 to S117). 7 terminates the forward/reverse determination. By performing the determination process described above, it is possible to separate the forward and backward movement patterns of the vehicle shape data S of the vehicle A shown in FIGS. 3A to 3D. That is, the vehicle shape data SA shown in FIG. 3A is a forward entry/exit pattern, the vehicle shape data SB shown in FIG. 3B is a forward/backward advance/exit pattern, and the vehicle shape data SC shown in FIG. 3C is a rearward/reverse advance/exit pattern. , and it can be determined that the vehicle shape data SD shown in FIG.

(action, effect)
As described above, in the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the first embodiment, the vehicle shape data S of the vehicle A matches the feature value stored in the feature value storage unit 32. Whether the vehicle A moves forward or backward when entering or leaving the predetermined position P is determined based on whether the vehicle A is moving forward or backward.
By doing so, the forward/rearward movement determination process can be performed by only one vehicle detector 10, and a correct forward/rearward movement determination result for the vehicle A can be obtained without increasing equipment costs and construction costs. Further, since the determination is performed based on the feature amount stored in the feature amount storage unit 32, the determination can be performed without using the feature data of the immediately preceding vehicle. As in the case of making a determination using , the immediately preceding vehicle may be erroneously detected and an erroneous determination result may be obtained, and based on the erroneous determination result, the next determination result for the following vehicle may also be an erroneous determination result. can be avoided.

Further, the vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the first embodiment divides the vehicle shape data into a portion detected earlier in time series and a portion detected later in time series, It is determined whether or not each of them matches the first feature quantity indicating the shape of the front side of the vehicle and the second feature quantity indicating the shape of the rear side of the vehicle.
By doing so, it is possible to determine which one of the four forward/backward movement patterns of the vehicle A, namely, the forward entry/exit pattern, the forward entry/reverse advance/exit pattern, the rearward entry/reverse advance/exit pattern, and the reverse entry/advance/exit pattern. can be accurately determined.

Furthermore, the feature quantity of the vehicle A used for determination by the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the first embodiment is the vehicle height change amount, the relative positional relationship between the vehicle body and the wheels, the local It includes at least one of non-detection position and outline shape.
By doing so, based on the information specific to the vehicle A (vehicle height change amount, relative positional relationship between the vehicle body and the wheels, local undetected positions, and external shape), the vehicle A has four forward and backward movement patterns, That is, it is possible to accurately determine which one of the forward-entry-advance-retreat pattern, the forward-entry-backward-advance-retreat pattern, the rearward-entry-backward-advance-retreat pattern, and the reverse-entry-advance-retreat pattern.

Further, the vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the first embodiment learns the feature value of the vehicle A included in the generated vehicle shape data S, and stores the feature value in the feature value storage unit 32. Memorize.
By doing so, it is possible to accurately determine which of the four forward/backward movement patterns the vehicle corresponds to, based on the learning result of the feature quantity extracted from the vehicle actually traveling through the tollgate.

<Second embodiment>
Next, a vehicle forward/backward motion determination system 1 according to a second embodiment will be described with reference to FIGS. 8 to 10. FIG. The overall configuration of the vehicle forward/rearward determination system 1 according to the second embodiment is the same as that of the vehicle forward/rearward determination system 1 according to the first embodiment, so the description thereof will be omitted.

(Functional Configuration of Vehicle Forward/Reverse Determination Device According to Second Embodiment)
FIG. 8 is a block diagram illustrating the configuration of a vehicle forward/backward motion determination device 30 according to the second embodiment. As shown in FIG. 8, the vehicle forward/backward motion determination device 30 according to the second embodiment differs from the vehicle forward/backward motion determination device according to the first embodiment in that it includes a vehicle type determination unit 37 and a storage unit switching unit 38 . 30 different.
Further, in the detection information storage unit 31 according to the second embodiment, information for vehicle type determination used by the vehicle type determination unit 37 for determining the vehicle type (for example, a vehicle height range defined in advance associated with the vehicle type, etc.), etc. is also stored.
Components other than the vehicle type determination unit 37 and the storage unit switching unit 38 provided in the vehicle forward/reverse determination device 30 according to the second embodiment are the same as those of the vehicle forward/backward determination device 30 according to the first embodiment. Description is omitted.

