JPH08304549A - Vehicle-detecting device - Google Patents

Abstract

PURPOSE: To improve the quality and accuracy of vehicle detection by distributing and outputting an output of an amplifying part and by conducting a control so that a vehicle detection signal be outputted when the output is of a prescribed level or above and that the signal be outputted as it is when the output is of a prescribed level or below. CONSTITUTION: A distributor 12 distributes an output of an amplifying part 9 to signal comparing parts 10 and 13. The comparing part 13 outputs a low level signal when an output of the distributor 12 is of a prescribed level or above, and outputs a high level signal when the output is of a prescribed level or below. A vehicle detecting part 14 outputs an output of a vehicle detecting part 11 as it is when the output of the comparing part 13 is a high level signal, while it does not output a detection signal of the detecting part 11 when the output is a low level signal. Even in the case when an object of high reflection such as snow is present on a road, according to this constitution, the discrimination thereof from a vehicle is enabled and the quality and accuracy of detection can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle detection device for detecting the presence of a traveling vehicle traveling on a road.

[0002]

2. Description of the Related Art FIG. 10 is a block diagram showing a configuration of a conventional vehicle detection device M. In the figure, 1 is a road, 2 is a vehicle traveling on the road 1 in the arrow direction, M is a vehicle detection device M installed on the road 1, and 3 is a vehicle traveling on the road 1 in the arrow direction. A pulse-modulated signal generator that generates a pulse-modulated signal that pulse-modulates light, a driver unit 4 that turns on and off a current by the output of the pulse-modulated signal generator 3,
Reference numeral 5 is a light emitting portion that emits light in accordance with the current of the driver portion 4, 6 is irradiation light emitted from the light emitting portion 5, 7 is reflection light of the irradiation light 6 from the light emitting portion 5 from the vehicle 2 or the road 1, and 8 is A first light receiving portion for receiving the reflected light 7 and converting it into a voltage, and a first light receiving portion 9 for amplifying a signal of the reflected light 7 from the vehicle 2 from the first light receiving portion 8.
Amplifier section 10, a first signal comparison section for comparing the signal from the first amplification section 9 with a reference voltage, and 11 for a first vehicle that outputs a vehicle detection signal based on the comparison result of the first signal comparison section. It is a detection unit. It should be noted that FIG. 11 shows the relationship between the vehicle detection device M and the objects existing on the road 1, the vehicle 2, and the like. In the figure, 1 is a road,
Reference numeral 2 is a vehicle traveling on the road 1 in the direction of the arrow, 39 is a pillar for mounting the vehicle detection device M on the road 1, and A is a sensing area of the vehicle detection device where the vehicle detection device M can detect the vehicle 2. Therefore, when passing over the sensing area A of the vehicle detection device M of the vehicle 2 traveling on the road 1, the vehicle detection device M will
Will be detected and a vehicle detection signal will be output.

Next, the operation will be described. In FIG. 10, the operation of the light emitting unit 5 is repeated light emission and non-light emission according to the output signal of the driver unit 4. The light emitted from the light emitting unit 5 is condensed and emitted as irradiation light 6 to the traveling vehicle 2 or the road surface of the road 1 and traveling vehicle 2 or the road 1.
Is reflected by the road surface. The reflected light 7 is diffused and enters the first light receiving unit 8. Reflected light 7 incident on the first light receiving unit 8
Is collected by the first light receiving unit 8 and is then supplied to the first amplifying unit 9. The first amplifying unit 9 removes a stationary unnecessary DC component due to the disturbance light 7, and then the light from the road surface of the road 1 is removed. The signal voltage including the reflected light 7 and the reflected light 7 component from the vehicle 2 is amplified.
Normally, the signal amplified by the reflected light 7 including the reflected light 7 from the vehicle 2 is higher than the signal amplified by only the reflected light 7 from the road surface of the road 1, so the reflected light from the road surface of the road 1 is higher. 7
Only the amplified signal level is compared with a reference value set in advance, and if the reference value is equal to or higher than the reference value, it is determined that the vehicle 2 exists.