FIG. 9 is an explanatory diagram for explaining the feature quantity storage unit 32 included in the vehicle forward/backward motion determination device 30 according to the second embodiment. The feature amount storage unit 32 according to the second embodiment includes at least two feature amount storage units (32A, 32B) classified according to the vehicle type of the vehicle A. FIG. The vehicle type of the vehicle A is classified into, for example, "compact/motorcycle", "ordinary vehicle", "medium-sized vehicle", "large-sized vehicle", and "extra-large vehicle". As an example, FIG. 9 shows a standard-sized vehicle storage unit 32A that stores the feature amount of vehicle A that belongs to "standard-sized vehicle" and a large-sized vehicle storage unit 32B that stores the feature amount of vehicle A that belongs to "large-sized vehicle". A feature amount storage unit 32 including and is shown. In the second embodiment of the present invention, the storage unit switching unit 38 is configured to switch the feature amount storage unit 32 used by the forward/reverse determination unit 36 for forward/backward determination. For example, the storage unit switching unit 38 can switch the feature amount storage unit 32 used for forward/backward movement determination to the standard vehicle storage unit 32A or the large vehicle storage unit 32B.

The vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the vehicle detection information of the vehicle A acquired by the detection information acquisition unit 33 . The vehicle detection information used to determine the vehicle type of the vehicle A may be any information that can specify the shape of the vehicle A, such as the height of the vehicle A detected by the vehicle detector 10, for example. In the second embodiment of the present invention, the vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the vehicle type information stored in the detection information storage unit 31, and outputs the determination result to the storage unit switching unit 38. do.

When the vehicle type determination result is input from the vehicle type determination unit 37, the storage unit switching unit 38 stores the feature amount used for determination by the forward/backward movement determination unit 36 based on the vehicle type of the vehicle A included in the input determination result. switch the part 32; For example, as shown in FIG. 9, when the vehicle type of the vehicle A included in the determination result by the vehicle type determination unit 37 is a "normal vehicle", the storage unit switching unit 38 changes the forward/reverse determination unit 36 to the forward/backward determination. The feature amount storage unit 32 to be used is switched to the ordinary vehicle storage unit 32A. Further, when the vehicle type of vehicle A included in the determination result of the vehicle type determination unit 37 is a large vehicle, the storage unit switching unit 38 is used by the forward/reverse determination unit 36 to determine whether the vehicle is a large vehicle. switch to the storage unit 32B.

(Processing Flow of Vehicle Forward/Reverse Determination Device According to Second Embodiment)
FIG. 10 is a flow chart showing the operation of the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the second embodiment.

The operation of the vehicle forward/backward motion determination device 30 according to the second embodiment will be described with reference to FIG. The processing flow of the vehicle forward/backward motion determination device 30 according to the second embodiment shown in FIG. The processing flow is generally the same as the processing flow of the vehicle forward/backward movement determination device 30 according to the embodiment. Therefore, description of the same processing as the processing flow of the vehicle forward/backward movement determination device 30 according to the first embodiment shown in FIG. 6 will be omitted.

In the processing flow of forward/backward motion determination by the vehicle forward/backward motion determination device 30 according to the second embodiment, the vehicle shape data generation unit 34 combines the vehicle detection information in chronological order to generate the vehicle shape data S (step S102). After that, the vehicle type determination unit 37 refers to the detection information storage unit 31, determines the vehicle type of the vehicle A based on the vehicle detection information of the vehicle A input by the detection information acquisition unit 33 (step S121), and displays the determination result. is output to the storage unit switching unit 38 . For example, when the vehicle height of vehicle A included in the vehicle detection information of vehicle A falls within the predetermined range of vehicle heights for "ordinary vehicles" stored in the detection information storage unit 31, The vehicle type determination unit 37 determines that the vehicle type of the vehicle A is a "normal vehicle". In the second embodiment, as shown in FIG. 10, the process of step S211 is performed after the process of step S102. If so, it may be performed before or during the processing of step S102.

Next, when the determination result is input from the vehicle type determination unit 37, the storage unit switching unit 38 stores the feature amount used for determination by the forward/reverse determination unit 36 based on the vehicle type of the vehicle A included in the input determination result. The storage unit 32 is switched (step S122). For example, as shown in FIG. 9, when the vehicle type of the vehicle A included in the determination result by the vehicle type determination unit 37 is a "normal vehicle", the storage unit switching unit 38 changes the forward/reverse determination unit 36 to the forward/backward determination. The feature amount storage unit 32 to be used is switched to the ordinary vehicle storage unit 32A.

Next, when the vehicle shape data S generated by the vehicle shape data generation unit 34 is input from the vehicle shape data generation unit 34, the forward/rearward movement determination unit 36 searches the ordinary vehicle storage unit 32A to obtain the vehicle shape data. Based on whether or not S matches the feature quantity stored in the ordinary vehicle storage unit 32A, it is determined whether the vehicle A moves forward or backward when entering or leaving the predetermined position P (step S103).
On the other hand, the feature amount learning unit 35 is based on the vehicle shape data S generated by the vehicle shape data generation unit 34, the vehicle type discrimination result by the vehicle type discrimination unit 37, and the forward/backward determination result by the forward/backward determination unit 36, The feature amount of the vehicle A included in the generated vehicle shape data S is learned and stored in the ordinary vehicle storage unit 32A (step S104).
The forward/rearward movement determination unit 36 outputs the determination result regarding the forward/backward movement of the vehicle A to, for example, a lane server (not shown) or the like, and the flow ends.

(action, effect)
As described above, in the vehicle forward/backward motion determination device 30 included in the vehicle forward/backward motion determination system 1 according to the second embodiment, the vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the vehicle detection information, and switches the storage unit. The unit 38 switches the feature amount storage unit 32 based on the vehicle type of the vehicle A determined by the vehicle type determination unit 37 .
By doing so, forward/backward determination processing for the vehicle A can be performed efficiently. In addition, since the feature amount of the vehicle A used for forward/backward determination is limited based on the vehicle type, for example, if the vehicle type is not limited, there are multiple possibilities for the determination result. Avoid uncertainties.
In addition, by doing so, the feature amount learning unit 35 stores the feature amount of the vehicle A in the feature amount storage unit 32 (the standard vehicle storage unit 32A, the large vehicle storage unit 32B, etc.) associated with the vehicle type. Let This enables accurate and detailed learning.

<First modified example of the second embodiment>
Next, a vehicle forward/backward motion determination system 1 according to a first modified example of the second embodiment will be described with reference to FIGS. 11 to 13. FIG.

(Overall Configuration of Vehicle Forward/Reverse Determination System According to First Modified Example of Second Embodiment)
FIG. 11 is a schematic diagram showing the overall configuration of a vehicle forward/backward motion determination system 1 according to a first modified example of the second embodiment. As shown in FIG. 11, the vehicle forward/backward motion determination system 1 according to the first modified example of the second embodiment includes a vehicle detector 10 and a vehicle detector 10 as in the vehicle forward/backward motion determination system 1 according to the second embodiment. , a vehicle forward/backward movement determination device 30, and a license plate recognition device 60 for reading information about the license plate N of the vehicle A entering a predetermined position P. Devices other than the license plate recognition device 60 provided in the vehicle forward/backward determination system 1 according to the first modified example of the second embodiment are similar to those of the vehicle forward/backward determination system 1 according to the second embodiment, unless otherwise specified. , so the description is omitted.