[0004]

A conventional vehicle detection device M.
Since the above is configured as described above, the influence of disturbance light that largely depends on the road surface condition of the road 1, the influence of disturbance light from an object outside the beam pointing direction, and the irradiation light 7 generated by the vehicle detection device M itself. There is a problem that the vehicle 2 may not be accurately detected due to influences or the like.

The present invention has been made to solve the above problems, and an object thereof is to improve the quality accuracy of vehicle detection.

[0006]

A vehicle detecting apparatus according to a first embodiment of the present invention outputs a low level signal when the output of the amplifying section is distributed and output, and when the output of the above-mentioned means is above a predetermined level. , Means for outputting a high level signal when the level is below a predetermined level, and means for outputting the output of the vehicle detection unit as it is when the output of the aforementioned means is a high level signal and not outputting a vehicle detection signal for a low level signal It is equipped with and.

The vehicle detection device according to the second embodiment of the present invention is the same as that of the first embodiment of the present invention, which outputs a high level signal when the illuminance of sunlight is above a predetermined level and outputs a low level signal when the illuminance of the sunlight is below a predetermined level. A means for outputting a level signal, a means for outputting a driver off signal when the output of the aforementioned means is a high level signal, a means for outputting a driver on signal when the output of the aforementioned means is a low level signal, and a means for outputting the driver on signal And a means for outputting a driver current off signal, and in the case of a driver on signal, outputting the output of the pulse modulation signal generator as it is.

The vehicle detection apparatus according to the third embodiment of the present invention is the same as that of the first embodiment of the present invention, but is capable of receiving reflected light in a wider range than the light receiving portion, and means for amplifying the output signal of the aforementioned means. When the output signal of the amplification section is compared with the output signal of the amplification section, and the output signal of the amplification section is larger than the output of the above-mentioned section, the output signal of the amplification section is output as it is, and when it is smaller, the signal is not output. It is equipped with.

The vehicle detecting apparatus according to the fourth embodiment of the present invention is different from the first embodiment of the present invention in that the output signal of the pulse modulation signal generating section is distributed and supplied to the driver section and the later-described means, and the pulse modulation. A means for outputting a direct wave elimination signal for eliminating the signal component of the light emission portion of the light emission portion directly received from the output signal of the signal generation portion, and the output signal of the aforementioned means is subtracted from the output signal of the amplification portion. And means.

The vehicle detection apparatus according to the fifth embodiment of the present invention is the same as that of the fourth embodiment of the present invention, and further comprises means for distributing and outputting the output signal of the pulse modulation signal generating section to the second distributor and means described later. A means for outputting a road surface removal signal for removing a signal component reflected from the road by the light receiving portion, and a means for subtracting the road surface removal signal output by the means from the output signal of the removing portion. It is equipped with and.

The vehicle detection device according to the sixth embodiment of the present invention is the same as that of the fifth embodiment of the present invention, and generates a control signal for variably controlling the amplification degree of the means to be described later by a command signal from the outside of the vehicle detection device. Means and means for varying the amplification degree according to the control signal of the output signal of the above-mentioned means and outputting the output signal.

A vehicle detection device according to a seventh embodiment of the present invention is the vehicle detection device according to the sixth embodiment of the present invention provided with means for detecting a road surface condition and outputting a control signal.

The vehicle detecting apparatus according to the eighth embodiment of the present invention is the same as that of the first embodiment of the present invention, except that a beam control for controlling the beam directions of the light emitting section and the light receiving section by a command signal from the outside of the vehicle detecting apparatus. A means for outputting a signal, a means for variably controlling the beam direction of the light emitting portion by the beam control signal of the output signal of the aforementioned means, and a beam control signal for the light receiving portion by the beam control signal of the output signal of the above-mentioned means It is equipped with a means to do.