The license plate recognition device 60 captures, for example, a vehicle A entering a predetermined position P on a lane L from the front so that at least the license plate N is included in the captured image. For example, the license plate recognition device 60 has a camera installed at a predetermined height on the side of the lane L at a position behind the vehicle detector 10 in the lane direction (+x direction) so as to face a predetermined position P. . Accordingly, when the vehicle detector 10 detects the front end of the vehicle A, the license plate recognition device 60 can image the predetermined position P set to the vehicle detector 10 . The license plate recognition device 60 performs predetermined image analysis processing on the captured image and extracts license plate information (classification number, license plate size, color, etc.). For example, the license plate recognition device 60 extracts the classification number N1 (specifically, "520") included in the upper rear part of the license plate N from the photographed image including the license plate N shown in FIG. 13 as the license plate information. do. The license plate recognition device 60 is connected to the vehicle forward/backward motion determination device 30 via a line 50, and outputs license plate information about the license plate N to the vehicle forward/backward motion determination device 30 (license plate information acquisition unit 39).

(Functional configuration of a vehicle forward/backward movement determination device according to a first modified example of the second embodiment)
FIG. 12 is a block diagram illustrating the configuration of a vehicle forward/backward motion determination device 30 according to a first modified example of the second embodiment. As shown in FIG. 12, the vehicle forward/backward motion determination device 30 according to the first modified example of the second embodiment is similar to the vehicle according to the second embodiment in that it further includes a license plate information acquisition unit 39. Since it is different from the forward/backward motion determination device 30, description of the same points as the vehicle forward/backward motion determination device 30 according to the second embodiment will be omitted.

The license plate information acquisition section 39 acquires the license plate information acquired through the license plate recognition device 60 and outputs it to the vehicle type discrimination section 37 .

(Processing Flow of Vehicle Forward/Reverse Determination Device According to First Modified Example of Second Embodiment)
The vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the first modified example of the second embodiment performs forward/backward motion determination processing in the same manner as the processing flow according to the second embodiment shown in FIG. is done. However, in this modified embodiment, when determining the vehicle type of vehicle A in the process of step S121, the vehicle type of vehicle A is determined based on the license plate information input from the license plate information acquisition unit 39. There are differences. Note that the processing flow of the vehicle forward/reverse determination device 30 according to the first modified example of the second embodiment is similar to that of the vehicle forward/rearward motion determination device according to the second embodiment shown in FIG. 10, unless otherwise specified. 30 is roughly the same as the processing flow. Therefore, description of the same processing as the processing flow of the vehicle forward/backward movement determination device 30 according to the second embodiment shown in FIG. 10 will be omitted.

In the process flow of the vehicle forward/backward movement determination device 30 according to the first modified example of the second embodiment, in the process of step S101 shown in FIG. A plate recognition device 60 photographs a vehicle A entering a predetermined position P on a lane L and extracts license plate information. The license plate information acquisition unit 39 inputs and acquires license plate information from the license plate recognition device 60 and outputs the acquired license plate information to the vehicle type discrimination unit 37 .

The vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the license plate information of the vehicle A input from the license plate information acquisition unit 39 and outputs the determination result to the storage unit switching unit 38 . For example, in the case of the license plate N shown in FIG. 13, the vehicle type determination unit 37 refers to the detection information storage unit 31 and determines to which vehicle type the input classification number N1 "520" corresponds. For example, when the first digit of the classification number N1 is 3, 5, or 7, the detection information storage unit 31 corresponds to a "regular vehicle"; Vehicle type code reference information may be stored in advance, such as corresponding to a "large vehicle" (bus) if the number is 2. In this case, the vehicle type determination unit 37 refers to the classification number reference information included in the detection information storage unit 31, and determines that "520" of the input classification number N1 corresponds to "ordinary car".

Next, as shown in FIG. 10, similarly to the processing flow according to the second embodiment, when the vehicle type determination result is input from the vehicle type determination unit 37, the storage unit switching unit 38 receives the input determination result. based on the type of vehicle A included in the vehicle A (in the case shown in FIG. 13, "ordinary car"), the forward/backward movement determination unit 36 switches the feature amount storage unit 32 used for determination to the ordinary vehicle storage unit 32A (step S122).
Since subsequent processing is the same as the processing flow according to the second embodiment, description thereof is omitted.

(action, effect)
As described above, the vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the first modified example of the second embodiment detects the vehicle A entering the predetermined position P through the license plate recognition device 60. License plate information about the license plate N is acquired, and the vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the license plate information.
By doing so, the vehicle type of the vehicle A can be determined more accurately based on the license plate information, so the feature amount of the vehicle A used for forward/reverse determination is more accurately limited based on the vehicle type. be able to.

<Second Modified Example of Second Embodiment>
Next, a vehicle forward/backward motion determination system 1 according to a second modified example of the second embodiment will be described with reference to FIGS. 14 and 15. FIG.

(Overall Configuration of Vehicle Forward/Reverse Determination System According to Second Modified Example of Second Embodiment)
FIG. 14 is a schematic diagram showing the overall configuration of a vehicle forward/backward motion determination system 1 according to a second modified example of the second embodiment. As shown in FIG. 14, the vehicle forward/backward motion determination system 1 according to the second modified example of the second embodiment includes a vehicle detector 10 similar to the vehicle forward/backward motion determination system 1 according to the second embodiment. and a vehicle forward/backward motion determination device 30 . Further, the vehicle forward/rearward movement determination system 1 according to the modified embodiment further includes a footboard 70 for detecting the position of the wheels of the vehicle A entering the predetermined position P. As shown in FIG. Devices other than the tread plate 70 provided in the vehicle forward/backward judgment system 1 according to the second modified example of the second embodiment are the same as those of the vehicle forward/backward judgment system 1 according to the second embodiment unless otherwise specified. Therefore, the explanation is omitted.

The tread plate 70 detects, for example, the number and positions of the wheels of the vehicle A entering the predetermined position P on the lane L, and outputs the information to the vehicle forward/backward movement determination device 30 . The footboard 70 may be, for example, a rubber mat-like sensor extending along the lane width direction (±y direction) of the lane L. As shown in FIG. Note that the treads 70 may be other sensors capable of detecting the number and positions of the wheels of the vehicle A. FIG. As shown in FIG. 14, the footboard 70 is provided at a predetermined position P on the lane L so as to extend in the width direction of the lane. In the second embodiment, the tread plate 70 is connected to the vehicle forward/backward movement determination device 30 via the line 80, detects the wheel position of the vehicle A entering the predetermined position P on the lane L, and detects the position information of the vehicle. is output to the vehicle forward/backward movement determination device 30 (tread information acquisition unit 40).

(Functional configuration of a vehicle forward/backward movement determination device according to a second modified example of the second embodiment)
FIG. 15 is a block diagram illustrating the configuration of a vehicle forward/backward motion determination device 30 according to a second modified example of the second embodiment. As shown in FIG. 15, the vehicle forward/rearward movement determination device 30 according to the second modified example of the second embodiment is similar to the vehicle forward/rearward movement determination device according to the second embodiment in that it further includes a tread information acquisition section 40 . Since it is different from the advance determination device 30, the description of the same points as the vehicle forward/backward travel determination device 30 according to the second embodiment will be omitted.

When information on the position of the wheels of vehicle A detected by the treads 70 is input, the tread information acquisition unit 40 acquires tread information based on the input information on the position of the wheels of vehicle A. 37. For example, the tread information acquisition unit 40 obtains information from the position of the left front wheel of the vehicle A detected by the footboard 70 in the vehicle width direction (±y direction) and the position of the right front wheel in the vehicle width direction (±y direction). , tread information, which is the interval between the front wheels in the vehicle width direction (±y direction). For example, if the position of the front wheel in the vehicle width direction (±y direction) is defined by the distance from the end of the lane L at the predetermined position P, then the position of the left front wheel in the vehicle width direction (±y direction) Tread information can be obtained by calculating the difference between (distance) and the position (distance) of the right front wheel in the vehicle width direction (±y direction).
Similarly, the tread information acquisition unit 40 determines the position of the left rear wheel of the vehicle A detected by the footboard 70 in the vehicle width direction (±y direction) and the position of the right rear wheel in the vehicle width direction (±y direction). direction) and the tread information, which is the interval between the rear wheels in the vehicle width direction (±y direction).