The vehicle detecting apparatus according to the ninth embodiment of the present invention is different from that of the eighth embodiment of the present invention in that the light emitting section is replaced with means for irradiating irradiation light over a wider range than the light emitting section and the vehicle detecting section. Means for generating a beam direction switching signal, a means having the same function as the light receiving section except that the beam direction is forward of the light receiving section, and the output signal of the previously described means, Means for switching the output signal of the vehicle or the output signal of the light receiving section, a means for extracting a time signal for calculating the speed information of the vehicle from the output signal of the vehicle detection section, and the above-mentioned means. It is provided with means for calculating the vehicle speed from the output signal.

[0015]

According to the first embodiment of the present invention, even if a highly reflective object such as snow is present on the road by the newly added means, it is possible to discriminate the vehicle from the road. Therefore, the accuracy of vehicle detection quality is improved. To be done.

According to the second embodiment of the present invention, when there is sunlight due to the newly added means, the sunlight is used,
Since the operation of the light emitting unit can be stopped, the power consumption of the vehicle detection device is reduced.

According to the third embodiment of the present invention, since signals other than those in the beam pointing direction can be removed by the newly added means, the vehicle detection accuracy is improved / improved.

According to the fourth embodiment of the present invention, it is possible to remove the influence of the direct wave from the light emitting section by the newly added means, so that the vehicle detection accuracy is improved / improved.

According to the fifth embodiment of the present invention, the effect of the reflected wave from the road surface of the road can be reduced by the newly added means, so that the vehicle detection accuracy is improved or improved.

According to the sixth embodiment of the present invention, the newly added means can reduce the influence of the reflected wave from the road surface according to the road surface condition of the road, so that the vehicle detection accuracy is improved.
Be improved.

According to the seventh embodiment of the present invention, the newly added means can reduce the influence of the reflected wave from the road surface according to the road surface condition of the road even if there is no external command signal. Accuracy is improved / improved.

According to the eighth embodiment of the present invention, the newly added means makes it possible to tilt the beam direction forward with respect to a high-speed vehicle, equivalently widen the detection range, and secure the detection time. High-speed vehicle handling performance is improved and improved.

According to the ninth embodiment of the present invention, the newly added means makes it possible to cope with high-speed vehicles, and
Since the vehicle speed can be detected, the vehicle detection accuracy is improved / improved.

[0024]

【Example】

Example 1. 1 is a block diagram showing the configuration of a first embodiment of the present invention. In the figure, 1 to 11 are the same as those of the conventional device described above.
It is the same as 0, and 12, 13, and 14 are devices newly added to the conventional device. Reference numeral 12 denotes a first distributor that distributes the output of the first amplification unit 9 and outputs the output to the first signal comparison unit 10 and the second signal comparison unit 13. Reference numeral 13 denotes a predetermined output of the first distribution unit 12. Of the second signal comparing section 13 which outputs a low level signal when the level is equal to or higher than a predetermined level and outputs a high level signal when the level is equal to or lower than a predetermined level.
Is a high level output, the second vehicle detection unit outputs the output of the first vehicle detection unit 11 as it is, and does not output a vehicle detection signal in the case of a low level signal.

In the vehicle detection device M constructed as described above, the newly added device makes it possible to distinguish from a vehicle even when a highly reflective object such as snow is present on the road. The quality accuracy of can be improved.

Example 2. 2 is a configuration block diagram showing a second embodiment of the present invention. In the figure, 1 to 14 are the same as FIG. 1 of the configuration block diagram of the first embodiment of the present invention, and 15, 16, 17 are This is a device newly added to the first embodiment of the invention. Reference numeral 15 is a sunlight illuminance detection unit that outputs a high level signal when the illuminance of sunlight is equal to or higher than a predetermined level, and outputs a low level signal when the illuminance of the sunlight is equal to or lower than a predetermined level, and 16 is an output of the sunlight illuminance detection unit 15 that is a high level signal. When the output of the light emission control unit 16 is a driver off signal, a driver current off signal is output and a driver on signal is output. In the case of, the driver control unit outputs the output of the pulse modulation signal generation unit 3 as it is.

In the vehicle detection device M configured as described above, the newly added device can be used to stop the operation of the light emitting section by utilizing the sunlight when there is sunlight. The power consumption of the detection device can be reduced.