(Processing Flow of Vehicle Forward/Reverse Determination Device According to Second Modified Example of Second Embodiment)
The vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the second modified example of the second embodiment performs forward/reverse motion determination processing in the same manner as the processing flow according to the second embodiment shown in FIG. is done. However, in this modified embodiment, when the vehicle type of vehicle A is determined in the process of step S121, the vehicle type of vehicle A is determined based on the tread information input from the tread information acquisition unit 40. differ. Note that the processing flow of the vehicle forward/reverse determination device 30 according to the second modified example of the second embodiment is the same as that of the vehicle forward/rearward motion determination device according to the second embodiment shown in FIG. 10, unless otherwise specified. 30 is roughly the same as the processing flow. Therefore, description of the same processing as the processing flow of the vehicle forward/backward movement determination device 30 according to the second embodiment shown in FIG. 10 will be omitted.

In the process flow of the vehicle forward/backward movement determination device 30 according to the second modified example of the second embodiment, in the process of step S101 shown in FIG. 70 detects, for example, the positions of the wheels of vehicle A entering a predetermined position P on lane L, and outputs information on the detected wheel positions of vehicle A to vehicle forward/backward movement determination device 30 (tread information acquisition unit 40). do. When the information on the position of the wheels of vehicle A detected by the treads 70 is input, the tread information acquisition unit 40 acquires the tread information based on the input information on the position of the wheels of vehicle A. Output to the determination unit 37 .

The vehicle type determination unit 37 refers to the detection information storage unit 31 and determines the vehicle type of the vehicle A based on the tread information of the vehicle A input by the tread information acquisition unit 40, in the same manner as in the process of step S121 shown in FIG. and outputs the determination result to the storage unit switching unit 38 . For example, the detection information storage unit 31 stores in advance tread range information associated with each type of vehicle, such as a "regular vehicle", a "large vehicle", or other vehicle types. Then, the vehicle type determination unit 37 may refer to the detection information storage unit 31 and determine the vehicle type of the vehicle A based on which tread range information includes the input tread information.

Next, as shown in FIG. 10, similarly to the processing flow according to the second embodiment, when the determination result is input from the vehicle type determination unit 37, the storage unit switching unit 38 receives the determination result included in the input determination result. Based on the type of vehicle A (for example, "ordinary car"), the forward/reverse determination unit 36 switches the feature amount storage unit 32 used for determination (eg, to the ordinary vehicle storage unit 32A) (step S122).
Since subsequent processing is the same as the processing flow according to the second embodiment, description thereof is omitted.

(action, effect)
As described above, in the vehicle forward/backward motion determination device 30 provided in the vehicle forward/backward motion determination system 1 according to the second modified example of the second embodiment, the tread information acquisition unit 40 determines whether the vehicle A enters the predetermined position P. The tread information of the vehicle A is acquired based on the information of the position of the wheels of the vehicle A input from the footboard 70 for detecting the position of the wheels, and the vehicle type determination unit 37 determines the vehicle type of the vehicle A based on the tread information. .
By doing so, the vehicle type of the vehicle A can be determined more accurately based on the tread information, so that the characteristic amount of the vehicle A used for forward/reverse determination can be more accurately limited based on the vehicle type. .

Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to the one described above, and various design changes and the like can be made. For example, in any of the above-described embodiments, the vehicle forward/backward movement determination system 1 has been described as including the transmissive vehicle detector 10 that irradiates the detection light B in the horizontal direction. , reflective vehicle detectors, and other vehicle detectors. Further, the vehicle detector 10 may be a vehicle detector that emits the detection light B in a direction other than the horizontal direction. For example, the vehicle detector 10 may be an overhead laser scanner type reflective detector that is installed on a gantry and scans by projecting detection light from above to below the lane L, or along the lane L It may be another reflective detector that irradiates a plurality of detection lights so as to form a cross section in the space above the lane at a predetermined position.

FIG. 16 is a schematic block diagram showing the configuration of a computer according to at least one embodiment;
The computer 9 includes a CPU 91 , a main storage device 92 , an auxiliary storage device 93 and an interface 94 .
The vehicle forward/rearward movement determination device 30 described above includes a computer 9 . The operation of each processing unit described above is stored in the auxiliary storage device 93 in the form of a program. The CPU 91 reads out the program from the auxiliary storage device 93, develops it in the main storage device 92, and executes the above process according to the program. For example, the above-described detection information acquisition unit 33, vehicle shape data generation unit 34, feature amount learning unit 35, forward/backward movement determination unit 36, vehicle type determination unit 37, storage unit switching unit 38, license plate information acquisition unit 39, and tread information The acquisition unit 40 may be the CPU 91 .
In addition, the CPU 91 secures storage areas corresponding to the storage units described above in the main storage device 92 or the auxiliary storage device 93 according to the program. For example, the detection information storage unit 31 and the feature amount storage unit 32 described above may be secured in the main storage device 92 or the auxiliary storage device 93 .

Examples of the auxiliary storage device 93 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only memory), semiconductor memory, and the like. The auxiliary storage device 93 may be an internal medium directly connected to the bus of the computer 9, or an external medium connected to the computer 9 via the interface 94 or communication line. Further, when this program is distributed to the computer 9 via a communication line, the computer 9 that receives the distribution may develop the program in the main storage device 92 and execute the above process. In at least one embodiment, secondary storage 93 is a non-transitory, tangible storage medium.

Also, the program may be for realizing part of the functions described above. Further, the program may be a so-called difference file (difference program) that implements the above-described functions in combination with another program already stored in the auxiliary storage device 93 .

1 vehicle forward/backward movement determination system 9 computer 10 vehicle detector 10A projector 10B light receiver 20 line 30 vehicle forward/backward movement determination device 31 detection information storage unit 32 feature amount storage unit 32A ordinary vehicle storage unit 32B large vehicle storage unit 33 detection information Acquisition unit 34 Vehicle shape data generation unit 35 Feature amount learning unit 36 Forward/reverse determination unit 37 Vehicle type determination unit 38 Storage unit switching unit 39 License plate information acquisition unit 40 Tread information acquisition unit 50 Line 60 License plate recognition device 70 Footboard 80 Line 91 CPU
92 Main storage device 93 Auxiliary storage device 94 Interface A Vehicle B Detection light f External shape F on the front side of vehicle A Advance (direction)
H Traveling direction h1 Vehicle front end height h2 Vehicle rear end height d1 Distance between front end of vehicle and front wheels d2 Distance between rear end of vehicle and rear wheels L Lane N Number plate N1 Classification Number P Predetermined position r External shape R on the rear side of vehicle A Reverse (direction)
S Vehicle shape data w Local detected position

Claims (9)