Example 3. 3 is a configuration block diagram showing a third embodiment of the present invention. In the figure, 1 to 14 are the same as FIG. 1 of the configuration block diagram of the first embodiment of the present invention, and 18, 19, 20 are This is a device newly added to the first embodiment of the invention. Reference numeral 18 denotes a second light receiving portion capable of receiving the reflected light 7 in a wider range than the first light receiving portion 8, 19 denotes a second amplifying portion for amplifying an output signal of the second light receiving portion 18, 2
0 is the output signal of the second amplifier 19 and the first distributor 12
When the output signal of the first amplification unit 9 is larger than the output of the second amplification unit 19, the output signal of the first amplification unit 9 is compared. Is output as it is and is not output when it is small.

In the vehicle detection device M configured as described above, the signal added in the direction other than the beam directing direction can be removed by the newly added device, so that the vehicle detection accuracy can be improved.

Example 4. 4 is a block diagram showing a configuration of a fourth embodiment of the present invention. In the figure, 1 to 14 are the same as the configuration block diagram of the first embodiment of the present invention in FIG. This is a device newly added to the first embodiment of the invention. Reference numeral 21 denotes a second distributor that distributes the output signal of the pulse modulation signal generating unit 3 and supplies the output signal to the driver unit 4 and a direct wave removal amplification unit 22 described later.
A direct wave elimination signal for eliminating the signal component of the light emission signal of the light emission unit 5 directly received by the first light reception unit 8 from the output signal of the pulse modulation signal generation unit 3 supplied from the distributor 21 of The wave removal amplification section 23 is a removal section that subtracts the output signal of the direct wave removal amplification section 22 from the output signal of the first amplification section 9.

In the vehicle detection device M constructed as described above, the newly added device makes it possible to eliminate the influence of the direct wave from the light emitting section, so that the vehicle detection accuracy can be improved. it can.

Example 5. FIG. 5 is a block diagram showing the configuration of a fifth embodiment of the present invention.
23 is the same as FIG. 4 of the configuration block diagram of the fourth embodiment of the present invention, and 24, 25 and 26 are devices newly added to the fourth embodiment of the present invention. Reference numeral 24 is a third distributor that distributes and outputs the output signal of the pulse modulation signal generator 3 to the second distributor 21 and a road road surface wave removal amplification unit 25 described later, and 25 is a pulse of the third distributor 24. A road road surface wave removal amplification unit that outputs a road surface removal signal for removing the signal component reflected from the road 1 by the first light receiving unit 8 from the output signal of the modulation signal generation unit, and 26 is the first removal unit 23. Is a second removing unit that subtracts the road surface removal signal of the output of the road surface wave removing and amplifying unit 25 from the output signal of.

In the vehicle detection device M constructed as described above, the newly added device can reduce the influence of the reflected wave from the road surface of the road, so that the vehicle detection accuracy can be improved.

Embodiment 6 FIG. 6 is a block diagram showing the configuration of a sixth embodiment of the present invention.
24 and 26 are the same as those in FIG. 5 of the configuration block diagram of the fifth embodiment of the present invention, and 27 and 28 are devices newly added to the fifth embodiment of the present invention. Reference numeral 27 denotes a removal variable amount setting unit for generating a control signal for variably controlling the amplification degree of a road road surface wave removal variable amplification unit 28, which will be described later, in response to a command signal from the outside of the vehicle detection device M, and 28 denotes a removal variable amount setting unit 27. Is a road road surface wave variable amplification unit that outputs an output signal by varying the amplification degree according to the control signal of the output signal of.

In the vehicle detection device M configured as described above, the newly added device can reduce the influence of the reflected wave from the road surface depending on the road surface condition of the road.
The accuracy of the vehicle detection device can be improved.

Example 7. Embodiment 7 FIG. 7 is a block diagram showing the structure of Embodiment 7 of the present invention.
24 and 26 to 28 are the same as those in FIG. 6 of the configuration block diagram of the sixth embodiment of the present invention, and 29 is a device newly added to the sixth embodiment of the present invention. Reference numeral 29 is a road surface detection circuit that detects the condition of the road surface of the road 1 and outputs a control signal.

In the vehicle detection device M configured as described above, the newly added device can reduce the influence of the reflected wave from the road surface according to the road surface condition of the road even if there is no external command signal. Therefore, the accuracy of the vehicle detection device can be improved.

Example 8. 8 is a configuration block diagram showing an eighth embodiment of the present invention. In the figure, 1 to 14 are the same as FIG. 1 of the configuration block diagram of the first embodiment of the present invention, and 30 to 32 are the present invention. This is a device newly added to the first embodiment. Reference numeral 30 denotes a beam direction setting unit that outputs a beam control signal for controlling the beam directions of the light emitting unit 5 and the first light receiving unit 8 according to a command signal from the outside of the vehicle detection device M, and 31 denotes a beam direction setting unit 30. A light emitting unit beam direction control unit that variably controls the beam direction of the light emitting unit 5 by a beam control signal of the output signal, and 32 is a beam direction setting unit 3
By the beam control signal of the output signal of 0, the first light receiving unit 8
Is a light-receiving part beam direction control part for variably controlling the beam direction of the.

In the vehicle detection device M configured as described above, the newly added device can cope with high-speed vehicles and at the same time detect the vehicle speed, so that the vehicle detection accuracy can be improved. You can

Example 9. FIG. 9 is a configuration block diagram showing a ninth embodiment of the present invention. In the figure, 1, 2, 3, 4,
6 to 14 are block diagrams of the configuration of the first embodiment of the present invention.
33 to 38 are the same as those of Embodiment 1 of the present invention.
This is a newly added device. Reference numeral 33 denotes a wide beam light emitting unit which replaces the light emitting unit 5 and emits irradiation light over a wider range than the light emitting unit 5, and 34 generates a beam direction switching signal after the second vehicle detection unit 14 detects the vehicle 2. A beam direction switching signal generation unit 35 for controlling the first light receiving unit 8 except that the beam direction is forward of the first light receiving unit 8.
The front-direction light receiving section 36 having the same function as the above outputs the output signal of the front-direction light receiving section 35 according to the output signal of the beam direction switching signal generating section 34, or the first light receiving section 8
A light-receiving beam direction switching unit for switching whether to output the output signal of 37, a vehicle detection interval extraction unit 37 for extracting a time signal for calculating speed information of the vehicle 2 from the output signal of the second vehicle detection unit 38, Is a vehicle speed calculation unit that calculates the speed of the vehicle 2 from the output signal of the vehicle detection interval extraction unit 37.

In the vehicle detection device M configured as described above, the beam direction is tilted forward with respect to a high-speed vehicle by the newly added device, the detection range is equivalently widened, and the detection time is increased. Since it can be ensured, the high-speed vehicle coping performance can be improved.

[0042]

According to the first embodiment of the present invention, with the configuration as described above, even if a highly reflective object such as snow is present on the road, it is possible to discriminate the vehicle from the vehicle. This has the effect of improving quality accuracy.

According to the second embodiment of the present invention, with the configuration as described above, when sunlight is present, the operation of the light emitting portion can be stopped by utilizing the sunlight, so that the vehicle detection device This has the effect of reducing power consumption.

According to the third embodiment of the present invention, with the configuration as described above, signals other than those in the beam pointing direction can be removed, so that vehicle detection accuracy is improved and improved.

According to the fourth embodiment of the present invention, with the configuration as described above, it is possible to eliminate the influence of the direct wave from the light emitting portion, and thus the vehicle detection accuracy is improved and improved. There is.

According to the fifth embodiment of the present invention, with the configuration as described above, the influence of the reflected wave from the road surface of the road can be reduced, so that the vehicle detection accuracy is improved and improved.

According to the sixth embodiment of the present invention, with the configuration as described above, the influence of the reflected wave from the road surface can be reduced according to the road surface condition of the road, so that the vehicle detection accuracy is improved and improved. There is an effect.

According to the seventh embodiment of the present invention, with the configuration as described above, the influence of the reflected wave from the road surface can be reduced according to the road surface condition of the road even without an external command signal. There is an effect that the detection accuracy is improved and improved.