A detection information acquisition unit that acquires vehicle detection information from a vehicle detector that detects a part of the shape of the vehicle at a predetermined position along the lane;
a vehicle shape data generation unit configured to generate vehicle shape data by combining the vehicle detection information acquired during the period from when the vehicle enters the predetermined position to when it leaves the predetermined position in chronological order;
a feature amount storage unit that stores feature amounts viewed from the side of the vehicle;
forward and backward movement of the vehicle when entering and leaving the predetermined position based on whether or not the vehicle shape data matches the feature amount stored in the feature amount storage unit; a determination unit;
with
The feature amount includes a first feature amount indicating a front side shape viewed from the side of the vehicle and a second feature amount indicating a rear side shape viewed from the side of the vehicle,
The forward/reverse determination unit determines that the vehicle is moving forward at the time of entry of the vehicle when the portion of the vehicle shape data detected earlier in time series matches the first feature value, and determining that the vehicle is moving backward when the vehicle enters when the portion of the vehicle shape data detected early in the time series matches the second feature amount;
The forward/reverse determination unit determines that the vehicle is moving backward when the vehicle exits when the portion detected late in the time series of the vehicle shape data matches the first feature amount, and If the portion detected late in the time series of the vehicle shape data matches the second feature amount, it is determined that the vehicle is moving forward when the vehicle leaves.
Vehicle forward/backward judgment device. 2. The vehicle forward/backward motion determination device according to claim 1 , wherein the feature amount of the vehicle includes at least one of a vehicle height change amount, a relative positional relationship between the vehicle body and the wheels, a local non-detection position, and an outer shape. a feature amount learning unit that learns the feature amount of the vehicle included in the generated vehicle shape data and stores the feature amount in the feature amount storage unit;
The vehicle forward/backward movement determination device according to claim 1 or 2 , comprising: a vehicle type determination unit that determines the vehicle type of the vehicle;
a storage unit switching unit that switches the feature amount storage unit based on the vehicle type of the vehicle determined by the vehicle type determination unit;
The vehicle forward/rearward movement determination device according to any one of claims 1 to 3 , comprising: further comprising a license plate information acquisition unit that acquires license plate information based on the captured image of the vehicle;
5. The vehicle forward/backward motion determination device according to claim 4 , wherein the vehicle type determination unit determines the vehicle type of the vehicle based on the license plate information. further comprising a tread information acquiring unit that acquires tread information based on information on the position of the vehicle wheels detected by the treads;
The vehicle type determination unit determines the vehicle type of the vehicle based on the tread information.
6. The vehicle forward/backward movement determination device according to claim 4 or 5 . A vehicle forward/backward movement determination device according to any one of claims 1 to 6 ;
the vehicle detector;
A vehicle forward/backward movement determination system. A detection information acquisition step of acquiring vehicle detection information from a vehicle detector that detects a part of the shape of the vehicle at a predetermined position along the lane;
a vehicle shape data generating step of generating vehicle shape data by combining the vehicle detection information acquired during the period from when the vehicle enters the predetermined position to when it leaves the predetermined position in chronological order;
forward and backward movement of the vehicle when entering and leaving the predetermined position based on whether or not the vehicle shape data matches the feature amount of the vehicle viewed from the side stored in the feature amount storage unit; a forward/backward determination step for determining
with
The feature amount includes a first feature amount indicating a front side shape viewed from the side of the vehicle and a second feature amount indicating a rear side shape viewed from the side of the vehicle,
In the forward/reverse determination step, if the portion of the vehicle shape data detected early in the time series matches the first feature amount, it is determined that the vehicle is moving forward when the vehicle enters; determining that the vehicle is moving backward when the vehicle enters when the portion of the vehicle shape data detected early in the time series matches the second feature amount;
in the forward/reverse determination step, determining that the vehicle is moving backward when the vehicle exits if the portion detected later in the time series of the vehicle shape data matches the first feature amount; If the portion detected late in the time series of the vehicle shape data matches the second feature amount, it is determined that the vehicle is moving forward when the vehicle leaves.
Vehicle forward/backward determination method. A computer as a vehicle forward/backward movement determination device,
A detection information acquisition unit that acquires vehicle detection information from a vehicle detector that detects a part of the shape of the vehicle at a predetermined position along the lane;
a vehicle shape data generation unit configured to generate vehicle shape data by combining the vehicle detection information acquired during the period from when the vehicle enters the predetermined position to when it leaves the predetermined position in chronological order;
forward and backward movement of the vehicle when entering and leaving the predetermined position based on whether or not the vehicle shape data matches the feature amount of the vehicle viewed from the side stored in the feature amount storage unit; a forward/reverse determination unit that determines
to make it work ,
The feature amount includes a first feature amount indicating a front side shape viewed from the side of the vehicle and a second feature amount indicating a rear side shape viewed from the side of the vehicle,
The forward/reverse determination unit determines that the vehicle is moving forward at the time of entry of the vehicle when the portion of the vehicle shape data detected earlier in time series matches the first feature value, and determining that the vehicle is moving backward when the vehicle enters when the portion of the vehicle shape data detected early in the time series matches the second feature amount;
The forward/reverse determination unit determines that the vehicle is moving backward when the vehicle exits when the portion detected late in the time series of the vehicle shape data matches the first feature amount, and If the portion detected late in the time series of the vehicle shape data matches the second feature amount, it is determined that the vehicle is moving forward when the vehicle leaves.
Vehicle forward/backward judgment program.

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