According to the eighth embodiment of the present invention, with the configuration as described above, the beam direction is inclined forward with respect to a high-speed vehicle, the detection range is equivalently widened, and the detection time can be secured. In addition, the high-speed vehicle handling performance is improved and improved.

According to the ninth embodiment of the present invention, with the configuration as described above, it is possible to cope with a high speed vehicle and it is possible to detect the vehicle speed, so that the vehicle detection accuracy is improved and improved. is there.

[Brief description of drawings]

FIG. 1 is a configuration block diagram showing a first embodiment of a vehicle detection device according to the present invention.

FIG. 2 is a configuration block diagram showing a second embodiment of the vehicle detection device according to the present invention.

FIG. 3 is a configuration block diagram showing a third embodiment of the vehicle detection device according to the present invention.

FIG. 4 is a configuration block diagram showing a fourth embodiment of the vehicle detection device according to the present invention.

FIG. 5 is a configuration block diagram showing a fifth embodiment of the vehicle detection device according to the present invention.

FIG. 6 is a configuration block diagram showing a sixth embodiment of the vehicle detection device according to the present invention.

FIG. 7 is a configuration block diagram showing a seventh embodiment of the vehicle detection device according to the present invention.

FIG. 8 is a configuration block diagram showing an eighth embodiment of the vehicle detection device according to the present invention.

FIG. 9 is a configuration block diagram showing a ninth embodiment of the vehicle detection device according to the present invention.

FIG. 10 is a configuration block diagram showing a conventional vehicle detection device.

FIG. 11 is a schematic view of a vehicle detection device.

[Explanation of symbols]

1 road, 2 vehicle, 3 pulse modulation signal generator, 4
Driver part, 5 light emitting part, 6 irradiation light, 7 reflected light, 8
1st light receiving part, 9 1st amplification part, 10 1st signal comparison part, 11 1st vehicle detection part, 12 1st distributor, 13 2nd signal comparison part, 14 2nd vehicle detection Section, 15 sunlight illuminance detection section, 16 light emission control section, 17
Driver control section, 18 second light receiving section, 19 second amplifying section, 20 signal determining section, 21 second distributor, 22
Direct wave removal amplification section, 23 First removal section, 24 Third distributor, 25 Road road surface wave removal amplification section, 26 Second removal section, 27 Removal variable amount setting section, 28 Road road wave removal variable amplification section , 29 road surface detection circuit, 30 beam direction setting unit, 31 light emitting unit beam direction control unit, 32 light receiving unit beam direction control unit, 33 wide beam light emitting unit, 34 beam direction switching signal generating unit, 35 front direction light receiving unit, 36 light receiving Beam direction switching unit, 37 Vehicle detection interval extraction unit, 38
Vehicle speed calculation unit, 39 columns, A sensing area of the vehicle detection device, M vehicle detection device.

Claims (9)

[Claims] 1. A pulse modulation signal generation unit for generating a pulse modulation signal for irradiating a pulse light to a vehicle traveling on a road and a road surface, and a driver for turning on / off a current in synchronization with the pulse modulation signal. Section and a light emitting section that emits irradiation light by an electric current that is turned on and off by the driver section,
From the output signal of the first light receiving unit that receives the reflected light from the vehicle and the road surface of the irradiation light emitted from this light emitting unit and converts it into a voltage according to the light receiving level, and the output signal of this first light receiving unit A first amplification unit that removes a DC component due to ambient light and amplifies a signal, a first signal comparison unit that compares an output signal of the first amplification unit with a reference voltage, and a first signal comparison unit. In a vehicle detection device including a first vehicle detection unit that outputs a vehicle detection signal from the comparison result of 1., a first distributor that distributes and outputs the output of the first amplification unit, and a first distributor A certain signal is output when the output of is above a predetermined level, and no signal is output when the output is below a predetermined level.
And a second vehicle detection unit that outputs the output of the first vehicle detection unit as it is when an output from the second signal comparison unit exists and does not output the vehicle detection signal when there is no output. A vehicle detection device comprising: 2. The sunlight illuminance detection unit that outputs a high level signal when the illuminance of sunlight is above a predetermined level and outputs a low level signal when the illuminance of the sunlight is below a predetermined level, and the output of the sunlight illuminance detection unit is at a high level. In the case of a signal, a driver-off signal is output, and in the case of a low-level signal, a driver-on signal is output.When the output of the light-emission controller is a driver-off signal, a driver-current-off signal is output. The vehicle detection device according to claim 1, further comprising: a driver control unit that outputs the output of the pulse modulation signal generation unit 3 as it is. 3. A second light receiving portion having a beam wider than that of the first light receiving portion, a second amplifying portion for amplifying an output signal of the second light receiving portion, an output signal of the first amplifying portion, The output signal of the second amplification unit signal is compared and determined, and the output signal of the first amplification unit is the second output signal.
2. The vehicle detection device according to claim 1, further comprising: a signal determination unit that outputs the output signal of the first amplification unit as it is when the output is larger than the output of the comparison unit, and does not output a signal when the output signal is smaller than the output of the comparison unit. 4. A second distributor that distributes the output signal of the pulse modulation signal generation unit and supplies it to the driver unit and a direct wave removal amplification unit described later, and a light emission signal of the light emission unit based on the output signal of the pulse modulation signal generation unit. A direct wave removal amplification unit for outputting a direct wave removal signal for removing a signal component directly received by the first light receiving unit, and a direct wave output of the direct wave removal amplification unit from the output signal of the first amplification unit. The vehicle detection device according to claim 1, further comprising a first removal unit that subtracts and outputs the removal signal. 5. An output signal of the pulse modulation signal generating section, a third distributor for distributing and outputting to the second distributor and a road road surface wave elimination amplification section to be described later, and an output signal of the third distributor. First
The road surface wave removal amplification unit that outputs a road surface removal signal for removing the signal component reflected from the road by the light receiving unit and the output surface of the road road surface wave removal amplification unit from the output signal of the first removal unit. The vehicle detection device according to claim 4, further comprising a second removal unit that subtracts the removal signal. 6. A removal variable amount setting unit for generating a control signal for variably controlling an amplification degree of a road road surface wave removal variable amplification unit, which will be described later, according to a command signal from the outside of the vehicle detection device, and outputs of the removal variable amount setting unit. The vehicle detection device according to claim 5, further comprising: a road road surface wave removal variable amplification unit that outputs an output signal by varying an amplification degree according to a control signal of the signal. 7. The vehicle detection device according to claim 6, further comprising a road surface detection circuit that detects a road surface condition and outputs a control signal. 8. A beam direction setting unit that outputs a beam control signal for controlling the beam directions of the light emitting unit and the first light receiving unit according to a command signal from the outside of the vehicle detection device, and an output signal of the beam direction setting unit. Beam control signal for variably controlling the beam direction of the light emitting unit, and a beam receiving signal for variably controlling the beam direction of the first light receiving unit by the beam control signal of the output signal of the beam direction setting unit. The vehicle detection device according to claim 1, further comprising a direction control unit. 9. A wide-beam emission unit that replaces the emission unit 5 and emits irradiation light over a wider range than the emission unit, and a beam-direction switching signal that generates a beam-direction switching signal after the vehicle detection unit detects a vehicle. The output signal of the front direction light receiving unit is output according to the output signal of the generation unit and the front direction light receiving unit whose beam direction is the front direction of the first light receiving unit, and the output signal of the beam direction switching signal generation unit, or the first light receiving unit. Light receiving beam direction switching unit for switching whether to output the output signal of the vehicle, and from the time when the vehicle is detected by the front light receiving unit based on the output signal of the first vehicle detection unit to the time when the vehicle is detected by the first light receiving unit. 9. The vehicle detection device according to claim 8, further comprising: a vehicle detection interval extraction unit that extracts a time signal, and a vehicle speed calculation unit that calculates a vehicle speed from an output signal of the vehicle detection interval extraction unit.